Automatic forming agricultural tool production process
The automated forming process using multiple robots working together solves the problems of non-standardization and manual operation in agricultural tool production, realizes automated production, improves production efficiency and safety, and reduces scrap rate and labor costs.
Patent Information
- Application Number
- CN202610031381.2
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2026-01-12
- Publication Date
- 2026-02-13
AI Technical Summary
In the current agricultural tool production process, each operation is completed independently, making it impossible to standardize production. Manual operation makes it difficult to accurately control the stamping and forming time, resulting in high scrap rates, low production efficiency, and a harsh working environment that affects the health of workers and makes recruitment difficult.
An automated forming process with multiple robots working in collaboration is adopted. The first to fifth robots are controlled synchronously by a controller. After the blank is marked with a logo on the first punch press, it is placed on a ceramic tube, heated in a roller hearth furnace, and then stamped and shaped by the second punch press. After isothermal quenching and cleaning, a fully automated production process is formed.
It has enabled the automation and standardization of agricultural tool production, reduced labor costs, improved production efficiency, reduced scrap rates, improved working environment, and reduced health impact on operators.
Smart Images
Figure CN121514844A_ABST
Abstract
Description
Technical Field
[0001] This invention belongs to the field of agricultural tool manufacturing technology, and in particular relates to an automated forming process for agricultural tools. Background Technology
[0002] Agricultural tools are non-mechanized implements that cover tillage, sowing, irrigation and drainage, and harvesting. The production process involves steps such as material cutting, heating, stamping, heat treatment, pretreatment, anti-rust coating, sharpening and packaging.
[0003] Currently, in the manufacturing process, each operation is completed independently, making standardized production impossible. Furthermore, the handling of billets between different stages is done manually by operators using clamps. Since the billets need to be stamped and quenched within a specified time after being thermoformed in the heating furnace, manual operation makes it impossible to accurately control the overall operation time, resulting in a high scrap rate, increased production costs, and reduced production efficiency. The harsh working environment leads to high staff turnover and difficulty in recruiting, increasing the time and cost of personnel training. In addition, the high temperatures, noise, and exhaust fumes generated during operation also affect the health of the operators.
[0004] Therefore, there is an urgent need to design an automated production process for agricultural tools to solve the problems mentioned above. Summary of the Invention
[0005] The purpose of this invention is to provide an automated forming process for agricultural tools, which has the advantages of improved production efficiency, standardized production and automated forming, and solves the problem in the prior art that workers cannot accurately control the stamping time to complete the quenching after the blank is hot-formed in the heating furnace.
[0006] To achieve the above objectives, the specific technical solution of the automated forming agricultural tool production process of the present invention is as follows: An automated forming process for agricultural tools mainly includes the following steps: S1. Place the blanks to be processed at intervals along the feeding port on the feeding mechanism and transport them to the picking area in sequence; S2. The first robot identifies and grabs the blank to the first punch press, and then retreats to the safe area with the first robot. The first punch press then marks the blank with a logo. S3. The second robot identifies and grabs the blank from the first punch press, and then places the blank on the ceramic tube at the feeding end of the roller hearth furnace. S4. The billet enters the roller hearth furnace for heating as the ceramic tube rotates. The rotation distance of the ceramic tube is controlled so that the heated billet is transported by the ceramic tube to the turning frame at the unloading end of the roller hearth furnace at the first rotation speed. S5. After the third robot obtains the flipping position signal of the blank, it grabs the blank on the flipping frame and places it on the second punch. When the third robot retreats to the safe area, the second punch hot presses the blank and rolls the blank handle. S6. After the unloading device of the second punch press is in place, the fourth robot picks up the blank, the unloading device returns to its original position, and the fourth robot takes out the blank and moves it to the safe area of the punch press. S7. When the fourth robot picks up the blank from the punch press safety zone to the quenching safety zone, and the quenching chain is not running and the fifth robot has not performed the basket placement action, drive the fourth robot to put the blank into the basket of the quenching chain. S8. Based on the number of times the fourth robot feeds the material, determine the number of blanks in the basket. When the set number is reached, the basket lifting mechanism starts to lift the baskets in each slot of the quenching chain and stops after reaching the set height. At the same time, the fifth robot grabs an empty basket from the return basket chain and runs to the safe area of the quenching slot to wait. S9. Control the operation of the quenching chain so that the baskets in each tank move to the position where the basket lifting mechanism has lifted the baskets and then stop. The fifth robot puts the empty baskets into the quenching tank. S10. The basket lifting mechanism lifts the baskets in the water tank to the unloading area, removes the finished products that have been washed in the water tank from the baskets, and puts the empty baskets back onto the return basket chain.
