CN108820904A - A kind of magnesium alloy automatic docking device and method - Google Patents
A kind of magnesium alloy automatic docking device and method Download PDFInfo
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- CN108820904A CN108820904A CN201810885110.9A CN201810885110A CN108820904A CN 108820904 A CN108820904 A CN 108820904A CN 201810885110 A CN201810885110 A CN 201810885110A CN 108820904 A CN108820904 A CN 108820904A
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- magnesium alloy
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- block
- alloy block
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- 229910000861 Mg alloy Inorganic materials 0.000 title claims abstract description 165
- 238000003032 molecular docking Methods 0.000 title claims abstract description 44
- 238000000034 method Methods 0.000 title claims abstract description 36
- 238000007493 shaping process Methods 0.000 claims abstract description 120
- 230000007246 mechanism Effects 0.000 claims abstract description 100
- 230000001141 propulsive effect Effects 0.000 claims abstract description 37
- 238000005266 casting Methods 0.000 claims abstract description 18
- 230000004888 barrier function Effects 0.000 claims abstract description 9
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 7
- 239000000203 mixture Substances 0.000 claims description 9
- FYYHWMGAXLPEAU-UHFFFAOYSA-N Magnesium Chemical compound [Mg] FYYHWMGAXLPEAU-UHFFFAOYSA-N 0.000 claims description 8
- 239000011777 magnesium Substances 0.000 claims description 8
- 229910052749 magnesium Inorganic materials 0.000 claims description 8
- 239000000463 material Substances 0.000 claims description 7
- 230000005540 biological transmission Effects 0.000 claims description 4
- PCHJSUWPFVWCPO-UHFFFAOYSA-N gold Chemical compound [Au] PCHJSUWPFVWCPO-UHFFFAOYSA-N 0.000 claims description 4
- 239000010931 gold Substances 0.000 claims description 4
- 229910052737 gold Inorganic materials 0.000 claims description 4
- 229910000831 Steel Inorganic materials 0.000 claims description 3
- 239000010959 steel Substances 0.000 claims description 3
- 230000001737 promoting effect Effects 0.000 claims description 2
- 239000007858 starting material Substances 0.000 claims description 2
- 238000004519 manufacturing process Methods 0.000 abstract description 8
- 238000010586 diagram Methods 0.000 description 10
- 229910045601 alloy Inorganic materials 0.000 description 8
- 239000000956 alloy Substances 0.000 description 8
- 230000032258 transport Effects 0.000 description 5
- 230000001427 coherent effect Effects 0.000 description 3
- 238000004806 packaging method and process Methods 0.000 description 3
- 241000196324 Embryophyta Species 0.000 description 2
- LQHZJYFIRFRDKF-UHFFFAOYSA-N gold magnesium Chemical compound [Mg].[Au] LQHZJYFIRFRDKF-UHFFFAOYSA-N 0.000 description 2
- 238000004064 recycling Methods 0.000 description 2
- 241000233855 Orchidaceae Species 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 238000004026 adhesive bonding Methods 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 210000000988 bone and bone Anatomy 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 239000002994 raw material Substances 0.000 description 1
- 238000005507 spraying Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/82—Rotary or reciprocating members for direct action on articles or materials, e.g. pushers, rakes, shovels
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of magnesium alloy automatic docking device and methods, belong to automatic stacking technical field, including support frame, conveying line device, propulsive mechanism, shaping line apparatus, pneumatic grasping mechanism, industrial six-joint robot and safety barrier, conveying line device includes gear, chain and conveying limit plate, propulsive mechanism is equipped with propulsion cylinder and promotes wedge block, shaping line apparatus is equipped with shaping cylinder, shaping wedge block and shaping limit plate, pneumatic grasping mechanism includes clamping cylinder, clamping plate, profiling can be changed clamping plate and flange, support frame includes pedestal and pallet.For the present invention after magnesium alloy block comes out from automated production casting machine, palletizing apparatus automatically grabs magnesium alloy block and by its neat stacking on pallet, has saved labour and time, has been conducive to raise labour productivity.
Description
Technical field
The present invention relates to a kind of palletizing apparatus and method, more particularly to a kind of magnesium alloy automatic docking device and method,
Belong to automatic stacking technical field.
Background technique
With the continuous development of China's economy advancing by leaps and bounds with scientific and technical, so that robot is in stacking, gluing, point
The industries such as weldering, arc-welding, spraying, carrying, measurement, which have, to be quite widely applied.
Because of various reasons, the type including packaging, the environment of plant and customer demand etc. become stacking in packaging plant
The bone that one piece of difficulty is gnawed, in order to overcome these difficulty, the various aspects of Palletizer all development improve, including from manipulator to
Manipulate its software.
The demand of flexibility is constantly increased in the market, this trend has influenced many aspects of packaging, raw
The back segment of producing line is no exception, retail customer, especially those influential large supermarkets as Wal-Mart, often
Need to customize some random trays, but they have to customize each tray, and the form of tray only has weight once in a while
It is multiple, and the efficient production of this kind of random tray is relatively difficult.
Need a kind of magnesium alloy ingot automatic docking device now, in automated production from casting machine come out after, robot
Automatically grab raw material ingot and the automatic stacking system by its neat stacking on pallet.
