CN2855659Y - Full automatic blankets arranging machine - Google Patents
Full automatic blankets arranging machine Download PDFInfo
- Publication number
- CN2855659Y CN2855659Y CN 200520139928 CN200520139928U CN2855659Y CN 2855659 Y CN2855659 Y CN 2855659Y CN 200520139928 CN200520139928 CN 200520139928 CN 200520139928 U CN200520139928 U CN 200520139928U CN 2855659 Y CN2855659 Y CN 2855659Y
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- arm
- rotating shaft
- finger
- servomotor
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Abstract
The utility model relates to a full automatic billet-output machine, in particular to equipment that is used to collect, weigh and pill up the billet before a hard alloy blade is sintered in the powder metallurgy area. The utility model comprises a frame, an electronic balance, a robot with multi-joint and an automatic plate changing mechanism. The robot with multi-joint , the electronic balance and the automatic plate changing mechanism are arranged on a panel of the frame. The robot with multi-joint comprises a base, three horizontal joints, a Z-axis moving mechanism and grasping fingers. The three horizontal joints comprise an A-axis horizontal joint, a B-axis horizontal joint and a W-axis horizontal joint. The Z-axis moving mechanism is provided with a servo motor Z and a ball lead screw nut. The rotary axis W is provided with a ball lead screw thread, which is matched with the ball lead screw nut. The servo motor Z rotates by transmission the W-axis to move the W-axis up and down. The grasping fingers are arranged on the rotary axis W (also called the lower end of the Z-axis) of the lower part of the Z-axis moving mechanism. The automatic plate changing mechanism comprises transmission motors number 1, number 2 and number 3, synchronous toothed conveyor belts number 1, number 2 and number 3, a load bearing board and a cylinder.
Description
Technical field
The utility model full-automatic blank arranging machine relates to be a kind of in the powder metallurgy industry the picking up, weigh and pile up used equipment of blank before the carbide chip sintering.
Background technology
In the powder metallurgy industry, Digit Control Machine Tool with carbide chip pressed compact pick up, pile up, check (weighing) operation, be unusual labor intensive, the essential manual operations of operating personnel, everyone machine, trick and usefulness, very arduous, especially the green compact of just suppressing out, without sintering, a little less than being highly brittle, if clutch its edge of a knife part, accidentally will fall limit, arrisdefect, form waste product.So, at present in the sector, press for and a kind ofly can significantly reduce labor strength, the machinery with product quality of boosting productivity again simultaneously.
Summary of the invention
The purpose of this utility model is to provide a kind of full-automatic blank arranging machine at above-mentioned weak point, have electronic balance, mechanical arm, extracting finger and move plate mechanism etc. certainly, can significantly reduce labor strength, can boost productivity with product quality simultaneously again, improve production security.
Full-automatic blank arranging machine takes following scheme to realize: the full-automatic blank arranging machine structure comprises frame, electronic balance, articulated robot, moves plate mechanism certainly, frame has guidance panel, electric control box, pneumatic control case, protective cover, articulated robot, electronic balance, move plate mechanism certainly and be installed on the framework panel, articulated robot comprises base, three flapping articulations, Z shaft movement mechanisms, grasps finger.Three flapping articulations comprise A axle horizontal joint, B axle horizontal joint, W axle horizontal joint, A axle horizontal joint has arm A, rotating shaft A, servomotor A, B axle horizontal joint has arm B, rotating shaft B, servo motor B, and W axle horizontal joint has rotating shaft W, synchronizing jugged conveyer belt, servomotor W.Servomotor A is installed in the base, and arm A is sleeved on the rotating shaft A, and servomotor A directly drives arm A rotation.Servo motor B is installed in arm A top, and rotating shaft B is contained on the arm A, and arm B is sleeved on the rotating shaft B, and servo motor B drives arm B rotation.Servomotor W is installed in arm B top, and rotating shaft W is contained in the arm B front end axis hole, and servomotor W rotates by synchronizing jugged conveyer belt driven rotary axle W.
The Z shaft movement mechanism has servomotor Z, ball screw nut, and the ball screw screw thread is set on the rotating shaft W, matches with ball screw nut, drives the ball screw nut rotation by servomotor Z by synchronous cog belt, and transmission rotational axis W does upper and lower motion.Claim the Z axle during the upper and lower motion of rotating shaft W again.
Grasp finger apparatus in rotating shaft W (the claiming the Z axle again) bottom of Z shaft movement mechanism bottom, grasp finger and can adopt sucked type to grasp finger, or bladder extracting finger, or the gas pawl grasps finger.Sucked type grasps finger and adopts vacuum cup.Bladder extracting finger has leather bag, and the leather bag upper unit has locking chuck.The gas pawl grasps finger and comprises miniature gas pawl, the pawl head, and miniature gas pawl one end device has the pawl head, in the miniature gas pawl cylinder is set, and makes the folding of pawl head by piston.
