CN109733827A - A kind of lead pig feeding work station and its application method - Google Patents
A kind of lead pig feeding work station and its application method Download PDFInfo
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- CN109733827A CN109733827A CN201910178897.XA CN201910178897A CN109733827A CN 109733827 A CN109733827 A CN 109733827A CN 201910178897 A CN201910178897 A CN 201910178897A CN 109733827 A CN109733827 A CN 109733827A
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- 238000000034 method Methods 0.000 title claims description 9
- 239000000463 material Substances 0.000 claims abstract description 31
- 230000004807 localization Effects 0.000 claims abstract description 18
- 230000005540 biological transmission Effects 0.000 claims description 32
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 14
- 230000007246 mechanism Effects 0.000 claims description 13
- 239000007787 solid Substances 0.000 claims description 7
- 230000002459 sustained effect Effects 0.000 claims description 6
- 238000005452 bending Methods 0.000 claims description 3
- 238000011017 operating method Methods 0.000 claims description 3
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 3
- 238000004804 winding Methods 0.000 claims 1
- 208000027418 Wounds and injury Diseases 0.000 abstract description 7
- WABPQHHGFIMREM-UHFFFAOYSA-N lead(0) Chemical compound [Pb] WABPQHHGFIMREM-UHFFFAOYSA-N 0.000 abstract description 6
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- 208000014674 injury Diseases 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 5
- 241000282887 Suidae Species 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
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- 238000005516 engineering process Methods 0.000 description 1
- 238000011144 upstream manufacturing Methods 0.000 description 1
Abstract
The present invention provides a kind of lead pig feeding work stations, comprising: chain scraper conveyor, the chain scraper conveyor have the first horizontal transporting flat；One end far from first transporting flat of carrier bar localization machine, second transporting flat is equipped with baffle；First conveyer, first conveyer have third transporting flat, and the conveying direction of first conveyer is parallel with the conveying direction of the chain scraper conveyor；Second conveyor, first conveyer are arranged against the side of the second conveyor, and the second conveyor has the 4th horizontal transporting flat；The mobile terminal of three axis gantry robots, the three axis gantry robot are fixed with material grasping manipulator.This lead pig feeding work station only needs to pile up lead pig on chain scraper conveyor, just can improve the working efficiency of feeding by lead pig automatic charging into cold cut machine, avoid injury of the lead powder dirt to human body.
Description
Technical field
The present invention relates to lead pig processing equipment field more particularly to a kind of lead pig feeding work station and its application methods.
Background technique
In the process of factory, need lead pig cold cut machine-cut into lead button, lead pig is bundle when upstream is supplied
Shape is pricked, every 20 pieces of bundle is divided into 4 layers, 5 pieces every layer.Often there are more cold cut machines to work at the same time in one workshop, according to manually giving
Cold cut machine feeding not only low efficiency but also at high cost.Further, since the particularity of lead processing, in working environment ground and air
Containing lead powder dirt, the body of worker can be damaged.Therefore, realize that the automatic charging of lead pig is very important.
Summary of the invention
The technical problem to be solved by the present invention is in order to solve in the factory using manually to cold cut machine feeding by the way of imitate
Rate is low, high labor cost, and the lead powder dirt in air can injure the body of worker.The present invention provides a kind of lead pig feeding works
Make station and its application method to solve the above problems.
The technical solution adopted by the present invention to solve the technical problems is: a kind of lead pig feeding work station, comprising:
Chain scraper conveyor, the chain scraper conveyor have the first horizontal transporting flat, and first transporting flat is equipped with the
The length direction of one limiting slot, first limiting slot is consistent with the conveying direction of the chain scraper conveyor；
One end of the chain scraper conveyor is arranged in carrier bar localization machine, the carrier bar localization machine, and the carrier bar localization machine has water
The second flat transporting flat, second transporting flat and first transporting flat are in sustained height；Second conveying
One end far from first transporting flat of plane is equipped with baffle；Second transporting flat is equipped with the second limiting slot, institute
The length direction for stating the second limiting slot is consistent with the conveying direction of the carrier bar localization machine；The length direction of second limiting slot
Length direction with first limiting slot is along same straight line；
Multiple first conveyers, first conveyer have third transporting flat, the conveying direction of first conveyer with
The conveying direction of the chain scraper conveyor is parallel；
Second conveyor, each first conveyer side are equipped with a second conveyor, and first conveyer abuts
The side of the second conveyor is arranged, and the second conveyor has the 4th horizontal transporting flat, the second conveyor
Conveying direction it is vertical with the conveying direction of first conveyer, the height of the 4th transporting flat is defeated lower than the third
Send the height of plane；
Three axis gantry robots, the mobile terminal of the three axis gantry robot are fixed with material grasping manipulator, three axis purlin
Posture robot is for driving the material grasping manipulator to move between the second transporting flat and the third transporting flat；
The material grasping manipulator is for realizing the crawl and release to lead pig.
