CN114872365A - Powder forming production line and control method - Google Patents
Powder forming production line and control method Download PDFInfo
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- CN114872365A CN114872365A CN202210598120.0A CN202210598120A CN114872365A CN 114872365 A CN114872365 A CN 114872365A CN 202210598120 A CN202210598120 A CN 202210598120A CN 114872365 A CN114872365 A CN 114872365A
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- 239000000843 powder Substances 0.000 title claims abstract description 82
- 238000004519 manufacturing process Methods 0.000 title claims abstract description 51
- 238000000034 method Methods 0.000 title claims abstract description 40
- 238000001816 cooling Methods 0.000 claims abstract description 61
- 238000003825 pressing Methods 0.000 claims abstract description 44
- 238000000926 separation method Methods 0.000 claims abstract description 29
- 239000002360 explosive Substances 0.000 claims abstract description 28
- 239000003814 drug Substances 0.000 claims abstract description 11
- 230000007246 mechanism Effects 0.000 claims description 51
- 230000008569 process Effects 0.000 claims description 29
- 238000012546 transfer Methods 0.000 claims description 13
- 239000000725 suspension Substances 0.000 claims description 12
- 230000032258 transport Effects 0.000 claims description 9
- 238000007664 blowing Methods 0.000 claims description 8
- 238000000465 moulding Methods 0.000 claims description 4
- 230000000007 visual effect Effects 0.000 claims description 4
- 235000013339 cereals Nutrition 0.000 description 22
- 230000000712 assembly Effects 0.000 description 4
- 238000000429 assembly Methods 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 238000004458 analytical method Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 230000002457 bidirectional effect Effects 0.000 description 2
- 238000004364 calculation method Methods 0.000 description 2
- 238000000748 compression moulding Methods 0.000 description 2
- 238000012797 qualification Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000002146 bilateral effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000007123 defense Effects 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 239000000284 extract Substances 0.000 description 1
- 235000011868 grain product Nutrition 0.000 description 1
- 238000002955 isolation Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000013519 translation Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B30—PRESSES
- B30B—PRESSES IN GENERAL
- B30B15/00—Details of, or accessories for, presses; Auxiliary measures in connection with pressing
- B30B15/02—Dies; Inserts therefor; Mounting thereof; Moulds
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B30—PRESSES
- B30B—PRESSES IN GENERAL
- B30B15/00—Details of, or accessories for, presses; Auxiliary measures in connection with pressing
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B30—PRESSES
- B30B—PRESSES IN GENERAL
- B30B15/00—Details of, or accessories for, presses; Auxiliary measures in connection with pressing
- B30B15/30—Feeding material to presses
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B30—PRESSES
- B30B—PRESSES IN GENERAL
- B30B15/00—Details of, or accessories for, presses; Auxiliary measures in connection with pressing
- B30B15/32—Discharging presses
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B30—PRESSES
- B30B—PRESSES IN GENERAL
- B30B15/00—Details of, or accessories for, presses; Auxiliary measures in connection with pressing
- B30B15/34—Heating or cooling presses or parts thereof
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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
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
The invention discloses a powder forming production line and a control method, wherein the powder forming production line comprises an assembling device, a pressing device, a cooling device and a die splitting device which are sequentially arranged along an assembling flow, a conveying device for conveying articles to the assembling device, the pressing device, the cooling device and the die splitting device, and a control system; the assembling device is used for loading powder in the powder medicine box into the mould; the pressing device is used for pressing and forming the powder in the die into the grain; the cooling device is used for cooling the molded powder; the die separation device is used for taking the explosive column out of the die; the control system is used for realizing the automatic operation of the powder forming production line. The powder forming production line can realize automatic production of forming powder into powder columns, improves the production efficiency and reduces the safety risk and the labor intensity.
Description
Technical Field
The invention relates to the technical field of powder forming, in particular to a powder forming production line and a control method.
Background
The powder column is a key part of national important weaponry, is widely used in various types of important weapons, and is mostly produced by compression molding of energy-containing powder, so the powder molding is an important process in the production of the important weaponry.
