Automatic feeding system of plate shearing machine

Abstract

The invention belongs to the technical field of machining, and particularly relates to a plate shearing machine automatic feeding system which comprises at least one feeding mechanism, two position adjusting mechanisms and two shearing mechanisms. The feeding mechanism comprises a cobalt plate conveyor, and the cobalt plate conveyor at least comprises a first driving source; the position adjusting mechanism comprises a three-axis truss conveying mechanism and a material pushing mechanism, the material pushing mechanism comprises a material pushing rack and a material pushing device, the material pushing rack comprises a material pushing platform, and the whole material pushing device is higher than the material pushing platform and is movably connected with the material pushing rack; the shearing mechanism comprises a plate shearing machine; one end of each position adjusting mechanism is connected with the corresponding shearing mechanism, the two position adjusting mechanisms and the two shearing mechanisms are symmetrically arranged relative to the feeding mechanism, and the feeding mechanism is arranged under the two position adjusting mechanisms, so that the problems of high manual labor intensity and low efficiency are solved.

Description

Technical Field

[0001] The invention belongs to the technical field of cobalt plate processing, and in particular relates to an automatic feeding system for a shearing machine. Background Art

[0002] Cobalt plate is a plate made of metallic cobalt (Co) or cobalt-based alloy. Due to its unique physical and chemical properties, such as high melting point, corrosion resistance, high-temperature stability, and magnetism, cobalt plate plays an irreplaceable role in multiple industrial fields. In order to meet the needs of downstream products, such as battery electrodes need to be cut into specific lengths and widths, the cobalt plate needs to be sheared.

[0003] The existing cobalt plate shearing machine still relies on manual loading. The worker lifts the cobalt plate onto the workbench of the shearing machine, relies on the positioning baffle of the CNC shearing machine to position it, pushes the cobalt plate until it hits the positioning baffle, and then steps on the foot switch. The shearing machine presses down to complete a shearing. This operation is continued until the last section of cobalt plate cannot be pushed manually. The last cobalt plate is often placed in the defective product area because its size does not meet the product requirements. The cost of a cobalt plate is relatively high, so there is a large waste of cobalt plates. In addition, since the edges of the cobalt plates are relatively sharp, manual operation also poses a major safety hazard.

[0004] Therefore, the existing automatic feeding system of the shearing machine still has problems such as high labor intensity, low efficiency, waste of cobalt plates and hidden dangers to workers' safety that need to be solved. Summary of the Invention

[0005] The present application provides an automatic feeding system for a shearing machine to solve the problems of high manual labor intensity and low efficiency.

[0006] The present application provides an automatic feeding system for a shearing machine, comprising at least one feeding mechanism, two position adjustment mechanisms and two shearing mechanisms; The feeding mechanism includes a cobalt plate conveyor, and the cobalt plate conveyor includes at least a first driving source; The position adjustment mechanism includes a three-axis truss transport mechanism and a pushing mechanism, the pushing mechanism includes a pushing frame and a pushing device, the pushing frame includes a pushing platform, the pushing device is higher than the pushing platform as a whole and is movably connected to the pushing frame; The shearing mechanism includes a shearing machine; One end of the position adjustment mechanism is connected to the shearing mechanism. The two position adjustment mechanisms and the two shearing mechanisms are symmetrically arranged relative to the feeding mechanism. The feeding mechanism is arranged directly below the two position adjustment mechanisms.

[0007] In one embodiment provided by the present application, the pushing device includes: a pushing servo motor, a gear connecting rod, a pushing gear, a pushing rack, a double-head right-angle reducer, a pushing slide, a pushing slide rod, a push plate top gear, and a slide cylinder; There are two pusher gears, which are fixed at both ends of the gear connecting rod respectively; There are two pusher racks, which are symmetrically arranged at both ends of the pusher frame, and the pusher slide is close to one side of the pusher frame; The pusher gear is respectively engaged with the pusher racks at both ends of the pusher frame; The double-outlet right-angle reducer is installed at the bottom of the push slide, the push servo motor is fixedly installed at its input end, and the output end is engaged with the gear connecting rod; There are two slide cylinders in total, one end of which is arranged on the side of the push slide rod close to the shearing mechanism, and the other end is connected to the top gear of the push plate; There are four push plate top teeth in total, and each push plate top tooth is arranged on a side of the push slide rod close to the shearing mechanism.

[0008] In an embodiment provided by the present application, the pusher frame also includes a pusher frame body, and two pairs of cobalt plate guide bars are arranged on the pushing platform, each pair of the cobalt plate guide bars is perpendicular to the feed port direction of the shearing machine, and is horizontally arranged on the pushing platform, there is a first gap between each pair of the cobalt plate guide bars, and a second gap between the two pairs of the cobalt plate guide bars.

[0009] In an embodiment provided by the present application, the length of the first gap along the direction parallel to the feed inlet of the shearing machine is greater than the width of the cobalt plate, and the length of the second gap along the direction parallel to the feed inlet of the shearing machine is greater than the width of the double-head right-angle reducer.

[0010] In one embodiment provided by the present application, the cobalt plate conveyor further comprises: a conveyor frame, a foot cup, a sprocket seat, a double-row chain, a drive shaft and a guide plate; There are four foot cups in total, which are respectively arranged at the four corners of the bottom of the conveyor frame; There are four sprocket seats, which are respectively arranged at the four corners of the top of the conveyor frame; The two sprocket seats at one end of the conveyor frame are connected via the driving shaft; There are two groups of double-row chains, which are respectively installed on the sprocket seats on both sides of the conveyor frame; The first driving source is fixed to one end of the conveying frame away from the driving shaft, and the other end of the conveying frame away from the driving shaft is engaged with the double-row chain through the sprocket seat; There are two guide plates in total, each of which is arranged in a "V" shape on one side of the cobalt plate conveyor, and the opening of the "V" shape is away from the double-row chain.

