CN114918836B - Automatic loading and unloading sand blasting equipment - Google Patents
Automatic loading and unloading sand blasting equipment Download PDFInfo
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- CN114918836B CN114918836B CN202210452300.8A CN202210452300A CN114918836B CN 114918836 B CN114918836 B CN 114918836B CN 202210452300 A CN202210452300 A CN 202210452300A CN 114918836 B CN114918836 B CN 114918836B
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- feeding
- sand
- sand blasting
- positioning
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- 238000005488 sandblasting Methods 0.000 title claims abstract description 71
- 230000007246 mechanism Effects 0.000 claims abstract description 227
- 239000004576 sand Substances 0.000 claims abstract description 98
- 238000007599 discharging Methods 0.000 claims abstract description 68
- 239000002994 raw material Substances 0.000 claims abstract description 40
- 239000000463 material Substances 0.000 claims description 43
- 238000012546 transfer Methods 0.000 claims description 43
- 238000007664 blowing Methods 0.000 claims description 16
- 230000007723 transport mechanism Effects 0.000 claims description 8
- 230000008859 change Effects 0.000 claims description 5
- 239000012535 impurity Substances 0.000 claims description 5
- 238000011065 in-situ storage Methods 0.000 claims description 5
- 238000004064 recycling Methods 0.000 claims description 4
- 238000010408 sweeping Methods 0.000 claims description 3
- 230000005540 biological transmission Effects 0.000 claims 1
- 230000007306 turnover Effects 0.000 abstract description 4
- 238000005422 blasting Methods 0.000 description 11
- 230000009471 action Effects 0.000 description 7
- 238000000034 method Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000006698 induction Effects 0.000 description 2
- 230000007547 defect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000009365 direct transmission Effects 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000001939 inductive effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000010992 reflux Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24C—ABRASIVE OR RELATED BLASTING WITH PARTICULATE MATERIAL
- B24C3/00—Abrasive blasting machines or devices; Plants
- B24C3/02—Abrasive blasting machines or devices; Plants characterised by the arrangement of the component assemblies with respect to each other
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24C—ABRASIVE OR RELATED BLASTING WITH PARTICULATE MATERIAL
- B24C9/00—Appurtenances of abrasive blasting machines or devices, e.g. working chambers, arrangements for handling used abrasive material
-
- 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
-
- 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
- B65G47/22—Devices influencing the relative position or the attitude of articles during transit by conveyors
- B65G47/24—Devices influencing the relative position or the attitude of articles during transit by conveyors orientating the articles
- B65G47/248—Devices influencing the relative position or the attitude of articles during transit by conveyors orientating the articles by turning over or inverting them
-
- 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
- B65G47/902—Devices for picking-up and depositing articles or materials provided with drive systems incorporating rotary and rectilinear movements
-
- 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
- B65G47/912—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers provided with drive systems with rectilinear movements only
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/04—Detection means
- B65G2203/042—Sensors
-
- 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
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Specific Conveyance Elements (AREA)
Abstract
The invention discloses automatic loading and unloading sand blasting equipment, which comprises a sand blasting machine and a turnover transferring manipulator, and is characterized in that: the sand blasting equipment comprises an upper discharging conveying line, a lower discharging mechanism and a return line, wherein the upper discharging conveying line is sequentially connected with the upper discharging mechanism, the return line, the overturning and transferring manipulator, the return line and the overturning and transferring manipulator of the robot, the return line comprises a front section feeding structure, a sand blasting machine discharging mechanism, a product transferring mechanism, a sand removing mechanism, a conveying mechanism and a feeding frame, the front section feeding structure is sequentially connected with the sand blasting machine, the sand blasting machine discharging mechanism, the product transferring mechanism, the sand removing mechanism, the conveying mechanism and the feeding frame and is connected with the front section feeding structure to form the return line, the whole sand blasting work of finishing raw materials by one time is realized, and the sand blasting equipment can finish operation by only needing one operator to perform feeding.
Description
[ Field of technology ]
The invention relates to the field of automatic equipment, in particular to automatic loading and unloading sand blasting equipment.
[ Background Art ]
In the prior art, the equipment for blasting the surface is generally provided with two stations, when one station performs blasting operation in a blasting chamber, an operator manually places raw materials on the other station to wait for blasting, the former station is moved out of the blasting chamber for manual unloading after finishing the blasting, and the latter station enters the blasting chamber for blasting, meanwhile, the residual sand after blasting also needs to be treated by independent personnel, but the defects of low blasting efficiency, high labor intensity of the operator and the like exist.
