CN1669627A

CN1669627A - Mechanism for automatic coating removing, blanking and diverse stirring and control device therefor

Info

Publication number: CN1669627A
Application number: CN 200410077674
Authority: CN
Inventors: 李伟光; 林颖; 李勇; 黄文波
Original assignee: South China University of Technology SCUT
Current assignee: South China University of Technology SCUT
Priority date: 2004-12-28
Filing date: 2004-12-28
Publication date: 2005-09-21
Anticipated expiration: 2024-12-28
Also published as: CN1299813C

Abstract

The invention relates to a controlling device for dyestripping and doffing materials automatically and heterogeneity mixing, which comprises the mechanical structure system and the controlling system, wherein the mechanical structure system primarily comprises a bay, an automatic positioning dyestripping and outing-film apparatus, an mechanical arm for self-feeding and mixing, a rotating and supporting mechanism for vessel location, a renovating mechanism and a fixed connecting beam; the controlling system primarily comprises a multi-axis motion controlling card, a interface board, a controlling motor, a electromotor drive, a continuous current dynamo, a sensor, a relay and a computer. Said invention can stimulate several different complicated movements.

Description

Mechanism and control device that automatic dyestripping blanking and diversity stir

Technical field

The present invention relates to machinery and control technology, specifically is mechanism and control device that automatic dyestripping blanking and diversity stir.

Background technology

The activity that picks and places and transport of material is the most frequent activity that takes place in the middle of daily life and production, especially pick and place and transport activity for some necessary periodic materials, often make the people be easy to generate fatigue, in activity in production, material picks and places and transports all is continuous a large amount of, also have timing, fixed point, constant speed and quantitative periodicity requirement simultaneously, the operator will focus one's attention on and have enough muscle power, and this certainly have the activity of definite rule to be replaced by machine control unit.But material picks and places, transports and stir and not only requires timing, fixed point, constant speed and quantitative, and be to determine according to field condition, this experience and technical ability to operator individual just requires very high, use machine control unit to substitute the technical sophistication of these operations, difficulty is higher, is not suitable for household person and uses.

Box for the film encapsulation, to it accurately be transported to assigned position according to the field external condition, tear film and the material in the box is fallen into assigned address automatically, sometimes the operator has different demands, wish that the requirement according to oneself changes the mode of dyestripping, number of times etc. at any time, this has good opening with regard to the control that requires mechanism's operation, and does not also occur this type of device in the market.

Summary of the invention

The objective of the invention is at above-mentioned technical problem, provide a kind of material that carries out when stirring, dyestripping automatically, the mechanism and the control device of self-feeding and the automatic dyestripping blanking that stirs automatically and diversity stirring.This device can design the control mode of oneself wanting easily according to operator's requirement, realizes the opening control of motion.

The technical solution adopted for the present invention to solve the technical problems is: overall system is made up of mechanical structure system and control system.Mechanical structure system is mainly by frame, automatically positioning to tear with move back the self-align rotary support mechanism of manipulator, the container taking and placing of film mechanism, self-feeding and stirring, cover switching mechanism and be connected and fixed beam and form; The installation that frame is used for whole system is connected and fixed beam and is fixed on the frame by welding or screw with fixing, and the location and installation piece of the manipulator of self-feeding and stirring by guide rail makes itself and frame be connected as a single entity connecting of beam with being connected and fixed; Rotary support mechanism that container taking and placing is self-align and lid switching mechanism are horizontally fixed on the frame them by being connected and fixed beam equally; Automatically positioning to tear and move back film mechanism and then cooperate connection with the guide rail of the manipulator of self-feeding and stirring by ball sliding bush, and can on guide rail, be free to slide; For the manipulator of self-feeding and stirring then respectively by guide rail, trolley, the cantilever box, manipulator is formed, trolley can be free to slide after being connected with screw with two ball sliding bush and connecting by guide rail, the cantilever box is then installed the slide block screw by the cantilever of box body and trolley and is connected the cantilever box can be free to slide on the upright guide rail of trolley, manipulator by mechanical arm the fixed installation hole and motor mounting plate is affixed becomes one with the cantilever box, the turning arm of manipulator is directly installed on the motor shaft of cantilever box.Control system is interconnected by multi-axis motion control card, interface board, control motor, motor driver, direct current generator, sensor, relay, computer etc. to be formed.Multi-axis motion control card inserts in the computer by the computer bus slot, with cable multi-axis motion control card and interface board is coupled together; A plurality of control motors connect the pulse output end of motor driver separately respectively, the pulse input end of motor driver is connected by electrical wiring on the interface board, and the limit switch of the manipulator of self-feeding and stirring and origin switch are connected respectively to the corresponding input port of interface board by holding wire; The power end of a plurality of direct current generators is received on the relay, each motor correspondence connects 2 relays (more than 2 groups), and the signal input part of relay is connected to the corresponding signal output automatically positioning to tear of interface board and moves back sensor in the film mechanism is connected to interface board by holding wire signal input part by holding wire.

