CN114074128B - Automatic drawing equipment for metal bar - Google Patents
Automatic drawing equipment for metal bar Download PDFInfo
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- CN114074128B CN114074128B CN202010828928.4A CN202010828928A CN114074128B CN 114074128 B CN114074128 B CN 114074128B CN 202010828928 A CN202010828928 A CN 202010828928A CN 114074128 B CN114074128 B CN 114074128B
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- 239000002184 metal Substances 0.000 title claims abstract description 112
- 230000007246 mechanism Effects 0.000 claims abstract description 177
- 238000005096 rolling process Methods 0.000 claims abstract description 55
- 238000000926 separation method Methods 0.000 claims description 4
- 238000010621 bar drawing Methods 0.000 abstract description 6
- 230000033001 locomotion Effects 0.000 abstract description 4
- 238000000034 method Methods 0.000 description 17
- 230000008569 process Effects 0.000 description 16
- 239000000047 product Substances 0.000 description 15
- 230000002457 bidirectional effect Effects 0.000 description 8
- 230000009471 action Effects 0.000 description 3
- 239000000463 material Substances 0.000 description 3
- 230000001360 synchronised effect Effects 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 239000002360 explosive Substances 0.000 description 2
- 230000000977 initiatory effect Effects 0.000 description 2
- 239000013067 intermediate product Substances 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21C—MANUFACTURE OF METAL SHEETS, WIRE, RODS, TUBES OR PROFILES, OTHERWISE THAN BY ROLLING; AUXILIARY OPERATIONS USED IN CONNECTION WITH METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL
- B21C1/00—Manufacture of metal sheets, metal wire, metal rods, metal tubes by drawing
- B21C1/16—Metal drawing by machines or apparatus in which the drawing action is effected by other means than drums, e.g. by a longitudinally-moved carriage pulling or pushing the work or stock for making metal sheets, bars, or tubes
- B21C1/34—Guiding or supporting the material or mandrels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21C—MANUFACTURE OF METAL SHEETS, WIRE, RODS, TUBES OR PROFILES, OTHERWISE THAN BY ROLLING; AUXILIARY OPERATIONS USED IN CONNECTION WITH METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL
- B21C5/00—Pointing; Push-pointing
- B21C5/006—Pointing; Push-pointing of solid material, e.g. wire or profiles
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Metal Extraction Processes (AREA)
Abstract
An automatic metal bar drawing device belongs to the technical field of automatic drawing devices and comprises a robot slideway, a sharpening platform and a drawing platform which are arranged in parallel, wherein the robot slideway is arranged between the sharpening platform and the drawing platform, and a to-be-processed product placing frame is arranged at one end of the sharpening platform; two six-axis cooperative robots are arranged on a robot slideway; the tip rolling platform comprises a tip rolling machine frame, a tip rolling clamping mechanism and a tip rolling mechanism, and the tip rolling mechanisms are respectively arranged at the end parts of the tip rolling machine frame; the sharpening fixture can be arranged on the sharpening guide rail in a sliding manner, the drawing platform comprises a drawing frame, a sharpening guide rail, two drawing mechanisms and drawing fixtures, the sharpening guide rail, the drawing guide rail and the robot slideway are arranged in parallel, the drawing fixtures are arranged along the drawing guide rail and can move along the drawing guide rail, the drawing fixtures are located on the outer sides of the two drawing mechanisms, the drawing fixtures are used for feeding metal bars into the two drawing mechanisms, and the metal bars are drawn by the two drawing mechanisms in relative movement. The equipment can automatically roll the metal bar and automatically draw the metal bar.
Description
Technical Field
The invention belongs to the technical field of automatic drawing equipment, and particularly relates to automatic drawing equipment for metal bars.
Background
The existing automatic metal bar drawing equipment adopts manual work to place two ends of a metal piece to be drawn on the drawing equipment, the metal drawing process comprises two ends, one end is a metal clamping fixed end, the other end is a movable drawing end, the manual work is used for feeding and discharging the drawing equipment, the labor cost is high, the production discontinuity is easily caused, and the product quality is uneven. The existing metal drawing is generally unidirectional drawing. The metal drawing adopts unidirectional drawing, so that the space occupied in the drawing direction in the drawing process is twice as large as that in the bidirectional drawing. In addition, for the metal bar with the finished product length of more than 10m and the diameter of less than 4mm, the loading and unloading of the metal bar by adopting a single worker is very complicated, and two workers are generally required to cooperatively operate. Traditional metal bar drawing equipment assists artifical semi-automatization operation, and production efficiency is low. For the unidirectional drawing of the bar with the size, the mechanical property of the metal bar is poor, the thickness of the bar along the axial direction is uneven, and especially for cable products.
Disclosure of Invention
The invention aims at the technical problems and provides automatic metal bar drawing equipment which can automatically tip and automatically draw a metal bar.