The mold in the compression molding process of the medium-diameter and large-diameter energetic grain has large mass, small precise assembly clearance of the mold and large powder dosage. However, most of the production processes of the grains of the domestic production enterprises are finished by manual operation, and the production processes have the problems of low production efficiency, high safety risk, more operators, high labor intensity and poor product quality.
Therefore, for improving the production guarantee of national defense important weapons, improving the production efficiency, reducing the safety risk and the labor intensity, the powder forming automatic production process equipment has urgent requirements.
Disclosure of Invention
The invention aims to provide a powder forming production line, which realizes the automatic production of powder forming into powder grains, improves the production efficiency and reduces the safety risk and the labor intensity.
In addition, the invention also provides a control method based on the powder forming production line.
The invention is realized by the following technical scheme:
a powder forming production line comprises an assembling device, a pressing device, a cooling device and a die separating device which are sequentially arranged along an assembling process, a conveying device for conveying articles to the assembling device, the pressing device, the cooling device and the die separating device, and a control system;
the assembling device is used for loading powder in the powder medicine box into the mould;
the pressing device is used for pressing and forming the powder in the die into the grain;
the cooling device is used for cooling the molded powder;
the die separation device is used for taking the explosive column out of the die;
the control system is used for realizing the automatic operation of the powder forming production line.
The powder forming production line can realize the split automatic loading to the die, the powder is automatically pressed and formed in the die, then is automatically conveyed to the cooling device for cooling, then is automatically conveyed to the die separation device for separating the grain from the die, and the die is taken out, so that the automatic production of forming the powder into the grain is realized, the production efficiency is improved, and the safety risk and the labor intensity are reduced.
Further, assembly quality includes truss and assembly platform, be provided with on the truss and snatch the mechanism, assembly platform sets up and snatchs the mechanism below, assembly platform is last to be provided with primary positioning mechanism and secondary positioning mechanism, assembly quality still is including placing the tray on assembly platform, primary positioning mechanism is used for realizing fixing a position mould spare part, secondary positioning mechanism is used for realizing fixing a position the tray.
Further, primary positioning mechanism is the location dolly, secondary positioning mechanism is including the supporting seat that is used for placing the tray, be provided with concave type piece on the tray, the bilateral symmetry of supporting seat is provided with a pair of telescopic centering connecting rod, is provided with the protruding type piece with concave type piece matched with on the centering connecting rod, concave type piece and protruding type piece have the same shape, and concrete shape can not be injectd, can be the V type.
Furthermore, a visual system matched with the grabbing mechanism is arranged on the truss, and the grabbing mechanism and the visual system are both electrically connected with the control system.
Further, the cooling device comprises a cooling table and a blowing device, the cooling table is used for placing the mold, and the blowing device is used for blowing cold air to the corresponding position of the cooling table.
Further, a hanging and transferring device is arranged at the position of the cooling device in a matching manner, the hanging and transferring device is used for grabbing the mold on the conveying device to the cooling device or grabbing the cooled mold to the conveying device, and the hanging and transferring device comprises a portal frame, a movable suspension, a first pneumatic joint mechanical arm and a first pneumatic clamp;
the portal frame is installed on the ground, the movable suspension is installed below the top of the portal frame, one end of the first pneumatic joint mechanical arm is installed on the movable suspension, and the other end of the first pneumatic joint mechanical arm is connected with the first pneumatic clamp.
Further, an upright post transferring device is arranged at the die separating device in a matched mode, the upright post transferring device is used for grabbing the die on the conveying device to the die separating device, and the upright post transferring device comprises an upright post, a second pneumatic joint mechanical arm and a second pneumatic clamp;
the stand column is installed on the ground, one end of the second pneumatic joint mechanical arm is connected with the stand column, and the other end of the second pneumatic joint mechanical arm is connected with the second pneumatic clamp.
Further, the die separation device comprises a die separation hydraulic press, a die separation self-recognition system and a die separation conveying device;
the die-splitting conveying device is installed in the die-splitting hydraulic press and extends to the outside of the die-splitting hydraulic press, the die-splitting self-recognition system is installed on the die-splitting conveying device, and the die-splitting hydraulic press and the die-splitting self-recognition system are electrically connected with the control system.
