CN114516534A - Automatic charcoal piece system of packing of robot - Google Patents
Automatic charcoal piece system of packing of robot Download PDFInfo
- Publication number
- CN114516534A CN114516534A CN202210418981.6A CN202210418981A CN114516534A CN 114516534 A CN114516534 A CN 114516534A CN 202210418981 A CN202210418981 A CN 202210418981A CN 114516534 A CN114516534 A CN 114516534A
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- plate
- bin
- cylinder
- bottom plate
- sliding
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- 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
- B65G47/88—Separating or stopping elements, e.g. fingers
- B65G47/8807—Separating or stopping elements, e.g. fingers with one stop
- B65G47/8815—Reciprocating stop, moving up or down in the path of the article
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- 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
- B65G69/00—Auxiliary measures taken, or devices used, in connection with loading or unloading
- B65G69/02—Filling storage spaces as completely as possible, e.g. application of vibrators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H3/00—Separating articles from piles
- B65H3/08—Separating articles from piles using pneumatic force
- B65H3/0808—Suction grippers
- B65H3/0816—Suction grippers separating from the top of pile
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Abstract
The invention relates to the technical field of anode carbon block production, in particular to a robot automatic carbon block packing system, which comprises: the conveying line is used for conveying the carbon blocks; the pneumatic pick assembly is positioned above the conveying line and used for compacting the filling materials; the hammer bowl mechanism is used for mounting the air pick assembly; the positioning mechanism comprises a lateral positioning mechanism and a blocking mechanism and is used for positioning the carbon block, and the paperboard feeding mechanism is used for conveying the paperboard; the bin mechanism is used for storing the filler; the bin blanking mechanism is used for conveying filler; the multifunctional clamp is used for obtaining the paperboard conveyed by the paperboard feeding mechanism and the filler in the bin discharging mechanism; and the robot is used for installing and controlling the multifunctional clamp. According to the invention, through the arrangement of the multifunctional clamp, the bin blanking mechanism, the pneumatic pick assembly, the bin mechanism, the hammer bowl mechanism, the paperboard feeding mechanism, the positioning mechanism, the robot and the conveying line, the automatic intelligent production of a carbon block filling process can be realized, and the production efficiency is improved.
Description
Technical Field
The invention relates to the technical field of anode carbon block production, in particular to a robot automatic carbon block filling system.
Background
In the production process of the anode carbon block, the carbon block is subjected to die-casting molding by molding equipment, then conveyed to a roasting process by a chain plate line, then grouped by grouping equipment, and hoisted to a roasting furnace by a crown block for roasting. Because residues in the bowl mouth are difficult to clean after the carbon block is roasted, a paperboard needs to be firstly plugged at the bottom of the bowl mouth, and filling and compacting of fillers need to be carried out in the carbon bowl aiming at the condition that the bowl mouth of the carbon block is deformed after the carbon block is roasted, and no related automatic equipment is available in the market. Because the field environment is severe, the noise is large, the temperature is high, and automation equipment is urgently needed to reduce the labor intensity of workers and complete high-intensity work in severe environment. The existing carbon block filling work is completely finished by people, the labor intensity of workers is high, the efficiency is low, and the workers can be damaged after long-time work.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provides a robot automatic carbon block filling system.
The technical scheme adopted by the invention for solving the technical problem is as follows:
a robotic automated carbon block packing system, comprising:
the conveying line is used for conveying the carbon blocks;
the pneumatic pick assembly is positioned above the conveying line and used for compacting the filling materials;
the hammer bowl mechanism is used for mounting the air pick assembly;
the positioning mechanism comprises a lateral positioning mechanism and a blocking mechanism and is used for positioning the carbon block;
the paperboard feeding mechanism is used for conveying the paperboard;
the bin mechanism is used for storing the filler;
the bin blanking mechanism is used for conveying filler;
the multifunctional clamp is used for obtaining the paperboard conveyed by the paperboard feeding mechanism and the filler in the bin discharging mechanism;
and the robot is used for installing and controlling the multifunctional clamp.
Further, the pneumatic pick assembly comprises a pneumatic pick bottom plate, a pneumatic pick, a cylinder four and a pneumatic pick lower disc; a transverse lower connecting block and a transverse upper connecting block are arranged on one side of the air pick base plate, and an air pick is arranged on the other side of the air pick base plate through the transverse lower connecting block; the upper end of the air pick is connected with the output end of the cylinder IV, the lower end of the air pick is provided with an air pick lower disc, the cylinder IV is installed on an air pick bottom plate, and the filler is compacted through the air pick assembly.