Preferably, the material grasping machinery hand includes grasping mechanism, two grasping mechanisms are symmetrical about the first plane；
The grasping mechanism includes hanging ring, connecting shaft, cylinder, connecting plate；
Hanging ring, the hanging ring include cross bar and respectively bending be connected to two quarter butts at cross bar both ends, the central axis of the cross bar
Line is first axle,
Connecting shaft, the both ends of the connecting shaft are fixedly connected with the free end of two quarter butts respectively, in the connecting shaft
Mandrel line is second axis, and the connecting shaft can be rotated by axis of third axis；
The cylinder body of cylinder, the cylinder can be rotated using the third axis for passing through itself as axis；
One end of connecting plate, the end of the piston rod of the cylinder and connecting plate is hinged and articulated shaft and the first axle,
Second axis is parallel with third axis, and the other end of the connecting plate is fixedly connected with connecting shaft；
Locating plane is the second plane jointly for the first axle and second axis, and the articulated shaft and second axis are jointly locating
Plane is third plane, and when the piston rod of the cylinder is shunk completely: second plane is parallel with the first plane, described hinged
Axis relative to the first plane of second axis distance farther out and the angle of second plane and third plane is 20 ° ~ 45 °.
Preferably, the grasping mechanism further includes pedestal and two bearing blocks, the bearing block is fixedly connected on pedestal
Lower part, bearing, the inner ring and connecting shaft close-fitting of the bearing are equipped in the bearing block.
Preferably, the grasping mechanism further includes the first trunnion base and the second trunnion base, first trunnion base is fixed
It is connected to the top of pedestal and hinged with the cylinder body of cylinder, the end of the piston rod of the cylinder is fixed with the second trunnion base,
The long stripes through hole penetrated up and down is offered on the pedestal, the length direction of the long stripes through hole is flat perpendicular to described first
Face, the connecting plate passes through the long stripes through hole and one end and the second trunnion base are hinged.
Preferably, the material grasping manipulator further includes two third crossbeams and flanged plate, the third crossbeam is across two
Interval between a pedestal and be fixedly connected with two pedestals, two third crossbeams it is parallel and with the flanged plate
It is fixedly connected.
Preferably, the chain scraper conveyor includes more parallel to each other and consistent first transmission shafts of height, described the
One transmission shaft is horizontal positioned, and the both ends of first transmission shaft are respectively provided with a first coaxial synchromesh gear, and two pieces the
One chain is wound around respectively on the first synchromesh gear of the two sides of first transmission shaft；First carrier bar is mounted on two described
Between one chain, it is all provided on every block of first carrier bar there are two the first positioning protrusion；
The shaft of 4th motor is coaxially fixed with wherein one first transmission shaft.
Preferably, the carrier bar localization machine includes two horizontally disposed second driving shafts, two second transmissions
Axis height is equal and parallel to each other, and the both ends of the second driving shaft are respectively provided with a second coaxial synchromesh gear, and two
The second chain of root is wound around respectively on the second synchromesh gear of the second driving shaft two sides, and the second carrier bar is mounted on described in two
Between second chain, it is all provided on every block of second carrier bar there are two the second positioning protrusion；
The shaft of 5th motor is coaxially fixed with a wherein second driving shaft.
Preferably, the three axis gantry robot has two first crossbeams, two first crossbeams are mutually equal
It goes and height is consistent, two girder spaces settings, first transporting flat, the second transporting flat and the third are defeated
It send plane to be located between two crossbeams and is highly lower than the height of the first crossbeam；The length of two first crossbeams
It is parallel with the conveying direction of the chain scraper conveyor to spend direction, the first crossbeam is provided along its length the first rack gear and the
One sliding rail, first rack gear and first sliding rail be arranged in the first crossbeam towards another first crossbeam
Side；
First sliding rail is equipped with the first sliding block, and first sliding block is slidably matched with first sliding rail, and two piece first solid
Fixed board is fixedly connected with the first sliding block on two the first sliding rails respectively；
Second cross beam, the second cross beam and the first crossbeam are orthogonal and highly consistent；The two of the second cross beam
End is fixedly connected with two pieces of first fixed plates respectively；
The first assembly through-hole is offered in two pieces of first fixed plates；The length direction of first rotating shaft and the second cross beam is flat
Row, the both ends of the first rotating shaft are each passed through the first assembly through-hole, and the both ends of the first rotating shaft are each to be coaxially fixed with
One first gear, the first gear are meshed with first rack gear of respective side；The shaft of first motor and described the
One shaft is coaxially fixed；
The second cross beam is provided along its length the second rack gear and the second sliding rail, and it is sliding that second is provided on second sliding rail
Block, second sliding block are slidably matched with second sliding rail；Second fixed plate is fixedly connected with the second sliding block, and described second is solid
The second assembly through-hole is also provided on fixed board, the second motor is fixed on the side of second fixed plate, and second gear is located at institute
The other side of the second fixed plate is stated, the second gear is engaged with second rack gear, and the shaft of second motor passes through institute
The second pilot hole is stated coaxially to fix with the second gear；
First vertical bar is arranged along the vertical direction, and first vertical bar is provided with third sliding rail and third tooth along its length
Item；
The side of second fixed plate is equipped with third sliding block and third gear, and the third sliding block and the third sliding rail slide
Cooperation, the third gear are engaged with the third rack gear, and third assembly through-hole, third are also provided in second fixed plate
Motor is located at the other side of second fixed plate, and the rotation axis of the third motor passes through the third pilot hole and described the
Three gears are coaxially fixed；
The bottom of first vertical bar is the mobile terminal of the three axis gantry robot.