[0007] Furthermore, in S1, the blanks to be processed are stacked at a certain height on the feeding mechanism along the feeding port. The rotation distance of the feeding mechanism is controlled according to the shape and size of the blanks so that the stacked blanks are spaced at the same distance and are transported to the picking area in sequence.
[0008] Furthermore, in S2, the first robot is controlled to grip the top of the first group of blanks until the last blank is removed. Then, the first robot is raised to the safety zone, and the feeding mechanism is controlled to move the next group of stacked blanks to the picking area so that the first robot can pick up materials continuously.
[0009] Furthermore, when the first robot places the adhered blank into the first punch press, the first punch press feeds back an abnormal current to the controller, which then controls the second robot to remove the adhered blank and place it at the abnormal workpiece location to avoid it being clamped onto the ceramic tube.
[0010] Furthermore, in S3-S4, the rotation length of the ceramic tube is obtained through the encoder coaxially connected to the ceramic tube. Based on the rotation distance of the ceramic tube at the first speed, the second robot is controlled to place the blank with the logo at equal intervals on the ceramic tube.
[0011] Furthermore, in S5, after the flipping frame flips, a signal is sent to the controller. The controller controls the third robot to pick up the blank. After the third robot picks up the blank, it controls the ceramic tube to rotate at a third speed, which is slower than the first speed set by the controller. At this time, the picking actions of the first robot and the second robot slow down.
[0012] Furthermore, in S6, when the fourth robot is located in the safe zone of the punch press and the forming die of the second punch press is at the top dead center, the third robot is controlled to place the blank on the second punch press. After the third robot releases the material, the ceramic tube is controlled to rotate at the fourth speed, which is faster than the first speed set by the controller. At this time, the picking actions of the first robot and the second robot become faster.
[0013] Furthermore, in S7, if the fifth robot is emptying the basket and / or the quenching chain is running, the fourth robot waits in the quenching safety zone. When the quenching chain has run one station and the fifth robot has finished emptying the basket, the fourth robot is controlled to enter the basket of the quenching chain to release the material.
[0014] Furthermore, in S8, after the number of blanks in the basket increases to the full basket and the fourth robot reaches the quenching safety zone, the basket lifting mechanism, quenching chain and fifth robot are activated simultaneously. At this time, the ceramic tube is controlled to rotate at the second speed, that is, the controller sets the slowest speed of the ceramic tube, and at the same time, the picking actions of the first robot, second robot and third robot are controlled to become the slowest.
[0015] Furthermore, in S9, the fifth robot waits above the basket placement position in the quenching tank. After the basket lifting mechanism moves to the next basket placement position and lowers the basket, it returns to the standby point to wait for the controller to send a basket lifting signal. After the quenching chain reaches its position, the fifth robot puts the basket into the quenching tank. After the fifth robot moves to the safe area for placing the basket, the fourth robot continues to place the blank into the basket of the quenching tank, while controlling the ceramic tube to switch to the first rotation speed. At this time, the first, second, and third robots operate normally and pick up the blank.
[0016] The automated forming process for agricultural tools of the present invention has the following advantages: (1) The present invention uses a controller to synchronously control multiple robots to work together, so that after the blank is marked with a logo on the first punch, it is placed on a ceramic tube, heated by a roller hearth furnace, and then stamped and shaped by the second punch. After isothermal quenching and cleaning, the finished product can be obtained, thus realizing the complete automation of the production process and reducing labor costs.
[0017] (2) The present invention obtains the working information of the third robot through the controller, and then controls the rotation speed of the ceramic tube to ensure that the blank is heated stably in the roller hearth furnace, while avoiding the subsequent hot stamping and isothermal quenching work caused by the blank being removed from the roller hearth furnace for too long.
[0018] (3) The present invention achieves the slowest speed of the ceramic tube when the basket lifting mechanism, the quenching chain and the fifth robot are moving at the same time, and controls the ceramic tube to normal speed when the fourth robot puts the blank into the basket of the quenching tank for isothermal quenching. This realizes the linkage between the basket lifting mechanism, the quenching chain, the fourth robot and the fifth robot and the ceramic tube, and ensures that the processing process is stable and efficient. Attached Figure Description
[0019] Figure 1 This is a flowchart of the automated agricultural tool production process of the present invention; Figure 2 and Figure 3 This is a schematic diagram of the overall structure of the automated forming agricultural tool production process of the present invention. Figure 4 This is a schematic diagram showing the positional relationship between the ceramic tube and the flipping frame of the present invention; Figure 5 This is a schematic diagram of the structure of the flipping frame of the present invention; Figure 6 This is a schematic diagram of the structure of the second punch press of the present invention; Figure 7 This is a schematic diagram of the quenching chain and basket lifting mechanism for transporting the basket body according to the present invention; Figure 8 This is a schematic diagram of the lifting basket mechanism of the present invention; Figure 9 This is a schematic diagram of the structure of the first punch press of the present invention; Figure 10 This is a schematic diagram of the structure of the limiting block of the present invention.
