CN114516519B - Loading and unloading system and method for intelligent processing of copper bars - Google Patents
Loading and unloading system and method for intelligent processing of copper bars Download PDFInfo
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- CN114516519B CN114516519B CN202111649482.XA CN202111649482A CN114516519B CN 114516519 B CN114516519 B CN 114516519B CN 202111649482 A CN202111649482 A CN 202111649482A CN 114516519 B CN114516519 B CN 114516519B
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- copper bar
- skip
- copper
- longitudinal
- gripper
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G35/00—Mechanical conveyors not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
- B65G43/08—Control devices operated by article or material being fed, conveyed or discharged
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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
- B65G47/914—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers provided with drive systems incorporating rotary and rectilinear movements
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P10/00—Technologies related to metal processing
- Y02P10/20—Recycling
Abstract
The invention discloses a loading and unloading system for intelligent processing of copper bars, which comprises a copper bar skip, a truss manipulator body, a vacuum chuck system and a control device, wherein the copper bar skip is connected with the truss manipulator body; the copper bar skip comprises bottom supporting feet, x-axis transverse guide rails, skip supporting plates and a cross beam bin, wherein the bottom supporting feet stably support the skip, the x-axis transverse guide rails are arranged on the bottom supporting feet in an erected mode, and the skip supporting plates are arranged on the x-axis transverse guide rails in an erected mode and can slide on the x-axis transverse guide rails under the driving of external force; the vacuum chuck system comprises a fan, a vertical connecting rod, a chuck, a valve group and a claw assembly for preventing copper bars from falling off; the fan is arranged on the longitudinal moving beam and connected with the longitudinal cylinder through an air pipe, and the sucker is connected with the longitudinal cylinder through a vertical connecting rod; the control device is used for controlling the actions of the copper bar skip, the truss manipulator body and the action components of the vacuum chuck system; the automatic feeding and discharging can be realized, the copper bar is not damaged, does not fall or lose, the whole process of the identity of the copper bar can be searched, and the safety is high.
Description
Technical Field
The invention belongs to the field of copper bar processing, and particularly relates to a loading and unloading system and method for intelligent copper bar processing.
Background
In the production and processing of a large-scale generator, the processing of a rotor winding belongs to main processing steps, but the rotor winding length of motors of different types is large in variation span (2 m-10 m) so as to realize the feeding and discharging requirements of the intelligent copper bar production line on different lengths and different types of copper bars, and a feeding and discharging method and system for the intelligent copper bar processing are designed.
At present, in the existing processing production line, manual operation is mainly used in feeding of copper bars and circulation of stations, and travelling crane lifting and transportation are mainly used.
In the process, the labor intensity of workers is high, copper bars with different types and sizes are obtained by manual naked eye identification or measuring tool measurement, and misjudgment is easy to generate to cause loss.
Disclosure of Invention
The invention aims to provide a loading and unloading method and a loading and unloading system matched with an unmanned intelligent copper bar production line, which are used for solving the problems that in the prior art, manual carrying is high in labor intensity, the surface of a copper bar is easily scratched, a porous copper bar cannot be normally grabbed, and different types of copper bars are manually misjudged.