Preferably, first conveyer includes two third transmission shafts, the axis horizontal of the third transmission shaft is set
Set and vertical with the conveying direction of the chain scraper conveyor, the both ends of the third transmission shaft be respectively provided with one it is coaxial
Third synchronizing wheel, two third belts are wound around respectively in the third synchronizing wheel of third transmission shaft two sides；
The shaft of 6th motor is coaxially fixed with the wherein one third transmission shaft；
The second conveyor includes more first rollers arranged side by side, the axis horizontal of first roller and with it is described
The conveying direction of chain scraper conveyor is parallel, the axis of first roller all in sustained height, each first roller
Two sides are respectively provided with a 4th coaxial synchromesh gear, and two the 4th chains are wound around first roller two sides respectively
On 4th synchromesh gear；
The shaft of 7th motor is coaxially fixed with the first roller described in one of them.
The invention also discloses a kind of application methods of lead pig feeding work station, specifically include following operating procedure:
S1: lead pig is placed on the first transporting flat and lead pig is made to be located at the first limit by the 4th motor of starting and the 5th motor
In slot；
S2: lead pig is delivered to the second transporting flat and lead pig is kept to be located in the second limiting slot by chain scraper conveyor, to lead pig with
When baffle contacts, the 5th motor is closed；
S3: opening dynamic triaxial gantry robot and drive material grasping manipulator to the top of lead pig, and the piston rod for controlling cylinder stretches out, and
Material grasping machinery subordinate is driven to drop down onto the height for being suitable for clamping lead pig；
S4: the piston rod for controlling cylinder is withdrawn, and realizes the clamping to lead pig:
S5: open dynamic triaxial gantry robot drive material grasping manipulator be moved to need corresponding to the cold cut machine of feeding it is first defeated
Send the top of the third transporting flat of machine；
S6: the piston rod for controlling cylinder stretches out, so that lead pig is placed on third transporting flat；
S7: lead pig is delivered on the 4th transporting flat by the 6th motor of starting and the 7th motor, the first conveyer；
S8: lead pig is delivered in corresponding cold cut machine by second conveyor；
S9: S1 ~ S8 is repeated.
The invention has the advantages that this lead pig feeding work station only needs to pile up lead pig on chain scraper conveyor,
Lead pig is sent in carrier bar localization machine and caches by chain scraper conveyor, and the three axis gantry robots with material grasping manipulator can be by lead
Ingot is grabbed and is moved on the first conveyer, and then lead pig is transported on second conveyor by the first conveyer, second conveyor
Lead pig is delivered to cold cut machine and completes feeding.It can be fed, be improved to more cold cut machines using a lead pig feeding work station
The working efficiency of feeding, reduces cost of labor, avoids injury of the lead powder dirt to human body.
Detailed description of the invention
Present invention will be further explained below with reference to the attached drawings and examples.
Fig. 1 is a kind of structural schematic diagram of lead pig feeding work station optimum embodiment of the present invention.
Fig. 2 is the partial enlarged view of Fig. 1.
Fig. 3 is a kind of partial structural diagram of lead pig feeding work station optimum embodiment of the present invention.
Fig. 4 is the partial enlarged view of Fig. 3.
Fig. 5 is a kind of partial structural diagram of lead pig feeding work station optimum embodiment of the present invention.
Fig. 6 is that a kind of partial structurtes of three axis gantry robots of lead pig feeding work station optimum embodiment of the present invention are shown
It is intended to.
Fig. 7 is that a kind of partial structurtes of three axis gantry robots of lead pig feeding work station optimum embodiment of the present invention are shown
It is intended to.
Fig. 8 is a kind of structural schematic diagram of the material grasping manipulator of lead pig feeding work station optimum embodiment of the present invention.
Fig. 9 is a kind of partial structural diagram of the material grasping manipulator of lead pig feeding work station optimum embodiment of the present invention.
1, chain scraper conveyor in figure, the 101, first carrier bar, the 102, first positioning protrusion, 2, carrier bar localization machine, 201, second
Carrier bar, 202, baffle, the 203, second positioning protrusion, the 3, first conveyer, 301, third transmission shaft, 302, third synchronizing wheel,
303, third belt, 4, second conveyor, the 401, first roller, 5, material grasping manipulator, 501, pedestal, 502, hanging ring, 503, company
Spindle, 504, cylinder, 505, connecting plate, 506, bearing block, the 507, first trunnion base, the 508, second trunnion base, 509, third cross
Beam, 510, flanged plate, 5101, long stripes through hole, 6, three axis gantry robots, the 601, first sliding block, the 602, first fixed plate,
603, second cross beam, 604, first rotating shaft, 605, first gear, the 606, second fixed plate, the 607, second motor, 608, first is perpendicular
Bar, 609, third sliding block, 610, third motor, the 611, second sliding block.