[0020] Explanation of markings in the diagram: 1. Feeding mechanism; 2. Blank; 3. First punch press; 31. Limiting block; 4. Roller hearth furnace; 5. Ceramic tube; 6. Tilting frame; 61. Support plate; 62. Limiting plate; 7. Second punch press; 71. Forming punch; 72. Forming die; 8. Basket lifting mechanism; 9. Quenching chain; 91. Medium tank; 92. Water tank assembly; 10. Basket body; 11. Basket return chain; 12. First robot; 13. Second robot; 14. Third robot; 15. Fourth robot; 16. Fifth robot. Detailed Implementation
[0021] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.
[0022] Those skilled in the art will understand that although some embodiments herein include certain features included in other embodiments but not others, combinations of features from different embodiments are intended to be within the scope of the invention and form different embodiments. For example, in the claims, any of the claimed embodiments can be used in any combination.
[0023] The following is a reference to the appendix. Figure 1 To be continued Figure 10 The present invention describes the automated forming process for agricultural tools.
[0024] The automated forming agricultural tool production process of this invention mainly includes the following steps: In this embodiment, firstly, the blank 2 to be processed is placed on the feeding mechanism 1 along the feeding port. The controller controls the feeding mechanism 1 to open and controls the rotation distance of the feeding mechanism 1. The blank 2 to be processed moves with the feeding mechanism 1, ensuring that the blanks to be processed are placed on the feeding mechanism 1 with 2 intervals between them, waiting for the first robot 12 to pick them up. Specifically, since the products being produced are different, the size and dimensions of the blanks 2 are different. The controller adjusts the overall rotation distance of the feeding mechanism 1 according to the size of the blanks 2, so that blanks 2 of different sizes can be placed at intervals on the feeding mechanism 1.
[0025] Agricultural tools that can be used in the processing and production of this invention include shovels, rakes, hoes, spades, etc. In the operation process, by changing the molds of the first punch press 3 and the second punch press 7, they can be matched with the products to be processed, and the overall parameters can be controlled by the controller according to their size, thereby enabling the processing of different products.
[0026] In a preferred embodiment, the blanks 2 to be processed are stacked on the feeding mechanism 1 at a certain height along the feeding port of the feeding mechanism 1. According to the shape and size of the blanks 2, the controller controls the rotation distance of the feeding mechanism 1 so that the stacked blanks 2 are spaced at the same distance, so that the controller can control the first robot 12 to pick up the blanks 2.
[0027] Then, a material picking area is set in the moving direction of the feeding mechanism 1. After the feeding mechanism 1 transports the blank 2 to be processed to the picking area of the first robot 12 in sequence, the first robot 12 identifies and grabs the blank 2 to be processed and places it on the first punch press 3. When the first robot 12 retreats to the safe area, the first punch press 3 performs LOGO or decoration operation on the blank 2. Preferably, multiple stacks of blanks 2 to be processed are placed at intervals along the length of the feeding mechanism 1. When the first stack of blanks 2 to be processed moves to the picking area with the feeding mechanism 1, the controller controls the feeding mechanism 1 to stop and controls the first robot 12 to pick up the top blank 2 of the first stack. In a preferred embodiment, the feeding mechanism 1 includes a conveyor belt for conveying the blank 2 and rollers for moving the conveyor belt. The controller controls the rotational speed of the rollers, thereby moving the blank 2 to be processed, which is placed on the conveyor belt, to the picking area. The controller controls the rotation of the rollers to move or stop the conveyor belt. When the blanks 2 are stacked on the conveyor belt, the conveyor belt does not rotate. The first set of blanks to be processed is then stacked on the conveyor belt. The rollers are then controlled to drive the conveyor belt to rotate. By repeating the above actions, multiple stacks of blanks 2 to be processed can be placed at intervals along the direction of the conveyor belt, ensuring that the spacing between the stacks of blanks 2 is the same. The blanks 2 are then moved to the gripping position of the first robot 12 one by one.
