CN214110860U - Automatic mold placing system for PC component production line - Google Patents

Automatic mold placing system for PC component production line Download PDF

Info

Publication number
CN214110860U
CN214110860U CN202022954640.XU CN202022954640U CN214110860U CN 214110860 U CN214110860 U CN 214110860U CN 202022954640 U CN202022954640 U CN 202022954640U CN 214110860 U CN214110860 U CN 214110860U
Authority
CN
China
Prior art keywords
robot
die
magnetic side
unit
warehouse
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.)
Active
Application number
CN202022954640.XU
Other languages
Chinese (zh)
Inventor
尹怀秀
薛海涛
刘增喜
丁增滨
马敏
唐正军
赵善鹏
丁峰熙
丁秀芳
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Qingdao Global Heavy Industry Technology Co ltd
Original Assignee
Qingdao Hicorp Group Co ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Qingdao Hicorp Group Co ltd filed Critical Qingdao Hicorp Group Co ltd
Priority to CN202022954640.XU priority Critical patent/CN214110860U/en
Application granted granted Critical
Publication of CN214110860U publication Critical patent/CN214110860U/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Landscapes

  • Manipulator (AREA)

Abstract

The utility model provides an automatic put mould system for PC component production line relates to workshop whole technical field of arranging, has realized the transport of magnetism side forms, storage, has marked off and has placed the automatic operation of operation. The system comprises a magnetic side die conveying line, an in-out warehouse robot, a magnetic side die warehouse, a die placing robot, a die placing table and a controller, wherein the magnetic side die conveying line conveys materials in the operation range of the die placing robot and the in-out warehouse robot, an executing mechanism of the in-out warehouse robot freely moves in the operation range of the executing mechanism, the die placing robot identifies the specification of the magnetic side die at the tail end of the conveying line, a scribing mechanism and a clamping mechanism of the die placing robot freely move in the operation range of the scribing mechanism and the clamping mechanism, and the operations of scribing, placing the magnetic side die and fixing the magnetic side die are completed; the controller controls all parts of the system to work coordinately, and after the design drawing is imported, production is finished according to the drawing. The system and the method also have the advantages of high production efficiency, high precision, high automation degree and the like.