Specific embodiment
The embodiment of the present invention is described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning to end
Same or similar label indicates same or similar element or element with the same or similar functions.Below with reference to attached
The embodiment of figure description is exemplary, and for explaining only the invention, and is not considered as limiting the invention.
In the description of the present invention, it is to be understood that, term " center ", " longitudinal direction ", " transverse direction ", " length ", " width ",
" thickness ", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom" "inner", "outside", " axial direction ",
The orientation or positional relationship of the instructions such as " radial direction ", " circumferential direction " is to be based on the orientation or positional relationship shown in the drawings, merely to just
In description the present invention and simplify description, rather than the device or element of indication or suggestion meaning must have a particular orientation, with
Specific orientation construction and operation, therefore be not considered as limiting the invention.
In addition, term " first ", " second " etc. are used for description purposes only, it is not understood to indicate or imply relatively important
Property.In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " connected ", " connection " are answered
It is interpreted broadly, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It can be mechanical connect
It connects, is also possible to be electrically connected；It can be directly connected, it can also be indirectly connected through an intermediary.For the common of this field
For technical staff, the concrete meaning of above-mentioned term in the present invention can be understood with concrete condition.In addition, in description of the invention
In, unless otherwise indicated, the meaning of " plurality " is two or more.
As shown in Fig. 1 ~ 9, the present invention provides a kind of lead pig feeding work stations, comprising:
Chain scraper conveyor 1, chain scraper conveyor 1 include more parallel to each other and consistent first transmission shafts of height, the first transmission shaft
Horizontal positioned, the both ends of the first transmission shaft are respectively provided with a first coaxial synchromesh gear, two first chains rotating around
It is located on the first synchromesh gear of the two sides of the first transmission shaft.First carrier bar 101 is mounted between two first chains.4th electricity
The shaft of machine is coaxially fixed with wherein first transmission shaft.Positioned at the top of the first transmission shaft the first carrier bar 101 upward
Face the first horizontal transporting flat is collectively formed.It sets on every block of first carrier bar 101 there are two the first positioning protrusion 102, the
On one transporting flat, the first positioning protrusion 102 lines up two rows, and two ranked first and form the first limiting slot between positioning protrusion 102, and
The length direction of one limiting slot is consistent with the conveying direction of chain scraper conveyor 1.When lead pig is located in the first limiting slot, first is fixed
Position protrusion 102 can limit the position of lead pig, avoid lead pig on the first transporting flat along the conveying with chain scraper conveyor 1
The perpendicular direction offset in direction.
One end of chain scraper conveyor 1 is arranged in carrier bar localization machine 2, carrier bar localization machine 2, and carrier bar localization machine 2 includes two water
The second driving shaft of flat setting, two second driving shaft height are equal and parallel to each other, and the both ends of second driving shaft are respectively provided with one
A the second coaxial synchromesh gear, two second chains are wound around the second synchromesh gear of second driving shaft two sides respectively
On, the second carrier bar 201 is mounted between two second chains.The shaft of 5th motor is coaxially solid with a wherein second driving shaft
It is fixed.The second horizontal conveyor surface, the second conveying is collectively formed in the face upward of the second carrier bar 201 above second driving shaft
Plane and the first transporting flat are in sustained height.One end far from the first transporting flat of second transporting flat is equipped with baffle
202.Second positioning protrusion 203 there are two being set on every block of second carrier bar 201, on the second transporting flat, the second positioning protrusion 203
Line up two rows, two ranked second and form the second limiting slot between positioning protrusion 203.The length direction of second limiting slot and the first limit
For the length direction of slot along same straight line, the length direction of the second limiting slot is consistent with the conveying direction of carrier bar localization machine 2.Work as lead
For spindle position when in the second limiting slot, the second positioning protrusion 203 can limit the position of lead pig, avoid lead pig along fixed with carrier bar
The perpendicular direction offset of the conveying direction of position machine 2.
Two the first conveyers 3 are only shown in eight the first conveyer 3(figures), the first conveyer 3 has third conveying flat
The conveying direction in face, the first conveyer 3 is parallel with the conveying direction of chain scraper conveyor 1.First conveyer 3 includes that two thirds pass
The axis horizontal of moving axis 301, third transmission shaft 301 is arranged and, third transmission shaft vertical with the conveying direction of chain scraper conveyor 1
301 both ends are respectively provided with a coaxial third synchronizing wheel 302, and two third belts 303 are wound around third transmission respectively
In the third synchronizing wheel 302 of 301 two sides of axis, the shaft of the 6th motor and a wherein third transmission shaft 301 are coaxial fixed.Two
The face upward for being located at 302 top of third synchronizing wheel of third belt 303 forms third transporting flat.
Second conveyor 4 is equipped with a second conveyor 4 by each first conveyer 3.First conveyer 3 abuts second
The side of conveyer 4 is arranged, and second conveyor 4 includes more first rollers 401 arranged side by side, the axis of the first roller 401
Horizontal and parallel with the conveying direction of chain scraper conveyor 1, the axis of the first roller 401 is all in sustained height.Each first
The two sides of roller 401 are respectively provided with a 4th coaxial synchromesh gear, and two the 4th chains are wound around the first roller respectively
On 4th synchromesh gear of 401 two sides.The shaft of 7th motor and one of them first roller 401 are coaxial fixed.4th conveying
Plane is located at the top of the first roller 401 and tangent with the first all rollers 401.The conveying direction of second conveyor 4 and
The conveying direction of one conveyer 3 is vertical, and the height of the 4th transporting flat is lower than the height of third transporting flat.
Three axis gantry robots 6, the mobile terminal of three axis gantry robots 6 are fixed with material grasping manipulator 5, three axis truss
Formula robot 6 is for driving material grasping manipulator 5 to move between the second transporting flat and third transporting flat.
Three axis gantry robots 6 have two first crossbeams, and two first crossbeams are parallel to each other and height is consistent, and two
The setting of root girder space, the first transporting flat, the second transporting flat and third transporting flat are located between two crossbeams and high
Degree is lower than the height of first crossbeam.The length direction of two first crossbeams is parallel with the conveying direction of chain scraper conveyor 1, and first is horizontal
Beam is provided along its length the first rack gear and the first sliding rail, and the direction that first crossbeam is arranged in the first rack gear and the first sliding rail is another
The side of a piece first crossbeam.
First sliding rail is equipped with the first sliding block 601, and the first sliding block 601 is slidably matched with the first sliding rail, two piece of first fixation
Plate 602 is fixedly connected with the first sliding block 601 on two the first sliding rails respectively.
Second cross beam 603, second cross beam 603 and first crossbeam are orthogonal and highly consistent.The two of second cross beam 603
End is fixedly connected with two piece of first fixed plate 602 respectively.
The first assembly through-hole, the length of first rotating shaft 604 and second cross beam 603 are offered in two piece of first fixed plate 602
Direction is parallel, and the both ends of first rotating shaft 604 are each passed through the first assembly through-hole, and the both ends of first rotating shaft 604 are each to be coaxially fixed with
One first gear 605, first gear 605 are meshed with the first rack gear of respective side.The shaft and first rotating shaft of first motor
604 is coaxial fixed.
Second cross beam 603 is provided along its length the second rack gear and the second sliding rail, and it is sliding that second is provided on the second sliding rail
Block 611, the second sliding block 611 are slidably matched with the second sliding rail.Second fixed plate 606 is fixedly connected with the second sliding block 611, and second is solid
The second assembly through-hole is also provided on fixed board 606, the second motor 607 is fixed on the side of the second fixed plate 606, second gear position
In the other side of the second fixed plate 606, second gear is engaged with the second rack gear, and the shaft of the second motor 607 passes through the second assembly
Hole is coaxially fixed with second gear.
First vertical bar 608 is arranged along the vertical direction, and the first vertical bar 608 is provided with third sliding rail and third along its length
Rack gear.
The side of second fixed plate 606 is equipped with third sliding block 609 and third gear, and third sliding block 609 and third sliding rail are sliding
Dynamic cooperation, third gear are engaged with third rack gear, and third assembly through-hole, third motor 610 are also provided in the second fixed plate 606
Positioned at the other side of the second fixed plate 606, it is coaxially solid that the rotation axis of third motor 610 passes through third pilot hole and third gear
It is fixed.
The bottom of first vertical bar 608 is the mobile terminal of three axis gantry robots 6.
The course of work of this three axis gantry robot 6 is as follows, when the shaft of first motor drives 604 turns of first rotating shaft
When dynamic, the first gear 605 being meshed with the first rack gear is rotated, thus length of the mobile terminal with mobile robot along first crossbeam
Spend direction movement.When the second gear rotation that the driving of the shaft of the second motor 607 is meshed with the second rack gear, the shifting of robot
Moved end is just driven to be moved along the length direction of second cross beam 603.When the shaft driving and third rack gear phase of third motor 610
When the third gear rotation of engagement, the first vertical bar 608 is driven to be moved along vertical direction, thus the mobile terminal with mobile robot
It moves along vertical direction.
Material grasping manipulator 5 includes grasping mechanism, and two grasping mechanisms are symmetrical about the first plane.
Grasping mechanism includes pedestal 501, hanging ring 502, connecting shaft 503, cylinder 504 and connecting plate 505, and hanging ring 502 includes
Cross bar and be respectively perpendicular two quarter butts that bending is connected to cross bar both ends, the central axis of cross bar is first axle, quarter butt from
External screw thread is equipped with by end, the free end of two quarter butts screws in the internal thread hole at 503 both ends of connecting shaft respectively and passes through nut lock
Fixed, the central axis of connecting shaft 503 is second axis.The lower part of pedestal 501 is fixed there are two bearing block 506, in bearing block 506
It is equipped with bearing, the inner ring and 503 close-fitting of connecting shaft of bearing；The top of pedestal 501 is fixed with the first trunnion base 507, cylinder 504
Cylinder body and the first trunnion base 507 is hinged and articulated shaft is third axis；The strip penetrated up and down is offered on pedestal 501
Through-hole 5101, for the length direction of long stripes through hole 5101 perpendicular to the first plane, connecting plate 505 passes through long stripes through hole 5101 simultaneously
And one end is hinged with the second trunnion base 508 and articulated shaft is parallel with first axle, second axis and third axis, connecting plate
505 other end is fixedly connected with connecting shaft 503, the end of the piston rod of cylinder 504 and the fixed company of the second trunnion base 508
It connects.
