CN202498166U - Feeding and discharging device for anti-overflow cover plate of electric rice cooker cover - Google Patents

Abstract

The utility model belongs to the technical field of automatic loading and unloading devices, and relates to six mechanical arms driven by stepping motors. The mechanical arms are equipped with retractable cylinders, limit contact switches and suction cups, and are connected with a controller and an air source. A feeding and unloading device for an anti-overflow cover plate of an electric rice cooker composed of connections. The utility model can automatically put the semi-finished products into the stamping machine, and automatically put the finished products into the finished product area, which improves the efficiency of loading and unloading; adopts the rotary working mode, saves space, and has no empty travel; the limit contact switch can sense the workpiece The height of the semi-finished product can be stacked together; the suction cup adsorption and the U-shaped card slot are adopted, which is simple and efficient. Only need to adjust the size of the U-shaped card slot and the suction cup to adapt to different specifications of the anti-spill cover Board, strong versatility.

Description

A device for feeding and unloading the lid of an electric rice cooker against spillage

technical field

The utility model belongs to the technical field of automatic loading and unloading devices on an automated production line, and relates to a mechanical arm driven by a stepping motor through a coupling, a bearing, a transmission shaft, etc., and a retractable cylinder, a limit contact switch and a mechanical arm are installed on the mechanical arm. The suction cup is connected with the controller and the air source to form a feeding device for the anti-overflow cover plate of the electric cooker.

Background technique

The anti-spill cover of the rice cooker lid is composed of a sealing ring, an aluminum lid (rectangular grooves and teeth are punched out around the circumference) and a plastic ring (there is a protruding rectangular block on the ring, which is used to connect the hinge of the flip lid). The teeth on the cover are punched flat to hold the seal ring, aluminum cover and plastic ring together. The existing stamping production technology of the pot lid anti-overflow cover plate is: workers manually put the sealing ring, aluminum cover and plastic ring together to form a semi-finished product, after adjusting the direction, put the semi-finished product into the punching machine for stamping, and the worker takes out the pot from the equipment Cover the finished spill-proof cover, put it into the finished product area, and then assemble the next semi-finished product, repeat the above process. In the above production process, putting in the semi-finished pot lid anti-overflow cover, taking out the finished product, and putting it into the finished product area accounted for most of the entire production process (more than half of the time), which was very time-consuming. Workers almost There is no stop, the continuous working time is long, and the labor intensity is high. The automation level of the whole process is low and the efficiency is low. How to reduce the single production time and improve the production efficiency has puzzled the rice cooker manufacturers for a long time. Traditional automatic production lines and loading and unloading devices mostly use sequential translational motion, which requires a dedicated manipulator to work integrated with the punching machine. However, the cost of loading and unloading industrial manipulators is high, and most of the work is done by a single manipulator. There are redundant round-trip and repeated work stages in the work of manipulators, and the efficiency is low. At the same time, the traditional loading and unloading of manipulators has strict requirements on the height of the processed workpieces. Often, only one processed workpiece can be processed before placing the next one. As a result, the process time for workers to prepare OEM parts must be strictly synchronized with the time for loading and unloading operations, and there is no buffer function. Due to the various uncertainties in the manual preparation of semi-finished products, the automatic loading and unloading device has an increased probability of shutting down due to untimely preparation of semi-finished products. And arranging multiple workers to prepare materials will bring about the improvement of labor costs. The technical solution to be introduced below is based on this background.

Contents of the invention

The purpose of the utility model is to provide an intelligent rotary adsorption type automatic loading and unloading device required for the production line of the anti-overflow cover plate of the pot cover for the deficiencies of the prior art.

The utility model includes a stepping motor, a shaft coupling, a bearing, a transmission shaft, a controller, an air source, a mechanical arm, a retractable cylinder, a limit contact switch, a sucker, a U-shaped card slot and the like.