Summary of the invention
The main object of the present invention is to provide for a kind of magnesium alloy automatic docking device and method, passes through setting and closes with magnesium
The match wedge block used and profiling of gold bullion can be changed clamping plate, clamps various types of magnesium alloy ingots to adapt to fixture, sets simultaneously
It sets conveying line device, propulsive mechanism, shaping line apparatus and pneumatic grasping mechanism to be used in conjunction with each other, completes magnesium alloy and transmit automatically
And the assembly line movement of crawl, improve stacking efficiency.
The purpose of the present invention can reach by using following technical solution：
A kind of magnesium alloy automatic docking device, including piling up the support frame of magnesium alloy block, transmitting the pipeline of magnesium alloy block
Device, the shaping line apparatus that described propulsive mechanism one end is arranged in, is set the propulsive mechanism being connected with the conveying line device tail end
The industrial six-joint robot set the pneumatic grasping mechanism above the shaping line apparatus, push the pneumatic grasping mechanism operation
And the safety barrier around a whole set of assembly line, the conveying line device include gear, the chain matched with the gear with
And the conveying limit plate of described conveying line device one end is set, the propulsive mechanism is equipped with propulsion cylinder and pushes away with described
The connected propulsion wedge block of the piston rod of inlet casing, one end of the shaping line apparatus be equipped with shaping cylinder and with the shaping
The connected shaping wedge block of the piston rod of cylinder, the other end of the shaping line apparatus is equipped with shaping limit plate, described pneumatically to grab
Mechanism is taken to include clamping cylinder, the clamping plate on the piston rod for being fixed on the clamping cylinder, the imitative of the clamping plate side is set
The flange that shape can be changed clamping plate and be connected with described industrial six-joint robot one end.
Preferably, support frame as described above includes two pedestals, and the pedestal is equipped with a pallet, piles up magnesium on the pallet
Magnesium alloy block on the pallet and the pallet is hauled by alloy block, fork truck together, realizes recycling for pallet.
Preferably, the conveying line device includes carriage, and the upper surface of the carriage is inclined surface, the carriage
Higher one end is connected with workshop casting machine, and the magnesium alloy ingot in casting machine is removed from the mold that be transmitted to the carriage higher
One end, the fixed conveying limit plate in the lower one end of the carriage.
Preferably, the propulsive mechanism includes the advance frame that the conveying line device tail end is arranged in, the advance frame
Height is identical with the height of the propulsive mechanism tail end, and the propulsion cylinder, the propulsion gas are fixed on the propulsive mechanism
The piston rod of cylinder is fixed with propulsion wedge block, and the side for promoting wedge block is equipped with the inclined surface being adapted with magnesium alloy block,
Magnesium alloy block on the conveying line device tail end is pushed to the shaping line by the propulsion cylinder and the propulsion wedge block
On device.
Preferably, the shaping line apparatus is located at the tail end of the conveying line device, and the shaping line apparatus includes shaping
Frame, the shaping cylinder for being fixed on described reshaping frame one end and the shaping limit plate for being fixed on the reshaping frame other end,
The reshaping frame is equipped with the groove being adapted with the clamping plate, and the shaping wedge block is fixed on the piston of the shaping cylinder
On bar, the magnesium alloy block on the shaping line apparatus is pushed to the shaping by the shaping cylinder and the shaping wedge block
The side of limit plate.
Preferably, the pneumatic grasping mechanism further includes being fixed on the U-frame of described flange one end and being fixed on the U
The fixed plate of shape frame side, the clamping cylinder are fixed in the fixed plate, and the clamping cylinder is located in the U-frame,
The clamping cylinder both ends are equipped with piston rod, are respectively and fixedly provided with clamping plate, two clamping plates on the piston rod at the clamping cylinder both ends
Side be equipped with guide holder, one end of the guide holder is equipped with guiding axis.
Preferably, the side that the profiling can be changed clamping plate is fixed on the clamping plate, and the profiling can be changed the another of clamping plate
The surface of side is the inclined surface equipped with dentate groove, and the inclined surface that the profiling can be changed clamping plate adapts to the magnesium alloy of different model
The side of block, the bottom of the clamping plate is equipped with the convex block to infolding, when two pieces of clamping plates clamp magnesium alloy block, institute
The lowermost convex block for stating clamping plate can hook magnesium alloy block bottom.
Preferably, the industrial six-joint robot is fixed on one end of the shaping line apparatus, the industrial six axis machine
One end of people is connected by the flange with the pneumatic grasping mechanism, and the industry six-joint robot is IRB1400 console mode
Industrial robot carries 50KG, and arm opens up 3M, rotates 0 ° -300 ° of angle.
Preferably, the safety barrier is made of the splicing of muti-piece web plate, and the middle part of the web plate is the stainless (steel) wire of hollow out.