The invention adopts the technical scheme that: the automatic drawing equipment for the metal bar comprises a to-be-processed product placing frame, a sharpening platform, a drawing platform and a robot slideway, wherein the robot slideway, the sharpening platform and the drawing platform are arranged in parallel, the robot slideway is arranged between the sharpening platform and the drawing platform, and the to-be-processed product placing frame is arranged at one end of the sharpening platform; two six-axis cooperative robots are arranged on a robot slideway; the sharpening platform comprises a sharpening machine frame, a sharpening clamping mechanism and at least one sharpening mechanism, wherein a sharpening guide rail and a robot slideway are arranged in parallel, and the at least one sharpening mechanism is respectively arranged at the end part of the sharpening machine frame; the sharpening fixture can be arranged on the sharpening guide rail in a sliding manner, the drawing platform comprises a drawing frame, two drawing mechanisms and at least one drawing fixture, the two drawing guide rails are arranged on two sides of the drawing frame, the drawing guide rails are parallel to the robot slideway, the drawing fixture is arranged along the drawing guide rails and can move along the drawing guide rails, the drawing fixture is located on the outer sides of the two drawing mechanisms, the drawing fixture is used for feeding a metal bar to be drawn into the two drawing mechanisms, the two drawing mechanisms are respectively used for clamping two ends of the metal bar, one drawing mechanism is used for fixing one end of the metal bar, and the other drawing mechanism moves along the direction of the drawing guide rail.
Further, both drawing mechanisms can move along the drawing guide rail.
Further, the drawing mechanism comprises a drawing bottom plate and a clamping jaw air cylinder, the clamping jaw air cylinder is arranged on the drawing bottom plate, two clamping jaws are respectively arranged at two output ends of the clamping jaw air cylinder, vertical clamping grooves are formed in the inner sides of the clamping jaws, and the clamping fixtures are nested in the clamping grooves of the clamping jaws.
Further, one clamp of the two drawing mechanisms is a split clamp, the other clamp is an integrated clamp, two ends of the split clamp are respectively nested in clamping grooves of the two clamping jaws, the opposite inner sides of the split clamp are provided with arc grooves, two ends of the integrated clamp are respectively nested in the two clamping grooves, and a through hole is formed in the integrated clamp.
Further, the number of the integrated clamp and the number of the split type clamps are multiple, and the number of the integrated clamp and the number of the split type clamps are the same.
Further, the number of the drawing clamping mechanisms is two, the two drawing clamping mechanisms are respectively located at the outer sides of the two drawing mechanisms, and the two drawing mechanisms are respectively used for conveying the metal bars to be drawn into the two drawing mechanisms from two sides.
Further, draw fixture and include second centre gripping slip bottom plate, force accuse mechanism and clamping part, the lower terminal surface of second centre gripping slip bottom plate passes through the slider nestification on drawing the guide rail, and the force accuse slide rail sets up the up end at second centre gripping slip bottom plate, and the bottom of clamping part passes through the slider nestification on the force accuse slide rail, and force accuse mechanism sets up between clamping part and second centre gripping slip bottom plate.
Further, the number of the rolling tip mechanisms is two, and the two rolling tip mechanisms are respectively arranged at two ends of the rolling tip machine frame.
Further, the force control mechanism comprises a force control part which is arranged in a bidirectional separation mode, the force control part comprises a pressure sensor and a pressure spring, the pressure sensor is fixed on the clamping part through a connecting plate, one end of the pressure spring is fixed on the second clamping sliding bottom plate, the other end of the pressure spring is opposite to the pressure sensor, the second cylinder is fixed on the second clamping sliding bottom plate, the ejector rod is connected with a cylinder rod of the second cylinder, and the ejector rod is arranged towards the pressure sensor.
Further, the initial length of the metal bar is 1-2 m, the diameter of the metal bar is 15-10 mm, the length of a finished product of the metal bar after drawing is 10-20 m, and the diameter of the metal bar is 5-2 mm.
Furthermore, the automatic metal bar drawing equipment is particularly suitable for rope type initiating explosive devices.
The invention has the following beneficial effects: (1) The automatic drawing of the metal bar can be realized, the pulling force in the drawing process can be controlled, and the drawing process can be monitored in real time; (2) Two rolling sharpeners are arranged at two ends of the rolling sharpeners frame, and the functions and positions of the two drawing mechanisms can be interchanged, so that the metal bar does not need to be turned in the process of rolling sharpeners, and the drawing can be continuously carried out for a plurality of times; (3) In the process of rolling the tip, the transverse moving mechanism drives the tip rolling machine to move along the direction perpendicular to the forming guide rail, so that the roller way to be rolled in the tip rolling machine is ensured to coincide with the center of the tip rolling clamping mechanism, and the tip rolling quality is ensured; (4) The drawing driving mechanism drives the two drawing mechanisms to slide along the drawing guide rail, so that the metal bar can be drawn in two directions, and the stress state in the traditional unidirectional drawing is improved.