Further, the bowl hammering mechanism comprises a bowl hammering frame, a first sliding rail, a second sliding rail, a trapezoidal screw, a transverse moving connecting block and a screw connecting plate; the two first sliding rails are arranged on two sides of the top of the hammer bowl frame respectively, and the two sliding rails are located between the two first sliding rails and are perpendicular to the first sliding rails; the transverse moving connecting block is arranged on the second sliding rail, and two ends of the transverse moving connecting block are connected with the first sliding rail in a sliding mode through sliding blocks; the trapezoidal screw rod is arranged on the hammer bowl frame through a bearing with a seat and is perpendicular to the transverse moving connecting block; one end of the trapezoidal screw is provided with a hand wheel, the other end of the trapezoidal screw is connected with a screw connecting plate through a trapezoidal screw nut, and the screw connecting plate is connected with the transverse moving connecting block; the transverse moving lower connecting block is connected with the sliding rail II in a sliding mode, and the transverse moving upper connecting block is fixedly connected with the transverse moving connecting block. The hammer bowl mechanism is convenient to install the pneumatic pick assembly.
Further, the lateral positioning mechanism comprises a lateral positioning support plate, a lateral positioning front plate and a cylinder V; the lateral positioning support plate is positioned on one side of the conveying line; the air cylinder five is arranged on the lateral positioning support plate, and the output end of the air cylinder five is connected with the lateral positioning front plate; and a first photoelectric sensor is arranged on the lateral positioning support plate. The carbon block is positioned left and right through the lateral positioning mechanism.
Furthermore, two groups of blocking mechanisms are arranged below the conveying line, and each blocking mechanism comprises an oil cylinder, a sensor, a blocking rod and a gas-liquid pressure cylinder bottom plate; the oil cylinder is arranged on the gas-liquid pressure cylinder bottom plate through the connecting seat and is hinged with the gas-liquid pressure cylinder bottom plate, the blocking rod is arranged on the gas-liquid pressure cylinder bottom plate through the connecting seat and is hinged with the gas-liquid pressure cylinder bottom plate, the output end of the oil cylinder is hinged with the end part of the blocking rod, and the end part of the blocking rod is provided with a vertical plate; the sensor is arranged on a gas-liquid pressure cylinder bottom plate. The carbon blocks are positioned along the conveying line direction through two groups of blocking mechanisms.
Further, the paperboard feeding mechanism comprises a sliding bottom plate, a second locking handle, a feeding table, a lifting module, a material ejecting plate, a guide rail and a supporting square pipe; the lifting module is vertically arranged on the sliding bottom plate through a module connecting block and is relatively fixed with the feeding table through a second locking handle, the sliding bottom plate is provided with a fixed plate, the fixed plate is provided with a plurality of supporting square tubes, and the tops of the supporting square tubes are connected through a fixed upper cover; and the ejector plate is arranged on the lifting module in a sliding manner through the lower lifting connecting plate. Carry the cardboard upwards through cardboard feed mechanism to multi-functional anchor clamps acquire the cardboard. .
Further, the stock bin mechanism comprises a stock bin frame, a stock bin, a mixer and a mixer platform; the feed bin is arranged on the feed bin frame, and a spring seat assembly is arranged at the joint of the feed bin and the feed bin frame; a mixer platform is arranged above the stock bin, and a mixer is arranged on the mixer platform.
Further, the bin discharging mechanism comprises a material pushing assembly, a cylinder III, a slide rail IV, a movable discharging rack and a material loading barrel; a fourth sliding rail is arranged below the movable discharging rack, and the upper material receiving connecting block is connected with the fourth sliding rail in a sliding manner; the bottom of the material receiving upper connecting block is provided with a third air cylinder, and the output end of the third air cylinder is connected with the material pushing assembly; the end part of the material receiving upper connecting block is provided with a first discharging hole, the upper charging barrel is arranged on the first discharging hole, and the upper charging barrel is connected with the storage bin through a connecting hose; and the material pushing assembly is provided with a blanking hole II matched with the blanking hole I for use. Feed bin unloading mechanism and multi-functional anchor clamps cooperation are convenient for multi-functional anchor clamps feed.
Further, the multifunctional clamp comprises a third sliding rail, a first air cylinder, a second air cylinder, a vacuum chuck, a clamp bottom plate, a material receiving bin, a material baffle plate, a paper pressing plate and a weighing sensor; the top surface of the clamp bottom plate is connected with a robot through a robot flange, two sides of the bottom surface are provided with two third slide rails, the two third slide rails are provided with a guide rail connecting bottom plate in a sliding manner, one side of the guide rail connecting bottom plate is connected with the material receiving bin through a transition plate, and the other side of the guide rail connecting bottom plate is provided with a second air cylinder; the bottom of the material receiving bin is provided with a hairbrush; the bottom of the transition plate is provided with a first air cylinder, the output end of the first air cylinder is connected with a material baffle plate, and the material baffle plate is positioned below the material receiving bin; the cylinder II is connected with the paper pressing plate through a cylinder connecting plate, and the paper pressing plate is provided with a vacuum chuck. The robot uses the vacuum chuck of multi-functional anchor clamps to absorb the cardboard from the cardboard mechanism earlier, is received the stopping from feed bin unloading mechanism by the material receiving storehouse of multi-functional anchor clamps again and gets the stopping automatically, and the material receiving completion robot goes to the filler station, waits for the filler.
Furthermore, a gas-liquid supercharger is arranged on one side of the conveying line.
