CN114074128A

CN114074128A - Automatic drawing equipment for metal bars

Info

Publication number: CN114074128A
Application number: CN202010828928.4A
Authority: CN
Inventors: 张良安; 刘俊; 王祥; 唐锴; 张成鑫
Original assignee: Hangzhou Qiandao Lake Ruichun Robot Research Institute Co ltd
Current assignee: Hangzhou Qiandao Lake Ruichun Robot Research Institute Co ltd
Priority date: 2020-08-18
Filing date: 2020-08-18
Publication date: 2022-02-22
Anticipated expiration: 2040-08-18
Also published as: CN114074128B

Abstract

An automatic drawing device for metal bars belongs to the technical field of automatic drawing devices and comprises a robot slideway, a pointing platform and a drawing platform which are arranged in parallel, wherein the robot slideway is arranged between the pointing platform and the drawing platform, and a placing frame for a to-be-processed product is arranged at one end of the pointing platform; two six-axis cooperative robots are mounted on the robot slide; the tip rolling platform comprises a tip rolling frame, a tip rolling clamping mechanism and a tip rolling mechanism, and the tip rolling mechanisms are respectively arranged at the end parts of the tip rolling frame; the point rolling clamping mechanism can be arranged on the point rolling guide rail in a sliding mode, the drawing platform comprises a drawing rack, a point rolling guide rail, two drawing mechanisms and a drawing clamping mechanism, the point rolling guide rail and the drawing guide rail are arranged in parallel with a robot slide rail, the drawing clamping mechanism is arranged along the drawing guide rail and can move along the drawing guide rail, the drawing clamping mechanism is located on the outer sides of the two drawing mechanisms, the drawing clamping mechanism is used for feeding metal bars into the two drawing mechanisms, and the two drawing mechanisms move relatively to draw the metal bars. The equipment can perform automatic pointing and automatic drawing on the metal bar.

Description

Automatic drawing equipment for metal bars

Technical Field

The invention belongs to the technical field of automatic drawing equipment, and particularly relates to automatic drawing equipment for metal bars.

Background

The automatic drawing equipment of current metal rod adopts the manual work to place drawing equipment with the both ends of treating the metalwork of drawing on, and the metal is drawn the in-process and is included both ends, and one end is the metal centre gripping stiff end, and the other end is the activity and draws the end, and the manual work is to drawing equipment unloading, and the cost of labor is high, cause the discontinuity of production easily, and product quality is uneven. The existing metal drawing is generally unidirectional drawing. The metal drawing adopts unidirectional drawing, so that the space occupied in the drawing direction in the drawing process is twice that of bidirectional drawing. In addition, for the metal bar with the finished product length larger than 10m and the diameter smaller than 4mm, the loading and unloading are very complicated by adopting a single worker, and two workers are generally required to perform cooperative operation. Traditional metal bar drawing equipment assists artifical semi-automatization operation, and production efficiency is low. For the unidirectional drawing of the bar with the size, the mechanical property of the metal bar is poor, and the thickness of the bar along the axial direction is not uniform, especially for cable products.

Disclosure of Invention

The invention provides automatic drawing equipment for metal bars, aiming at the technical problems, and the equipment can perform automatic pointing and automatic drawing on the metal bars.

The technical scheme adopted by the invention is as follows: the automatic drawing equipment for the metal bar comprises a to-be-machined product placing frame, a pointing platform, a drawing platform and a robot slide way, wherein the robot slide way, the pointing platform and the drawing platform are arranged in parallel, the robot slide way is arranged between the pointing platform and the drawing platform, and the to-be-machined product placing frame is arranged at one end of the pointing platform; two six-axis cooperative robots are mounted on the robot slide; the pointing platform comprises a pointing frame, a pointing clamping mechanism and at least one pointing mechanism, the pointing guide rail is arranged in parallel with the robot slideway, and the at least one pointing mechanism is respectively arranged at the end part of the pointing frame; the point rolling clamping mechanism can be arranged on the point rolling guide rail in a sliding mode, the drawing platform comprises a drawing frame, two drawing mechanisms and at least one drawing clamping mechanism, the two drawing guide rails are arranged on two sides of the drawing frame, the drawing guide rails are arranged in parallel with the robot slide rail, the drawing clamping mechanism is arranged along the drawing guide rails and can move along the drawing guide rails, the drawing clamping mechanism is located on the outer sides of the two drawing mechanisms, the drawing clamping mechanism is used for sending a metal bar to be drawn into the two drawing mechanisms, the two drawing mechanisms are respectively used for clamping two ends of the metal bar, one drawing mechanism is used for fixing one end of the metal bar, and the other drawing mechanism moves along the drawing guide rail.