[0011] In an embodiment provided in the present application, the guide plate is made by bending a 316L stainless steel plate with a thickness of 2 mm.

[0012] In an embodiment provided by the present application, the three-axis truss transport mechanism includes a ZY-axis manipulator and an X-axis truss, and the ZY-axis manipulator includes a Z-axis manipulator and a Y-axis manipulator.

[0013] In one embodiment provided by the present application, the Z-axis manipulator includes a Z-axis guide rod, a Z-axis rack, a Z-axis servo motor, a Z-axis guide gear, a Z-axis slider, a Z-axis slide rail, a Z-axis tank chain, and a cobalt plate suction device; The Z-axis rack is fixed to a first side of the Z-axis guide rod; There are four Z-axis sliders in total, which are symmetrically arranged on the second side of the Z-axis guide rod; There are two Z-axis slide rails, which are symmetrically arranged on the second side of the Z-axis guide rod, and their sliding surfaces are engaged with the Z-axis slider; The Z-axis servo motor and the Z-axis guide gear are fixed on the Z-axis guide rod; One end of the Z-axis tank chain is fixed to the Y-axis walking plate, and the other end is fixed to the Z-axis guide rod; The cobalt plate suction device is fixed to one end of the Z-axis manipulator close to the cobalt plate conveyor; The cobalt plate suction device includes an electromagnet, a compression spring, a guide rod, a magnet mounting plate, a 3D camera and a camera mounting bracket; the magnet mounting plate is disc-shaped, and the compression spring is arranged between the magnet mounting plate and the electromagnet through the guide rod. There are eight electromagnets, compression springs and guide rods, and each electromagnet, compression spring and guide rod are matched and evenly arranged in a circular shape on the magnet mounting plate. The 3D camera is fixed to one side of the Z-axis manipulator through the camera mounting bracket.

[0014] In one embodiment provided by the present application, the Y-axis manipulator includes an X-axis walking plate, a Y-axis main beam, a Y-axis rack, a Y-axis slide rail, a Y-axis walking plate, a Y-axis slider, a Y-axis servo motor and a Y-axis tank chain; The X-axis walking plate is fixed to both ends of the bottom of the Y-axis main beam; The Y-axis rack is fixedly arranged on one side of the Y-axis main beam; There are two Y-axis slide rails, which are symmetrically fixed on both sides of the Y-axis main beam; There are four Y-axis sliders, which are symmetrically arranged on one side of the Y-axis walking plate, and the Y-axis sliders are engaged with the sliding surface of the Y-axis slide rail; The Y-axis servo motor is fixedly arranged on the Y-axis walking plate; One end of the Y-axis tank chain is fixed on the Y-axis walking board, and the other end is fixed on the Y-axis main beam.

[0015] In one embodiment provided by the present application, the X-axis truss includes an X-axis slider, an X-axis servo motor, a main truss, an X-axis tank chain, an X-axis rack and an X-axis slide rail; There are four X-axis sliders, which are symmetrically arranged at the bottom of the X-axis walking plate at both ends of the Y-axis manipulator, and the X-axis sliders are engaged with the sliding surface of the X-axis slide rail; There are two X-axis servo motors, which are symmetrically fixed to the X-axis walking plates at both ends of the Y-axis manipulator, and the driving gears of the X-axis servo motors are meshed with the X-axis racks; One end of the X-axis tank chain is fixed to the main truss, and the other end is fixed to the Y-axis main beam.

[0016] The beneficial effects of the present invention are: solving the problems of high manual labor intensity and low efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying any creative work.

[0018] Figure 1 2 is a schematic diagram of the overall structure of the present invention; Figure 2 It is a process flow chart of the present invention; Figure 3 It is an axonometric view of the material pushing mechanism in the present invention; Figure 4 It is a cross-sectional view of the material pushing mechanism in the present invention; Figure 5 It is a cross-sectional view of the material pushing device in the present invention; Figure 6 It is an axonometric view of the pusher frame of the present invention; Figure 7 It is an axonometric view of the cobalt plate conveyor of the present invention; Figure 8 It is an axonometric view of the ZY axis manipulator of the present invention; Figure 9 It is a partial view of the cobalt plate suction device of the present invention; Figure 10 is an axonometric view of the X-axis truss of the present invention; Among them: 1- conveyor frame; 2- foot cup; 3- frequency conversion motor; 4- sprocket seat; 5- double row chain; 6- drive shaft; 7- guide plate; 8- cobalt plate; 9- electromagnet; 10- compression spring; 11- guide rod; 12- magnet mounting plate; 13- 3D camera; 14- camera mounting frame; 15- Z-axis guide rod; 16- Z-axis rack; 17- Z-axis servo motor; 18- Z-axis guide gear; 19- X-axis walking plate; 20- Y-axis main beam; 21- X-axis slider; 22- X-axis servo motor; 23- Y-axis rack; 24- Y-axis slide rail; 25- Y-axis walking plate; 26- Z-axis slider; 27- Y-axis slider; 28- Y-axis servo motor; 29- Y-axis tank chain; 30- Z-axis slide rail; 31- Z-axis tank chain; 32- Main truss; 33-X-axis tank chain; 34-X-axis rack; 35-X-axis slide rail; 36-shearing machine; 37-pusher frame; 371-pusher frame body; 372-pusher platform; 372a-first gap; 372b-second gap; 38-pusher slide; 39-pusher servo motor; 40-gear connecting rod; 41-pusher gear; 42-pusher rack; 43-pusher slide; 44-cobalt plate guide bar; 45-pusher plate top gear; 451-first part; 452-second part; 46-slide cylinder; 47-double-head right-angle reducer; 101-cobalt plate conveyor; 102-cobalt plate suction device; 103-Z-axis manipulator; 104-Y-axis manipulator; 105-X-axis truss; 106-pusher mechanism.

[0019] The purpose, features and advantages of the present invention will be further described with reference to the accompanying drawings in conjunction with the embodiments. DETAILED DESCRIPTION

[0020] The following will be a clear and complete description of the technical solutions in the embodiments. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of them. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0021] Please refer to the instruction manual Figure 1-Figure 2As shown, an automatic feeding system for a shearing machine includes at least one feeding mechanism, two position adjustment mechanisms and two shearing mechanisms; the feeding mechanism includes a cobalt plate conveyor 101, and the cobalt plate conveyor 101 includes at least a first driving source; the position adjustment mechanism includes a three-axis truss transport mechanism and a pushing mechanism 106, the pushing mechanism includes a pushing machine frame 37 and a pushing device, the pushing machine frame includes a pushing platform 372, the pushing device as a whole is higher than the pushing platform 372, and is movably connected to the pushing machine frame 37; the shearing mechanism includes a shearing machine 36; one end of the position adjustment mechanism is connected to the shearing mechanism, and the two position adjustment mechanisms and the two shearing mechanisms are symmetrically arranged relative to the feeding mechanism, and the feeding mechanism is arranged directly below the two position adjustment mechanisms.

[0022] Specifically, the feeding mechanism is used to automatically transport cobalt plates, which can support long-term transportation of cobalt plates, thereby liberating workers and improving labor efficiency. The position adjustment mechanism includes the three-axis truss transport mechanism and the pushing mechanism 106. The three-axis truss transport mechanism is used to adjust the position of the cobalt plate, and place the cobalt plate in the corresponding pushing position of the pushing mechanism 106 in a suitable manner, so that the cobalt plate enters the shearing mechanism from the pushing mechanism 106 in a suitable form to ensure that the cobalt plate is fully sheared into cobalt bars of suitable width, maximize the use of cobalt plates, reduce waste, and further transport the cobalt plate 8, that is, move the cobalt plate 8 from the feeding mechanism to the pushing mechanism 106; it should be noted that the position adjustment accuracy of the cobalt plate by the position adjustment mechanism is higher than the position adjustment accuracy of the feeding mechanism. If the unit of the conveying distance of the feeding mechanism is meter, the displacement unit of the position adjustment mechanism may be decimeter, centimeter or It is millimeters, etc., to fully ensure that the cobalt plate is aligned with the feed port of the shearing machine, and then ensure the position accuracy of the cobalt plate entering the shearing machine; because before the previous cobalt plate completes the shearing action, the next cobalt plate can be placed in the pushing position corresponding to the pushing platform 372, the pushing device and the three-axis truss transport mechanism can operate simultaneously without interfering with each other, and the speed of the pushing mechanism 106 is relatively low. Therefore, the pushing platform 372 of the pushing mechanism 106 can be understood as a temporary storage area for the cobalt plate 8, which can temporarily store the cobalt plate 8 transported from the three-axis truss transport mechanism, and then the pushing slide 38 will intermittently push the cobalt plate 8 into the shearing mechanism to ensure that each cobalt plate 8 is completely sheared by the shearing mechanism, thereby minimizing the waste of cobalt plates 8. The shearing mechanism includes the shearing machine 36, which can shear the block cobalt plate 8 into multiple cobalt bars of suitable width.

[0023] In one embodiment, the automatic feeding system of the shearing machine also includes a feeding mechanism, that is, the automatic feeding system of the shearing machine includes two feeding mechanisms, the two feeding mechanisms are arranged along the same straight line, and the transportation directions of the two feeding mechanisms are opposite, and they are installed directly below the centering line of the two position adjustment mechanisms. The number of feeding mechanisms is increased to improve the efficiency of cobalt plate transportation, thereby improving the shearing efficiency of cobalt plates; in other words, two feeding mechanisms are used to transport cobalt plates at the same time, and the two shearing mechanisms are fully utilized to ensure the efficiency of the entire automatic feeding system of the shearing machine.

[0024] Furthermore, the first driving source is a variable frequency motor, a stepping motor or a servo motor. The first driving source is used to provide power to the feeding mechanism to ensure the automation of the feeding mechanism, that is, the automatic transportation of the cobalt plates. Therefore, the above three motors can meet the requirements.

[0025] Further, see Figure 3 and Figure 4 In one embodiment, the pushing device also includes: a pushing servo motor 39, a gear connecting rod 40, a pushing gear 41, a pushing rack 42, a pushing slide 43, a pushing slide 38, a push plate top tooth 45, a slide cylinder 46 and a double-head right-angle reducer 47; there are two pushing gears 41, which are respectively fixed at both ends of the gear connecting rod 40; there are two pushing racks 42, which are symmetrically arranged at both ends of the pushing frame 37, and the pushing slide 43 is close to one side of the pushing frame 37; the pushing gear 41 is respectively engaged with the pushing racks 42 at both ends of the pushing frame 37; the double-head right-angle reducer 47 is installed at the bottom of the pushing slide 38, and the pushing servo motor 39 is fixed on its input end, and its output end is engaged with the gear connecting rod 40. The rotation of the push servo motor 39 drives the push gears 41 at both ends to rotate, causing the push slide 38 to perform linear motion along the Y axis on the push slide 43, i.e., forward and backward motion. There are two slide cylinders 46, one end of which is located on the side of the push slide 38 close to the shearing mechanism, and the other end is connected to the push plate top teeth 45. The slide cylinder 46 can drive the push plate top teeth 45 to perform linear motion along the Z axis, i.e., up and down motion, to avoid and prepare for pushing the cobalt plate. There are two pairs of push plate top teeth 45, each pair of which is symmetrically located on the side of the push slide 38 close to the shearing mechanism.

[0026] Specifically, see Figure 5The push plate top tooth 45 includes a first part 451 and a second part 452, the first part 451 is rigidly connected to the second part 452, the first part 451 is arranged parallel to the horizontal plane, and there is a first angle between the second part 452 and the first part 451, and the first angle is greater than 90 degrees; the first part 451 abuts the cobalt plate, and the second part 452 is connected to the slide cylinder.

[0027] It is understandable that the thickness of the first portion 451 along the Z-axis direction is greater than the thickness of the cobalt plate, ensuring that when the pushing device pushes the cobalt plate, the side of the first portion 451 close to the shearing mechanism is always in contact with the cobalt plate, preventing the cobalt plate from moving from the side of the first portion 451 to directly contact the second portion 452. Furthermore, the thickness of the first portion 451 along the Z-axis direction is less than the thickness of the shearing machine feed port, so that the push plate top teeth 45, driven by the push servo motor 39, intermittently feed the cobalt plate into the shearing mechanism, gradually shearing the block cobalt plate into multiple cobalt bars of rated width, ensuring that each cobalt plate 8 is completely pushed to the blade of the shearing machine 36 for shearing, effectively avoiding the phenomenon of waste of each cobalt plate 8 to ensure personal safety during manual feeding.

[0028] In one embodiment, see Figure 6 The pusher frame 37 also includes a pusher frame body 371. Two pairs of cobalt plate guide bars 44 are provided on the pushing platform 372. Each pair of the cobalt plate guide bars 44 is perpendicular to the feed port direction of the shearing machine and is horizontally arranged on the pushing platform 372. There is a first gap 372a between each pair of the cobalt plate guide bars 44, and a second gap 372b between the two pairs of the cobalt plate guide bars 44.

[0029] Furthermore, the length of the first gap 372a in a direction parallel to the feed port of the shearing machine is greater than the width of the cobalt plate, and the length of the second gap 372b in a direction parallel to the feed port of the shearing machine is greater than the width of the double-head right-angle reducer 47.

[0030] It should be noted that the pusher platform 372 is horizontally mounted on the pusher frame body 371 and is used to support the pusher device and cobalt plates. Here, the pusher platform 372 can simultaneously support at least two cobalt plates to be pushed into the shearing machine. The pusher platform 372 is also equipped with cobalt plate guide bars 44 to limit the movement trajectory of the cobalt plates 8. These guide bars 44 are arranged perpendicular to the feed port of the shearing machine 36. Each cobalt plate is restrained by a pair of these guide bars 44, limiting the cobalt plate's freedom in two directions. The pusher plate top teeth 45 limit the cobalt plate's freedom in a third direction. There is a first gap between each pair of the cobalt plate guide bars 44, and the length of the first gap 372a along the X-axis direction is greater than the width of the cobalt plate, so as to ensure that the cobalt plate is smoothly pushed into the shearing machine feed port along the first gap 372a; there is a second gap 372b between the two pairs of the cobalt plate guide bars 44, and the length of the second gap 372b along the X-axis direction is less than the length of the first gap 372a along the X-axis direction, and is greater than the length of the double-outlet right-angle reducer 47 along the X-axis direction, so as to avoid interference between the double-outlet right-angle reducer 47 and the cobalt plate guide bars 44 or the cobalt plates.

[0031] In one embodiment, see Figure 7The cobalt plate conveyor 101 also includes: the conveyor frame 1, the foot cup 2, the sprocket seat 4, the double-row chain 5, the drive shaft 6 and the guide plate 7; there are four foot cups 2, which are respectively arranged at the four corners of the bottom of the conveyor frame 1 to adjust the height and level of the cobalt plate conveyor 101; there are four sprocket seats 4, which are respectively arranged at the four corners of the top of the conveyor frame; there are two groups of double-row chains 5, which are respectively installed on the sprocket seats 4 on both sides of the conveyor frame 1; because the edge of the cobalt plate is relatively sharp, the sprocket seat 4 and the double-row chain 5 are matched. When the edge of the cobalt plate contacts the cobalt plate conveyor 101, it can not only ensure that the cobalt plate conveyor 101 is not scratched by the cobalt plate, but also improve the service life of the cobalt plate conveyor 101, and the structure is also simple, and it can save materials and space. In other words, the cobalt plate conveyor 101 can improve the service life of the cobalt plate conveyor 101 while ensuring automatic transportation of cobalt plates, saving costs and space; the two sprocket seats 4 at one end of the conveying frame 1 are connected by the driving shaft 6 to ensure that the double-row chains 5 on both sides of the cobalt plate conveyor 101 rotate synchronously, and can also improve the stability of the cobalt plate conveyor 101 in placing cobalt plates; the first driving source is fixedly arranged at the end of the conveying frame 1 away from the driving shaft 6, that is, the frequency conversion motor 3 is fixed to the end of the conveying frame 1 away from the driving shaft 6, and the first driving source can adjust the conveying speed by adjusting the frequency; the end of the conveying frame 1 away from the driving shaft 6 is engaged with the double-row chain 5 through the sprocket seat 4; there are two guide plates 7, each of which is arranged in a "V" shape on one side of the cobalt plate conveyor 101, and the opening of the "V" shape is away from the double-row chain 5.

[0032] Furthermore, the guide plate is made by bending a 316L stainless steel plate with a thickness of 2 mm.

[0033] Specifically, combined Figure 7As shown, the conveyor frame 1 includes four support legs. The foot cup 2 and the sprocket seat 4 are both equipped with the support rod of the conveyor frame 1. The foot cup 2 is set at the bottom of the support rod and can be used to adjust the height and stability of the cobalt plate conveyor 101. The sprocket seat 4 is set at the top of the support rod. The two sprocket seats 4 at the rear end are connected by the drive shaft 6 to achieve synchronous rotation of the drive shaft 6 and the sprocket seat 4. There are two groups of double-row chains 5, which are installed on the sprocket seats 4 on the left and right sides respectively. That is, each group of double-row chains 5 engages with the two sprocket seats 4 on one side of the conveyor frame 1 for placing and conveying materials. The first drive source is fixedly set in the installation box below the conveyor frame 1. Its output end engages with the double-row chains 5 to drive the double-row chains 5 to move. The first drive source can adjust the conveying speed by adjusting the frequency, voltage, power, etc. There are two guide plates 7, and the material of the guide plates 7 is made of 2 mm thick 316L stainless steel plates. The guide plates 7 are in a "V" shape. The opening of the "V" shape is away from the double-row chain 5, and one side of the "V" shape is in contact with the sprocket seat 4 on the conveyor frame 1. The guide plates 7 are used to limit the cobalt plate 8 and move along the conveying direction of the cobalt plate conveyor 101 to prevent the material from sliding off the side of the cobalt plate conveyor 101 or being placed improperly, thereby guiding the cobalt plate 8. Since the material of the guide plates 7 themselves is stable, they will not contaminate the material when in contact with the material. They can continuously accept the incoming material from the upstream automatic loading, detection and polishing system and accurately convey the material to the grabbing station of the downstream position adjustment mechanism, thereby realizing cobalt plate transportation and automatic loading, avoiding instability caused by manual random loading, damage to the cobalt plate, etc., and effectively improving the efficiency of cobalt plate transportation.

[0034] In one embodiment, the three-axis truss transport mechanism includes a ZY-axis manipulator and an X-axis truss, and the ZY-axis manipulator includes a Z-axis manipulator 103 and a Y-axis manipulator 104. In other words, the ZY-axis manipulator can achieve movement in the X-axis direction, the Z-axis direction, and the Y-axis direction.

[0035] Further, see Figure 8The Z-axis manipulator 103 includes the Z-axis guide rod 15, the Z-axis rack 16, the Z-axis servo motor 17, the Z-axis guide gear 18, the Z-axis slider 26, the Z-axis slide rail 30 and the Z-axis tank chain 31; the Z-axis rack 16 is fixed on the first side of the Z-axis guide rod 15; there are four Z-axis sliders 26, which are symmetrically arranged on the second side of the Z-axis guide rod 15, and the first side is different from the second side; there are two Z-axis slide rails 30, which are symmetrically arranged on the second side of the Z-axis guide rod 15, and their sliding surfaces are engaged with the Z-axis slider 26; the Z-axis servo motor 17 and the Z-axis guide gear A wheel 18 is fixed to the Z-axis guide rod 15. The drive gear of the Z-axis servo motor 17 meshes with the Z-axis rack 16. Rotation of the Z-axis servo motor 17 drives the Z-axis manipulator 103 in linear motion along the Z-axis, i.e., up and down motion. The maximum effective travel of the Z-axis servo motor 17 is 4500 mm, and the maximum movement speed is 0.95 m / s. In other words, the Z-axis servo motor 17 can drive the Z-axis manipulator 103 along the Z-axis within a range of 0 mm to 4500 mm. The speed of the Z-axis manipulator 103 along the Z-axis is adjustable, ranging from 0 m / s to 0.95 m / s. The Z-axis guide gear 18 helps prevent the Z-axis servo motor 17 from shaking. The Z-axis tank chain 31 is fixed to the Y-axis running board 25 at one end and to the Z-axis guide rod 15 at the other end, protecting and guiding the cable as it moves along with the Z-axis manipulator 103.

[0036] Further, see Figure 8 and Figure 9, the Z-axis manipulator 103 also includes a cobalt plate suction device 102, the cobalt plate suction device 102 is fixed to one end of the Z-axis manipulator 103 close to the cobalt plate conveyor 101; the cobalt plate suction device 102 includes an electromagnet 9, a compression spring 10, a guide rod 11, a magnet mounting plate 12, a 3D camera 13 and a camera mounting bracket 14; the magnet mounting plate 12 is disc-shaped, the compression spring 10 is arranged between the magnet mounting plate 12 and the electromagnet 9 through the guide rod 11, the electromagnet Eight magnets 9, compression springs 10, and guide rods 11 are each provided. Each electromagnet 9, compression spring 10, and guide rod 11 are provided in a coordinated manner and are evenly arranged in a circular pattern on the magnet mounting plate 12. When the Z-axis manipulator 103 presses down to pick up the material, the compression spring 10 provides a reaction force to the electromagnet 9. When the electromagnet 9 is energized, it attracts the cobalt plate 8 to ensure that the cobalt plate suction device 102 is fully in contact with the cobalt plate 8, thereby increasing the suction force of the cobalt plate suction device 102 on the cobalt plate 8. The 3D camera 13 is fixed to one side of the Z-axis manipulator 103 via the camera mounting bracket 14. The automatic loading system of the shearing machine uses the 3D camera 13 to scan the position and shape of the cobalt plate 8 and calculates the grasping trajectory to ensure the accuracy of the three-axis truss transport mechanism in grasping the cobalt plate 8.

[0037] In one embodiment, the Y-axis manipulator 104 includes the X-axis walking plate 19, the Y-axis main beam 20, the Y-axis rack 23, the Y-axis slide rail 24, the Y-axis walking plate 25, the Y-axis slider 27, the Y-axis servo motor 28 and the Y-axis tank chain 29; the X-axis walking plate 19 is fixed to both ends of the bottom of the Y-axis main beam 20; the Y-axis rack 23 is fixedly arranged on one side of the Y-axis main beam 20; there are two Y-axis slide rails 24, which are symmetrically fixed on both sides of the Y-axis main beam 20; there are four Y-axis sliders 27, which are symmetrically arranged on one side of the Y-axis walking plate 25, and the Y-axis slider 27 is engaged with the sliding surface of the Y-axis slide rail 24; the Y-axis servo motor 28 is fixedly arranged On the mounting hole of the Y-axis walking plate 25, the driving gear of the Y-axis servo motor 28 is engaged with the Y-axis rack 23. The rotation of the Y-axis servo motor 28 drives the Z-axis manipulator 103 to move linearly along the Y-axis, that is, move back and forth. The maximum effective stroke of the Y-axis servo motor 28 is 1500mm, and the maximum moving speed is 0.85m / s; in other words, the distance range of the Y-axis servo motor 28 along the Y-axis linear motion is 0mm-1500mm, and the moving speed range of the Y-axis servo motor 28 is 0m / s-0.85m / s; one end of the Y-axis tank chain 29 is fixed on the Y-axis walking plate 25, and the other end is fixed on the Y-axis main beam 20, which is used to protect and guide the cable to follow the movement of the manipulator.

[0038] For further information, see Figure 10 The X-axis truss 105 includes the X-axis slider 21, the X-axis servo motor 22, the main truss 32, the X-axis tank chain 33, the X-axis rack 34 and the X-axis slide rail 35; there are four X-axis sliders 21, which are symmetrically arranged at the bottom of the X-axis walking plate 19 at both ends of the Y-axis manipulator 104, and the X-axis sliders 21 are engaged with the sliding surface of the X-axis slide rail 35; there are two X-axis servo motors 22, which are symmetrically fixed on the X-axis walking plate 19 at both ends of the Y-axis manipulator 104, and the driving gear of the X-axis servo motor 22 Engaging with the X-axis rack 34, the X-axis servo motor 22 rotates to drive the Y-axis manipulator 104 to move linearly along the X-axis, that is, left and right movement. The maximum effective stroke of the X-axis servo motor 22 is 4500mm, and the maximum moving speed is 0.95m / s. In other words, the distance range of the X-axis servo motor 22 moving along the X-axis is 0mm-4500mm, and the moving speed of the X-axis servo motor 22 is 0m / s-0.95m / s; one end of the X-axis tank chain 33 is fixed to the main truss 32, and the other end is fixed to the Y-axis main beam 20.

[0039] Specifically, the X-axis, Y-axis, and Z-axis are individually controlled by different servo motors, and instructions are issued uniformly by the PLC, which has high working efficiency. The accuracy of the effective stroke, maximum effective stroke, and maximum moving speed of each axis are different, effectively ensuring the transportation accuracy of the cobalt plate.

[0040] To facilitate understanding of the embodiments of this solution by those skilled in the art, the working principle of this solution is briefly described in conjunction with specific application scenarios: First, the cobalt plate 8 transported by a forklift or an upstream automatic loading, inspection, and polishing system is placed on the double-row chain 5 of the cobalt plate conveyor 101. Since the edges of the cobalt plates are relatively sharp, the double-row chain 5 is used to directly transport the cobalt plates to prevent the cobalt plates from damaging the cobalt plate conveyor 101. This can increase the life of the cobalt plate conveyor 101 and also save materials and costs. The variable frequency motor 3 starts in forward rotation to drive the double-row chain 5, transporting the cobalt plates 8 to the loading station below the three-axis truss transport mechanism. The variable frequency motor 3 can adjust the conveying speed by adjusting the frequency. The three-axis truss transport mechanism moves to 1 meter above the cobalt plate conveyor 101, and the position adjustment mechanism starts to work, adjusting the position of the cobalt plates and transferring the cobalt plates from the cobalt plate conveyor 101 to the pushing position corresponding to the pushing mechanism 106 within the position adjustment mechanism, preparing the cobalt plates for entry into the shearing mechanism. After the 3D camera 13 takes a picture to scan the position and shape of the cobalt plate 8, the grabbing trajectory of the cobalt plate 8 is calculated. The ZY-axis manipulator moves to the top of the cobalt plate 8 according to the calculated trajectory and then slowly presses down. After the electromagnet 9 is energized, the cobalt plate 8 is adsorbed. Since the compression spring 10 provides a reaction force to the electromagnet 9, the cobalt plate 8 will be tightly adsorbed by the cobalt plate suction device 102. The ZY-axis manipulator transports the cobalt plate 8 to the top of the pushing position corresponding to the pushing mechanism 106. At this time, the pushing mechanism 106 is about to push the previous cobalt plate 8 completely into the shearing machine. Cutting mechanism, the Z-axis manipulator descends to 5 cm above the empty space corresponding to the pushing mechanism 106, the electromagnet 9 is powered off, and the cobalt plate falls into the area defined by the cobalt plate guide bar 44, that is, the Z-axis manipulator places the next cobalt plate at the pushing space corresponding to the pushing rack 37. At this time, the ZY-axis manipulator automatically returns to the material-to-be-picked station, that is, the loading work of the ZY-axis manipulator and the pushing work of the pushing mechanism 106 do not interfere with each other. There are two sets of ZY-axis manipulators. By adjusting the moving speed of the ZY-axis manipulator, uninterrupted bilateral loading can be achieved. After the pushing mechanism 106 pushes the previous cobalt plate into the shearing mechanism and the blade shearing is completed, the slide cylinder 46 starts to work, driving the push plate top teeth 45 to rise, and the push slide 38 retracts to the pushing starting point. The slide cylinder 46 drives the push plate top teeth 45 to lower. At this time, the push plate top teeth 45 abut against the tail end of the next cobalt plate, ensuring that the push plate top teeth 45 push the tail of each cobalt plate completely into the shearing mechanism for shearing. The push servo motor 39 drives the push slide 43 toward the feed inlet of the shearing mechanism according to the set program, intermittently entering the shearing mechanism, gradually shearing the cobalt plate into multiple cobalt bars of the rated width.

[0041] The pushing mechanism 106 can adjust the feed amount and feed times according to the performance of the shearing machine 36, production requirements and incoming material conditions to ensure the qualified rate of sheared cobalt bars. The shearing machine 36, the pushing mechanism 106 and the three-axis truss transport mechanism are each provided with two sets, which operate simultaneously to improve production efficiency.

[0042] In one embodiment, the shearing machine 36 in the shearing mechanism includes only one cutter, which is arranged parallel to the feed port of the shearing machine 36. According to the feed speed and feed amount of the cobalt plate pushed by the pushing mechanism 106, the cobalt plate is intermittently cut into multiple cobalt bars of rated width. The width of the cobalt bars is determined by the feed speed and feed amount of the cobalt plate pushed by the pushing mechanism 106.

[0043] In another embodiment, the shearing machine 36 in the shearing mechanism includes a plurality of cutters, which are arranged perpendicular to the feed port of the shearing machine 36. The distance between two adjacent cutters is the width of the cobalt bar. That is, the width of the cobalt bar is determined by the distance between two adjacent cutters in the shearing machine 36. The feed speed and feed amount of the pushing mechanism 106 do not affect the width of the cobalt bar. Each cobalt plate can be sheared into multiple equal cobalt bars at one time, and the shearing speed is faster. Increasing the feed speed of the pushing mechanism 106 can further increase the speed at which each cobalt plate is sheared into multiple cobalt bars at the same time.

[0044] In summary, the present application replaces the manual loading and shearing workflow, improves work efficiency, shortens loading time, increases the qualified rate of cobalt bars, reduces waste, and effectively reduces manual labor intensity and risks.

[0045] The above description is only a preferred embodiment of the present invention and does not limit the patent scope of the present invention. All equivalent structural transformations made by using the contents of the present invention specification under the inventive concept of the present invention, or direct / indirect application in other related technical fields are included in the patent protection scope of the present invention.

Claims

1. An automatic feeding system for a shearing machine, characterized in that: It includes at least one feeding mechanism, two position adjustment mechanisms and two shearing mechanisms; The feeding mechanism includes a cobalt plate conveyor, and the cobalt plate conveyor includes at least a first driving source; The position adjustment mechanism includes a three-axis truss transport mechanism and a pushing mechanism, the pushing mechanism includes a pushing frame and a pushing device, the pushing frame includes a pushing platform, the pushing device is higher than the pushing platform as a whole and is movably connected to the pushing frame; The shearing mechanism includes a shearing machine; One end of the position adjustment mechanism is connected to the shearing mechanism. The two position adjustment mechanisms and the two shearing mechanisms are symmetrically arranged relative to the feeding mechanism. The feeding mechanism is arranged directly below the two position adjustment mechanisms.

2. The automatic feeding system for shearing machine according to claim 1, characterized in that: The pushing device includes: a pushing servo motor, a gear connecting rod, a pushing gear, a pushing rack, a double-head right-angle reducer, a pushing slide, a pushing slide rod, a pushing plate top gear and a slide cylinder; There are two pusher gears, which are fixed at both ends of the gear connecting rod respectively; There are two pusher racks, which are symmetrically arranged at both ends of the pusher frame, and the pusher slide is close to one side of the pusher frame; The pusher gear is respectively engaged with the pusher racks at both ends of the pusher frame; The double-outlet right-angle reducer is installed at the bottom of the push slide, the push servo motor is fixedly installed at its input end, and the output end is engaged with the gear connecting rod; There are two slide cylinders in total, one end of which is arranged on the side of the push slide rod close to the shearing mechanism, and the other end is connected to the top gear of the push plate; There are two pairs of push plate top teeth, and each pair of push plate top teeth is arranged on a side of the push slide bar close to the shearing mechanism.

3. The automatic feeding system for shearing machine according to claim 2, characterized in that: The pusher frame also includes a pusher frame body, and two pairs of cobalt plate guide bars are arranged on the pushing platform, each pair of the cobalt plate guide bars is perpendicular to the feed port direction of the shearing machine, and is horizontally arranged on the pushing platform, there is a first gap between each pair of the cobalt plate guide bars, and a second gap between the two pairs of the cobalt plate guide bars.

4. The automatic feeding system for shearing machine according to claim 3, characterized in that: The length of the first gap in a direction parallel to the feed port of the shearing machine is greater than the width of the cobalt plate, and the length of the second gap in a direction parallel to the feed port of the shearing machine is greater than the width of the double-outlet right-angle reducer.

5. The automatic feeding system for shearing machine according to claim 1, characterized in that: The cobalt plate conveyor also includes: a conveyor frame, a foot cup, a sprocket seat, a double-row chain, a driving shaft and a guide plate; There are four foot cups in total, which are respectively arranged at the four corners of the bottom of the conveyor frame; There are four sprocket seats, which are respectively arranged at the four corners of the top of the conveyor frame; The two sprocket seats at one end of the conveyor frame are connected via the driving shaft; There are two groups of double-row chains, which are respectively installed on the sprocket seats on both sides of the conveyor frame; The first driving source is fixed to one end of the conveying frame away from the driving shaft, and the other end of the conveying frame away from the driving shaft is engaged with the double-row chain through the sprocket seat; There are two guide plates in total, each of which is arranged in a "V" shape on one side of the cobalt plate conveyor, and the opening of the "V" shape is away from the double-row chain.

6. The automatic feeding system for shearing machine according to claim 5, characterized in that: The guide plate is made by bending a 316L stainless steel plate with a thickness of 2 mm.

7. The automatic feeding system for shearing machine according to claim 1, characterized in that: The three-axis truss transport mechanism includes a ZY-axis manipulator and an X-axis truss, and the ZY-axis manipulator includes a Z-axis manipulator and a Y-axis manipulator.

8. The automatic feeding system for shearing machine according to claim 7, characterized in that: The Z-axis manipulator includes a Z-axis guide rod, a Z-axis rack, a Z-axis servo motor, a Z-axis guide gear, a Z-axis slider, a Z-axis slide rail, a Z-axis tank chain and a cobalt plate suction device; The Z-axis rack is fixed to a first side of the Z-axis guide rod; There are four Z-axis sliders in total, which are symmetrically arranged on the second side of the Z-axis guide rod; There are two Z-axis slide rails, which are symmetrically arranged on the second side of the Z-axis guide rod, and their sliding surfaces are engaged with the Z-axis slider; The Z-axis servo motor and the Z-axis guide gear are fixed on the Z-axis guide rod. One end of the Z-axis tank chain is fixed to the Y-axis walking plate, and the other end is fixed to the Z-axis guide rod; The cobalt plate suction device is fixed to one end of the Z-axis manipulator close to the cobalt plate conveyor; The cobalt plate suction device includes an electromagnet, a compression spring, a guide rod, a magnet mounting plate, a 3D camera and a camera mounting bracket; the magnet mounting plate is disc-shaped, and the compression spring is arranged between the magnet mounting plate and the electromagnet through the guide rod. There are eight electromagnets, compression springs and guide rods, and each electromagnet, compression spring and guide rod are matched and evenly arranged in a circular shape on the magnet mounting plate. The 3D camera is fixed to one side of the Z-axis manipulator through the camera mounting bracket.

9. The automatic feeding system for shearing machine according to claim 7, characterized in that: The Y-axis manipulator includes an X-axis walking plate, a Y-axis main beam, a Y-axis rack, a Y-axis slide rail, a Y-axis walking plate, a Y-axis slider, a Y-axis servo motor and a Y-axis tank chain; The X-axis walking plate is fixed to both ends of the bottom of the Y-axis main beam; The Y-axis rack is fixedly arranged on one side of the Y-axis main beam; There are two Y-axis slide rails, which are symmetrically fixed on both sides of the Y-axis main beam; There are four Y-axis sliders, which are symmetrically arranged on one side of the Y-axis walking plate, and the Y-axis sliders are engaged with the sliding surface of the Y-axis slide rail; The Y-axis servo motor is fixedly arranged on the Y-axis walking plate; One end of the Y-axis tank chain is fixed on the Y-axis walking board, and the other end is fixed on the Y-axis main beam.

10. The automatic feeding system for shearing machine according to claim 7, characterized in that: The X-axis truss includes an X-axis slider, an X-axis servo motor, a main truss, an X-axis tank chain, an X-axis rack and an X-axis slide rail; There are four X-axis sliders, which are symmetrically arranged at the bottom of the X-axis walking plate at both ends of the Y-axis manipulator, and the X-axis sliders are engaged with the sliding surface of the X-axis slide rail; There are two X-axis servo motors, which are symmetrically fixed to the X-axis walking plates at both ends of the Y-axis manipulator, and the driving gears of the X-axis servo motors are meshed with the X-axis racks; One end of the X-axis tank chain is fixed to the main truss, and the other end is fixed to the Y-axis main beam.

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