[ Invention ]
In order to solve the problems, an automatic feeding and discharging sand blasting device which saves labor and is used for feeding and discharging materials, blasting sand and removing residual sand in a full-automatic manner is provided;
The utility model provides an automatic unloading sand blasting equipment of going up, includes sand blasting machine and upset transfer machinery hand, sand blasting equipment includes unloading transfer chain, robot unloading mechanism and return line on, unloading transfer chain connects gradually unloading mechanism, return line, upset transfer machinery hand, return line and upset transfer machinery hand on the robot, the return line includes anterior segment pan feeding structure, sand blasting machine discharge mechanism, product transfer mechanism, degritting mechanism, transport mechanism and material loading frame.
The front-section feeding structure is sequentially connected with the sand blaster, the sand blaster discharging mechanism, the product transferring mechanism, the sand removing mechanism, the conveying mechanism and the feeding rack and is connected with the front-section feeding structure back to form a return line, the front-section feeding structure, the feeding rack, the product transferring mechanism and the sand blaster discharging mechanism are respectively provided with the same transverse conveying belt, the jacking steering mechanism and the vertical conveying belt, each group of transverse conveying belt and each group of vertical conveying belt are respectively provided with an independent control motor, the vertical conveying belt is arranged on the jacking steering mechanism and is positioned in the transverse conveying belt, and the conveying mechanism and the sand removing mechanism are respectively provided with the transverse conveying belt and each group of conveying motor.
By means of the structure, sand blasting equipment is formed among the feeding and discharging conveying line, the robot feeding and discharging mechanism and the return line, namely, a raw material plate is manually placed at the feeding and discharging conveying line, the front section feeding structure of the return line is automatically fed by the robot feeding and discharging mechanism, the front section feeding structure of the return line is conveyed into a sand blaster through a transverse conveying belt to perform surface sand blasting operation, after the sand blasting operation is finished, the front section feeding structure of the return line reaches the sand blaster discharging mechanism along with the transverse conveying belt, the lifting steering mechanism and the vertical conveying belt structure at the position of the sand blaster discharging mechanism are changed into the vertical direction to convey the sand blaster to a product transferring mechanism, the product is turned over by a first group of turning and conveying mechanical arms and conveyed to the feeding frame of the second group of return line to vertically convey the product transferring mechanism, the front section feeding structure of the second group of return line is reached, changing the conveying direction under the action of the jacking steering mechanism and the vertical conveying belt, changing the conveying direction into the direction of transverse conveying and enabling the transverse conveying to enter a sand blaster in the second set of return lines to perform sand blasting operation on the other surface, further changing the conveying direction into the vertical direction under the action of the jacking steering mechanism and the vertical conveying belt at the sand blaster discharging mechanism of the second set of return lines as the transverse conveying belt reaches the sand blaster discharging mechanism of the second set of return lines, conveying the sand blaster to the product transfer mechanism of the second set of return lines, turning back the sand blaster by the second set of turning transfer manipulators, continuing the vertical conveying, changing the conveying direction into the transverse direction after the sand blaster reaches the jacking steering mechanism and the vertical conveying belt structure at the product transfer mechanism of the second set of return lines, and then the sand removing mechanism entering the second group of return lines continues surface impurities and sand grains attached to the sand removing mechanism are blown off, after the blowing operation is finished, the sand removing mechanism continuously and transversely conveys the sand grains reaching the second group of return lines until reaching the feeding frame of the second group of return lines, the conveying direction is changed into the vertical direction under the action of the lifting steering mechanism and the vertical conveying belt at the position, the sand removing mechanism is conveyed to the first group of overturning and conveying mechanical arms, the first group of overturning and conveying mechanical arms are used for overturning and conveying the sand grains returned to the product transferring mechanism of the first group of return lines, then the sand grains are sequentially conveyed along the product transferring mechanism, the sand removing mechanism, the conveying mechanism and the feeding frame of the first group of return lines, and after the sand grains reach the feeding frame, the feeding and discharging mechanism is carried out by the robot, wherein each time of changing direction is that the vertical conveying belt is higher than or lower than the horizontal conveying belt through the lifting steering mechanism, the contact object of a raw material plate is changed to change the conveying direction, and the automatic sand blasting is realized on both sides of the raw material plate, so that the automatic sand blasting is realized, and the labor cost of the automatic sand blasting is reduced, and the operation efficiency is improved.
Preferably, the material loading transfer chain structure sets up frame, artifical material loading and places position, feed distributing mechanism, sweeps a yard mechanism, empty frame and retrieves and fold and empty frame temporary placement position including the material loading, the material loading sets up to be equipped with the conveyer belt in the frame to be equipped with the material loading in proper order and set up frame, artifical material loading and place position, feed distributing mechanism, sweep a yard mechanism and empty frame and retrieve and fold, its side still is equipped with empty frame temporary placement position.
Therefore, the raw material plates are manually placed through the manual feeding placement position, the raw material plates sequentially enter the distributing mechanism under the action of the conveyor belt, the raw material plates are separated one by one through the bearing frames, code scanning registration information is scanned through the code scanning mechanism, the registered raw material plates are transferred through the robot feeding and discharging mechanism, the empty bearing frames after operation are overlapped at the empty frame recycling position, the stacking is carried out, the raw material plates reach a certain number and then reach the empty frame temporary placement position along with the conveyor belt to be stored, the raw material plates are taken away or put back to the distributing structure by a worker after reaching a certain number, automatic material distribution is achieved, labor cost is reduced, and the working efficiency is higher.