Comprise driving motor No. 1, No. 2, No. 3 from moving plate mechanism (row's base transmission mechanism), synchronizing jugged conveyer belt No. 1, No. 2, No. 3, load bearing board (billet arranger plate), cylinder, driving motor is equipped with synchronizing jugged belt wheel respectively No. 1, No. 2, No. 3, and synchronizing jugged conveyer belt is housed No. 1, No. 2, No. 3 respectively, cylinder is equipped with in bottom No. 2, synchronizing jugged conveyer belt, and supporting plate is equipped with on cylinder top, promotes No. 2 upper and lower liftings of tooth-shaped conveying belt by supporting plate.Load bearing board is placed on the synchronizing jugged conveyer belt, is driven by driving motor to move forward and backward.On No. 1, No. 2, No. 3 upper side panel of synchronizing jugged conveyer belt, be respectively arranged with near switch (sensor) No. 1, No. 2, No. 3.
Operation principle:
A, the press demoulding finish, and wait extracting finger in the press outside and stretch into rapidly between the upper and lower mould product is taken out;
B, the blank that takes out is placed on the electronic balance by the interval number of setting weighs;
C, qualified product picked up again pile up on load bearing board, underproof product (kick the beam or overweight) is picked up into collecting receptacle;
D, then export automatically outside the machine when load bearing board row is full, hollow plate enters the operating position automatically simultaneously.
The characteristics of full-automatic blank arranging machine:
1, the articulated robot of full-automatic blank arranging machine grasps finger and picks up product automatically, and according to the interval number that sets directly arrange product or be placed on weigh on the electronic balance back qualified products picked up arrangement (waiting the time to be weighed to set) once more, substandard product is picked up into collecting receptacle.The extracting finger picks up speed and is per minute 15～30 times, and positioning accuracy is less than ± 0.02 millimeter.
2, adopt interactive man-machine interface to carry out the data input, the key entry that only needs simple blank shapes to confirm and put line number and columns just can be finished program input, computer picks up the selection and the blank calculating at interval of mode automatically, and can carry out data modification at any time, adjust the direction and the density of the blank of putting.
3, have touch register face operating mechanism, have various operations necessary promptings, the operation interface hommization.32 RISC CPU and abundant robotic command language are set in the motion control unit, abundant built-in instruction is arranged, the parameter of controller is easy to revise, and the master control unit is suitable for various PLCI/O interfaces.
4, have self-diagnostic function, according to the prompting of man-machine interface, the maintenance personal can pinpoint the problems and handle problems quickly and easily.For guaranteeing safety, man-machine interface is provided with password, and the layman can not enter machinery and set the interface.
5, articulated robot grasps to point and can carry out zero correction automatically.
6, adopt closed structure, the Z axle is joined dirt-proof boot, improves dirt exclusion capabilities.
Description of drawings
The utility model is described in further detail below with reference to accompanying drawing.
Fig. 1 is the full-automatic blank arranging machine structural representation.
Fig. 2 is the articulated robot vertical view of full-automatic blank arranging machine.
Fig. 3 is the bladder extracting finger schematic diagram of full-automatic blank arranging machine.
Fig. 4 is that the gas pawl formula of full-automatic blank arranging machine grasps the finger front view.
Fig. 5 is that the gas pawl formula of full-automatic blank arranging machine grasps the finger vertical view.
Fig. 6 be full-automatic blank arranging machine move the plate structural scheme of mechanism certainly.
The specific embodiment
With reference to accompanying drawing 1～6, the full-automatic blank arranging machine structure comprises frame, electronic balance (5), articulated robot, moves plate mechanism (3) certainly.Frame has guidance panel (4), electric control box, pneumatic control case (1), protective cover (15).Articulated robot, electronic balance (5), move plate mechanism (3) certainly and be installed on the framework panel (2), articulated robot comprises base (16), three flapping articulations, Z shaft movement mechanisms, grasps finger (6).Three flapping articulations comprise A axle horizontal joint, B axle horizontal joint, W axle horizontal joint, A axle horizontal joint has arm A (13), rotating shaft A, servomotor A (14), B axle horizontal joint has arm B (12), rotating shaft B, servo motor B (11), and W axle horizontal joint has rotating shaft W (8), synchronizing jugged conveyer belt, servomotor W (10).Servomotor A (14) is installed in the base (16), and arm A (13) is sleeved on the rotating shaft A, and servomotor A (14) directly drives arm A (13) rotation.Servo motor B (11) is installed in arm A (13) top, and rotating shaft B is contained on the arm A (13), and arm B (12) is sleeved on the rotating shaft B, and servo motor B (11) drives arm B (12) rotation.Servomotor W (10) is installed in arm B (12) top, and rotating shaft W (8) is contained in arm B (12) the front end axis hole, and servomotor W (10) rotates by synchronizing jugged conveyer belt driven rotary axle W (8).
