CN110733861A - full-automatic pipe part feeding system based on parallelogrammic combination - Google Patents
full-automatic pipe part feeding system based on parallelogrammic combination Download PDFInfo
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- CN110733861A CN110733861A CN201911095193.2A CN201911095193A CN110733861A CN 110733861 A CN110733861 A CN 110733861A CN 201911095193 A CN201911095193 A CN 201911095193A CN 110733861 A CN110733861 A CN 110733861A
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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
- B65G47/02—Devices for feeding articles or materials to conveyors
- B65G47/04—Devices for feeding articles or materials to conveyors for feeding articles
- B65G47/06—Devices for feeding articles or materials to conveyors for feeding articles from a single group of articles arranged in orderly pattern, e.g. workpieces in magazines
- B65G47/08—Devices for feeding articles or materials to conveyors for feeding articles from a single group of articles arranged in orderly pattern, e.g. workpieces in magazines spacing or grouping the articles during feeding
- B65G47/084—Devices for feeding articles or materials to conveyors for feeding articles from a single group of articles arranged in orderly pattern, e.g. workpieces in magazines spacing or grouping the articles during feeding grouping articles in a predetermined 2-dimensional pattern
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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
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
- B65G47/915—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers provided with drive systems with rotary movements only
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/02—Articles
- B65G2201/0276—Tubes and pipes
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Feeding Of Articles To Conveyors (AREA)
Abstract
The invention discloses an full-automatic pipe part feeding system based on parallel parallelogram combination, which comprises a material storing mechanism, a feeding mechanism, a power mechanism, a feeding mechanism, an electrical control system and a pipe material aligning mechanism, wherein the feeding mechanism comprises a fixed mechanism and a movable mechanism, the movable mechanism is connected with a fixed load rack of the fixed mechanism through four bearing supporting seats, the fixed mechanism is fixed on a base supporting rack through a plurality of bolts, the movable mechanism comprises a movable load rack and a movable plate, the feeding mechanism is a movable mechanical arm, the pipe material aligning mechanism comprises an aligning cylinder, a buffer head, a pipe material caching support frame, an aligning baffle plate and a baffle sliding table, the aligning cylinder, the pipe material caching support frame and the baffle sliding table are fixedly connected on the base supporting rack, and the pneumatic control system comprises an electrical cabinet.
Description
Technical Field
The invention relates to a pipe part feeding system, in particular to an full-automatic pipe part feeding system based on parallel parallelogram combination.
Background
The pipe part feeding device has the advantages that the feeding position cannot be aligned, so that accurate feeding cannot be achieved, manual intervention is needed, equipment can be damaged, and the requirement for automatic feeding of materials with different sizes cannot be met.
Disclosure of Invention
In order to solve the problems, the invention provides full-automatic pipe part feeding systems capable of automatically feeding different sizes of tubular materials.
In order to achieve the purpose, the invention is realized by the following technical scheme:
the invention relates to an full-automatic pipe part feeding system based on parallel parallelogram combination, which comprises a material storage mechanism, a feeding mechanism, a power mechanism, a feeding mechanism, an electrical control system and a pipe material aligning mechanism;
the material storage mechanism comprises a discharging groove on the base support frame;
the feeding mechanism comprises a fixed mechanism and a movable mechanism, the movable mechanism is connected with a fixed load rack of the fixed mechanism through four bearing supporting seats, the fixed mechanism is fixed on a base supporting rack through a plurality of bolts, the movable mechanism comprises a movable load rack and a movable plate, the movable plate is fixed on the movable load rack through a movable plate supporting shaft, the movable mechanism is driven by a power mechanism, the power mechanism is driven by two groups of parallelogram four-bar mechanisms which are connected in parallel, the parallelogram four-bar mechanisms are driven by a power cylinder,
the feeding mechanism is a movable mechanical arm, an air cylinder gripper is mounted at the top end of the mechanical arm, a sliding guide rail is mounted on a base support rack, a sliding table air cylinder drives a movable sliding table to slide back and forth on the sliding guide rail, the mechanical arm and a balancing weight are mounted on the movable sliding table through a shaft and a sliding table bearing support seat, power of the feeding mechanism is provided by a servo motor driver, a servo motor and a speed reducer, and the servo motor drives the mechanical arm to rotate through a coupling connecting shaft;
the pipe material aligning mechanism comprises an aligning cylinder, a buffer head, a pipe material caching support frame, an aligning baffle and a baffle sliding table, wherein the aligning cylinder, the pipe material caching support frame and the baffle sliding table are fixedly connected to the base support frame, and the aligning baffle is arranged on the baffle sliding table;
the electric control system comprises an electric appliance cabinet, and the electric appliance cabinet controls the power cylinder, the servo motor and the sliding table cylinder to operate.
