Automatic transfer device and transfer method for spinning forming empty mold

Abstract

An automatic transfer device for spinning forming empty dies belongs to the technical field of mechanical automatic conveying equipment, a plurality of sections of conveying belts are provided with initial position detection switches and last position detection switches, the last section is located in front of a lifting type linear guide rail, and a transfer platform is arranged between the last section and the lifting type linear guide rail and is fixed on a base plate of the lifting type linear guide rail. The U-shaped pull disc can be pushed and pulled to slide on the transfer platform by a power cylinder, and a one-way deflector rod is arranged at the open end of the U-shaped pull disc. The empty mold is placed at the initial position of the first section of conveying belt through the robot. The front multi-section conveying belt sequentially conveys the molds according to the sequence that the initial end of each section is provided with empty molds, the tail end is not provided with empty molds and the initial end of the next section is not provided with empty molds until the molds are conveyed to the last section, the power cylinder pulls the empty molds entering the U-shaped pull disc to the lifting type linear guide rail material receiving position to be conveyed away, the steps are repeated in sequence, manual pushing is completely taken, automation of the empty mold transferring link is achieved, and the production efficiency is improved. And potential safety hazards are eliminated. The sectional type power conveying belt design of multi-section independent driving and last-position detection ensures that the transferring process is continuous and stable.

Description

Technical Field

[0001] This invention belongs to the technical field of mechanical automation conveying equipment, specifically relating to an automatic transfer device and method for spinning forming blank molds. It can be specifically applied in the spinning forming production line of electrical porcelain products. During the automatic transfer of blank molds, it is particularly suitable for unloading blank molds at the entrance of the rapid drying chamber. Before the robot places the aluminum mold containing the blank, which has been transferred from the spinning forming production line, onto the chain plate at the entrance of the rapid drying chamber, the blank mold is first removed from the chain plate and placed on the straight section of the blank mold rotary roller conveyor belt of the production line. Then, it is rotated 90° by the semi-circular roller conveyor belt and sent to the "transfer platform" at the front end of the linear lifting guide rail. During the forming process, the blank mold serves to hold the blank and shape its outer contour. In this process, the blank mold rotates and is reused. Background Technology

[0002] The spinning forming line for electrical porcelain products includes a conveyor line for returning empty molds. This line runs from the entrance of the rapid drying chamber at the end of the forming line to the entrance of the forming line itself, and is used to load the blanks that have undergone the initial shaping process after the kneading stage. This conveyor line consists of two sections: one is a lifting linear guide conveyor, and the other is a roller conveyor belt conveyor. The roller conveyor belt consists of several rollers arranged side-by-side, driven by interconnected chains, transporting the empty molds to the starting end of the lifting linear guide.

[0003] The conveyor line consists of two sections: one is a lifting linear guide, and the other is a complete linear roller conveyor belt connected in series with a semi-circular roller conveyor belt, which are started and stopped simultaneously under control. The empty mold is placed at the beginning of the linear roller conveyor belt by a robot, passes through the entire straight section, and then turns by the semi-circular roller conveyor belt. Finally, it needs to be manually pushed at the end of the conveyor belt to the front end of the lifting linear guide (i.e., the transfer platform).

[0004] Currently, this transfer process generally relies on manual operation. Specifically, when the empty mold is conveyed to the end of the semi-circular roller conveyor belt and the lifting linear guide descends to its lowest position, the operator needs to time it precisely and manually push the empty aluminum mold onto the transfer platform of the lifting linear guide. This manual operation method has significant drawbacks:

[0005] Current working methods:

[0006] 1. The straight roller conveyor belt and the semi-circular roller conveyor belt are integrated, and the rollers rotate simultaneously, transporting empty molds. That is, the rotating rollers drive the empty molds forward. When the empty molds on the roller conveyor belt are far apart (this occurs when there are empty molds on the chain plate of the fast drying chamber), the roller conveyor belt will stop before the empty mold at the end of the roller conveyor belt is transferred out by the lifting linear guide. There will then be no empty space at the beginning of the conveyor belt, and it will be impossible to continue loading empty molds. This is due to the transmission characteristics of roller conveyor belts.

[0007] 2. When the empty molds on the roller conveyor belt are far apart, or when there are no empty molds in the middle of the roller conveyor belt, the conveyor belt only starts rotating after the empty mold at the end of the roller conveyor belt is transferred out by the lifting linear guide. The next empty mold takes a long time to be transferred to the end of the conveyor belt by the rollers. If this time exceeds the working cycle of the molding production line, it will affect the efficiency of the production line. Therefore, it is necessary for a person to stand on the outside of the conveyor belt and manually push the empty mold from the beginning of the roller conveyor belt towards the junction of the conveyor belt and the lifting linear guide, providing it for transfer by the lifting linear guide.

[0008] 3. At the junction of the semi-circular roller conveyor belt and the lifting linear guide, the empty mold on the roller conveyor belt is pushed into the lifting linear guide manually. This process requires one person to complete. Firstly, it is labor-intensive, and secondly, it requires the person to judge the rhythm of the lifting linear guide. Before the lifting linear guide moves back to the initial position and is lifted, the person pushes the empty mold into the lifting linear guide manually.