In order to avoid potential safety hazards caused by impact on the explosive column due to a downward pressing type mould splitting mode of the explosive column, the mould splitting hydraulic machine is used, the positions of the energy-containing explosive column and the mould base are kept unchanged, the mould sleeve moves upwards and exits the energy-containing explosive column, no impact is completely caused to the energy-containing explosive column in the process, safe and lossless mould splitting of the explosive column is realized, the mould splitting process automatically operates, the safety risk faced by manual field operation is avoided, the mould splitting time is greatly reduced, the production efficiency and the product qualification rate are improved, the mould splitting self-recognition system is used, the self-recognition system monitors and judges the exit state of the main mould sleeve in the mould splitting process through image calculation and analysis in the mould splitting process, a separation command of the mould sleeve and the explosive column is sent to the main system, the system executes next mould splitting action, the danger caused by manual production when the explosive column is not completely split is avoided, and the safety is improved.
The assembling device, the pressing device, the cooling device and the die separating device are arranged on the mounting seat and are arranged above the sliding rail; the conveying device moves in the sliding rail through the control system.
Further, both sides of the die parting device are provided with an assembling device and a pressing device.
The control method for the powder forming production line comprises the following steps:
s1, assembling: the control system controls the assembling device to load the powder in the powder medicine box into the mold;
s2, pressing: the conveying device conveys the mould loaded with the powder to a pressing device, and the pressing device presses the powder in the mould into a grain;
s3, cooling: the transportation device transports the mould loaded with the explosive columns to the cooling device, and the mould is grabbed into the cooling device through the grabbing unit to be cooled;
s4, mold splitting: the conveying device conveys the cooled mould loaded with the explosive columns to the mould splitting device, and the mould is grabbed into the mould splitting device through the grabbing unit to realize the separation of the mould and the explosive columns;
the conveying device, the pressing device, the cooling device and the die separating device are all controlled by a control system.
Compared with the prior art, the invention has the following advantages and beneficial effects:
1. the powder forming production line provided by the invention realizes automatic production of powder forming into powder columns, realizes man-machine isolation of dangerous processes, improves production efficiency and safety, reduces operators and reduces labor intensity.
2. According to the invention, through the primary positioning mechanism and the secondary positioning mechanism, the grabbing mechanism and the high-precision truss operation are guided by the vision system, and heavy loads of the multi-specification die are automatically positioned, aligned and assembled; the automatic assembly device has the advantages that accurate automatic assembly is realized, the dimension and specification of parts are detected in real time, the assembly positions are assembled in real time, the assembly qualification is fed back, and flexible accurate automatic assembly of the guide die is realized.
3. The invention develops the bidirectional conveying device for automatically scheduling and transferring products at each process station, realizes bidirectional linear conveying of the moulds and the explosive columns among the working procedures of assembling, pressing, cooling, mould splitting and the like, improves the transferring efficiency by times, and reduces the labor intensity of workers.
4. The invention adopts the die-splitting hydraulic press to realize the explosive columns and the dies, and has no impact on the energetic explosive columns in the process of withdrawing the energetic explosive columns, thereby realizing safe and nondestructive die splitting of the explosive columns.
Drawings
The accompanying drawings, which are included to provide a further understanding of the embodiments of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the principles of the invention. In the drawings:
FIG. 1 is a schematic view of a powder molding production line according to the present invention;
fig. 2 is a schematic structural view of the suspension transfer device.
Reference numbers and corresponding part names in the drawings:
1-assembly device, 2-pressing device, 3-hanging transfer device, 4-cooling device, 5-column transfer device, 6-die separation device, 7-transportation device, 8-control system, 11-grabbing mechanism, 12-vision system, 13-primary positioning mechanism, 14-assembly platform, 15-secondary positioning mechanism, 16-truss, 31-portal frame, 32-mobile suspension, 33-first pneumatic joint mechanical arm, 34-first pneumatic clamp, 61-die separation hydraulic press, 62-die separation self-identification system, 63-die separation conveying device, 100-mounting seat and 200-vertical plate.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to examples and accompanying drawings, and the exemplary embodiments and descriptions thereof are only used for explaining the present invention and are not meant to limit the present invention.