Preferably, the robot feeding mechanism comprises a robot setting table, a feeding robot, a secondary positioning mechanism and XZ shaft transferring equipment, wherein the feeding robot, the secondary positioning mechanism and the XZ shaft transferring equipment are arranged on the robot setting table, the feeding robot and the XZ shaft transferring equipment are respectively arranged at two ends of the robot setting table, the secondary positioning mechanism is arranged at the side edge of the XZ shaft transferring equipment, and the secondary positioning mechanism comprises a secondary positioning base, a Y-direction positioning cylinder, an X-direction positioning cylinder and a positioning mechanism with a material sensor; the secondary positioning base is provided with baffles all around, the Y-direction positioning cylinder is arranged on the secondary positioning base, the output shaft of the Y-direction positioning cylinder is arranged towards the longitudinal direction, the X-direction positioning cylinder is arranged on the secondary positioning base, the output shaft of the X-direction positioning cylinder is transversely arranged, and the secondary positioning base is also provided with a positioning mechanism material sensor.
The X Z axis transferring device comprises an X axis transverse sliding rail, a transverse carriage, a Z axis lifting cylinder and a material taking sucker, wherein the X axis transverse sliding rail is connected with the transverse carriage in a sliding manner, the transverse carriage is provided with the Z axis lifting cylinder, an output shaft of the Z axis lifting cylinder is provided with the material taking sucker, and the X axis transverse sliding rail is also provided with an X direction positive limit sensor, an X direction in-situ sensor and an X direction negative limit sensor.
Therefore, after the feeding robot sends the raw material plate to the secondary positioning mechanism and is positioned by the secondary positioning mechanism, namely, the positioning is performed by matching a Y-direction positioning cylinder with an X-direction positioning cylinder and a baffle plate, after the positioning is finished, the raw material plate is transferred to a return line by an XZ-axis transfer device, wherein an X-direction positive limit sensor, an X-direction in-situ sensor and an X-direction negative limit sensor which are arranged in the device respectively represent the maximum stroke and the original point, the transfer accuracy is improved, the positioning mechanism senses whether the feeding is finished or not by the material sensor, the problem of no-material operation is avoided, and the like is solved, so that the feeding accuracy of the device is further improved.
Preferably, the front section feeding structure is also provided with a tooling disc in-place sensor and a tooling disc sand-blasting machine in-place sensor, and the tooling disc in-place sensor is arranged at the side edge of the vertical conveying belt; the tool disc is placed into the side edge of the tail end of the feeding structure of the front section of the sand blasting machine inductor.
The sand blasting machine discharging mechanism is further provided with a tooling disc in-place inductor, and the tooling disc in-place inductor is arranged on the side edge of the vertical conveying belt.
Therefore, the tool disc in-place inductor is arranged to sense whether the raw material plate is conveyed or not, the tool disc is arranged into the sand blasting machine inductor to continuously sense the raw material plate entering mechanism, and therefore operation accuracy is further improved.
Preferably, the feeding rack is further provided with a tray positioning and jacking mechanism, the side edge of the tray jacking mechanism is further provided with a tooling tray in-place sensor, the product transfer mechanism is further provided with a tray positioning and jacking mechanism, and the side edge of the tray jacking mechanism is further provided with a tooling tray in-place sensor.
Therefore, the tooling disc in-place inductor is used for inducing, the material disc positioning and jacking mechanism is accurately driven for operation, the raw material plates are lifted at the position, and the transfer operation is convenient.
Preferably, the tray positioning and jacking mechanism comprises a tray positioning guide block, a tray positioning jacking cylinder, a stopping block and a tooling tray in-place positioning cylinder, wherein the tray positioning guide block is arranged on an output shaft of the tray positioning jacking cylinder, the stopping blocks are further arranged on two sides of the tray positioning guide block, and the stopping blocks are connected with the tooling tray in-place positioning cylinder.
Therefore, the tray positioning guide block is driven to rise by the tray positioning and jacking cylinder, and the stop block and the tooling tray in-place positioning cylinder are matched to position the raw material plate, so that the position of the lifted raw material plate is aligned, the follow-up transfer and other operations are convenient, and the operation accuracy is improved.
Preferably, the transport mechanism is further provided with a transport positioning cylinder and a transport positioning sensor.
Therefore, the raw material plate is positioned in the transportation process through the cooperation of the transportation positioning cylinder and the transportation positioning sensor, so that the next operation is convenient, and the operation accuracy is improved.