The invention has the technical effects that:
compared with the prior art, the robot automatic carbon block filling system can realize automatic intelligent production of a carbon block filling process, improve the production efficiency and avoid damage to the bodies of workers through the arrangement of the multifunctional clamp, the bin blanking mechanism, the pneumatic pick assembly, the bin mechanism, the hammer bowl mechanism, the paperboard feeding mechanism, the positioning mechanism, the robot and the conveying line.
Drawings
FIG. 1 is a schematic structural diagram of a robotic automated carbon block packing system of the present invention;
FIG. 2 is a top view of the robotic automated carbon block packing system of the present invention;
FIG. 3 is a schematic view of the multi-function clamp of the present invention;
FIG. 4 is a top view of the multi-function clamp of the present invention;
FIG. 5 is a left side view of the multi-function clamp of the present invention;
FIG. 6 is a schematic structural view of a blanking mechanism of the storage bin of the present invention;
FIG. 7 is a left side view of a bin blanking mechanism of the present invention;
FIG. 8 is a front view of a bin blanking mechanism of the present invention;
FIG. 9 is a schematic view of the structure of the connecting block on the receiving material of the present invention;
fig. 10 is a schematic structural view of the pick assembly of the present invention;
FIG. 11 is a schematic structural view of a bin mechanism according to the present invention;
FIG. 12 is a schematic structural view of a hammer bowl mechanism according to the present invention;
FIG. 13 is a schematic view of a structure of a paperboard feeding mechanism according to the present invention;
FIG. 14 is a top view of the paperboard feed mechanism of the present invention;
FIG. 15 is a left side view of the paperboard feed mechanism of the present invention;
FIG. 16 is a schematic view of the lateral positioning mechanism of the present invention;
FIG. 17 is a schematic view of the blocking mechanism of the present invention.
In the figure, A, a multifunctional clamp; B. a stock bin discharging mechanism; C. a pick assembly; D. a stock bin mechanism; E. a bowl hammering mechanism; F. a paperboard feeding mechanism; G. a positioning mechanism; H. a robot; I. a conveying line;
a1, a third slide rail; a2, cylinder one; a3, a guide shaft base; a4, a first guide shaft; a5 and a second air cylinder; a6, vacuum chuck; a7, a first floating joint; a8, a handle; a9, a vacuum detection switch; a10, a clamp bottom plate; a11, robot flange; a12, a material receiving bin; a13, a striker plate; a14, a first steel ruler; a15, limiting a first guide rail; a16, guide rail limit cushion blocks; a17, connecting a guide rail with a bottom plate; a18, cylinder connecting plate; a19, paper pressing plate; a20, locking a fixing block; a21, brush; a22, a weighing sensor; a23, connecting plates; a24, a transition plate; a25, a vacuum generator;
b1, receiving a material and feeding a connecting block; b2, pushing components; b3, cylinder three; b4, a slide rail IV; b5, a first locking handle; b6, a guide plate; b7, moving the discharging rack; b8, feeding the barrel; b9, a guide rail limit II; b10, a first blanking hole; b11 and a second blanking hole; b12, a second steel ruler; b13, locking the fixed block 2; b14, connecting a hose;
c1, a pneumatic pick bottom plate; c2, transversely moving the lower connecting block; c3, transversely moving an upper connecting block; c4, a pneumatic pick; c5, cylinder four; c6, connecting the lower part of the traversing air pick; c7, connecting a pneumatic pick; c8, polyurethane sleeve; c9, a pneumatic pick fixing block; c10, a first air pick polyurethane gasket; c11, a second air pick polyurethane gasket; c12, connecting the air pick shaft; c13, a lower disc of the air pick; c14, a lower disc fixing piece; c15, a lower disc connecting piece;
d1, a stock bin rack; d2, a storage bin; d3, a spring seat assembly; d4, a mixer; d5, a mixer platform; d6, stairs; d7, guardrails;
e1, hammer bowl rack; e2, a first slide rail; e3, a second slide rail; e4, trapezoidal lead screw nut; e5, handwheels; e6, a seated bearing; e7, a trapezoidal screw; e8, transversely moving connecting blocks; e9, a lead screw connecting plate; e10, limiting a guide rail by three; e11, guide rail limiting cushion blocks; e12, a third steel ruler; e13, a slide block; e14, threaded hole;
f1, a sliding bottom plate; f2, a lower supporting block; f3, sliding support plate; f4, a locking handle II; f5, a feeding table; f6, a lifting module; f7, module connecting block; f8, a lower lifting connecting plate; f9, a material ejecting plate; f10, guide rails; f11, a guide rail limit II; f12, supporting a square tube; f13, fixing plate; f14, fixing an upper cover; f15, fixing pins;
g1, a first photosensor; g2, laterally positioning the support plate; g3, laterally positioning the front plate; g4, cylinder five; g5, floating joint II; g6, vertical plate; g7, a second guide shaft; g8, oil cylinder; g9, a connecting seat; g10, a gas-liquid supercharger; g11, sensor; g12, gas-liquid pressure cylinder bottom plate; g13, blocking rod.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention are clearly and completely described below with reference to the drawings of the specification.
