Vacuum interrupter part cold extrusion system and method of use

Abstract

The present application belongs to the technical field of vacuum arc-extinguishing chamber production, and discloses a vacuum arc-extinguishing chamber part cold extrusion system and a use method. A servo shaft group system is installed on the bottom platform of a press machine, and the two sides of the servo shaft group system are provided with a mobile feeding mechanism and a mobile discharging mechanism which have the same structure. The mobile feeding mechanism and the mobile discharging mechanism both have guide rails, the guide rails are provided with slidingly arranged translation mechanisms, and the top of each translation mechanism is provided with a material tray. The servo shaft group system comprises a rotatable support body, the rotatable support body is provided with a first servo shaft, and the first servo shaft comprises a first kinematic pair servo shaft and a second kinematic pair servo shaft which are perpendicular to each other. A six-degree-of-freedom robot is arranged beside the servo shaft group system. The present application can solve the problems of high labor intensity, long production cycle, redundant man-machine operation mode and low production efficiency in the existing production process.

Description

Technical Field

[0001] This invention belongs to the field of vacuum interrupter manufacturing technology, specifically relating to a cold extrusion system for vacuum interrupter parts and its usage method. Background Technology

[0002] The conductive rod of a vacuum interrupter is a key component in the conductive circuit system, playing a crucial role in carrying rated current and ensuring mechanical strength. Vacuum interrupter conductive rods are typically shaft-type parts, manufactured through processes such as blanking, cold extrusion, and milling. The cold extrusion process, in particular, involves placing the blanked part into a cold extrusion die, where the sliding motion of the press closes the upper and lower dies, completing the process from part to semi-finished product. This process is crucial for both blanking and forming. Currently, traditional cold extrusion processes employ a single-person, single-machine or two-person, single-machine operation mode. Workers manually place the part into the die, extrude it, and then manually remove it. This method suffers from high labor intensity, long production cycles, and low efficiency, impacting the industrialization level of enterprises. Therefore, an automated production system for the cold extrusion process of vacuum interrupter conductive rod parts is needed to realize the cold extrusion forming of the conductive rod from part to semi-finished product, reducing production drawbacks and meeting the requirements for automated production.

[0003] Chinese patent application CN104157492A, entitled "A Processing Device for a Vacuum Interruptor," includes: a machine base; a power unit mounted on the machine base, the power unit including a power output end that moves in a horizontal direction; a punch mounted on the power output end; and a guide pin disposed on the machine base, the guide pin having a guide portion extending along the movement direction of the punch. This patent application fails to solve the problem of low efficiency in the cold extrusion production of vacuum interruptor parts. Summary of the Invention

[0004] To overcome the problems existing in the prior art, the present invention aims to provide a cold extrusion system and method for using vacuum interrupter parts. A servo axis group system is disposed between a moving loading mechanism and a moving unloading mechanism, and the servo axis group system includes a first kinematic pair servo axis and a second kinematic pair servo axis that are perpendicular to each other. The present invention can solve the problems of high labor intensity, long production cycle, redundant human-machine operation, and low production efficiency in existing production processes.

[0005] To achieve the above objectives, the technical solution adopted by the present invention is as follows: In a first aspect, the present invention provides a cold extrusion system for vacuum interrupter parts, comprising: a press, the press including a press bottom platform, a press slide slidably mounted on the press bottom platform; a cold extrusion die provided on the press bottom platform, and a cold extrusion punch opposite to the cold extrusion die provided on the press slide; a servo axis assembly system mounted on the press bottom platform, with a moving loading mechanism and a moving unloading mechanism of identical structure provided on both sides of the servo axis assembly system; both the moving unloading mechanism and the moving loading mechanism have guide rails, with a translation mechanism slidably mounted on the guide rails, and a material tray provided on the top of the translation mechanism; the servo axis assembly system including a rotatable support body, with a first servo axis provided on the rotatable support body, the first servo axis including a first kinematic pair servo axis and a second kinematic pair servo axis perpendicular to each other; a first servo cylinder gripper provided at the end of the first kinematic pair servo axis, and a second servo cylinder gripper provided at the end of the second kinematic pair servo axis; and a six-degree-of-freedom robot provided next to the servo axis assembly system.

[0006] Optionally, a loading station and a unloading station are respectively provided on both sides of the six-degree-of-freedom robot; a limiting frame is fixedly installed on the ground at both the loading station and the unloading station.

[0007] Optionally, a material loading trolley is provided at the loading station; a material unloading trolley is provided at the unloading station.

[0008] Optionally, the limiting frame of the loading station and the unloading station is a material cart positioning guide baffle, and a clamping mechanism is installed on the top of the material cart positioning guide baffle.