Preferably, the sand removing mechanism is also provided with a sand removing cover and a sand removing and blowing cylinder; the sand removing cover is sleeved on the sand removing mechanism and forms a blowing-off space, and the sand removing and blowing cylinder is arranged in the blowing-off space; the sand removal cover is characterized in that a feeding door and a discharging door are respectively arranged on two sides of the sand removal cover, a feeding door cylinder and a discharging door cylinder are respectively arranged on the feeding door and the discharging door, and door stops are respectively arranged on output shafts of the feeding door cylinder and the discharging door cylinder.
Therefore, the sand removing cover is arranged, the sand removing mechanism is kept in a closed space, a large amount of dust is generated during operation, the body safety of operators is affected, the feeding door and the discharging door are arranged for feeding and discharging, and the door stop controlled by the air cylinder is arranged on the feeding door and the discharging door, so that the space is kept in the closed space during operation.
Preferably, the front section pan feeding structure, sand blasting machine discharge mechanism, product transfer mechanism, sand removal mechanism, transport mechanism and material loading frame lower extreme of return line all show the hourglass to be equipped with in the below and connect surplus sand bucket.
Therefore, through the design of the bottom hourglass shape, the residual sand receiving barrel is arranged below the bottom hourglass shape, and the falling residual sand is directionally collected in the operation process.
Preferably, the jacking steering mechanism comprises a jacking steering lifting cylinder and a jacking setting plate, and the jacking setting plate is arranged on an output shaft of the jacking steering lifting cylinder; the vertical conveyer belt sets up in jacking setting plate side, and its control motor sets up in the jacking setting plate inside.
Therefore, the lifting setting plate is driven by the lifting steering lifting cylinder to drive the lifting setting plate to lift, and when the vertical conveying belt is higher than the transverse conveying belt, the vertical conveying belt contacts with raw materials to play a role in vertical conveying, so that horizontal and vertical direct transmission is realized.
According to the invention, the two groups of return lines are combined, so that the whole sand blasting operation of the raw materials is finished by one-time processing, and the operation can be finished by only one operator for feeding, so that compared with the traditional multi-station equipment, the efficiency is higher, and the labor cost is saved.
[ Description of the drawings ]
FIG. 1 is a schematic diagram of the overall structure of the present invention;
FIG. 2 is a schematic structural diagram of the loading and unloading conveyor line of the present invention;
FIG. 3 is a schematic view of the structure of the return line of the present invention;
FIG. 4 is a schematic structural view of a front-end feeding structure according to the present invention;
FIG. 5 is a schematic view of the discharge mechanism of the sandblasting machine according to the present invention;
FIG. 6 is a schematic view of a product relay mechanism according to the present invention;
FIG. 7 is a schematic view of the sand removing mechanism of the present invention;
FIG. 8 is a schematic view of the transport mechanism of the present invention;
FIG. 9 is a schematic view of a loading frame according to the present invention;
Fig. 10 is a schematic structural view of a feeding and discharging mechanism of the robot of the present invention;
FIG. 11 is a schematic structural view of a secondary alignment mechanism according to the present invention;
FIG. 12 is a schematic view of the structure of the XZ axis transfer apparatus of the present invention;
FIG. 13 is a schematic view of the lift steering mechanism of the present invention;
Fig. 14 is a schematic structural view of a tray positioning and lifting mechanism according to the present invention.
Wherein the feeding and discharging conveyor line 1-feeding and discharging conveyor line 101-feeding and setting frame, 102-manual feeding and placing position, 103-distributing mechanism, 104-code sweeping mechanism, 105-empty frame recycling and stacking, 106-empty frame temporary placing position, 2-robot feeding and discharging mechanism, 201-robot setting table, 202-feeding robot, 203-secondary positioning mechanism, 203 a-secondary positioning base, 203b-Y direction positioning cylinder, 203c-X direction positioning cylinder, 203 d-positioning mechanism with material inductor, 203 e-baffle plate, 204-XZ shaft transferring device, 204a-X shaft transverse sliding rail, 204 b-transverse carriage, 204c-Z shaft lifting cylinder, 204 d-material sucking disc, 3-back flow line 301-front section feeding structure, 302-sand blaster discharging mechanism, 303-product transferring mechanism, 304-sand removing mechanism, 304 a-sand removing cover, 304b sand removing blowing cylinder, 304 c-feeding door cylinder, 304 d-discharging door cylinder, 304 e-door shield, 305-transporting mechanism, 305 a-transporting positioning cylinder, 305 b-transporting positioning sensor, 306-feeding rack, 4-transverse conveyor belt, 5-jacking steering mechanism, 501-jacking steering lifting cylinder, 502-jacking setting plate, 6-vertical conveyor belt, 7-tooling disc in-place sensor, 8-tooling disc sand blaster sensor, 9-feed disc positioning lifting mechanism, 901-feed disc positioning guide block, 902-a tray positioning jacking cylinder, 903-a stop return block, 904-a tooling tray positioning cylinder in place, 10-a residual sand receiving barrel, 11-sand blaster and 12-turnover transfer manipulator.