Example 1:
as shown in fig. 1, a powder forming production line comprises an assembling device 1, a pressing device 2, a cooling device 4 and a die parting device 6 which are sequentially arranged along an assembling process, a transporting device 7 for transporting objects to the assembling device 1, the pressing device 2, the cooling device 4 and the die parting device 6, and a control system 8, wherein the control system 8 is used for realizing the automatic operation of the powder forming production line;
in the embodiment, the assembling device 1, the pressing device 2, the cooling device 4 and the die parting device 6 are all mounted on a mounting base 100, a slide rail is arranged on the mounting base 100, and the assembling device 1, the pressing device 2, the cooling device 4 and the die parting device 6 are arranged above the slide rail; the transportation device 7 is realized moving in the slide rail through the control system 8, the slide rail can adopt a linear slide rail, the transportation device 7 can adopt a slide block, the slide block is driven by the control system 8 to reciprocate on the linear slide rail, and the control system 8 comprises a controller.
Preferably, a plurality of vertical plates 200 are arranged on the upper end surface of the mounting seat 100, a through groove for passing through the conveying device 7 is arranged at the lower end of each vertical plate 200, and the plurality of vertical plates 200 are used for assembling, cooling and separating and isolating the powder.
The assembling device 1 is used for loading powder in the powder medicine box into a mould;
specifically, the assembling device 1 comprises a truss 16 and an assembling platform 14, wherein the truss 16 is provided with a grabbing mechanism 11, the assembling platform 14 is arranged below the grabbing mechanism 11, the assembling platform 14 is provided with a primary positioning mechanism 13 and a secondary positioning mechanism 15, the assembling device 1 further comprises a tray placed on the assembling platform 14, the primary positioning mechanism 13 is used for positioning the parts of the mold, and the secondary positioning mechanism 15 is used for positioning the tray; the truss 16 is provided with a vision system 12 matched with the grabbing mechanism 11, and the grabbing mechanism 11 and the vision system 12 are both electrically connected with the control system 8.
The primary positioning mechanism 13 is mainly composed of a positioning trolley, an automatic positioning mechanism and the like, and the mould parts are arranged at the fixed position of the positioning trolley. The positioning trolley conveys the die parts to the assembly position, after the trolley reaches the assembly position, the control system automatically judges, the positioning mechanism automatically runs, and positioning and fixing of the trolley are realized, so that initial positioning of the product die is realized. The secondary positioning mechanism 15 mainly comprises a support seat, a tray is placed in the center of the support seat, a pair of symmetrically-installed centering connecting rods are arranged on two side faces of the support seat, two convex V-shaped blocks are installed on each centering connecting rod, a ball is installed below a base of the tray, and two concave V-shaped blocks are installed on each side face of the tray;
the working process is that the tray is placed on the supporting seat, the centering connecting rods on the two side surfaces of the supporting seat retract, the middle connecting rod extends out simultaneously after the control system sends a positioning action instruction, and the two convex V-shaped blocks on the centering connecting rod are in gapless contact with the concave V-shaped blocks on each side surface of the tray, so that the positioning of the tray in the horizontal position is realized.
The grabbing mechanism 11 adopts a three-jaw automatic centering mechanism, and the vision system 12 comprises a pair of camera lens components, a camera support, a grabbing and rotating mechanism, an algorithm, software and the like. The camera lens assembly is arranged at the upper end of the grabbing and rotating mechanism in an angle symmetrical distribution mode through the camera support, and the manipulator and the camera lens assembly are connected to the control system.
After the flexible automatic assembly method and device based on binocular vision are initially installed, a control system is calibrated, a coordinate system of a binocular vision system formed by two groups of camera lens assemblies is overlapped with a space coordinate system of a manipulator, and a uniform space coordinate system is established;
during assembly production, a control system is started, a mechanical arm moves to drive a grabbing rotating mechanism and a camera lens assembly to reach the position above a part carrying device, two groups of camera lenses simultaneously shoot inclined images of parts on the part carrying device, obtained image data are transmitted to the control system, the control system accurately obtains end faces of the parts in the images through different color gray level analysis, the control system calculates the height of the parts, the size of the end faces and the plane coordinate positions of the parts according to the image data, and then the control system calculates and converts the height, the size of the end faces and the coordinate positions of the parts on the part carrying device; the control system automatically compares, matches and judges the correctness of each part with the size data of the product to be produced in the control system database according to the calculated sizes of the parts, and drives the grabbing and rotating mechanism and the two groups of camera lens assemblies to sequentially reach a fixed position right above a single part to be grabbed according to the assembly sequence of the parts of the product and the calculated plane coordinate position and height position of the parts, the single part to be grabbed and assembled at present is shot by inclined images, the obtained image data is transmitted to the control system, the accurate plane and height coordinate position coordinates of the parts to be grabbed and assembled at present are accurately calculated, and the parts to be assembled are accurately and sequentially grabbed by the coordinate position of the manipulator.