Example 1:
as shown in fig. 1-2, the robot automated carbon block packing system according to the present embodiment includes a multifunctional clamp a, a bin blanking mechanism B, an air pick assembly C, a bin mechanism D, a bowl hammering mechanism E, a paperboard feeding mechanism F, a positioning mechanism G, a robot H, and a conveyor line I; the conveying line I is used for conveying carbon blocks; the pneumatic pick assembly C is positioned above the conveying line I and used for compacting the filling materials; the hammer bowl mechanism E is used for mounting the air pick assembly C; the positioning mechanism G comprises a lateral positioning mechanism and a blocking mechanism and is used for positioning the carbon block; the paperboard feeding mechanism F is used for conveying the paperboard; the bin mechanism D is used for storing fillers; the bin blanking mechanism B is used for conveying filler; the multifunctional clamp A is used for obtaining a paperboard conveyed by the paperboard feeding mechanism F and a filler in the bin blanking mechanism B; the robot H is used to mount and control the multi-function clamp a.
Specifically, as shown in fig. 10, the pneumatic pick assembly C includes a pneumatic pick bottom plate C1, a transverse lower connecting block C2, a transverse upper connecting block C3, a pneumatic pick C4, a cylinder four C5, a transverse pneumatic pick lower connecting block C6, and a pneumatic pick lower disc C13; a transverse lower connecting block C2 and a transverse upper connecting block C3 are arranged on one side of the air pick bottom plate C1, and an air pick C4 is arranged on the other side of the air pick bottom plate C6 through the transverse air pick lower connecting block C6; the upper end of the air pick C4 is connected with the output end of the air cylinder four C5, the lower end of the air pick C4 is provided with an air pick lower disc C13, and the air cylinder four C5 is installed on an air pick bottom plate C1. When the pneumatic pick is in work, the air pick C4 is driven to move up and down through the four air cylinders C5, so that the lower disc C13 of the air pick is driven to move up and down, and the filling material is compacted.
As one embodiment, a second pick polyurethane gasket C11 is arranged between the lower traverse pick connecting block C6 and the pick bottom plate C1; a first air pick polyurethane gasket C10 is arranged between the air cylinder C5 and the air pick bottom plate C1; the top of the pneumatic pick C4 is provided with a pneumatic pick fixing block C9, a polyurethane sleeve C8 is arranged on the pneumatic pick fixing block C9, and the polyurethane sleeve C8 is connected with the output end of the cylinder C5 through a pneumatic pick connecting block C7; the lower end of the air pick C4 is connected with the lower disc connecting piece C15 through an air pick connecting shaft C12, the lower disc connecting piece C15 is connected with the lower disc C13 of the air pick through a lower disc fixing piece C14, and the overall firmness is increased when the structure is convenient to install.
Specifically, as shown in fig. 12, the hammer bowl mechanism E includes a hammer bowl frame E1, a first slide rail E2, a second slide rail E3, a trapezoidal screw nut E4, a hand wheel E5, a bearing with a seat E6, a trapezoidal screw E7, a traverse connecting block E8, and a screw connecting plate E9; the two first slide rails E2 are respectively arranged at two sides of the top of the bowl hammering frame E1, and the second slide rail E3 is positioned between the two first slide rails E2 and is perpendicular to the first slide rails E2; the transverse moving connecting block E8 is arranged on the second sliding rail E3, and two ends of the transverse moving connecting block E3878 are connected with the first sliding rail E2 in a sliding mode through a sliding block E13; the trapezoidal lead screw E7 is arranged on the hammer bowl frame E1 through a bearing E6 with a seat and is perpendicular to the transverse moving connecting block E8; one end of the trapezoidal lead screw E7 is provided with a hand wheel E5, the other end of the trapezoidal lead screw E7 is connected with a lead screw connecting plate E9 through a trapezoidal lead screw nut E4, and the lead screw connecting plate E9 is connected with a transverse connecting block E8; the transverse lower connecting block C2 is connected with a second sliding rail E3 in a sliding mode, and the transverse upper connecting block C3 is fixedly connected with the transverse connecting block E8. When the device works, the trapezoidal lead screw E7 is rotated through the hand wheel E5, and the lead screw nut E4 moves along the trapezoidal lead screw E7 under the matching of the trapezoidal lead screw E7 and the shaped lead screw nut E4, so that the transverse moving connecting block E8 and the pneumatic pick assembly C are driven to move back and forth along the first sliding rail E2; in addition, the lower transverse connecting block C2 can slide along the second slide rail E3, the relative position of the air pick assembly C and the transverse connecting block E8 is adjusted, and the air pick assembly C and the transverse connecting block E8 are fixed through the upper transverse connecting block C3 after the adjustment.
The end part of the first sliding rail E2 is provided with a guide rail limiting cushion block E11 to prevent the transverse moving connecting block E8 from being separated from the first sliding rail E2; and the end part of the first slide rail E2 is provided with a third guide rail limiting E10.