[ Detailed description ] of the invention
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.
Referring to fig. 1-14, an automatic loading and unloading sand blasting equipment comprises a sand blasting machine and a turnover transferring manipulator, wherein the sand blasting equipment comprises a loading and unloading conveying line, a robot loading and unloading mechanism and a return line, the loading and unloading conveying line is sequentially connected with the robot loading and unloading mechanism, the return line, the turnover transferring manipulator, the return line and the turnover transferring manipulator, and the return line comprises a front section feeding structure, a sand blasting machine discharging mechanism, a product transferring mechanism, a sand removing mechanism, a conveying mechanism and a loading rack.
The front-section feeding structure is sequentially connected with the sand blaster, the sand blaster discharging mechanism, the product transferring mechanism, the sand removing mechanism, the conveying mechanism and the feeding rack and is connected with the front-section feeding structure back to form a return line, the front-section feeding structure, the feeding rack, the product transferring mechanism and the sand blaster discharging mechanism are respectively provided with the same transverse conveying belt, the jacking steering mechanism and the vertical conveying belt, each group of transverse conveying belt and each group of vertical conveying belt are respectively provided with an independent control motor, the vertical conveying belt is arranged on the jacking steering mechanism and is positioned in the transverse conveying belt, and the conveying mechanism and the sand removing mechanism are respectively provided with the transverse conveying belt and each group of conveying motor.
Preferably, the material loading transfer chain structure sets up frame, artifical material loading and places position, feed distributing mechanism, sweeps a yard mechanism, empty frame and retrieves and fold and empty frame temporary placement position including the material loading, the material loading sets up to be equipped with the conveyer belt in the frame to be equipped with the material loading in proper order and set up frame, artifical material loading and place position, feed distributing mechanism, sweep a yard mechanism and empty frame and retrieve and fold, its side still is equipped with empty frame temporary placement position.
Preferably, the robot feeding mechanism comprises a robot setting table, a feeding robot, a secondary positioning mechanism and XZ shaft transferring equipment, wherein the feeding robot, the secondary positioning mechanism and the XZ shaft transferring equipment are arranged on the robot setting table, the feeding robot and the XZ shaft transferring equipment are respectively arranged at two ends of the robot setting table, the secondary positioning mechanism is arranged at the side edge of the XZ shaft transferring equipment, and the secondary positioning mechanism comprises a secondary positioning base, a Y-direction positioning cylinder, an X-direction positioning cylinder and a positioning mechanism with a material sensor; the secondary positioning base is provided with baffles all around, the Y-direction positioning cylinder is arranged on the secondary positioning base, the output shaft of the Y-direction positioning cylinder is arranged towards the longitudinal direction, the X-direction positioning cylinder is arranged on the secondary positioning base, the output shaft of the X-direction positioning cylinder is transversely arranged, and the secondary positioning base is also provided with a positioning mechanism material sensor.
The X Z axis transferring device comprises an X axis transverse sliding rail, a transverse carriage, a Z axis lifting cylinder and a material taking sucker, wherein the X axis transverse sliding rail is connected with the transverse carriage in a sliding manner, the transverse carriage is provided with the Z axis lifting cylinder, an output shaft of the Z axis lifting cylinder is provided with the material taking sucker, and the X axis transverse sliding rail is also provided with an X direction positive limit sensor, an X direction in-situ sensor and an X direction negative limit sensor.
Preferably, the front section feeding structure is also provided with a tooling disc in-place sensor and a tooling disc sand-blasting machine in-place sensor, and the tooling disc in-place sensor is arranged at the side edge of the vertical conveying belt; the tool disc is placed into the side edge of the tail end of the feeding structure of the front section of the sand blasting machine inductor.
The sand blasting machine discharging mechanism is further provided with a tooling disc in-place inductor, and the tooling disc in-place inductor is arranged on the side edge of the vertical conveying belt.
Preferably, the feeding rack is further provided with a tray positioning and jacking mechanism, the side edge of the tray jacking mechanism is further provided with a tooling tray in-place sensor, the product transfer mechanism is further provided with a tray positioning and jacking mechanism, and the side edge of the tray jacking mechanism is further provided with a tooling tray in-place sensor.
Preferably, the tray positioning and jacking mechanism comprises a tray positioning guide block, a tray positioning jacking cylinder, a stopping block and a tooling tray in-place positioning cylinder, wherein the tray positioning guide block is arranged on an output shaft of the tray positioning jacking cylinder, the stopping blocks are further arranged on two sides of the tray positioning guide block, and the stopping blocks are connected with the tooling tray in-place positioning cylinder.
Preferably, the transport mechanism is further provided with a transport positioning cylinder and a transport positioning sensor.