Locating plane is the second plane jointly for first axle and second axis, articulated shaft and second axis locating plane jointly
When shrinking completely for the piston rod of third plane, cylinder 504: the second plane is parallel with the first plane, and articulated shaft is relative to second
The first plane of axial line distance is farther out and the angle of the second plane and third plane is 30 °.
Manipulator further includes two third crossbeams 509 and flanged plate 510, and third crossbeam 509 is between two pedestals 501
Interval and be fixedly connected with two pedestals 501, two third crossbeams 509 are parallel and are fixedly connected with flanged plate 510.
The bottom of first vertical bar 608 is fixedly connected with flanged plate 510.
When in use, two piston rods of control cylinder 504 stretch out this material grasping manipulator 5, and connecting plate 505 drives connection
Axis 503 rotates, and two hanging rings 502 are opened to two sides, then manipulator is moved to the top of lead pig, then controls cylinder 504
Piston rod shrink, two hanging rings 502 are drawn close to centre, to clamp lead pig.The piston rod for controlling cylinder 504 again stretches out, and two
A hanging ring 502 is opened to two sides, can unclamp lead pig.
The course of work of entire lead pig feeding work station is as follows, and one layer (5 pieces) of lead pig are manually put carrier bar conveying
On first transporting flat of machine 1, the length direction of lead pig to be made and the conveying direction of chain scraper conveyor 1 are paid attention to when putting
It is perpendicular, and the placement position of lead pig will be located in the first limiting slot.Lead pig is transported to carrier bar localization machine by chain scraper conveyor 1
On 2 the second transporting flat, lead pig is located in the second limiting slot at this time, and after lead pig is blocked by baffle 202, baffle 202 can
The movement of lead pig is limited, so that lead pig rests on the second transporting flat of carrier bar conveying.Three axis gantry robots, 6 band at this time
Dynamic material grasping manipulator 5 moves to the top of lead pig, and after clamping 5 blocks of lead pigs, three axis gantry robots 6 drive robot movement to arrive
Lead pig is unclamped in the top of third transporting flat, and lead pig falls on third transporting flat, at this time the length direction of lead pig and first defeated
Send the length direction of machine 3 vertical.First conveyer 3 conveys lead pig to the direction of second conveyor 4, so that lead pig block-by-block is fallen on
On 4th transporting flat, the length direction of lead pig is consistent with the conveying direction of second conveyor 4 at this time.Second conveyor 4 is by lead
Ingot is transported in cold cut machine along its conveying direction.
Meanwhile the invention also discloses a kind of application method of lead pig feeding work station, following operating procedure is specifically included:
S1: lead pig is placed on the first transporting flat and lead pig is made to be located at the first limit by the 4th motor of starting and the 5th motor
In slot；
S2: lead pig is delivered to the second transporting flat and lead pig is kept to be located in the second limiting slot by chain scraper conveyor 1, to lead pig with
When baffle 202 contacts, the 5th motor is closed；
S3: it opens dynamic triaxial gantry robot 6 and drives material grasping manipulator 5 to the top of lead pig, the piston rod for controlling cylinder 504 is stretched
Out, and material grasping manipulator 5 is driven to fall to the height for being suitable for clamping lead pig；
S4: the piston rod of control cylinder 504 is withdrawn, and realizes the clamping to lead pig:
S5: it opens dynamic triaxial gantry robot 6 and material grasping manipulator 5 is driven to be moved to and need first corresponding to the cold cut machine of feeding
The top of the third transporting flat of conveyer 3；
S6: the piston rod of control cylinder 504 stretches out, so that lead pig is placed on third transporting flat；
S7: lead pig is delivered on the 4th transporting flat by the 6th motor of starting and the 7th motor, the first conveyer 3；
S8: lead pig is delivered in corresponding cold cut machine by second conveyor 4；
S9: S1 ~ S8 is repeated.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example
Point is included at least one embodiment or example of the invention.In the present specification, not to the schematic representation of the term
Centainly refer to identical embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be any
One or more embodiment or examples in can be combined in any suitable manner.
Taking the above-mentioned ideal embodiment according to the present invention as inspiration, through the above description, relevant staff is complete
Various changes and amendments can be carried out without departing from the scope of the technological thought of the present invention' entirely.The technology of this invention
Property range is not limited to the contents of the specification, it is necessary to which the technical scope thereof is determined according to the scope of the claim.