The stepper motor is fixedly installed on the upper right end of the punch frame; the upper bearing is fixed on the upper end of the punch frame, and the lower bearing is fixed on the lower end of the punch frame; the upper and lower ends of the transmission shaft penetrate into the upper and lower bearings and are installed vertically; The stepper motor is fixedly connected to the transmission shaft through a coupling; on the middle part of the transmission shaft, there are 6 mechanical arms on the same horizontal plane evenly distributed according to the circumference, and the angle between adjacent mechanical arms is 60 degrees; 6 mechanical arms Rotate together with the transmission shaft; the end of each mechanical arm is vertically installed with a telescopic cylinder; a suction cup is installed directly below the lower end of the cylinder, and a limit contact switch is fixed at the lower end of the cylinder through a connecting rod. The limit contact switch should be installed on the suction cup Outside the disk surface, and the height should be slightly higher than the bottom surface of the suction cup; the U-shaped card slot is fixedly installed on a fixed plate that is coplanar with the lower end surface of the punch frame, and the direction of the card slot is at a fixed angle with the length direction of the punch frame; the controller It is composed of power supply, single-chip microcomputer, stepping motor driver, solenoid valve and electromagnetic switch, and is fixedly installed on the punch frame. The power supply is responsible for supplying power to the single-chip microcomputer, stepping motor driver, solenoid valve, electromagnetic switch and limit contact switch, and controlling The device is connected with the stepper motor to form a rotation control system, connected with the cylinder and the limit contact switch to form a telescopic control system, and connected with the suction cup to form an adsorption control system.

The workman puts the semi-finished superimposed base of the pot lid spill-proof cover plate in the U-shaped card slot. The semi-finished product of the anti-overflow cover, the finished product station and the stamping processing station of the punching machine are distributed on the circumference centered on the transmission shaft. The finished product stations are separated by 60 degrees, and the distance from the center point of the stamping processing station to the transmission shaft is equal to the length of the mechanical arm. Initially, a robotic arm is positioned just above the semi-finished spill cover. The workflow is:

Step 1: The controller uses the solenoid valve to adjust the extension of the cylinder of the mechanical arm above the semi-finished anti-overflow cover to be processed until the limit contact switch touches the semi-finished anti-overflow cover, the controller turns on the electromagnetic switch to control the adsorption of the suction cup Lift the semi-finished anti-overflow cover, and then the controller controls the cylinder to shorten;

Step 2: The controller controls the stepper motor to rotate 120 degrees clockwise through the stepper motor driver, drives the transmission shaft to rotate, and rotates the mechanical arm with the semi-finished product absorbed to the stamping processing position;

Step 3: The controller controls the mechanical arm above the stamping processing position to release the semi-finished product to the stamping processing position; at the same time, the controller controls the mechanical arm above the next semi-finished product to be processed to repeat the same process as the first step, and the next The semi-finished product is absorbed;

Step 4: The controller controls the mechanical arm to rotate 30 degrees clockwise, so that the mechanical arm leaves the working area of the stamping head; the punching machine stamps to form the finished anti-overflow cover; then the controller controls the mechanical arm to rotate 30 degrees clockwise;

Step 5: Control the mechanical arm above the finished product to absorb the finished anti-overflow cover;

Step 6: The controller controls the mechanical arm to rotate 60 degrees clockwise;

Step 7: The controller controls the mechanical arm above the stamping processing position to repeat the same process as the third step to release the semi-finished product to the stamping processing position; at the same time, the controller controls the next semi-finished overflow-proof cover to be processed. The mechanical arm repeats the same process as the first step to absorb the next semi-finished anti-overflow cover; at the same time, the controller controls the mechanical arm above the finished product station to release the finished anti-overflow cover;

Step 8: Repeat steps 4 to 7 to realize continuous automatic loading and unloading.

Compared with the prior art, the utility model has the following beneficial effects:

(1) The worker only needs to put the semi-finished product into the U-shaped card slot, so that the bayonet clamps the protruding part of the plastic ring, and then the device will automatically put the semi-finished product into the punching machine, and automatically put the finished product into the finished product area, thereby reducing Reduced manual work time and improved loading and unloading efficiency;

(2) The limit contact switch is installed at the end of the cylinder, so that the height of the OEM parts can be sensed, so that the semi-finished products can be stacked together, so that the process time for the workers to prepare the OEM parts does not need to be strictly related to the loading and unloading process The time is fully synchronized, with intelligence and buffering functions;

