CN1788944A - Full-automatic blank arranging machine - Google Patents
Full-automatic blank arranging machine Download PDFInfo
- Publication number
- CN1788944A CN1788944A CN 200510123152 CN200510123152A CN1788944A CN 1788944 A CN1788944 A CN 1788944A CN 200510123152 CN200510123152 CN 200510123152 CN 200510123152 A CN200510123152 A CN 200510123152A CN 1788944 A CN1788944 A CN 1788944A
- Authority
- CN
- China
- Prior art keywords
- arm
- rotating shaft
- finger
- servomotor
- conveyer belt
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Landscapes
- Specific Conveyance Elements (AREA)
Abstract
The automatic stock arranging machine is used for picking up, weighing and stacking hard alloy blade stock to be sintered in powder metallurgy industry. The structure includes a frame, an electronic balance, a multi-joint robot, and an automatic plate changing mechanism. The electronic balance, the multi-joint robot and the automatic plate changing mechanism are installed on the frame panel. The multi-joint robot includes one pedestal, three horizontal joints, one Z-axis motion mechanism and picking fingers. The three horizontal joints include an A-axis one, a B-axis one and a W-axis one. The Z-axis motion mechanism includes servo motor and ball lead screw nut, and the ball lead screw in the W-axis is fitted with the ball lead screw nut, so that the rotation shaft W is driven with the Z-axis servo motor to move up and down. The automatic plate changing mechanism includes three driving motors, three toothed conveying belts, a sinter bearing plate and a cylinder.
Description
Technical field
Full-automatic blank arranging machine of the present invention relates to be a kind of in the powder metallurgy industry the picking up, weigh and pile up used equipment of blank before the carbide chip sintering.
Background technology
In the powder metallurgy industry, Digit Control Machine Tool with carbide chip pressed compact pick up, pile up, check (weighing) operation, be unusual labor intensive, the essential manual operations of operating personnel, everyone machine, trick and usefulness, very arduous, especially the green compact of just suppressing out, without sintering, a little less than being highly brittle, if clutch its edge of a knife part, accidentally will fall limit, arrisdefect, form waste product.So, at present in the sector, press for and a kind ofly can significantly reduce labor strength, the machinery with product quality of boosting productivity again simultaneously.
Summary of the invention
The objective of the invention is provides a kind of full-automatic blank arranging machine at above-mentioned weak point, have electronic balance, mechanical arm, extracting finger and move plate mechanism etc. certainly, can significantly reduce labor strength, can boost productivity with product quality simultaneously again, improve production security.
Full-automatic blank arranging machine takes following scheme to realize: the full-automatic blank arranging machine structure comprises frame, electronic balance, articulated robot, moves plate mechanism certainly, frame has guidance panel, electric control box, pneumatic control case, protective cover, articulated robot, electronic balance, move plate mechanism certainly and be installed on the framework panel, articulated robot comprises base, three flapping articulations, Z shaft movement mechanisms, grasps finger.Three flapping articulations comprise A axle horizontal joint, B axle horizontal joint, W axle horizontal joint, A axle horizontal joint has arm A, rotating shaft A, servomotor A, B axle horizontal joint has arm B, rotating shaft B, servo motor B, and W axle horizontal joint has rotating shaft W, synchronizing jugged conveyer belt, servomotor W.Servomotor A is installed in the base, and arm A is sleeved on the rotating shaft A, and servomotor A directly drives arm A rotation.Servo motor B is installed in arm A top, and rotating shaft B is contained on the arm A, and arm B is sleeved on the rotating shaft B, and servo motor B drives arm B rotation.Servomotor W is installed in arm B top, and rotating shaft W is contained in the arm B front end axis hole, and servomotor W rotates by synchronizing jugged conveyer belt driven rotary axle W.
The Z shaft movement mechanism has servomotor Z, ball screw nut, and the ball screw screw thread is set on the rotating shaft W, matches with ball screw nut, drives the ball screw nut rotation by servomotor Z by synchronous cog belt, and transmission rotational axis W does upper and lower motion.Claim the Z axle during the upper and lower motion of rotating shaft W again.