The Z shaft movement mechanism has servomotor Z (9), ball screw nut (7), rotating shaft W is provided with the ball screw screw thread on (8), match with ball screw nut (7), drive ball screw nut (7) rotation by servomotor Z (9) by synchronous cog belt, transmission rotational axis W (8) does upper and lower motion.Claim the Z axle during the upper and lower motion of rotating shaft W (8) again.
Articulated robot has three flapping articulation A, B, C and energy along mechanism that the Z axle moves, each joint and Z shaft movement mechanism all are equipped with servomotor, by programme-control, blank can be delivered to the arm length of run and be radius is that any position in the 250 ° of scopes in the center of circle is by setting with fixing support, also can allow blank stop, certainly blank is piled up by any array of prior setting in any position.
Grasp finger (6) device in rotating shaft W (claiming the Z axle again) (8) bottom of Z shaft movement mechanism bottom, grasp finger (6) and adopt sucked type to grasp finger, or bladder extracting finger, or the gas pawl grasps finger.Sucked type grasps finger and adopts vacuum cup.Bladder extracting finger has leather bag (18), and leather bag (18) upper unit has locking chuck (19).Bladder extracting finger inserts in blank (17) aperture with a leather bag (18), and inflation makes its expansion, and the blank (17) that expands utilizes the withdrawal of leather bag self tension force after the venting, and blank (17) falls by deadweight.
The gas pawl grasps finger and comprises miniature gas pawl (20), pawl head (2l), and miniature gas pawl (20) one end devices have pawl head (2l), in the miniature gas pawl (20) cylinder are set, and make the folding of pawl head by piston.Gas pawl formula grasps finger and utilizes unlatching that two gas cleft hands refer to get blank with closing up to expand, the thicker and blank of cylindrical hole of the suitable blank of this structure.
Comprise No. 1, driving motor (25) from moving plate mechanism (row's base transmission mechanism) (3), No. 2, driving motor (27), No. 3, driving motor (31), No. 1, synchronizing jugged conveyer belt (23), No. 2, synchronizing jugged conveyer belt (29), No. 3, synchronizing jugged conveyer belt (32), load bearing board (billet arranger plate) (22,30), cylinder (26), No. 1, driving motor, No. 2, No. 3 synchronizing jugged belt wheel is housed respectively, and synchronizing jugged conveyer belt is housed No. 1 respectively, No. 2, No. 3, in the bottom of synchronizing jugged conveyer belt No. 2 (29) cylinder (26) is housed, supporting plate (27) is equipped with on cylinder (26) top, promotes on No. 2 tooth-shaped conveying belts (29) by supporting plate (34), following lifting.Load bearing board is placed on the synchronizing jugged conveyer belt, is driven by driving motor to move forward and backward.On No. 1, No. 2, No. 3 upper side panel of synchronizing jugged conveyer belt, be respectively arranged with near switch (sensor) No. 1, No. 2, No. 3 (24,28,33).Adopt the EZK-X4MEI type near switch etc. near switch.This changes plate mechanism and is divided into upper and lower two-layerly, drives synchronous cog belt by driving motor and transmits load bearing board.Hollow plate is put into the back from lower floor and is delivered to front end automatically, and the back that puts in place is a sensor senses near switch, is held up the position that enters the row's of wait base by cylinder, treats that the full back of this plate row is sent outside the machine from top one deck automatically.At this moment the operating personnel's load bearing board that can will arrange full blank from above is taken away.The upper strata conveyer belt can store three load bearing boards at most, if three plate rows are full still not removed, machine can stop and report to the police.
