Large-specification blank arranging machine and implementation method thereof

Abstract

The invention discloses a large-specification blank arranging machine which comprises a four-axis robot, the four-axis robot is installed on a servo press, an electric clamping jaw is installed at the output end of the four-axis robot, a machine box is arranged on one side of the servo press, a first conveying belt is installed on the machine box, and a turnover mechanism is installed on the side of the discharging end of the first conveying belt. A second conveying belt located below the turnover mechanism is installed on the machine box, a boron plate positioning mechanism is arranged on one side of the second conveying belt, a tray placing mechanism is arranged on one side of the boron plate positioning mechanism, and a telescopic tray replacing mechanism is arranged on one side of the tray placing mechanism; the invention further discloses an implementation method of the large-specification blank arranging machine. The four-axis robot drives the electric clamping jaw to carry the blank pressed and formed by the servo press to the first conveying belt to be conveyed backwards, and compared with the prior art that the blank freely slides to the belt in a sliding way, friction to the blank is avoided, so that scratches generated on the surface of the blank are effectively avoided.

Description

Technical Field

[0001] The invention belongs to the technical field of embryo arrangement machines, and in particular relates to a large-size embryo arrangement machine and a realization method thereof. Background Art

[0002] The servo press is a device that presses powder into blanks. For the pressed soft ferrite blanks, the corresponding blank arrangement machine is often used to arrange the blanks neatly in the specified direction.

[0003] When the servo press is connected to the embryonic forming machine, a slide is usually used to slide freely onto the belt. However, as the industry's demands continue to change, the current soft magnetic core products are becoming more and more diverse in shape and larger in size. Most soft magnetic embryonic forming products require that there should be no scratches on the surface, and there should be no friction between the embryonic forming product and the belt. The conventional material removal method needs to be upgraded.

[0004] Therefore, there is an urgent need for a large-scale embryo arrangement machine that is suitable for large-scale embryos with high requirements on the surface of the embryos. Summary of the invention

[0005] The purpose of the present invention is to provide a large-size embryo arrangement machine to solve the problems raised in the above background technology. The large-size embryo arrangement machine provided by the present invention has the characteristics of being applicable to large-size products and avoiding scratches on the surface of the blank.

[0006] Another object of the present invention is to provide a method for implementing a large-scale embryo arrangement machine.

[0007] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a large-size embryo arrangement machine, comprising a four-axis robot and a chassis, the four-axis robot is installed on a servo press, an electric clamp is installed on the output end of the four-axis robot, the chassis is arranged on one side of the servo press, a first conveyor belt is installed on the chassis, a burr brush mechanism is installed on the first conveyor belt, a flip mechanism is installed on the discharge end side of the first conveyor belt, a second conveyor belt located below the flip mechanism is installed on the chassis, a boron plate positioning mechanism is provided on one side of the second conveyor belt, a swing plate mechanism is provided on one side of the boron plate positioning mechanism, and a telescopic plate changing mechanism is provided on one side of the swing plate mechanism.

[0008] In order to be applicable to blanks of different specifications and to ensure that the holding force is stable and controllable, the electric gripper further includes a gripper seat, a gripper swing rod is connected to the middle position of one end of the gripper seat through a bearing, and gripper blocks are connected to both sides of this end of the gripper seat through slider guides, the gripper swing rod and the gripper block are connected through a gripper connecting rod, and the two ends of the gripper connecting rod are rotatably connected to the gripper swing rod and the gripper block respectively, and a clamping block for connecting to the output end of the four-axis robot is connected above the gripper seat, and a gripper servo motor is also installed on the gripper seat, and the output end of the gripper servo motor is connected to the gripper swing rod through a synchronous pulley group.

[0009] In order to realize the burr brushing operation on the blank and avoid scratches on the surface of the blank during the turnover of the blank, the burr brushing mechanism further includes a burr brushing shell, a hand-cranked module is installed inside the burr brushing shell, a burr brushing motor is installed on the output end of the hand-cranked module, a rotating brush is installed on the output end of the burr brushing motor, a dust collection bucket is provided at the bottom of the burr brushing shell, an acrylic cover is installed on one side of the burr brushing shell, a vacuum cleaner connection port is provided at the upper end of the burr brushing shell, and a strip brush is also connected to the burr brushing shell.

[0010] In order to achieve a 180° flip of the blank, the flipping mechanism further includes a flipping mechanism mounting seat, the flipping mechanism mounting seat is equipped with a flipping motor, the output end of the flipping motor is connected to a flipping seat, a flip servo motor is installed on one side of the flipping seat, a flip swing rod is installed on the output end of the flip servo motor, two flip clamps are connected to the flip seat through a slider guide rail, the flip clamp and the flip swing rod are connected by a flip connecting rod, and the flip connecting rod is rotationally connected to the flip clamp and the flip swing rod respectively.

[0011] In order to achieve the positioning of the boron plate and ensure the consistency of the position of the blank on the boron plate, the boron plate positioning mechanism further includes three positioning base plates, one end of the three positioning base plates are connected by positioning profiles, an intermediate reference plate is connected to the top of the middle positioning base plate, positioning cylinders are installed above the positioning base plates on both sides, and a positioning push plate is installed on the output end of the positioning cylinder.

[0012] In order to realize the transportation of empty boron plates and full boron plates, further, the telescopic disc changing mechanism includes a bottom plate and a top plate, wherein the bottom plate and the top plate are connected by a plurality of optical axes, a lifting plate is slid on the optical axis, and a synchronous belt module for driving the lifting plate to move is also installed on the bottom plate and the top plate, and a transverse moving walking module is installed on the lifting plate, and a bidirectional telescopic component is installed on the output end of the transverse moving walking module; the bidirectional telescopic component includes a telescopic bottom plate and an intermediate plate arranged above the telescopic bottom plate, the intermediate plate and the telescopic bottom plate are connected by a telescopic walking module, a movable plate is arranged above the intermediate plate, and the movable plate and the intermediate plate are connected by a synchronous gear rack group, and the synchronous gear rack group includes an upper rack, a lower rack, and an upper gear and a lower gear that rotate synchronously, wherein the upper gear and the lower gear are installed on the intermediate plate, the upper rack is installed on the bottom of the movable plate, the upper rack is meshed with the upper gear, the lower rack is installed on the telescopic bottom plate, and the lower rack is meshed with the lower gear, and both sides of one end of the telescopic bottom plate are provided with symmetrically arranged telescopic lifting assemblies, and both sides of the other end of the telescopic bottom plate are provided with symmetrically arranged telescopic positioning assemblies.

[0013] In order to lift up the empty boron plate or the full boron plate and facilitate switching of the end of the movable plate, the telescopic lifting assembly further includes a telescopic lifting mounting seat, a telescopic lifting cylinder is installed on the telescopic lifting mounting seat, and a telescopic lifting plate is installed on the output end of the telescopic lifting cylinder; the telescopic positioning assembly includes a telescopic positioning mounting seat, a telescopic positioning cylinder is installed on the telescopic positioning mounting seat, and a telescopic positioning plate is installed on the output end of the telescopic positioning cylinder.

[0014] In order to drive the swing plate clamp to move, the swing plate mechanism further includes two parallel linear slide rails, a longitudinal movement seat is connected to the top of the linear slide rails, a longitudinal movement gear rack drive module is provided on one side of one of the linear slide rails, a transverse movement seat slides on the longitudinal movement seat, a transverse movement gear rack drive module is also installed on the longitudinal movement seat, a lifting electric cylinder is installed on the transverse movement seat, and the swing plate clamp is installed on the output end of the lifting electric cylinder.

[0015] In order to be applicable to blanks of different specifications and to ensure that the holding force is stable and controllable, the swing plate clamp further includes a swing plate clamp seat, a lifting cylinder is installed on one side of the swing plate clamp seat, a lifting plate is installed on the output end of the lifting cylinder, the lifting plate is also connected to the swing plate clamp seat through a guide shaft, a movable plate is provided on one side of the lifting plate, the movable plate is installed on the clamp seat, the clamp seat is connected to the swing plate clamp seat through a slider guide rail, a swing plate clamp motor is also installed on the swing plate clamp seat, a swing plate swing rod is installed on the output end of the swing plate clamp motor, the swing plate swing rod is connected to the clamp seat through a swing plate connecting rod, and the two ends of the swing plate connecting rod are respectively rotatably connected to the swing plate swing rod and the clamp seat.

[0016] In the present invention, the method for implementing the large-size embryo arrangement machine comprises the following steps:

[0017] (1) Take the blank. The four-axis robot drives the electric gripper to move the blank pressed by the servo press to the first conveyor belt;

[0018] (ii) burr brushing: the blank is conveyed backward along the first conveyor belt to the burr brushing mechanism, and the burr brushing motor drives the rotating brush to rotate to brush the burrs of the blank;

[0019] (3) Flip the blank. The blank after brushing the burrs is continuously transported backward to the flip mechanism along the first conveyor belt. The flip servo motor is activated to drive the flip clamp to clamp the blank. Then the flip motor drives the blank to rotate 180° and place it on the second conveyor belt.

[0020] (IV) Boron plate positioning: the telescopic plate-changing mechanism places the boron plate on top of the two positioning bottom plates, and the positioning profile realizes the front side positioning. The positioning cylinder drives the positioning push plate to push out and cooperate with the middle reference plate to realize the left and right direction positioning;

[0021] (V) Plate swing: the second conveyor belt transports the blank to the plate swing position, and the plate swing clamp transports the blank to the boron plate for plate swing;

[0022] (Six) Change the plate, the synchronous belt module and the transverse walking module cooperate to drive the two-way telescopic assembly to move to the bottom of the boron plate full of products. At this time, the full boron plate is located at the B end of the movable plate, and the telescopic walking module moves to drive the middle plate to move, thereby driving the movable plate to move the full boron plate to the telescopic jacking assembly. The telescopic jacking cylinder moves to drive the telescopic jacking plate to lift the full boron plate, and then the telescopic walking module drives the movable plate to reset backward to the set position. At this time, the A end of the movable plate is located below the full boron plate, and then the telescopic jacking cylinder The cylinder moves to drive the telescopic lifting plate to lower the full boron plate to the A end of the movable plate, and the telescopic walking module continues to drive the movable plate forward until the full boron plate is located at the telescopic positioning component. The telescopic positioning cylinder moves to drive the telescopic positioning plate to clamp the full boron plate, and the synchronous belt module and the transverse walking module cooperate to drive the two-way telescopic component to move to the placement layer of the material cart, and put the full boron plate into the material cart; then the synchronous belt module and the transverse walking module cooperate to drive the two-way telescopic component to move to the empty plate position, and move the empty boron plate to the boron plate positioning mechanism.

[0023] Compared with the prior art, the present invention has the following beneficial effects:

[0024] 1. The present invention uses a four-axis robot to drive an electric gripper to move the blank formed by the servo press to the first conveyor belt for backward transportation. Compared with the prior art that uses a slide to slide freely onto the belt, the friction of the blank is avoided, thereby effectively avoiding scratches on the surface of the blank.

[0025] 2. The present invention drives the clamping jaw block to clamp the blank through the action of the clamping jaw servo motor, which can be applied to blanks of different specifications, and the clamping force is stable and controllable. The height and width of the blank can be set through the human-computer interaction interface, and the operation is convenient.

[0026] 3. The present invention can realize 180° flipping of the blank by setting the flipping mechanism.

[0027] 4. The present invention realizes the positioning of the boron plate by setting a boron plate positioning mechanism, so that the position consistency of the blank on the boron plate is guaranteed, which is convenient for the development of automated processes such as sintering, grinding, inspection and packaging in the subsequent process.

[0028] 5. The present invention realizes the burr brushing operation on the blank by setting the burr brushing mechanism, thereby avoiding scratches on the surface of the blank during the blank turnover process.

[0029] 6. The present invention uses the action of the swing plate clamping plate motor to drive the movable clamping plate to cooperate with the lifting clamping plate to clamp the blank and swing the plate. It can be applied to blanks of different specifications, and the holding force is stable and controllable. The height and width of the blank can be set through the human-computer interaction interface, and the operation is convenient. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 It is a schematic diagram of the structure of the present invention.

[0031] Figure 2 and 3 All of them are structural schematic diagrams of the electric clamp of the present invention.

[0032] Figure 4 It is a schematic structural diagram of the burr brushing mechanism of the present invention.

[0033] Figure 5 It is a schematic diagram of the structure inside the brush bristle shell of the present invention.

[0034] Figure 6 It is a structural schematic diagram of the turning mechanism of the present invention.

[0035] Figure 7 It is a structural schematic diagram of the boron plate positioning mechanism of the present invention.

[0036] Figure 8 and 9 All of them are structural schematic diagrams of the telescopic disc changing mechanism of the present invention.

[0037] Fig.10 It is a structural schematic diagram of the bidirectional telescopic component of the present invention.

[0038] Fig.11 It is a schematic structural diagram of the synchronous gear rack set of the present invention.

[0039] Fig.12 It is a schematic structural diagram of the telescopic lifting assembly of the present invention.

[0040] Fig.13 It is a structural schematic diagram of the telescopic positioning assembly of the present invention.

[0041] Fig.14 It is a structural schematic diagram of the plate swing mechanism of the present invention.

[0042] Fig.15 and 16 All of them are structural schematic diagrams of the wobble plate clamping plate of the present invention.

[0043] In the figure: 1. Servo press; 2. Four-axis robot; 3. Electric gripper; 31. Gripper seat; 32. Gripper block; 33. Gripper swing rod; 34. Gripper connecting rod; 35. Clamping block; 36. Gripper servo motor; 37. Synchronous pulley set; 4. Brushing burr mechanism; 41. Brushing burr housing; 42. Hand crank module; 43. Strip brush; 44. Dust collection bucket; 45. Acrylic cover; 46. Vacuum cleaner connection port; 47. Brushing burr motor; 48. Rotating brush; 5. First conveyor belt; 6. Flip Mechanism; 61, flip mechanism mounting seat; 62, flip connecting rod; 63, flip seat; 64, flip servo motor; 65, flip swing rod; 66, flip clamp; 67, flip motor; 7, second conveyor belt; 8, boron plate positioning mechanism; 81, positioning bottom plate; 82, positioning profile; 83, intermediate reference plate; 84, positioning push plate; 85, positioning cylinder; 9, telescopic plate changing mechanism; 91, bottom plate; 92, top plate; 93, optical axis; 94, lifting plate; 95, lateral movement walking module; 96, synchronization Belt module; 10, chassis; 11, swing plate mechanism; 111, linear slide rail; 112, longitudinal shift seat; 113, transverse shift gear rack drive module; 114, transverse shift seat; 115, longitudinal shift gear rack drive module; 116, lifting electric cylinder; 12, boron plate; 13, two-way telescopic assembly; 131, telescopic bottom plate; 132, telescopic walking module; 133, middle plate; 134, movable plate; 135, upper rack; 136, upper gear; 137, lower rack; 138, lower gear; 14, telescopic Lifting assembly; 141, telescopic lifting mounting seat; 142, telescopic lifting cylinder; 143, telescopic lifting plate; 15, telescopic positioning assembly; 151, telescopic positioning mounting seat; 152, telescopic positioning cylinder; 153, telescopic positioning plate; 16, swing plate clamp; 161, swing plate clamp seat; 162, swing plate clamp motor; 163, guide shaft; 164, lifting clamp; 165, lifting cylinder; 166, moving clamp; 167, clamp seat; 168, swing plate connecting rod; 169, swing plate swing rod. DETAILED DESCRIPTION

[0044] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0045] Example 1

[0046] See also Figure 1-Figure 16The present invention provides the following technical solutions: a large-size embryo arrangement machine, comprising a four-axis robot 2 and a chassis 10, the four-axis robot 2 is installed on a servo press 1, an electric gripper 3 is installed on the output end of the four-axis robot 2, the chassis 10 is arranged on one side of the servo press 1, a first conveyor belt 5 is installed on the chassis 10, a burr brushing mechanism 4 is installed on the first conveyor belt 5, a turning mechanism 6 is installed on the discharge end side of the first conveyor belt 5, a second conveyor belt 7 located below the turning mechanism 6 is installed on the chassis 10, a boron plate positioning mechanism 8 is provided on one side of the second conveyor belt 7, a swing plate mechanism 11 is provided on one side of the boron plate positioning mechanism 8, and a telescopic plate changing mechanism 9 is provided on one side of the swing plate mechanism 11.

[0047] By adopting the above technical scheme, the present invention uses the four-axis robot 2 to drive the electric gripper 3 to move the blank pressed by the servo press 1 to the first conveyor belt 5 for backward transportation. Compared with the prior art that uses a slide to slide freely onto the belt, friction on the blank is avoided, thereby effectively avoiding scratches on the surface of the blank.

[0048] Specifically, the electric clamp 3 includes a clamp seat 31, a clamp swing rod 33 is connected to the middle position of one end of the clamp seat 31 through a bearing, and the two sides of the end of the clamp seat 31 are respectively connected to the clamp block 32 through a slider guide rail, the clamp swing rod 33 is connected to the clamp block 32 through a clamp connecting rod 34, and the two ends of the clamp connecting rod 34 are respectively rotatably connected to the clamp swing rod 33 and the clamp block 32, and a clamping block 35 for connecting to the output end of the four-axis robot 2 is connected to the top of the clamp seat 31, and a clamp servo motor 36 is also installed on the clamp seat 31, and the output end of the clamp servo motor 36 is connected to the clamp swing rod 33 through a synchronous pulley group 37, and the synchronous pulley group 37 includes a driving pulley, a driven pulley and a synchronous belt, wherein the driving pulley is installed on the output end of the clamp servo motor 36, and the driven pulley is installed at the lower end of the clamp swing rod 33, and the driving pulley and the driven pulley are connected through a synchronous belt.

[0049] By adopting the above technical solution, the present invention drives the clamping jaw block 32 to clamp the blank through the action of the clamping jaw servo motor 36, which can be applicable to blanks of different specifications, and the holding force is stable and controllable. The height and width of the blank can be set through the human-computer interaction interface, and the operation is convenient.

[0050] Specifically, the flipping mechanism 6 includes a flipping mechanism mounting seat 61, on which a flipping motor 67 is installed, and a flipping seat 63 is connected to the output end of the flipping motor 67, a flipping servo motor 64 is installed on one side of the flipping seat 63, and a flipping swing rod 65 is installed on the output end of the flipping servo motor 64, and two flipping clamps 66 are connected to the flipping seat 63 through a slider guide rail, and the flipping clamp 66 and the flipping swing rod 65 are connected through a flipping connecting rod 62, and the flipping connecting rod 62 is rotationally connected to the flip clamp 66 and the flip swing rod 65 respectively.

[0051] By adopting the above technical solution, the blank can be turned 180 degrees.

[0052] Specifically, the boron plate positioning mechanism 8 includes three positioning base plates 81, one end of the three positioning base plates 81 is connected by a positioning profile 82, an intermediate reference plate 83 is connected above the middle positioning base plate 81, positioning cylinders 85 are installed above the positioning base plates 81 on both sides, and a positioning push plate 84 is installed on the output end of the positioning cylinder 85.

[0053] By adopting the above technical solution, the positioning of the boron plate is achieved, so that the position consistency of the blank on the boron plate is guaranteed, which facilitates the development of automated processes such as sintering, grinding, inspection and packaging in the subsequent processes.

[0054] Specifically, the telescopic disc changing mechanism 9 includes a bottom plate 91 and a top plate 92, wherein the bottom plate 91 and the top plate 92 are connected by a plurality of optical axes 93, on which a lifting plate 94 slides, and a synchronous belt module 96 for driving the lifting plate 94 to move is also installed on the bottom plate 91 and the top plate 92, and a transverse moving walking module 95 is installed on the lifting plate 94, and a bidirectional telescopic component 13 is installed on the output end of the transverse moving walking module 95.

[0055] The above technical solution is used to drive the bidirectional telescopic assembly 13 to move up, down, left and right.

[0056] Specifically, the bidirectional telescopic assembly 13 includes a telescopic base plate 131 and an intermediate plate 133 arranged above the telescopic base plate 131, the intermediate plate 133 and the telescopic base plate 131 are connected by a telescopic walking module 132, a movable plate 134 is arranged above the intermediate plate 133, the movable plate 134 and the intermediate plate 133 are connected by a synchronous gear rack group, the synchronous gear rack group includes an upper rack 135, a lower rack 137 and an upper gear 136 and a lower gear 138 that rotate synchronously, wherein the upper gear 136 and the lower gear 138 are mounted on the intermediate plate 133, the upper rack 135 is mounted on the bottom of the movable plate 134, the upper rack 135 is meshed with the upper gear 136, the lower rack 137 is mounted on the telescopic base plate 131, the lower rack 137 is meshed with the lower gear 138, symmetrically arranged telescopic lifting assemblies 14 are arranged on both sides of one end of the telescopic base plate 131, and symmetrically arranged telescopic positioning assemblies 15 are arranged on both sides of the other end of the telescopic base plate 131.

[0057] By adopting the above technical solution, the transportation of empty boron plates and full boron plates can be realized.

[0058] Specifically, the telescopic lifting assembly 14 includes a telescopic lifting mounting seat 141 , a telescopic lifting cylinder 142 is mounted on the telescopic lifting mounting seat 141 , and a telescopic lifting plate 143 is mounted on the output end of the telescopic lifting cylinder 142 .

[0059] By adopting the above technical solution, the empty boron plate or the full boron plate is lifted up, which is convenient for switching the end portion located at the movable plate 134.

[0060] Specifically, the telescopic positioning assembly 15 includes a telescopic positioning mounting seat 151 , a telescopic positioning cylinder 152 is mounted on the telescopic positioning mounting seat 151 , and a telescopic positioning plate 153 is mounted on the output end of the telescopic positioning cylinder 152 .

[0061] By adopting the technical solution, an empty boron plate or a full boron plate can be positioned.

[0062] Specifically, the swing plate mechanism 11 includes two parallel linear slide rails 111, and a longitudinal movement seat 112 is connected above the linear slide rails 111. A longitudinal movement rack and pinion drive module 115 is provided on one side of one of the linear slide rails 111. A transverse movement seat 114 slides on the longitudinal movement seat 112, and a transverse movement rack and pinion drive module 113 is also installed on the longitudinal movement seat 112. A lifting electric cylinder 116 is installed on the transverse movement seat 114, and a swing plate clamp 16 is installed on the output end of the lifting electric cylinder 116. The transverse movement rack and pinion drive module 113 has the same structure as the longitudinal movement rack and pinion drive module 115. The transverse movement rack and pinion drive module 113 includes a servo motor, a gear and a rack. The gear is installed on the output end of the servo motor, and the rack is meshingly connected with the gear.

[0063] By adopting the above technical solution, the swing plate clamping plate 16 is driven to move.

[0064] Example 2

[0065] The present embodiment is different from the embodiment 1 in that: specifically, the burr brushing mechanism 4 comprises a burr brushing shell 41, a hand crank module 42 is installed inside the burr brushing shell 41, and is used to adjust the height of the rotating brush 48 to meet the needs of different specifications of blanks, a burr brushing motor 47 is installed on the output end of the hand crank module 42, and a rotating brush 48 is installed on the output end of the burr brushing motor 47, a dust collecting bucket 44 is provided at the bottom of the burr brushing shell 41, an acrylic cover plate 45 is installed on one side of the burr brushing shell 41, a vacuum cleaner connection port 46 is provided at the upper end of the burr brushing shell 41, and a strip brush 43 is also connected to the burr brushing shell 41.

[0066] By adopting the above technical solution, the burr brushing operation of the blank is realized, thereby avoiding scratches on the surface of the blank during the blank turnover process.

[0067] Example 3

[0068] The present embodiment is different from the embodiment 1 in that: specifically, the wobble plate clamp 16 includes a wobble plate clamp seat 161, a lifting cylinder 165 is installed on one side of the wobble plate clamp seat 161, a lifting clamp 164 is installed on the output end of the lifting cylinder 165, the lifting clamp 164 is also connected to the wobble plate clamp seat 161 through a guide shaft 163, a movable clamp 166 is provided on one side of the lifting clamp 164, the movable clamp 166 is installed on a clamp seat 167, the clamp seat 167 is connected to the wobble plate clamp seat 161 through a slider guide rail, a wobble plate clamp motor 162 is also installed on the wobble plate clamp seat 161, a wobble plate swing rod 169 is installed on the output end of the wobble plate clamp motor 162, the wobble plate swing rod 169 is connected to the clamp seat 167 through a wobble plate connecting rod 168, and the two ends of the wobble plate connecting rod 168 are rotatably connected to the wobble plate swing rod 169 and the clamp seat 167 respectively.

[0069] By adopting the above technical solution, the swing plate clamp motor 162 drives the movable clamp 166 and the lifting clamp 164 to clamp the blank to the swing plate. It can be applied to blanks of different specifications, and the holding force is stable and controllable. The height and width of the blank can be set through the human-computer interaction interface, which is easy to operate.

[0070] Example 4

[0071] Furthermore, the implementation method of the large-scale embryo arrangement machine described in the present invention comprises the following steps:

[0072] (i) Taking out the blank, the four-axis robot 2 drives the electric gripper 3 to move the blank pressed by the servo press 1 to the first conveyor belt 5;

[0073] (ii) Brushing burrs: the blank is conveyed backward along the first conveyor belt 5 to the brushing burr mechanism 4, and the brushing burr motor 47 drives the rotating brush 48 to rotate to brush the burrs of the blank;

[0074] (iii) Flipping the blank. The blank after brushing the burrs is continuously transported backwards to the flip mechanism 6 along the first conveyor belt 5. The flip servo motor 64 is actuated to drive the flip clamp 66 to clamp the blank. Then, the flip motor 67 drives the blank to rotate 180° and place it on the second conveyor belt 7.

[0075] (IV) Boron plate positioning: the telescopic plate changing mechanism 9 places the boron plate 12 on the two positioning bottom plates 81, and the positioning profile 82 realizes the positioning in the front direction. The positioning cylinder 85 drives the positioning push plate 84 to push out and cooperate with the middle reference plate 83 to realize the left and right direction positioning;

[0076] (V) Swinging: The second conveyor belt 7 transports the blank to the swinging position, and the swinging clamp 16 transports the blank to the boron plate 12 for swinging;

[0077] (Six) Change the plate, the synchronous belt module 96 and the transverse walking module 95 cooperate to drive the two-way telescopic component 13 to move to the bottom of the boron plate full of products. At this time, the full boron plate is located at the B end of the movable plate 134, and the telescopic walking module 132 moves, driving the middle plate 133 to move, thereby driving the movable plate 134 to move, so that the full boron plate moves to the telescopic jacking component 14, and the telescopic jacking cylinder 142 moves to drive the telescopic jacking plate 143 to lift the full boron plate, and then the telescopic walking module 132 drives the movable plate 134 to reset backward to the set position. At this time, the A end of the movable plate 134 is located below the full boron plate, and then the telescopic jacking cylinder 142 moves to drive the telescopic jacking plate 143 to lift the full boron plate. The cylinder 142 is actuated to drive the telescopic lifting plate 143 to lower the full boron plate to the A end of the movable plate 134, and the telescopic walking module 132 continues to drive the movable plate 134 to move forward until the full boron plate is located at the telescopic positioning component 15, and the telescopic positioning cylinder 152 is actuated to drive the telescopic positioning plate 153 to clamp the full boron plate, and the synchronous belt module 96 and the transverse walking module 95 cooperate to drive the two-way telescopic component 13 to move to the placement layer of the material cart, and place the full boron plate into the material cart; then the synchronous belt module 96 and the transverse walking module 95 cooperate to drive the two-way telescopic component 13 to move to the empty plate position, and transport the empty boron plate to the boron plate positioning mechanism 8.

[0078] The automated operations involved in the present invention are all controlled by a PLC controller, the positioning of the blank and the boron plate is achieved by a photoelectric sensor, and the clamping pressure of the blank and the boron plate is determined during equipment debugging.

[0079] In summary, the present invention drives the electric gripper 3 through the four-axis robot 2 to carry the blank pressed by the servo press 1 to the first conveyor belt 5 for backward transportation. Compared with the prior art, the blank is freely slid onto the belt by the slideway, which avoids the friction of the blank, thereby effectively avoiding scratches on the surface of the blank. The present invention drives the gripper block 32 to clamp the blank through the action of the gripper servo motor 36, which can be applied to blanks of different specifications, and the holding force is stable and controllable. The height and width of the blank can be set through the human-computer interaction interface, and the operation is convenient. The present invention can achieve 180° flipping of the blank through the setting of the flipping mechanism 6. The present invention realizes the positioning of the boron plate through the setting of the boron plate positioning mechanism 8, so that the position consistency of the blank on the boron plate is guaranteed, which is convenient for the development of automated processes such as sintering, grinding, inspection and packaging in the subsequent process. The present invention realizes the brushing of the burr operation of the blank through the setting of the burr brushing mechanism 4, avoiding scratches on the surface of the blank during the turnover of the blank. The present invention uses the swing plate clamping plate motor 162 to drive the movable clamping plate 166 and the lifting clamping plate 164 to clamp the blank to the swing plate. It can be applied to blanks of different specifications, and the holding force is stable and controllable. The height and width of the blank can be set through the human-computer interaction interface, and the operation is convenient.

[0080] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A large-size embryo arrangement machine, characterized in that: It includes a four-axis robot and a chassis. The four-axis robot is installed on a servo press. An electric gripper is installed on the output end of the four-axis robot. The chassis is arranged on one side of the servo press. A first conveyor belt is installed on the chassis. A burr brush mechanism is installed on the first conveyor belt. A flip mechanism is installed on the discharge end side of the first conveyor belt. A second conveyor belt located below the flip mechanism is installed on the chassis. A boron plate positioning mechanism is provided on one side of the second conveyor belt. A swing plate mechanism is provided on one side of the boron plate positioning mechanism. A telescopic plate changing mechanism is provided on one side of the swing plate mechanism.

2. A large-size embryo arrangement machine according to claim 1, characterized in that: The electric clamp includes a clamp seat, a clamp swing rod is connected to the middle position of one end of the clamp seat through a bearing, and the two sides of the end of the clamp seat are respectively connected to clamp blocks through slider guides, the clamp swing rod and the clamp block are connected through a clamp connecting rod, and the two ends of the clamp connecting rod are respectively rotatably connected to the clamp swing rod and the clamp block, and a clamping block for connecting to the output end of the four-axis robot is connected above the clamp seat, and a clamp servo motor is also installed on the clamp seat, and the output end of the clamp servo motor is connected to the clamp swing rod through a synchronous pulley group.

3. A large-size embryo arrangement machine according to claim 1, characterized in that: The burr brush mechanism comprises a burr brush shell, a hand-cranked module is installed inside the burr brush shell, a burr brush motor is installed on the output end of the hand-cranked module, a rotating brush is installed on the output end of the burr brush motor, a dust collecting bucket is provided at the bottom of the burr brush shell, an acrylic cover is installed on one side of the burr brush shell, a vacuum cleaner connection port is provided at the upper end of the burr brush shell, and a strip brush is also connected to the burr brush shell.

4. A large-size embryo arrangement machine according to claim 1, characterized in that: The flip mechanism includes a flip mechanism mounting seat, a flip motor is installed on the flip mechanism mounting seat, a flip seat is connected to the output end of the flip motor, a flip servo motor is installed on one side of the flip seat, a flip swing rod is installed on the output end of the flip servo motor, two flip clamps are connected to the flip seat through a slider guide rail, the flip clamps and the flip swing rod are connected through a flip connecting rod, and the flip connecting rod is rotationally connected to the flip clamp and the flip swing rod respectively.

5. A large-size embryo arrangement machine according to claim 1, characterized in that: The boron plate positioning mechanism includes three positioning base plates, one end of the three positioning base plates are connected by positioning profiles, an intermediate reference plate is connected above the intermediate positioning base plate, positioning cylinders are installed above the positioning base plates on both sides, and a positioning push plate is installed on the output end of the positioning cylinder.

6. A large-size embryo arrangement machine according to claim 1, characterized in that: The telescopic disc changing mechanism comprises a bottom plate and a top plate, wherein the bottom plate and the top plate are connected by a plurality of optical axes, a lifting plate is slidably arranged on the optical axis, and a synchronous belt module for driving the lifting plate to move is also installed on the bottom plate and the top plate, a transverse moving walking module is installed on the lifting plate, and a two-way telescopic component is installed on the output end of the transverse moving walking module; the two-way telescopic component comprises a telescopic bottom plate and an intermediate plate arranged above the telescopic bottom plate, the intermediate plate and the telescopic bottom plate are connected by the telescopic walking module, a movable plate is arranged above the intermediate plate, and the movable plate and the intermediate plate are connected by a synchronous gear rack group, the synchronous gear rack group comprises an upper rack, a lower rack, and an upper gear and a lower gear that rotate synchronously, wherein the upper gear and the lower gear are arranged on the intermediate plate, the upper rack is arranged on the bottom of the movable plate, the upper rack is meshed with the upper gear, the lower rack is arranged on the telescopic bottom plate, the lower rack is meshed with the lower gear, and symmetrical telescopic jacking components are arranged on both sides of one end of the telescopic bottom plate, and symmetrical telescopic positioning components are arranged on both sides of the other end of the telescopic bottom plate.

7. A large-size embryo arrangement machine according to claim 6, characterized in that: The telescopic lifting assembly includes a telescopic lifting mounting seat, a telescopic lifting cylinder is installed on the telescopic lifting mounting seat, and a telescopic lifting plate is installed on the output end of the telescopic lifting cylinder; the telescopic positioning assembly includes a telescopic positioning mounting seat, a telescopic positioning cylinder is installed on the telescopic positioning mounting seat, and a telescopic positioning plate is installed on the output end of the telescopic positioning cylinder.

8. A large-size embryo arrangement machine according to claim 1, characterized in that: The swing plate mechanism includes two parallel linear slide rails, a longitudinal movement seat is connected to the top of the linear slide rails, a longitudinal movement gear rack drive module is provided on one side of one of the linear slide rails, a transverse movement seat slides on the longitudinal movement seat, a transverse movement gear rack drive module is also installed on the longitudinal movement seat, a lifting electric cylinder is installed on the transverse movement seat, and a swing plate clamp is installed on the output end of the lifting electric cylinder.

9. A large-size embryo arrangement machine according to claim 8, characterized in that: The wobble plate clamp includes a wobble plate clamp seat, a lifting cylinder is installed on one side of the wobble plate clamp seat, a lifting clamp is installed on the output end of the lifting cylinder, the lifting clamp is also connected to the wobble plate clamp seat through a guide shaft, a movable clamp is provided on one side of the lifting clamp, the movable clamp is installed on the clamp seat, the clamp seat is connected to the wobble plate clamp seat through a slider guide rail, a wobble plate clamp motor is also installed on the wobble plate clamp seat, a wobble plate swing rod is installed on the output end of the wobble plate clamp motor, the wobble plate swing rod is connected to the clamp seat through a wobble plate connecting rod, and both ends of the wobble plate connecting rod are respectively rotatably connected to the wobble plate swing rod and the clamp seat.

10. A method for implementing a large-size embryo arrangement machine according to any one of claims 1 to 9, characterized in that: The following steps are involved: (1) Take the blank: the four-axis robot drives the electric gripper to move the blank pressed by the servo press to the first conveyor belt; (ii) burr brushing: the blank is conveyed backward along the first conveyor belt to the burr brushing mechanism, and the burr brushing motor drives the rotating brush to rotate to brush the burrs of the blank; (3) Flip the blank. The blank after brushing the burrs is continuously transported backward to the flip mechanism along the first conveyor belt. The flip servo motor is activated to drive the flip clamp to clamp the blank. Then the flip motor drives the blank to rotate 180° and place it on the second conveyor belt. (IV) Boron plate positioning: the telescopic plate-changing mechanism places the boron plate on top of the two positioning bottom plates, and the positioning profile realizes the front side positioning. The positioning cylinder drives the positioning push plate to push out and cooperate with the middle reference plate to realize the left and right direction positioning; (V) Plate swing: the second conveyor belt transports the blank to the plate swing position, and the plate swing clamp transports the blank to the boron plate for plate swing; (Six) Change the plate, the synchronous belt module and the transverse walking module cooperate to drive the two-way telescopic assembly to move to the bottom of the boron plate full of products. At this time, the full boron plate is located at the B end of the movable plate, and the telescopic walking module moves to drive the middle plate to move, thereby driving the movable plate to move the full boron plate to the telescopic jacking assembly. The telescopic jacking cylinder moves to drive the telescopic jacking plate to lift the full boron plate, and then the telescopic walking module drives the movable plate to reset backward to the set position. At this time, the A end of the movable plate is located below the full boron plate, and then the telescopic jacking cylinder The cylinder moves to drive the telescopic lifting plate to lower the full boron plate to the A end of the movable plate, and the telescopic walking module continues to drive the movable plate forward until the full boron plate is located at the telescopic positioning component. The telescopic positioning cylinder moves to drive the telescopic positioning plate to clamp the full boron plate, and the synchronous belt module and the transverse walking module cooperate to drive the two-way telescopic component to move to the placement layer of the material cart, and put the full boron plate into the material cart; then the synchronous belt module and the transverse walking module cooperate to drive the two-way telescopic component to move to the empty plate position, and move the empty boron plate to the boron plate positioning mechanism.

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