(3) The rotary working method is adopted, which saves space compared with the sequential translation method, and is easier to integrate with the existing punching machine;

(4) By installing 6 mechanical arms, the device only needs to rotate clockwise continuously to realize automatic loading and unloading, without changing the direction of rotation, so there is no reciprocating motion, no idle stroke, and high working efficiency;

(5) The 6 mechanical arms are installed symmetrically, and the positions between the semi-finished products, finished products and stamping processing positions in the U-shaped card slot are fixed, so that the initial position of the semi-finished product through the U-shaped card slot can be guaranteed once. The anti-overflow cover of the pot lid is placed in the correct direction on the stamping and pressing platform, which reduces the scrap rate of the product;

(6) It adopts suction cup adsorption and U-shaped card slot locking method, which is simple and efficient, and only needs to adjust the size of U-shaped card slot and suction cup to adapt to the requirements of automatic loading and unloading of anti-overflow covers of different specifications, and the device is versatile. powerful.

Description of drawings

Fig. 1 is the front view of the utility model;

Fig. 2 is a schematic diagram of the electric control structure of the utility model.

Detailed ways

Below in conjunction with accompanying drawing, the utility model is further described.

The purpose of the utility model is to provide an intelligent rotary adsorption type electric rice cooker pot lid overflow prevention cover plate loading and unloading device for the deficiencies of the prior art.

The present invention includes a stepper motor 1, a shaft coupling 2, an upper bearing 3A, a lower bearing 3B, a transmission shaft 4, a controller 16, an air source 17, mechanical arms 5A, 5B, 5C, 5D, 5E, 5F, and a retractable cylinder 6. Limit contact switch 7, suction cup 8, U-shaped card slot 11, etc.

The stamping machine 15 is rectangular (0.65m in length, 0.65m in width, and 0.70m in height). The stamping processing station 12 is located at the center of the bottom surface of the stamping machine 15. A stamping head 14 is installed directly above the stamping processing station 12. The stamping processing station 12 is evenly distributed around the circumference. The upper punch 13 is installed; the stepper motor 1 is fixedly installed on the upper right end of the frame of the rectangular punching machine 15; the upper bearing 3A is fixedly installed on the upper end surface of the frame of the punching machine 15, and the lower bearing 3B is fixedly installed on the lower end surface of the frame of the punching machine 15 The upper and lower ends of the aluminum alloy transmission shaft 4 with a diameter of 0.03m and a length of 0.70m penetrate into the upper and lower bearings 3A and 3B, and are vertically installed on the upper right corner of the frame of the punching machine 15; Fixed connection: 6 equal-length aluminum alloy mechanical arms 5A, 5B, 5C, 5D, 5E, 5F on the same horizontal plane are fixedly installed on the middle part of the drive shaft 4, evenly distributed according to the circumference, and between adjacent mechanical arms The included angle between them is 60 degrees, and the 6 mechanical arms rotate together with the transmission shaft 4, and the length of each mechanical arm is 0.45m; Cylinder 6, the length of the telescopic cylinder 6 varies between 0.20m-0.35m; a suction cup 8 is installed directly below the lower end of the cylinder 6, and a limit contact switch 7 is fixedly installed on the lower end of the cylinder 6 through a connecting rod, and the limit contact switch 7 should be Installed outside the surface of the suction cup 8, and the height should be slightly higher than the bottom surface of the suction cup 8; the U-shaped card slot 11 is fixedly installed on a fixed plate that is coplanar with the lower end surface of the frame of the punching machine 15, and the opening of the card slot faces the frame of the punching machine 15 The length direction is 60 degrees; the controller 16 is made up of a power supply 18, a single-chip microcomputer 22, a stepper motor driver 19, a solenoid valve 20 and an electromagnetic switch 21, and is fixedly installed on the frame of the stamping machine 15, and the power supply 18 is responsible for supplying the single-chip microcomputer 22, the stepping motor The motor driver 19, the solenoid valve 20, the solenoid switch 21 and the limit contact switch 7 supply power, the controller 16 is connected with the stepper motor 1 to form a rotation control system, and is connected with the cylinder 6 and the limit contact switch 7 to form a telescopic control system. It is connected with suction cup 8 to form an adsorption control system.