Grasp finger apparatus in rotating shaft W (the claiming the Z axle again) bottom of Z shaft movement mechanism bottom, grasp finger and can adopt sucked type to grasp finger, or bladder extracting finger, or the gas pawl grasps finger.Sucked type grasps finger and adopts vacuum cup.Bladder extracting finger has leather bag, and the leather bag upper unit has locking chuck.The gas pawl grasps finger and comprises miniature gas pawl, the pawl head, and miniature gas pawl one end device has the pawl head, in the miniature gas pawl cylinder is set, and makes the folding of pawl head by piston.
Comprise driving motor No. 1, No. 2, No. 3 from moving plate mechanism (row's base transmission mechanism), synchronizing jugged conveyer belt No. 1, No. 2, No. 3, load bearing board (billet arranger plate), cylinder, driving motor is equipped with synchronizing jugged belt wheel respectively No. 1, No. 2, No. 3, and synchronizing jugged conveyer belt is housed No. 1, No. 2, No. 3 respectively, cylinder is equipped with in bottom No. 2, synchronizing jugged conveyer belt, and supporting plate is equipped with on cylinder top, promotes No. 2 upper and lower liftings of tooth-shaped conveying belt by supporting plate.Load bearing board is placed on the synchronizing jugged conveyer belt, is driven by driving motor to move forward and backward.On No. 1, No. 2, No. 3 upper side panel of synchronizing jugged conveyer belt, be respectively arranged with near switch (sensor) No. 1, No. 2, No. 3.
Operation principle:
A, the press demoulding finish, and wait extracting finger in the press outside and stretch into rapidly between the upper and lower mould product is taken out;
B, the blank that takes out is placed on the electronic balance by the interval number of setting weighs;
C, qualified product picked up again pile up on load bearing board, underproof product (kick the beam or overweight) is picked up into collecting receptacle;
D, then export automatically outside the machine when load bearing board row is full, hollow plate enters the operating position automatically simultaneously.
The characteristics of full-automatic blank arranging machine:
1, the articulated robot of full-automatic blank arranging machine grasps finger and picks up product automatically, and according to the interval number that sets directly arrange product or be placed on weigh on the electronic balance back qualified products picked up arrangement (waiting the time to be weighed to set) once more, substandard product is picked up into collecting receptacle.The extracting finger picks up speed and is per minute 15～30 times, and positioning accuracy is less than ± 0.02 millimeter.
2, adopt interactive man-machine interface to carry out the data input, the key entry that only needs simple blank shapes to confirm and put line number and columns just can be finished program input, computer picks up the selection and the blank calculating at interval of mode automatically, and can carry out data modification at any time, adjust the direction and the density of the blank of putting.
3, have touch register face operating mechanism, have various operations necessary promptings, the operation interface hommization.32 RISC CPU and abundant robotic command language are set in the motion control unit, abundant built-in instruction is arranged, the parameter of controller is easy to revise, and the master control unit is suitable for various PLCI/O interfaces.
4, have self-diagnostic function, according to the prompting of man-machine interface, the maintenance personal can pinpoint the problems and handle problems quickly and easily.For guaranteeing safety, man-machine interface is provided with password, and the layman can not enter machinery and set the interface.
5, articulated robot grasps to point and can carry out zero correction automatically.
6, adopt closed structure, the Z axle is joined dirt-proof boot, improves dirt exclusion capabilities.
Description of drawings
The invention will be further described below with reference to accompanying drawing.
Fig. 1 is the full-automatic blank arranging machine structural representation.
Fig. 2 is the articulated robot vertical view of full-automatic blank arranging machine.
Fig. 3 is the bladder extracting finger schematic diagram of full-automatic blank arranging machine.
Fig. 4 is that the gas pawl formula of full-automatic blank arranging machine grasps the finger front view.
Fig. 5 is that the gas pawl formula of full-automatic blank arranging machine grasps the finger vertical view.
Fig. 6 be full-automatic blank arranging machine move the plate structural scheme of mechanism certainly.