Drawings
Fig. 1 is a schematic top view of the overall structure of the device of the present invention.
Fig. 2 is a schematic view of the robot slide and its upper parts in the device of the present invention.
Fig. 3 is a schematic view of a part of the structure of the sharpening stage in the device of the invention.
Fig. 4 is a schematic view of a part of the mechanism of the drawing stage and the upper member in the apparatus of the present invention.
Fig. 5 is a schematic structural diagram of the force control portion in fig. 4.
Fig. 6 is a schematic diagram of a part of the drawing stage and the upper member of the apparatus according to the present invention.
In the figure: 1. placing a to-be-processed product on a rack; 2. a drawing platform; 2-1, drawing a guide rail; 2-2, drawing a frame; 3. six-axis cooperative robot; 4. a sharpening platform; 4-1, a sharp rolling mill frame; 4-2, sharpening the guide rail; 5. a robot slide; 5-1, a first motor; 5-2, a first rack; 5-3, sliding the base; 5-4, a robot guide rail; 6. a drawing driving mechanism; 7. a rolling tip mechanism; 7-1, a traversing mechanism; 7-2, a sharp rolling mill; 8. a sharpening clamping mechanism; 8-1, a first sliding clamping bottom plate; 8-2, a second motor; 8-3, a bidirectional screw rod; 8-4, connecting seats; 8-5, clamping blocks; 8-6, a support; 9. a drawing mechanism 9;9-1, clamping jaw air cylinders; 9-2, clamping jaws; 9-3, an integrated clamp; 9-4, drawing the bottom plate; 9-5, a split clamp; 10. a drawing clamping mechanism; 10-1, a second sliding clamping bottom plate; 10-2, clamping part; 10-3, a force control mechanism; 1001. a pressure spring; 1002. a pressure sensor; 1003 second cylinder; 1004. a force control slide rail; 11. and a jacking mechanism.
Detailed Description
As shown in fig. 1 to 6, the automatic drawing equipment for the metal bar comprises a to-be-processed product placing frame 1, a sharpening platform 4, a drawing platform 2 and a robot slideway 5, wherein the robot slideway 5, the sharpening platform 4 and the drawing platform 2 are arranged in parallel, the robot slideway 5 is arranged between the sharpening platform 4 and the drawing platform 2, and the to-be-processed product placing frame 1 is arranged at one end of the sharpening platform 4; two six-axis cooperative robots 3 are arranged on a robot slideway 5; the sharpening platform 4 comprises a sharpening machine frame 4-1, a sharpening clamping mechanism 8 and at least one sharpening mechanism 7, wherein a sharpening guide rail 4-2 is arranged in parallel with the robot slideway 5, and the sharpening clamping mechanism 8 can be arranged on the sharpening guide rail 4-2 in a sliding manner. The sharpening clamping mechanism 8 is used for clamping a workpiece to be sharpened and then sending the workpiece to the sharpening mechanism 7 for sharpening.
The six-axis cooperative robot 3 is used for carrying materials among the to-be-processed article placing frame 1, the sharpening platform 4 and the drawing platform 2, the length of a metal bar is small at first, when the diameter is relatively thick, the single six-axis cooperative robot 3 can finish grabbing the materials, after drawing for several times, the length of the metal bar is gradually increased, especially the length is more than 5 meters, and two six-axis cooperative robots 3 are arranged to carry the metal bar in a cooperative manner in order to reduce the overhang of the metal bar in the carrying process and improve the carrying efficiency.
As shown in fig. 2, the six-axis cooperative robot 3 is arranged on the robot slideway 5 through a gear rack mechanism, the robot slideway 5 comprises a robot frame, a robot guide rail 5-4 and a first rack 5-2, the robot guide rail 5-4 and the first rack 5-2 are mutually arranged on the robot frame in parallel, the lower end face of the sliding base 5-3 is nested on the robot guide rail 5-4 through a sliding block, the first motor 5-1 is vertically downwards arranged on the sliding base 5-3, the output end of the first motor 5-1 penetrates through the sliding base 5-3, a gear is arranged at the output end of the first motor 5-1, the first motor 5-1 drives a gear to rotate, the gear is meshed with the first rack 5-2, so that the rotation of the first motor 5-1 is converted into linear motion, the lower end of the sliding base 5-3 is fixedly connected with the sliding block nested on the robot guide rail 5-4, and the gear is meshed with the first rack 5-2 to drive the sliding base 5-3 and the upper part thereof to move along the robot guide rail 5-4.
The rack and pinion mechanism is adopted to drive the clamping device to slide along the robot guide rail 5-4, so that the space occupied by the seventh shaft driving of the robot can be reduced, and preferably, the sharpening clamping mechanism 8 slides along the sharpening guide rail 4-2 through the rack and pinion mechanism.