Claims (10)
1. a kind of lead pig feeding work station characterized by comprising
Chain scraper conveyor, the chain scraper conveyor have the first horizontal transporting flat, and first transporting flat is equipped with the
The length direction of one limiting slot, first limiting slot is consistent with the conveying direction of the chain scraper conveyor；
One end of the chain scraper conveyor is arranged in carrier bar localization machine, the carrier bar localization machine, and the carrier bar localization machine has water
The second flat transporting flat, second transporting flat and first transporting flat are in sustained height；Second conveying
One end far from first transporting flat of plane is equipped with baffle；Second transporting flat is equipped with the second limiting slot, institute
The length direction for stating the second limiting slot is consistent with the conveying direction of the carrier bar localization machine；The length direction of second limiting slot
Length direction with first limiting slot is along same straight line；
Multiple first conveyers, first conveyer have third transporting flat, the conveying direction of first conveyer with
The conveying direction of the chain scraper conveyor is parallel；
Second conveyor, each first conveyer side are equipped with a second conveyor, and first conveyer abuts
The side of the second conveyor is arranged, and the second conveyor has the 4th horizontal transporting flat, the second conveyor
Conveying direction it is vertical with the conveying direction of first conveyer, the height of the 4th transporting flat is defeated lower than the third
Send the height of plane；
Three axis gantry robots, the mobile terminal of the three axis gantry robot are fixed with material grasping manipulator, three axis purlin
Posture robot is for driving the material grasping manipulator to move between the second transporting flat and the third transporting flat；
The material grasping manipulator is for realizing the crawl and release to lead pig.
2. lead pig feeding work station as described in claim 1, it is characterised in that:
The material grasping machinery hand includes grasping mechanism, and two grasping mechanisms are symmetrical about the first plane；
The grasping mechanism includes hanging ring, connecting shaft, cylinder, connecting plate；
Hanging ring, the hanging ring include cross bar and respectively bending be connected to two quarter butts at cross bar both ends, the central axis of the cross bar
Line is first axle,
Connecting shaft, the both ends of the connecting shaft are fixedly connected with the free end of two quarter butts respectively, in the connecting shaft
Mandrel line is second axis, and the connecting shaft can be rotated by axis of third axis；
The cylinder body of cylinder, the cylinder can be rotated using the third axis for passing through itself as axis；
One end of connecting plate, the end of the piston rod of the cylinder and connecting plate is hinged and articulated shaft and the first axle,
Second axis is parallel with third axis, and the other end of the connecting plate is fixedly connected with connecting shaft；
Locating plane is the second plane jointly for the first axle and second axis, and the articulated shaft and second axis are jointly locating
Plane is third plane, and when the piston rod of the cylinder is shunk completely: second plane is parallel with the first plane, described hinged
Axis relative to the first plane of second axis distance farther out and the angle of second plane and third plane is 20 ° ~ 45 °.
3. lead pig feeding work station as claimed in claim 2, it is characterised in that: the grasping mechanism further includes pedestal and two
Bearing block, the bearing block are fixedly connected on the lower part of pedestal, are equipped with bearing in the bearing block, the inner ring of the bearing with
Connecting shaft close-fitting.
4. lead pig feeding work station as claimed in claim 3, it is characterised in that: the grasping mechanism further includes the first trunnion base
With the second trunnion base, first trunnion base is fixedly connected on the top of pedestal and, the cylinder hinged with the cylinder body of cylinder
The end of piston rod fixed with the second trunnion base, the long stripes through hole penetrated up and down, the strip are offered on the pedestal
The length direction of shape through-hole passes through the long stripes through hole and one end and second perpendicular to first plane, the connecting plate
Trunnion base is hinged.
5. lead pig feeding work station as claimed in claim 4, it is characterised in that: the material grasping manipulator further includes two thirds
Crossbeam and flanged plate, interval of the third crossbeam between two pedestals and are fixedly connected, two institutes with two pedestals
It states third crossbeam in parallel and is fixedly connected with the flanged plate.
6. lead pig feeding work station as described in claim 1, it is characterised in that:
The chain scraper conveyor includes that more parallel to each other and consistent first transmission shaft of height, the first transmission shaft level are put
It sets, the both ends of first transmission shaft are respectively provided with a first coaxial synchromesh gear, and two first chains distinguish winding
On the first synchromesh gear of the two sides of first transmission shaft；First carrier bar is mounted between two first chains, often
First positioning protrusion there are two being all provided on first carrier bar described in block；
The shaft of 4th motor is coaxially fixed with wherein one first transmission shaft.
7. lead pig feeding work station as described in claim 1, it is characterised in that:
The carrier bar localization machine includes two horizontally disposed second driving shafts, and two second driving shaft height are equal and mutual
Parallel, the both ends of the second driving shaft are respectively provided with a second coaxial synchromesh gear, two second chain difference
It being wound around on the second synchromesh gear of the second driving shaft two sides, the second carrier bar is mounted between two second chains,
Second positioning protrusion there are two being all provided on every block of second carrier bar；
The shaft of 5th motor is coaxially fixed with a wherein second driving shaft.