[0009] Optionally, the ends of the first kinematic pair servo axis and the second kinematic pair servo axis facing away from the first servo axis are both provided with a second servo axis; the first servo cylinder gripper and the second servo cylinder gripper are both provided at the ends of the second servo axis.

[0010] Optionally, both the first servo cylinder gripper and the second servo cylinder gripper have object detection sensors at their ends.

[0011] Optionally, a clamping mechanism is also provided on the top of the translation mechanism, and the clamping mechanism is positioned above the material pallet.

[0012] Optionally, the six-degree-of-freedom robot includes a robot body, on which a rotating plate is mounted, and on which a suction cup-type fingerless manipulator, a manipulator with fingers, and a visual recognition system are mounted.

[0013] Optionally, the visual recognition system includes an image acquisition device.

[0014] Secondly, the present invention provides a method for using the aforementioned cold extrusion system for vacuum interrupter components, comprising the following steps: The six-degree-of-freedom robot picks up the first workpiece to be processed, sprays it with oil, and moves it to the material tray of the mobile feeding mechanism; The first workpiece is moved to a position close to the gripper of the first servo cylinder via the guide rail; the first motion pair servo axis is rotated in the direction of the feeding mechanism; the first workpiece is gripped by the gripper of the first servo cylinder, the first motion pair servo axis is rotated to face the direction of the cold extrusion die, the first workpiece is moved above the cold extrusion die and dropped; At the same time, the material tray of the mobile feeding mechanism returns to the starting position from the gripper of the first servo cylinder. The six-degree-of-freedom robot identifies and grabs the second workpiece to be processed, completes the oil spraying treatment, and places it on the material tray of the mobile feeding mechanism. The press slide moves down, the cold extrusion die and the cold extrusion punch close, and the cold extrusion of the vacuum interrupter conductive rod part is completed; the press slide moves up, and the first semi-finished product is obtained from the cold extrusion die. Simultaneously, the second workpiece to be processed is moved to the position of the servo axis group system near the first servo cylinder gripper via the guide rail. The first motion pair servo axis is rotated again in the direction of the moving feeding mechanism. The second workpiece to be processed is gripped by the first servo cylinder gripper, and the first semi-finished product is taken out from the cold extrusion die by the second servo cylinder gripper.

[0015] Compared with the prior art, the present invention has the following beneficial effects: This invention discloses a cold extrusion system for vacuum interrupter parts, employing a three-station layout design. The system features a vertically arranged press, servo axis assembly, and six-degree-of-freedom robot, with symmetrically distributed loading and unloading channels. Its simple structure and compact layout maximize economic efficiency. Through the coordinated actions of the transfer system comprised of the press, servo axis assembly, and moving loading / unloading mechanism, the six-degree-of-freedom robot, and the material station, redundant actions are avoided, shortening the processing time from workpiece to semi-finished product for the vacuum interrupter conductive rod parts. This solves the problems of low automation and poor product quality and consistency in the cold extrusion process.

[0016] This invention discloses a method for using a cold extrusion system for vacuum interrupter parts. It solves the problems of high labor intensity and redundant human-machine operation in traditional cold extrusion processes. By combining cold extrusion technology, visual recognition technology, and automation technology, the material to be processed flows along a predetermined trajectory and undergoes physical deformation to complete the semi-finished product forming of the vacuum interrupter conductive rod. This improves precision, shortens the production cycle, and increases production efficiency, providing a new idea and solution for the automated production and processing mode of the cold extrusion process for vacuum interrupter conductive rod parts. Attached Figure Description

[0017] The accompanying drawings described herein are for illustrative purposes only and are not intended to limit the scope of the invention in any way. Furthermore, the shapes and proportions of the components in the drawings are merely schematic to aid in understanding the invention and do not specifically limit the shapes and proportions of the components. In the drawings: Figure 1 This is an overall schematic diagram of a cold extrusion system for a vacuum interrupter component according to an embodiment of the present invention; Figure 2 This is a schematic diagram of the servo axis group system structure according to an embodiment of the present invention; Figure 3 This is a schematic diagram of the quick-change module structure of the J6 end wrist axis of the robot of the sixth degree of freedom according to Embodiment 6 of the present invention; Figure 4 This is a schematic diagram of the loading / unloading station and material cart structure according to an embodiment of the present invention; In the diagram: 1. Press bottom platform; 2. Cold extrusion die; 3. Cold extrusion punch; 4. Press slide; 5. Servo axis system; 6. Moving unloading mechanism; 7. Six-DOF robot; 8. Moving loading mechanism; 9. Oil spraying mechanism; 10. First main control console; 11. Second main control console; 12. Third main control console; 13. Central control console; 14. Loading material cart; 15. Loading station; 16. Workpiece to be processed; 17. Unloading material cart; 18. Unloading station; 19. Cold extrusion semi-finished product; 20. First servo axis; 2 1. Second servo axis; 22. First kinematic pair servo axis; 23. Second kinematic pair servo axis; 24. First servo cylinder gripper; 25. Second servo cylinder gripper; 26. Object detection sensor; 27. Material tray; 28. Translation mechanism; 29. ​​Guide rail; 30. Clamping mechanism; 31. Finger-type manipulator; 32. Suction cup fingerless manipulator; 33. Image acquisition device; 34. Light source; 35. Positioning guide baffle; 36. Clamping mechanism; 37. Material sensing sensor; 38. Material container; 39. Material rack. Detailed Implementation