A kind of magnesium alloy automatic stacking method, includes the following steps：
Step 1：The side of automatic docking device is equipped with magnesium alloy ingot casting machine and lifting material receiving mechanism, the magnesium in casting machine
Alloy block is removed from the mold, and is gone up and down and is caught magnesium alloy block on material receiving mechanism, is subsequently reduced to above conveying line device, magnesium alloy
Block is delivered to one end of conveying line device；
Step 2：Conveying line device is equipped with the transmission line of gear and chain composition, and magnesium alloy block is dropped on chain, opened
Moving gear, gear rotation drive chain operation, and magnesium alloy block runs to the conveying limit plate of conveying line device tail end with chain
Side；
Step 3：The tail end of conveying line device is fixed with propulsive mechanism, and propulsive mechanism is equipped with propulsion cylinder, propulsive mechanism
Piston rod stretch out one end position conveying limit plate side, magnesium alloy block be transmitted to conveying limit plate side when,
The piston rod of propulsive mechanism pushes magnesium alloy block, is pushed away conveying line device, is then pushed to one end of shaping line apparatus；
Step 4：The both ends of shaping line apparatus are respectively equipped with shaping cylinder and shaping limit plate, and shaping cylinder is traditional thread binding shaping
The magnesium alloy block set is pushed to the side of shaping limit plate；
Step 5：The tail end of shaping line apparatus is equipped with industrial six-joint robot, the end of the rotating arm of industrial six-joint robot
It is fixed with pneumatic grasping mechanism, after the side of shaping limit plate is accumulated to a certain number of magnesium alloy blocks, industrial six-joint robot
Rotating arm is driven, pneumatic grasping mechanism is hovered on magnesium alloy block, the clamping cylinder on pneumatic grasping mechanism is started, makes to clamp
The piston rod at cylinder both ends stretches out simultaneously, so that fixed two clamping plate opposite directions on the piston rod are flared out, two folders
After the distance of plate reaches preset width, stop clamping cylinder；
Step 6：After the side magnesium alloy block of shaping limit plate reaches predetermined number, industrial six-joint robot will be grabbed pneumatically
It takes mechanism to sink down into the top of magnesium alloy block, so that the most lower edge of two clamping plates is lower than the most lower edge of magnesium alloy block, then open again
Dynamic clamping cylinder, shrinks back piston rod in clamping cylinder, while two clamping plates being driven to clamp magnesium alloy block to contract,
Profiling after two clamping plates clamp magnesium alloy block, and on the inside of two clamping plates can be changed clamping plate and be bonded close and firm with magnesium alloy block
Afterwards, stop clamping cylinder, then pneumatic grasping mechanism and magnesium alloy block are risen by industrial six-joint robot, hover over shaping line
The overhead of device；
Step 7：After magnesium alloy block is detached from shaping line apparatus by industrial six-joint robot, industrial six-joint robot rotation is certain
Angle, magnesium alloy block is hovered over to the overhead of support frame, then land pneumatic grasping mechanism and magnesium alloy, falls magnesium alloy block
In support frame, then start clamping cylinder, keep piston rod protruding, clamping plate is driven to move out, clamping plate is made to be detached from magnesium alloy
Block, then stops clamping cylinder, and pneumatic grasping mechanism is risen, rotates by a certain angle, will pneumatically grab by industrial six-joint robot
Mechanism is taken to hover over the overhead of shaping line apparatus tail end.
Step 8：After magnesium alloy block on support frame reaches predetermined quantity, by fork truck by support frame pallet and magnesium close
Gold bullion is transported together.
Advantageous effects of the invention：
Magnesium alloy automatic docking device provided by the invention and method, by by conveying line device, propulsive mechanism, shaping line
Device, pneumatic grasping mechanism and industrial six-joint robot are assembled into coherent automatic production line, save labour and it is a large amount of when
Between, improve labor efficiency；
Magnesium alloy automatic docking device provided by the invention and method, the shaping line apparatus more than conventional stacking, make industry
The frequency of six-joint robot movement reduces simultaneously, also improves stacking efficiency；
Magnesium alloy automatic docking device provided by the invention and method, handgrip system use pneumatic grasping mechanism, pneumatically grab
The profiling of the clamping plate for being provided with convex block in mechanism and the inclined surface equipped with dentate groove is taken to can be changed clamping plate, wedge-shaped profiling folder
Plate changes self-view according to the different angle of alloy pig, makes fixture keep agreeing with alloy pig, meets a variety of magnesium alloys
The compatibility of ingot shape number, no replacement is required fixture when casting machine replaces production model reduce cost, also save the time of replacement fixture；
Magnesium alloy automatic docking device provided by the invention and method pass through setting conveying line device, propulsive mechanism and whole
The dance roller diatom of the fixed roller line of bilayer of shape line apparatus composition and pneumatic grasping mechanism and industrial six-joint robot composition,
Realize that the mixing of pallet, finished product and unfinished work transports, and can be with the supreme shots of automatic flow pallet, to realize following for pallet
Ring utilizes；
Magnesium alloy automatic docking device provided by the invention and method, the clamping cylinder in pneumatic grasping mechanism provide dynamic
Power, movement is opened and closed by the mutual cooperation of clamping cylinder and guiding axis, guide holder in clamping plate, in order to clamp magnesium alloy block.