Preferably, the sand removing mechanism is also provided with a sand removing cover and a sand removing and blowing cylinder; the sand removing cover is sleeved on the sand removing mechanism and forms a blowing-off space, and the sand removing and blowing cylinder is arranged in the blowing-off space; the sand removal cover is characterized in that a feeding door and a discharging door are respectively arranged on two sides of the sand removal cover, a feeding door cylinder and a discharging door cylinder are respectively arranged on the feeding door and the discharging door, and door stops are respectively arranged on output shafts of the feeding door cylinder and the discharging door cylinder.
Preferably, the front section pan feeding structure, sand blasting machine discharge mechanism, product transfer mechanism, sand removal mechanism, transport mechanism and material loading frame lower extreme of return line all show the hourglass to be equipped with in the below and connect surplus sand bucket.
The jacking steering mechanism comprises a jacking steering lifting cylinder and a jacking setting plate, and the jacking setting plate is arranged on an output shaft of the jacking steering lifting cylinder; the vertical conveyer belt sets up in jacking setting plate side, and its control motor sets up in the jacking setting plate inside.
Specific embodiments of the invention: the equipment can be used by only one operator, the operator only needs to manually place the raw material plates at the feeding and discharging conveying line, namely, the raw material plates are manually placed at the position of a manual feeding and placing position, the raw material plates enter a distributing mechanism sequentially under the action of a conveying belt, the raw material plates are separated one by one and are subjected to code scanning registration information through a code scanning mechanism, the registered raw material plates are conveyed to a secondary positioning mechanism through a robot feeding and discharging mechanism, the raw material plates are positioned through the secondary positioning mechanism, namely, the raw material plates are positioned through a Y-direction positioning cylinder and an X-direction positioning cylinder in cooperation with a baffle plate, an XZ-axis conveying device is arranged to convey the raw material plates to a front section feeding structure in a return line after the positioning is finished, and the XZ-axis conveying device returns to an original point through an X-direction in-situ sensor after each conveying is finished, so that the next feeding conveying is prepared;
Entering a front section feeding structure, after being sensed by a tooling disc entering a sand blaster sensor, conveying the tooling disc into the sand blaster through a transverse conveying belt to perform surface sand blasting operation, after the sand blasting operation is finished, the tooling disc reaches a sand blaster discharging mechanism along with the transverse conveying belt, after being sensed by a tooling disc in-place sensor, driving a lifting steering mechanism to lift a vertical conveying belt, namely, separating raw materials from the transverse conveying belt, changing the conveying direction, changing the vertical direction, conveying the raw materials to a product transfer mechanism, after the tooling disc reaches the product transfer mechanism, sensing the tooling disc in-place sensor, after sensing, lifting the raw materials by a material disc positioning lifting mechanism, after being overturned by a first group of overturning and conveying mechanical arm, conveying the raw materials to a feeding rack of a second group of reflux lines to perform vertical conveying, the front section feeding structure reaching the second group of return lines drives the jacking steering mechanism and the vertical conveying belt to change the conveying direction under the induction of the tool tray in-place inductor, changes into transverse conveying and enters the sand blaster in the second group of return lines to perform sand blasting operation on the other side, further drives the jacking steering mechanism and the vertical conveying belt to change the conveying direction under the induction of the tool tray in-place inductor at the sand blaster discharging mechanism of the second group of return lines as the transverse conveying belt reaches the sand blaster discharging mechanism of the second group of return lines, changes into the vertical direction, conveys to the product transfer mechanism of the second group of return lines, senses the tool tray in-place inductor after reaching the product transfer mechanism of the second group of return lines, and after sensing, the material tray positioning jacking mechanism jacks up raw materials, and overturns and returns through the second group of overturning manipulators, continuing the vertical conveying, after reaching the lifting steering mechanism and the vertical conveying belt structure of the product transfer mechanism of the second group of return lines, the same way changes the transferring direction into the transverse direction, then enters the sand removing mechanism of the second group of return lines to continue surface impurities and blow off attached grits, in the process of blowing off the sand and gravel residual sand, the feeding door cylinder drives the door stop at the position, the feeding door is opened, after the raw materials enter, closing, maintaining the sealed working space, blowing off by the sand-removing blowing cylinder, and after the completion, the discharging door is driven by the discharging door cylinder to open the discharging door, the raw materials continue to be transversely conveyed to the conveying mechanism of the second group of return lines for transverse conveying until reaching the feeding frame of the second group of return lines, under the action of the lifting steering mechanism and the vertical conveying belt, the conveying direction is changed into the vertical direction, the vertical direction is conveyed to the feeding frame, after reaching the tray positioning and lifting mechanism, the tray positioning and jacking mechanism performs positioning and jacking under the action of the tray positioning and jacking mechanism, the first group of overturning and transferring manipulators are used for overturning and transferring the tray positioning and jacking mechanism back to the product transferring mechanism of the first group of return lines, then the tray positioning and jacking mechanism sequentially transfers and works along the product transferring mechanism, the sand removing mechanism, the conveying mechanism and the feeding frame of the first group of return lines, after the tray positioning and jacking mechanism reaches the feeding frame, the robot feeding and discharging mechanism performs discharging, wherein each time the direction of change is to lift or lower the vertical conveyor belt by the lifting steering mechanism, so that the vertical conveyor belt is higher or lower than the horizontal conveyor belt, the contact object of the raw material plate is changed, the conveying direction is changed, and the structure is summarized, make the sand blasting operation of raw materials board realize two-sided automatic sand blasting, automatic unloading promptly reduces the human cost, improves the operating efficiency.