[0018] To enable those skilled in the art to better understand the technical solutions of this invention, the technical solutions of the embodiments of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this invention, and not all embodiments. Based on the embodiments of this invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of this invention.

[0019] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0020] In the description of the embodiments of the present invention, it should be noted that if terms such as "upper", "lower", "horizontal", "inner" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship in which the product of the invention is usually placed during use, they are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention.

[0021] When an element is referred to as being "set on" another element, it can be directly on the other element or there may be an intervening element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or there may be an intervening element. The terms "vertical," "horizontal," "left," "right," and similar expressions used in this invention are for illustrative purposes only and do not represent the only embodiments. The use of the term "horizontal" does not mean that the component is required to be absolutely horizontal, but can be slightly tilted. "Horizontal" simply means that its direction is more horizontal than "vertical," and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0022] It should be noted that similar reference numerals and letters in the following figures denote similar items; therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures. In the description of this invention, it should be understood that the terms "comprising" and "including" indicate the presence of the described features, integrals, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components, and / or collections thereof.

[0023] Unless otherwise defined, all technical and scientific terms used in this invention have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in this specification and the appended claims, the singular forms “a,” “an,” and “the” are intended to include the plural forms unless the context clearly indicates otherwise.

[0024] The present invention will now be described in detail with reference to the accompanying drawings.

[0025] A cold extrusion system for vacuum interrupter parts according to the present invention includes: a press, the press including a press bottom platform 1, a press slide block 4 slidably mounted on the press bottom platform 1; a cold extrusion die 2 disposed on the press bottom platform 1, and a cold extrusion punch 3 disposed on the press slide block 4 opposite to the cold extrusion die 2; a servo shaft assembly system 5 mounted on the press bottom platform 1, and a moving loading mechanism 8 and a moving unloading mechanism 6 with identical structures disposed on both sides of the servo shaft assembly system 5; both the moving unloading mechanism 6 and the moving loading mechanism 8 have... A guide rail 29 is provided, on which a translation mechanism 28 is slidably mounted, and a material tray 27 is mounted on the top of the translation mechanism 28; the servo axis system 5 includes a rotatable support body, on which a first servo axis 20 is mounted, the first servo axis 20 including a first kinematic pair servo axis 22 and a second kinematic pair servo axis 23 that are perpendicular to each other; a first servo cylinder gripper 24 is mounted at the end of the first kinematic pair servo axis 22, and a second servo cylinder gripper 25 is mounted at the end of the second kinematic pair servo axis 23; a six-degree-of-freedom robot 7 is mounted next to the servo axis system 5.

[0026] A method of using a cold extrusion system for vacuum interrupter parts according to the present invention includes the following steps: The six-degree-of-freedom robot 7 picks up the first workpiece 16 to be processed, sprays it with oil, and moves it to the material tray 27 of the mobile feeding mechanism 8.

[0027] The first workpiece 16 is moved to a position close to the first servo cylinder gripper 24 via the guide rail 29; the first motion pair servo shaft 22 is rotated in the direction of the moving feeding mechanism 8; the first workpiece 16 is gripped by the first servo cylinder gripper 24; the first motion pair servo shaft 22 is rotated to face the cold extrusion die 2; the first workpiece 16 is moved above the cold extrusion die 2 and dropped.

[0028] At the same time, the material tray 27 of the mobile feeding mechanism 8 returns to the starting position from the gripper 24 of the first servo cylinder. The six-degree-of-freedom robot 7 identifies and grabs the second workpiece 16 to be processed, completes the oil spraying treatment, and places it on the material tray 27 of the mobile feeding mechanism 8.

[0029] The press slide 4 is moved down, the cold extrusion die 2 and the cold extrusion punch 3 are closed, and the cold extrusion of the vacuum interrupter conductive rod part is completed; the press slide 4 is moved up, and the first semi-finished product is obtained from the cold extrusion die 2. Simultaneously, the second workpiece 16 is moved to the position of the servo axis group system 5 near the first servo cylinder gripper 24 via the guide rail 29, and the first motion pair servo axis 22 is rotated again in the direction of the moving feeding mechanism 8. The second workpiece 16 is gripped by the first servo cylinder gripper 24, and the first semi-finished product is taken out from the cold extrusion die 2 via the second servo cylinder gripper 25.