The workman puts the semi-finished product of the pot lid overflow-proof cover plate 10 into the U-shaped draw-in groove 11. The semi-finished product of the anti-overflow cover 10, the finished product station 9, and the stamping processing station 12 of the stamping machine 15 are distributed on the circumference centered on the transmission shaft 4, and the distance from the center point of the stamping processing station 12 to the transmission shaft 4 is equal to that of the mechanical arm The length of 5E. Initially, the robotic arm 5C is just above the semi-finished spill cover 10 . The detailed workflow is:

The first step: the controller 16 controls the solenoid valve 20 to change the pressure difference on both sides of the piston of the cylinder 6 of the mechanical arm 5C, thereby controlling the elongation of the cylinder 6 above the semi-finished product of the overflow prevention cover 10; when the limit contact switch 7 contacts When the anti-overflow cover 10 is a semi-finished product, the limit contact switch 7 feeds back an electric signal to the controller 16; the cylinder 6 stops extending, and the controller 16 starts to open the electromagnetic switch 21, and the control sucker 8 absorbs the anti-overflow cover 10 semi-finished product ; Then the controller 16 controls the cylinder 6 to shorten by 0.05m;

Step 2: The controller 16 controls the stepper motor 1 to rotate 120 degrees clockwise through the stepper motor driver 19, drives the transmission shaft 4 to rotate, and rotates the mechanical arm 5C with the semi-finished product of the anti-overflow cover 10 to the stamping processing position 12 At this time, the mechanical arm 5A is directly above the next anti-overflow cover 10 semi-finished products;

The third step: the controller 16 controls the extension of the cylinder 6 of the mechanical arm 5C. When the limit contact switch 7 touches the plane of the stamping processing position 12, the limit contact switch 7 feeds back an electrical signal to the controller 16, and controls The suction cup 8 releases the semi-finished product 10, and then the cylinder 6 shortens by 0.05m; at the same time, the controller 16 controls the mechanical arm 5A to repeat the same process as the first step, and absorbs the next anti-overflow cover 10 semi-finished product;

Step 4: The controller 16 controls the mechanical arm 5C to rotate clockwise by 30 degrees to leave the working area of the stamping head 14; the punching machine 15 stamps to form the finished product of the spill-proof cover 10; then the controller 16 controls the adjacent mechanical arm 5B to rotate clockwise 30 degrees to the top of the finished anti-overflow cover 10;

Step 5: The controller 16 controls the extension of the cylinder 6 of the mechanical arm 5B, and the suction cup 8 absorbs the finished anti-overflow cover 10;

Step 6: The controller 16 controls the stepper motor 1 to rotate 60 degrees clockwise through the stepper motor driver 19, driving the transmission shaft 4 to rotate, and the robot arm 5B with the finished product of the spill-proof cover 10 rotates to the finished product station 9 , rotating the mechanical arm 5A with the semi-finished product of the anti-overflow cover 10 to the 12 stamping positions;

Step 7: The controller 16 controls the robotic arm 5A to repeat the same process as the third step, so that the semi-finished anti-overflow cover 10 on the robotic arm 5A is released to the stamping processing position 12, and the next anti-overflow cover is absorbed by the robotic arm 5E The semi-finished product of the board 10 is adsorbed; at the same time, the controller 16 controls the mechanical arm 5B to release the finished product of the previous spill-proof cover 10 to the finished product station 9;

Step 8: The controller 16 controls the mechanical arm 5A to rotate clockwise by 30 degrees to leave the working area of the stamping head 14; the punching machine 15 stamps to form the finished product of the spill-proof cover 10; then the controller 16 controls the adjacent mechanical arm 5F to rotate clockwise 30 degrees to the top of the finished anti-overflow cover 10;

Step 9: The controller 16 controls the extension of the cylinder 6 of the mechanical arm 5F, and the suction cup 8 absorbs the finished product of the anti-overflow cover 10;