[0028] After the first robot 12 takes the last blank 2 of the first group, the first robot 12 is raised to the safe area to wait. The controller controls the feeding mechanism 1 to move the next group of stacked blanks 2 to the material taking area, and the first robot 12 can then take the material again.
[0029] Preferably, the controller is a PLC controller in the prior art, which realizes the collaborative work between the feeding mechanism 1 and the first robot 12. At the same time, the controller controls the first punch press 3, the first robot 12 and the second robot 13 to work in coordination. After picking up the material, the first robot 12 moves to the safe area to wait for the first punch press 3 to reach the top dead center. The second robot 13 takes away the blank 2 in the first punch press 3. After the second robot 13 reaches the safe area and the first punch press 3 returns to the top dead center, the first robot 12 will feed the material into the first punch press 3 again. After the material is fed, the clamping and straightening mechanism in the first punch press 3 clamps the blank 2. At this time, after the first robot 12 exits to the safe area, the controller sends a signal to the first punch press 3 to execute the logo or decoration operation.
[0030] Preferably, the first punch press 3 is provided with a limit block 31, which limits the blank 2 placed on the mold of the first punch press 3 in the horizontal direction, so as to ensure that the blank 2 does not shake when stamping the logo or decoration. After the blank 2 is stamped and marked by the stamping device, the limit block 31 is released from the limit of the blank 2, and the blank 2 is ready to be picked up by the second robot 13.
[0031] Then, the second robot 13 identifies and grabs the blank 2 with the logo completed, disengaging it from the clamping and straightening mechanism of the first punch press 3. The controller controls the rotation of the ceramic tube 5 of the roller hearth furnace 4. The second robot 13 places the blank 2 on the ceramic tube 5 at the feeding end of the roller hearth furnace 4. The blank 2 enters the roller hearth furnace 4 for heating as the ceramic tube 5 rotates.
[0032] Specifically, the controller obtains the rotation length of the ceramic tube 5 through the encoder coaxially connected to the ceramic tube 5, and first sets an initial moving distance. When the controller calculates that the rotation distance of the ceramic tube 5 is consistent with the initial moving distance, it controls the second robot 13 to place the blank 2 on the ceramic tube 5, and then continues to control the second robot 13 to complete the material picking in the first punch press 3.
[0033] Preferably, under normal working conditions, the first punch press 3 performs a logo or decorative operation on one blank 2 at a time. If the first robot 11 puts the adhered blank 2 into the first punch press 3, that is, when at least two blanks 2 are placed at one time, the current of the first punch press 3 will rise abnormally. By feeding back the abnormal current of the first punch press 3 to the controller, the controller controls the second robot 13 to take out the blank 2 in the first punch press 3 and place it at the abnormal workpiece, so as to avoid clamping the abnormal blank 2 onto the ceramic tube 5, and prevent multiple workpieces from being placed on the ceramic tube 5 at the same time, which would cause damage to the forming mold in the second punch press 7 and overload the second punch press 7 itself.
[0034] Then, the controller controls the rotation distance of the ceramic tube 5 so that the heated blank 2 is transported by the ceramic tube 6 to the turning frame 6 at the unloading end of the roller hearth furnace 4 at the first rotation speed.
[0035] In a preferred embodiment, the distance the ceramic tube 5 rotates at the first speed is recorded as the initial moving distance set by the controller. The temperature of the roller hearth furnace 4 is controlled by the controller to automatically adjust the wind speed and the size of the electric actuator through the frequency converter, so as to realize that the wind speed and gas valve are automatically adjusted in a certain proportion, thereby achieving a relatively stable temperature inside the roller hearth furnace 4.
[0036] Furthermore, by setting an over-temperature value through the controller, the fan speed and electric actuator will be automatically reduced after the over-temperature value is reached, so as to avoid the high temperature inside the roller hearth furnace 4 from affecting its lifespan, and also to save gas and electricity.
[0037] Meanwhile, a furnace temperature controller is installed inside the roller hearth furnace 4. The furnace temperature controller is electrically connected to the heating device. The temperature of the heating device can be adjusted through the furnace temperature controller, and the temperature of the heating furnace can be controlled within a certain range.
[0038] As a preferred embodiment, during normal production, the temperature inside the roller hearth furnace 4 is controlled at a constant heating temperature. After the blank 2 is stamped with a logo by the first punch press 3, the second robot 13 places the blank 2 on the ceramic tube 5. At this time, the controller controls the rotation speed of the ceramic tube 5 to the first rotation speed, that is, the normal speed set by the controller. The normal speed is linked with the constant heating temperature to ensure that when the blank 2 moves and is heated with the rotation of the ceramic tube 5, the heating time and heating temperature are the same, thereby ensuring the heating effect of the blank 2.