[0030] This invention discloses a cold extrusion system for vacuum interrupter parts. The system includes a press 4, a servo axis group 5, and a six-degree-of-freedom robot 7. The servo axis group 5 is located between a moving loading mechanism 8 and a moving unloading mechanism 6. The servo axis group 5 includes a first kinematic pair servo axis 22 and a second kinematic pair servo axis 23 that are perpendicular to each other. Its simple structure and compact layout maximize economic efficiency, avoid redundant movements, shorten the processing time of the vacuum interrupter conductive rod parts from the workpiece to the semi-finished product, and solve the problems of low automation and poor product quality and consistency in the cold extrusion process.

[0031] Example 1 like Figure 1 As shown, the present invention discloses an automated cold extrusion system for conductive rod parts of a vacuum interrupter, comprising a press, wherein the press includes a press bottom platform 1, the press bottom platform 1 has a sliding column, and a press slider 4 is slidably mounted on the sliding column.

[0032] In this embodiment, the bottom platform 1 of the press is a rectangle. A Cartesian coordinate system is defined with any point on one side of the bottom platform 1 as the origin. The direction from the side containing the origin toward the opposite side of the side containing the origin on the bottom platform 1 is defined as the +X direction. The direction from the origin toward one of the adjacent sides of the side containing the origin on the bottom platform 1 is defined as the +Y direction. The direction from the origin toward the top surface of the bottom platform 1 is defined as the +Z direction. The directions away from +X, +Y, and +Z are the -X, -Y, and -Z directions, respectively.

[0033] The input end of the press is connected to the first main control panel 10.

[0034] Specifically, the four corners of the bottom platform 1 of the press have sliding columns, and the four corners of the press slider 4 are slidably mounted on the four sliding columns.

[0035] The bottom platform 1 of the press is provided with a cold extrusion die 2, and the slide block 4 of the press is provided with a cold extrusion punch 3 that is arranged opposite to the cold extrusion die 2.

[0036] Specifically, a cold extrusion die 2 and a cold extrusion punch 3 are sequentially arranged along the -Z direction of the press slide 4 of the press.

[0037] A servo axis assembly system 5 is installed on the side of the bottom platform 1 of the press.

[0038] Specifically, a servo axis group system 5 is provided in the -X direction of the bottom platform 1 of the press.

[0039] A moving loading mechanism 8 and a moving unloading mechanism 6 are provided next to the servo axis group system 5.

[0040] Specifically, a moving loading mechanism 8 and a moving unloading mechanism 6 are arranged opposite to each other on both sides of the +Y and -Y directions of the servo axis group system 5.

[0041] Optionally, the servo axis assembly system 5, the moving loading mechanism 8, and the moving unloading mechanism 6 are all fixedly connected to the bottom platform 1 of the press.

[0042] The servo axis group system 5, the mobile loading mechanism 8, and the mobile unloading mechanism 6 are all electrically connected to the second main control console 11 via cables.

[0043] A six-degree-of-freedom robot 7 is installed next to the servo axis group system 5.

[0044] Specifically, the six-degree-of-freedom robot 7 is positioned in the -X axis direction of the servo axis group system 5.

[0045] Optionally, the six-DOF robot 7 is controlled by a teach pendant. The six-DOF robot 7 is electrically connected to the output of the third main control console 12 via a cable.

[0046] The six-degree-of-freedom robot 7 has a loading station 15 and a unloading station 18 on its two sides, respectively.

[0047] The loading station 15 and the unloading station 18 are symmetrically distributed on both sides of the six-degree-of-freedom robot 7 in the Y-axis direction. Specifically, the loading station 15 and the unloading station 18 are respectively located in the -Y direction and the +Y direction of the six-degree-of-freedom robot 7.

[0048] Specifically, both the loading station 15 and the unloading station 18 are equipped with two limiting frames fixedly installed on the ground along the X-axis direction.

[0049] Specifically, the loading station 15 and the unloading station 18 are respectively located in the -Y direction and +Y direction of the six-degree-of-freedom robot 7.

[0050] A material loading cart 14 is provided at the loading station 15. A material unloading cart 17 is provided at the unloading station 18.

[0051] A control device is provided next to the material loading station 15. The control device has a first main control panel 10, a second main control panel 11, a third main control panel 12 and a central control panel 13.

[0052] The first main control console 10, the second main control console 11, the third main control console 12, and the central control console 13 are all controlled by a programmable logic controller (PLC).