In order to achieve the aim, the invention relates to a loading and unloading system for intelligent copper bar processing, which comprises a copper bar skip, a truss manipulator body, a vacuum chuck system and a control device;
the copper bar skip comprises bottom supporting feet, x-axis transverse guide rails, skip supporting plates and cross beam bins, wherein the bottom supporting feet stably support the skip, the x-axis transverse guide rails are arranged on the bottom supporting feet in an erected mode, the skip supporting plates are arranged on the x-axis transverse guide rails in the erected mode and can slide on the x-axis transverse guide rails under the driving of external force, and the cross beam bins are multiple and are uniformly and independently arranged on the skip supporting plates in a strip shape along the transverse direction; the two ends of the beam bin are provided with material blocking columns capable of separating the bins, the material blocking columns are provided with adjusting sleeves for adjusting the placement positions of the copper bars, each adjusting sleeve comprises a sleeve body sleeved on each material blocking column and a photoelectric detection baffle integrally connected with the lower end of the sleeve body, a pair of photoelectric correlation sensors are arranged on the outer sides of the beam bin at the outermost end, and the photoelectric detection baffles can block the light paths of the photoelectric correlation sensors;
the truss manipulator body comprises transverse trusses which are erected on the left side and the right side of the copper bar skip, and longitudinal trusses which are connected with the transverse trusses and are positioned above the copper bar skip, transverse guide rails are arranged on the transverse trusses on the left side and the right side, and longitudinal moving beams are erected on the transverse guide rails on the left side and the right side and can slide on the transverse guide rails under the drive of external force; the Z-axis lifting driving device is arranged on the longitudinal moving beam, and the lifting end of the Z-axis lifting driving device is fixedly connected with a longitudinal cylinder positioned at the lower end of the longitudinal moving beam;
the vacuum chuck system comprises a fan, a vertical connecting rod, a chuck, a valve group and a claw assembly for preventing copper bars from falling off; the fan is arranged on the longitudinal moving beam and connected with the longitudinal cylinder through an air pipe, and the sucker is connected with the longitudinal cylinder through a vertical connecting rod;
the control device is used for controlling the actions of the copper bar skip, the truss manipulator body and the action components of the vacuum chuck system.
Further, the X-axis transverse guide rail is provided with a gear rack which is matched with a servo motor on the skip support plate, so that the skip can be driven to any accurate position in the stroke.
Further, a boss is further arranged on the beam bin.
Further, longitudinal beam driving devices are arranged at the left end and the right end of the longitudinal moving beam, and the longitudinal beam driving devices are gear rack transmission servo motors.
Further, the tail end of the outer side of the sucker is also provided with a code scanning device, and a code scanning camera of the code scanning device is just aligned with a bar code on the copper bar.
Further, the paw assembly comprises a paw driving device, a paw connecting rod and a paw, wherein the paw driving device is fixedly arranged on the lower end face of the longitudinal cylinder, the output end of the paw driving device is connected with the paw connecting rod, the other end of the paw connecting rod is connected with the paw, the paw is L-shaped, and when the paw connecting rod is driven by the paw driving device to act, the lower end of the paw is driven to rotate inwards or outwards, so that the copper bar is prevented from falling.
Further, an elastic buffer assembly is further arranged between the vertical connecting rod and the sucker, and the elastic buffer assembly comprises a buffer base plate arranged at the lower end of the vertical connecting rod and a buffer spring connected with the buffer base plate and the sucker.
Furthermore, the whole sucking disc is in a cuboid shape, and a plurality of rows of small air suction holes are formed in the lower end of the sucking disc.
In general, the above technical solutions conceived by the present invention, compared with the prior art, enable the following beneficial effects to be obtained:
(1) According to the loading and unloading system for intelligent processing of the copper bars, the whole product conveying process is completed through the cooperation of the automatic loading and unloading trolley and the truss robot, and the copper bars are prevented from being damaged, dropped and lost.
(2) According to the feeding and discharging system for intelligent processing of the copper bars, provided by the invention, the sucking disc with a plurality of small holes is adopted, so that the grabbing effect on the porous copper bars is ensured.
(3) According to the loading and unloading system for intelligent copper bar processing, the bar code system is utilized to identify the identity of the copper bar, so that the whole process can be tracked.
(4) According to the feeding and discharging system for intelligent processing of the copper bars, the adjusting sleeve is arranged, so that the operation position of the copper bars is guaranteed, and the safety is improved through the photoelectric detection baffle plate on the adjusting sleeve.