Detailed description of the invention
Fig. 1 is the overall structure signal of a preferred embodiment of magnesium alloy automatic docking device according to the invention and method
Figure；
Fig. 2 is the front view of a preferred embodiment of magnesium alloy automatic docking device according to the invention and method；
Fig. 3 is the side view of a preferred embodiment of magnesium alloy automatic docking device according to the invention and method；
Fig. 4 is the top view of a preferred embodiment of magnesium alloy automatic docking device according to the invention and method；
Fig. 5 is the structure of the support frame of a preferred embodiment of magnesium alloy automatic docking device according to the invention and method
Schematic diagram；
Fig. 6 is that the gear of a preferred embodiment of magnesium alloy automatic docking device according to the invention and method and chain are nibbled
The structural schematic diagram of conjunction；
Fig. 7 is that the structure of the chain of a preferred embodiment of magnesium alloy automatic docking device according to the invention and method is shown
It is intended to；
Fig. 8 is the propulsion cylinder of a preferred embodiment of magnesium alloy automatic docking device according to the invention and method and pushes away
The structural schematic diagram connected into wedge block；
Fig. 9 is the propulsion wedge block of a preferred embodiment of magnesium alloy automatic docking device according to the invention and method
Structural schematic diagram；
Figure 10 is the shaping cylinder of a preferred embodiment of magnesium alloy automatic docking device according to the invention and method
Structural schematic diagram；
Figure 11 is the shaping wedge block of a preferred embodiment of magnesium alloy automatic docking device according to the invention and method
Structural schematic diagram；
Figure 12 be a preferred embodiment of magnesium alloy automatic docking device according to the invention and method guide holder with lead
To the structural schematic diagram of axis connection；
Figure 13 is the pneumatic gripper of a preferred embodiment of magnesium alloy automatic docking device according to the invention and method
The structural schematic diagram that structure is connect with the rotating arm of industrial six-joint robot；
Figure 14 is the pneumatic gripper of a preferred embodiment of magnesium alloy automatic docking device according to the invention and method
The structural schematic diagram of structure；
Figure 15 is the pneumatic gripper of a preferred embodiment of magnesium alloy automatic docking device according to the invention and method
The front view of structure；
Figure 16 is the pneumatic gripper of a preferred embodiment of magnesium alloy automatic docking device according to the invention and method
The side view of structure；
Figure 17 is the pneumatic gripper of a preferred embodiment of magnesium alloy automatic docking device according to the invention and method
The top view of structure；
Figure 18 is the six axis machine of industry of a preferred embodiment of magnesium alloy automatic docking device according to the invention and method
The partial structural diagram of device people.
In figure：1- support frame, 2- conveying line device, 3- propulsive mechanism, 4- shaping line apparatus, the pneumatic grasping mechanism of 5-, 6-
Industrial six-joint robot, 7- safety barrier, 11- pedestal, 12- pallet, 21- carriage, 22- track, 23- shaft, 24- gear,
25- chain, 26- conveying limit plate, 31- advance frame, 32- propulsion cylinder, 33- propulsion wedge block, 41- reshaping frame, 42- groove,
43- shaping cylinder, 44- shaping wedge block, 45- shaping limit plate, 51- clamping plate, 52- guide holder, 53- clamping cylinder, 54- method
Orchid, 55- profiling can be changed clamping plate, 56- guiding axis, 57- fixed plate, 58-U shape frame, 71- web plate.
Specific embodiment
To make the more clear and clear technical solution of the present invention of those skilled in the art, below with reference to examples and drawings
The present invention is described in further detail, and embodiments of the present invention are not limited thereto.
As shown in Fig. 1-Figure 18, magnesium alloy automatic docking device provided in this embodiment, the branch including piling up magnesium alloy block
Support 1, the propulsive mechanism 3 being connected with 2 tail end of conveying line device, is arranged in pusher the conveying line device 2 for transmitting magnesium alloy block
The shaping line apparatus 4 of 3 one end of structure, pushes pneumatic grasping mechanism 5 to transport at the pneumatic grasping mechanism 5 that 4 top of shaping line apparatus is arranged in
Capable industrial six-joint robot 6 and safety barrier 7 around a whole set of assembly line, by by conveying line device, propulsive mechanism, whole
Shape line apparatus, pneumatic grasping mechanism and industrial six-joint robot are assembled into coherent automatic production line, save labour and big
The time is measured, labor efficiency is improved, passes through the double-deck fixing roller of setting conveying line device, propulsive mechanism and shaping line apparatus composition
The dance roller diatom of diatom and pneumatic grasping mechanism and industrial six-joint robot composition, realizes pallet, finished product and unfinished work
Mixing transport, and can be with the supreme shots of automatic flow pallet, to realize recycling for pallet.
In the present embodiment, as Figure 1-Figure 5, support frame 1 includes two pedestals 11, and pedestal 11 is equipped with a pallet
12, pallet 12 is placed on the base 11, and magnesium alloy block is piled up on pallet 12, and fork truck is by the magnesium alloy on pallet 12 and pallet 12
Block hauls together, and pallet 12 is equipped with the jack matched with fork truck front end fork, forks pallet convenient for fork truck.
In the present embodiment, as shown in Fig. 1-Fig. 4, Fig. 6 and Fig. 7, conveying line device 2 include gear 24, with 24 phase of gear
The chain 25 of cooperation and the conveying limit plate 26 that 2 one end of conveying line device is arranged in, conveying line device 2 include carriage 21,
The upper surface of carriage 21 is inclined surface, and the high other end in one end of carriage 21 is low, convenient for the transport of magnesium alloy block, carriage 21
Higher one end is connected with workshop casting machine, and the magnesium alloy ingot in casting machine is removed from the mold that be transmitted to carriage 21 higher
One end (in the present embodiment, casting machine mould provides not in the drawings), the fixed conveying limit plate in the lower one end of carriage 21
26, conveying limit plate 26 is also used for a magnesium alloy block and is temporarily fixed at certain point, convenient for turning for stopping magnesium alloy block to fall
Fortune.