Further, both the drawing mechanisms can move along the drawing guide rail.

Furthermore, the drawing mechanism comprises a drawing bottom plate and a clamping jaw air cylinder, the clamping jaw air cylinder is installed on the drawing bottom plate, the two clamping jaws are respectively installed at two output ends of the clamping jaw air cylinder, vertical clamping grooves are formed in the opposite inner sides of the clamping jaws, and the clamp is nested in the clamping grooves of the clamping jaws.

Furthermore, one clamp in the two drawing mechanisms is a split clamp, the other clamp is an integrated clamp, two ends of the split clamp are respectively nested in clamping grooves of the two clamping jaws, the inner sides of the split clamp are provided with circular arc grooves, two ends of the integrated clamp are respectively nested in the two clamping grooves, and a through hole is formed in the integrated clamp.

Furthermore, the number of the integrated clamp and the split type clamp is multiple, and the number of the integrated clamp and the number of the split type clamp are the same.

Furthermore, the number of the drawing clamping mechanisms is two, the two drawing clamping mechanisms are respectively positioned at the outer sides of the two drawing mechanisms, and the two drawing mechanisms are respectively used for conveying the metal bar to be drawn into the two drawing mechanisms from two sides.

Furthermore, the drawing and clamping mechanism comprises a second clamping sliding bottom plate, a force control mechanism and a clamping part, the lower end face of the second clamping sliding bottom plate is nested on the drawing guide rail through a sliding block, the force control sliding rail is arranged on the upper end face of the second clamping sliding bottom plate, the bottom of the clamping part is nested on the force control sliding rail through a sliding block, and the force control mechanism is arranged between the clamping part and the second clamping sliding bottom plate.

Furthermore, the number of the pointing mechanisms is two, and the two pointing mechanisms are respectively arranged at two ends of the pointing frame.

Further, the force control mechanism comprises a force control portion which is arranged in a two-way separated mode, the force control portion comprises a pressure sensor and a pressure spring, the pressure sensor is fixed to the clamping portion through a connecting plate, one end of the pressure spring is fixed to the second clamping sliding bottom plate, the other end of the pressure spring is opposite to the pressure sensor, the second air cylinder is fixed to the second clamping sliding bottom plate, the ejector rod is connected with a cylinder rod of the second air cylinder, and the ejector rod is arranged towards the pressure sensor.

Furthermore, the initial length of the metal bar is 1-2 m, the diameter of the metal bar is 15 mm-10 mm, the length of a finished product of the metal bar after drawing is 10-20 m, and the diameter of the finished product of the metal bar is 5 mm-2 mm.

Furthermore, the automatic metal bar drawing equipment is particularly suitable for cable type initiating explosive devices.

The invention has the following beneficial effects: (1) the automatic drawing device can realize the automatic drawing of the metal bar, can control the tension in the drawing process, and can monitor the drawing process in real time; (2) two pointing machines are arranged at two ends of the pointing frame, and the functions and the positions of the two drawing mechanisms can be interchanged, so that the metal bar does not need to be turned in the pointing process, and the metal bar can be continuously drawn for multiple times; (3) in the pointing process, the transverse moving mechanism drives the pointing machine to move along the direction vertical to the forming guide rail, so that the center of a roller way to be pointed in the pointing machine is coincided with the center of a pointing clamping mechanism, and the pointing quality is guaranteed; (4) the drawing driving mechanism drives the two drawing mechanisms to slide along the drawing guide rail, so that the metal bar can be drawn in two directions, and the stress state in the drawing in the traditional single direction is improved.

Drawings

FIG. 1 is a schematic top view of the overall structure of the apparatus of the present invention.

FIG. 2 is a schematic diagram of the structure of the robot slide and its upper parts in the apparatus of the present invention.

FIG. 3 is a schematic view of a partial structure of a rolling tip platform in the apparatus of the present invention.