[0009] The original method required dedicated personnel to operate and manually push the mold, which was inefficient, labor-intensive, dependent on experience, prone to gaps in the cycle, and posed significant safety hazards due to the mixed operation of humans and machines. The degree of automation was insufficient, and there was an urgent need for a fully automated alternative. Summary of the Invention

[0010] One objective of this invention is to disclose an automatic transfer device for spinning forming blank molds. Another objective of this invention is to disclose an automatic transfer method using this device, which enables fully automatic, efficient, and safe transfer of blank molds from the front conveyor belt to the lifting linear guide rail, and ensures that the device can achieve seamless interlocking control with existing equipment to guarantee the smooth operation of the entire production line.

[0011] The technical solution adopted is:

[0012] An automatic transfer device for spinning forming empty molds includes a multi-section conveyor belt, a transfer platform, and a U-shaped pull plate mechanism.

[0013] Multiple conveyor belts are connected end to end.

[0014] An initial position detection switch is installed at the beginning of each conveyor belt segment, and an end position detection switch is installed at the end of each conveyor belt segment.

[0015] The last section of the conveyor belt is located in front of the lifting linear guide.

[0016] A transfer platform is installed between the last section of the conveyor belt and the lifting linear guide. The transfer platform with a U-shaped opening is fixed on the base plate of the lifting linear guide.

[0017] The transfer platform is equipped with a U-shaped pull plate mechanism, which includes a slide rail, a U-shaped pull plate, a power cylinder, and a one-way lever.

[0018] The bottom of the U-shaped pull plate is mounted on the transfer platform via a slide rail.

[0019] The sealed end of the U-shaped pull plate is fixedly connected to the piston rod of the power cylinder.

[0020] The cylinder body of the power cylinder is fixed on the transfer platform.

[0021] The open end of the U-shaped pull plate faces the material infeed direction at the end of the last section of the conveyor belt.

[0022] The open end of the U-shaped pull plate is provided with at least one one-way lever.

[0023] The one-way lever is hinged to the U-shaped pull plate via a lever shaft.

[0024] Each one-way lever corresponds to a set of limiting components. The limiting components are set so that when the empty mold does not push the one-way lever forward, the limiting components hold the one-way lever in place, keeping the one-way lever perpendicular to the opening end of the U-shaped pull plate. When the empty mold pushes the one-way lever into the space of the U-shaped pull plate, the limiting components push the one-way lever back forward, so that the one-way lever is perpendicular to the opening end of the U-shaped pull plate again.

[0025] Both the initial position detection switch and the last position detection switch are photoelectric switches.

[0026] The limiting component includes a torsion spring and a stop block, with the stop block fixed to the upper surface of the U-shaped pull plate.

[0027] The torsion spring is sleeved on the lever shaft, with the front end of the torsion spring passing through the one-way lever hole and the rear end of the torsion spring passing through the stop hole.

[0028] The transfer platform is equipped with an extension detection switch and a retraction detection switch for detecting the state of the piston rod.

[0029] Both the extension detection switch and the retraction detection switch are magnetic switches.

[0030] The conveyor belt consists of three sections: a first straight conveyor belt (section I), a second straight conveyor belt (section II), and a third semi-circular conveyor belt (section III).

[0031] The U-shaped pull plate has a one-way lever on each side of its open end.

[0032] The initial end detection switch signal B and the last end detection switch signal E of each section of the conveyor belt are collected in a loop.

[0033] The empty mold is placed in the initial position of the first conveyor belt by the robot.

[0034] The start and stop conditions for the first section of the linear conveyor belt are:

[0035] Startup conditions: EI == OFF, no empty mold at the end of segment I, or BII == OFF (when the robot puts an empty mold into the beginning of the roller conveyor belt, it is necessary to check whether there is an empty mold at the beginning of segment I).

[0036] Stop condition: EI==ON has an empty mode at the end of segment I and BII==ON has triggered the initial bit detection of the next segment.

[0037] The start-up and shutdown conditions for the second section of the linear conveyor belt are as follows:

[0038] Startup conditions: EII == OFF or BIII == OFF.

[0039] Stop condition: EII == ON and BIII == ON.

[0040] The start and stop conditions for the semi-circular conveyor belt in section III are as follows:

[0041] Startup conditions: BIII == ON, there is an empty mode at the beginning of segment III, and EIII == OFF, there is no empty mode at the end of segment III.

[0042] Stop condition: EIII == ON There is an empty mold at the end of segment III, reaching the pull-out station.

[0043] At this point, the pull conditions are: EIII == ON, the empty mold is in place, and the lifting linear guide signal R == ON, indicating that the lifting linear guide is ready.

[0044] The bottom truncated cone of the empty mold enters the transfer platform and extends into the one-way lever of the U-shaped pull plate. The U-shaped pull plate locks the bottom truncated cone of the empty mold through the one-way lever. Driven by the retraction of the piston rod of the drive cylinder, the empty mold is pulled towards the side of the lifting linear guide and transported away by the lifting linear guide.

[0045] Power cylinder reset conditions: The power cylinder completes the pulling action and the lifting linear guide has taken away the empty mold. The lifting linear guide signal R changes from ON to OFF and then back to ON. The power cylinder extends its piston rod to prepare to receive the next empty mold, and the system enters the next working cycle.

[0046] Its advantages are:

[0047] 1. Fully automated operation: It completely replaces manual pushing, realizes automation of the empty mold transfer process, improves production efficiency, reduces labor costs and labor intensity, and eliminates safety hazards.

[0048] 2. Highly adaptable and efficient: The segmented power conveyor belt design with multi-segment independent drive and end-of-line detection can intelligently manage the spacing between empty molds, eliminate gaps, ensure a continuous and stable transfer process, match the original equipment cycle time, and guarantee stable operation.

[0049] 3. Simple and stable positioning and transfer method: Driven by a U-shaped pull plate, a one-way lever and a power cylinder, the empty mold (empty aluminum mold) that slides in by inertia can be stably pulled to the specified station, realizing flexible positioning of the empty mold. The structure is simple, reliable and highly practical.

[0050] 4. High safety: It eliminates the need for personnel to enter the machine operation area, fundamentally avoiding potential safety accidents and meeting the requirements for safe production.

[0051] 5. Simple and reliable structure: The core of the device adopts a power cylinder and mechanical lever structure, which is simple in structure, low in manufacturing cost, low in failure rate, and easy to maintain. Through PLC interlocking, it can be seamlessly connected with the original equipment, improving the automation level of the entire line. Attached Figure Description

[0052] Figure 1 This is a top view of the device arrangement in an embodiment of the present invention.

[0053] Figure 2 This is a top view of the device in an embodiment of the present invention.

[0054] Figure 3 This is a side view of the device in an embodiment of the present invention.

[0055] Figure 4 This is a partial view of the U-shaped pull plate and the one-way lever.

[0056] Figure 5 This is a magnified view of a portion of the torsion spring and the one-way lever.

[0057] Figure 6 This is a sequence function diagram for an embodiment.

[0058] Transfer platform 1, empty mold 2, slide rail 3, slider 4, power cylinder 5.

[0059] 6. U-shaped pull plate; 7. One-way lever; 8. Torsion spring; 9. Lever shaft; 10. Stop block.

[0060] 11. Lifting linear guide rail; 12. Nylon pad; 13. Extension detection switch; 14. Retraction detection switch. Detailed Implementation

[0061] This embodiment discloses an automatic transfer device and method for spinning forming empty molds. Its core purpose is to replace manual operation and provide an empty mold transfer device with a simple structure and reliable operation. It overcomes the drawback that when there are multiple gaps in the middle of a long-distance roller conveyor belt, the empty mold 2 at the beginning needs to be transferred for a long time to reach the end of the conveyor belt only after the empty mold 2 at the end is removed. It realizes the fully automatic, efficient and safe transfer of the empty mold 2 from the linear conveyor belt to the lifting linear guide 11, and ensures that the device can achieve seamless interlock control with the original equipment to ensure the smooth operation of the entire line.

[0062] Technical solution

[0063] 1. Segmented conveying and terminal transfer structure

[0064] 1) Overall layout

[0065] To address the problem of low conveying efficiency caused by the connection of a complete straight conveyor belt and a semi-circular conveyor belt in the prior art when the gap between the empty molds 2 is large, this invention makes a core structural innovation to the straight conveyor belt part.

[0066] The original single-straight conveyor belt was divided into two independent straight conveyor belts, Section I and Section II, which together with the original semi-circular conveyor belt (as Section III) constitute a three-segment independent power system of "two straight and one curved".

[0067] Each conveyor belt is equipped with an independent drive motor, and each conveyor belt has an "initial position detection switch" at the beginning: first initial position detection switch signal (BI), second initial position detection switch signal (BII), and third initial position detection switch signal (BIII). All three switches are photoelectric switches.

[0068] Each section of the conveyor belt is equipped with a "last position detection switch": the first last position detection switch signal (EI), the second last position detection switch signal (EII), and the third last position detection switch signal (EIII). All three switches are photoelectric switches.

[0069] Based on the states of the aforementioned switches, the control system independently controls the start and stop of each section, forming a relay conveyor to ensure that the empty mold 2 is continuously and compactly transported to the transfer platform 1. The operating mechanism of the linear conveyor belts in sections I and II is as follows:

[0070] A. There is no empty mold 2 at the beginning of segment I (BI == OFF), allowing the robot to place empty mold 2 into the initial position of segment I (whether there is an empty mold at the beginning of segment I is not a condition for the operation of that segment of the conveyor belt, but only whether the robot is allowed to place empty mold 2 into this position).

[0071] B. When there is no empty mold 2 at the end of Section I (EI == OFF) or no empty mold 2 at the beginning of Section II (BII == OFF), the conveyor belt of Section I starts to operate.

[0072] C. When empty mold 2 is detected at the end of segment I (EI==ON) and empty mold 2 is also detected at the beginning of segment II (BII==ON), the conveyor belt of segment I stops running.

[0073] D. The starting principle of the second section of the conveyor belt is the same as that of the first section.

[0074] 2) Deployment of transfer platform 1

[0075] A "transfer platform 1" is provided on the base plate between the end of the third section (semi-circular) conveyor belt and the linear lifting guide rail 11, that is, on one side of the linear lifting guide rail 11. The transfer platform 1 and the end of the third section conveyor belt are on the same horizontal plane, and the slide rail 3 is installed on the transfer platform 1 along the traveling direction of the empty mold 2.