Drawings
FIG. 1 is a schematic view of the whole structure of a preferred embodiment of the present invention;
FIG. 2 is a schematic view of the partial structure at A in FIG. 1;
FIG. 3 is a schematic view of the partial structure at B in FIG. 1;
FIG. 4 is a schematic view of a partial structure at a dotted line in FIG. 3;
FIG. 5 is a schematic view of the partial structure at C in FIG. 1;
FIG. 6 is a schematic view of a portion of a dam according to a preferred embodiment of the present invention;
FIG. 7 is a schematic view of the cooperation of the retaining post and the adjustment sleeve according to the preferred embodiment of the present invention;
FIG. 8 is a schematic view of an adjusting sleeve according to a preferred embodiment of the present invention;
fig. 9 is a schematic structural view of a suction cup according to a preferred embodiment of the present invention.
Like reference numerals denote like technical features throughout the drawings, in particular: 1-bottom supporting leg, 2-transverse guide rail, 3-skip supporting plate, 4-cross beam bin, 5-transverse truss, 6-transverse guide rail, 7-longitudinal truss, 8-longitudinal beam driving device, 9-longitudinal moving beam, 10-Z axis lifting driving device, 11-longitudinal cylinder, 12-material blocking column, 13-adjusting sleeve, 131-sleeve body, 132-photoelectric detection baffle, 14-photoelectric correlation sensor, 15-nonferrous metal sensor, 16-boss, 17-fan, 18-vertical connecting rod, 19-sucker, 20-valve group, 21-drop detection sensor, 22-paw assembly, 221-paw driving device, 222-paw connecting rod, 223-paw, 24-metal detection sensor, 25-air pressure sensor, 26-copper bar, 27-elastic buffer assembly, 271-buffer pad and 272-buffer spring.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention. In addition, the technical features of the embodiments of the present invention described below may be combined with each other as long as they do not collide with each other.
Referring to fig. 1-2 and fig. 5-8, the invention specifically relates to a loading and unloading system for intelligent processing of copper bars, which comprises a copper bar skip, a truss manipulator body, a vacuum chuck system and a control device;
the copper bar skip comprises a bottom supporting leg 1, an x-axis transverse guide rail 2, a skip supporting plate 3 and a cross beam storage bin 4, wherein the bottom supporting leg 1 stably supports the trolley, the x-axis transverse guide rail 2 is erected on the bottom supporting leg 1, the skip supporting plate 3 is erected on the x-axis transverse guide rail 2 and can slide on the x-axis transverse guide rail under the driving of external force, and specifically, a gear rack is arranged on the x-axis transverse guide rail 2 and matched with a servo motor on the skip supporting plate 3, so that the skip can be driven to any accurate position in a stroke.
The plurality of beam bins 4 are uniformly and independently arranged on the skip support plate 3 along the transverse direction in a strip shape; the independent arrangement can be convenient for replacement and maintenance; the both ends of crossbeam feed bin 4 are provided with can separate the fender stock column 12 of each feed bin, fender stock column 12 is equipped with the adjustment sleeve 13 of adjusting the placement position of copper bar, adjustment sleeve 13 is including can overlap sleeve body 131 on keeping off the stock column and with sleeve body lower extreme an organic whole be connected photoelectric detection baffle 132, the outside of the crossbeam feed bin of outer end is equipped with a pair of photoelectric correlation sensor 14, photoelectric detection baffle 132 can block photoelectric correlation sensor's light path, can restrict the placement position of copper bar after the adjustment sleeve installation and make copper bar arrange the position of placing relatively in the center, the copper bar of different specifications corresponds the adjustment sleeve of different thickness, take off adjustment sleeve 13 after the copper bar is put, detect its existence state by side photoelectric correlation sensor 14 simultaneously, in order to avoid forgetting to take off and cause the trouble.