FIG. 4 is a first view of a portion of the mechanism of the pulling platform and the upper member of the apparatus of the present invention.

Fig. 5 is a schematic structural diagram of the force control portion in fig. 4.

FIG. 6 is a second schematic view of a portion of the mechanism of the upper member and the drawing platform of the apparatus of the present invention.

In the figure: 1. placing a to-be-processed product rack; 2. drawing the platform; 2-1, drawing a guide rail; 2-2, drawing the frame; 3. a six-axis cooperative robot; 4. a pointing platform; 4-1. a tip rolling frame; 4-2, rolling a tip guide rail; 5. a robot slide; 5-1. a first motor; 5-2, a first rack; 5-3, sliding base; 5-4, robot guide rail; 6. a drawing drive mechanism; 7. a pointing mechanism; 7-1, a transverse moving mechanism; 7-2. a pointing machine; 8. a pinching and clamping mechanism; 8-1, a first sliding clamping bottom plate; 8-2. a second motor; 8-3, a bidirectional screw rod; 8-4, a connecting seat; 8-5, clamping block; 8-6, a support; 9. a drawing mechanism 9; 9-1, a clamping jaw cylinder; 9-2. a clamping jaw; 9-3, an integrated clamp; 9-4, drawing the bottom plate; 9-5, a split type clamp; 10. a drawing and clamping mechanism; 10-1. a second sliding clamping base plate; 10-2. a clamping part; 10-3. force control mechanism; 1001. a pressure spring; 1002. a pressure sensor; 1003. a second cylinder; 1004. a force-controlled slide rail; 11. a jacking mechanism.

Detailed Description

As shown in fig. 1-6, the automatic drawing device for metal bars comprises a to-be-processed product placing frame 1, a pointing platform 4, a drawing platform 2 and a robot slideway 5, wherein the robot slideway 5, the pointing platform 4 and the drawing platform 2 are arranged in parallel, the robot slideway 5 is arranged between the pointing platform 4 and the drawing platform 2, and the to-be-processed product placing frame 1 is arranged at one end of the pointing platform 4; two six-axis cooperative robots 3 are mounted on a robot slide 5; the pinching platform 4 comprises a pinching rack 4-1, a pinching clamping mechanism 8 and at least one pinching mechanism 7, wherein the pinching guide rail 4-2 is arranged in parallel with the robot slideway 5, and the pinching clamping mechanism 8 is arranged on the pinching guide rail 4-2 in a sliding manner. The pinching clamping mechanism 8 is used for clamping a workpiece to be pinched and then sending the workpiece to the pinching mechanism 7 for pinching.

Six axis cooperation robots 3 are used for handling the material between waiting to process article rack 1, rolling sharp platform 4 and drawing platform 2, and the length of metal rod is less at first, and when the diameter is thick relatively, the snatching of material can be accomplished to single six axis cooperation robots 3, after drawing for several times, the length of metal rod increases gradually, especially is greater than 5 meters at length, in order to reduce hanging and improvement handling efficiency of handling in-process metal rod sets up two six axis cooperation robots 3 and carries the metal rod in coordination.

As shown in fig. 2, a six-axis cooperative robot 3 is arranged on a robot slideway 5 through a rack-and-pinion mechanism, the robot slideway 5 comprises a robot frame, a robot guide rail 5-4 and a first rack 5-2, the robot guide rail 5-4 and the first rack 5-2 are arranged on the robot frame in parallel, the lower end face of a sliding base 5-3 is nested on the robot guide rail 5-4 through a sliding block, a first motor 5-1 is vertically and downwards arranged on the sliding base 5-3, the output end of the first motor 5-1 is arranged through the sliding base 5-3, a gear is arranged at the output end of the first motor 5-1, the first motor 5-1 drives the gear to rotate, the gear is meshed with the first rack 5-2, so as to convert the rotation of the first motor 5-1 into linear motion, the lower end of the sliding base 5-3 is fixedly connected with a sliding block which is nested on the robot guide rail 5-4, and the gear is meshed with the first rack 5-2 to drive the sliding base 5-3 and the upper part thereof to move along the robot guide rail 5-4.

The gear rack mechanism is adopted to drive the clamping to slide along the robot guide rail 5-4, so that the space occupied by the seventh shaft drive of the robot can be reduced, and preferably, the pointing clamping mechanism 8 realizes the sliding along the pointing guide rail 4-2 through the gear rack mechanism.