Be provided with ruler installation pole on hammer bowl frame E1, ruler installation pole and trapezoidal lead screw E7 parallel arrangement just are located trapezoidal lead screw E7 under, are provided with three E12 of ruler parallel with trapezoidal lead screw E7 on the ruler installation pole for measure trapezoidal lead screw nut E4 displacement, thereby realize the measurement to sideslip connecting block E8 displacement.
Threaded holes E14 are uniformly distributed in the transverse moving connecting block E8, and the transverse moving upper connecting block C3 is connected with the transverse moving connecting block E8 through screws, so that the position of the air pick assembly C can be adjusted and fixed conveniently.
Specifically, as shown in fig. 16, the lateral positioning mechanism includes a first photosensor G1, a lateral positioning support plate G2, a lateral positioning front plate G3, and a cylinder five G4; the lateral positioning support plate G2 is positioned at one side of the conveying line I; the five air cylinders G4 are arranged on the lateral positioning support plate G2, and the output ends of the five air cylinders G4 are connected with the lateral positioning front plate G3; a first photoelectric sensor G1 is arranged on the lateral positioning support plate G2 and used for detecting carbon blocks on the conveying line I; and a floating joint II G5 is arranged between the oil cylinder G8 and the lateral positioning front plate G3, and plays a role of buffering during positioning. When the device works, the cylinder five G4 drives the lateral positioning front plate G3 to move towards the direction of the carbon blocks on the conveying line I, so that the carbon blocks are positioned.
The lateral positioning front plate G3 is fixedly provided with a second guide shaft G7, the second guide shaft G7 penetrates through the lateral positioning support plate G2 and is connected with the bearing seat through the bearing seat, and the second guide shaft G7 conducts auxiliary guiding.
Specifically, as shown in fig. 1, a gas-liquid supercharger G10 is arranged on one side of the conveying line I; as shown in fig. 17, two groups of blocking mechanisms are arranged below the conveying line I, and each blocking mechanism comprises an oil cylinder G8, a connecting seat G9, a sensor G11, a blocking rod G13 and a gas-liquid pressure cylinder bottom plate G12; the oil cylinder G8 is arranged on a gas-liquid pressure cylinder base plate G12 through a connecting seat G9 and is hinged with the gas-liquid pressure cylinder base plate G12, the blocking rod G13 is arranged on the gas-liquid pressure cylinder base plate G12 through a connecting seat G9 and is hinged with the gas-liquid pressure cylinder base plate G12, the output end of the oil cylinder G8 is hinged with the end part of a blocking rod G13, and the end part of the blocking rod G13 is provided with a vertical plate G6; the sensor G11 is arranged on a gas-liquid pressure cylinder bottom plate G12. During operation, the height of the stop rod G13 is adjusted through the oil cylinder G8, so that the vertical plates G6 of the two groups of stop mechanisms position the carbon block.
Specifically, as shown in fig. 13 to 15, the paperboard feeding mechanism F includes a sliding bottom plate F1, a locking handle two F4, a feeding table F5, a lifting module F6, a module connecting block F7, a lower lifting connecting plate F8, a material ejecting plate F9, a guide rail F10, a supporting square pipe F12, a fixing plate F13, and a fixing upper cover F14; the guide rail F10 is horizontally arranged on the feeding table F5, and the sliding bottom plate F1 and the guide rail F10 are arranged in a sliding mode; the lifting module F6 is vertically arranged on a sliding bottom plate F1 through a module connecting block F7, and is relatively fixed with a feeding table F5 through a locking handle II F4, a fixing plate F13 is arranged on a sliding bottom plate F1, a plurality of supporting square tubes F12 are arranged on a fixing plate F13, and the tops of the supporting square tubes F12 are connected through a fixing upper cover F14; the ejector plate F9 is arranged on the lifting module F6 in a sliding manner through a lower lifting connecting plate F8; and through holes matched with the ejector plate F9 are formed in the sliding bottom plate F1 and the fixing plate F13. In operation, the ejector plate F9 conveys the paper feeding plate upwards along the lifting module F6, and the position of the sliding bottom plate F1 on the guide rail F10 is adjusted, so that the multifunctional clamp A is matched for use.
The supporting square tube F12 penetrates through the fixing plate F13 and the sliding bottom plate F1, the bottom of the supporting square tube is connected with the sliding supporting plate F3, and the bottom of the sliding supporting plate F3 is provided with a lower supporting block F2; the sliding support plate F3 is fixed on the sliding bottom plate F1 through a fixing pin F15; the end part of the guide rail F10 is provided with a guide rail limiting second F11, so that the sliding bottom plate F1 is prevented from being separated from the guide rail F10.
Specifically, as shown in fig. 11, the bin mechanism D includes a bin rack D1, a bin D2, a spring seat assembly D3, a mixer D4, and a mixer platform D5; the bin D2 is arranged on the bin frame D1, and a spring seat assembly D3 is arranged at the connection part of the bin D2 and the bin frame D1; a mixer platform D5 is arranged above the bin D2, and a mixer D4 is arranged on the mixer platform D5; the silo frame D1 is also provided with a stair D6 and a guardrail D7.