The specific embodiment
With reference to accompanying drawing 1～6, the full-automatic blank arranging machine structure comprises frame, electronic balance (5), articulated robot, moves plate mechanism (3) certainly.Frame has guidance panel (4), electric control box, pneumatic control case (1), protective cover (15).Articulated robot, electronic balance (5), move plate mechanism (3) certainly and be installed on the framework panel (2), articulated robot comprises base (16), three flapping articulations, Z shaft movement mechanisms, grasps finger (6).Three flapping articulations comprise A axle horizontal joint, B axle horizontal joint, W axle horizontal joint, A axle horizontal joint has arm A (13), rotating shaft A, servomotor A (14), B axle horizontal joint has arm B (12), rotating shaft B, servo motor B (11), and W axle horizontal joint has rotating shaft W (8), synchronizing jugged conveyer belt, servomotor W (10).Servomotor A (14) is installed in the base (16), and arm A (13) is sleeved on the rotating shaft A, and servomotor A (14) directly drives arm A (13) rotation.Servo motor B (11) is installed in arm A (13) top, and rotating shaft B is contained on the arm A (13), and arm B (12) is sleeved on the rotating shaft B, and servo motor B (11) drives arm B (12) rotation.Servomotor W (10) is installed in arm B (12) top, and rotating shaft W (8) is contained in arm B (12) the front end axis hole, and servomotor W (10) rotates by synchronizing jugged conveyer belt driven rotary axle W (8).
The Z shaft movement mechanism has servomotor Z (9), ball screw nut (7), rotating shaft W is provided with the ball screw screw thread on (8), match with ball screw nut (7), drive ball screw nut (7) rotation by servomotor Z (9) by synchronous cog belt, transmission rotational axis W (8) does upper and lower motion.Claim the Z axle during the upper and lower motion of rotating shaft W (8) again.
Articulated robot has three flapping articulation A, B, C and energy along mechanism that the Z axle moves, each joint and Z shaft movement mechanism all are equipped with servomotor, by programme-control, blank can be delivered to the arm length of run and be radius is that any position in the 250 ° of scopes in the center of circle is by setting with fixing support, also can allow blank stop, certainly blank is piled up by any array of prior setting in any position.
Grasp finger (6) device in rotating shaft W (claiming the Z axle again) (8) bottom of Z shaft movement mechanism bottom, grasp finger (6) and adopt sucked type to grasp finger, or bladder extracting finger, or the gas pawl grasps finger.Sucked type grasps finger and adopts vacuum cup.Bladder extracting finger has leather bag (18), and leather bag (18) upper unit has locking chuck (19).Bladder extracting finger inserts in blank (17) aperture with a leather bag (18), and inflation makes its expansion, and the blank (17) that expands utilizes the withdrawal of leather bag self tension force after the venting, and blank (17) falls by deadweight.
The gas pawl grasps finger and comprises miniature gas pawl (20), pawl head (21), and miniature gas pawl (20) one end devices have pawl head (21), in the miniature gas pawl (20) cylinder are set, and make the folding of pawl head by piston.Gas pawl formula grasps finger and utilizes unlatching that two gas cleft hands refer to get blank with closing up to expand, the thicker and blank of cylindrical hole of the suitable blank of this structure.
Comprise No. 1, driving motor (25) from moving plate mechanism (row's base transmission mechanism) (3), No. 2, driving motor (27), No. 3, driving motor (31), No. 1, synchronizing jugged conveyer belt (23), No. 2, synchronizing jugged conveyer belt (29), No. 3, synchronizing jugged conveyer belt (32), load bearing board (billet arranger plate) (22,30), cylinder (26), No. 1, driving motor, No. 2, No. 3 synchronizing jugged belt wheel is housed respectively, and synchronizing jugged conveyer belt is housed No. 1 respectively, No. 2, No. 3, in the bottom of synchronizing jugged conveyer belt No. 2 (29) cylinder (26) is housed, supporting plate (27) is equipped with on cylinder (26) top, promotes on No. 2 tooth-shaped conveying belts (29) by supporting plate (34), following lifting.Load bearing board is placed on the synchronizing jugged conveyer belt, is driven by driving motor to move forward and backward.On No. 1, No. 2, No. 3 upper side panel of synchronizing jugged conveyer belt, be respectively arranged with near switch (sensor) No. 1, No. 2, No. 3 (24,28,33).Adopt the EZK-X4MEI type near switch etc. near switch.This changes plate mechanism and is divided into upper and lower two-layerly, drives synchronous cog belt by driving motor and transmits load bearing board.Hollow plate is put into the back from lower floor and is delivered to front end automatically, and the back that puts in place is a sensor senses near switch, is held up the position that enters the row's of wait base by cylinder, treats that the full back of this plate row is sent outside the machine from top one deck automatically.At this moment the operating personnel's load bearing board that can will arrange full blank from above is taken away.The upper strata conveyer belt can store three load bearing boards at most, if three plate rows are full still not removed, machine can stop and report to the police.