8. lead pig feeding work station as described in claim 1, it is characterised in that:
The three axis gantry robot have two first crossbeams, two first crossbeams it is parallel to each other and height one
It causes, two girder space settings, first transporting flat, the second transporting flat and the third transporting flat are located at two
Between crossbeam described in root and height is lower than the height of the first crossbeam；The length direction of two first crossbeams with it is described
The conveying direction of chain scraper conveyor is parallel, and the first crossbeam is provided along its length the first rack gear and the first sliding rail, described
The side towards another first crossbeam of the first crossbeam is arranged in first rack gear and first sliding rail；
First sliding rail is equipped with the first sliding block, and first sliding block is slidably matched with first sliding rail, and two piece first solid
Fixed board is fixedly connected with the first sliding block on two the first sliding rails respectively；
Second cross beam, the second cross beam and the first crossbeam are orthogonal and highly consistent；The two of the second cross beam
End is fixedly connected with two pieces of first fixed plates respectively；
The first assembly through-hole is offered in two pieces of first fixed plates；The length direction of first rotating shaft and the second cross beam is flat
Row, the both ends of the first rotating shaft are each passed through the first assembly through-hole, and the both ends of the first rotating shaft are each to be coaxially fixed with
One first gear, the first gear are meshed with first rack gear of respective side；The shaft of first motor and described the
One shaft is coaxially fixed；
The second cross beam is provided along its length the second rack gear and the second sliding rail, and it is sliding that second is provided on second sliding rail
Block, second sliding block are slidably matched with second sliding rail；Second fixed plate is fixedly connected with the second sliding block, and described second is solid
The second assembly through-hole is also provided on fixed board, the second motor is fixed on the side of second fixed plate, and second gear is located at institute
The other side of the second fixed plate is stated, the second gear is engaged with second rack gear, and the shaft of second motor passes through institute
The second pilot hole is stated coaxially to fix with the second gear；
First vertical bar is arranged along the vertical direction, and first vertical bar is provided with third sliding rail and third tooth along its length
Item；
The side of second fixed plate is equipped with third sliding block and third gear, and the third sliding block and the third sliding rail slide
Cooperation, the third gear are engaged with the third rack gear, and third assembly through-hole, third are also provided in second fixed plate
Motor is located at the other side of second fixed plate, and the rotation axis of the third motor passes through the third pilot hole and described the
Three gears are coaxially fixed；
The bottom of first vertical bar is the mobile terminal of the three axis gantry robot.
9. lead pig feeding work station as described in claim 1, it is characterised in that:
First conveyer include two third transmission shafts, the third transmission shaft axis horizontal setting and with the chain
The conveying direction of plate conveyer is vertical, and the both ends of the third transmission shaft are respectively provided with a coaxial third synchronizing wheel, and two
Root third belt is wound around respectively in the third synchronizing wheel of third transmission shaft two sides；
The shaft of 6th motor is coaxially fixed with the wherein one third transmission shaft；
The second conveyor includes more first rollers arranged side by side, the axis horizontal of first roller and with it is described
The conveying direction of chain scraper conveyor is parallel, the axis of first roller all in sustained height, each first roller
Two sides are respectively provided with a 4th coaxial synchromesh gear, and two the 4th chains are wound around first roller two sides respectively
On 4th synchromesh gear；
The shaft of 7th motor is coaxially fixed with the first roller described in one of them.
10. a kind of application method of lead pig feeding work station, it is characterised in that: specifically include following operating procedure:
S1: lead pig is placed on the first transporting flat and lead pig is made to be located at the first limit by the 4th motor of starting and the 5th motor
In slot；
S2: lead pig is delivered to the second transporting flat and lead pig is kept to be located in the second limiting slot by chain scraper conveyor, to lead pig with
When baffle contacts, the 5th motor is closed；
S3: opening dynamic triaxial gantry robot and drive material grasping manipulator to the top of lead pig, and the piston rod for controlling cylinder stretches out, and
Material grasping machinery subordinate is driven to drop down onto the height for being suitable for clamping lead pig；
S4: the piston rod for controlling cylinder is withdrawn, and realizes the clamping to lead pig:
S5: open dynamic triaxial gantry robot drive material grasping manipulator be moved to need corresponding to the cold cut machine of feeding it is first defeated
Send the top of the third transporting flat of machine；
S6: the piston rod for controlling cylinder stretches out, so that lead pig is placed on third transporting flat；
S7: lead pig is delivered on the 4th transporting flat by the 6th motor of starting and the 7th motor, the first conveyer；
S8: lead pig is delivered in corresponding cold cut machine by second conveyor；
S9: S1 ~ S8 is repeated.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910178897.XA CN109733827A (en) | 2019-03-11 | 2019-03-11 | A kind of lead pig feeding work station and its application method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910178897.XA CN109733827A (en) | 2019-03-11 | 2019-03-11 | A kind of lead pig feeding work station and its application method |
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| CN109733827A true CN109733827A (en) | 2019-05-10 |
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| CN201910178897.XA Pending CN109733827A (en) | 2019-03-11 | 2019-03-11 | A kind of lead pig feeding work station and its application method |
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