Specifically, as shown in fig. 6 to 9, the bin blanking mechanism B includes a material receiving upper connection block B1, a material pushing assembly B2, a cylinder three B3, a slide rail four B4, a locking handle one B5, a movable discharging rack B7, a material feeding cylinder B8, and a locking fixing block two B13; a sliding rail four B4 is arranged below the movable discharging rack B7, and a guide rail two-limiting B9 is arranged at the end part of the sliding rail four B4; the material receiving upper connecting block B1 is in sliding connection with a sliding rail IV B4; the bottom of the material receiving upper connecting block B1 is provided with a cylinder III B3, and the output end of the cylinder III B3 is connected with the material pushing assembly B2; a second locking fixing block B13 is arranged on the material receiving upper connecting block B1, and the second locking fixing block B13 and the movable discharging rack B7 are locked and fixed through a first locking handle B5; the end part of the material receiving upper connecting block B1 is provided with a first discharging hole B10, the upper charging barrel B8 is arranged on the first discharging hole B10, and the upper charging barrel B8 is connected with the storage bin D2 through a connecting hose B14; and the pushing assembly B2 is provided with a second discharging hole B11 matched with the first discharging hole B10. When the multifunctional clamp A receives and takes the filler, the three-B3 drives the pushing assembly B2 to move to the second blanking hole B11 and the first blanking hole B10 to be overlapped up and down, the filler falls to the multifunctional clamp A, and therefore the multifunctional clamp A receives and takes the material.
A second straight steel ruler B12 is arranged on one side, facing the upper charging barrel B8, of the movable discharging rack B7 and is used for adjusting and measuring the position of the upper charging barrel B8 so as to enable the upper charging barrel B8 to be matched with the multifunctional clamp A for use; the bottom surface of the material receiving upper connecting block B1 is provided with a guide plate B6 for guiding the material pushing assembly B2.
Specifically, as shown in fig. 3-5, the multifunctional clamp a includes a slide rail three a1, a cylinder one a2, a cylinder two a5, a vacuum chuck A6, a clamp bottom plate a10, a robot flange a11, a material receiving bin a12, a material blocking plate a13, a guide rail connecting bottom plate a17, a cylinder connecting plate a18, a paper pressing plate a19, a brush a21, a weighing sensor a22, a connecting plate a23, and a transition plate a 24; the top surface of the clamp bottom plate A10 is connected with a robot H through a robot flange A11, two sides of the bottom surface are provided with two slide rails three A1, the end part of the slide rail three A1 is provided with a guide rail limiting block A15, and the guide rail limiting block A15 is provided with a guide rail limiting cushion block A16; a guide rail connecting bottom plate A17 is arranged on the three slide rails A1 in a sliding manner, one side of the guide rail connecting bottom plate A17 is connected with the material receiving bin A12 through a transition plate A24, and the other side of the guide rail connecting bottom plate A17 is provided with a second air cylinder A5; one side of the clamp bottom plate A10 is provided with a first straight steel ruler A14 for measuring the position A12 of the material receiving bin; the bottom of the material receiving bin A12 is provided with a brush A21, and the weighing sensor A22 is installed on a guide rail connecting bottom plate A17 through a connecting plate A23; the bottom of the transition plate A24 is provided with a first air cylinder A2, the output end of the first air cylinder A2 is connected with a material baffle A13, and the material baffle A13 is positioned below a material receiving bin A12; the second air cylinder A5 is connected with the paper pressing plate A19 through an air cylinder connecting plate A18, and a vacuum chuck A6 is arranged on the paper pressing plate A19. The multifunctional clamp A is moved by the robot H during working, when the filler of the bin blanking mechanism B needs to be taken, the multifunctional clamp A is moved to the bin blanking mechanism B, the bin A12 is placed under the first blanking hole B10, after the second blanking hole B11 and the first blanking hole B10 are overlapped, the filler falls into the bin A12, the material baffle A13 is blocked under the material receiving bin A12 under the action of the first air cylinder A2, the robot H drives the multifunctional clamp A to a required position, the first air cylinder A2 drives the material baffle A13 to move away, and the filler falls to the required placing position from the bottom of the material receiving bin A12.
The guide rail connecting bottom plate A17 is connected with a first guide shaft A4 through a guide shaft base A3, and the bottom of the first guide shaft A4 is connected with a cylinder connecting plate A18 for auxiliary guide; and a floating joint A7 is arranged at the joint of the cylinder II A5 and the cylinder connecting plate A18 and plays a role in buffering.
The guide rail connecting bottom plate A17 is provided with a locking fixing block A20 and a handle A8, the handle A8 is connected with a threaded rod, the threaded rod penetrates through the locking fixing block A20 and is in threaded connection with a locking fixing block A20, the threaded rod is pressed tightly against the guide rail connecting bottom plate A17 by rotating the handle A8, and the guide rail connecting bottom plate A17 is fixed with the relative position of a three-A1 slide rail.