The truss manipulator body comprises transverse trusses 5 which are erected on the left side and the right side of the copper bar skip, and longitudinal trusses 7 which are connected with the transverse trusses 5 and are positioned above the copper bar skip, transverse guide rails 6 are arranged on the transverse trusses 5 on the left side and the right side, and longitudinal movable beams 9 are erected on the transverse guide rails 6 on the left side and the right side and can slide on the transverse guide rails 6 under the driving of external force; the longitudinal moving beam 9 is of a truss structure with a hollowed middle part, a Z-axis lifting driving device 10 is arranged on the longitudinal moving beam, and the lifting end of the Z-axis lifting driving device 10 is fixedly connected with a longitudinal cylinder 11 positioned at the lower end of the longitudinal moving beam;
referring to fig. 3-4, the vacuum chuck system includes a blower 17, a vertical connecting rod 18, a chuck 19, a valve block 20, and a claw assembly 22 for preventing copper bars from falling; the fan 17 is arranged on the longitudinal moving beam 9 and is connected with the longitudinal cylinder 11 through an air pipe, and the sucker 19 is connected with the longitudinal cylinder 11 through a vertical connecting rod 18; the sucking disc 19 is wholly rectangular, and its lower extreme sets up the multirow aperture of breathing in, and the structure setting of multirow aperture of breathing in has guaranteed even foraminiferous copper bar, and sucking disc 19 still can have sufficient suction to inhale it, can also cover the sponge on the aperture of breathing in, also opens the aperture on the sponge, with the position one-to-one of aperture of breathing in, plays sealed effect, also can slow down the impact force with the copper bar, prevents the copper bar damage.
The control device is used for controlling the actions of the copper bar skip, the truss manipulator body and the action components of the vacuum chuck system.
Longitudinal beam driving devices 8 are arranged at the left end and the right end of the longitudinal beam 9, and the longitudinal beam driving devices 8 are gear rack transmission servo motors.
The paw assembly 22 comprises a paw driving device 221, a paw connecting rod 222, a paw 223 and a paw vertical driving device 224, wherein the paw driving device 221 is fixedly arranged on the lower end face of the longitudinal air cylinder 11, the output end of the paw driving device 221 is connected with the paw connecting rod 222, the other end of the paw connecting rod 222 is connected with the paw 223, the paw 223 is L-shaped, and when the paw connecting rod is driven to act by the paw driving device 221, the lower end of the paw 223 is driven to rotate inwards or outwards so as to play a role in preventing the copper bar from falling; the pawl vertical drive 224 is used to control the vertical height of the pawl 223 (i.e., retract the pawl upward when the pawl is not in use).
Example 2:
unlike embodiment 1, an elastic buffer assembly 27 is further disposed between the vertical connecting rod 18 and the suction cup 19, and the elastic buffer assembly 27 includes a buffer pad 271 disposed at the lower end of the vertical connecting rod and a buffer spring 272 connected to the buffer pad and the suction cup, so as to slow down the impact force when the suction cup contacts with the copper bar, and avoid the damage of the copper bar.
Example 3:
the difference from embodiment 1 is that the outer end of the sucker 19 is further provided with a code scanning device 23, the code scanning camera of the code scanning device is just aligned to the bar code on the copper bar, and the bar code system is used for identifying the identity of the copper bar so as to realize the full process and the investigation.
The beam bin 4 is further provided with bosses 16 made of channel steel, the copper bars can be pressed down and cannot be pulled out due to direct feeding of the lifting belts by using manual feeding, and a certain number of bosses 16 are arranged on the bin and can provide gaps between supporting bosses and bosses for the copper bars for taking out the lifting belts.