Motion control explanation: utilize computer that multi-axis motion control card is carried out the application program establishment; Application program realizes the control to motor, and input signal gathered, the motion of the manipulator of self-feeding and stirring comprises trunnion axis motion (i.e. moving along guide rail, with the Y-axis movement representation), vertical with guide rail axle motion (is the motion of cantilever box, with Z axle movement representation) and around the normal motion (being rotatablely moving of manipulator, with A axle movement representation) on the plane (representing with the YZ plane) that two axles are thus determined.Initial point returns in each mechanism during initialization; When needs fall into assigned address with material, Z axle motion rising cantilever box, the Y-axis motion relies on trolley automatically positioning to tear and moves back film mechanism then, automatically positioning to tear and move back film mechanism and run into stop motion behind the Y-axis limit switch (coil spring is arranged, guarantee automatically positioning to tear and move back film mechanism and can not meet this limit switch there not being external force to do the time spent) on the Y-axis guide rail; Programming specifies Z axially to descend the motion certain distance, this distance can match the cooperation object on the cantilever box just with automatically positioning to tear and the connector that moves back on the transition link of film mechanism, and the Y-axis trolley drags automatically positioning to tear again and moves back film mechanism to assigned address; Computer applied algorithm sends instruction, sends signal by multi-axis motion control card and makes automatically positioning to tear and the volume film motor rotation that moves back film mechanism begin to roll up film; Sensor produces signal after running into keeper on the location-plate, and the notice computer stops to roll up the rotation of film motor; Y-axis control motor returns the initial point motion, stop motion when trolley is run into origin switch, automatically positioning to tear and move back film mechanism and also be pulled to the Y-axis end; Z does back the initial point motion on axially, makes cooperation object on the cantilever box break away from automatically positioning to tear simultaneously and moves back connector on the transition link in the film mechanism, and Y-axis, Z axle and A axle executing agency all are in origin position just at this moment; Independently moving or interlock by Y-axis, Z axle and A axle, just manipulator can be delivered to any position (in each stroke range) in the YZ plane, can make the middle section curve of manipulator palm match inner surface of container, also can make various stirrings and turn over actions such as throwing, to adapt to different material attribute status; Computer provides control instruction, makes two corresponding relay adhesives, the motor driven gear rotation of rotary support mechanism, thereby the rotation of the container on the driven wheel rotating disk, and mechanical palm just can cover the total inner surface of container fully; When container need close the lid, need make Y-axis, Z axle and A axle do back earlier initial point motion, the space of container top to be vacated fully, computer provides control instruction, makes two corresponding relay adhesives in addition, closes cover the motor rotation and can realize turning over automatically, closing lid and move; When manipulator and container interfere,, thereby avoid the damage of motor and executing agency because the flexibility of serving can be avoided the motion stuck phenomenon; Pinch roller on the reel guarantees that serving is not at random in order, just can eliminate the interference that occurs in the motion automatically when the Z axle returns the initial point motion.

The invention has the beneficial effects as follows: frame for movement of the present invention and be electrically connected simple and reliablely, realize self-feeding, automatic blanking, dyestripping, all functions of moving back film and stirring automatically automatically automatically have the characteristics of artificial intelligence.Do not need manual intervention in the process of implementation, can self-return, guarantee the accuracy of movement locus.Possess flexible characteristics, even motion has interference also can avoid the damage of executing agency.The length of dyestripping and number of times can be regulated as required, have therefore greatly satisfied different dyestripping requirements.The function of the stirring realization of can programming as required can be simulated various different compound actions.

Description of drawings

Fig. 1 is the system global structure block diagram of the embodiment of the invention;

Fig. 2 is the overall assembling schematic diagram of the embodiment of the invention; Among the figure: the 1-frame, 2-automatically positioning to tear and move back film mechanism, the manipulator of 3-self-feeding and stirring, the rotary support mechanism that the 4-container taking and placing is self-align, 5-covers switching mechanism, and 6-is connected and fixed beam.