A vacuum detection switch A9 for detecting a vacuum chuck A6 is arranged on the locking fixing block A20; the guide rail connecting bottom plate A17 is provided with a vacuum generator A25 which acts on a vacuum chuck A6.
The working principle is as follows:
1. the robot H is provided with a multifunctional clamp A, the robot H firstly absorbs 4 paper boards from a paper board mechanism F by using a vacuum chuck A6 of the multifunctional clamp A, then automatically receives 4 bowls of filler from a bin blanking mechanism B by using a material receiving bin A12 of the multifunctional clamp A, and the robot H goes to a filling station after receiving the material to wait for the filling;
2. when the carbon block arrives at the filling station, the positioning mechanism G starts to work, the blocking mechanism automatically rises, the conveying line I automatically reduces the speed, and the front and back positioning of the carbon block is finished; an in-place signal detection sensor G11 is arranged at the stopping position, after the carbon block is stopped in place by the stopping mechanism, the motor of the conveying line I stops running and is braked, the lateral positioning mechanism pushes out the carbon block to position the carbon block left and right, and the front and back positioning of the carbon block filling station is completed;
3. after detecting a blocking oil cylinder G8 in-place signal and a side pushing air cylinder F4 in-place signal, the system sends a working signal to the robot H;
4. the robot H aligns the paperboard sucked by the multifunctional clamp A to the bowl opening of the carbon block, the cylinder II A5 is pressed downwards to press the paperboard into the bottom of the bowl opening, the pressing is completed, the cylinder II A5 is lifted and retracted, the robot H aligns the material receiving bin A12 of the multifunctional clamp A to the bowl opening of the carbon block, the received filler is poured into the bowl opening, and the filler completes the resetting of the robot H;
5. the positioning mechanism G is retracted to the initial position, and the conveying line I is started to operate;
6. when the carbon block arrives at the hammer bowl station, the positioning mechanism G starts to work, the blocking mechanism automatically rises, the conveying line I automatically reduces the speed, and the front and back positioning of the carbon block is finished; an in-place signal detection sensor G11 is arranged at the stopping position, after the carbon block is stopped in place by the stopping mechanism, the motor of the conveying line I stops running and is braked, the lateral positioning mechanism pushes out the carbon block to position the carbon block left and right, and the front and back positioning of the carbon block hammering station is completed;
7. a pneumatic pick cylinder four C5 of the hammer bowl mechanism E is pressed down, the pneumatic pick starts to tap, the filling material is compacted, the pneumatic pick cylinder four C5 retracts, the conveying line I is started, and the carbon block filling hammer bowl is filled with carbon blocks;
the above embodiments are only specific examples of the present invention, and the scope of the present invention includes but is not limited to the above embodiments, and any suitable changes or modifications by those of ordinary skill in the art which are consistent with the claims of the present invention should fall within the scope of the present invention.
Claims (10)
1. A robot automatic carbon block packing system is characterized in that: the method comprises the following steps:
the conveying line is used for conveying the carbon blocks;
the pneumatic pick assembly is positioned above the conveying line and used for compacting the filling materials;
the hammer bowl mechanism is used for mounting the air pick assembly;
the positioning mechanism comprises a lateral positioning mechanism and a blocking mechanism and is used for positioning the carbon block;
the paperboard feeding mechanism is used for conveying paperboards;
the bin mechanism is used for storing the filler;
the bin blanking mechanism is used for conveying filler;
the multifunctional clamp is used for obtaining the paperboard conveyed by the paperboard feeding mechanism and the filler in the bin discharging mechanism;
and the robot is used for installing and controlling the multifunctional clamp.
2. The robotic automated carbon block packing system of claim 1, wherein: the pneumatic pick assembly comprises a pneumatic pick bottom plate, a pneumatic pick, a cylinder four and a pneumatic pick lower disc; a transverse lower connecting block and a transverse upper connecting block are arranged on one side of the air pick base plate, and an air pick is arranged on the other side of the air pick base plate through the transverse lower connecting block; the upper end of the air pick is connected with the output end of the cylinder IV, the lower end of the air pick is provided with a lower disc of the air pick, and the cylinder IV is installed on the air pick bottom plate.
3. The robotic automated carbon block packing system of claim 2, wherein: the bowl hammering mechanism comprises a bowl hammering frame, a first sliding rail, a second sliding rail, a trapezoidal screw rod, a transverse moving connecting block and a screw rod connecting plate; the two first sliding rails are arranged and are respectively arranged on two sides of the top of the bowl hammering frame, and the two sliding rails are positioned between the two first sliding rails and are perpendicular to the first sliding rails; the transverse moving connecting block is arranged on the second sliding rail, and two ends of the transverse moving connecting block are connected with the first sliding rail in a sliding mode through sliding blocks; the trapezoidal screw rod is arranged on the hammer bowl frame through a bearing with a seat and is perpendicular to the transverse moving connecting block; one end of the trapezoidal screw is provided with a hand wheel, the other end of the trapezoidal screw is connected with a screw connecting plate through a trapezoidal screw nut, and the screw connecting plate is connected with the transverse moving connecting block; the transverse moving lower connecting block is connected with the sliding rail II in a sliding mode, and the transverse moving upper connecting block is fixedly connected with the transverse moving connecting block.