[0053] Specifically, the control device is located in the -Y direction of the loading station 15.

[0054] The first main control console 10, the second main control console 11, and the third main control console 12 are electrically connected to the central control console 13, and the central control console 13 enables online connection, signal transmission, and driving.

[0055] Optionally, in this embodiment, the cold extrusion die 2 is made of Cr12MoV material, and the cold extrusion punch 3 is made of W18Cr4V material.

[0056] Both the cold extrusion die 2 and the cold extrusion punch 3 are subjected to quenching, tempering heat treatment and surface nitriding treatment.

[0057] When installing the cold extrusion die 2 and the cold extrusion punch 3, control the die fit error to 0.08mm and the perpendicularity to 0.03mm.

[0058] The first main control console 10 controls the movement of the press slide 4 to cold extrude the workpiece 16 to be processed.

[0059] Specifically, in this embodiment, the workpiece 16 to be processed is a conductive rod of a vacuum interrupter.

[0060] Specifically, in this embodiment, the first main control console 10 is a PLC drive control cabinet with an AM401 series CPU and a corresponding RPM42BD series relay.

[0061] Reference Figure 2 The servo axis system 5 includes a rotatable support body, on which a first servo axis 20 is provided. The first servo axis 20 includes a first kinematic pair servo axis 22 and a second kinematic pair servo axis 23.

[0062] The first kinematic pair servo axis 22 of the first servo axis 20 and the second kinematic pair servo axis 23 are at 90° to each other.

[0063] Both the first kinematic pair servo axis 22 and the second kinematic pair servo axis 23 have a second servo axis 21 at their ends facing away from the first servo axis 20.

[0064] The end of the second servo axis 21 of the first motion pair servo axis 22 is provided with a first servo cylinder gripper 24 as a feeding gripper.

[0065] The second servo axis 21 of the second motion pair servo axis 23 is provided with a second servo cylinder gripper 25 as a material unloading gripper. Both the first servo cylinder gripper 24 and the second servo cylinder gripper 25 have object detection sensors 26 at their ends.

[0066] Optionally, the rotational range of the first servo axis 20 is 0 to 90°; the rotational range of the second servo axis 21 is 0 to 180°.

[0067] Optionally, the object detection sensor 26 is an LTTT-0620MNO-TZ through-beam sensor, used to determine whether the conductive rod semi-finished product has been grasped.

[0068] The moving unloading mechanism 6 and the moving loading mechanism 8 have the same structure.

[0069] Both the mobile unloading mechanism 6 and the mobile loading mechanism 8 have a base, and each base is equipped with a guide rail 29. A translation mechanism 28 is slidably mounted on each guide rail 29. A clamping mechanism 30 and a material tray 27 are mounted on the top of each translation mechanism 28, and the material tray 27 is located below the clamping mechanism 30.

[0070] Optionally, in this embodiment, the translation mechanism 28 is a translation cylinder, and the clamping mechanism 30 is a clamping cylinder.

[0071] The material tray 27 has a material sensing sensor 37. Optionally, the material sensing sensor 37 of the material tray 27 is a sensor of model LJ18A3-8-Z / BX.

[0072] The clamping mechanism 30 has a limiting structure, which is a positioning block with a V-groove. Specifically, the positioning block is a V-shaped self-aligning positioning block. When the material sensing sensor 37 of the material tray 27 senses an incoming material signal, the clamping mechanism 30 automatically clamps the blank or semi-finished workpiece 16 through the limiting structure. When the translation mechanism 28 moves the workpiece 16 to be processed below the first servo cylinder gripper 24 or the second servo cylinder gripper 25, the clamping mechanism 30 releases.

[0073] The movement directions of the moving unloading mechanism 6 and the moving loading mechanism 8 are parallel to the horizontal movement direction of the servo axis group system 5, and both move in the X-axis direction and are perpendicular to the movement direction of the press slide 4.

[0074] Reference Figure 3 The six-degree-of-freedom robot 7 includes a robot body, which is used to perform various actions. The robot body includes end axes J1, J2, J3, J4, J5, and J6. J1 is the S-axis, J2 is the L-axis, J3 is the U-axis, J4 is the R-axis, J5 is the B-axis, and J6 is the T-axis.

[0075] The robot body is equipped with a rotating plate, on which a suction cup-type fingerless robotic arm 32, a fingered robotic arm 31, and a visual recognition system are mounted.

[0076] Specifically, it is indicated that the number of robotic arms 31 is two.

[0077] The visual recognition system includes an image acquisition device 33 and a light source 34.

[0078] Optionally, the image acquisition device 33 is a CCD camera.