The loading and unloading method of the loading and unloading system for intelligent processing of the copper bars comprises the following steps:
step 1, when copper bars 26 (or other materials) are needed to be supplemented to a production line in a factory, a manual feeding instruction is sent from a control device or a feeding button outside a safety door is pressed, and the control device judges that a skip car automatically moves to a manual feeding position (the same discharging process);
step 2, after the adjusting sleeve 13 is placed on the material blocking column, an operator uses a travelling crane to discharge copper into a storage bin, takes out the adjusting sleeve 13 after the placement is completed, and inputs a copper bar batch at a control device. Then the control device sends instructions to enable the copper bar skip to move from the manual feeding position to the truss feeding position;
and 3, after the truss material loading level is reached, the system detects whether copper bars of each bin are detected by a photoelectric correlation sensor 14 arranged at the tail end of the longitudinal direction of the crossbeam bin, whether the adjusting sleeve is taken out or not so as to determine whether the grabbing condition is met, after the grabbing condition is met, the truss manipulator moves above the copper bars to conduct code scanning operation material identification, the control device can compare the copper bar codes with copper bar data required in a processing database, and if the material is not required, the truss manipulator can grab the material to a blanking bin and then scan the next copper bar.
Step 4, when the material is confirmed to be correct, the fan is started to pump the air cylinder to negative pressure, meanwhile, the vacuum chuck system is slowly pressed down until the metal detection sensor 24 reacts to indicate that the copper bar is attached to the chuck, then the valve group 20 corresponding to the chuck is opened to enable the interior of the corresponding chuck to become negative pressure to absorb the copper bar, when the air pressure sensor 25 on the chuck shows that the pressure reaches to indicate that the copper bar is normally absorbed, and then the manipulator is lifted to a certain height;
step 5, after the fact that the copper bar does not fall is determined by the falling detection sensor 21 (for example, a sensor which can adopt a laser ranging principle), the claw assembly 22 starts to pack the copper bar and the sucker to prevent the copper bar from falling down caused by the pressure loss due to abnormal conditions, then the longitudinal moving beam 9 moves to a station appointed by the control device, the protective claw of the claw assembly 22 is loosened at a certain distance above the station, the speed is lowered until the nonferrous metal sensor 15 is lightened, at the moment, the copper bar is indicated to be normally placed on the station, at the moment, the fan 17 is subjected to pressure relief, the cylinder loses pressure with the sucker, the copper bar is separated from the sucker 19, and then the longitudinal moving beam 9 moves to an initial position and informs the control device to complete placement and wait for the next grabbing;
and 6, when the fact that the control device appoints to grasp the copper bars in the bin is detected, reporting the copper bars to the control device and automatically going to the next bin for recognition and grasping of the copper bars.
It will be readily appreciated by those skilled in the art that the foregoing description is merely a preferred embodiment of the invention and is not intended to limit the invention, but any modifications, equivalents, improvements or alternatives falling within the spirit and principles of the invention are intended to be included within the scope of the invention.
Claims (6)
1. The feeding and discharging system for the intelligent processing of the copper bars is characterized by comprising a copper bar skip, a truss manipulator body, a vacuum chuck system and a control device for controlling system action components;
the copper bar skip comprises bottom supporting feet (1), an x-axis transverse guide rail (2) erected on the bottom supporting feet (1), a skip supporting plate (3) and a cross beam stock bin (4); the skip support plate (3) is arranged on the x-axis transverse guide rail (2) in a erected mode and can slide on the x-axis transverse guide rail under the drive of external force, a plurality of cross beam bins (4) are arranged on the skip support plate (3) uniformly and independently along the transverse direction in a strip shape; the two ends of the beam bin (4) are provided with material blocking columns (12) capable of separating the bins, the material blocking columns (12) are provided with adjusting sleeves (13) for adjusting the placement positions of copper bars, each adjusting sleeve (13) comprises a sleeve body (131) which can be sleeved on each material blocking column and a photoelectric detection baffle (132) which is integrally connected with the lower end of the sleeve body, a pair of photoelectric correlation sensors (14) are arranged on the outer sides of the beam bin at the outermost ends, and the photoelectric detection baffles (132) can block the light paths of the photoelectric correlation sensors;