4. The robotic automated carbon block packing system of claim 1, wherein: the lateral positioning mechanism comprises a lateral positioning support plate, a lateral positioning front plate and a cylinder V; the lateral positioning support plate is positioned on one side of the conveying line; the air cylinder five is arranged on the lateral positioning support plate, and the output end of the air cylinder five is connected with the lateral positioning front plate; a first photoelectric sensor is arranged on the lateral positioning support plate.
5. The robotic automated carbon block packing system of claim 1, wherein: two groups of blocking mechanisms are arranged below the conveying line, and each blocking mechanism comprises an oil cylinder, a sensor, a blocking rod and a gas-liquid pressure cylinder bottom plate; the oil cylinder is arranged on the gas-liquid pressure cylinder bottom plate through a connecting seat and is hinged with the gas-liquid pressure cylinder bottom plate, the blocking rod is arranged on the gas-liquid pressure cylinder bottom plate through the connecting seat and is hinged with the gas-liquid pressure cylinder bottom plate, the output end of the oil cylinder is hinged with the end part of the blocking rod, and the end part of the blocking rod is provided with a vertical plate; the sensor is arranged on a gas-liquid pressure cylinder bottom plate.
6. The robotic automated carbon block packing system of claim 1, wherein: the paperboard feeding mechanism comprises a sliding bottom plate, a locking handle II, a feeding platform, a lifting module, a material jacking plate, a guide rail and a supporting square pipe; the lifting module is vertically arranged on the sliding bottom plate through a module connecting block and is relatively fixed with the feeding table through a second locking handle, the sliding bottom plate is provided with a fixed plate, the fixed plate is provided with a plurality of supporting square tubes, and the tops of the supporting square tubes are connected through a fixed upper cover; and the ejector plate is arranged on the lifting module in a sliding manner through the lower lifting connecting plate.
7. The robotic automated carbon block packing system of claim 1, wherein: the bin mechanism comprises a bin frame, a bin, a mixer and a mixer platform; the feed bin is arranged on the feed bin frame, and a spring seat assembly is arranged at the joint of the feed bin and the feed bin frame; a mixer platform is arranged above the stock bin, and a mixer is arranged on the mixer platform.
8. The robotic automated carbon block packing system of claim 1, wherein: the bin discharging mechanism comprises a material pushing assembly, a cylinder III, a slide rail IV, a movable discharging rack and a material loading barrel; a fourth sliding rail is arranged below the movable discharging rack, and the upper material receiving connecting block is connected with the fourth sliding rail in a sliding manner; the bottom of the material receiving upper connecting block is provided with a third air cylinder, and the output end of the third air cylinder is connected with the material pushing assembly; the end part of the material receiving upper connecting block is provided with a first discharging hole, the upper charging barrel is arranged on the first discharging hole, and the upper charging barrel is connected with the storage bin through a connecting hose; and the material pushing assembly is provided with a blanking hole II matched with the blanking hole I for use.
9. The robotic automated carbon block packing system of claim 1, wherein: the multifunctional clamp comprises a third sliding rail, a first air cylinder, a second air cylinder, a vacuum chuck, a clamp bottom plate, a material receiving bin, a material baffle plate, a paper pressing plate and a weighing sensor; the top surface of the clamp bottom plate is connected with a robot through a robot flange, two sides of the bottom surface are provided with two third slide rails, the two third slide rails are provided with a guide rail connecting bottom plate in a sliding manner, one side of the guide rail connecting bottom plate is connected with the material receiving bin through a transition plate, and the other side of the guide rail connecting bottom plate is provided with a second air cylinder; the bottom of the material receiving bin is provided with a hairbrush; the bottom of the transition plate is provided with a first air cylinder, the output end of the first air cylinder is connected with a material baffle plate, and the material baffle plate is positioned below the material receiving bin; the cylinder II is connected with the paper pressing plate through a cylinder connecting plate, and the paper pressing plate is provided with a vacuum chuck.
10. The robotic automated carbon block packing system of any one of claims 1-9, wherein: and a gas-liquid supercharger is also arranged on one side of the conveying line.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210418981.6A CN114516534B (en) | 2022-04-21 | 2022-04-21 | Automatic charcoal piece system of packing of robot |
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| CN202210418981.6A CN114516534B (en) | 2022-04-21 | 2022-04-21 | Automatic charcoal piece system of packing of robot |
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| CN114516534B CN114516534B (en) | 2022-07-19 |
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|---|---|
| CN114516534B (en) | 2022-07-19 |
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Denomination of invention: A Robot Automated Carbon Block Filler System Effective date of registration: 20220922 Granted publication date: 20220719 Pledgee: Postal Savings Bank of China Limited Jinan Branch Pledgor: Shandong Deyi Robot Co.,Ltd. Registration number: Y2022980015854 |
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