The manipulator which captures the parts moves to the position above the required assembly carrier according to the command of the control system, the two camera lens assemblies shoot inclined images of the assembly carrier, the control system accurately calculates the relevant size and the coordinate position of the assembly carrier according to the data parameters of the extracted images, and automatically calculates the movement track of the manipulator in the assembling process according to the size of the parts captured by the manipulator and the relevant size and the coordinate position of the assembly carrier, so that the assembling process is accurately finished.
Similarly, the mechanical arm sequentially grabs subsequent parts and moves to the position above the assembly carrier which finishes the assembly of the parts in the previous process, the two camera lens assemblies shoot inclined images of the assembly carrier, the control system extracts image information according to process requirements and calculates the coordinate information of the assembled position of the parts required by the current assembly process, the movement track of the mechanical arm in the current assembly process is automatically calculated again by combining the size of the parts assembled at present, the part assembly process is accurately finished, and the like, so that the automatic and accurate assembly of other parts is finished.
The pressing device 2 is used for pressing and forming the powder in the die into the grain;
the pressing device 2 adopts a hydraulic cylinder for pressing.
Specifically, the pressing device 2 comprises a fixed frame, a hydraulic cylinder is arranged on the fixed frame, the fixed frame is arranged above the sliding rail, and the fixed frame can allow the conveying device 7 to pass through.
The cooling device 4 is used for cooling the formed powder, the hanging and transferring device 3 is arranged at the position of the cooling device 4 in a matched mode, the hanging and transferring device 3 is used for grabbing molds on the conveying device 7 to the cooling device 4 or grabbing the cooled molds to the conveying device 7, as shown in fig. 2, the hanging and transferring device 3 comprises a portal frame 31, a movable suspension frame 32, a pneumatic joint mechanical arm 33, a pneumatic clamp 34, an operating handle and a pneumatic control system, the portal frame is fixedly installed on the ground, the movable suspension frame is installed below the portal frame, the pneumatic joint mechanical arm is installed below the movable suspension frame, the pneumatic clamp and the operating handle are arranged at the lower end of the pneumatic joint mechanical arm, and the pneumatic control system is fixedly installed at the upper end of the pneumatic joint mechanical arm;
the working process of the hanging and transferring device 3 is that an operating handle and a control button thereof are manually controlled, a position moving tool of a first pneumatic joint mechanical arm is arranged above the first pneumatic joint mechanical arm, the first pneumatic clamp is automatically opened by the manual operating button and then clamped, the operating handle is manually controlled to move in a translation mode to move the horizontal position of a suspension and rotate, translate and lift the first pneumatic joint mechanical arm, the clamped mould is moved to a required position in six-degree-of-freedom directions in space, then a clamp is opened through the button to put down a product, and transferring of the product is achieved.
The cooling device 4 mainly comprises a cooling table, a blowing device, a temperature measuring device, a timing device and the like. After a single set of mold products are placed at a corresponding station of the cooling table, the blowing device runs, the molds and the products are cooled in an air cooling mode, the temperature measuring device and the timing device monitor the temperature cooling time of the molds in real time in the mold cooling process, the temperature and the time of the single set of molds reach the state required by the cooling process and then are transmitted to the production line control system, and the system automatically enters the next transfer, mold withdrawal and other process flows.