the truss manipulator body comprises transverse trusses (5) which are erected on the left side and the right side of the copper bar skip, and longitudinal trusses (7) which are connected with the transverse trusses (5) and are positioned above the copper bar skip, transverse guide rails (6) are arranged on the transverse trusses (5) on the left side and the right side, and longitudinal moving beams (9) are erected on the transverse guide rails (6) on the left side and the right side and can slide on the transverse guide rails (6) under the driving of external force; the Z-axis lifting driving device (10) is arranged on the longitudinal moving beam (9), and the lifting end of the Z-axis lifting driving device (10) is fixedly connected with a longitudinal cylinder (11) positioned at the lower end of the longitudinal moving beam;
the vacuum sucker system comprises a fan (17), a vertical connecting rod (18), a sucker (19), a valve group (20) and a claw assembly (22) for preventing copper bars from falling; the fan (17) is arranged on the longitudinal moving beam (9) and is connected with the longitudinal cylinder (11) through an air pipe, and the sucker (19) is connected with the longitudinal cylinder (11) through a vertical connecting rod (18); the whole sucker (19) is in a cuboid shape, a plurality of rows of air suction holes are arranged at the lower end of the sucker, a sponge is covered on the air suction holes, and the sponge is also provided with holes which are in one-to-one correspondence with the positions of the air suction holes;
the gripper assembly (22) comprises a gripper driving device (221), a gripper connecting rod (222), a gripper (223) and a gripper vertical driving device (224), wherein the gripper driving device (221) is fixedly arranged on the lower end face of the longitudinal air cylinder (11), the output end of the gripper driving device (221) is connected with the gripper connecting rod (222), the other end of the gripper connecting rod (222) is connected with the gripper (223), the gripper (223) is L-shaped, and when the gripper connecting rod is driven by the gripper driving device (221), the lower end of the gripper (223) is driven to rotate inwards or outwards to play a role in preventing the copper bar from falling; the paw vertical driving device (224) is used for controlling the vertical height of the paw (223);
the feeding and discharging method for the intelligent processing of the copper bars by the feeding and discharging system comprises the following steps of:
step 1, in a factory, when copper bars (26) are required to be supplemented to a production line, a manual feeding instruction is sent from a control device or a feeding button outside a safety door is pressed, and the control device judges that a skip car automatically moves to a manual feeding position;
step 2, an operator places the adjusting sleeve (13) on a material blocking column, then uses a travelling crane to discharge copper into a storage bin, takes out the adjusting sleeve (13) after placing is completed, and inputs copper bar batches at a control device; then the control device sends instructions to enable the copper bar skip to move from the manual feeding position to the truss feeding position;
step 3, after the truss feeding level is reached, the system detects whether copper bars of each bin exist or not through a photoelectric correlation sensor (14) arranged at the tail end of the longitudinal direction of a cross beam bin, and whether an adjusting sleeve is taken out or not so as to determine whether a grabbing condition is met, after the grabbing condition is met, a truss manipulator moves to the upper part of the copper bars to perform code scanning operation, a control device can compare the copper bar codes with copper bar data required by a processing database, and if the material is not required, the truss manipulator grabs the material to a blanking bin and then scans the next copper bar;
step 4, when the material is confirmed to be correct, the fan is started to pump the air cylinder to negative pressure, meanwhile, the vacuum chuck system is slowly pressed down until the metal detection sensor (24) reacts to indicate that the copper bar is attached to the chuck, then the valve group (20) corresponding to the chuck is opened, so that the interior of the corresponding chuck is changed into negative pressure to absorb the copper bar, when the pressure displayed by the air pressure sensor (25) on the chuck is reached, the copper bar is indicated to be normally absorbed, and then the manipulator is lifted to a certain height;
step 5, after the fact that the copper bar does not fall is determined by the falling detection sensor (21), the claw assembly (22) starts to pack the copper bar and the sucker, so that the copper bar falling accident caused by the pressure loss due to abnormal conditions is prevented, then the longitudinal moving beam (9) moves to a station appointed by the control device, the protective claw of the claw assembly (22) is loosened at a certain distance above the station, the speed is reduced until the nonferrous metal sensor (15) is lightened, at the moment, the copper bar is normally placed on the station, at the moment, the fan (17) is subjected to pressure relief, the cylinder loses pressure with the sucker, the copper bar is separated from the sucker (19), and then the longitudinal moving beam (9) moves to an initial position and informs the control device of placement completion and waits for the next grabbing;
and 6, when the fact that the control device appoints to grasp the copper bars in the bin is detected, reporting the copper bars to the control device and automatically going to the next bin for recognition and grasping of the copper bars.