Description

Automatic mold placing system for PC component production line
Technical Field
The utility model belongs to the technical field of the workshop overall arrangement technique and specifically relates to an automatic mould system of putting that is used for PC component production line.
Background
With the continuous popularization and application of assembly type buildings, the demand of PC components is larger and larger, and meanwhile, higher requirements on the production scale and the production efficiency are also provided.
The production process of the PC component is specifically that lines and marks are marked on a die table according to drawing requirements, and then the magnetic side die is placed on the die table and fixed. When manual operation is adopted, the magnetic side forms are heavy in weight, multiple persons are needed to cooperate during circulation and placement, and errors occur in the scribing and placement accuracy.
In order to gradually realize the intelligent production of the link, grasp the production progress in real time, improve the production efficiency, ensure the overall quality of the prefabricated parts and simplify the quantity of workers required by the production line, an automatic die placing system which can automatically identify drawings, generate corresponding control programs, realize the conveying, the storage and the calling of the magnetic side dies and complete the operations of marking, placing and fixing the magnetic side dies on a die table is required to be provided.
SUMMERY OF THE UTILITY MODEL
In order to realize the automatic operation of the transportation, storage, marking off and placing operations of magnetism side forms, promote production efficiency, guarantee the quality of prefabricated structure, the utility model provides an automatic mould system and method of putting for PC component production line, specific technical scheme as follows.
An automatic die placing system for a PC component production line comprises a magnetic side die conveying line, a warehouse entry robot, a magnetic side die warehouse, a die placing robot, a die placing table and a controller, wherein the magnetic side die conveying line is arranged between the operation ranges of the die placing robot and the warehouse entry robot, the warehouse entry robot is provided with an executing mechanism, the executing mechanism moves along with a walking mechanism in the operation range of the warehouse entry robot, the tail end of the magnetic side die conveying line is provided with a magnetic side die specification identification sensor, the die placing robot is provided with a scribing mechanism and a clamping mechanism, the scribing mechanism and the clamping mechanism freely move in the operation range of the die placing robot, and the die placing table is fixed in the operation range of the die placing robot; the controller is respectively connected with the magnetic side die conveying line, the warehouse-in and warehouse-out robot and the die placing robot; the magnetic side die conveying line comprises an input working line and an output working line, the input working line is connected with the magnetic side die storage, and the output working line is connected with the operation space of the die placing robot and the magnetic side die storage; and a positioning device is arranged in the operation range of the warehouse-in and warehouse-out robot.
Preferably, the magnetic side form conveying line comprises an input working line, an output working line and a driving device, and the conveying directions of the input working line and the output working line are opposite.
Preferably, the ends of the input and output work lines are provided with magnetic sideform locating means and detection sensors.
Preferably, the magnetic side die conveying line is provided with a plurality of sections, and the driving device drives the plurality of sections of the input working line and the output working line to operate respectively; and the bottom of each subsection is provided with a height adjusting supporting leg.
Preferably, the warehouse entry and exit robot comprises a rack, a traveling mechanism and an execution mechanism, wherein the rack comprises support columns, fixed cross beams and movable cross beams, the support columns are arranged at two ends of the fixed cross beams, the two fixed cross beams are arranged in parallel, the movable cross beams are arranged between the fixed cross beams, and a gear and rack mechanism is arranged between the movable cross beams and the fixed cross beams; the storage rack is arranged at the bottom of the warehouse-in and warehouse-out robot within the operation range, the walking mechanism is fixedly connected with the executing mechanism in a moving way, and the executing mechanism comprises at least 2 grabbing executing units.
Still preferably, the mold placing robot comprises a frame, a moving mechanism and a terminal executing mechanism, wherein the moving mechanism is configured on the frame, and the terminal executing mechanism is installed on the moving mechanism;
preferably, the tail end executing mechanism comprises a transverse compensation unit, a vertical compensation unit, a pin hitting unit, a scribing unit and a grabbing unit, wherein the transverse compensation unit controls the grabbing unit to compensate translation, the vertical compensation unit controls the grabbing unit to place the magnetic side die, the scribing unit scribes on the magnetic side die, and the grabbing unit clamps and fixes the magnetic side die.
It is also preferable that the bottom of the frame is provided with a height adjusting mechanism, and a rack and pinion mechanism is arranged between the frame and the moving mechanism; the horizontal compensation unit of the tail end actuating mechanism is fixedly connected with the movable cross beam, the vertical compensation unit is arranged below the horizontal compensation unit, the grabbing unit is arranged below the vertical compensation unit, the scribing unit and the grabbing unit are arranged in parallel and fixed below the horizontal compensation unit, and the pin hitting unit and the grabbing unit are integrally arranged.
Preferably, the controller comprises a motion control module, a servo drive module, a drawing processing module and a display and input module, wherein the motion control module controls the motion of the mold setting robot, the servo drive module is connected with the motion controller through a data line, the drawing processing module is connected with the motion control module, and the display and input module is connected with the motion control module and is used for displaying an operation interface of the automatic mold setting system or inputting control parameters of the automatic mold setting system.
Further preferably, the servo driving module is connected with a moving mechanism and a tail end executing mechanism of the mold placing robot, and the display and input module is provided with a drawing importing interface.
The utility model provides a pair of a put mould system beneficial effect automatically for PC component production line is, utilize magnetism side forms transfer chain, go out warehouse entry robot, magnetism side forms storehouse, put the mould robot, put mutually supporting of mechanisms such as mould platform and realized the transport of magnetism side forms, rule, place, the automatic operation of operation such as fixed, can realize intelligent production based on this equipment to master the production progress in real time, be favorable to improving production efficiency, guarantee prefabricated component's preparation quality, reduce production line intensity of labour. The mold placing system can also be used for manufacturing components with different specifications and carrying out automatic operation adjustment of production according to the design of a drawing.
Drawings
In order to clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some examples of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a schematic diagram of an automatic mold setting system arrangement of a PC component production line;
FIG. 2 is a schematic structural view of a magnetic side form conveying line;
FIG. 3 is a schematic structural view of an in-out robot;
FIG. 4 is a schematic view of a magnetic sideform store;
FIG. 5 is a schematic structural diagram of a mold placing robot and a mold placing table;
FIG. 6 is a schematic structural view of an in-out robot;
FIG. 7 is a schematic view of a partial structure of the in-out robot;
FIG. 8 is a schematic structural diagram of a mold placing robot;
FIG. 9 is a schematic view of a partial structure of a mold placing robot;
FIG. 10 is a schematic structural diagram of a rotation mechanism of the mold placing robot;
in the figure: 1-magnetic side die conveying line, 2-warehouse-in and warehouse-out robot, 3-magnetic side die warehouse, 4-die placing robot, 5-die placing table, 6-magnetic side die and 7-threading hole; 11-input working line, 12-output working line; 21-a frame, 22-a walking mechanism, 23-an actuating mechanism, 24-a transverse compensation unit, 25-a vertical compensation unit, 26-a clamping finger, 27-a clamping cylinder, 28-a contact piece and 29-a lifting arm; 31-storage rack, 32-positioning strip; 41-frame, 42-moving mechanism, 43-end actuator, 44-transverse compensation unit, 45-vertical compensation unit, 46-pin striking unit, 47-scribing unit, 48-grabbing unit and 49-lifting arm.
Detailed Description
The specific embodiment of the automatic mold placing system for a PC component production line according to the present invention will be described with reference to fig. 1 to 10.
An automatic mold placing system for a PC component production line comprises a magnetic side mold conveying line 1, a warehouse-in and warehouse-out robot 2, a magnetic side mold warehouse 3, a mold placing robot 4, a mold placing table 5 and a controller, wherein the magnetic side mold conveying line is arranged between the operation ranges of the mold placing robot and the warehouse-in and warehouse-out robot, the warehouse-in and warehouse-out robot is provided with an executing mechanism, the executing mechanism 23 moves in the operation range of the warehouse-in and warehouse-out robot along with a walking mechanism, the tail end of the magnetic side mold conveying line 1 is provided with a magnetic side mold specification identification sensor, the mold placing robot 4 is provided with a scribing mechanism and a clamping mechanism, the scribing mechanism and the clamping mechanism freely move in the operation range of the mold placing robot 4, and the mold placing table 5 is fixed in the operation range of the mold placing robot. The controller is respectively connected with the magnetic side die conveying line 1, the warehouse-in and warehouse-out robot 2 and the die placing robot 4. The magnetic side die conveying line 1 comprises an input working line and an output working line, the input working line 11 is connected with the magnetic side die storage 3, and the output working line 12 is connected with a die placing robot and an operation space of the magnetic side die storage. A positioning device is arranged in the operation range of the warehousing robot 2.
As shown in fig. 1, an input work line 11 in the magnetic side form conveying line receives the magnetic side form, conveys the magnetic side form into the operation range of the warehouse entry robot, positions the magnetic side form at the end of the conveying line, and detects and confirms the specification of the magnetic side form through a sensor. The warehousing-out robot 2 picks up the corresponding position of the magnetic side die which is placed in the warehouse. The controller can automatically identify the input drawing and generate a corresponding control program according to the input drawing. The warehouse-in and warehouse-out robot 2 selects a magnetic side form with specified specification from a storage warehouse, places the magnetic side form on an output working line, the output working line 12 transmits magnetism to the working range of the mold placing robot, and the magnetic side form is positioned and identified at the tail end of the transmission line. At the same time, the mold placing robot 4 performs a scribing operation on the mold table according to the trajectory generated by the program. After the marking is finished, the mold placing robot 4 starts to pick up the magnetic side molds from the output working line, places the magnetic side molds with the specified length at the preset positions according to the program planning, and knocks the magnetic pins on the magnetic side molds one by one to fix the magnetic side molds.
The magnetic side die conveying line 1 comprises an input working line 11, an output working line 12 and a driving device, wherein the conveying directions of the input working line 11 and the output working line 12 are opposite, and magnetic side die positioning devices and detection sensors are arranged at the tail ends of the input working line and the output working line; the driving device drives a plurality of input working lines and a plurality of output working lines to operate in a segmented mode respectively; and the bottom of each subsection is provided with a height adjusting supporting leg. As shown in fig. 2, the magnetic side form conveying line is composed of two conveying lines with opposite conveying directions and different lengths. The input working line 11 is responsible for conveying the recovered magnetic side forms to the operation range of the warehousing-in and warehousing robot. The output working line 12 is responsible for conveying the magnetic side forms with the specified specifications of the program into the working range of the mold placing robot. The stroke ends of the two conveying lines are provided with positioning devices for the magnetic side forms, and detection sensors for identifying the length specifications of the magnetic side forms are respectively arranged on the positioning devices. Two transfer chains are all composed of a plurality of sections, each section can be independently controlled to start and stop, the purpose is to meet the requirements of magnetic side die conveying with different specifications, and the operation of the warehousing robot and the die placing robot is matched at the same time. The conveying working line is driven by a motor reducer to output power by a chain wheel, each roller way is provided with a transmission chain wheel, power is transmitted by the chain wheel at the end of the chain reducer and the chain wheel of the roller way, and the roller way are also driven by the chain wheel to ensure the synchronism during operation. Bearings are installed on two sides of the roller way, smoothness during rolling is guaranteed, the roller way is installed on the frame at certain intervals, supporting legs are installed at the bottom of the frame and fixed on the ground, and adjusting devices are arranged at the bottoms of the supporting legs and used for adjusting the levelness and the height of the conveying line.
The warehousing-in and warehousing-out robot 2 comprises a rack 21, a traveling mechanism 22 and an executing mechanism 23, wherein the rack comprises supporting columns, fixed cross beams and moving cross beams, the supporting columns are arranged at two ends of each fixed cross beam, the two fixed cross beams are arranged in parallel, the moving cross beams are arranged between the fixed cross beams, and a gear rack mechanism is arranged between the moving cross beams and the fixed cross beams; the storage rack is arranged at the bottom of the operation range of the warehouse-in and warehouse-out robot, the walking mechanism 22 is movably and fixedly connected with the executing mechanism 23, and the executing mechanism 23 comprises at least 2 grabbing executing units. Magnetic side forms storing storehouse includes the multiunit storage frame, and storage frame 31 includes main body frame, carrier block, bottom fixed and adjustment mechanism, and the main body frame of magnetic side forms storing storehouse is formed by welding such as square pipe and location strip, footing board, and the bottom is fixed in ground and is equipped with adjustment mechanism, can adjust levelness and height. The repository can store the magnetism side forms of 5 kinds of length specifications at least, and to the magnetism side forms of every kind of length, the repository all is equipped with corresponding location strip, guarantees the position accuracy behind the magnetism side form entering side form storehouse, and every kind of magnetism side form can stack on the perpendicular, greatly increased the memory space.
As shown in fig. 3, the traveling mechanism of the warehousing robot 2 includes an X-axis traveling mechanism, a Y-axis traveling mechanism, and a Z-axis traveling mechanism. The frame 32 includes support post, fixed cross beam and movable cross beam, and fixed cross beam's both ends are provided with support post, and ground or ground are fixed in to support post bottom, and the regulation structure of support post bottom can be adjusted support post's levelness and height, and the support post top is connected with fixed, disposes the guiding mechanism who carries out the micro-adjustment to levelness and height between the two. The fixed cross beams on the two sides are respectively provided with a linear guide rail for guiding and supporting the movable cross beam, and the inner side of the movable cross beam is provided with a rack. The X-axis travelling mechanism mainly comprises a movable beam unit and a drag chain routing unit, wherein the movable beam unit comprises a set of servo driving system, a set of gear and rack modules and two rows of linear guide rails, so that the movable beam can do linear reciprocating motion along the X direction. Two groups of racks are respectively fixed on the inner side surfaces of the fixed cross beams on two sides, and two groups of linear guide rails are fixed on the top surface of the fixed cross beam in parallel to the racks and are vertical to the Y axis. The X-axis servo motor is connected with a speed reducer, the output end of the speed reducer is connected with gears through two transmission shafts which are symmetrically distributed, and the gears are meshed with racks for transmission to drive the movable cross beam to reciprocate along the X-axis direction. The drag chain wiring unit comprises a wiring drag chain, the wiring drag chain is arranged on the fixed cross beam on one side, the tail end of the wiring drag chain is fixed with the movable cross beam, and the wiring drag chain moves along the X axis during working. The Y-axis travelling mechanism is composed of a set of driving sliding plate unit and a drag chain wiring unit, the driving sliding plate unit is composed of a servo driving assembly, a gear rack module and a linear guide rail, a servo motor in the Y-axis servo driving assembly is connected with a speed reducer and integrally fixed on a sliding plate, a gear is mounted on an output shaft of the speed reducer, the gear and a rack are in meshing transmission to drive the travelling sliding plate to reciprocate along the rack direction, racks in the gear rack module are mounted on the side face of a movable cross beam respectively, and the mounting direction of the racks is consistent with the Y axis. Therefore, the Y-axis travelling mechanism is provided with a group of drag chain wiring units which are fixed on the top of the movable beam, and the tail ends of the drag chains are fixed with the sliding plate and move along the Y axis during working. The Z-axis walking mechanism comprises a servo driving assembly, a gear rack module, a linear guide rail, a lifting arm and a wiring drag chain, wherein a servo motor in the Z-axis servo driving assembly is connected with a speed reducer and is integrally mounted on a sliding plate in the same way, an output shaft of the speed reducer is connected with a gear, and the gear rack is meshed with the gear to drive the lifting arm 29 and the tail end grabbing mechanism to reciprocate along the Z-axis direction.
As shown in fig. 6, the lifting arm arranged on the Z axis is an aluminum alloy square tube welded structure, a linear guide rail is installed on the back surface of the lifting arm 29, and a rack is installed on the side surface. The lower part of the Z-axis lifting arm is connected with a tail end executing mechanism, and as shown in fig. 7, the executing mechanism further comprises a transverse compensating unit 24, a vertical compensating unit 25 and a grabbing executing unit. The transverse compensation unit 24 consists of a fixing plate, a connecting plate, two horizontally-mounted linear guide rails, a return cylinder, a return pin and a return sleeve, and the whole set of grabbing execution unit can perform micro-compensation translation in the horizontal direction when a magnetic side die is placed and then returns to the initial position through the action of a return cylinder. The vertical compensation unit 25 is composed of two vertically installed guide cylinders, and can generate certain impact force at one moment when contacting the surface of the roller way of the conveying line in the process of placing the magnetic side die, so that the machine body is protected from being damaged through the vertical compensation unit. The grabbing execution unit consists of two parallel clamping cylinders and clamping fingers 26, the clamping fingers are arranged at two ends of the parallel clamping cylinders 27, and a contact piece 28 for increasing friction force is arranged at the front end of each clamping finger. The parallel clamping cylinders provide clamping force, the clamping fingers 26 clamp the side faces of the magnetic side forms, and the two groups of clamping cylinders work simultaneously, so that the magnetic side forms can be firmly grabbed, and the phenomena of slippage, falling and the like can not occur. The gas circuit system comprises original components such as pipelines, various connectors, a gas source processing unit, an electromagnetic valve and the like, and each cylinder in the execution mechanism realizes various actions by a program control gas circuit system. The picking and placing operations of the magnetic side forms are completed by controlling the servo driving components of the X axis, the Y axis and the Z axis and the executing mechanism at the tail end.
The mold placing robot 4 comprises a frame 41, a moving mechanism 42 and a tail end executing mechanism 43, wherein the moving mechanism is arranged on the frame 41, and the tail end executing mechanism is installed on the moving mechanism; the tail end executing mechanism 43 comprises a transverse compensation unit 44, a vertical compensation unit 45, a pin hitting unit 46, a scribing unit 47 and a grabbing unit 48, wherein the transverse compensation unit 44 controls the grabbing unit to compensate and translate, the vertical compensation unit 45 controls the grabbing unit to place a magnetic side die, the scribing unit 47 scribes on the magnetic side die, and the grabbing unit clamps and fixes the magnetic side die. A height adjusting mechanism is arranged at the bottom of the frame 41, and a gear rack mechanism is arranged between the frame and the moving mechanism; the transverse compensation unit of the tail end actuating mechanism is fixedly connected with the movable cross beam, the vertical compensation unit is arranged below the transverse compensation unit, the grabbing unit is arranged below the vertical compensation unit, the scribing unit 47 and the grabbing unit are arranged in parallel and fixed below the transverse compensation unit 48, and the pin striking unit 46 and the grabbing unit 48 are integrally arranged.
The mold placing robot 4 can move at high speed in the X-axis direction, the Y-axis direction and the Z-axis direction, is similar to a walking mechanism of a warehouse entering and exiting robot, but has different specific size and structure ranges, and the tail end executing mechanism has the functions of marking, picking, placing and fixing the magnetic side molds. The mold placing robot comprises an integral frame, an X-axis travelling mechanism, a Y-axis travelling mechanism, a Z-axis travelling mechanism and a tail end executing mechanism. The frame mainly comprises a supporting upright post, two mutually parallel fixed cross beams, a movable cross beam and a lifting arm. The support post bottom is fixed in ground or ground, and the regulation structure of bottom can be adjusted the levelness and the height of stand, and the stand top is connected with the crossbeam, possess the guiding mechanism that can carry out the micro-adjustment to levelness and height between the two equally. The fixed cross beams on the two sides are respectively provided with a linear guide rail for guiding and supporting the movable cross beam, and the inner sides of the cross beams are provided with racks. The X-axis travelling mechanism mainly comprises a movable beam unit and a drag chain routing unit, wherein the movable beam unit comprises a set of servo driving system, a set of gear and rack modules and two rows of linear guide rails, so that the movable beam can do linear reciprocating motion along the X direction. Two groups of racks are respectively fixed on the inner side surfaces of the fixed cross beams on two sides, two groups of linear guide rails are parallel to the racks and fixed on the top surfaces of the fixed cross beams and are vertical to the Y axis, an X-axis servo motor is connected with a speed reducer, the output end of the speed reducer is connected with gears through two transmission shafts which are symmetrically distributed, and the gears and the racks are meshed for transmission to drive the movable cross beams to reciprocate along the X axis direction. The group of drag chain wiring units comprises a wiring drag chain, the wiring drag chain is arranged on the fixed cross beam on one side, the tail end of the wiring drag chain is fixed with the movable cross beam, and the wiring drag chain moves along the X axis during working. The Y-axis travelling mechanism consists of a set of driving sliding plate unit and a drag chain wiring unit, the driving sliding plate unit consists of a servo driving assembly, a gear rack module and a linear guide rail respectively, a servo motor in the Y-axis servo driving assembly is connected with a speed reducer and integrally fixed on a sliding plate, a gear is arranged on an output shaft of the speed reducer, and the gear and a rack are meshed for transmission to drive the travelling sliding plate to reciprocate along the rack direction (namely the Y-axis direction); racks in the gear rack module are respectively arranged on the side surfaces of the movable cross beam, and the installation direction of the racks is consistent with the Y axis. The Y-axis travelling mechanism is provided with a group of drag chain wiring units which are fixed on the top of the movable beam, and the tail ends of the drag chains are fixed with the sliding plate and move along the Y axis during working. The Z-axis walking mechanism comprises a servo driving assembly, a gear rack module, a linear guide rail, a lifting arm and a wiring drag chain, wherein a servo motor in the Z-axis servo driving assembly is connected with a speed reducer and is integrally mounted on a sliding plate in the same way, an output shaft of the speed reducer is connected with a gear, and the gear rack is in meshing transmission to drive the lifting arm and a tail end grabbing mechanism to reciprocate along the vertical direction (namely the Z-axis direction).
As shown in fig. 8, the Z-axis lifting arm of the end actuator is an aluminum alloy square tube welded structure, the back of the lifting arm is provided with a linear guide rail, and the side is provided with a rack. The lower part of the Z-axis lifting arm is connected with the tail end executing mechanism through the rotating mechanism, as shown in figure 10, the rotating mechanism is installed in a cavity below the Z-axis lifting arm and comprises a servo motor and a speed reducer, the output end face of the speed reducer is installed on a fixing plate, and the servo motor drives the output end of the speed reducer to rotate, so that the executing mechanism on the lower part is driven to realize positive and negative 180-degree rotation, and the placing requirements of the magnetic side forms in different directions can be met. The speed reducer is provided with the threading hole, so that a pipeline can pass through the threading hole, and the abrasion to a cable can be reduced during rotation.
As shown in fig. 9, the end effector includes a horizontal compensation unit 44, a vertical compensation unit 45, a pin striking unit 46, a line drawing unit 47, and a grabbing unit 48, where the horizontal compensation unit 44 controls the grabbing unit to compensate translation, the vertical compensation unit 45 controls the grabbing unit to place a magnetic side form, the line drawing unit 47 draws lines on the magnetic side form, and the grabbing unit 48 clamps and fixes the magnetic side form. The transverse compensation 44 unit consists of a fixing plate, a connecting plate, two horizontally-mounted linear guide rails, a return cylinder, a return pin and a return sleeve, the whole set of grabbing mechanism can perform micro-compensation translation in the horizontal direction when the magnetic side die is placed, and then the whole set of grabbing mechanism returns to the initial position through the action of a return cylinder. The vertical compensation unit is composed of two vertically installed guide cylinders, certain impact force can be generated on the surface of the contact die table instantly in the process of placing the magnetic side die, and the machine body is protected from being damaged through the vertical compensation unit. The marking unit mainly comprises a marking head and a guide cylinder, the guide cylinder is vertically installed, the marking head is installed on the guide cylinder, the marking head extends out along with the guide cylinder during working, the marking head retracts along with the guide cylinder after marking is finished, the marking head is supplied by a material tank, and the marking head is controlled by a program to control a switch and mark width. The grabbing unit consists of two parallel clamping cylinders and clamping fingers, the clamping fingers are arranged at two ends of the parallel clamping cylinders, and a contact piece for increasing friction force is arranged at the front end of each clamping finger. The parallel clamping cylinders provide clamping force, the clamping fingers clamp the side faces of the magnetic side dies, and the two groups of clamping cylinders work simultaneously, so that the magnetic side dies can be firmly grabbed, and the phenomena of slippage, falling and the like can not occur. The pin hitting unit on the grabbing mechanism is composed of two pin hitting cylinders and pin hitting pads at the end parts of the two pin hitting cylinders, each pin hitting cylinder is installed at the middle position of the bottom of each parallel gas claw in a combined mode, after a magnetic side die is placed at a specified position on the die table, the grabbing mechanism moves to enable the pin hitting cylinders to align to magnetic pins on the magnetic side die, the cylinders rapidly stretch out and hit and press down the magnetic pins, after all the magnetic pins on the magnetic side die are pressed down, the magnetic side die is adsorbed on the die table through magnetic force, and the magnetic side die is guaranteed not to displace during later-stage operation. The gas circuit system comprises original components such as pipelines, various connectors, a gas source processing unit, an electromagnetic valve and the like, and each cylinder in the execution mechanism realizes various actions by a program control gas circuit system. When the scribing unit works, the scribing unit extends out, the rest units are in an initial state, the scribing unit retracts after the working is finished, and the rest units work in a coordinated mode. The picking, placing and fixing operations of the magnetic side die are completed by controlling the servo driving components of the X axis, the Y axis, the Z axis and the R axis and the actuating mechanism at the tail end.
The controller comprises a motion control module, a servo drive module, a drawing processing module and a display and input module, wherein the motion control module controls the motion of the mold placing robot, the servo drive module is connected with the motion controller through a data line, the drawing processing module is connected with the motion control module, the display and input module is connected with the motion control module, and an operation interface of the automatic mold placing system is displayed or control parameters of the automatic mold placing system are input. The servo driving module controls a moving mechanism and a tail end executing mechanism of the mold placing robot to work, the display and input module imports drawings, and the drawing processing module receives drawing information and sends instructions to the motion control module and the servo driving module according to the drawing information. The servo driving module is connected with a moving mechanism and a tail end executing mechanism of the mold placing robot, and the display and input module is provided with a drawing leading-in interface.
In order to further explain the structure and beneficial effects of the present invention, an automatic mold placing method for a PC component production line is provided, which utilizes the above automatic mold placing system for a PC component production line, and the control process thereof comprises: the controller controls the repeated operation or the simultaneous operation among the operations of the magnetic side die warehousing, the mold placing robot scribing and the mold placing robot mold placing.
The magnetic side forms are put in storage, the magnetic side forms are input into a working line to work, the magnetic side forms are conveyed to the operation range of the in-out storage robot through a magnetic side form conveying line, and the in-out storage robot grabs the magnetic side forms according to the instruction of the controller and places the magnetic side forms at the designated positions;
the magnetic side forms are taken out of the warehouse, after the mold placing robot receives the instruction, the in-out warehouse robot judges whether the storage area has the magnetic side forms with the specified specification, when the storage area is judged to have the magnetic side forms with the specified specification, the in-out warehouse robot works, and the magnetic side forms are grabbed and placed on the output working line; when the magnetic side forms with the specified specification do not exist, inputting a working line to work, and conveying the magnetic side forms with the specified specification to the operation range of the warehouse-in and warehouse-out robot;
the mold placing robot marks lines, the magnetic side mold is placed on the mold placing table, the mold placing robot receives a command of the controller, and the mold placing robot performs marking operation;
and (3) placing the mold by the mold placing robot, grabbing the magnetic side mold from the output working line and placing the magnetic side mold on a mold placing table by the mold placing robot, knocking and fixing the magnetic side mold, and repeatedly placing the mold until the magnetic side mold is placed.
In addition, in the modification of the present embodiment, the system may further be modified to include a plurality of automatic mold placing systems for PC component production lines, wherein the plurality of warehouse entry robots, mold placing robots, and mold placing tables share the magnetic side mold warehouse and the controller, and the corresponding magnetic side mold conveyor lines are configured according to specific structures to assist the system in completing the work. The work of each part of the system can be controlled by an intelligent controller, the controller comprises a motion control module, a servo drive module, a drawing processing module and a display and input module, the motion control module controls the motion of the mold setting robot, the servo drive module is connected with the motion controller through a data line, the drawing processing module is connected with the motion control module, the display and input module is connected with the motion control module, and an operation interface of the automatic mold setting system is displayed or control parameters of the automatic mold setting system are input; the automation of the control is realized by setting corresponding parameters in advance.
A put mould system in automation for PC component production line has utilized magnetism side forms transfer chain, warehouse entry robot, magnetism side forms storehouse, has put the mould robot, put the mutual cooperation of mechanisms such as mould platform and realize the automation mechanized operations of operations such as the transport of magnetism side forms, rule, place, fix, can realize intelligent production based on this equipment to grasp the production progress in real time, be favorable to improving production efficiency, guarantee prefabricated component's preparation quality, reduce production line intensity of labour work. In addition, the mold placing system can be used for manufacturing components with different specifications and carrying out automatic operation adjustment of production according to the design of a drawing.
In the description of the present invention, it is to be understood that the terms "X", "Y", "Z", "upper", "lower", "positive", "negative", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplification of description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.
Of course, the above description is not intended to limit the present invention, and the present invention is not limited to the above examples, and the changes, modifications, additions or substitutions made by those skilled in the art within the scope of the present invention should also belong to the protection scope of the present invention.