[0079] The suction cup-type fingerless robot 32 is used for loading materials onto the bottom platform 1 of the transfer press, while the finger-type robot 31 is used for unloading materials from the bottom platform 1 of the transfer press.

[0080] The visual recognition system takes pictures of the pallet each time through the image acquisition device 33, compares the pictures with the pallet templates stored in the third main control console 12, and the third main control console 12 detects and analyzes the diameter and contour matching of the photographed pallet to determine whether to grab it.

[0081] When debugging the system before cold extrusion production, it is necessary to input relevant data on the palletizing type and take photos of the palletizing template of the parts to be processed.

[0082] Reference Figure 4 The limiting frame of the loading station 15 and the unloading station 18 is a material cart positioning guide baffle 35, and a clamping mechanism 36 is installed on the top of the material cart positioning guide baffle 35.

[0083] Specifically, the clamping mechanism 36 is a clamping cylinder.

[0084] Both the loading material cart 14 and the unloading material cart 17 have a material rack 39, and a material container 38 is provided on the top of the material rack 39. Wheels are provided at the bottom of the material rack 39.

[0085] Specifically, the material cart positioning guide baffle 35 is connected to the ground by bolts, and the two material cart positioning guide baffles 35 are of the same length, are set in parallel opposite directions, and are flush at both ends.

[0086] The material cart positioning guide baffle 35 is equipped with a sliding component to facilitate the guidance of the material cart.

[0087] Specifically, the sliding component of the material cart positioning guide baffle 35 is a roller installed on the inner wall.

[0088] When the loading material cart 14 or unloading material cart 17 is close to the positioning point of the material sensing sensor 37, the material sensing sensor 37 senses that the loading material cart 14 or unloading material cart 17 is in place and transmits a signal to the second main control console 11. The main control console feeds back a signal to the clamping mechanism 36 to lock the loading material cart 14 or unloading material cart 17.

[0089] An oil spraying mechanism 9 is provided in the transition area between the loading station 15 and the mobile loading mechanism 8. When the robot picks up the workpiece 16 to be processed and passes through the transition area, the third main control station 12 issues an oil spraying command to make the oil spraying mechanism 9 spray oil to ensure that the internal deformation of the material of the workpiece 16 is uniform during the cold extrusion process.

[0090] Optionally, there are multiple material containers 38. After the semi-finished conductive rods in a material container 38 are stacked, the third main control console 12 sends a command to transport the material container 38 to the next process connection point, and the workpiece 16 to be processed flows into the next process.

[0091] Specifically, the vacuum interrupter chambers to be processed are unloaded in the material loading cart 14 using a staggered stacking method; the semi-finished conductive rods of the vacuum interrupter chambers to be processed are stacked in the material cart 17 using a matrix stacking method.

[0092] Furthermore, in this embodiment, a sampling conveyor is provided at the transition position between the unloading station 18 and the moving unloading mechanism 6, which is used to transport the processed semi-finished conductive rods to the outside of the production line fence.

[0093] Furthermore, safety fences are installed outside the grasping range of the loading station 15, unloading station 18, and the six-degree-of-freedom robot 7 to prevent personnel from entering the robot's activity area and reduce safety risks.

[0094] Example 2 The present invention discloses a cold extrusion system for vacuum interrupter parts, and the operation method for the process of transferring the workpiece 16 to the finished product is as follows: System debugging and trajectory teaching. According to the production process requirements, input the relevant data of the product, install the cold extrusion die 2 and the cold extrusion punch 3, and adjust the fingered robot 31, the suction cup fingerless robot 32, the first servo cylinder gripper 24, the second servo cylinder gripper 25, and the clamping mechanism 30 to a suitable gripping range.

[0095] Debug the servo axis group system 5 and the robot's motion trajectory, teach the robot's visual recognition points, and complete the recording and reset of the cold extrusion automation system data.

[0096] Position the loading cart 14, which contains the workpiece 16 to be processed, and the empty unloading cart 17 at the loading station 15 and the unloading station 18 respectively, and click the switch on the main control panel 13.

[0097] The clamping mechanism 36 locks the loading material cart 14 and the unloading material cart 17. The six-degree-of-freedom robot 7 moves from the origin to the stacking point of the workpiece 16 to perform material identification. After identification, the six-degree-of-freedom robot 7 switches to the suction cup fingerless manipulator 32 to grab the first workpiece 16 and move it to the oil spraying point of the oil spraying mechanism 9 for oil spraying. Then, the first workpiece 16 is moved to the material tray 27 of the moving loading mechanism 8.

[0098] After the material tray 27 of the mobile feeding mechanism 8 senses the arrival of the material, it moves it to the feeding transition position of the servo axis group system 5 via the guide rail 29, so that the feeding material cart 14 with the workpiece to be processed 16 and the empty unloading material cart 17 are respectively located at the feeding station 15 and the unloading station 18.