[0076] 3) End-of-line transfer execution agency

[0077] The U-shaped pull plate 6 is mounted on the slide rail 3 via the slider 4, and is driven by the drive cylinder 5 (pneumatic cylinder) to move the U-shaped pull plate 6 back and forth.

[0078] The working process is as follows: When the "Initial Position Detection Switch" (BIII) at the beginning of the third section conveyor belt detects the presence of an empty mold 2, and the "End Position Detection Switch" (EIII) at the end of the third section conveyor belt detects the absence of an empty mold 2, the third section conveyor belt starts running. When EIII detects that the empty mold 2 has reached the end of the third section conveyor belt, the third section conveyor belt stops running. At this time, under the inertia of the rollers, about half the width of the bottom truncated cone of the empty mold 2 enters the transfer platform 1 and extends into the one-way levers 7 on both sides of the U-shaped pull plate 6. The U-shaped pull plate 6 holds the bottom truncated cone of the empty mold 2 through the one-way levers 7. Driven by the retraction of the piston rod of the drive cylinder 5, the empty mold 2 is pulled towards the side of the lifting linear guide 11, thereby accurately positioning the empty mold 2 to the final position within the transfer platform 1, preparing for the lifting linear guide 11 to lift the empty mold 2 from below.

[0079] 2. U-shaped pull plate mechanism

[0080] U-shaped pull plate 6 (see) Figure 4-5 .

[0081] 1) The opening of the U-shaped pull plate 6 faces the end of the III section conveyor belt. A one-way lever 7 (one-way) is designed at the opening. The root of the one-way lever 7 is hinged to the U-shaped pull plate 6. The end of the one-way lever 7 is kept perpendicular to the slide rail 3 by the torsion spring 8. The one-way lever 7 can only be moved in the direction of the advance of the empty mold 2, and cannot be moved in the opposite direction from the vertical position.

[0082] 2) Driven by the conveyor belt of section III, the bottom truncated cone of the empty mold 2 passes the one-way lever 7 under the action of inertia. Under the action of the torsion spring 8, the one-way lever 7 returns to the perpendicular state with the slide rail 3. At this time, the one-way lever 7 and the inner ring of the U-shaped pull plate 6 surround and limit the empty mold 2 as one with it.

[0083] 3) The front end of the piston rod is fixedly connected to the rear end of the U-shaped pull plate 6. When the piston retracts, the U-shaped pull plate 6 only needs to move back 50mm to completely drag the empty mold 2 into the designated position of the transfer platform 1 (the first station at the entrance of the lifting linear guide 11). After the empty mold 2 is moved away by the lifting linear guide 11, when the piston extends again, the U-shaped pull plate 6 moves forward to the initial position, waiting for the next empty mold 2 to enter the position.

[0084] 3. Detection and Chain

[0085] 1) The end of the third section of the conveyor belt is equipped with a "third end detection switch EIII" to detect when the empty mold 2 leaves the end of the third section of the conveyor belt and enters the U-shaped pull plate 6.

[0086] 2) The linear lifting type linear guide 11 has a "guide rail ready signal" at the lowest point. When the guide rail is at the lowest point and empty, the PLC logic judges "position detection = ON & guide rail ready = ON" and then issues a piston rod retraction command.

[0087] 3) Extension detection switch 13 and retraction detection switch 14 are respectively installed at both ends of the drive cylinder stroke to realize position feedback. All detection signals are connected to the original equipment PLC to achieve synchronization with the original cycle.

[0088] 4. Key structural components

[0089] 1) U-shaped pull plate: 6mm steel plate bent into shape, with 12mm nylon pad inside to prevent bumps and scratches.

[0090] 2) Slide rail 3: Double-axis linear guide rail with dustproof steel strip.

[0091] 3) Power cylinder 5 (cylinder): φ63×50mm double-acting cylinder with buffer adjustment.

[0092] 4) One-way lever 7: 45# tempered steel, surface plated with hard chrome, torsion spring 8 is a stainless steel torsion spring.

[0093] 5. Operating Mechanism

[0094] The specific working process of the present invention will be described in detail below with reference to the accompanying drawings.

[0095] 1) As shown in the attached diagram, the automatic transfer device is installed at the end (i.e., on the base plate) where the lifting linear guide 11 connects with the original semi-circular conveyor belt (Section III conveyor belt). The empty mold 2 moves under the drive of the rollers of Section III conveyor belt. When the empty mold 2 reaches the end of Section III conveyor belt, under the action of inertia, most of its bottom frustum slides into the transfer platform and pushes open the one-way lever 7 at the opening of the U-shaped pull plate 6, so that the empty mold 2 is contained in the space enclosed by the U-shaped pull plate 6 and the one-way lever 7. At this time, the empty mold 2 has not completely reached the final target station, and there is usually a gap of 50mm.

[0096] 2) The control system (not shown in the figure, usually a PLC) detects that the empty mold 2 has arrived (via a detection switch) and confirms that the subsequent lifting linear guide 11 is in a low position to receive the empty mold 2, and then issues a command. The drive piston rod retracts, pulling the entire U-shaped pull plate 6 along the slide rail 3 towards the lifting linear guide 11, thereby dragging the empty mold 2 to the transfer platform 1, that is, the predetermined station (first station) of the lifting linear guide 11.