The foregoing description of the preferred embodiments of the invention is not intended to limit the invention to the precise form disclosed, and any such modifications, equivalents, and alternatives falling within the spirit and scope of the invention are intended to be included within the scope of the invention.
Claims (8)
1. Automatic unloading sand blasting equipment, including two sets of sand blasters and two sets of upset transfer manipulators, its characterized in that: the sand blasting equipment comprises a loading and unloading conveying line, a robot loading and unloading mechanism and a return line;
the feeding and discharging conveying line is sequentially connected with a robot feeding and discharging mechanism, a first group of return lines, a first group of overturning and transferring manipulators, a second group of return lines and a second group of overturning and transferring manipulators;
the return lines comprise a front section feeding structure, a sand blasting machine discharging mechanism, a product transferring mechanism, a sand removing mechanism, a conveying mechanism and a feeding rack;
The two groups of return lines are formed by sequentially connecting a sand blaster, a sand blaster discharging mechanism, a product transferring mechanism, a sand removing mechanism, a conveying mechanism and a feeding frame through a front section feeding structure and connecting the two groups of return lines back to the front section feeding structure;
The front section feeding structure, the feeding frame, the product transfer mechanism and the sand blasting machine discharging mechanism are respectively provided with the same transverse conveying belt, a jacking steering mechanism and a vertical conveying belt, each group of transverse conveying belt and vertical conveying belt are respectively provided with an independent control motor, and the vertical conveying belt is arranged on the jacking steering mechanism and is positioned in the transverse conveying belt;
The conveying mechanism and the sand removing mechanism are respectively provided with a transverse conveying belt and are respectively and independently provided with a conveying motor;
The front section feeding structure is also provided with a tooling disc in-place sensor and a tooling disc sand-blasting machine in-place sensor, and the tooling disc in-place sensor is arranged on the side edge of the vertical conveying belt; the tool disc sand-blasting machine inductor is arranged on the side edge of the tail end of the front section feeding structure;
the discharging mechanism of the sand blasting machine is also provided with a tooling disc in-place sensor which is arranged on the side edge of the vertical conveying belt;
The working flow of the sand blasting equipment is as follows:
a. And (3) feeding: manually placing a raw material plate at the feeding and discharging conveying line;
b. First surface sand blasting: the robot feeding and discharging mechanism firstly automatically feeds the materials into the first group of return lines, and then the materials are transmitted into a sand blasting machine of the first group of return lines to carry out surface sand blasting operation;
c. turning plate: changing the transfer direction to be vertical after the sand blasting operation is finished, continuously transferring the sand blasting operation to a product transfer mechanism of a first group of return lines, turning the sand blasting operation by a first group of turning transfer manipulators, and transferring the sand blasting operation to a second group of return lines;
d. And (3) sand blasting a second surface: changing the transmission direction into a transverse direction after reaching the second group of return lines, and then entering a sand blasting machine in the second group of return lines to perform sand blasting operation on the other side;
e. Turning plate: changing the transfer direction to be vertical at the sand blasting machine of the second group of return lines, transferring to a product transfer mechanism of the second group of return lines, and turning and returning by a second group of turning transfer manipulators after reaching the product transfer mechanism of the second group of return lines;
f. Blowing sand on the first surface: changing the transfer direction to be a transverse direction at the product transfer mechanism reaching the second group of return lines, and then entering the sand removing mechanism of the second group of return lines to blow off surface impurities and attached grits;
g. blowing sand on the second surface: after blowing off, continuing to transport until reaching the feeding frame of the second group of return lines, changing the transfer direction into vertical, turning over and transferring the product transfer mechanism of the first group of return lines by the first group of turning over and transferring mechanical arms, then blowing off surface impurities and attached grits along the first group of return lines by the sand removing mechanism of the first group of return lines, and transferring the surface impurities and attached grits to the feeding frame after blowing off is finished;
h. and (3) blanking: the robot feeding and discharging mechanism performs feeding;
In the step, the direction of each change is that the vertical conveying belt is lifted or lowered by a lifting steering mechanism arranged on a front section feeding structure, a feeding frame, a product transfer mechanism and a sand blasting machine discharging mechanism, so that the vertical conveying belt is higher or lower than the transverse conveying belt, the contact object of a raw material plate is changed, and the conveying direction is changed;
The feeding and discharging conveying line comprises a feeding setting frame, a manual feeding and placing position, a material distributing mechanism, a code sweeping mechanism, an empty frame recycling and stacking and an empty frame temporary placing position;
the feeding device is characterized in that a conveyor belt is arranged on the feeding setting frame, and the feeding setting frame, the manual feeding placement position, the material distributing mechanism, the code sweeping mechanism and the empty frame recycling stack are sequentially arranged, and the side edge of the feeding setting frame is also provided with an empty frame temporary placement position.