Fig. 3 is automatically positioning to tear and moves back film mechanism assembling schematic diagram; Among the figure: the 2-1-bracing frame, the 2-2-motor, 2-3-pressing plate, 2-4-location-plate, the 2-5-installing plate, the 2-6-ball sliding bush, the connecting plate of 2-7-transition link, the vertical plate of 2-8-transition link, connector on the 2-9-transition link, the 2-10-sensor, 2-11-fixed pulley, 2-12-fixed pulley frame, 2-13-film envelope box, 2-14-axle supporting seat, 2-15-supporting framing front end " L " shape support, the frame structure of 2-16-box locating rack, the planar structure and the hinge of 2-17-box locating rack, the 2-18-reinforcement, 2-19-spool, 2-20-shaft coupling.(wherein 2-7,2-8,2-9 form the transition link)

Fig. 4 is the self-align rotary support mechanism assembling schematic diagram of container taking and placing; Among the figure: 4-1-support disk, 4-2-ball (in the installing hole of support disk, being blocked), 4-3-ball stator, the 4-4-gear turntable, 4-5-roller, 4-6-Position limiting wheel frame, 4-7-support, the 4-8-motor, 4-9-moving gear, 4-10-locating groove, 4-11-container handle.

Fig. 5 is the manipulator assembling schematic diagram of self-feeding and stirring; Among the figure: 3-1-guide rail, 3-2-trolley, 3-3-cantilever box, 3-4-manipulator;

Fig. 6 is the structural representation of the guide rail among Fig. 5; Among the figure: 3-1-1 location and installation piece, 3-1-2 horizontal guide rail, 3-1-3 ball sliding bush, 3-1-4 synchronous pulley installing plate, 3-1-5 be from synchronous pulley, 3-1-6 master's synchronous pulley, 3-1-7 motor mounting plate, 3-1-8 motor;

Fig. 7 is the structural representation of trolley among Fig. 5; Among the figure: the 3-2-1 trolley frame, the 3-2-2 upright guide rail, the 3-2-3 cantilever is installed slide block, 3-2-4 pulley yoke, 3-2-5 pulley, the 3-2-6 reel, 3-3-2-7 pinch roller, 3-2-8 pinch roller frame, 3-2-9 upper mounting plate, the 3-2-10 motor, 3-2-11U shape fixed mount, 3-2-12 lower installation board, 3-2-13 screw;

Fig. 8 is the structural representation of cantilever box among Fig. 5; Among the figure: the 3-3-1 motor mounting plate, the 3-3-2 box body, the 3-3-3 motor, 3-3-4 switch installing plate, the 3-3-5 driving lever, the 3-3-6 cover plate, the 3-2-3 cantilever is installed slide block;

Fig. 9 is the structural representation of manipulator among Fig. 5; Among the figure: 3-4-1 machinery palm, 3-4-2 bearing pin, 3-4-3 mechanical arm, 3-4-4 pull bar, 3-4-5 turning arm, 3-3-1 motor mounting plate.

Figure 10 is the electric control system block diagram of the embodiment of the invention;

Figure 11 is a program flow chart of the embodiment of the invention.

The specific embodiment

Shown in Fig. 1,2.The technical solution adopted for the present invention to solve the technical problems is: overall system is made up of mechanical structure system and control system.Frame for movement is mainly by frame 1, automatically positioning to tear with move back the self-align rotary support mechanism 4 of manipulator 3, the container taking and placing of film mechanism 2, self-feeding and stirring, lid switching mechanism 5 and be connected and fixed beam 6 and form; Frame 1 is used for the installation of whole system with fixing, be connected and fixed beam 6 and be fixed on the frame 1 by welding or screw, the location and installation piece 3-1-1 of the manipulator 3 of self-feeding and stirring by guide rail 3-1 makes itself and frame 1 be connected as a single entity connecting of beam 6 with being connected and fixed; Rotary support mechanism 4 that container taking and placing is self-align and lid switching mechanism 5 are horizontally fixed on the frame 1 them by being connected and fixed beam 6 equally; Automatically positioning to tear and move back 2 in film mechanism and cooperate connection with the guide rail 3-1-2 of the manipulator 3 of self-feeding and stirring by ball sliding bush 3-1-3, and can on guide rail 3-1-2, be free to slide; For 3 on the manipulator of self-feeding and stirring respectively by guide rail 3-1, trolley 3-2, cantilever box 3-3, manipulator 3-4 forms, trolley 3-2 can be free to slide after being connected with screw with two ball sliding bush and connecting by guide rail 3-1-2, cantilever box 3-3 then is connected with the cantilever installation slide block 3-2-3 screw of trolley 3-2 by box body 3-3-2 can be free to slide cantilever box 3-3 on the upright guide rail 3-2-2 of trolley 3-2, manipulator 3-4 by mechanical arm 3-4-3 the fixed installation hole and motor mounting plate 3-3-1 is affixed becomes one with cantilever box 3-3, the turning arm 3-4-5 of manipulator 3-4 is directly installed on the motor 3-3-3 axle of cantilever box 3-3.Control system is interconnected by multi-axis motion control card, interface board, control motor, motor driver, direct current generator, sensor, relay, computer etc. to be formed.Multi-axis motion control card inserts in the computer by the computer bus slot, with cable multi-axis motion control card and interface board is coupled together; A plurality of control motors connect the pulse output end of motor driver separately respectively, the pulse input end of motor driver is connected by electrical wiring on the interface board, and the limit switch of the manipulator of self-feeding and stirring and origin switch are connected respectively to the corresponding input port of interface board by holding wire; The power end of a plurality of direct current generators is received on the relay, each motor correspondence connects 2 relays (more than 2 groups), and the signal input part of relay is connected to the corresponding signal output automatically positioning to tear of interface board and moves back sensor in the film mechanism is connected to interface board by holding wire signal input part by holding wire.

Motion control explanation: utilize computer that multi-axis motion control card is carried out the application program establishment; Application program realizes the control to motor (2-2,3-1-8,3-2-10,3-3-3), and input signal gathered, the motion of the manipulator of self-feeding and stirring comprises trunnion axis motion (i.e. moving along guide rail, with the Y-axis movement representation), vertical with guide rail axle motion (is the motion of cantilever box, with Z axle movement representation) and around the normal motion (being rotatablely moving of manipulator, with A axle movement representation) on the plane (representing with the YZ plane) that two axles are thus determined.Initial point returns in each mechanism during initialization; When needs fall into assigned address with material, Z axle motion rising cantilever box 3-3, the Y-axis motion relies on trolley 3-2 automatically positioning to tear and moves back film mechanism 2 then, automatically positioning to tear and move back film mechanism 2 and run into stop motion behind the Y-axis limit switch (coil spring of cover on the Y-axis guide rail, guarantee automatically positioning to tear and move back film mechanism 2 and can not meet this limit switch there not being external force to do the time spent); Programming specifies Z axially to descend the motion certain distance, this distance can match the cooperation object on the cantilever box 3-3 just with automatically positioning to tear and the connector 2-9 that moves back on the transition link of film mechanism, and trolley 3-2 drags automatically positioning to tear again and moves back film mechanism 2 to assigned address; Computer applied algorithm sends instruction, sends volume film motor 2-2 running beginning the to roll up film that signal makes automatically positioning to tear and moves back film mechanism 2 by multi-axis motion control card; Sensor 2-10 produces signal after running into keeper on the location-plate 2-4, and the notice computer stops to roll up film motor 2-2 rotation; Y-axis control motor 3-1-8 returns the initial point motion, stop motion when trolley 3-2 runs into origin switch, automatically positioning to tear and move back film mechanism 2 and also be pulled to the Y-axis end; Z does back the initial point motion on axially, makes cooperation object on the cantilever box 3-3 break away from automatically positioning to tear simultaneously and moves back connector 2-9 on the transition link in the film mechanism 2, and Y-axis, Z axle and A axle executing agency all are in origin position just at this moment; Independently moving or interlock by Y-axis, Z axle and A axle, just mechanical palm 3-4-1 can be delivered to any position (in each stroke range) in the YZ plane, can make the middle section curve of manipulator palm 3-4-1 match inner surface of container, also can make various stirrings and turn over actions such as throwing, to adapt to different material attribute status; Computer provides control instruction, makes two corresponding relay adhesives, the motor 4-8 driven gear 4-9 rotation of rotary support mechanism 4, thereby the rotation of the container on the driven wheel rotating disk 4-4, and mechanical palm 3-4-1 just can cover the total inner surface of container fully; When container need close the lid 5 the time, need make Y-axis, Z axle and A axle do back earlier the initial point motion, the space of container top to be vacated fully, computer provides control instruction, makes two corresponding relay adhesives in addition, closes cover the motor rotation and can realize turning over automatically, closing lid and move; When mechanical palm 3-4-1 and container interfere,, thereby avoid the damage of motor 3-2-10 and executing agency because the serving flexibility on the 3-2 can be avoided the motion stuck phenomenon; Pinch roller 3-2-7 on the reel 3-2-6 guarantees that serving is not at random in order, just can eliminate the interference that occurs in the motion automatically when the Z axle returns the initial point motion.

Referring to shown in Figure 3.Axle supporting seat 2-14 is fixed on the bracing frame 1, the end of supporting reel 2-19, and the spool 2-19 other end links to each other with direct current generator 2-2 on being fixed on installing plate 2-5 by shaft coupling 2-20; Box locating rack 2-16,2-17 are placed on the bracing frame 2-1, and pressing plate 2-3 pushes down the planar structure 2-8 of box locating rack; Pressing plate 2-3, location-plate 2-4 and bracing frame 2-1 are fixed on the installing plate 2-5 together; By transition link 2-7,2-8, this mechanism can be installed on the guide rail sliding sleeve 2-6.Open the frame structure 2-16 of box locating rack, film is sealed box 2-13 be placed on the bracing frame 2-1, the envelope face is downward, puts down the frame structure 2-16 of box locating rack, because the frame structure of the frame structure 2-16 of box locating rack can be sealed film box 2-13 and is positioned at original position automatically; The limit of stretching out of film is bonded on the spool 2-19 with two-sided film; Throw in the requirement of material according to fixed point, can select for use synchronous belt transmission device directly to drive this mechanism and move on guide rail, perhaps the connector 2-9 that tangles on the transition link by other motions (present embodiment is selected trolley for use) moves to assigned address together; Motor 2-2 rotates, film is twisted on the spool 2-19, pulling box 2-13 also drives box locating rack 2-16,2-17 moves together, after envelope film place arrives the flanging edge of bracing frame 2-1, the direction of motion of the direction of motion of film and box 2-13 is 90 degree, the shearing force that produces is enough to film is separated with box 2-13, seal box 2-13 by stretch bending for fear of film, supporting framing front end " L " shape support 2-15 supports the film envelope box 2-13 that stretches out and is unlikely to crooked, the 90 degree flangings on both sides guide box locating rack 2-2-16 again, the 2-17 motion guarantees box locating rack 2-16, indeformable not stuck during the 2-17 motion; After film tore edge, box chamber, the material in the chamber was just fallen assigned address naturally by the gravity effect; The position of the keeper on the location-plate 2-4 is to determine according to the length adjustment in box chamber, because box locating rack 2-16,2-17 move with film envelope box 2-13, as the sensor 2-10 of box locating rack 2-17 during near keeper, produce signal notice control device and make motor 2-2 stall, tear a complete box chamber this moment just; If also have the box chamber to tear, only need repeat above-mentioned action and all be torn up to all box chambeies; After all box chambeies are all torn, control device control motor 2-2 counter-rotating, furl serving, pulling box locating rack 2-16,2-17 rollback, and drive film envelope box 2-13 and retreat together, and this moment rolled-up film development rate and serving winding speed synchronous, when the sensor 2-10 on the 2-17 on the box locating rack runs into last keeper, control device stall motor 2-2, whole dyestripping release; Open box locating rack 2-16, take off film envelope box 2-13.

Referring to shown in Figure 4.Uniform 6 the ball installing holes of the end face of support disk 4-1, in ball 4-2 is put into wherein after adding lubricant, with ball stator 4-3 ball 4-2 is limited in support disk 1 installing hole then, itself be to be screwed on support disk 4-1, the 4-6 pore size distribution distributes identical with support disk 4-1 installing hole on the ball stator.Gear turntable 4-4 top is gear ring, and there is screw the gear ring upper surface, and in order to mounting bracket 4-7, the middle part is an annulus, the projection step is arranged below the annulus; Bottom annulus end face is the cambered surface guide-track groove; Gear turntable 4-4 inner headed face welded vessel support; Thereby driving moving gear driven gear rotating disk 4-4 by motor 4-8 rotates on ball 4-2; The gear ring upper surface can mounting bracket 4-7, support 4-7 goes up fixing " U " shape locating groove 4-10, when the object of firmly depressing proper width (as pot handle), locating groove 4-10 end face restriction pot is in the diametric free degree of gear turntable 4-4, flexure strip restriction pot in both sides is in the free degree of gear turntable 4-4 tangential direction, can drive the pot rotation, and don't can shake.At uniform 4-3 Position limiting wheel frame 4-6 installing hole of support disk 4-1 periphery, roller 4-5 directly is enclosed within on the bearing pin of Position limiting wheel frame 4-6; The barocline projection step of gear turntable 4-4 bottom of Position limiting wheel frame 4-6 can not deflect away from the cambered surface guide-track groove when guaranteeing gear turntable 4-4 rotation, also limits it and moves upward, thereby whole rotating mechanism is linked to be an integral body.

Shown in Fig. 2,5,6,7,8,9.Trolley 3-2 does the Y-axis motion on guide rail 1, cantilever box 3-3 and manipulator 3-4 do the motion of Z axle together on the upright guide rail 3-2-2 of trolley 3-2, and Y-axis and the aggregate motion of Z axle or interlock make manipulator 3-4 do translation in the YZ plane; Manipulator is done rotatablely moving around X-axis in parallel YZ plane.The assigned address of Y direction can be accurately delivered to blanking mechanism in Y-axis and the aggregate motion of Z axle, and sends it back to original position; Three-shaft linkage can make manipulator be easy to realize the various compound actions such as throwing stirring that turn over, and perhaps presses the curve motion of appointment in the YZ plane.

Guide rail structure 3-1: form through the circular horizontal guide rail 3-1-2 of polishing, two location and installation piece 3-1-1 and two circular ball sliding bush 3-1-3 by two surfaces.Two holes that cooperate with guide rail on the location and installation piece 3-1-1 break to two ends respectively, its effect is that guide rail is installed easily, both fixed whole guide rail structure during lock-screw and also locked guide rail 3-1-2, and be convenient to simultaneously regulate, these two end faces also can be done locating surface; In other two faces, do installed surface for one, installing plate 3-1-7 or synchronous pulley installing plate 3-1-4 that another can connect motor can be installed between two guide rails synchronous band.

Trolley 3-2: mainly slide block 3-2-3, pulley yoke 3-2-4, pulley 3-2-5, reel 3-2-6, pinch roller 3-2-7, pinch roller frame 3-2-8, motor 3-2-10 and U-shaped fixed mount 3-2-11 are installed and form by trolley frame 3-2-1, upper mounting plate 3-2-9, lower installation board 3-2-12, upright guide rail 3-2-2, cantilever.Trolley frame cross section 3-2-1 is " U " shape, back side welding one " U " shape fixed mount 3-2-11, and the fixed head when installing with the guide rail sliding sleeve, two " U " shapes are 90 mutually and spend; There are a big hole and 4 small sircle holes that quadrate distributes in top, the trolley frame 3-2-1 back side, and big hole is the installation locating hole as motor, and 4 apertures can be used screw 3-2-13 fixed electrical machinery 3-2-10; On/lower installation board 3-2-9/3-2-12 is separately fixed at the two ends up and down of trolley frame 3-2-1, two counterbores are respectively arranged on installing plate 3-2-9/3-2-12, be used for fixing upright guide rail 3-2-2 is installed, pitch-row is exactly the guide rail spacing, and the aperture cooperates with upright guide rail 3-2-2 diameter; Upright guide rail 3-2-2 diameter cooperates with counterbore on last/lower installation board 3-2-9/3-2-12, and surface finish is handled, and length is greater than interplanar distance in last/lower installation board 3-2-9/3-2-12, and less than the counterbore basal spacing on last/lower installation board 3-2-9/3-2-12; Cantilever is installed slide block 3-2-3 both sides respectively a manhole, is used for installing the ball sliding bush of upright guide rail 3-2-2; Fixed block frame 3-2-4 below the cantilever installation slide block 3-2-3, serving one end is fixed on the reel 2-6, and the other end is walked around pulley 3-2-5 and is fixed on the upper mounting plate 3-2-9, and serving length can be regulated; Reel 3-2-6 directly is fastened on the motor 3-2-10 axle; Motor 3-2-10 is installed in the trolley frame 3-2-1 back side, not only be convenient to install but also can balance guide rail 3-1-2 between moment of torsion; Utilize serving pulling manipulator 3-3 and 3-4 can save half power, manipulator 3-3 and 3-4 move downward under the gravity effect, when meeting with obstruction, utilize the flexibility of serving can avoid excessive interference, the pinch roller 3-2-7 on the reel 3-2-6 since the elastic reaction of pinch roller frame 3-2-8 can push down serving and can not get loose.

Cantilever box 3-3: the cantilever box is made up of box body 3-3-2, cover plate 3-3-6, motor mounting plate 3-3-1, switch installing plate 3-3-4, driving lever 3-3-5 and motor 3-3-3.Box body 3-3-2 is formed by the sheet metal bending, the cross section is " U " shape, two vertical edge tops are to invagination 90 degree, front end fixed electrical machinery installing plate 3-3-1, vertical both sides, rear end are folding 90 degree outwards, installing hole is arranged on the flanging, install on the slide block 3-2-3 in order to the cantilever that whole cantilever box 3-3 is fixed on trolley 3-2; Cover plate 3-3-6 seals " U " shape box body 3-3-2; Motor mounting plate 3-3-1 is installed in the box body front end, and itself simultaneously is to be used for installing and fixed electrical machinery 3-3-3, the mechanical arm 3-4-3 of another side solid mechanical hand 3-4; Switch installing plate 3-3-4 is fixed on box body 3-3-2 inside in order to initial point and limit switch to be installed; Driving lever 3-3-5 is fixed on the motor shaft, and motor 3-3-3 rotation drives driving lever 3-3-5 and rotates, thereby can contact initial point and limit switch; What motor required is the double-headed shaft motor, an end driving device hand 3-4, and the other end drives driving lever 3-3-5; Cantilever box 3-3 is an integral body, is a complete closed body after the cantilever that is fixed on trolley 3-2 is installed slide block 3-2-3 and gone up, avoid outside electric devices such as motor 3-3-3, switch and electric wire are exposed to, and also convenient for installation and maintenance.