Step 10: The controller 16 controls the stepper motor 1 to rotate 60 degrees clockwise through the stepper motor driver 19, drives the transmission shaft 4 to rotate, and rotates the mechanical arm 5E with the semi-finished product of the overflow prevention cover 10 to the stamping processing position 12 , the mechanical arm 5F with the finished product of the spill-proof cover 10 rotates to the finished product station 9;

The eleventh step: the controller 16 controls the mechanical arm 5E to repeat the same process as the third step, so that the semi-finished overflow-proof cover plate 10 on the mechanical arm 5E is released to the stamping processing position 12, and the mechanical arm 5C absorbs the next overflow-proof cover The semi-finished cover plate 10 is absorbed; at the same time, the controller 16 controls the mechanical arm 5F to release the previous overflow-proof cover plate 10 to the finished product station 9;

Step 12: The controller 16 controls the mechanical arm 5E to rotate clockwise by 30 degrees to leave the working area of the stamping head 14; the punching machine 15 stamps to form the finished product of the spill-proof cover 10; then the controller 16 controls the adjacent mechanical arm 5D to clockwise Rotate 30 degrees to the top of the finished product of the spill-proof cover plate 10;

The thirteenth step: the controller 16 controls the extension of the cylinder 6 of the mechanical arm 5D, and the suction cup 8 absorbs the finished product of the anti-overflow cover 10;

Step 14: The controller 16 controls the stepping motor 1 to rotate 60 degrees clockwise through the stepping motor driver 19, which drives the transmission shaft 4 to rotate, and the mechanical arm 5D with the finished product of the spill-proof cover 10 rotates to the finished product station 9 , rotate the mechanical arm 5C with the semi-finished product of the spill-proof cover plate 10 to the stamping processing position 12;

Step 15: The controller 16 controls the mechanical arm 5C to repeat the same process as the third step, so that the 5C releases the semi-finished spill-proof cover 10 to the plane of the stamping processing position 12, and the mechanical arm 5A absorbs the next spill-proof cover 10 Semi-finished product; at the same time, the controller 16 controls the mechanical arm 5D to release the previous spill-proof cover 10 to the finished product station 9;

Step 16: Cycle through steps 4 to 15 to realize continuous automatic loading and unloading.

Claims (3)

1. electric cooker pot cover anti-overflow cover plate handling equipment; Comprise stepper motor (1), shaft coupling (2), upper bearing (metal) (3A), lower bearing (3B), power transmission shaft (4), controller (16), source of the gas (17), mechanical arm (5A, 5B, 5C, 5D, 5E, 5F), scalable cylinder (6), spacing contact switch (7), sucker (8), U type draw-in groove (11), it is characterized in that: stepper motor (1) is fixedly mounted on rectangle stamping machine (15) frame upper right side; Power transmission shaft (4) is vertical to be installed; Stepper motor (1) is fixedly connected with power transmission shaft (4) through shaft coupling (2); On power transmission shaft (4) middle part, evenly distribute, be installed with 6 mechanical arms (5A, 5B, 5C, 5D, 5E, 5F) that are on the same horizontal plane by circumference; The end of each mechanical arm is all vertically installed scalable cylinder (6); Cylinder (6) is equipped with sucker (8) under the lower end, and cylinder (6) lower end is installed with spacing contact switch (7) through connecting rod; U type draw-in groove (11) is fixedly mounted on the fixed flat planar with stamping machine (15) frame lower surface coplane; Controller (16) is made up of power supply (17), single-chip microcomputer (22), stepper motor driver (19), magnetic valve (20) and electromagnetic switch (21).

2. electric cooker pot cover anti-overflow cover plate handling equipment according to claim 1; It is characterized in that: cylinder (6) lower end is installed with spacing contact switch (7) through connecting rod; Spacing contact switch (7) should be installed in sucker (8) beyond the card, and height should be a little more than sucker (8) bottom surface; Spacing contact switch (7) can perceive the height of workpiece, makes semi-finished product to put together at a plurality of stacks base.

3. electric cooker pot cover anti-overflow cover plate handling equipment according to claim 1 and 2 is characterized in that: U type draw-in groove (11) becomes 60 degree with stamping machine (15) frame length direction; Through regulating the size of U type draw-in groove (11) and sucker (8), can adapt to the anti-overflow cover plate automatic loading/unloading of different size.

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