The improvement of is that the fixing mechanism comprises a fixed load frame fixed on the base support frame by bolts, a plurality of fixed plates and a plurality of fixed plate support shafts, wherein the fixed plates are fixed on the fixed plate support shafts, and the fixed plate support shafts are fixed on the fixed load frame.
The improvement of steps is that the parallelogram four-bar mechanism comprises a power cylinder, a small crank, a big crank, a connecting rod crank and a crank supporting shaft.
The improvement of the present invention in step is that the tube buffering support frame corresponding to the top of the feeding mechanism has tube sensing sensor.
A further improvement is that the fixed and movable plates are each provided with a plurality of steps.
The improvement of the invention in step is that a proximity switch for setting the origin of the mechanical arm is arranged at the left end of the movable sliding table.
The invention has the advantages that the parallelogram four-bar mechanism realizes reciprocating motion through the driving of the power air rod, the feeding mechanism finishes the conveying of bars when the power air cylinder finishes reciprocating motions, the stress direction is changed by utilizing the lever principle F1XL1= F2XL2 so as to achieve the same action effect, so that the relative position between the air cylinder and the frame can be effectively and reasonably arranged, the occupation of space is reduced as much as possible, a plurality of steps are respectively arranged on the movable plate and the fixed plate, when the power air rod extends to the longest stroke state, the movable plate step crosses the fixed plate second step, a pipe obliquely rolls down under the action of gravity, stops at the movable plate corner, the contraction and extension of the power air cylinder are the working process of the power mechanism, when the movable plate lifts the pipe to the uppermost step of the fixed plate, the pipe is continuously lifted times to drive the pipe to the pipe caching support frame, the detection sensor detects the existence of the pipe gripper, the cylinder starts to operate, the buffer arm grabs the pipe, the servo motor starts to work, the servo motor rotates to set the position to stop rotating, the motor to rotate to set the position to drive the pipe storage cylinder to the pipe storage cylinder, the pipe storage arm, the servo-storage cylinder, the servo motor to stop the servo motor to adjust the mechanical pipe-feeding mechanism, the gripper to the mechanical pipe-feeding stop to the gripper to the mechanical pipe-storage cylinder, the gripper to-storage cylinder, the mechanical pipe-storage cylinder, the gripper-storage cylinder to-storage cylinder, the mechanical-storage cylinder to-storage cylinder to-storage cylinder, the mechanical-storage tube-storage cylinder to-storage cylinder, the mechanical-storage-.
The automatic pipe feeding device is simple in structure and reasonable in design, and can automatically feed pipes with different diameters, automatically align the pipes and ensure accurate feeding position.
Drawings
FIG. 1 is a schematic diagram of the present invention.
Fig. 2 is a side view of the present invention.
Fig. 3 is a schematic view of the movable mechanism.
Fig. 4 is a top view of the present invention.
FIG. 5 is a state diagram of types of pipe materials according to the present invention.
FIG. 6 is another state diagrams of the tube material of the present invention.
Wherein: 1-material storage mechanism, 2-fixed plate, 3-movable plate, 4-shaft, 5-servo motor driver, 6-electric appliance cabinet, 7-power cylinder, 8-large crank, 9-fixed load frame, 10-base support frame, 11-bolt, 12-bearing support seat, 13-small crank, 14-connecting rod, 15-cylinder gripper, 16-tube material buffer support frame, 17-mechanical arm, 18-movable sliding table, 19-sliding guide rail, 20-sliding table cylinder, 21-counterweight block, 22-crank support shaft, 23-fixed plate support shaft, 24-movable plate support shaft, 25-flush cylinder, 26-buffer head and 27-flush baffle.