In the present embodiment, as shown in Fig. 1-Fig. 4, Fig. 8 and Fig. 9, propulsive mechanism 3 be equipped with propulsion cylinder 32 and with push away
The connected propulsion wedge block 33 of the piston rod of inlet casing 32, propulsive mechanism 3 include the advance frame that 2 tail end of conveying line device is arranged in
31, the height of advance frame 31 is identical with the height of 3 tail end of propulsive mechanism, and propulsion cylinder 32 is fixed on propulsive mechanism 3, promotes gas
The piston rod of cylinder 32, which is fixed with, promotes wedge block 33, and the side of wedge block 33 is promoted to be equipped with the inclination being adapted with magnesium alloy block
Face, propulsion cylinder 32 and propulsion wedge block 33 are pushed to the magnesium alloy block on 2 tail end of conveying line device on shaping line apparatus 4.
In the present embodiment, as shown in Fig. 1-Fig. 4, Fig. 8 and Fig. 9, the bottom height and conveying limit of propulsion cylinder 32
The bottom height for the magnesium alloy block that plate 26 is fixed temporarily is kept always, and the center line and conveying limit plate 26 of propulsion cylinder 32 face
When fixed magnesium alloy block center line in the same perpendicular, in order to propulsion cylinder 32 push magnesium alloy block when
It waits, will not push away partially.
In the present embodiment, as shown in Fig. 1-Fig. 4, Figure 10 and Figure 11, one end of shaping line apparatus 4 is equipped with shaping cylinder 43
And the shaping wedge block 44 being connected with the piston rod of shaping cylinder 43, the other end of shaping line apparatus 4 are equipped with shaping limit plate
45, shaping line apparatus 4 is located at the tail end of conveying line device 2, and shaping line apparatus 4 includes reshaping frame 41, is fixed on reshaping frame 41 1
The shaping cylinder 43 at end and the shaping limit plate 45 for being fixed on 41 other end of reshaping frame, reshaping frame 41 are equipped with and 51 phase of clamping plate
The groove 42 of adaptation, for magnesium alloy block when moving on reshaping frame 41, groove is located at the lower section of magnesium alloy block, presss from both sides in clamping plate 51
When taking magnesium alloy block, the least significant end of clamping plate 51 is closed in groove in order to which the nethermost convex block of clamping plate 51 can extend into magnesium
The bottom side of gold bullion.
In the present embodiment, as shown in Fig. 1-Fig. 4, Figure 10 and Figure 11, the side of reshaping frame 41 is equipped with a shaping cylinder
Pedestal, shaping cylinder 43 are fixed on shaping cylinder pedestal, and shaping wedge block 44 is fixed on the piston rod of shaping cylinder 43, whole
Shape cylinder 43 and shaping wedge block 44 are pushed to the magnesium alloy block on shaping line apparatus 4 side of shaping limit plate 45, whole
The side of shape wedge block 44 is inclined surface, when shaping wedge block 44 pushes magnesium alloy block, the inclination of shaping wedge block 44
Face and the side of magnesium alloy block are adapted, and are not easy to overthrow during push, be pushed away partially.
In the present embodiment, as shown in Fig. 1-Fig. 4, Figure 12-Figure 17, pneumatic grasping mechanism 5 includes clamping cylinder 53, fixes
Clamping plate 51 on the piston rod of clamping cylinder 53, the profiling that 51 side of clamping plate is set can be changed clamping plate 55 and with industrial six axis
The connected flange 54 in 6 one end of robot, pneumatic grasping mechanism 5 further include being fixed on the U-frame 58 of 54 one end of flange and fixing
Fixed plate 57 in 58 side of U-frame, clamping cylinder 53 are fixed in fixed plate 57, and clamping cylinder 53 is located in U-frame 58, folder
It takes 53 both ends of cylinder to be equipped with piston rod, clamping plate 51 is respectively and fixedly provided on the piston rod at 53 both ends of clamping cylinder, two clamping plates 51
Side is equipped with guide holder 52, and one end of guide holder 52 is equipped with guiding axis 56, and the clamping cylinder 53 in pneumatic grasping mechanism provides
Power, movement is opened and closed by the mutual cooperation of clamping cylinder and guiding axis 56, guide holder 52 in clamping plate 51, in order to clamp magnesium
Alloy block.
In the present embodiment, as shown in Fig. 1-Fig. 4, Figure 12-Figure 17, the side that profiling can be changed clamping plate 55 is fixed on clamping plate 51
On, the surface that profiling can be changed the other side of clamping plate 55 is the inclined surface equipped with dentate groove, and profiling can be changed the inclination of clamping plate 55
Face adapts to the side of the magnesium alloy block of different model, and the bottom of clamping plate 51 is equipped with the convex block to infolding, when two clamping plates 51 press from both sides
Firmly when magnesium alloy block, the lowermost convex block of clamping plate 51 can hook magnesium alloy block bottom.
In the present embodiment, as shown in Fig. 1-Fig. 4, Figure 12-Figure 17, handgrip system uses pneumatic grasping mechanism, pneumatically grabs
The profiling of the clamping plate for being provided with convex block in mechanism and the inclined surface equipped with dentate groove is taken to can be changed clamping plate, wedge-shaped profiling folder
Plate changes self-view according to the different angle of alloy pig, makes fixture keep agreeing with alloy pig, meets a variety of magnesium alloys
The compatibility of ingot shape number, no replacement is required fixture when casting machine replaces production model reduce cost, also save the time of replacement fixture
In the present embodiment, as shown in Fig. 1-Fig. 4 and Figure 18, industrial six-joint robot 6 is fixed on the one of shaping line apparatus 4
The one end at end, industrial six-joint robot 6 is connected by flange 54 with pneumatic grasping mechanism 5, and industrial six-joint robot 6 is this technology
The prior art in field, the movement in proper order of a small range, industrial six-joint robot are answered in industrialized production extensively
With the industrial six-joint robot 6 that the present embodiment is selected is IRB1400 console mode industrial robot, carries 50KG, and arm opens up 3M, rotation
0 ° -300 ° of gyration, according to the weight of the space size at scene and magnesium alloy block, it also can choose the work of other model parameters
Industry six-joint robot.