As shown in fig. 3, the tip rolling mechanism 7 comprises a supporting transverse frame, the transverse moving mechanism 7-1 is arranged on the upper end face of the supporting transverse frame, and the tip rolling machine 7-2 is arranged at the output end of the transverse moving mechanism 7-1. The rolling mill 7-2 is provided with a plurality of rolling mill tables, bars with various specifications can be rolled, the traversing mechanism 7-1 drives the rolling mill 7-2 to move along the direction perpendicular to the rolling mill guide rail 4-2, and the center of each rolling mill table in the rolling mill 7-2 is adjusted to be collinear with the rolling mill clamping mechanism 10, so that the same feeding position of each rolling mill clamping mechanism 10 is ensured.
As shown in fig. 3, the sharpening clamping mechanism 8 comprises a first sliding clamping bottom plate 8-1, and the first sliding clamping bottom plate 8-1 and upper parts thereof are driven by a rack-and-pinion mechanism to slide along the drawing guide rail 2-1. The lower ends of the two supports 8-6 are fixedly arranged on the upper end face of the first sliding clamping bottom plate 8-1, two ends of the two-way screw rod 8-3 are arranged in the two supports 8-6 through bearings, the output end of the second motor 8-2 drives one end of the two-way screw rod 8-3 to rotate, the second motor 8-2 drives the two-way screw rod 8-3 to rotate, the two connecting seats 8-4 are respectively arranged on two sections with different rotation directions of the two-way screw rod 8-3 through screw nuts, the two clamping blocks 8-5 are respectively fixed on the upper parts of the inner sides of the two connecting seats 8-4, grooves are formed in the opposite end faces of the two clamping blocks 8-5, and the second motor 8-2 drives the two clamping blocks 8-5 to be close to or far away from each other. With the increase of the drawing times, the diameter of the metal bar is gradually reduced, and the second motor 8-2 adjusts the distance between the two clamping blocks 8-5 to adapt to clamping of the metal bars with different diameters.
Along with the increase of the drawing times, the length of the metal bar is increased, the overhang of the workpiece is increased, a jacking mechanism 11 is arranged between the two side sharpening guide rails 4-2, the jacking mechanism 11 comprises a plurality of mutually independent jacking modules which are arranged at intervals, and the jacking modules are arranged in parallel along the direction of the robot slideway 5. The jacking modules move independently to support the metal soft upper thereon. The jacking module comprises a straight cylinder and a jacking plate, wherein the straight cylinder is fixed on the stand 4-1 of the rolling mill 7-2, the jacking plate is arranged at the output end of the straight cylinder, and the two sides of the jacking plate are provided with upwards protruding folded edges, so that the swing of the metal bar is reduced.
The six-axis cooperative robot 3 conveys the metal bar to the sharpening platform 4, the sharpening clamping mechanism 8 conveys one end of a workpiece to be machined into a roller way of the sharpening machine 7-2, and after sharpening is finished, the sharpening clamping mechanism 8 takes the workpiece to be machined out of the sharpening machine 7-2 and waits for the six-axis cooperative robot 3 to grasp.
As shown in fig. 4, the drawing bench 2 includes a drawing frame 2-2, two drawing mechanisms 9 and at least one drawing clamping mechanism 10, the drawing guide rail 2-1 is disposed at two sides of the drawing frame 2-2, the drawing guide rail 2-1 is disposed parallel to the robot slideway 5, the drawing clamping mechanism 10 is disposed along the drawing guide rail 2-1 and can move along the drawing guide rail, preferably, the drawing clamping mechanism 10 slides along the drawing guide rail 2-1 through a rack-and-pinion mechanism, the drawing clamping mechanism 10 is located at outer sides of the two drawing mechanisms 9, the drawing clamping mechanism 10 is used for feeding a metal bar to be drawn into the two drawing mechanisms 9, the two drawing mechanisms 9 are respectively used for clamping two ends of the metal bar, one end of the metal bar is fixed by one drawing mechanism 9, and the other drawing mechanism 9 moves along the direction of the drawing guide rail 2-1.