[0097] 3) Subsequently, the lifting linear guide 11 rises to remove the empty mold 2. After completion, the piston rod extends, pushing the U-shaped pull plate 6 back to the receiving position, and the one-way lever 7 returns to the blocking state (vertical state) under the action of the torsion spring 8, ready to receive the next empty mold 2.

[0098] 4) Simultaneously, the control system coordinates the actions of each segment of the segmented power conveyor belt. For example, after the empty mold 2 at the end of the current straight section of the conveyor belt or at the beginning of the next section is removed, the current section of the conveyor belt starts. When there is an empty mold 2 at the end of the current section and at the beginning of the next section, the rollers of the current section stop rotating. For example, if there is no empty mold 2 at the beginning of section I, the robot is allowed to place the empty mold 2 in this position. This cycle ensures the continuity and rhythm of the empty mold 2 conveying and achieves seamless interlocking operation with the original equipment.

[0099] 6. Core Control Methods (Algorithm Innovation)

[0100] Another core aspect of this invention is that it provides a dynamic scheduling method for the empty module 2 based on state awareness and interlocking control.

[0101] The control entity of the method is a PLC, and the control logic (algorithm) it executes is based on the following defined system state variables:

[0102] Bi (i = I, II, III...n, where n is a natural number): represents the state of the "initial position detection switch" at the beginning of the i-th segment of the conveyor belt. When the initial position detection switch is blocked by empty mold 2, the state is ON (empty mold 2 is present), otherwise it is OFF (no mold).

[0103] Ei (i = I, II, III...n, where n is a natural number): represents the state of the "end detection switch" at the end of the i-th conveyor belt segment. When the end detection switch is blocked by empty mold 2, the state is ON (empty mold 2 is present), otherwise it is OFF (no mold).

[0104] R: Represents the "rail ready signal" of the lifting linear guide 11. When the guide is at its lowest point and unloaded, the state is ON (ready), otherwise it is OFF (not ready).

[0105] Qcylinder: Indicates the state of the drive cylinder (RETRACT - retract the mold OFF, EXTEND - extend and standby ON).

[0106] This method solves the problem of cycle mismatch caused by uneven spacing of hollow mold 2 in long-distance transportation through distributed detection and centralized decision-making, and realizes accurate and dynamic matching between the supply of hollow mold 2 and the demand of lifting linear guide 11.

[0107] The control unit of this method is a PLC, and its control logic (algorithm) is as follows:

[0108] 1) Define system state variables:

[0109] Bi(i=I,II,III): The state of the "initial position detection switch" at the beginning of the i-th segment of the conveyor belt (ON - empty mold 2 is present, OFF - no empty mold 2 is present).

[0110] Ei (i = I, II, III): The state of the "end detection switch" at the end of the i-th segment of the conveyor belt (ON - empty mold 2 present, OFF - no empty mold 2 present).

[0111] R: Lifting linear guide 11 "Guide ready signal" (ON - the guide is in low position and unloaded, ready to connect to the empty mold 2).

[0112] Qcylinder: The state of drive cylinder 5 (RETRACT - retract the mold, EXTEND - extend and standby).

[0113] 2) Control Logic and Decision Algorithm:

[0114] The core of the algorithm is a feedforward-feedback composite control strategy based on each state segment. Its decision-making process is as follows (see attached diagram). Figure 6 understand):

[0115] For section III conveyor belt:

[0116] Startup conditions: BIII == ON (there is an empty module 2 at the beginning of segment III) and EIII == OFF (there is no module at the end of segment III).

[0117] Stop condition: EIII == ON (There is empty mold 2 at the end of segment III, that is, empty mold 2 has reached the position to be pulled out).

[0118] For section II conveyor belt:

[0119] Start-up conditions: EII == OFF (no empty mold at the end of segment II, allowing empty mold 2 of this segment to enter this position) or BIII == OFF (no empty mold 2 at the beginning of segment III, making room for downstream).

[0120] Stop conditions: EII == ON (there is an empty modulus 2 at the end of segment II) and BIII == ON (initial bit detection of the next segment has been triggered).

[0121] For the first section of the conveyor belt:

[0122] Startup conditions: EI == OFF (no mold at the end of segment I) or BII == OFF (no empty mold 2 at the beginning of segment II, making room for downstream).

[0123] Stop conditions: EI == ON (there is an empty modulus 2 at the end of segment I) and BII == ON (initial bit detection of the next segment has been triggered).

[0124] Regarding the action of power cylinder 5 on transfer platform 1:

[0125] Pull conditions: EIII == ON (empty mold 2 is in place) and R == ON (lifting linear guide 11 is ready).

[0126] Reset conditions: The cylinder completes the pulling action (confirmed by the cylinder retraction magnetic switch) and the lifting linear guide 11 has removed the empty mold 2 (the R signal changes from ON to OFF and then back to ON, or is triggered by a separate "mold removal complete" signal).

[0127] 3) The innovativeness and beneficial effects of the method:

[0128] Dynamic cycle time matching: This method is not a simple "materials arrive and go" approach, but rather a "pull" production logic that "only releases upstream when there is space downstream" by detecting empty molds at the end of the current segment and the beginning of the next segment. This effective and continuous delivery of empty molds also prevents congestion at the entrance of segment III, ensuring stable processing cycle time at transfer platform 1.

[0129] Eliminating waiting time: Through segmented independent drive and status detection, the system can "anticipate" and replenish the dispersed empty molds 2 to the end in advance. When the empty mold 2 on the transfer platform 1 is removed, the system can immediately start the third section conveyor belt (if BIII == ON), or interlock and start the second and first section conveyor belts to transport the next empty mold 2 to the ready position in advance, thereby minimizing the waiting time of the lifting linear guide 11.

[0130] Full-process state closed loop: The entire method constitutes a closed-loop control system. From the robot placing the mold (the beginning of segment I) to the lifting linear guide 11 taking the mold (transfer platform 1), every action is based on clear sensor feedback and interlocking conditions, realizing fully automatic and unmanned intelligent scheduling, which cannot be achieved by manual operation or simple timing control.

[0131] In this embodiment, the automatic transfer process of the empty mold 2, based on the coordinated operation of hardware devices, is executed by the PLC using the aforementioned "core control method," the precise logic flow of which is shown in the appendix. Figure 6 As defined by the Sequential Function Chart (SFC) shown. A typical work cycle is as follows:

[0132] 1) Loading and Segmented Conveying of Empty Mold 2: Empty mold 2 is placed at the initial position of the first segment conveyor belt by the robot, blocking the "first initial position detection switch" (BI state is ON). The PLC starts the first segment drive motor according to the logic defined in the SFC (e.g., satisfying the conditions EI == OFF || BII == OFF), sending the empty mold 2 out. Empty mold 2 is then intermittently conveyed through segments II and III in sequence. The start and stop of each segment strictly follow the "pull" logic based on upstream and downstream states in the SFC, ensuring the orderly movement of empty mold 2 and eliminating gaps in the conveyor belt.

[0133] 2) End Positioning and Condition Judgment: When the empty mold 2 reaches the end of the III section conveyor belt, it triggers the "Third End Position Detection Switch" (EIII state is ON). Under the action of inertia, the bottom frustum of the empty mold 2 slides into the U-shaped pull plate 6 of the transfer platform 1 and is limited by the one-way lever 7. At this time, the control system detects that "empty mold 2 is in place" (EIII == ON) and waits for the "ready signal of the lifting linear guide 11" (R == ON).

[0134] 3) Automatic mold pulling and precise positioning: When the PLC detects that the above two conditions are met simultaneously (i.e., the transfer condition T10 in the SFC is met), it immediately controls the cylinder solenoid valve to be energized, driving the piston rod to retract 50mm. The U-shaped pulling plate 6, along with the piston rod, drags the empty mold 2 to the designated material picking position on the lifting linear guide rail 11.

[0135] 4) Guide Rail Mold Removal and System Reset: The linear lifting guide rail 11 then rises to remove the empty mold 2. The mold removal action causes the "guide rail ready signal" R to reset (from ON to OFF). After the lifting linear guide rail 11 completes mold removal and descends again to the receiving low position, the R signal returns to ON (this change is the transfer condition T12 in SFC). Based on this, the PLC issues a command to drive the piston rod to extend, causing the U-shaped pull plate 6 to reset to the initial receiving position, ready to receive the next empty mold 2, and the system enters the next working cycle.

[0136] In this embodiment, the automatic control process, including its state transitions and parallel collaborative logic, is strictly controlled by the PLC according to the appendix. Figure 6 The Sequential Function Chart (SFC) shown and the aforementioned core control methods are executed.

[0137] The original equipment was an externally sourced spinning forming production line; this device was added later as part of a technical upgrade.

[0138] The empty mold 2 is an aluminum mold used for spinning and forming electrical porcelain products, and is especially suitable for disc suspension porcelain insulator production lines.

[0139] An automatic transfer device for spinning forming empty mold includes a segmented power conveyor belt, a transfer platform 1, a U-shaped pull plate mechanism, and a control system.

[0140] The segmented power conveyor belt consists of three independently driven roller conveyor belts connected end to end, used to receive and intermittently transport the empty mold 2, namely the first section straight conveyor belt, the second section straight conveyor belt, and the third section conveyor belt (semi-circular).

[0141] The first initial position detection switch, the second initial position detection switch, and the third initial position detection switch are respectively installed at the beginning of the first section of the linear conveyor belt, the second section of the linear conveyor belt, and the third section of the conveyor belt.

[0142] The first end-position detection switch, the second end-position detection switch, and the third end-position detection switch are respectively installed at the end of the first section of the linear conveyor belt, the second section of the linear conveyor belt, and the third section of the conveyor belt.

[0143] The end of the third conveyor belt is equipped with a lifting linear guide 11, which is existing technology.

[0144] Empty mold 2 passes through the six detection switches mentioned above in sequence.

[0145] The transfer platform is located between the third conveyor belt in the segmented power conveyor belt and the lifting linear guide 11, at the material receiving (empty mold) station on one side of the lifting linear guide 11.

[0146] The horizontally positioned transfer platform 1 is fixed on the base plate of the lifting linear guide rail 11.

[0147] The transfer platform 1 has a U-shaped opening corresponding to the U-shaped pull plate 6.

[0148] The transfer platform 1 is equipped with a U-shaped pull plate mechanism, which includes a slide rail 3, a U-shaped pull plate 6, a power cylinder 5, and a one-way lever 7.

[0149] Two parallel slide rails 3 are fixed on the transfer platform 1. The bottom sides of the U-shaped pull plate 6 are respectively set on the slide rails 3 by corresponding sliders 4. The U-shaped pull plate 6 can slide back and forth on the slide rails 3 along the conveying direction of the empty mold 2.

[0150] The sealing end of the U-shaped pull plate 6 is fixedly connected to the piston rod of the power cylinder 5.

[0151] The cylinder body of the power cylinder 5 is fixed on the transfer platform 1.

[0152] The open end of the U-shaped puller 6 faces the material infeed direction at the end of the III conveyor belt.

[0153] A horizontally positioned one-way lever 7 is provided on each side of the open end of the U-shaped pull plate 6. The one-way lever 7 is hinged to the U-shaped pull plate 6 via a lever shaft 9.

[0154] Each one-way lever 7 corresponds to a set of limiting components. The limiting components are set so that when the empty mold 2 does not push the one-way lever 7 forward, the limiting components hold the one-way lever 7 against the one-way lever 7, making the one-way lever 7 perpendicular to the opening end of the U-shaped pull plate 6 (that is, perpendicular to the slide rail 3). When the empty mold 2 pushes the one-way lever 7 into the space of the U-shaped pull plate 6, the limiting components push the one-way lever 7 forward and back, so that the one-way lever 7 returns to being perpendicular to the opening end of the U-shaped pull plate 6.

[0155] The limiting component includes a torsion spring 8 and a stop block 10. The stop block 10 is fixed to the upper surface of the U-shaped pull plate 6 and is parallel to the slide rail 3.

[0156] The torsion spring 8 is sleeved on the lever shaft 9. The front end of the torsion spring 8 passes through the one-way lever hole, and the rear end of the torsion spring 8 passes through the stop hole. The torsion spring 8 is located between the one-way lever 7 and the U-shaped pull plate 6.

[0157] When the empty mold 2 pushes the one-way lever 7, the one-way lever 7 rotates around the lever shaft 9, and the one-way lever 7 presses against the front end of the torsion spring 9, while the rear end of the torsion spring 9 abuts against the rear stop block 11. After the empty mold 2 enters the space of the U-shaped pull plate 6, the front end of the torsion spring 9 pushes the one-way lever 7 forward to restore the vertical state, allowing the empty mold 2 to enter the U-shaped pull plate 6 in one direction and preventing it from exiting in the opposite direction. The one-way lever 7 is kept in a vertical limiting state by the torsion spring 8, the stop block 10, and the corresponding one-way lever hole and stop block hole.

[0158] The transfer platform 1 is equipped with an extension detection switch 13 and a retraction detection switch 14 for detecting the status of the piston rod. Both the extension detection switch 13 and the retraction detection switch 14 are magnetic switches used to feed back position signals to the PLC.

[0159] The control system is connected to the drive motors and drive cylinders of the segmented power conveyor belt, as well as the control center signal of the original equipment. The control system is used to receive status signals from each station (such as whether there is an empty mold 2, whether the lifting linear guide 11 is in a low position), and accordingly control the start and stop of each section of the conveyor belt and the extension and retraction of the drive cylinders, so as to achieve interlocking with the operating rhythm of the original equipment.

[0160] An automatic transfer method for empty molds in a spinning forming line includes the following steps: The method is implemented by a PLC executing the following executable instructions:

[0161] S1: Cyclicly collect the status values ​​of the start-end detection switches BI, BII, BIII and the end-end detection switches EI, EII, EIII of each section of the conveyor belt.

[0162] S2: The PLC outputs QII=ON to start the second-stage drive motor only when EII==OFF or BIII==OFF. When EII==ON and BIII==ON, the PLC outputs QII=OFF. (The driving principle for the first-stage QI is the same. The driving principle for the third-stage QIII is that when BIII==ON and EII==OFF, QIII=ON; when EIII==ON, QIII=OFF).

[0163] S3: When EIII = ON and the ready signal R = ON of the lifting linear guide 11, the PLC outputs Qcylinder = OFF to drive the piston rod to retract, so that the U-shaped pull plate 6 drags the empty mold 2 to the material picking position of the lifting linear guide 11.

[0164] S4: After the lifting linear guide 11 completes the mold taking and the signal R is reset, the PLC outputs Qcylinder=ON to drive the piston rod to extend and the U-shaped pull plate 6 is reset to the receiving position.

[0165] In this method, both the status and output quantities are Boolean values ​​in the PLC registers. The method uses executable instructions to dynamically match the conveying of the empty mold 2 with the cycle time of the lifting linear guide 11. This eliminates idle waiting by dynamically matching the conveying of the empty mold 2 with the operating cycle time of the lifting linear guide 11 through PLC executable instructions.

[0166] The drive motors for each segment of the segmented power conveyor belt are speed-regulating motors.

[0167] The PLC performs anti-jitter filtering on the BI / EI status in each scan cycle.

Claims

1. An automatic transfer device for spinning forming hollow mold, comprising a plurality of conveying belts, a transfer platform (1) and a U-shaped pull plate mechanism, characterized in that: the plurality of conveying belts are connected end to end; the initial position detection switch is arranged at the beginning of each conveying belt, and the end position detection switch is arranged at the end of each conveying belt; the last conveying belt is located in front of the lifting linear guide rail (11); the transfer platform (1) is arranged between the last conveying belt and the lifting linear guide rail (11), the transfer platform (1) with a U-shaped opening is fixed on the base plate of the lifting linear guide rail (11); the U-shaped pull plate mechanism is arranged on the transfer platform (1), and the U-shaped pull plate mechanism comprises a sliding rail (3), a U-shaped pull plate (6), a power cylinder (5) and a one-way lever (7); the bottom of the U-shaped pull plate (6) is arranged on the transfer platform (1) through the sliding rail (3); the closed end of the U-shaped pull plate (6) is fixedly connected with the piston rod of the power cylinder (5); the cylinder body of the power cylinder (5) is fixed on the transfer platform (1); the open end of the U-shaped pull plate (6) faces the incoming direction of the end of the last conveying belt; the open end of the U-shaped pull plate (6) is provided with at least one one-way lever (7); the one-way lever (7) is hinged to the U-shaped pull plate (6) through the lever shaft (9); each one-way lever (7) corresponds to a set of limiting components, and the limiting components are arranged to abut against the one-way lever (7) when the hollow mold (2) does not push the one-way lever (7) forward, so that the one-way lever (7) is kept perpendicular to the open end of the U-shaped pull plate (6); after the hollow mold (2) pushes the one-way lever (7) into the space of the U-shaped pull plate (6), the limiting components push the one-way lever (7) back forward, so that the one-way lever (7) is restored to be perpendicular to the open end of the U-shaped pull plate (6).

2. The automatic transfer device for spinning forming hollow mold according to claim 1, characterized in that: the initial position detection switch and the end position detection switch are both photoelectric switches.

3. The automatic transfer device for spinning forming hollow mold according to claim 1, characterized in that: the limiting components comprise a torsion spring (8) and a stop block (10), and the stop block (10) is fixed on the upper surface of the U-shaped pull plate (6); the torsion spring (8) is sleeved on the lever shaft (9), the front end of the torsion spring (8) penetrates through the one-way lever hole, and the rear end of the torsion spring (8) penetrates through the stop block hole.

4. The automatic transfer device for spinning forming hollow mold according to claim 1, characterized in that: the transfer platform (1) is provided with an extension detection switch (13) and a retraction detection switch (14) for detecting the state of the piston rod.

5. The automatic transfer device for spinning forming hollow mold according to claim 4, characterized in that: the extension detection switch (13) and the retraction detection switch (14) are both magnetic switches.

6. The automatic transfer device for spinning forming hollow mold according to claim 1, characterized in that: the conveying belts are three segments, namely a first straight conveying belt, a second straight conveying belt and a third semicircular conveying belt.

7. The automatic transfer device for spinning forming hollow mold according to claim 1, characterized in that: one one-way lever (7) is arranged on each side of the open end of the U-shaped pull plate (6). ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ 8. A transfer method using an automatic transfer device for a spinning forming air mold, characterized by Comprising the following steps: Cyclically collect each section of the initial end of the conveyor belt detection switch signal Bi and the last detection switch signal Ei; The empty mold (2) is placed by the robot to the initial position of the first section of the conveyor belt; The start and stop conditions of the first section of the straight conveyor belt are: Start condition: Ei == OFF, no empty mold (2) at the end of the first section, or BII == OFF (when the robot puts the empty mold into the initial end of the roller conveyor belt, it needs to detect whether there is an empty mold at the initial end of the first section); Stop condition: EI == ON, there is an empty mold (2) at the end of the first section, and BII == ON, which has triggered the initial position detection of the next section; The start and stop conditions of the second section of the straight conveyor belt are: Start condition: EII == OFF or BIII == OFF; Stop condition: EII == ON and BIII == ON; The start and stop conditions of the third section of the conveyor belt are: Start condition: BIII == ON, there is an empty mold (2) at the initial end of the third section, and EIII == OFF, there is no empty mold (2) at the end of the third section; Stop condition: EIII == ON, there is an empty mold (2) at the end of the third section, and it reaches the pulling station; The pulling condition at this time: EIII == ON, the empty mold (2) has arrived, and the lifting linear guide signal R == ON, the lifting linear guide (11) is ready; The bottom of the empty mold (2) enters the transfer platform (1) and extends into the one-way lever (7) of the U-shaped pull plate (6); The U-shaped pull plate (6) clamps the bottom of the empty mold (2) through the one-way lever (7), and under the driving of the piston rod retraction of the driving cylinder (5), it pulls the empty mold (2) to one side of the lifting linear guide (11) and is carried away by the lifting linear guide (11); The reset condition of the power cylinder (5): the power cylinder (5) completes the pulling action and the lifting linear guide (11) has taken away the empty mold (2), the lifting linear guide signal R signal changes from ON to OFF and then to ON; The piston rod of the power cylinder (5) extends, ready to receive the next empty mold (2), and the system enters the next working cycle.

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