In the present embodiment, as Figure 1-Figure 4, safety barrier 7 is made of the splicing of muti-piece web plate 71, the middle part of web plate 71
For the stainless (steel) wire of hollow out, safety barrier 7 can prevent other staff to be strayed into automatic stacking assembly line, in case machine run injures
To personal safety, web plate 71 can be with free splicing, to adapt to different place needs.
In the present embodiment, as shown in Fig. 1-Figure 18, a kind of magnesium alloy automatic stacking method includes the following steps：
Step 1：The side of automatic docking device is equipped with magnesium alloy ingot casting machine and lifting material receiving mechanism, the magnesium in casting machine
Alloy block is removed from the mold, go up and down and catch magnesium alloy block on material receiving mechanism (in the present embodiment, magnesium alloy ingot casting machine and
Lifting material receiving mechanism does not go out not in the drawings), it is subsequently reduced to 2 top of conveying line device, it is traditional thread binding that magnesium alloy block is delivered to conveying
Set 2 one end；
Step 2：Conveying line device 2 is equipped with the transmission line that gear 24 and chain 25 form, and magnesium alloy block drops to chain
On 25, starter receiver 24, the rotation of gear 24 drives chain 25 to run, and magnesium alloy block runs to conveying line device 2 with chain 25
26 side of conveying limit plate of tail end；
Step 3：The tail end of conveying line device 2 is fixed with propulsive mechanism 3, and propulsive mechanism 3 is equipped with propulsion cylinder 32, promotes
In the side of conveying limit plate 26, magnesium alloy block is transmitted to conveying limit plate 26 for the position of one end that the piston rod of mechanism 3 stretches out
Side when, the piston rod of propulsive mechanism 3 pushes magnesium alloy block, is pushed away conveying line device 2, it is traditional thread binding to be then pushed to shaping
Set 4 one end；
Step 4：The both ends of shaping line apparatus 4 are respectively equipped with shaping cylinder 43 and shaping limit plate 45, and 43, shaping cylinder
Magnesium alloy block on shaping line apparatus 4 is pushed to the side of shaping limit plate 45；
Step 5：The tail end of shaping line apparatus 4 is equipped with industrial six-joint robot 6, the rotating arm of industrial six-joint robot 6
End is fixed with pneumatic grasping mechanism 5, after the side of shaping limit plate 45 is accumulated to a certain number of magnesium alloy blocks, industrial six axis
Robot 6 drives rotating arm, and pneumatic grasping mechanism 5 is hovered on magnesium alloy block, the clamping gas on pneumatic grasping mechanism 5 is started
Cylinder 53 makes the piston rod at 53 both ends of clamping cylinder while stretching out, to make fixed two 51 opposite directions of clamping plate on the piston rod
It is flared out, after the distance of two clamping plates 51 reaches preset width, stops clamping cylinder 53；
Step 6：After the side magnesium alloy block of shaping limit plate 45 reaches predetermined number, industrial six-joint robot 6 is by gas
Dynamic grasping mechanism 5 sinks down into the top of magnesium alloy block, so that the most lower edge of two clamping plates 51 is lower than the most lower edge of magnesium alloy block, then
Be again started up clamping cylinder 53, shrink back piston rod in clamping cylinder 53, at the same drive two clamping plates 51 to contract so as to
Magnesium alloy block is clamped, after two clamping plates 51 clamp magnesium alloy block, and the profiling of two 51 insides of clamping plate can be changed clamping plate 55 and magnesium
After alloy block is bonded close and firm, stop clamping cylinder 53, then industrial six-joint robot 6 closes pneumatic grasping mechanism 5 and magnesium
Gold bullion, which rises, to be come, and the overhead of shaping line apparatus 4 is hovered over；
Step 7：After magnesium alloy block is detached from shaping line apparatus 4 by industrial six-joint robot 6, industrial six-joint robot 6 rotates
Magnesium alloy block, is hovered over the overhead of support frame 1 by certain angle, and then land pneumatic grasping mechanism 5 and magnesium alloy, closes magnesium
Gold bullion falls in support frame 1, then starts clamping cylinder 53, keeps piston rod protruding, drives clamping plate 51 to move out, makes clamping plate
51 are detached from magnesium alloy block, then stop clamping cylinder 53, and industrial six-joint robot 6 rises pneumatic grasping mechanism 5 to come, rotation one
Determine angle, pneumatic grasping mechanism 5 is hovered over to the overhead of 4 tail end of shaping line apparatus.
Step 7：After magnesium alloy block on support frame 1 reaches predetermined quantity, by fork truck by support frame 1 pallet 12 and
Magnesium alloy block is transported together.