2. The feeding and discharging system for intelligent copper bar processing according to claim 1, wherein a gear rack is arranged on the x-axis transverse guide rail (2) and matched with a servo motor on a skip support plate (3) so as to drive the skip to any accurate position in a stroke.
3. The loading and unloading system for intelligent processing of copper bars according to claim 1, wherein: a boss (16) is further arranged on the beam storage bin (4).
4. The loading and unloading system for intelligent processing of copper bars according to claim 1, wherein: longitudinal beam driving devices (8) are arranged at the left end and the right end of the longitudinal beam (9), and the longitudinal beam driving devices (8) are gear rack transmission servo motors.
5. The loading and unloading system for intelligent processing of copper bars according to claim 1, wherein: the outer end of the sucker (19) is also provided with a code scanning device (23), and a code scanning camera of the code scanning device is just aligned with a bar code on the copper bar.
6. The loading and unloading system for intelligent processing of copper bars according to claim 1, wherein: an elastic buffer assembly (27) is further arranged between the vertical connecting rod (18) and the sucker (19), and the elastic buffer assembly (27) comprises a buffer base plate (271) arranged at the lower end of the vertical connecting rod and a buffer spring (272) connected with the buffer base plate and the sucker.
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| CN202111649482.XA CN114516519B (en) | 2021-12-30 | 2021-12-30 | Loading and unloading system and method for intelligent processing of copper bars |
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| CN202111649482.XA CN114516519B (en) | 2021-12-30 | 2021-12-30 | Loading and unloading system and method for intelligent processing of copper bars |
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| CN114516519A CN114516519A (en) | 2022-05-20 |
| CN114516519B true CN114516519B (en) | 2023-09-29 |
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| DE202005013790U1 (en) * | 2005-09-01 | 2005-12-15 | Friedrich Remmert Gmbh & Co. Kg | Lifting conveyor for bars has lifting traverse with grippers which has interface with vacuum lines of vacuum traverse with suction cups, interface having centering system fixing lifting traverse when grippers hold vacuum traverse |
| CN206084392U (en) * | 2016-08-31 | 2017-04-12 | 河南森源电气股份有限公司 | Copper bar production line |
| CN108249119A (en) * | 2017-12-21 | 2018-07-06 | 江苏森蓝智能系统有限公司 | A kind of copper bar automation plane warehouse and copper bar integrated production line |
| CN110703026A (en) * | 2019-10-22 | 2020-01-17 | 威腾电气集团股份有限公司 | Temperature rise test vehicle for large-current copper bar |
| CN110884817A (en) * | 2019-12-16 | 2020-03-17 | 杭州研卓智能科技有限公司 | Automatic warehouse of transplanting of copper bar |
| CN213140559U (en) * | 2020-09-07 | 2021-05-07 | 北京锐志天宏科技股份有限公司 | Automatic copper bar processing production line |
| CN112223335A (en) * | 2020-09-16 | 2021-01-15 | 西安交通大学 | Multifunctional mechanical claw and robot for automatic feeding and discharging of rod body |
| CN213621645U (en) * | 2020-10-20 | 2021-07-06 | 苏州因特擎智能科技有限公司 | Automatic warehouse of copper bar |
| CN113148645A (en) * | 2021-05-13 | 2021-07-23 | 苏州慧工云信息科技有限公司 | Automatic copper bar storehouse based on supply chain system control |
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|---|---|
| CN114516519A (en) | 2022-05-20 |
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