Manipulator 3-4: manipulator is made up of mechanical arm 3-4-3, turning arm 3-4-5, pull bar 3-4-4 and mechanical palm 3-4-1.Mechanical arm 3-4-3 is fixed on the motor mounting plate 3-3-1 of cantilever box 3-3, and three installing holes are corresponding with the installing hole of motor 3-3-3, and the lower end is downward " U " shape groove, and the hole on groove both sides connects mechanical palm 3-4-1 by bearing pin 3-4-2; Turning arm 3-4-5 is fixed on the motor 3-3-3 axle, and the far-end bearing pin parallel with motor 3-3-3 axle connects pull bar 3-4-4; Pull bar 3-4-4 is the rubber-like metallic rod, and annulus sliding sleeve of end welding is connected with the bearing pin of turning arm 3-4-5, and the other end is a hook-type, and first boathook is gone into the power point hole of mechanical palm 3-4-1 before the annulus sliding sleeve connects turning arm 3-4-5; Will there be certain area at the fulcrum circular hole place of machinery palm 3-4-1, can not rock to both sides when being connected with mechanical arm 3-4-3 and rotating.

Shown in Fig. 1,2,3,4,5 and 10.Utilize PC that multi-axis motion control card is carried out the application program establishment; Application program realizes the control to motor, and sensor signal is gathered.During initialization, programme-control multiaxis control card generation pulse command is input to three drivers by interface board and drive motors controlled motion dolly 3-2 does the Y-axis motion, and cantilever box 3-3 does the motion of Z axle and manipulator 3-4 does the motion of A axle and returns initial point; When needs fall into assigned address with material, motor 3-2-10 rising cantilever box 3-3, motor 3-1-8 actuation movement dolly 3-2 relies on automatically positioning to tear and moves back film mechanism 2 then, automatically positioning to tear and move back film mechanism 2 and run into stop motion behind the positive limit switch of Y-axis motion; Programming is specified motor 3-2-10 to drive cantilever box 3-3 and is moved downward certain distance, cooperation object on the cantilever box 3-3 can be matched just, then motor 3-1-8 actuation movement dolly 3-2 and drag automatically positioning to tear and move back film mechanism 2 with automatically positioning to tear and the connector 2-9 that moves back film mechanism 2 to assigned address; Computer applied algorithm sends instruction, sends volume film motor 2-2 running beginning the to roll up film that signal makes automatically positioning to tear and moves back film mechanism 2 by multi-axis motion control card; Sensor 2-10 produces signal after running into keeper on the location-plate 2-4, and the notice computer stops to roll up film motor 2-2 rotation; Motor 3-1-8 actuation movement dolly 3-2 returns initial point motion, stop motion when trolley 3-2 runs into origin switch, automatically positioning to tear and move back film mechanism 2 and also be pulled to the Y-axis end; Motor 3-2-10 drives cantilever box 3-3 and does back the initial point motion, make the cooperation object on the cantilever box 3-3 break away from automatically positioning to tear and the connector 2-9 that moves back in the film mechanism 2 simultaneously, this moment trolley 3-2, cantilever box 3-3 and manipulator 3-4 are in origin position just; By of independently moving or the interlock of three driver drives motors at Y-axis, Z axle and A axle, just mechanical palm 3-4-1 can be delivered to any position (in each stroke range) in the YZ plane, can make the middle section curve of manipulator palm 3-4-1 match inner surface of container, also can make various stirrings and turn over actions such as throwing, to adapt to different material attribute status; When PC provides control instruction, make two corresponding relay adhesives, the motor 4-8 of rotary support mechanism 4 drives moving gear 4-9 rotation, thus the rotation of the container on the driven wheel rotating disk 4-4, mechanical palm 3-4-1 just can cover the total inner surface of container fully; When container need close the lid, need make trolley 3-2 this moment, cantilever box 3-3 and manipulator 3-4 do back earlier the initial point motion, the space of container top is vacated fully, computer provides control instruction, make in addition two corresponding relay adhesives, close and cover the motor rotation and can realize turning over automatically, closing lid and move; When mechanical palm 3-4-1 and container interfere,, thereby avoid the damage of motor 3-1-8,3-2-10,3-3-3 and executing agency because the flexibility of serving can be avoided the motion stuck phenomenon; The pinch roller 3-2-7 of 3-2-6 guarantees that serving is not at random in order on the reel, and cantilever box 3-3 just can eliminate the interference that occurs in the motion when returning the initial point motion automatically.