The drawing mechanism 9 comprises a drawing bottom plate 9-4 and a clamping jaw air cylinder 9-1, the lower end face of the drawing bottom plate 9-4 is nested on the drawing guide rail 2-1 through a sliding block, the drawing mechanism further comprises two drawing driving mechanisms 6, the two drawing driving mechanisms 6 are respectively used for driving the two drawing mechanisms 9 to slide along the direction of the drawing guide rail 2-1, the drawing driving mechanisms 6 comprise a rotating motor and a synchronous belt transmission mechanism, one side of the drawing bottom plate 9-4 is fixedly connected with the synchronous belt, and the rotating motor drives the drawing bottom plate 9-4 to slide along the drawing guide rail 2-1 through the synchronous belt transmission mechanism. Both drawing mechanisms 9 can move along the drawing guide rail 2-1, and can move along the drawing guide rail, so that bidirectional drawing can be realized in a single drawing process. The clamping jaw air cylinders 9-1 are arranged on the drawing bottom plate 9-4, the two clamping jaws 9-2 are respectively arranged at two output ends of the clamping jaw air cylinders 9-1, vertical clamping grooves are formed in the inner sides of the clamping jaws 9-2, and the clamp is nested in the clamping grooves of the clamping jaws 9-2. The clamping device is nested in the clamping jaw 9-2 through the clamping groove, so that the six-axis cooperative robot 3 can conveniently replace the die of the drawing mechanism 9. On the other hand, the six-axis cooperative robot 3 can realize that the jigs in the two drawing mechanisms 9 can be interchanged. For the stability of the clamping jaw movement, a chute perpendicular to the drawing direction is formed in the upper end face of the drawing bottom plate 9-4, the lower end face of the clamping jaw 9-2 is placed in the chute, and the clamping jaw cylinder 9-1 drives the clamping jaw 9-2 to slide relatively in the chute.
One clamp of the two drawing mechanisms 9 is a split clamp 9-5, the other clamp is an integrated clamp 9-3, two ends of the split clamp 9-5 are respectively nested in clamping grooves of the two clamping jaws 9-2, arc grooves are formed in the inner sides of the split clamp 9-5, two ends of the integrated clamp 9-3 are respectively nested in the two clamping grooves, and through holes are formed in the integrated clamp 9-3.
The clamping jaw cylinder 9-1 drives the clamping jaw 9-2 to be close to each other, namely drives the two split clamps 9-5 to be close to each other, the side, close to the tip rolling section, of the metal bar to be drawn, of the clamping metal bar clamped by the drawing clamping mechanism 8 sequentially passes through the split clamps 9-5 through the integrated clamp 9-3, after one end of the metal bar is subjected to the action of the tip rolling machine, the length is lengthened, the diameter is reduced, the tip rolling section of the metal bar is clamped by the drawing mechanism 9 where the split clamp 9-5 is located, the diameter of the non-tip rolling section of the metal bar is larger, the metal bar cannot pass through the integrated clamp 9-3, the clamping action is achieved on the metal bar through the integrated clamp 9-3, the through hole in the integrated clamp 9-3 is a round hole, and the clamping mode does not limit the moving freedom degree of the metal bar along the axial direction of the through hole and the rotating freedom degree around the axial direction of the through hole, so that the metal bar can rotate around the axis to relieve the stress state in the drawing process.
As shown in fig. 4, the device further comprises a plurality of integrated clamps 9-3 and split clamps 9-5, wherein the apertures of the through holes in the integrated clamps 9-3 are arranged in a step manner, the apertures of the circular arc grooves of the split clamps 9-5 are arranged in a step manner, and the aperture of the matched split clamps 9-3 is larger than that of the circular arc grooves of the integrated clamps 9-3. A plurality of integrated clamps 9-3 and split clamps 9-5 are arranged, and the six-axis cooperative robot 3 is used for replacing clamps with different apertures for the drawing mechanism 9, so that the metal bar can be continuously drawn for a plurality of times. In order to reduce the movement stroke of the six-axis cooperative robot 3, the clamp is fixed on the drawing bottom plate 9-4, so that the six-axis cooperative robot 3 can conveniently grasp.
The number of the drawing clamping mechanisms 10 is two, the two drawing clamping mechanisms 10 are respectively located on the outer sides of the two drawing mechanisms 9, namely, the two drawing mechanisms 9 are located between the two drawing clamping mechanisms, and the two drawing mechanisms 9 are respectively used for conveying metal bars to be drawn into the two drawing mechanisms 9 from two sides. The clamps in the drawing mechanism 9 are embedded through vertical clamping grooves, and the six-axis cooperative robot 3 can replace the clamps in the drawing mechanism 9. The two ends of the metal bar are alternately sharpened, the integral clamp in the drawing mechanism 9 is replaced by a split clamp suitable for the aperture, the split clamp in the drawing mechanism 9 is replaced by an integral clamp suitable for the aperture, the drawing clamping mechanism 10 at the other end sequentially passes through the split clamp 9-5 from one side of the metal bar to be drawn, which is close to the sharpening section, through the integral clamp 9-3, so that the two ends of the metal bar can be alternately drawn.
In order to avoid the turning of the metal bar in the process of sharpening, the number of the sharpening mechanisms 7 is two, and the two sharpening mechanisms 7 are respectively arranged at two ends of the sharpening frame 4-1; the two rolling tip mechanisms 7 are arranged to respectively roll the two ends of the metal bar, so that the problem that the metal bar turns in the rolling tip process can be avoided.