In conclusion in the present embodiment, magnesium alloy automatic docking device provided in this embodiment and method, by will be defeated
Wire-sending device, propulsive mechanism, shaping line apparatus, pneumatic grasping mechanism and industrial six-joint robot are assembled into coherent automatic streamline
Line saves labour and plenty of time, improves labor efficiency, passes through setting conveying line device, propulsive mechanism and shaping line
The dance roller diatom of the fixed roller line of bilayer of device composition and pneumatic grasping mechanism and industrial six-joint robot composition, is realized
The mixing of pallet, finished product and unfinished work transports, and can be with the supreme shots of automatic flow pallet, to realize the circulation benefit of pallet
With.
The above, further embodiment only of the present invention, but scope of protection of the present invention is not limited thereto, and it is any
Within the scope of the present disclosure, according to the technique and scheme of the present invention and its design adds those familiar with the art
With equivalent substitution or change, protection scope of the present invention is belonged to.
Claims (10)
1. a kind of magnesium alloy automatic docking device, it is characterised in that：Including piling up the support frame (1) of magnesium alloy block, transmission magnesium closes
The conveying line device (2) of gold bullion, is arranged in the pusher propulsive mechanism (3) being connected with the conveying line device (2) tail end
The shaping line apparatus (4) of structure (3) one end, pushes institute at the pneumatic grasping mechanism (5) being arranged above the shaping line apparatus (4)
The industrial six-joint robot (6) of pneumatic grasping mechanism (5) operation and the safety barrier (7) around a whole set of assembly line are stated, it is described
Conveying line device (2) includes gear (24), the chain (25) matched with the gear (24) and is arranged in the pipeline
The conveying limit plate (26) of device (2) one end, the propulsive mechanism (3) be equipped with propulsion cylinder (32) and with the propulsion gas
The connected propulsion wedge block (33) of the piston rod of cylinder (32), one end of the shaping line apparatus (4) be equipped with shaping cylinder (43) with
And the shaping wedge block (44) being connected with the piston rod of the shaping cylinder (43), the other end of the shaping line apparatus (4) are set
Have shaping limit plate (45), the pneumatic grasping mechanism (5) includes clamping cylinder (53), is fixed on the clamping cylinder (53)
The profiling of clamping plate (51) on piston rod, setting in the clamping plate (51) side can be changed clamping plate (55) and with industrial six axis
The connected flange (54) in robot (6) one end.
2. a kind of magnesium alloy automatic docking device according to claim 1, it is characterised in that：Support frame as described above (1) includes
Two pedestals (11), the pedestal (11) are equipped with a pallet (12), magnesium alloy block are piled up on the pallet (12), and fork truck will
Magnesium alloy block on the pallet (12) and the pallet (12) hauls together.
3. a kind of magnesium alloy automatic docking device according to claim 1, it is characterised in that：The conveying line device (2)
Including carriage (21), the upper surface of the carriage (21) is inclined surface, the higher one end of the carriage (21) and workshop
Casting machine is connected, and the magnesium alloy ingot in casting machine, which is removed from the mold, is transmitted to the carriage (21) higher one end, described
The fixed conveying limit plate (26) in the lower one end of carriage (21).
4. a kind of magnesium alloy automatic docking device according to claim 1, it is characterised in that：Propulsive mechanism (3) packet
Setting is included in the advance frame (31) of the conveying line device (2) tail end, the height of the advance frame (31) and the propulsive mechanism
(3) height of tail end is identical, is fixed with the propulsion cylinder (32) on the propulsive mechanism (3), the propulsion cylinder (32)
Piston rod, which is fixed with, promotes wedge block (33), and the side for promoting wedge block (33) is equipped with the inclination being adapted with magnesium alloy block
Face, the propulsion cylinder (32) and propulsion wedge block (33) push away the magnesium alloy block on the conveying line device (2) tail end
It is sent on the shaping line apparatus (4).
5. a kind of magnesium alloy automatic docking device according to claim 1, it is characterised in that：The shaping line apparatus (4)
Tail end positioned at the conveying line device (2), the shaping line apparatus (4) include reshaping frame (41), are fixed on the reshaping frame
(41) the shaping cylinder (43) of one end and it is fixed on the shaping limit plate (45) of the reshaping frame (41) other end, it is described
Reshaping frame (41) is equipped with the groove (42) being adapted with the clamping plate (51), and the shaping wedge block (44) is fixed on described whole
On the piston rod of shape cylinder (43), the shaping cylinder (43) and the shaping wedge block (44) are the shaping line apparatus
(4) the magnesium alloy block on is pushed to the side of the shaping limit plate (45).
6. a kind of magnesium alloy automatic docking device according to claim 1, it is characterised in that：The pneumatic grasping mechanism
It (5) further include the U-frame (58) for being fixed on the flange (54) one end and the fixed plate for being fixed on the U-frame (58) side
(57), the clamping cylinder (53) is fixed on the fixed plate (57), and the clamping cylinder (53) is located at the U-frame (58)
Interior, clamping cylinder (53) both ends are equipped with piston rod, are respectively and fixedly provided with folder on the piston rod at clamping cylinder (53) both ends
Plate (51), the side of two clamping plates (51) are equipped with guide holder (52), and one end of the guide holder (52) is equipped with guiding axis (56).
7. a kind of magnesium alloy automatic docking device according to claim 1, it is characterised in that：The profiling can be changed clamping plate
(55) side is fixed on the clamping plate (51), and the surface that the profiling can be changed the other side of clamping plate (55) is equipped with zigzag
The inclined surface of groove, the inclined surface that the profiling can be changed clamping plate (55) adapt to the side of the magnesium alloy block of different model, the folder
The bottom of plate (51) is equipped with the convex block to infolding, when two pieces of clamping plates (51) clamp magnesium alloy block, the clamping plate
(51) the lowermost convex block can hook magnesium alloy block bottom.