As shown in FIG. 3, the pointing mechanism 7 includes a support cross frame, a traversing mechanism 7-1 is installed on the upper end face of the support cross frame, and a pointing machine 7-2 is installed on the output end of the traversing mechanism 7-1. The pointing machine 7-2 is provided with a plurality of pointing roller ways and can point bars with various specifications, the traversing mechanism 7-1 drives the pointing machine 7-2 to move along the direction vertical to the pointing guide rail 4-2, and the center of the roller way used by a pointing in the pointing machine 7-2 every time is adjusted to be collinear with the pointing clamping mechanism 10, so that the same feeding position of the pointing clamping mechanism 10 every time is ensured.

As shown in FIG. 3, the pinching gripping mechanism 8 includes a first sliding gripping base plate 8-1, and the first sliding gripping base plate 8-1 drives the first sliding gripping base plate 8-1 and the upper member thereof to slide along the drawing guide rail 2-1 through a rack-and-pinion mechanism. The lower ends of two support seats 8-6 are fixedly arranged on the upper end surface of a first sliding clamping bottom plate 8-1, two ends of a bidirectional screw rod 8-3 are arranged in the two support seats 8-6 through bearings, the output end of a second motor 8-2 drives one end of the bidirectional screw rod 8-3 to rotate, so that the second motor 8-2 drives the bidirectional screw rod 8-3 to rotate, two connecting seats 8-4 are respectively arranged on two sections of the bidirectional screw rod 8-3 with different rotation directions through screw rod nuts, two clamping blocks 8-5 are respectively fixed on the upper parts of the opposite inner sides of the two connecting seats 8-4, the opposite end surfaces of the two clamping blocks 8-5 are provided with grooves, and the second motor 8-2 drives the two clamping blocks 8-5 to mutually approach or separate. With the increase of the drawing times, the diameter of the metal bar is gradually reduced, and the second motor 8-2 adjusts the distance between the two clamping blocks 8-5 to adapt to clamping the metal bars with different diameters.

Along with the increase of drawing number of times, the increase of metal rod length, the work piece hangs the increase, sets up climbing mechanism 11 between the two sides are rolled sharp guide rail 4-2, and climbing mechanism 11 includes that a plurality of intervals set up mutually independent jacking module, and a plurality of jacking modules set up along the direction parallel arrangement of robot slide 5. The jacking modules move independently to support the metal soft upper on the jacking modules. The jacking module comprises a straight cylinder and a jacking plate, the straight cylinder is fixed on the frame 4-1 of the pointing machine 7-2, the jacking plate is installed at the output end of the straight cylinder, and two sides of the jacking plate are provided with flanges protruding upwards, so that the swing of metal bars is reduced.

The six-axis cooperative robot 3 carries the metal bar to the pointing platform 4, the pointing clamping mechanism 8 sends one end of the workpiece to be processed into a roller way of the pointing machine 7-2, and after pointing is finished, the pointing clamping mechanism 8 takes the workpiece to be processed out of the pointing machine 7-2 to wait for the six-axis cooperative robot 3 to grab.

As shown in FIG. 4, the drawing platform 2 comprises a drawing frame 2-2, two drawing mechanisms 9 and at least one drawing clamping mechanism 10, wherein the drawing guide rails 2-1 are arranged at two sides of the drawing frame 2-2, the drawing guide rails 2-1 are arranged in parallel with the robot slideway 5, the drawing clamping mechanism 10 is arranged along the drawing guide rails 2-1 and can move along the same, preferably, the drawing clamping mechanism 10 slides along the drawing guide rails 2-1 through a rack-and-pinion mechanism, the drawing clamping mechanism 10 is arranged at the outer sides of the two drawing mechanisms 9, the drawing clamping mechanism 10 is used for feeding the metal bar to be drawn into the two drawing mechanisms 9, the two drawing mechanisms 9 are respectively used for clamping two ends of the metal bar, one drawing mechanism 9 is used for fixing one end of the metal bar, and the other drawing mechanism 9 moves along the drawing guide rail 2-1.

The drawing mechanism 9 comprises a drawing bottom plate 9-4 and a clamping jaw air cylinder 9-1, the lower end face of the drawing bottom plate 9-4 is nested on the drawing guide rail 2-1 through a sliding block, the drawing mechanism further comprises two drawing driving mechanisms 6, the two drawing driving mechanisms 6 are respectively used for driving the two drawing mechanisms 9 to slide along the drawing guide rail 2-1, each drawing driving mechanism 6 comprises a rotating motor and a synchronous belt transmission mechanism, one side of the drawing bottom plate 9-4 is fixedly connected with a synchronous belt, and the rotating motor drives the drawing bottom plate 9-4 to slide along the drawing guide rail 2-1 through the synchronous belt transmission mechanisms. The two drawing mechanisms 9 can move along the drawing guide rails 2-1 and can move along the drawing guide rails, so that bidirectional drawing can be realized in a single drawing process. The clamping jaw cylinder 9-1 is arranged on the drawing bottom plate 9-4, the two clamping jaws 9-2 are respectively arranged at two output ends of the clamping jaw cylinder 9-1, vertical clamping grooves are formed in the opposite inner sides of the clamping jaws 9-2, and the clamp is nested in the clamping grooves of the clamping jaws 9-2. The clamp is embedded in the clamping jaw 9-2 through the clamping groove, so that the six-axis cooperative robot 3 can conveniently replace the drawing mechanism 9 with a mold. On the other hand, the six-axis cooperative robot 3 can realize the interchanging of the jigs in the two drawing mechanisms 9. In order to stabilize the movement of the clamping jaws, the upper end face of the drawing bottom plate 9-4 is provided with a sliding groove perpendicular to the drawing direction, the lower end face of the clamping jaw 9-2 is placed in the sliding groove, and the clamping jaw air cylinder 9-1 drives the clamping jaw 9-2 to relatively slide in the sliding groove.

One clamp of the two drawing mechanisms 9 is a split clamp 9-5, the other clamp is an integrated clamp 9-3, two ends of the split clamp 9-5 are respectively embedded in clamping grooves of the two clamping jaws 9-2, arc grooves are formed in the opposite inner sides of the split clamp 9-5, two ends of the integrated clamp 9-3 are respectively embedded in the two clamping grooves, and a through hole is formed in the integrated clamp 9-3.

The clamping jaw cylinder 9-1 drives the clamping jaws 9-2 to approach each other, namely, drives the two split type clamps 9-5 to approach each other, the drawing and clamping mechanism 8 clamps one side of a metal bar to be drawn, which is close to a point rolling section, and sequentially passes through the split type clamps 9-5 through the integrated type clamps 9-3, one end of the metal bar is reduced in length and diameter after the action of a point rolling machine, the drawing mechanism 9 where the split type clamps 9-5 are located clamps the point rolling section of the metal bar, the diameter of a non-point rolling section of the metal bar is larger and cannot pass through the integrated type clamps 9-3, so that the integrated type clamps 9-3 play a clamping role on the metal bar, a through hole in the integrated type clamps 9-3 is a round hole, the clamping mode does not limit the moving freedom degree of the metal bar along the axial direction of the through hole and the rotating freedom degree of the metal bar around the axial direction of the through hole, thereby in the drawing process, the metal bar can rotate around the axis of the metal bar to relieve the stress state in the drawing process.

As shown in fig. 4, the clamp further comprises a plurality of integrated clamps 9-3 and a plurality of split clamps 9-5, the apertures of the through holes in the plurality of integrated clamps 9-3 are arranged in a ladder manner, the apertures of the arc grooves of the plurality of split clamps 9-5 are arranged in a ladder manner, and the aperture of the split clamp 9-3 used in a matched manner is larger than that of the arc groove of the integrated clamp 9-3. The integrated type metal bar drawing machine is provided with a plurality of integrated clamps 9-3 and split type clamps 9-5, and the six-axis cooperative robot 3 replaces the clamps with different apertures for the drawing mechanism 9, so that the metal bar can be continuously drawn for a plurality of times. In order to reduce the movement stroke of the six-axis cooperative robot 3, the clamp is fixed on the drawing bottom plate 9-4, so that the six-axis cooperative robot 3 can conveniently grab.