The drawing clamping mechanism 10 comprises a second sliding clamping bottom plate 10-1, a force control mechanism 10-3 and a clamping part 10-2, preferably, the structure of the clamping part 10-2 is the same as that of the sharpening clamping mechanism 8, the lower end face of the second clamping sliding bottom plate 10-1 is nested on the drawing guide rail 2-1 through a sliding block, a force control sliding rail 1004 is arranged on the upper end face of the second clamping sliding bottom plate 10-1, the bottom of the clamping part 10-2 is nested on the force control sliding rail 1004 through a sliding block, and the force control mechanism 10-3 is arranged between the clamping part 10-2 and the second clamping sliding bottom plate 10-1.
The force control mechanism 10-3 comprises a force control part which is arranged in a bidirectional separation way, the force control part comprises a pressure sensor 1002 and a pressure spring 1001, the pressure sensor 1002 is fixed on the second clamping mechanism through a connecting plate, one end of the pressure spring 1001 is fixed on the clamping sliding bottom plate, the other end of the pressure spring 1001 is opposite to the pressure sensor 1002, a second air cylinder 1003 is fixed on the clamping sliding bottom plate, a push rod is connected with a cylinder rod of the second air cylinder 1003, and the push rod is arranged towards the pressure sensor 1002. The second cylinder 1003 drives the ejector rod to extend, one end of the ejector rod is propped against the connecting plate, and the pressure spring 1001 is controlled not to be contacted with the pressure sensor 1002, so that the force control part does not play a role. The force control part is arranged in a bidirectional separation mode, can detect the bidirectional acting force along the straight line where the drawing is located, and can detect the drawing force in the bidirectional drawing process.
In an initial state, two drawing mechanisms 9 are close to each other, clamps in the two drawing mechanisms 9 are integrated clamps 9-3, clamps in the other drawing mechanism 9 are split clamps 9-5, the six-axis cooperative robot 3 conveys metal bars to a drawing clamping mechanism 10 close to the drawing mechanism 9 where the integrated clamps 9-3 are located, the drawing clamping mechanism 10 sends a rolling tip of a to-be-machined piece into the drawing mechanism 9 through the integrated clamps 9-3 and the split clamps 9-5 in sequence, a clamping jaw cylinder 9-1 drives the split clamps 9-5 to be close to each other to clamp the rolling tip of the metal bars, the two drawing mechanisms 9 move relatively to stretch the machined piece, and preferably, the drawing mechanism 9 where the integrated clamps 9-3 are located is the drawing mechanism 9 along the other drawing mechanism 9 of the drawing guide rail 2-1 moving principle in a single drawing process. During the drawing process, the drawing clamping mechanism 10 for clamping the metal bar clamps and monitors the pulling force in the drawing process, and when the pulling force exceeds a preset value, the drawing clamping mechanism 10 is temporarily loosened, and then clamping is continued.
Along with the increase of the drawing times, the length of the metal bar is increased, the overhang of the workpiece is increased, a jacking mechanism 11 is arranged between the drawing guide rails 2-1 on two sides, the jacking mechanism 11 comprises a plurality of mutually independent jacking modules which are arranged at intervals, and the jacking modules are arranged in parallel along the direction of the robot slideway 5. The jacking modules move independently to support the metal soft upper thereon. The jacking module comprises a straight cylinder and a jacking plate, wherein the straight cylinder is fixed on the drawing frame 2-2, the jacking plate is arranged at the output end of the straight cylinder, and the two sides of the jacking plate are provided with upwards protruding folded edges, so that the swing of the metal bar is reduced.
The action process of the device is as follows: A. the metal bars are orderly arranged in the rack 1 of the to-be-processed product; B. a single six-axis cooperative robot 3 grabs the metal bar and places the metal bar in a sharpening clamping mechanism 8, and the sharpening clamping mechanism 8 sends one end of the metal bar into a sharpening machine 7-2; C. after the sharpening is finished, the sharpening clamping mechanism 8 drives the metal bar to withdraw from the sharpening machine 7-2, and the six-axis cooperative robot 3 grabs one end of the metal bar from the sharpening clamping mechanism 8; D. in an initial state, the two drawing mechanisms 9 are mutually close, the six-axis cooperative robot 3 places the metal bar into the drawing clamping mechanism 10, the drawing clamping mechanism 10 sends the metal bar from the drawing mechanism 9 where the integrated clamp 9-3 is positioned into the drawing mechanism 9 where the split clamp 9-5 is positioned, and the drawing mechanism 9 clamps the metal bar rolling tip; E. the drawing mechanism 9 for clamping the rolling tip is fixed, and the drawing mechanism 9 on the other side moves relatively; F. after the single drawing is completed, the two drawing mechanisms 9 are close to each other, the rolling tips are loosened by the drawing mechanisms 9, and the metal bar is taken out from the opposite feeding direction by the rolling tip clamping mechanism 8; G. the six-axis cooperative robot 3 takes down the metal bar from the force control clamping mechanism to roll the other end of the metal bar; G. after the metal bar is tipped, the metal bar is placed into another drawing clamping mechanism 10, the clamps in the two drawing mechanisms 9 are exchanged, the drawing clamping mechanism 10 is sent into the drawing mechanism 9 where the split clamp 9-5 is located from the drawing mechanism 9 where the integrated clamp 9-3 is located, and the drawing mechanism 9 clamps the tipped end of the metal bar; and (5) repeating the steps E-G in sequence until the sharpening of the single metal bar is completed.