The mould separating device 6 is used for taking out a medicine column from a mould, the mould separating device 6 is provided with a stand column transfer device 5 in a matching mode, the mould separating device 6 is arranged on one side of a slide rail on the mounting seat 100, the stand column transfer device 5 is arranged on the same side as the mould separating device 6, the stand column transfer device 5 is used for grabbing the mould on the transportation device 7 to the mould separating device 6, the stand column transfer device 5 comprises a stand column, a second pneumatic joint mechanical arm, a second pneumatic clamp, an operating handle, a pneumatic control system and the like, the stand column is fixedly arranged on the ground, the second pneumatic joint mechanical arm is arranged at the upper end of the stand column, the lower end of the second pneumatic joint mechanical arm is provided with the pneumatic clamp and the operating handle, and the pneumatic control system is fixedly arranged at the upper end of the pneumatic joint mechanical arm.
The working process of the upright post transfer device 5 comprises the steps of manually controlling an operating handle and a control button thereof, moving the second pneumatic joint mechanical arm above a tool, automatically opening the second pneumatic clamp by the manual operating button, clamping a mold, manually controlling the operating handle to rotate, translate and lift the second pneumatic joint mechanical arm around the center of an upright post, opening the clamp by the manual operating handle after the clamped mold moves to a required position in the direction of six degrees of freedom in space, putting down a product, and transferring the product.
Specifically, the mold splitting device 6 comprises a mold splitting hydraulic press 61, a mold splitting self-recognition system 62 and a mold splitting conveying device 63;
the die-splitting conveying device 63 is installed in the die-splitting hydraulic machine 61 and extends to the outside of the die-splitting hydraulic machine 61, the die-splitting self-recognition system 62 is installed on the die-splitting conveying device 63, and the die-splitting hydraulic machine 61 and the die-splitting self-recognition system 62 are electrically connected with the control system 8.
Specifically, the die-splitting hydraulic press 61 adopts the prior art, and the structure is disclosed in the patent (202010817587.0); the mold splitting self-recognition system 62 mainly comprises a camera, a lens and mold splitting self-recognition algorithm software, wherein the camera and the lens are fixedly arranged on the side surface of the mold splitting hydraulic press and face the center of the mold splitting hydraulic press; the die separating and conveying device 63 mainly comprises a sliding table, a power lead screw assembly and a clamping mechanism, the power lead screw assembly is arranged below the sliding table and drives the sliding table to move horizontally, the clamping mechanism is fixedly arranged on the sliding table, and the die separating and conveying device 63 is used for moving the split explosive columns out of the die separating hydraulic machine 61.
Specifically, the mold splitting process is as follows:
keeping the positions of the energy-containing explosive columns and the mold base unchanged, adopting a mold sleeve of a mold splitting hydraulic machine 61 to grab the mold to move upwards, so that the mold is withdrawn from the energy-containing explosive columns, and the process has no impact on the energy-containing explosive columns completely, thereby realizing safe and nondestructive mold splitting of the explosive columns and automatic operation of the mold splitting process; by utilizing the die separation self-recognition system, the self-recognition system monitors and judges the exit state of the main die sleeve in the die separation process through image calculation and analysis in the die separation process, sends a die sleeve and grain completion separation command to the main system, and the system executes the next die separation action, so that the danger of manual production when the grain is not completely separated is avoided, and the safety is improved.
The overall work flow (control method) of the present embodiment is as follows:
the method comprises the following steps:
s1, assembling: the control system 8 controls the assembling device 1 to load the powder in the powder medicine box into the mould;
specifically, the mould is manually conveyed to an assembly platform 14, the mould is initially positioned by an initial positioning mechanism 13, a tray is accurately positioned by a secondary positioning mechanism 15, the external outline size, the accurate plane position and the height position parameters of the mould are calculated by a vision system 12, all the parameters are fed back to a control system 8, the control system 8 controls a truss 16, the mould, a powder medicine box and the like are grabbed by a grabbing mechanism 11 and are assembled into a whole in the tray one by one, the powder in the powder medicine box is automatically guided into the mould, an empty powder medicine box is automatically placed in the original position, and the automatic assembly of the powder and the mould is completed.
S2, pressing: the transporting device 7 transports the mould loaded with the powder to the pressing device 2, and the pressing device 2 presses the powder in the mould into a grain;
specifically, after the assembly of the powder and the mold is completed, the transport device 7 places the tray loaded with the powder and the mold in the pressing device 2, the transport device 7 leaves the pressing device 2, and the pressing device 2 is remotely started by the control system 8 to operate to press the powder in the mold into the grain.