Claims (5)
1, a kind of full-automatic blank arranging machine is characterized in that structure comprises frame, electronic balance, articulated robot, moves plate mechanism certainly, articulated robot, electronic balance, moves plate mechanism certainly and is installed on the framework panel; Articulated robot comprises base, three flapping articulations, Z shaft movement mechanism, grasps finger; Three flapping articulations comprise A axle horizontal joint, B axle horizontal joint, W axle horizontal joint, A axle horizontal joint has arm A, rotating shaft A, servomotor A, B axle horizontal joint has arm B, rotating shaft B, servo motor B, and W axle horizontal joint has rotating shaft W, synchronizing jugged conveyer belt, servomotor W; Servomotor A is installed in the base, and arm A is sleeved on the rotating shaft A, and servomotor A directly drives arm A rotation; Servo motor B is installed in arm A top, and rotating shaft B is contained on the arm A, and arm B is sleeved on the rotating shaft B, and servo motor B drives arm B rotation; Servomotor W is installed in arm B top, and rotating shaft W is contained in the arm B front end axis hole, and servomotor W rotates by synchronizing jugged conveyer belt driven rotary axle W;
The Z shaft movement mechanism has servomotor Z, ball screw nut, the ball screw screw thread is set on the rotating shaft W, match with ball screw nut, drive the ball screw nut rotation by servomotor Z by synchronous cog belt, transmission rotational axis W does upper and lower motion, claims the Z axle during the upper and lower motion of rotating shaft W again;
Grasp the rotating shaft W of finger apparatus and claim Z axle bottom again, grasp finger and can adopt sucked type to grasp finger in Z shaft movement mechanism bottom, or bladder extracting finger, or the gas pawl grasps finger;
Comprise driving motor No. 1 from moving plate mechanism, No. 2, No. 3, No. 1, synchronizing jugged conveyer belt, No. 2, No. 3, load bearing board, cylinder, No. 1, driving motor, No. 2, No. 3 synchronizing jugged belt wheel is housed respectively, and synchronizing jugged conveyer belt is housed No. 1 respectively, No. 2, No. 3, cylinder is equipped with in bottom No. 2, synchronizing jugged conveyer belt, supporting plate is equipped with on cylinder top, on No. 2 tooth-shaped conveying belts of supporting plate promotion, following lifting, load bearing board is placed on the synchronizing jugged conveyer belt, drive by driving motor and to move forward and backward, No. 1, synchronizing jugged conveyer belt, No. 2, be respectively arranged with on No. 3 upper side panel near No. 1, switch, No. 2, No. 3.
2, full-automatic blank arranging machine according to claim 1 is characterized in that frame has guidance panel, electric control box, pneumatic control case, protective cover.
3, full-automatic blank arranging machine according to claim 1 is characterized in that sucked type grasps finger and adopts vacuum cup.
4, full-automatic blank arranging machine according to claim 1 is characterized in that bladder extracting finger has leather bag, and the leather bag upper unit has locking chuck.
5, full-automatic blank arranging machine according to claim 1 is characterized in that the gas pawl grasps finger and comprises miniature gas pawl, the pawl head, and miniature gas pawl one end device has the pawl head, in the miniature gas pawl cylinder is set, and makes the folding of pawl head by piston.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200520139928 CN2855659Y (en) | 2005-12-19 | 2005-12-19 | Full automatic blankets arranging machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200520139928 CN2855659Y (en) | 2005-12-19 | 2005-12-19 | Full automatic blankets arranging machine |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN2855659Y true CN2855659Y (en) | 2007-01-10 |
Family
ID=37598965
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 200520139928 Expired - Fee Related CN2855659Y (en) | 2005-12-19 | 2005-12-19 | Full automatic blankets arranging machine |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN2855659Y (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100351053C (en) * | 2005-12-19 | 2007-11-28 | 南京东部精密机械有限公司 | Full-automatic blank arranging machine |
| CN102886519A (en) * | 2012-10-16 | 2013-01-23 | 郑州机械研究所 | Hot-press sintering machine |
| CN103072143A (en) * | 2013-01-24 | 2013-05-01 | 南京妙手机电科技有限公司 | Joint mechanism for selective compliance assembly robot arm (SCARA)-type mechanical arm |
| CN103611935A (en) * | 2013-11-28 | 2014-03-05 | 山西中泰源工业自动化设备有限公司 | Robot workstation system for magnetic material die casting forming |
| CN106808463A (en) * | 2015-11-28 | 2017-06-09 | 华南理工大学 | Carbide chip automation disk loading system and the method for a kind of integrated manipulator |
-
2005
- 2005-12-19 CN CN 200520139928 patent/CN2855659Y/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100351053C (en) * | 2005-12-19 | 2007-11-28 | 南京东部精密机械有限公司 | Full-automatic blank arranging machine |
| CN102886519A (en) * | 2012-10-16 | 2013-01-23 | 郑州机械研究所 | Hot-press sintering machine |
| CN103072143A (en) * | 2013-01-24 | 2013-05-01 | 南京妙手机电科技有限公司 | Joint mechanism for selective compliance assembly robot arm (SCARA)-type mechanical arm |
| CN103611935A (en) * | 2013-11-28 | 2014-03-05 | 山西中泰源工业自动化设备有限公司 | Robot workstation system for magnetic material die casting forming |
| CN103611935B (en) * | 2013-11-28 | 2015-08-26 | 山西中泰源工业自动化设备有限公司 | A kind of robot workstation's system for magnetic material die-cast formation |
| CN106808463A (en) * | 2015-11-28 | 2017-06-09 | 华南理工大学 | Carbide chip automation disk loading system and the method for a kind of integrated manipulator |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C19 | Lapse of patent right due to non-payment of the annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |