CN103240322A - Workpiece auto-calendering method and auto-calendering manipulator - Google Patents
Workpiece auto-calendering method and auto-calendering manipulator Download PDFInfo
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- CN103240322A CN103240322A CN2013101457787A CN201310145778A CN103240322A CN 103240322 A CN103240322 A CN 103240322A CN 2013101457787 A CN2013101457787 A CN 2013101457787A CN 201310145778 A CN201310145778 A CN 201310145778A CN 103240322 A CN103240322 A CN 103240322A
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Abstract
The invention discloses a workpiece auto-calendering method. The method includes the steps of firstly, setting a frame bench; secondly, setting an automatic feed mechanism; thirdly, setting an automatic conveyor mechanism; fourthly, setting an automatic calenderer; fifthly, setting an automatic control device; and sixthly, starting the automatic control device to control the automatic feed mechanism, the automatic conveyor mechanism, and the automatic calendering mechanism to allow for automatic calendering of a workpiece. The invention further discloses an auto-calendering manipulator disposed on the side of a calenderer of a horizontal calendering machine and comprises the frame bench. The auto-calendering manipulator is characterized by further comprising the automatic feed mechanism, the automatic conveyor mechanism, the automatic calendering mechanism and the automatic control device. The auto-calendering manipulator is simple in structure and capable of auto-conveying a workpiece to the horizontal calendering machine for calendering when materials such as dinnerware stainless steel are calendered, next workpiece is auto-conveyed after the former workpiece is finished, workpiece conveying is automated, and accordingly safety hazards are reduced and operating quality and benefit are increased.
Description
Technical field
The present invention relates to the automation processing technique field, relate in particular to a kind of workpiece automation calendering process and roll manipulator automatically.
Background technology
In traditional manufacturing, the calendering of workpiece is generally by manually finishing.The artificial material Job Operations of taking is operated at the horizontal calender device that prolongs machine then, thereby has brought number of drawbacks with not enough.At first, so closely on-the-spot manually-operated exists huge potential safety hazard, causes industrial injury (example is manually taken material operation calendering error material to dish out the staff is caused serious injury) easily.The second, the artificial material of taking rolls, and the process time that needs is longer, and efficient is difficult to control.The 3rd, since workman's operant level and the difference of method of operating, irregular the differing of quality who causes product easily, and quality is difficult to unified control.
Summary of the invention
The objective of the invention is to provide at the deficiencies in the prior art the high workpiece automation calendering process of a kind of dependable performance, automaticity and calendering manipulator automatically, realize the automation of workpiece calendering.
Purpose of the present invention realizes by following technical measures:
A kind of workpiece automation calendering process is characterized in that it comprises the steps:
1) a frame workbench is set, it comprises frame lower plate, framework panel and frame upper plate;
2) an autofeed mechanism is set, to realize the autofeed of workpiece: this autofeed mechanism is arranged on the framework panel of frame workbench one side, comprises corresponding major and minor limit journey clamping plate, feed frame and the material lift working group that arranges; Described feed frame is located on the major and minor limit journey clamping plate; Described material lift working group is connected with major and minor limit journey clamping plate, drives major and minor limit journey clamping plate and moves up and down.Described feed frame comprises two or more bin pipe positive column, is located at respectively on the described major and minor limit journey clamping plate; Described material lift working group comprises that material lift fishplate bar, material lift base, material lift intersect guide rail, material lift and intersect guide rail Connection Block, material lift cylinder, material lift cylinder jacking block, following of material lift cylinder, material lift electric eye, material lift electric eye seat.The groundwork principle of this autofeed mechanism is as follows: the feed frame on the major and minor limit journey clamping plate is used for depositing workpiece, material lift working group then drives major and minor limit journey clamping plate, and then the drive feed frame moves up and down, one on the other, match with following automatic feed mechanism then, reach the function of feed.
3) automatic feed mechanism is set, the given workpiece of described autofeed mechanism is caught and carried forward realizing: this automatic feed mechanism is arranged on described autofeed mechanism below accordingly, comprises that feeding fixed mount, feeding driving group and feed pipe just organize.Described feeding fixed mount comprises feeding fixed head and feeding fixed base plate; Described feeding driving group comprises feeding cylinder, feeding guide, feeding guide seat and feeding guide connection strap, and it is located on the feeding fixed base plate of described feeding fixed mount by the feeding guide connection strap; Described feed pipe is just being organized and is being comprised just top power piece of material feeding seat top board seat, feeding main folder seat, the positive cylinder of feed pipe, feeding thimble post, the positive piece of feed pipe and feed pipe, it is located at by material feeding seat top board seat on the feeding guide of described feeding driving group, is driven by feeding cylinder and advances or retreat; Described feed pipe just top power piece is located at an end of feeding thimble post, by the positive air cylinder driven of feed pipe, make the positive piece of feed pipe and feed pipe just top power piece one open one and close each other, realize accessing workpiece from autofeed mechanism.
4) arrange one and roll mechanism automatically, with the workpiece gripping that realizes described automatic feed mechanism is transported, and deliver on the horizontal calender device that prolongs machine and carry out flattener's work, the final workpiece calendering finished product that obtains: this rolls on the frame upper plate that mechanism is located at described frame workbench automatically, formed by X-axis mechanism, Y-axis mechanism, rotating mechanism and manipulator mechanism, described X-axis mechanism is located in the described Y-axis mechanism, and described rotating mechanism is located in the described X-axis mechanism; Described manipulator mechanism is connected with described rotating mechanism, and is located in the described X-axis mechanism by a robot base.Described X-axis mechanism comprises that X-axis track base, X-axis intersect guide rail, X-axis and drive cylinder; Described Y-axis mechanism comprises that Y-axis track base, Y-axis intersect guide rail, Y-axis servomotor, ball screw; Described rotating mechanism comprises rotary cylinder tooth seat, rotary cylinder, rotary cylinder tooth bar; Described manipulator mechanism comprises top strength cylinder, top power cylinder block, bearing block, clamp device.
5) automaton is set, to realize autofeed mechanism, automatic feed mechanism and the coordination control of rolling mechanism automatically.
6) start described automaton, control autofeed mechanism, automatic feed mechanism and roll mechanism automatically, realize the automation calendering of workpiece; Specifically may further comprise the steps:
6.1) the workpiece material loading, on the stacked feed frame that is positioned over described autofeed mechanism of a plurality of workpiece.This step once can be put whole folded a plurality of workpiece for manually carrying out.
6.2) the workpiece feed, described material lift working group drives moving up and down of major and minor limit journey clamping plate, moves up and down contraposition thereby drive feed frame, realizes the material process of giving of autofeed mechanism.The main effect of this step is that the workpiece on the feed frame is delivered to assigned address one on the other by material lift working group, waits for gripping and the feeding forward of automatic feed mechanism.
6.3) the workpiece feeding, described automatic feed mechanism is stated the workpiece that the feed frame of autofeed mechanism provides by the positive winding of feed pipe residence, by feeding driving group workpiece is transported to the appointment station forward then;
6.4) the workpiece gripping, the manipulator mechanism of described automatic calendering mechanism is in specifying station place's gripping to be carried the workpiece of coming by automatic feed mechanism;
6.5) workpiece calendering, X-axis mechanism, Y-axis mechanism and rotating mechanism by described automatic calendering mechanism drive workpiece and enter the horizontal calender device that prolongs machine, and carry out calendering work by predefined Program path, finally obtain workpiece calendering finished product.This step is the key step of calendering work, and predefined Program path is carried out by X-axis mechanism, Y-axis mechanism, rotating mechanism.Behind the manipulator mechanism gripping workpiece, Y-axis mechanism moves forward workpiece is delivered to the horizontal calender device that prolongs machine, X-axis mechanism is moved to the left with the workpiece calendering once, 180 ° of rotational workpieces of rotating mechanism, the workpiece that X-axis mechanism will move right after will overturning again rolls once, after calendering was good, Y-axis mechanism was mobile backward, regained workpiece calendering finished product.This predefined Program path can be made corresponding adjustment according to different needs.
6.6) each mechanism's return, prepare calendering work next time, so move in circles.
It is further comprising the steps of:
7) an automatic discharge mechanism is set, to realize rolling workpiece finished product automatic discharge well: this automatic discharge mechanism arranges separately, comprises discharge frame, movable circle bar, slip circle wheels and stirring cylinder.It also is provided with an inductor, and workpiece is stacked into to a certain degree, and inductor triggers, and the stirring cylinder promotes stirring, and workpiece is turned over to the discharge frame.
A kind of automatic calendering manipulator of implementing described workpiece automation calendering process, automatically the calendering manipulator is located at a horizontal calender device side that prolongs machine, it comprises a frame workbench, it is characterized in that: it also comprises an autofeed mechanism, an automatic feed mechanism, calendering mechanism and an automaton automatically; Described autofeed mechanism is located at frame workbench one side, comprises corresponding major and minor limit journey clamping plate, feed frame and the material lift working group that arranges; Described automatic feed mechanism is arranged on described autofeed mechanism below accordingly, comprises that feeding fixed mount, feeding driving group and feed pipe just organize; Described automatic calendering mechanism is located at described frame workbench top, formed by X-axis mechanism, Y-axis mechanism, rotating mechanism and manipulator mechanism, described X-axis mechanism is located in the described Y-axis mechanism, described rotating mechanism is located in the described X-axis mechanism, described manipulator mechanism is connected with described rotating mechanism, and is located in the described X-axis mechanism by a robot base; Described automaton is controlled its co-ordination operation each other respectively with autofeed mechanism, automatic feed mechanism and roll mechanism automatically and be connected.
It also comprises an automatic discharge mechanism, and this automatic discharge mechanism arranges separately, comprises discharge frame, movable circle bar, slip circle wheels and stirring cylinder.It also is provided with an inductor, and workpiece is stacked into to a certain degree, and inductor triggers, and the stirring cylinder promotes stirring, and workpiece is turned over to the discharge frame.
Described frame workbench comprises on frame lower plate, framework panel and the frame.
In the autofeed mechanism, described feed frame is located on the major and minor limit journey clamping plate; Described material lift working group is connected with major and minor limit journey clamping plate, drives major and minor limit journey clamping plate and moves up and down.Major and minor limit journey clamping plate both sides also are provided with some bin material foldings top strength cylinder, and are provided with the bin adjusting device, with realization the further of autofeed mechanism are assisted, and adapt to different workpiece.Described feed frame comprises two or more bin pipe positive column, be located at respectively on the described major and minor limit journey clamping plate, the below of described bin pipe positive column is provided with two hook material bars, hook the workpiece on the feed frame, and just organizing correspondingly with the feed pipe of automatic feed mechanism, work effects such as preventing workpiece slide simultaneously.Described material lift working group comprises that material lift fishplate bar, material lift base, material lift intersect guide rail, material lift and intersect guide rail Connection Block, material lift cylinder, material lift cylinder jacking block, following of material lift cylinder, material lift electric eye, material lift electric eye seat.Described material lift fishplate bar is fixed on the framework panel of frame workbench one side; Described material lift base is fixed on the material lift fishplate bar; Described material lift intersection guide rail Connection Block is connected with the material lift base by material lift intersection guide rail; Described material lift cylinder is located on the material lift base by following of material lift cylinder, and intersects the guide rail Connection Block by material lift cylinder jacking block and material lift and be connected, drive material lift and intersect the guide rail Connection Block, and then drive major and minor limit journey clamping plate with and on feed frame; Described material lift electric eye is located on the material lift cylinder jacking block, and described material lift electric eye seat is located on the material lift cylinder, cooperates by both, realizes that set a distance drives up and down.
In the automatic feed mechanism, described feeding fixed mount comprises feeding fixed head and feeding fixed base plate; Described feeding driving group comprises feeding cylinder, feeding guide, feeding guide seat and feeding guide connection strap, and it is located on the feeding fixed base plate of described feeding fixed mount by the feeding guide connection strap; Described feed pipe is just being organized and is being comprised just top power piece of material feeding seat top board seat, feeding main folder seat, the positive cylinder of feed pipe, feeding thimble post, the positive piece of feed pipe and feed pipe, it is located at by material feeding seat top board seat on the feeding guide of described feeding driving group, is driven by feeding cylinder and advances or retreat; Described feed pipe just top power piece is located at an end of feeding thimble post, by the positive air cylinder driven of feed pipe, make the positive piece of feed pipe and feed pipe just top power piece one open one and close each other, realize accessing workpiece from autofeed mechanism.Described feeding driving group also comprises forward and backward crashproof damper, the anti-collision block of feeding, forward and backward feeding electric eye, feeding electronic eye response device; Described forward and backward crashproof damper is located on the feeding fixed mount by the feeding cushion socket, and the anti-collision block of described feeding is located on the material feeding seat top board seat, and between described forward and backward crashproof damper; Described forward and backward feeding electric eye is located on the feeding fixed mount by feeding electric eye seat, and described feeding electronic eye response device is located on the material feeding seat top board seat, and between forward and backward feeding electric eye.By the effect of damper and electronic eye response device, realize functions such as damping, spacing, the automatic feed mechanism performance is optimized more.
In the described automatic calendering mechanism, described X-axis mechanism comprises that X-axis track base, X-axis intersect guide rail, X-axis and drive cylinder; Described Y-axis mechanism comprises that Y-axis track base, Y-axis intersect guide rail, Y-axis servomotor, ball screw; Described rotating mechanism comprises rotary cylinder tooth seat, rotary cylinder, rotary cylinder tooth bar; Described manipulator mechanism comprises top strength cylinder, top power cylinder block, bearing block, clamp device.The X-axis of described X-axis mechanism drives cylinder by X-axis cylinder contiguous block driving device plate at hand, so driving device at hand the rotating mechanism on the plate and manipulator mechanism are done X-axis and are moved.Described X-axis mechanism is provided with the crashproof damping device of X-axis and X-axis stroke induction installation; Described Y-axis mechanism is provided with the crashproof damping device of Y-axis.The crashproof damping device of described X-axis is made up of the crashproof damper of X-axis and the anti-collision block of X-axis; Described X-axis stroke induction installation is made up of X-axis electric eye and X-axis electronic eye response device; The crashproof damping device of described Y-axis is made up of Y-axis stroke safety block, Y-axis stroke shock-proof block and Y-axis stroke shock mount.The crashproof damper of described X-axis is arranged on the Y-axis track base by the X-axis cushion socket, and the anti-collision block of described X-axis is arranged on the robot base, and then the effect of crashproof damping can be played by X-axis mechanism when mobile.Described X-axis electric eye has four, is arranged on the Y-axis track base by an X-axis electric eye seat, and described X-axis electronic eye response device is arranged on the robot base, and then X-axis mechanism can be arrived by electronic eye response when mobile.Described Y-axis stroke safety block is arranged on the Y-axis track base, and described Y-axis stroke shock-proof block is arranged on the frame upper plate by Y-axis stroke shock mount, and then the effect of crashproof damping can be played by Y-axis mechanism when mobile.
By the effect of damper and electronic eye response device, realize functions such as damping, spacing, the automatic feed mechanism performance is optimized more.
Described automaton comprises that computer control cabinet, computer show touch-screen and touch-screen column spinner.
Automatically the calendering manipulator is connected with the horizontal machine that prolongs by the horizontal connecting plate that prolongs.
Described automatic feed mechanism also comprises a feeding top cover.Described automatic calendering mechanism also comprises a calendering top cover.
Beneficial effect of the present invention is: the present invention is simple in structure, use when the calendering manipulator rolls materials such as tableware stainless steels automatically, match by feeder, feed mechanism, calendering mechanism, workpiece is sent to horizontal prolonging automatically rolls processing on the machine, automatically transmit next after workpiece is finished, the workpiece transfer process has realized automation, has reduced potential safety hazard, has improved work quality and benefit.The automated mechanical hand has replaced the artificial material Job Operations of taking, and delivery rate is faster and material folding is more neat than the artificial material speed of taking; Avoid industrial injury, save time.It is slow to have solved the artificial material of taking, and material can be dished out to defectives such as the staff cause serious injury during operation calendering error.
Description of drawings
Fig. 1 is perspective view of the present invention;
Fig. 2 is A portion enlarged diagram among Fig. 1;
Fig. 3 is B portion enlarged diagram among Fig. 1;
Fig. 4 is the perspective view at another visual angle of Fig. 1;
Fig. 5 is C portion enlarged diagram among Fig. 4;
Fig. 6 covers perspective view for Fig. 1;
Fig. 7 is automatic discharge mechanism schematic diagram;
Include in the drawings: 1. frame workbench; 2. move feeder; 21. main limit journey clamping plate; 22. secondary limit journey clamping plate; 23. feed frame; 24. material lift base; 25. material lift intersection guide rail; 26. material lift intersection guide rail Connection Block; 27. material lift cylinder, 28. material lift cylinder jacking blocks; 29. material lift electric eye; 210. material lift electric eye seat; 211. bin material folding top strength cylinder; 3. automatic feed mechanism; 31. feeding fixed mount; 32. feeding cylinder; 33. feeding guide; 34. the positive cylinder of feed pipe; 35. feeding thimble post; 36. the positive piece of feed pipe; 37. feed pipe is top power piece just; 38. crashproof damper; 39. collision block is prevented in feeding; 310. feeding electric eye; 311. feeding electronic eye response device; 4. roll mechanism automatically; 41. robot base; 42.X axle intersection guide rail; 43.X axle drives cylinder; 44.Y axle intersection guide rail; 45.Y axle servomotor; 46. rotary cylinder tooth seat; 47. rotary cylinder; 48. top strength cylinder; 49. clamp device; 410.X the crashproof damping device of axle; 411.X axle stroke induction installation 5. automatons; 51. computer control cabinet; 52. computer shows touch-screen; 53. touch-screen column spinner; 6. automatic discharge mechanism; 61. discharge frame; The circle wheels 62. slide; 63. stirring cylinder; 64. inductor; 7. the horizontal connecting plate that prolongs; 8. feeding top cover; 9. calendering top cover.
The specific embodiment
The present invention is further illustrated below in conjunction with drawings and Examples.
Referring to Fig. 1 to Fig. 7, a kind of workpiece automation calendering process, it comprises the steps:
1) a frame workbench 1 is set, it comprises frame lower plate, framework panel and frame upper plate;
2) referring to Fig. 2, Fig. 5, one autofeed mechanism 2 is set, to realize the autofeed of workpiece: this autofeed mechanism 2 is arranged on the framework panel of frame workbench 1 one sides, comprises corresponding major and minor limit journey clamping plate 21,22, feed frame 23 and the material lift working group that arranges; Described feed frame 23 is located on the major and minor limit journey clamping plate 21,22; Described material lift working group is connected with major and minor limit journey clamping plate 21,22, drives major and minor limit journey clamping plate 21,22 and moves up and down.Described feed frame 23 comprises two or more bin pipe positive column, is located at respectively on the described major and minor limit journey clamping plate 21,22; Described material lift working group comprises that material lift fishplate bar, material lift base 24, material lift intersect guide rail 25, material lift and intersect guide rail Connection Block 26, material lift cylinder 27, material lift cylinder jacking block 28, following of material lift cylinder, material lift electric eye 29, material lift electric eye seat 210.The groundwork principle of this autofeed mechanism 2 is as follows: the feed frame 23 on the major and minor limit journey clamping plate 21,22 is used for depositing workpiece, material lift working group then drives major and minor limit journey clamping plate 21,22, and then drive feed frame 23 moves up and down, one on the other, match with following automatic feed mechanism 3 then, reach the function of feed.
3) referring to Fig. 2, Fig. 5, one automatic feed mechanism 3 is set, described autofeed mechanism 2 given workpiece are caught and carried forward realizing: this automatic feed mechanism 3 is arranged on described autofeed mechanism 2 belows accordingly, comprises that feeding fixed mount 31, feeding driving group and feed pipe just organize.Described feeding fixed mount 31 comprises feeding fixed head and feeding fixed base plate; Described feeding driving group comprises feeding cylinder 32, feeding guide 33,33 of feeding guides and feeding guide connection strap, and it is located on the feeding fixed base plate of described feeding fixed mount 31 by the feeding guide connection strap; Described feed pipe is just being organized and is being comprised just top power piece 37 of material feeding seat top board seat, feeding main folder seat, the positive cylinder 34 of feed pipe, feeding thimble post 35, the positive piece 36 of feed pipe and feed pipe, it is located at by material feeding seat top board seat on the feeding guide 33 of described feeding driving group, is driven by feeding cylinder 32 and advances or retreat; Described feed pipe just top power piece 37 is located at an end of feeding thimble post 35, is driven by the positive cylinder 34 of feed pipe, make the positive piece 36 of feed pipe and feed pipe just top power piece 37 one open one and close each other, realize accessing workpiece from autofeed mechanism 2.
4) referring to Fig. 3, Fig. 4, arrange one and roll mechanism 4 automatically, with the workpiece gripping that realizes described automatic feed mechanism 3 is transported, and deliver on the horizontal calender device that prolongs machine and carry out flattener's work, the final workpiece calendering finished product that obtains: this rolls on the frame upper plate that mechanism 4 is located at described frame workbench 1 automatically, be made up of X-axis mechanism, Y-axis mechanism, rotating mechanism and manipulator mechanism, described X-axis mechanism is located in the described Y-axis mechanism, and described rotating mechanism is located in the described X-axis mechanism; Described manipulator mechanism is connected with described rotating mechanism, and is located in the described X-axis mechanism by a robot base 41.Described X-axis mechanism comprises that X-axis track base, X-axis intersect guide rail 42, X-axis and drive cylinder 43; Described Y-axis mechanism comprises that Y-axis track base, Y-axis intersect guide rail 44, Y-axis servomotor 45, ball screw; Described rotating mechanism comprises rotary cylinder tooth seat 46, rotary cylinder 47, rotary cylinder tooth bar; Described manipulator mechanism comprises top strength cylinder 48, top power cylinder block, bearing block, clamp device 49.
5) automaton 5 is set, to realize autofeed mechanism 2, automatic feed mechanism 3 and the coordination control of rolling mechanism 4 automatically.
6) start described automaton 5, control autofeed mechanism 2, automatic feed mechanism 3 and roll mechanism 4 automatically, realize the automation calendering of workpiece; Specifically may further comprise the steps:
6.1) the workpiece material loading, on the stacked feed frame 23 that is positioned over described autofeed mechanism 2 of a plurality of workpiece.This step once can be put whole folded a plurality of workpiece for manually carrying out.
6.2) the workpiece feed, described material lift working group drives moving up and down of major and minor limit journey clamping plate 21,22, moves up and down contraposition thereby drive feed frame 23, realizes the material process of giving of autofeed mechanism 2.The main effect of this step is that the workpiece on the feed frame 23 is delivered to assigned address one on the other by material lift working group, waits for gripping and the feeding forward of automatic feed mechanism 3.
6.3) the workpiece feeding, described automatic feed mechanism 3 is stated the workpiece that the feed frame 23 of autofeed mechanism 2 provides by the positive winding of feed pipe residence, by feeding driving group workpiece is transported to the appointment station forward then;
6.4) the workpiece gripping, the manipulator mechanism of described automatic calendering mechanism 4 is in specifying station place's gripping to carry the workpiece of coming by automatic feed mechanism 3;
6.5) workpiece calendering, X-axis mechanism, Y-axis mechanism and rotating mechanism by described automatic calendering mechanism 4 drive workpiece and enter the horizontal calender device that prolongs machine, and carry out calendering work by predefined Program path, finally obtain workpiece calendering finished product.This step is the key step of calendering work, and predefined Program path is carried out by X-axis mechanism, Y-axis mechanism, rotating mechanism.Behind the manipulator mechanism gripping workpiece, Y-axis mechanism moves forward workpiece is delivered to the horizontal calender device that prolongs machine, X-axis mechanism is moved to the left with the workpiece calendering once, 180 ° of rotational workpieces of rotating mechanism, the workpiece that X-axis mechanism will move right after will overturning again rolls once, after calendering was good, Y-axis mechanism was mobile backward, regained workpiece calendering finished product.This predefined Program path can be made corresponding adjustment according to different needs.
6.6) each mechanism's return, prepare calendering work next time, so move in circles.
It is further comprising the steps of:
7) an automatic discharge mechanism 6 is set, to realize rolling workpiece finished product automatic discharge well: this automatic discharge mechanism 6 arranges separately, comprises discharge frame 61, movable circle bar, slip circle wheels 62 and stirring cylinder 63.It also is provided with an inductor 64, and workpiece is stacked into to a certain degree, and inductor 64 triggers, and stirring cylinder 64 promotes stirring, and workpiece is turned over to discharge frame 61.Automatically calendering mechanism 4 with workpiece deliver to the horizontal calender device that prolongs machine roll good after, the workpiece that calendering is good is placed a guiding groove (among the figure and draw), is slipped in the automatic discharge mechanism 6 along guiding groove then.
Referring to Fig. 1 to Fig. 7, a kind of automatic calendering manipulator of implementing described workpiece automation calendering process, automatically the calendering manipulator is located at a horizontal calender device side that prolongs machine, it comprises a frame workbench 1, and it also comprises an autofeed mechanism 2, an automatic feed mechanism 3, calendering mechanism 4 and an automaton 5 automatically; Described autofeed mechanism 2 is located at frame workbench 1 one sides, comprises corresponding major and minor limit journey clamping plate 21,22, feed frame 23 and the material lift working group that arranges; Described automatic feed mechanism 3 is arranged on described autofeed mechanism 2 belows accordingly, comprises that feeding fixed mount 31, feeding driving group and feed pipe just organize; Described automatic calendering mechanism 4 is located at described frame workbench 1 top, formed by X-axis mechanism, Y-axis mechanism, rotating mechanism and manipulator mechanism, described X-axis mechanism is located in the described Y-axis mechanism, described rotating mechanism is located in the described X-axis mechanism, described manipulator mechanism is connected with described rotating mechanism, and is located in the described X-axis mechanism by a robot base 41; Described automaton 5 is controlled its co-ordination operation each other respectively with autofeed mechanism 2, automatic feed mechanism 3 and roll mechanism 4 automatically and be connected.
It also comprises an automatic discharge mechanism 6, and this automatic discharge mechanism 6 arranges separately, comprises discharge frame 61, movable circle bar, slip circle wheels 62 and stirring cylinder 63.It also is provided with an inductor 64, and workpiece is stacked into to a certain degree, and inductor 64 triggers, and stirring cylinder 64 promotes stirring, and workpiece is turned over to discharge frame 61.Automatically calendering mechanism 4 with workpiece deliver to the horizontal calender device that prolongs machine roll good after, the workpiece that calendering is good is placed a guiding groove (among the figure and draw), is slipped in the automatic discharge mechanism 6 along guiding groove then.
Described frame workbench 1 comprises on frame lower plate, framework panel and the frame.
Referring to Fig. 2, Fig. 5, in the autofeed mechanism 2, described feed frame 23 is located on the major and minor limit journey clamping plate 21,22; Described material lift working group is connected with major and minor limit journey clamping plate 21,22, drives major and minor limit journey clamping plate 21,22 and moves up and down.Major and minor limit journey clamping plate 21,22 both sides also are provided with some bin material foldings top strength cylinder 211, and are provided with the bin adjusting device, with realization the further of autofeed mechanism 2 are assisted, and adapt to different workpiece.Described feed frame 23 comprises two or more bin pipe positive column, is located at respectively on the described major and minor limit journey clamping plate 21,22.The below of described bin pipe positive column is provided with two hook material bars, hooks the workpiece on the feed frame 23, and is just organizing correspondingly with the feed pipe of automatic feed mechanism 3, works effects such as preventing workpiece slide simultaneously.Described material lift working group comprises that material lift fishplate bar, material lift base 24, material lift intersect guide rail 25, material lift and intersect guide rail Connection Block 26, material lift cylinder 27, material lift cylinder jacking block 28, following of material lift cylinder, material lift electric eye 29, material lift electric eye seat 210.Described material lift fishplate bar is fixed on the framework panel of frame workbench 1 one sides; Described material lift base 24 is fixed on the material lift fishplate bar; Described material lift intersection guide rail Connection Block 26 is connected with material lift base 24 by material lift intersection guide rail 25; Described material lift cylinder 27 is located on the material lift base 24 by following of material lift cylinder, and intersect guide rail Connection Block 26 by material lift cylinder jacking block 28 and material lift and be connected, drive material lift and intersect guide rail Connection Block 26, so drive major and minor limit journey clamping plate 21,22 with and on feed frame 23; Described material lift electric eye 29 is located on the material lift cylinder jacking block 28, and described material lift electric eye seat 210 is located on the material lift cylinder 27, cooperates by both, realizes that set a distance drives up and down.
Referring to Fig. 2, Fig. 5, in the automatic feed mechanism 3, described feeding fixed mount 31 comprises feeding fixed head and feeding fixed base plate; Described feeding driving group comprises feeding cylinder 32, feeding guide 33,33 of feeding guides and feeding guide connection strap, and it is located on the feeding fixed base plate of described feeding fixed mount 31 by the feeding guide connection strap; Described feed pipe is just being organized and is being comprised just top power piece 37 of material feeding seat top board seat, feeding main folder seat, the positive cylinder 34 of feed pipe, feeding thimble post 35, the positive piece 36 of feed pipe and feed pipe, it is located at by material feeding seat top board seat on the feeding guide 33 of described feeding driving group, is driven by feeding cylinder 32 and advances or retreat; Described feed pipe just top power piece 37 is located at an end of feeding thimble post 35, is driven by the positive cylinder 34 of feed pipe, make the positive piece 36 of feed pipe and feed pipe just top power piece 37 one open one and close each other, realize accessing workpiece from autofeed mechanism 2.Described feeding driving group also comprises forward and backward crashproof damper 38, the anti-collision block 39 of feeding, forward and backward feeding electric eye 310, feeding electronic eye response device 311; Described forward and backward crashproof damper logical 38 is crossed the feeding cushion socket and is located on the feeding fixed mount 31, and the anti-collision block 39 of described feeding is located on the material feeding seat top board seat, and is positioned at 38 of described forward and backward crashproof damper; Described forward and backward feeding electric eye 310 is located on the feeding fixed mount 31 by feeding electric eye seat, and described feeding electronic eye response device 311 is located on the material feeding seat top board seat, and between forward and backward feeding electric eye 310.By the effect of damper and electronic eye response device, realize functions such as damping, spacing, automatic feed mechanism 3 performances are optimized more.
Referring to Fig. 3, Fig. 4, in the described automatic calendering mechanism 4, described X-axis mechanism comprises that X-axis track base, X-axis intersect guide rail 42, X-axis and drive cylinder 43; Described Y-axis mechanism comprises that Y-axis track base, Y-axis intersect guide rail 44, Y-axis servomotor 45, ball screw; Described rotating mechanism comprises rotary cylinder tooth seat 46, rotary cylinder 47, rotary cylinder tooth bar; Described manipulator mechanism comprises top strength cylinder 48, top power cylinder block, bearing block, clamp device 49.The X-axis of described X-axis mechanism drives cylinder 43 by X-axis cylinder contiguous block driving device plate 41 at hand, so driving device at hand the rotating mechanism on the plate 41 and manipulator mechanism are done X-axis and are moved.Described X-axis mechanism is provided with the crashproof damping device 410 of X-axis and X-axis stroke induction installation 411; Described Y-axis mechanism is provided with the crashproof damping device of Y-axis.The crashproof damping device 410 of described X-axis is made up of the crashproof damper of X-axis and the anti-collision block of X-axis; Described X-axis stroke induction installation 411 is made up of X-axis electric eye and X-axis electronic eye response device; The crashproof damping device of described Y-axis is made up of Y-axis stroke safety block, Y-axis stroke shock-proof block and Y-axis stroke shock mount.The crashproof damper of described X-axis is arranged on the Y-axis track base by the X-axis cushion socket, and the anti-collision block of described X-axis is arranged on the robot base 41, and then the effect of crashproof damping can be played by X-axis mechanism when mobile.Described X-axis electric eye has four, is arranged on the Y-axis track base by an X-axis electric eye seat, and described X-axis electronic eye response device is arranged on the robot base 41, and then X-axis mechanism can be arrived by electronic eye response when mobile.Described Y-axis stroke safety block is arranged on the Y-axis track base, and described Y-axis stroke shock-proof block is arranged on the frame upper plate by Y-axis stroke shock mount, and then the effect of crashproof damping can be played by Y-axis mechanism when mobile.By the effect of damper and electronic eye response device, realize functions such as damping, spacing, automatic feed mechanism 3 performances are optimized more.
Described automaton 5 comprises that computer control cabinet 51, computer show touch-screen 52 and touch-screen column spinner 53.
Automatically the calendering manipulator is connected with the horizontal machine that prolongs by the horizontal connecting plate 7 that prolongs.
Referring to Fig. 6, described automatic feed mechanism 3 also comprises a feeding top cover 8.Described automatic calendering mechanism 4 also comprises a calendering top cover 9.
The present invention is simple in structure, use when the calendering manipulator rolls materials such as tableware stainless steels automatically, match by feeder, feed mechanism, calendering mechanism, workpiece is sent to horizontal prolonging automatically rolls processing on the machine, automatically transmit next after workpiece is finished, the workpiece transfer process has realized automation, has reduced potential safety hazard, has improved work quality and benefit.The automated mechanical hand has replaced the artificial material Job Operations of taking, and delivery rate is faster and material folding is more neat than the artificial material speed of taking; Avoid industrial injury, save time.It is slow to have solved the artificial material of taking, and material can be dished out to defectives such as the staff cause serious injury during operation calendering error.
Should be noted that at last, above embodiment is only in order to illustrate technical scheme of the present invention, but not to the restriction of patent claim of the present invention, although with reference to preferred embodiment the present invention has been done to explain, those of ordinary skill in the art is to be understood that, so all equivalences of doing according to the described structure of patent claim of the present invention, feature and principle change or modify, and are included in the patent claim of the present invention.
Claims (10)
1. a workpiece automation calendering process is characterized in that it comprises the steps:
1) a frame workbench is set, it comprises frame lower plate, framework panel and frame upper plate;
2) an autofeed mechanism is set, to realize the autofeed of workpiece: this autofeed mechanism is arranged on the framework panel of frame workbench one side, comprises corresponding major and minor limit journey clamping plate, feed frame and the material lift working group that arranges; Described feed frame is located on the major and minor limit journey clamping plate; Described material lift working group is connected with major and minor limit journey clamping plate, drives major and minor limit journey clamping plate and moves up and down;
3) automatic feed mechanism is set, the given workpiece of described autofeed mechanism is caught and carried forward realizing: this automatic feed mechanism is arranged on described autofeed mechanism below accordingly, comprises that feeding fixed mount, feeding driving group and feed pipe just organize;
4) arrange one and roll mechanism automatically, with the workpiece gripping that realizes described automatic feed mechanism is transported, and deliver on the horizontal calender device that prolongs machine and carry out flattener's work, the final workpiece calendering finished product that obtains: this rolls on the frame upper plate that mechanism is located at described frame workbench automatically, formed by X-axis mechanism, Y-axis mechanism, rotating mechanism and manipulator mechanism, described X-axis mechanism is located in the described Y-axis mechanism, and described rotating mechanism is located in the described X-axis mechanism; Described manipulator mechanism is connected with described rotating mechanism, and is located in the described X-axis mechanism by a robot base;
5) automaton is set, to realize autofeed mechanism, automatic feed mechanism and the coordination control of rolling mechanism automatically;
6) start described automaton, control autofeed mechanism, automatic feed mechanism and roll mechanism automatically, realize the automation calendering of workpiece; Specifically may further comprise the steps:
6.1) the workpiece material loading, on the stacked feed frame that is positioned over described autofeed mechanism of a plurality of workpiece;
6.2) the workpiece feed, described material lift working group drives moving up and down of major and minor limit journey clamping plate, moves up and down contraposition thereby drive feed frame, realizes the material process of giving of autofeed mechanism;
6.3) the workpiece feeding, described automatic feed mechanism is stated the workpiece that the feed frame of autofeed mechanism provides by the positive winding of feed pipe residence, by feeding driving group workpiece is transported to the appointment station forward then;
6.4) the workpiece gripping, the manipulator mechanism of described automatic calendering mechanism is in specifying station place's gripping to be carried the workpiece of coming by automatic feed mechanism;
6.5) workpiece calendering, X-axis mechanism, Y-axis mechanism and rotating mechanism by described automatic calendering mechanism drive workpiece and enter the horizontal calender device that prolongs machine, and carry out calendering work by predefined Program path, finally obtain workpiece calendering finished product;
6.6) each mechanism's return, prepare calendering work next time, so move in circles.
2. workpiece automation calendering process according to claim 1 and calendering manipulator automatically, it is characterized in that: it is further comprising the steps of:
7) an automatic discharge mechanism is set, to realize rolling workpiece finished product automatic discharge well: this automatic discharge mechanism arranges separately, comprises discharge frame, movable circle bar, slip circle wheels and stirring cylinder.
3. workpiece automation calendering process according to claim 1 and calendering manipulator automatically, it is characterized in that: described step 2), described feed frame comprises two or more bin pipe positive column, is located at respectively on the described major and minor limit journey clamping plate; Described material lift working group comprises that material lift fishplate bar, material lift base, material lift intersect guide rail, material lift and intersect guide rail Connection Block, material lift cylinder, material lift cylinder jacking block, following of material lift cylinder, material lift electric eye, material lift electric eye seat.
4. workpiece automation calendering process according to claim 1 and calendering manipulator automatically, it is characterized in that: in the described step 3), described feeding fixed mount comprises feeding fixed head and feeding fixed base plate; Described feeding driving group comprises feeding cylinder, feeding guide, feeding guide seat and feeding guide connection strap, and it is located on the feeding fixed base plate of described feeding fixed mount by the feeding guide connection strap; Described feed pipe is just being organized and is being comprised just top power piece of material feeding seat top board seat, feeding main folder seat, the positive cylinder of feed pipe, feeding thimble post, the positive piece of feed pipe and feed pipe, it is located at by material feeding seat top board seat on the feeding guide of described feeding driving group, is driven by feeding cylinder and advances or retreat; Described feed pipe just top power piece is located at an end of feeding thimble post, by the positive air cylinder driven of feed pipe, make the positive piece of feed pipe and feed pipe just top power piece one open one and close each other, realize accessing workpiece from autofeed mechanism.
5. workpiece automation calendering process according to claim 1 and automatically calendering manipulator is characterized in that: in the described step 4), described X-axis mechanism comprises that X-axis track base, X-axis intersect guide rail, X-axis and drive cylinder; Described Y-axis mechanism comprises that Y-axis track base, Y-axis intersect guide rail, Y-axis servomotor, ball screw; Described rotating mechanism comprises rotary cylinder tooth seat, rotary cylinder, rotary cylinder tooth bar; Described manipulator mechanism comprises top strength cylinder, top power cylinder block, bearing block, clamp device.
6. automatic calendering manipulator of implementing the described workpiece automation of one of claim 1 to 5 calendering process, automatically the calendering manipulator is located at a horizontal calender device side that prolongs machine, it comprises a frame workbench, it is characterized in that: it also comprises an autofeed mechanism, an automatic feed mechanism, calendering mechanism and an automaton automatically; Described autofeed mechanism is located at frame workbench one side, comprises corresponding major and minor limit journey clamping plate, feed frame and the material lift working group that arranges; Described automatic feed mechanism is arranged on described autofeed mechanism below accordingly, comprises that feeding fixed mount, feeding driving group and feed pipe just organize; Described automatic calendering mechanism is located at described frame workbench top, formed by X-axis mechanism, Y-axis mechanism, rotating mechanism and manipulator mechanism, described X-axis mechanism is located in the described Y-axis mechanism, described rotating mechanism is located in the described X-axis mechanism, described manipulator mechanism is connected with described rotating mechanism, and is located in the described X-axis mechanism by a robot base; Described automaton is controlled its co-ordination operation each other respectively with autofeed mechanism, automatic feed mechanism and roll mechanism automatically and be connected.
7. automatic calendering manipulator according to claim 6, it is characterized in that: it also comprises an automatic discharge mechanism, this automatic discharge mechanism arranges separately, comprises discharge frame, movable circle bar, circle wheels and stirring cylinder slide.
8. automatic calendering manipulator according to claim 6, it is characterized in that: described feed frame comprises two or more bin pipe positive column, is located at respectively on the described major and minor limit journey clamping plate; Described material lift working group comprises that material lift fishplate bar, material lift base, material lift intersect guide rail, material lift and intersect guide rail Connection Block, material lift cylinder, material lift cylinder jacking block, following of material lift cylinder, material lift electric eye, material lift electric eye seat.
9. automatic calendering manipulator according to claim 6, it is characterized in that: described feeding fixed mount comprises feeding fixed head and feeding fixed base plate; Described feeding driving group comprises feeding cylinder, feeding guide, feeding guide seat and feeding guide connection strap, and it is located on the feeding fixed base plate of described feeding fixed mount by the feeding guide connection strap; Described feed pipe is just being organized and is being comprised just top power piece of material feeding seat top board seat, feeding main folder seat, the positive cylinder of feed pipe, feeding thimble post, the positive piece of feed pipe and feed pipe, it is located at by material feeding seat top board seat on the feeding guide of described feeding driving group, is driven by feeding cylinder and advances or retreat; Described feed pipe just top power piece is located at an end of feeding thimble post, by the positive air cylinder driven of feed pipe, make the positive piece of feed pipe and feed pipe just top power piece one open one and close each other, realize accessing workpiece from autofeed mechanism.
10. automatic calendering manipulator according to claim 6 is characterized in that: described X-axis mechanism comprises that X-axis track base, X-axis intersect guide rail, X-axis and drive cylinder; Described Y-axis mechanism comprises that Y-axis track base, Y-axis intersect guide rail, Y-axis servomotor, ball screw; Described rotating mechanism comprises rotary cylinder tooth seat, rotary cylinder, rotary cylinder tooth bar; Described manipulator mechanism comprises top strength cylinder, top power cylinder block, bearing block, clamp device.
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