Claims (5)
1, a kind of full-automatic blank arranging machine is characterized in that structure comprises frame, electronic balance, articulated robot, moves plate mechanism certainly, articulated robot, electronic balance, moves plate mechanism certainly and is installed on the framework panel; Articulated robot comprises base, three flapping articulations, Z shaft movement mechanism, grasps finger; Three flapping articulations comprise A axle horizontal joint, B axle horizontal joint, W axle horizontal joint, A axle horizontal joint has arm A, rotating shaft A, servomotor A, B axle horizontal joint has arm B, rotating shaft B, servo motor B, and W axle horizontal joint has rotating shaft W, synchronizing jugged conveyer belt, servomotor W; Servomotor A is installed in the base, and arm A is sleeved on the rotating shaft A, and servomotor A directly drives arm A rotation; Servo motor B is installed in arm A top, and rotating shaft B is contained on the arm A, and arm B is sleeved on the rotating shaft B, and servo motor B drives arm B rotation; Servomotor W is installed in arm B top, and rotating shaft W is contained in the arm B front end axis hole, and servomotor W rotates by synchronizing jugged conveyer belt driven rotary axle W;
The Z shaft movement mechanism has servomotor Z, ball screw nut, the ball screw screw thread is set on the rotating shaft W, match with ball screw nut, drive the ball screw nut rotation by servomotor Z by synchronous cog belt, transmission rotational axis W does upper and lower motion, claims the Z axle during the upper and lower motion of rotating shaft W again;
Grasp the rotating shaft W of finger apparatus and claim Z axle bottom again, grasp finger and can adopt sucked type to grasp finger in Z shaft movement mechanism bottom, or bladder extracting finger, or the gas pawl grasps finger;
Comprise driving motor No. 1 from moving plate mechanism, No. 2, No. 3, No. 1, synchronizing jugged conveyer belt, No. 2, No. 3, load bearing board, cylinder, No. 1, driving motor, No. 2, No. 3 synchronizing jugged belt wheel is housed respectively, and synchronizing jugged conveyer belt is housed No. 1 respectively, No. 2, No. 3, cylinder is equipped with in bottom No. 2, synchronizing jugged conveyer belt, supporting plate is equipped with on cylinder top, on No. 2 tooth-shaped conveying belts of supporting plate promotion, following lifting, load bearing board is placed on the synchronizing jugged conveyer belt, drive by driving motor and to move forward and backward, No. 1, synchronizing jugged conveyer belt, No. 2, be respectively arranged with on No. 3 upper side panel near No. 1, switch, No. 2, No. 3.
2, full-automatic blank arranging machine according to claim 1 is characterized in that frame has guidance panel, electric control box, pneumatic control case, protective cover.
3, full-automatic blank arranging machine according to claim 1 is characterized in that sucked type grasps finger and adopts vacuum cup.
4, full-automatic blank arranging machine according to claim 1 is characterized in that bladder extracting finger has leather bag, and the leather bag upper unit has locking chuck.