Detailed Description
For the purpose of enhancing understanding of the present invention, the present invention will be described in detail with reference to the following examples and drawings, which are provided for the purpose of illustration only and do not limit the scope of the present invention.
As shown in fig. 1-6, the invention is a full-automatic pipe part feeding system based on parallelograms combination, comprising a stock mechanism 1, a feeding mechanism, a power mechanism, a feeding mechanism, an electric control system and a pipe material head aligning mechanism;
the material storage mechanism 1 comprises a discharging groove on a base support frame 10;
the feeding mechanism comprises a fixed mechanism and a movable mechanism, the movable mechanism is connected to a fixed load rack 9 of the fixed mechanism through four bearing supporting seats 12, the fixed mechanism is fixed on a base supporting rack 10 through a plurality of bolts 11, the movable mechanism comprises a movable load rack and a movable plate 3, the movable plate 3 is fixed on the movable load rack through a movable plate supporting shaft 24, the movable mechanism is driven by a power mechanism, the power mechanism is driven by two groups of parallelogram four-bar mechanisms which are connected in parallel, and the parallelogram four-bar mechanisms are driven through a power cylinder 7;
the feeding mechanism is a movable mechanical arm, an air cylinder gripper is installed at the top end of the mechanical arm, a sliding guide rail 19 is installed on a base support rack 10, a sliding table air cylinder 20 drives a movable sliding table 18 to slide back and forth on the sliding guide rail 19, the mechanical arm and a balancing weight 21 are installed on the movable sliding table 18 through a shaft 4 and a sliding table bearing support seat, power of the feeding mechanism is provided by a servo motor driver 5, a servo motor and a speed reducer, and the servo motor drives the mechanical arm to rotate through a coupling connecting shaft; the balancing weight 21 plays a role in balancing the gravity of the mechanical arm 17, the cylinder gripper 15 and the pipe material,
the tube material alignment mechanism comprises an alignment cylinder 25, a buffer head 26, a tube material cache support frame 16, an alignment baffle 27 and a baffle sliding table, wherein the alignment cylinder 25, the tube material cache support frame 16 and the baffle sliding table are fixedly connected to the base support frame 10, the alignment baffle 27 is installed on the baffle sliding table, and a detection sensor for sensing a tube material is arranged on the tube material cache support frame 15 corresponding to the uppermost end of the feeding mechanism;
the electric control system comprises an electric appliance cabinet 6, a start button, an indicator light and an emergency stop button are arranged on the electric appliance cabinet 6, and the electric appliance cabinet controls the operation of the power cylinder 7, the servo motor and the sliding table cylinder 20.
The fixing mechanism comprises a fixed load rack 9, a plurality of fixed plates 2 and a plurality of fixed plate supporting shafts 23 which are fixed on a base supporting rack 10 through bolts 11, the plurality of fixed plates 2 are fixed on the plurality of fixed plate supporting shafts 23, and the plurality of fixed plate supporting shafts 23 are fixed on the fixed load rack 9.