As the number of drawing times of a single metal bar increases, the length of the metal bar increases, and the two six-axis cooperative robots 3 cooperate to carry materials between the drawing clamping mechanism 10 and the sharpening clamping mechanism 8.
The metal bar drawing equipment is suitable for drawing small metal bars, for example, the initial length of the metal bar is 1-2 m, the diameter of the metal bar is 15-10 mm, the length of a finished product of the metal bar after drawing is 10-30 m, the diameter of the finished product of the metal bar is 5-2 mm, and the diameter of the finished product of the metal bar is preferably the diameter of the finished product of the metal bar. The length of an intermediate product of the traditional cable initiating explosive device is 20m, and the maximum transverse width of the bar is smaller than 4mm, so that the intermediate product is particularly suitable for cable products.
While the invention has been described above with reference to the accompanying drawings, it will be apparent that the invention is not limited to the above embodiments, but is capable of being modified or applied directly to other applications without modification, as long as various insubstantial modifications of the method concept and technical solution of the invention are adopted, all within the scope of the invention.
Claims (10)
1. The automatic drawing equipment for the metal bar is characterized by comprising a to-be-processed article placing frame (1), a sharpening platform (4), a drawing platform (2) and a robot slideway (5), wherein the robot slideway (5), the sharpening platform (4) and the drawing platform (2) are arranged in parallel, the robot slideway (5) is arranged between the sharpening platform (4) and the drawing platform (2), and the to-be-processed article placing frame (1) is arranged at one end of the sharpening platform (4); two six-axis cooperative robots (3) are arranged on a robot slideway (5); the tip rolling platform (4) comprises a tip rolling machine frame (4-1), a tip rolling clamping mechanism (8) and at least one tip rolling mechanism (7), the tip rolling guide rail (4-2) is arranged in parallel with the robot slideway (5), and the at least one tip rolling mechanism (7) is arranged at the end part of the tip rolling machine frame (4-1); the rolling tip clamping mechanism (8) can be arranged on the rolling tip guide rail (4-2) in a sliding mode, the drawing platform (2) comprises a drawing frame (2-2), two drawing mechanisms (9) and at least one drawing clamping mechanism (10), the two drawing guide rails (2-1) are arranged on two sides of the drawing frame (2-2), the drawing guide rails (2-1) and the robot slide rail (5) are arranged in parallel, the drawing clamping mechanism (10) is arranged along the drawing guide rails (2-1) and can move along the drawing guide rails, the drawing clamping mechanism (10) is located on the outer sides of the two drawing mechanisms, the drawing clamping mechanism (10) is used for conveying a metal bar to be drawn into the two drawing mechanisms (9), the two drawing mechanisms (9) are respectively used for clamping two ends of the metal bar, one drawing mechanism (9) is used for fixing one end of the metal bar, and the other drawing mechanism (9) moves along the direction of the drawing guide rails (2-1).
2. Automatic drawing device for metal bars according to claim 1, characterized in that both drawing mechanisms (9) are movable along a drawing guide (2-1).
3. Automatic drawing equipment for metal bars according to claim 1, characterized in that the drawing mechanism (9) comprises a drawing bottom plate (9-4) and a clamping jaw cylinder (9-1), the clamping jaw cylinder (9-1) is arranged on the drawing bottom plate (9-4), two clamping jaws (9-2) are respectively arranged at two output ends of the clamping jaw cylinder (9-1), and vertical clamping grooves are formed in the opposite inner sides of the clamping jaws (9-2).
4. An automatic drawing device for metal bars according to claim 3, characterized in that one clamp of the two drawing mechanisms (9) is a split clamp (9-5), the other clamp is an integrated clamp (9-3), two ends of the split clamp (9-5) are respectively nested in clamping grooves of the two clamping jaws (9-2), circular arc grooves are formed in the inner opposite sides of the split clamp (9-5), two ends of the integrated clamp (9-3) are respectively nested in the two clamping grooves, and a through hole is formed in the integrated clamp (9-3).
5. Automatic drawing equipment for metal bars according to claim 4, characterized in that the number of the integrated clamps (9-3) and the split clamps (9-5) is set to be plural, the number of the integrated clamps (9-3) and the split clamps (9-5) being the same.