[0099] The six-degree-of-freedom robot 7 moves from the origin to the stacking point of the workpiece 16 to perform material identification. After identification, the six-degree-of-freedom robot 7 grabs the first workpiece 16 to be processed and moves it to the spraying point of the spraying mechanism 9 to spray oil. Then, the first workpiece 16 to be processed is moved to the material tray 27 of the moving feeding mechanism 8.

[0100] The first workpiece 16 is moved to the position of the servo axis assembly system 5 near the first servo cylinder gripper 24 via the guide rail 29; the first motion pair servo axis 22 is rotated in the direction of the moving feeding mechanism 8; the first workpiece 16 is gripped by the first servo cylinder gripper 24; the first motion pair servo axis 22 is rotated to face the cold extrusion die 2; the first workpiece 16 is moved above the cold extrusion die 2 and dropped.

[0101] At the same time, the material tray 27 of the mobile feeding mechanism 8 returns to the starting position from the gripper 24 of the first servo cylinder. The six-degree-of-freedom robot 7 identifies and grabs the second workpiece 16 to be processed, completes the oil spraying of the oil spraying mechanism 9, and places it on the material tray 27 of the mobile feeding mechanism 8. After the press senses the incoming material, the press slide 4 moves down, and the cold extrusion die 2 and the cold extrusion punch 3 close, completing the cold extrusion of the vacuum interrupter conductive rod part; the press slide 4 moves up, and the first semi-finished product is obtained from the cold extrusion die 2.

[0102] Simultaneously, the second workpiece 16 is moved to the position of the servo axis group system 5 near the first servo cylinder gripper 24 via the guide rail 29, and the first motion pair servo axis 22 is rotated again in the direction of the moving feeding mechanism 8. The second workpiece 16 is gripped by the first servo cylinder gripper 24, and the first semi-finished product is taken out from the cold extrusion die 2 via the second servo cylinder gripper 25.

[0103] Rotate the first motion pair servo axis 22 toward the cold extrusion die 2, and drop the second workpiece 16 into the cold extrusion die 2.

[0104] The material tray 27 of the moving unloading mechanism 6 is moved from the starting position to a position close to the second servo cylinder gripper 25, and the first semi-finished product is placed onto the material tray 27 of the moving unloading mechanism 6; the material tray 27 of the moving unloading mechanism 6 returns from the unloading transition position to the starting position, and the material tray 27 of the moving loading mechanism 8 returns from the loading transition position to the starting position. Simultaneously, the robot identifies and grasps the third workpiece 16 to be processed, completes the oil spraying, and releases the material onto the material tray 27 of the mobile feeding mechanism 8. The first servo cylinder gripper 24 grasps the third workpiece 16 to be processed, and the second servo cylinder gripper 25 removes the second semi-finished product; the third workpiece 16 is then dropped and cold-pressed.

[0105] At this time, the six-degree-of-freedom robot 7 moves to the material tray 27 of the moving unloading mechanism 6, grabs the first semi-finished product, and stacks it to the first matrix point of the unloading material cart 17. At this time, the material tray 27 of the moving loading mechanism 8 returns from the loading transition position to the starting position. The six-degree-of-freedom robot 7 moves again to the stacking point of the workpiece 16 to be processed, identifies and grabs the fourth workpiece 16 to be processed, completes the oil spraying, and releases it to the material tray 27 of the moving loading mechanism 8. At the same time, the servo axis group system 5 and the material tray 27 of the moving unloading mechanism 6 move to the unloading transition position and release the second semi-finished product to the material tray 27 of the moving unloading mechanism 6.

[0106] At this point, one cycle of automated cold extrusion production of conductive rod parts for vacuum interrupters is completed. After cyclic production testing, the automated cold extrusion system for conductive rod parts for vacuum interrupters operates at a rate of 4 pieces / min, with a daily output of over 3,000 pieces. This significantly shortens the production cycle, improves production efficiency, and reduces labor intensity.

[0107] Unless otherwise specified, the equipment components involved in the above embodiments are all conventional equipment components, and the structural settings, working methods or control methods involved are all conventional settings, working methods or control methods in the art unless otherwise specified.

[0108] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Any other modifications or equivalent substitutions made by those skilled in the art to the technical solutions of the present invention, as long as they do not depart from the spirit and scope of the technical solutions of the present invention, should be covered within the scope of the claims of the present invention.

Claims

1. A cold extrusion system for vacuum interrupter components, characterized in that, include: A press, comprising a press bottom platform (1), on which a press slide block (4) is slidably mounted; a cold extrusion die (2) is provided on the press bottom platform (1), and a cold extrusion punch (3) opposite to the cold extrusion die (2) is provided on the press slide block (4); a servo shaft assembly system (5) is installed on the press bottom platform (1), and a moving feeding mechanism (8) and a moving unloading mechanism (6) with identical structures are provided on both sides of the servo shaft assembly system (5); both the moving unloading mechanism (6) and the moving feeding mechanism (8) have guide rails (29), the guide rails ( 29) A translation mechanism (28) is slidably provided on the top of the translation mechanism (28) and a material tray (27) is provided on the top of the translation mechanism (28); the servo axis group system (5) includes a rotatable support body and a first servo axis (20) is provided on the rotatable support body. The first servo axis (20) includes a first kinematic pair servo axis (22) and a second kinematic pair servo axis (23) that are perpendicular to each other; a first servo cylinder gripper (24) is provided at the end of the first kinematic pair servo axis (22) and a second servo cylinder gripper (25) is provided at the end of the second kinematic pair servo axis (23); a six-degree-of-freedom robot (7) is provided next to the servo axis group system (5).

2. The cold extrusion system for a vacuum interrupter component according to claim 1, characterized in that, The six-degree-of-freedom robot (7) has a loading station (15) and a unloading station (18) on its two sides respectively; both the loading station (15) and the unloading station (18) are equipped with a limiting frame fixedly installed on the ground.

3. The cold extrusion system for a vacuum interrupter component according to claim 2, characterized in that, A material loading cart (14) is provided at the loading station (15); a material unloading cart (17) is provided at the unloading station (18).

4. The cold extrusion system for a vacuum interrupter component according to claim 2, characterized in that, The limiting frame of the loading station (15) and unloading station (18) is a material cart positioning guide baffle (35), and a clamping mechanism (36) is installed on the top of the material cart positioning guide baffle (35).

5. The cold extrusion system for a vacuum interrupter component according to claim 1, characterized in that, The ends of the first kinematic pair servo axis (22) and the second kinematic pair servo axis (23) facing away from the first servo axis (20) are both provided with a second servo axis (21); the first servo cylinder gripper (24) and the second servo cylinder gripper (25) are both provided at the ends of the second servo axis (21).

6. The cold extrusion system for a vacuum interrupter component according to claim 1, characterized in that, Both the first servo cylinder gripper (24) and the second servo cylinder gripper (25) have an object detection sensor (26) at their ends.

7. The cold extrusion system for a vacuum interrupter component according to claim 1, characterized in that, The top of the translation mechanism (28) is also provided with a clamping mechanism (30), which is located above the material tray (27).

8. The cold extrusion system for a vacuum interrupter component according to claim 1, characterized in that, The six-degree-of-freedom robot (7) includes a robot body, on which a rotating plate is mounted, and on which a suction cup-type fingerless manipulator (32), a manipulator with fingers (31), and a visual recognition system are mounted.

9. A cold extrusion system for vacuum interrupter parts according to claim 8, characterized in that, The visual recognition system includes an image acquisition device (33).

10. A method of using the cold extrusion system for a vacuum interrupter component as described in any one of claims 1 to 9, characterized in that, Includes the following steps: The six-degree-of-freedom robot (7) grabs the first workpiece to be processed (16), sprays it with oil, and moves it to the material tray (27) of the mobile feeding mechanism (8). The first workpiece (16) is moved to a position close to the first servo cylinder gripper (24) via the guide rail (29); the first motion pair servo shaft (22) is rotated in the direction of the moving feeding mechanism (8); the first workpiece (16) is gripped by the first servo cylinder gripper (24); the first motion pair servo shaft (22) is rotated to face the cold extrusion die (2); the first workpiece (16) is moved above the cold extrusion die (2) and dropped; At the same time, the material tray (27) of the mobile feeding mechanism (8) returns to the starting position from the gripper (24) of the first servo cylinder. The six-degree-of-freedom robot (7) identifies and grabs the second workpiece (16) to be processed, completes the oil spraying process, and places it on the material tray (27) of the mobile feeding mechanism (8). The press slide (4) is moved down, the cold extrusion die (2) and the cold extrusion punch (3) are closed, and the cold extrusion of the vacuum interrupter conductive rod part is completed; the press slide (4) is moved up, and the first semi-finished product is obtained from the cold extrusion die (2); At the same time, the second workpiece (16) is moved to the position of the servo axis group system (5) near the first servo cylinder gripper (24) via the guide rail (29), and the first motion pair servo axis (22) is rotated again in the direction of the moving feeding mechanism (8). The second workpiece (16) is gripped by the first servo cylinder gripper (24), and the first semi-finished product is taken out from the cold extrusion die (2) by the second servo cylinder gripper (25).

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