S3, cooling: the transportation device 7 transports the mould loaded with the explosive columns to the cooling device 4, and the mould is grabbed into the cooling device 4 through the grabbing unit to be cooled;
specifically, the transportation device 7 transports the tray loaded with the pressed grains and molds to the cooling device 4 again to the pressing device 2; the hanging transfer device 3 integrally clamps the grain and the mold assembly in the tray and places the whole combination in the cooling device 4 to cool the mold and the inner grain, and the transportation device 7 carries the empty tray and returns the empty tray to the assembling device 1.
S4, mold splitting: the transportation device 7 transports the cooled mould loaded with the grains to the mould splitting device 6, and the mould is grabbed into the mould splitting device 6 through the grabbing unit to realize the separation of the mould and the grains;
specifically, after the cooling time of the mold and the grain reaches the set time, the transporting device 7 automatically reaches the cooling device 4, the hanging and transferring device 3 places the grain and the mold combination on the transporting device 7, the transporting device 7 automatically carries the grain and the mold combination to the mold splitting device 6, the upright post transferring device 5 automatically clamps and places the grain and the mold combination on a sliding table of a mold splitting conveying device 63 of the mold splitting device 6, a clamping mechanism extends out to clamp, position and fix the mold on the sliding table, the sliding table is driven by the rotation of a power screw rod assembly to move from the outside of the mold splitting hydraulic machine to the central point position inside the mold hydraulic machine, the mold splitting device 6 is remotely started by a control system 8, the mold splitting hydraulic machine 61 of the mold splitting device 6 automatically clamps the mold to move up and down, and whether the splitting state of the mold meets the set requirement or not is automatically judged by a mold splitting self-identification system 62, gradually splitting the combination of the powder grains and the die into parts, gradually transmitting the parts out of the die-splitting hydraulic machine 61 through the die conveying device 63, retracting the clamping mechanism to complete the whole technological process of powder forming, and manually moving the powder grain products out of the production area to enter the next product production process.
Example 2:
this example is based on example 1:
and the assembling device 1 and the pressing device 2 are arranged on two sides of the die parting device 6.
The above-mentioned embodiments are intended to illustrate the objects, technical solutions and advantages of the present invention in further detail, and it should be understood that the above-mentioned embodiments are merely exemplary embodiments of the present invention, and are not intended to limit the scope of the present invention, and any modifications, equivalent substitutions, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.
It should be noted that the structures, ratios, sizes, and the like shown in the drawings attached to the present specification are only used for matching the disclosure of the present specification, so as to be understood and read by those skilled in the art, and are not used to limit the conditions of the present invention, so that the present invention has no technical essence, and any structural modification, ratio relationship change, or size adjustment should still fall within the scope of the present invention without affecting the function and the achievable purpose of the present invention. In addition, the terms such as "upper", "lower", "left", "right" and "middle" used in the present specification are for clarity of description, and are not intended to limit the scope of the present invention, and changes or modifications of the relative relationship may be made without substantial technical changes.
Claims (10)
1. A powder forming production line is characterized by comprising an assembling device (1), a pressing device (2), a cooling device (4) and a die separating device (6) which are sequentially arranged along an assembling process, a conveying device (7) for conveying articles to the assembling device (1), the pressing device (2), the cooling device (4) and the die separating device (6), and a control system (8);
the assembling device (1) is used for loading powder in the powder medicine box into the mould;
the pressing device (2) is used for pressing and forming the powder in the die into the grain;
the cooling device (4) is used for cooling the molded powder;
the mould splitting device (6) is used for taking the explosive column out of the mould;
and the control system (8) is used for realizing the automatic operation of the powder molding production line.
2. The powder forming production line of claim 1, wherein the assembling device (1) comprises a truss (16) and an assembling platform (14), the truss (16) is provided with a grabbing mechanism (11), the assembling platform (14) is arranged below the grabbing mechanism (11), the assembling platform (14) is provided with a primary positioning mechanism (13) and a secondary positioning mechanism (15), the assembling device (1) further comprises a tray placed on the assembling platform (14), the primary positioning mechanism (13) is used for positioning a mold part, and the secondary positioning mechanism (15) is used for positioning the tray.