Claims (10)

1. An automatic die placing system for a PC component production line is characterized by comprising a magnetic side die conveying line, an in-out warehouse robot, a magnetic side die warehouse, a die placing robot, a die placing table and a controller, wherein the magnetic side die conveying line is arranged between the operation ranges of the die placing robot and the in-out warehouse robot, the in-out warehouse robot is provided with an executing mechanism, the executing mechanism moves along with a traveling mechanism in the operation range of the in-out warehouse robot, the tail end of the magnetic side die conveying line is provided with a magnetic side die specification identification sensor, the die placing robot is provided with a scribing mechanism and a clamping mechanism, the scribing mechanism and the clamping mechanism freely move in the operation range of the die placing robot, and the die placing table is fixed in the operation range of the die placing robot;
the controller is respectively connected with the magnetic side die conveying line, the warehouse-in and warehouse-out robot and the die placing robot; the magnetic side die conveying line comprises an input working line and an output working line, the input working line is connected with the magnetic side die storage, and the output working line is connected with the operation space of the die placing robot and the magnetic side die storage; and a positioning device is arranged in the operation range of the warehouse-in and warehouse-out robot.
2. The automatic mold arranging system for the PC component production line as claimed in claim 1, wherein the magnetic side mold conveying line comprises an input working line, an output working line and a driving device, and the conveying directions of the input working line and the output working line are opposite.
3. The automatic mold setting system for the PC component production line as claimed in claim 2, wherein the ends of the input working line and the output working line are provided with magnetic side mold positioning devices and detection sensors.
4. The automatic die setting system for the PC component production line as claimed in claim 2, wherein the magnetic side die conveying line has a plurality of sections, and the driving device drives the plurality of sections of the input working line and the output working line to operate respectively; and the bottom of each subsection is provided with a height adjusting supporting leg.
5. The automatic mold placing system for the PC component production line according to claim 1, wherein the warehousing robot comprises a rack, a traveling mechanism and an execution mechanism, the rack comprises support columns, fixed cross beams and moving cross beams, the support columns are arranged at two ends of each fixed cross beam, the two fixed cross beams are arranged in parallel, the moving cross beams are arranged between the fixed cross beams, and a gear rack mechanism is arranged between the moving cross beams and the fixed cross beams; the storage rack is arranged at the bottom of the warehouse-in and warehouse-out robot within the operation range, the walking mechanism is fixedly connected with the executing mechanism in a moving way, and the executing mechanism comprises at least 2 grabbing executing units.
6. The automatic mold arranging system for the PC component production line as claimed in claim 1, wherein the mold arranging robot comprises a frame, a moving mechanism and an end actuator, the moving mechanism is configured on the frame, and the end actuator is mounted on the moving mechanism.
7. The automatic die setting system for the PC component production line as claimed in claim 6, wherein the end actuator comprises a transverse compensation unit, a vertical compensation unit, a pin striking unit, a scribing unit and a grabbing unit, the transverse compensation unit controls the grabbing unit to compensate translation, the vertical compensation unit controls the grabbing unit to place the magnetic side die, the scribing unit scribes on the magnetic side die, and the grabbing unit clamps and fixes the magnetic side die.
8. The automatic mold arranging system for the PC component production line as claimed in claim 7, wherein the bottom of the frame is provided with a height adjusting mechanism, and a gear rack mechanism is arranged between the frame and the moving mechanism; the horizontal compensation unit of the tail end actuating mechanism is fixedly connected with the movable cross beam, the vertical compensation unit is arranged below the horizontal compensation unit, the grabbing unit is arranged below the vertical compensation unit, the scribing unit and the grabbing unit are arranged in parallel and fixed below the horizontal compensation unit, and the pin hitting unit and the grabbing unit are integrally arranged.
9. The automatic mold setting system for the PC component production line as claimed in claim 1, wherein the controller comprises a motion control module, a servo drive module, a drawing processing module and a display and input module, the motion control module controls the motion of the mold setting robot, the servo drive module is connected with the motion controller through a data line, the drawing processing module is connected with the motion control module, the display and input module is connected with the motion control module, and an operation interface of the automatic mold setting system is displayed or control parameters of the automatic mold setting system are input.
10. The automatic mold arranging system for the PC component production line as claimed in claim 9, wherein the servo driving module is connected with a moving mechanism and an end executing mechanism of the mold arranging robot, and the display and input module is provided with a drawing importing interface.
CN202022954640.XU 2020-12-09 2020-12-09 Automatic mold placing system for PC component production line Active CN214110860U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202022954640.XU CN214110860U (en) 2020-12-09 2020-12-09 Automatic mold placing system for PC component production line

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202022954640.XU CN214110860U (en) 2020-12-09 2020-12-09 Automatic mold placing system for PC component production line

Publications (1)

Publication Number Publication Date
CN214110860U true CN214110860U (en) 2021-09-03

Family

ID=77510068

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202022954640.XU Active CN214110860U (en) 2020-12-09 2020-12-09 Automatic mold placing system for PC component production line

Country Status (1)

Country Link
CN (1) CN214110860U (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112549284A (en) * 2020-12-09 2021-03-26 青岛环球集团重工科技有限公司 Automatic mold placing system and method for PC component production line

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112549284A (en) * 2020-12-09 2021-03-26 青岛环球集团重工科技有限公司 Automatic mold placing system and method for PC component production line

Similar Documents

Publication Publication Date Title
CN102699221B (en) Loading and unloading manipulator
CN111136413B (en) Automatic welding production method for steel structure
CN112382502B (en) Automatic stacking production line for transformer iron cores
CN102491091B (en) Method of manipulator stacking system for glass
CN110422086B (en) Automatic preassembling production line for catenary dropper
CN1847118B (en) Stacker
CN111069826A (en) Automatic welding production line for steel structure
CN105234650A (en) Automatic assembling system of compressor
CN202127032U (en) Full-automatic laying table
CN214110860U (en) Automatic mold placing system for PC component production line
CN110757439A (en) Reinforcing bar net piece installation manipulator
CN205074734U (en) Automatic assembling system of compressor
CN112549284A (en) Automatic mold placing system and method for PC component production line
CN113829489A (en) Non-groove side formwork rapid storage circulation warehouse
CN109570377A (en) A kind of plate handling equipment
CN110711983B (en) Robot welding work unit and operation process thereof
CN213005300U (en) Brake beam overhaul assembly line manipulator device
CA2435226A1 (en) A manufacturing cell and a transfer and manipulating apparatus for work pieces
CN111376044B (en) Automatic production line of clothes airing machine
CN217457883U (en) Feeding robot and material transfer system
CN110271713A (en) A kind of automatic stacking system with pallet jacking redoiming conveyor
CN213922624U (en) Automatic cache machine for server production
CN115256432A (en) Truss mechanical carrying hand and method
CN213847177U (en) Full-automatic circuit board laminating equipment
CN212580832U (en) Transfer mechanism of conduit material loading plate

Legal Events

Date Code Title Description
GR01 Patent grant
GR01 Patent grant
CP01 Change in the name or title of a patent holder
CP01 Change in the name or title of a patent holder

Address after: 266400 No. 177, Qian Jia Shan Road, Huangdao District, Qingdao, Shandong.

Patentee after: Qingdao Global Heavy Industry Technology Co.,Ltd.

Address before: 266400 No. 177, Qian Jia Shan Road, Huangdao District, Qingdao, Shandong.

Patentee before: QINGDAO HICORP GROUP Co.,Ltd.