The number of the drawing clamping mechanisms 10 is two, the drawing clamping mechanisms 10 are respectively located on the outer sides of the two drawing mechanisms 9, namely the two drawing mechanisms 9 are located between the two drawing clamping mechanisms, and the two drawing mechanisms 9 are respectively used for sending metal bars to be drawn into the two drawing mechanisms 9 from two sides. The clamp in the drawing mechanism 9 is embedded through the vertical clamping groove, and the six-axis cooperative robot 3 can replace the clamp in the drawing mechanism 9. The two ends of the metal bar are alternately sharpened, the integrated clamp in the drawing mechanism 9 is replaced by a split clamp suitable for the aperture, the split clamp in the drawing mechanism 9 is replaced by an integrated clamp suitable for the aperture, and the drawing clamping mechanism 10 at the other end sequentially penetrates through the split clamps 9-5 from one side of the metal bar to be drawn, which is close to the sharpening section, through the integrated clamps 9-3 from the other side, so that the two ends of the metal bar can be alternately drawn.

In order to avoid the turning of the metal bar in the pointing process, the number of the pointing mechanisms 7 is two, and the two pointing mechanisms 7 are respectively arranged at two ends of the pointing frame 4-1; set up two and roll sharp mechanism 7 and can roll the point respectively to the both ends of metal rod, can avoid the problem that metal rod turned to in the point process of rolling.

The drawing clamping mechanism 10 comprises a second sliding clamping bottom plate 10-1, a force control mechanism 10-3 and a clamping part 10-2, preferably, the structure of the clamping part 10-2 is the same as that of the pinching clamping mechanism 8, the lower end face of the second clamping sliding bottom plate 10-1 is nested on the drawing guide rail 2-1 through a sliding block, a force control sliding rail 1004 is arranged on the upper end face of the second clamping sliding bottom plate 10-1, the bottom of the clamping part 10-2 is nested on the force control sliding rail 1004 through a sliding block, and the force control mechanism 10-3 is arranged between the clamping part 10-2 and the second clamping sliding bottom plate 10-1.

The force control mechanism 10-3 comprises a force control portion which is arranged in a two-way separated mode, the force control portion comprises a pressure sensor 1002 and a pressure spring 1001, the pressure sensor 1002 is fixed on the second clamping mechanism through a connecting plate, one end of the pressure spring 1001 is fixed on the clamping sliding bottom plate, the other end of the pressure spring 1001 is opposite to the pressure sensor 1002, the second air cylinder 1003 is fixed on the clamping sliding bottom plate, the ejector rod is connected with a cylinder rod of the second air cylinder 1003, and the ejector rod is arranged towards the pressure sensor 1002. The second cylinder 1003 drives the ejector rod to extend out, one end of the ejector rod props against the connecting plate, and the pressure spring 1001 and the pressure sensor 1002 are controlled not to be in contact with each other, so that the force control portion does not play a role. The force control part which is arranged in a two-way separated mode can detect the two-way acting force along the straight line where the drawing is located, and the drawing force can be detected in the two-way drawing process.

In the initial state, the two drawing mechanisms 9 are close to each other, the clamps in the two drawing mechanisms 9 are integrated clamps 9-3, the clamp in the other drawing mechanism 9 is a split clamp 9-5, the six-axis cooperative robot 3 carries the metal bar to the drawing clamping mechanism 10 close to the drawing mechanism 9 where the integrated clamp 9-3 is located, the drawing clamping mechanism 10 sends the rolling tip of the workpiece to be processed into the drawing mechanism 9 through the integrated clamp 9-3 and the split clamp 9-5 in sequence, the clamping jaw cylinder 9-1 drives the split type clamp 9-5 to mutually approach and clamp the rolled tip end of the metal bar, the two drawing mechanisms 9 move relatively to draw the workpiece, preferably, in the single drawing process, the drawing mechanism 9 where the integrated clamp 9-3 is located moves along the drawing guide rail 2-1, and the drawing mechanism 9 is the other drawing mechanism. In the drawing process, the drawing clamping mechanism 10 for clamping the metal bar clamps and monitors the tension in the drawing process, when the tension exceeds a preset value, the drawing clamping mechanism 10 is temporarily released, and then the clamping is continued.