The parallelogram four-bar mechanism comprises a power cylinder, a small crank 3, a large crank 8, a connecting rod 14, a connecting rod crank and a crank supporting shaft 22, wherein a movable load frame consists of the crank supporting shaft 22, the small crank 3, the large crank 8 and a movable plate supporting shaft 24, the small crank 3 and the large crank 8 are fixedly connected with the crank supporting shaft 22 through key slots and are connected with the movable plate supporting shaft 24 through shaft sleeves, and the movable load frame can rotate relatively, two ends of the crank supporting shaft 22 are fixed on the fixed load frame 9 through bearing supporting seats 12, the parallelogram four-bar mechanism is powered through the power cylinder 7 so as to drive the movable load frame to move, so that a pipe is driven to the ladder of the fixed plate 2 from the material storage mechanism 1 and is conveyed upwards to the pipe buffering supporting frame 16, after a detection sensor senses the pipe, the power cylinder 7 stops stretching, the head aligning cylinder 25 stretches to drive the buffering head 26 to push the pipe, the other end of the pipe is contacted with the head aligning baffle 27, the head aligning cylinder 25 is contracted to the original position, the mechanical arm rotates under the drive of the servo motor, the pneumatic hand 15 is aligned with the pipe and clamps the sliding table to rotate on the sliding table 19, and drives the sliding table to continue to rotate,
the electric control system drives the feeding mechanism by controlling the power cylinder 7, the contraction and extension of the power cylinder 7 are realized by controlling the power on and off of the th electromagnetic valve, the mechanical arm 17 is driven by a servo motor, the left end of the movable sliding table 18 is provided with a proximity switch to set the original point of the mechanical arm, the original point position is the gripping position of a pipe, the steering and rotating angle of the mechanical arm 17 is realized by a set pulse, the feeding mechanism is driven by the sliding table cylinder 20, the contraction and extension of the sliding table cylinder 20 are realized by the power on and off of the second electromagnetic valve, the pipe aligning mechanism is driven by the aligning cylinder, the contraction and extension of the aligning cylinder are realized by the power on and off of the third electromagnetic valve, the detection sensor is the proximity switch, the clamping and releasing of the air rod hand gripper 15 are realized by the power on and off of the fourth electromagnetic valve, the original point position of the mechanical arm is that the mechanical arm 17 returns to the gripping position corresponding to the pipe material support frame 16, and the gripper 15 is in the releasing state, the original point of the power cylinder 7 is that the contraction position of the sliding table cylinder 20, the original point of the sliding table is 25.
The whole control process is that a pneumatic button is pressed down, the pneumatic button is ready to press a home position returning button on an electric appliance cabinet, a servo motor starts to act and rotates anticlockwise until a proximity switch acts, the servo motor rotates reversely to return to the home position, when a pipe exists on a pipe buffering support plate 16, a sensor acts, a third electromagnetic valve is electrified, a flush cylinder 25 extends, time delay is carried out for 2S, the third electromagnetic valve is powered off, the flush cylinder 25 contracts, time delay is carried out for 2S, a fourth electromagnetic valve is powered on, a cylinder gripper 15 clamps the pipe, the time delay is carried out for 2S, the servo motor obtains signals to rotate clockwise, a second electromagnetic valve is powered on, a sliding table cylinder 20 contracts after the sliding table cylinder rotates to the home position, the fourth electromagnetic valve is powered off, the gripper 15 releases the pipe and returns to the home position, when no pipe exists on the pipe buffering support plate 16, the detection sensor does not act, a electromagnetic valve is powered on, the time delay is carried out for 2S, a solenoid valve is powered off, the power cylinder 15 contracts, time delay is carried out, the sensor acts until the pipe buffering support plate 16 does not act, the mechanical arm 17.
The automatic pipe feeding device is simple in structure and reasonable in design, and can automatically feed pipes with different diameters, automatically align the pipes and ensure accurate feeding position.
Claims (7)
- The full-automatic pipe part feeding system based on parallel parallelogram combination is characterized by comprising a material storage mechanism (1), a feeding mechanism, a power mechanism, a feeding mechanism, an electrical control system and a pipe material head aligning mechanism;the material storage mechanism (1) comprises a discharging groove on a base support rack (10);the feeding mechanism comprises a fixing mechanism and a movable mechanism, the movable mechanism is connected to a fixed load rack (9) of the fixing mechanism through four bearing supporting seats (12), the fixing mechanism is fixed on the base supporting rack (10) through a plurality of bolts (11), the movable mechanism comprises a movable load rack and a movable plate (3), the movable plate (3) is fixed on the movable load rack through a movable plate supporting shaft (24), the movable mechanism is driven by a power mechanism, the power mechanism is driven by two groups of parallelogram four-bar mechanisms which are connected in parallel, and the parallelogram four-bar mechanisms are driven through a power cylinder (7);the feeding mechanism is a movable mechanical arm, an air cylinder gripper is installed at the top end of the mechanical arm, a sliding guide rail (19) is installed on the base support rack (10), a sliding table air cylinder (20) drives a movable sliding table (18) to slide back and forth on the sliding guide rail (19), the mechanical arm and a balancing weight (21) are installed on the movable sliding table (18) through a shaft (4) and a sliding table bearing support seat, power of the feeding mechanism is provided by a servo motor driver (5), a servo motor and a speed reducer, and the servo motor drives the mechanical arm to rotate through a coupling connecting shaft;the pipe material aligning mechanism comprises an aligning cylinder (25), a buffer head (26), a pipe material caching support frame (16), an aligning baffle (27) and a baffle sliding table, wherein the aligning cylinder (25), the pipe material caching support frame (16) and the baffle sliding table are fixedly connected to the base support frame (10), and the aligning baffle (27) is installed on the baffle sliding table;the electric control system comprises an electric appliance cabinet (6), wherein the electric appliance cabinet (6) controls the operation of the power cylinder (7), the servo motor and the sliding table cylinder (20).