6. Automatic drawing device for metal bars according to any of claims 2-5, characterized in that the number of drawing gripping mechanisms (10) is two, two of which drawing gripping mechanisms (10) are located outside the two drawing mechanisms, respectively, and two of which drawing mechanisms (10) are used for feeding the metal bars to be drawn into the two drawing mechanisms (9) from both sides, respectively.
7. The automatic drawing apparatus for metal bar according to claim 6, wherein the drawing clamping mechanism (10) comprises a second clamping sliding bottom plate (10-1), a force control mechanism (10-3) and a clamping part (10-2), the lower end face of the second clamping sliding bottom plate (10-1) is nested on the drawing guide rail (2-1) through a sliding block, the force control sliding rail (1004) is arranged on the upper end face of the second clamping sliding bottom plate (10-1), the bottom of the clamping part (10-2) is nested on the force control sliding rail (1004) through a sliding block, and the force control mechanism (10-3) is arranged between the clamping part (10-2) and the second clamping sliding bottom plate (10-1).
8. Automatic drawing equipment for metal bars according to claim 6, characterized in that the number of said rolling means (7) is two, two of said rolling means (7) being respectively arranged at the two ends of the rolling stand (4-1).
9. The automatic drawing apparatus for metal bar according to claim 7, wherein the force control mechanism (10-3) includes a force control portion provided in a bi-directional separation, the force control portion includes a pressure sensor (1002) and a pressure spring (1001), the pressure sensor (1002) is fixed on the holding portion (10-2) through a connection plate, one end of the pressure spring (1001) is fixed on the second holding sliding base plate (10-1), the other end of the pressure spring (1001) is opposite to the pressure sensor (1002), the second cylinder (1003) is fixed on the second holding sliding base plate (10-1), a jack is connected to a cylinder rod of the second cylinder (1003), and the jack is provided toward the pressure sensor (1002).
10. An automatic drawing apparatus for a metal bar according to claim 1, wherein the metal bar has an initial length of 1 to 2m and a diameter of 15 to 10mm, and the metal bar has a finished length of 10 to 20m and a diameter of 5 to 2mm after drawing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010828928.4A CN114074128B (en) | 2020-08-18 | 2020-08-18 | Automatic drawing equipment for metal bar |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010828928.4A CN114074128B (en) | 2020-08-18 | 2020-08-18 | Automatic drawing equipment for metal bar |
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| Publication Number | Publication Date |
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| CN114074128A CN114074128A (en) | 2022-02-22 |
| CN114074128B true CN114074128B (en) | 2024-02-20 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010828928.4A Active CN114074128B (en) | 2020-08-18 | 2020-08-18 | Automatic drawing equipment for metal bar |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114798776B (en) * | 2022-04-29 | 2022-11-22 | 江苏金日管业有限公司 | Tube drawing machine for stainless steel tube drawing processing |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002301513A (en) * | 2001-04-02 | 2002-10-15 | Chiyoshi Fujioka | Draw bench |
| JP2004034290A (en) * | 2003-08-11 | 2004-02-05 | Fanuc Ltd | Work changing device and work handling system |
| CN202114083U (en) * | 2011-06-22 | 2012-01-18 | 无锡市林联机械有限公司 | Plain vice structure of automatic drawing machine |
| CN103611744A (en) * | 2013-11-25 | 2014-03-05 | 邢台新光线材精制有限责任公司 | Continuous drawing method for horizontal wire drawing machine |
| CN107745014A (en) * | 2017-12-15 | 2018-03-02 | 江映月 | Copper cash drawing pointing machine |
| CN109500116A (en) * | 2018-12-28 | 2019-03-22 | 重庆龙煜精密铜管有限公司 | Reducer pipe stretching-machine |
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2020
- 2020-08-18 CN CN202010828928.4A patent/CN114074128B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002301513A (en) * | 2001-04-02 | 2002-10-15 | Chiyoshi Fujioka | Draw bench |
| JP2004034290A (en) * | 2003-08-11 | 2004-02-05 | Fanuc Ltd | Work changing device and work handling system |
| CN202114083U (en) * | 2011-06-22 | 2012-01-18 | 无锡市林联机械有限公司 | Plain vice structure of automatic drawing machine |
| CN103611744A (en) * | 2013-11-25 | 2014-03-05 | 邢台新光线材精制有限责任公司 | Continuous drawing method for horizontal wire drawing machine |
| CN107745014A (en) * | 2017-12-15 | 2018-03-02 | 江映月 | Copper cash drawing pointing machine |
| CN109500116A (en) * | 2018-12-28 | 2019-03-22 | 重庆龙煜精密铜管有限公司 | Reducer pipe stretching-machine |
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| Publication number | Publication date |
|---|---|
| CN114074128A (en) | 2022-02-22 |
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