8. a kind of magnesium alloy automatic docking device according to claim 1, it is characterised in that：The industry six-joint robot
(6) it is fixed on one end of the shaping line apparatus (4), one end of the industry six-joint robot (6) passes through the flange (54)
It is connected with the pneumatic grasping mechanism (5), the industry six-joint robot (6) is IRB1400 console mode industrial robot, carrying
50KG, arm open up 3M, rotate 0 ° -300 ° of angle.
9. a kind of magnesium alloy automatic docking device according to claim 1, it is characterised in that：The safety barrier (7) by
Muti-piece web plate (71) splicing composition, the middle part of the web plate (71) are the stainless (steel) wire of hollow out.
10. a kind of magnesium alloy automatic stacking method, it is characterised in that：Include the following steps：
Step 1：The side of automatic docking device is equipped with magnesium alloy ingot casting machine and lifting material receiving mechanism, the magnesium alloy in casting machine
Block is removed from the mold, and is gone up and down and is caught magnesium alloy block on material receiving mechanism, is subsequently reduced to above conveying line device (2), magnesium alloy
Block is delivered to one end of conveying line device (2)；
Step 2：Conveying line device (2) is equipped with the transmission line of gear (24) and chain (25) composition, and magnesium alloy block drops to chain
On item (25), starter receiver (24), gear (24) rotation drives chain (25) operation, and magnesium alloy block is run to chain (25)
Beside the conveying limit plate (26) of conveying line device (2) tail end；
Step 3：The tail end of conveying line device (2) is fixed with propulsive mechanism (3), and propulsive mechanism (3) is equipped with propulsion cylinder (32),
The position of one end that the piston rod of propulsive mechanism (3) stretches out is transmitted to conveying in the side of conveying limit plate (26), magnesium alloy block
When the side of limit plate (26), the piston rod of propulsive mechanism (3) pushes magnesium alloy block, is pushed away conveying line device (2), then
It is pushed to one end of shaping line apparatus (4)；
Step 4：The both ends of shaping line apparatus (4) are respectively equipped with shaping cylinder (43) and shaping limit plate (45), shaping cylinder
(43) the magnesium alloy block on shaping line apparatus (4) is pushed to the side of shaping limit plate (45)；
Step 5：The tail end of shaping line apparatus (4) is equipped with industrial six-joint robot (6), the rotating arm of industrial six-joint robot (6)
End be fixed with pneumatic grasping mechanism (5), after the side of shaping limit plate (45) is accumulated to a certain number of magnesium alloy blocks, work
Industry six-joint robot (6) drives rotating arm, and pneumatic grasping mechanism (5) is hovered on magnesium alloy block, pneumatic grasping mechanism is started
(5) clamping cylinder (53) on makes the piston rod at clamping cylinder (53) both ends while stretching out, to make to fix on the piston rod
Two clamping plate (51) opposite directions are flared out, and after the distance of two clamping plates (51) reaches preset width, are stopped clamping cylinder (53)；
Step 6：After the side magnesium alloy block of shaping limit plate (45) reaches predetermined number, industrial six-joint robot (6) is by gas
Dynamic grasping mechanism (5) sink down into the top of magnesium alloy block, and the most lower edge of two clamping plates (51) is made to be lower than the most lower edge of magnesium alloy block,
Then clamping cylinder (53) are again started up, shrink back piston rod in clamping cylinder (53), at the same drive two clamping plates (51) to
Contract is to clamp magnesium alloy block, after two clamping plates (51) clamp magnesium alloy block, and the profiling on the inside of two clamping plates (51)
After variable clamping plate (55) are bonded close and firm with magnesium alloy block, stop clamping cylinder (53), then industrial six-joint robot (6) will
Pneumatic grasping mechanism (5) and magnesium alloy block, which rise, to be come, and the overhead of shaping line apparatus (4) is hovered over；
Step 7：After magnesium alloy block is detached from shaping line apparatus (4) by industrial six-joint robot (6), industrial six-joint robot (6) rotation
Turn certain angle, magnesium alloy block is hovered over to the overhead of support frame (1), then land pneumatic grasping mechanism (5) and magnesium alloy,
So that magnesium alloy block is fallen in support frame (1), then start clamping cylinder (53), keep piston rod protruding, drive clamping plate (51) to
Outer movement makes clamping plate (51) to be detached from magnesium alloy block, then stops clamping cylinder (53), and industrial six-joint robot (6) will pneumatically grab
It takes mechanism (5) to rise to come, rotates by a certain angle, pneumatic grasping mechanism (5) is hovered over to the overhead of shaping line apparatus (4) tail end.
Step 7：After magnesium alloy block on support frame (1) reaches predetermined quantity, by fork truck by the pallet (12) on support frame (1) with
And magnesium alloy block is transported together.
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| CN201810885110.9A CN108820904B (en) | 2018-08-06 | 2018-08-06 | Automatic stacking device and method for magnesium alloy |
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| CN201810885110.9A CN108820904B (en) | 2018-08-06 | 2018-08-06 | Automatic stacking device and method for magnesium alloy |
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| CN111153224A (en) * | 2020-02-17 | 2020-05-15 | 潘宇力 | Automatic packing box stacking device |
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