- 2. The full-automatic pipe part feeding system based on parallel parallelogram combination according to claim 1, wherein the fixing mechanism comprises the fixed load frame (9) fixed on the base support frame (10) through bolts (11), a plurality of fixed plates (2) and a plurality of fixed plate support shafts (23), the plurality of fixed plates (2) are fixed on the plurality of fixed plate support shafts (23), and the plurality of fixed plate support shafts (23) are fixed on the fixed load frame (9).
- 3. The full-automatic pipe part feeding system based on parallel parallelogram combination according to claim 2, characterized in that the parallelogram four-bar mechanism comprises a power cylinder, a small crank (3), a large crank (8), a connecting rod (14), a connecting rod crank and a crank supporting shaft (22).
- 4. The full-automatic pipe part feeding system based on parallelogram combination of claim 3, wherein a detection sensor for sensing the pipe is arranged on the pipe buffer support frame (15) corresponding to the uppermost end of the feeding mechanism.
- 5. The full-automatic pipe part feeding system based on parallel parallelogram combination according to claim 4, characterized in that the movable load rack consists of a crank support shaft (22), a small crank (3), a large crank (8) and a movable plate support shaft (24), wherein the small crank (3) and the large crank (8) are fixedly connected with the crank support shaft (22) through key slots and connected with the movable plate support shaft (24) through shaft sleeves, and can rotate relatively therebetween.
- 6. The full-automatic pipe part feeding system based on parallelogram combination as claimed in any of claims 2-5 to , wherein a plurality of steps are provided on both the fixed plate and the movable plate.
- 7. The full-automatic pipe part feeding system based on parallel parallelogram combination of claim 6, wherein a proximity switch for setting the origin of the mechanical arm (17) is arranged at the left end of the movable sliding table (18).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911095193.2A CN110733861A (en) | 2019-11-11 | 2019-11-11 | full-automatic pipe part feeding system based on parallelogrammic combination |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911095193.2A CN110733861A (en) | 2019-11-11 | 2019-11-11 | full-automatic pipe part feeding system based on parallelogrammic combination |
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| Publication Number | Publication Date |
|---|---|
| CN110733861A true CN110733861A (en) | 2020-01-31 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911095193.2A Pending CN110733861A (en) | 2019-11-11 | 2019-11-11 | full-automatic pipe part feeding system based on parallelogrammic combination |
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| CN (1) | CN110733861A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111453347A (en) * | 2020-04-08 | 2020-07-28 | 许春芳 | Anti-inclination one-by-one feeding mechanism and sleeve processing equipment thereof |
| CN114604573A (en) * | 2022-03-29 | 2022-06-10 | 浙江金马逊机械有限公司 | Full-automatic caching loading and unloading device for header long pipe elbow and discharging method thereof |
-
2019
- 2019-11-11 CN CN201911095193.2A patent/CN110733861A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111453347A (en) * | 2020-04-08 | 2020-07-28 | 许春芳 | Anti-inclination one-by-one feeding mechanism and sleeve processing equipment thereof |
| CN111453347B (en) * | 2020-04-08 | 2021-11-19 | 名客(山东)智能制造有限公司 | Anti-inclination one-by-one feeding mechanism and sleeve processing equipment thereof |
| CN114604573A (en) * | 2022-03-29 | 2022-06-10 | 浙江金马逊机械有限公司 | Full-automatic caching loading and unloading device for header long pipe elbow and discharging method thereof |
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