3. The powder forming production line of claim 2, wherein the primary positioning mechanism (13) is a positioning trolley, the secondary positioning mechanism (15) comprises a support seat for placing a tray, a concave block is arranged on the tray, a pair of telescopic centering connecting rods are symmetrically arranged on two sides of the support seat, and a convex block matched with the concave block is arranged on the centering connecting rods; the truss (16) is provided with a visual system (12) matched with the grabbing mechanism (11), and the grabbing mechanism (11) and the visual system (12) are electrically connected with the control system (8).
4. The powder forming production line of claim 1, wherein the cooling device (4) comprises a cooling table and an air blowing device, the cooling table is used for placing the mold, and the air blowing device is used for blowing cold air to the corresponding position of the cooling table.
5. The powder forming production line of claim 1, wherein a hanging and transferring device (3) is cooperatively arranged at the cooling device (4), the hanging and transferring device (3) is used for grabbing molds on a conveying device (7) onto the cooling device (4) or grabbing cooled molds onto the conveying device (7), and the hanging and transferring device (3) comprises a portal frame (31), a movable suspension (32), a first pneumatic joint mechanical arm (33) and a first pneumatic clamp (34);
the gantry (31) is installed on the ground, the movable suspension (32) is installed below the top of the gantry (31), one end of the first pneumatic joint mechanical arm (33) is installed on the movable suspension (32), and the other end of the first pneumatic joint mechanical arm is connected with the first pneumatic clamp (34).
6. The powder forming production line according to claim 1, wherein an upright post transfer device (5) is cooperatively arranged at the mold separation device (6), the upright post transfer device (5) is used for grabbing the mold on the transportation device (7) to the mold separation device (6), and the upright post transfer device (5) comprises an upright post, a second pneumatic joint mechanical arm and a second pneumatic clamp;
the stand column is installed on the ground, one end of the second pneumatic joint mechanical arm is connected with the stand column, and the other end of the second pneumatic joint mechanical arm is connected with the second pneumatic clamp.
7. The powder forming production line of claim 1, wherein the die-separating device (6) comprises a die-separating hydraulic press (61), a die-separating self-recognition system (62) and a die-separating conveying device (63);
the die separation conveying device (63) is installed in the die separation hydraulic machine (61) and extends to the outside of the die separation hydraulic machine (61), the die separation self-recognition system (62) is installed on the die separation conveying device (63), and the die separation hydraulic machine (61) and the die separation self-recognition system (62) are electrically connected with the control system (8).
8. The powder forming production line of claim 1, further comprising a mounting base (100), wherein a slide rail is arranged on the mounting base (100), and the assembling device (1), the pressing device (2), the cooling device (4) and the die parting device (6) are arranged on the mounting base (100) and above the slide rail; the conveying device (7) moves in the sliding rail through a control system (8).
9. The powder forming production line of any one of claims 1 to 8, wherein the assembling device (1) and the pressing device (2) are arranged on two sides of the die parting device (6).
10. The control method for the powder molding production line of any one of claims 1 to 9, characterized by comprising the steps of:
s1, assembling: the control system (8) is used for controlling the assembling device (1) to load the powder in the powder medicine box into the mould;
s2, pressing: the conveying device (7) conveys the mould loaded with the powder to the pressing device (2), and the pressing device (2) presses the powder in the mould into the grain;
s3, cooling: the transporting device (7) transports the mould loaded with the explosive columns to the cooling device (4), and the mould is grabbed into the cooling device (4) through the grabbing unit to be cooled;
s4, mold splitting: the transportation device (7) transports the cooled mould loaded with the explosive columns to the mould splitting device (6), and the mould is grabbed into the mould splitting device (6) through the grabbing unit to realize the separation of the mould and the explosive columns;
the conveying device (7), the pressing device (2), the cooling device (4) and the die separating device (6) are all controlled by a control system (8).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202210598120.0A CN114872365A (en) | 2022-05-30 | 2022-05-30 | Powder forming production line and control method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210598120.0A CN114872365A (en) | 2022-05-30 | 2022-05-30 | Powder forming production line and control method |
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