Along with the increase of the drawing times, the length of the metal bar is increased, the suspension of the workpiece is increased, the jacking mechanisms 11 are arranged between the drawing guide rails 2-1 on the two sides, each jacking mechanism 11 comprises a plurality of mutually independent jacking modules arranged at intervals, and the jacking modules are arranged in parallel along the direction of the robot slideway 5. The jacking modules move independently to support the metal soft upper on the jacking modules. The jacking module comprises a straight cylinder and a jacking plate, the straight cylinder is fixed on the drawing frame 2-2, the jacking plate is installed at the output end of the straight cylinder, and two sides of the jacking plate are provided with folding edges protruding upwards, so that metal bars are reduced from shaking.

The device has the following action processes: A. the metal bars are arranged in the rack 1 for the articles to be processed in order; B. a single six-axis cooperative robot 3 grabs a metal bar and places the metal bar into a pointing clamping mechanism 8, and the pointing clamping mechanism 8 sends one end of the metal bar into a pointing machine 7-2; C. after pointing, the pointing clamping mechanism 8 drives the metal bar to withdraw from the pointing machine 7-2, and the six-axis cooperative robot 3 grabs one end of the metal bar from the pointing clamping mechanism 8; D. in an initial state, the two drawing mechanisms 9 are close to each other, the six-axis cooperative robot 3 places the metal bar into the drawing and clamping mechanism 10, the drawing and clamping mechanism 10 sends the metal bar into the drawing mechanism 9 where the split type clamp 9-5 is located from the drawing mechanism 9 where the integrated clamp 9-3 is located, and the drawing mechanism 9 clamps the rolled tip end of the metal bar; E. the drawing mechanism 9 for clamping the rolled tip end is fixed, and the drawing mechanism 9 on the other side moves relatively; F. after the single drawing is finished, the two drawing mechanisms 9 approach each other, the drawing mechanisms 9 release the rolled tip, and the rolled tip clamping mechanism 8 takes out the metal bar in the opposite direction of feeding; G. the six-axis cooperative robot 3 takes down the metal bar from the force control clamping mechanism and rolls the other end of the metal bar to be pointed; G. after pointing, the metal bar is placed into another drawing and clamping mechanism 10, clamps in the two drawing mechanisms 9 are exchanged, the drawing and clamping mechanism 10 is sent into the drawing mechanism 9 where the split type clamps 9-5 are located from the drawing mechanism 9 where the integrated type clamps 9-3 are located, and the drawing mechanism 9 clamps the pointed end of the metal bar; and E-G, repeating the steps in sequence until the single metal bar is rolled to be pointed.

With the increase of the drawing times of a single metal bar and the increase of the length of the metal bar, the two six-axis cooperative robots 3 work cooperatively to carry materials between the drawing clamping mechanism 10 and the pointing clamping mechanism 8.

The metal bar drawing equipment is suitable for drawing metal bars, particularly small metal bars, for example, the metal bars are 1-2 m in initial length and 15-10 mm in diameter, the metal bars are 10-30 m in finished product length and 5-2 mm in diameter after being drawn, and the diameter of the finished metal bars is preferably the same. The length of the intermediate finished product of the traditional cable initiating explosive device is 20m, and the maximum transverse width of the bar is less than 4mm, so that the cable initiating explosive device is particularly suitable for cable products.

The invention has been described above with reference to the accompanying drawings, it is obvious that the invention is not limited to the specific implementation in the above-described manner, and it is within the scope of the invention to apply the inventive concept and solution to other applications without substantial modification.

Claims

1. The automatic drawing equipment for the metal bar is characterized by comprising a to-be-processed product placing frame (1), a pointing platform (4), a drawing platform (2) and a robot slide way (5), wherein the robot slide way (5), the pointing platform (4) and the drawing platform (2) are arranged in parallel, the robot slide way (5) is arranged between the pointing platform (4) and the drawing platform (2), and the to-be-processed product placing frame (1) is arranged at one end of the pointing platform (4); two six-axis cooperative robots (3) are arranged on the robot slide way (5); the pointing platform (4) comprises a pointing rack (4-1), a pointing clamping mechanism (8) and at least one pointing mechanism (7), a pointing guide rail (4-2) is arranged in parallel with the robot slideway (5), and the at least one pointing mechanism (7) is respectively arranged at the end part of the pointing rack (4-1); the device comprises a pointing clamping mechanism (8), a drawing platform (2), a robot slide way (5), two drawing mechanisms (10), at least one drawing clamping mechanism (10), two drawing guide ways (2-1), two drawing mechanisms (2-2) and at least one drawing clamping mechanism (10), wherein the pointing clamping mechanism (8) can be arranged on the pointing guide way (4-2) in a sliding manner, the two drawing guide ways (2-1) are arranged on two sides of the drawing platform (2-2), the drawing guide ways (2-1) are arranged in parallel with the robot slide way (5), the drawing clamping mechanism (10) is arranged along the drawing guide ways (2-1) and can move along the drawing guide ways, the drawing clamping mechanism (10) is positioned outside the two drawing mechanisms, the drawing clamping mechanism (10) is used for sending metal bars to be drawn into the two drawing mechanisms (9), the two drawing mechanisms (9) are respectively used for clamping two ends of the metal bars, one drawing mechanism (9) is used for fixing one end of the metal bars, the other drawing mechanism (9) moves along the direction of the drawing guide rail (2-1).