5, full-automatic blank arranging machine according to claim 1 is characterized in that the gas pawl grasps finger and comprises miniature gas pawl, the pawl head, and miniature gas pawl one end device has the pawl head, in the miniature gas pawl cylinder is set, and makes the folding of pawl head by piston.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2005101231521A CN100351053C (en) | 2005-12-19 | 2005-12-19 | Full-automatic blank arranging machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2005101231521A CN100351053C (en) | 2005-12-19 | 2005-12-19 | Full-automatic blank arranging machine |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1788944A true CN1788944A (en) | 2006-06-21 |
| CN100351053C CN100351053C (en) | 2007-11-28 |
Family
ID=36787156
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB2005101231521A Expired - Fee Related CN100351053C (en) | 2005-12-19 | 2005-12-19 | Full-automatic blank arranging machine |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN100351053C (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101259763B (en) * | 2007-03-09 | 2010-06-02 | 浙江工业大学 | Powder briquetting machine products discharging automatic picking, cleaning and transmitting system |
| CN103934825A (en) * | 2014-02-18 | 2014-07-23 | 威海正棋机电技术有限公司 | Horizontal joint robot |
| CN108972619A (en) * | 2018-07-16 | 2018-12-11 | 安徽智森电子科技有限公司 | A kind of movable mechanical hand station |
| CN109396423A (en) * | 2018-10-30 | 2019-03-01 | 南京东田精密机械有限公司 | Powder metallurgy dry powder press suppresses blank and grabs conveying device |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE2912222C2 (en) * | 1979-03-28 | 1984-09-06 | Fried. Krupp Gmbh, 4300 Essen | Acceptance device |
| JPH11245216A (en) * | 1997-11-27 | 1999-09-14 | Dowa Mining Co Ltd | Apparatus for transporting compressed powder molding |
| DE69941420D1 (en) * | 1998-11-17 | 2009-10-29 | Hitachi Metals Ltd | Process for the preparation and treatment of magnetic pressed green bodies |
| CN2550324Y (en) * | 2002-05-23 | 2003-05-14 | 周国平 | Automatic blank discharging machine |
| CN2855659Y (en) * | 2005-12-19 | 2007-01-10 | 南京东部精密机械有限公司 | Full automatic blankets arranging machine |
-
2005
- 2005-12-19 CN CNB2005101231521A patent/CN100351053C/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101259763B (en) * | 2007-03-09 | 2010-06-02 | 浙江工业大学 | Powder briquetting machine products discharging automatic picking, cleaning and transmitting system |
| CN103934825A (en) * | 2014-02-18 | 2014-07-23 | 威海正棋机电技术有限公司 | Horizontal joint robot |
| CN103934825B (en) * | 2014-02-18 | 2016-06-22 | 威海新北洋正棋机器人股份有限公司 | A kind of flapping articulation robot |
| CN108972619A (en) * | 2018-07-16 | 2018-12-11 | 安徽智森电子科技有限公司 | A kind of movable mechanical hand station |
| CN108972619B (en) * | 2018-07-16 | 2021-06-25 | 安徽智森电子科技有限公司 | Movable manipulator operation table |
| CN109396423A (en) * | 2018-10-30 | 2019-03-01 | 南京东田精密机械有限公司 | Powder metallurgy dry powder press suppresses blank and grabs conveying device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN100351053C (en) | 2007-11-28 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110820181B (en) | Sewing equipment and using method thereof | |
| CN2855659Y (en) | Full automatic blankets arranging machine | |
| CN105836481B (en) | A kind of setting machine and code blank technology | |
| CN104070558B (en) | Full-automatic single blanking manipulator | |
| CN103895011B (en) | The electronic joint Manipulator of warm and hot forging feeding | |
| CN104972008B (en) | A kind of sheet material positioning grasping system for being applied to automatic production line and positioning grasping means | |
| CN102848379A (en) | Automatic manipulator of caster support press line | |
| CN100351053C (en) | Full-automatic blank arranging machine | |
| CN109225928A (en) | A kind of battery automatic checkout equipment | |
| CN205931349U (en) | Automatic change cell -phone gift box packagine machine | |
| CN108527423A (en) | Structure adaptive manipulator grasping mechanism | |
| CN205219582U (en) | Mould positioning system is gone into automatically to inserts | |
| CN106476044A (en) | A kind of mechanical arm for express parcel sorting | |
| CN101214646A (en) | Fully-automatic hard alloy spherical-teeth robot | |
| CN107088528A (en) | A kind of noble metal blank fast automatic weighing device and its Weighing method in high precision | |
| CN208697322U (en) | A kind of group of magnets installing is standby | |
| CN1706617A (en) | Extracting device of molded article | |
| CN105750441A (en) | Integrated swing arm punching robot for punch | |
| CN110508740A (en) | A kind of umbrella frame riveting kludge | |
| CN210592627U (en) | Automatic coil pad pasting equipment | |
| CN110520227A (en) | Punching system | |
| CN202805194U (en) | Automatic manipulator for trundle bracket press line | |
| CN114670406A (en) | Fan impeller intelligent detection equipment | |
| CN113400286A (en) | Novel stacking robot with simple structure and low cost | |
| CN112830246A (en) | Intelligent manipulator transfer equipment for paper mold production |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20071128 Termination date: 20121219 |