2. An automatic loading and unloading sand blasting apparatus according to claim 1, wherein: the robot feeding and discharging mechanism comprises a robot setting table, a feeding robot, a secondary positioning mechanism and XZ shaft transferring equipment;
The feeding robot, the secondary positioning mechanism and the XZ shaft transferring equipment are arranged on the robot setting table, the feeding robot and the XZ shaft transferring equipment are respectively arranged at two ends of the robot setting table, and the secondary positioning mechanism is arranged at the side edge of the XZ shaft transferring equipment;
The secondary positioning mechanism comprises a secondary positioning base, a Y-direction positioning cylinder, an X-direction positioning cylinder and a positioning mechanism material sensor; baffles are arranged around the secondary positioning base;
the Y-direction positioning cylinder is arranged on the secondary positioning base, and the output shaft of the Y-direction positioning cylinder is longitudinally arranged;
The X-direction positioning cylinder is arranged on the secondary positioning base, and an output shaft of the X-direction positioning cylinder is transversely arranged;
the secondary positioning base is also provided with a positioning mechanism with a material sensor;
The XZ-axis transferring equipment comprises an X-axis transverse sliding rail, a transverse carriage, a Z-axis lifting cylinder and a material taking sucker;
The X-axis transverse guide rail is connected with a transverse carriage in a sliding manner, a Z-axis lifting cylinder is arranged on the transverse carriage, and a sucking disc is arranged on an output shaft of the Z-axis lifting cylinder;
and an X-direction positive limit sensor, an X-direction in-situ sensor and an X-direction negative limit sensor are further arranged on the X-axis transverse sliding rail.
3. An automatic loading and unloading sand blasting apparatus according to claim 1, wherein: the feeding rack is also provided with a tray positioning and jacking mechanism, and the side edge of the tray positioning and jacking mechanism is also provided with a tooling tray in-place sensor;
the product transfer mechanism is also provided with a tray positioning and jacking mechanism, and the side edge of the tray positioning and jacking mechanism is also provided with a tooling tray in-place sensor.
4. An automatic loading and unloading sand blasting apparatus according to claim 3, wherein: the tray positioning and jacking mechanism comprises a tray positioning guide block, a tray positioning and jacking cylinder, a stopping block and a tooling tray in-place positioning cylinder;
The material tray positioning guide blocks are arranged on the output shafts of the material tray positioning jacking cylinders, stop-return blocks are further arranged on two sides of the material tray positioning guide blocks, and the stop-return blocks are connected with the tooling tray in-place positioning cylinders.
5. An automatic loading and unloading sand blasting apparatus according to claim 1, wherein: and the transport mechanism is also provided with a transport positioning cylinder and a transport positioning sensor.
6. An automatic loading and unloading sand blasting apparatus according to claim 1, wherein: the sand removing mechanism is also provided with a sand removing cover and a sand removing and blowing cylinder; the sand removing cover is sleeved on the sand removing mechanism and forms a blowing-off space, and the sand removing and blowing cylinder is arranged in the blowing-off space; the sand removal cover is characterized in that a feeding door and a discharging door are respectively arranged on two sides of the sand removal cover, a feeding door cylinder and a discharging door cylinder are respectively arranged on the feeding door and the discharging door, and door stops are respectively arranged on output shafts of the feeding door cylinder and the discharging door cylinder.
7. An automatic loading and unloading sand blasting apparatus according to claim 1, wherein: the front section pan feeding structure, sand blasting machine discharge mechanism, product transfer mechanism, sand removal mechanism, transport mechanism and the material loading frame lower extreme of return line all show the hourglass to be equipped with in the below and connect surplus sand bucket.
8. An automatic loading and unloading sand blasting apparatus according to claim 1, wherein: the jacking steering mechanism comprises a jacking steering lifting cylinder and a jacking setting plate, and the jacking setting plate is arranged on an output shaft of the jacking steering lifting cylinder; the vertical conveyor belt is arranged on the side edge of the jacking setting plate, and the control motor of the vertical conveyor belt is arranged inside the jacking setting plate.
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| CN202210452300.8A CN114918836B (en) | 2022-04-27 | 2022-04-27 | Automatic loading and unloading sand blasting equipment |
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| CN202210452300.8A CN114918836B (en) | 2022-04-27 | 2022-04-27 | Automatic loading and unloading sand blasting equipment |
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