2. Automatic drawing apparatus for metal bars according to claim 1, characterised in that both drawing mechanisms (9) are movable along a drawing rail (2-1).

3. The automatic drawing apparatus for metal bars according to claim 1, characterised in that said drawing mechanism (9) comprises a drawing base plate (9-4) and a clamping jaw cylinder (9-1), the clamping jaw cylinder (9-1) being mounted on the drawing base plate (9-4), the two clamping jaws (9-2) being mounted respectively at the two outputs of the clamping jaw cylinder (9-1), the opposite inner sides of the clamping jaws (9-2) being opened with vertical clamping slots, said clamps being nested in the clamping slots of the clamping jaws (9-2).

4. The automatic drawing equipment for metal bars according to claim 3, characterized in that one of the two drawing mechanisms (9) is a split clamp (9-5) and the other is an integrated clamp (9-3), the two ends of the split clamp (9-5) are respectively nested in the slots of the two clamping jaws (9-2), the opposite inner sides of the split clamp (9-5) are provided with circular arc grooves, the two ends of the integrated clamp (9-3) are respectively nested in the two slots, and the integrated clamp (9-3) is provided with through holes.

5. The automatic drawing apparatus for metal bars according to claim 4, characterised in that said integral clamps (9-3) and split clamps (9-5) are provided in a number, said integral clamps (9-3) being the same number as the split clamps (9-5).

6. Automatic drawing equipment for metal bars according to any of the claims from 2 to 5, characterised in that the number of drawing grippers (10) is two, two drawing grippers (10) being located outside of the two drawing means, respectively, two drawing means (10) being used to feed the metal bar to be drawn into the two drawing means (9) from both sides, respectively.

7. The automatic drawing apparatus for metal bars according to claim 6, characterised in that said drawing clamping means (10) comprise a second clamping shoe (10-1), a force control means (10-3) and a clamping portion (10-2), the lower end face of the second clamping shoe (10-1) being nested on the drawing rail (2-1) by means of slides, the force control slide (1004) being arranged on the upper end face of the second clamping shoe (10-1), the bottom of the clamping portion (10-2) being nested on the force control slide (1004) by means of slides, the force control means (10-3) being arranged between the clamping portion (10-2) and the second clamping shoe (10-1).

8. The automatic drawing apparatus for metal bars according to claim 6, characterised in that said pointing devices (7) are provided in two in number, two pointing devices (7) being provided at each end of the pointing frame (4-1).

9. The automatic drawing apparatus for metal bars according to claim 8, characterized in that said force control mechanism (10-3) comprises a force control part set two-way apart, the force control part comprises a pressure sensor (1002) and a pressure spring (1001), the pressure sensor (1002) is fixed on the clamping part (10-2) through a connecting plate, one end of the pressure spring (1001) is fixed on the second clamping sliding bottom plate (10-1), the other end of the pressure spring (1001) is opposite to the pressure sensor (1002), a second cylinder (1003) is fixed on the second clamping sliding bottom plate (10-1), a push rod is connected with the rod of the second cylinder (1003), and the push rod is set towards the pressure sensor (1002).

10. The automatic drawing apparatus for metal bars according to claim 1, characterised in that said metal bar has an initial length of 1-2 m and a diameter of 15 mm-10 mm, and the finished product of said metal bar after drawing has a length of 10-20 m and a diameter of 5 mm-2 mm.