Claims

1, the mechanism and the control device of the stirring of a kind of automatic dyestripping blanking and diversity, it is characterized in that being made up of mechanical structure system and control system, mechanical structure system is mainly by frame, automatically positioning to tear with move back the self-align rotary support mechanism of manipulator, the container taking and placing of film mechanism, self-feeding and stirring, cover switching mechanism and be connected and fixed beam and form; The installation that frame is used for whole system is connected and fixed beam and is fixed on the frame by welding or screw with fixing, and the location and installation piece of the manipulator of self-feeding and stirring by guide rail makes itself and frame be connected as a single entity connecting of beam with being connected and fixed; Rotary support mechanism that container taking and placing is self-align and lid switching mechanism are horizontally fixed on the frame them by being connected and fixed beam equally; Automatically positioning to tear and move back film mechanism and then cooperate connection with the guide rail of the manipulator of self-feeding and stirring by ball sliding bush; Control system mainly comprises multi-axis motion control card, interface board, control motor, motor driver, direct current generator, sensor, relay, computer; Multi-axis motion control card inserts in the computer by the computer bus slot, with cable multi-axis motion control card and interface board is coupled together; A plurality of control motors connect the pulse output end of motor driver separately respectively, the pulse input end of motor driver is connected by electrical wiring on the interface board, and the limit switch of the manipulator of self-feeding and stirring and origin switch are connected respectively to the corresponding input port of interface board by holding wire; The power end of a plurality of direct current generators is received on the relay, each motor correspondence connects 2 relays, and the signal input part of relay is connected to the corresponding signal output automatically positioning to tear of interface board and moves back sensor in the film mechanism is connected to interface board by holding wire signal input part by holding wire.

2, mechanism and control device that automatic dyestripping blanking according to claim 1 and diversity stir, the manipulator that it is characterized in that self-feeding and stirring is respectively by guide rail, trolley, the cantilever box, manipulator is formed, trolley can be free to slide after being connected with screw with two ball sliding bush and connecting by guide rail, the cantilever box is then installed the slide block screw by the cantilever of box body and trolley and is connected the cantilever box can be free to slide on the upright guide rail of trolley, manipulator by mechanical arm the fixed installation hole and motor mounting plate is affixed becomes one with the cantilever box, the turning arm of manipulator is directly installed on the motor shaft of cantilever box.

3, the mechanism and the control device of the stirring of automatic dyestripping blanking according to claim 2 and diversity, it is characterized in that the cantilever box mainly is made of box body, cover plate, motor mounting plate, switch installing plate, driving lever and motor, motor mounting plate is installed in the box body front end, and itself simultaneously be to be used for installing and fixed electrical machinery, the mechanical arm of another side solid mechanical hand, vertical both sides, box body rear end are fixed on the cantilever of trolley and install on the slide block, and cover plate seals box body; The switch installing plate is fixed on box body inside, and middle hole is a dead eye, and the other end of support motor axle, driving lever are to be fixed on the motor shaft, and the motor rotation drives driving lever and rotates, thereby can contact initial point and limit switch.

4, the mechanism and the control device of the stirring of automatic dyestripping blanking according to claim 2 and diversity, it is characterized in that automatically positioning to tear and move back having a straight trough or multistage straight trough or row's oval hole on the location-plate of film mechanism, groove or hole are point-blank, parallel with the bracing frame guide rail, be in equal height with sensor, the keeper as the anchor point of sensor is installed on the location-plate.

5, the mechanism and the control device that stir of automatic dyestripping blanking according to claim 2 and diversity is characterized in that having a coil spring on horizontal guide rail, guarantees automatically positioning to tear and moves back film mechanism and can not run into limit switch there not being external force to do the time spent.

6, the mechanism and the control device that stir of automatic dyestripping blanking according to claim 2 and diversity, it is characterized in that automatically positioning to tear and move back film mechanism's spool volume film section and rolled strip section the diameter of axle than according to volume film speed with move back linear velocity synchronously, during counter-rotating spiral speed with move back film speed and require design synchronously; Film easily tears medium and is bonded on the axle by easily sticking.