[0039] Meanwhile, when the rotation speed of the ceramic tube 5 is lower than the first rotation speed, the controller controls the heating temperature inside the roller hearth furnace 4 to be lower than the constant heating temperature, and controls the second robot 13 and the third robot 14 to slow down the clamping action at the same time; when the rotation speed of the ceramic tube 5 is higher than the first rotation speed, the controller controls the heating temperature inside the roller hearth furnace 4 to be higher than the constant heating temperature, and controls the second robot 13 and the third robot 14 to speed up the clamping action at the same time, thereby ensuring that the blank 2 is stably transferred between the first punch press 3, the roller hearth furnace 4 and the second punch press 7.
[0040] Specifically, when one or more of the following malfunctions, such as the third robot 14, the second punch press 7, the fourth robot 15, the fifth robot 16, the basket lifting mechanism 8, the quenching chain 9, or the return basket chain 10, the second robot 13 is controlled to stop feeding, and the ceramic tube 5 reverses, causing the blank 2 in the roller hearth furnace 4 to return to the feeding end, thus preventing the blank 2 from being overheated. Furthermore, if the following processes cannot be completed, the blank 2 at the unloading end will wait for too long, affecting the heat treatment effect.
[0041] Then, after the third robot 14 obtains the signal that the blank 2 has been flipped into place, it grabs the blank 2 on the flipping frame 6 and places the blank 2 on the second punch press 7. The controller controls the third robot 14 to retreat to the safe area and controls the second punch press 7 to perform hot pressing and shaping operations on the blank 2.
[0042] In a preferred embodiment, the second punch press 7 is provided with a forming punch 71 and a forming die 72. During punching, the forming punch 71 and the forming die 72 are controlled to punch and form the blank 2, and the oxide scale remaining on the blank 2 or the forming punch 71 is blown off by the pneumatic nozzle provided in the second punch press 7.
[0043] Then, when the fourth robot 15 identifies and grabs the blank 2 that has been hot-stamped and shaped, the unloading device of the second punch press 7 is activated. After the unloading device is in place, the fourth robot 15 picks up the blank and clamps it. At the same time, the unloading device returns to its original position and the fourth robot 15 takes out the blank 2 and moves it to the safe area of the punch press.
[0044] Specifically, after the flipping frame 6 flips, a signal is sent to the controller. The controller controls the third robot 14 to pick up the blank 2. After the third robot 14 picks up the blank 2, the controller controls the ceramic tube 5 to rotate at a third speed, that is, to slow down relative to the first speed set by the controller. The controller controls the picking actions of the first robot 12 and the second robot 13 to slow down as the rotation speed of the ceramic tube 5 slows down.
[0045] In a preferred embodiment, the turning frame 6 is located at the end of the roller hearth furnace 4. The turning frame 6 includes a support plate 61 and a limiting plate 62. When the heated billet 2 is conveyed to the turning frame 6 along the roller hearth furnace 4, the billet 2 slides along the support plate 61 by its own weight until the billet 2 contacts the limiting plate 62, thus limiting the width of the billet 2. The limiting plate 62 can slide relative to the support plate 61. After the limiting plate limits the billet 2, it pushes the billet 2 along the length direction of the billet 2 to achieve the limitation of the length direction of the billet 2. After the turning frame 6 turns, the third robot 14 clamps the billet 2 and conveys it to the next process.
[0046] Furthermore, since the materials of billet 2 are different, the required heat treatment temperature is different. The controller will control the furnace temperature change according to the material of billet 2 to realize the linkage between the material of billet 2 and the furnace temperature. At the same time, the furnace temperature is related to the heating speed, the heating speed is related to the billet 2's exit speed, and the exit speed is adapted to the working status of each mechanism to ensure that the billet 2 is automatically turned over when it enters the turning frame 6 from the unloading end of the roller hearth furnace 4.
[0047] When the third robot 14 reaches the safe zone of the second punch press 7, the upper stop mold of the second punch press 7 is moved to the U-shaped position and the fourth robot 15 is also located in the safe zone of the second punch press 7. The controller will then control the third robot 14 to put the blank 2 into the second punch press 7.
[0048] When the fourth robot 15 is located in the safety zone of the second punch press 7 and the forming mold of the second punch press 7 is at the upper stop point, the controller controls the third robot 14 to place the blank 2 on the second punch press 7. After the third robot 14 releases the material, the controller controls the ceramic tube 5 to rotate at the fourth speed, which is faster than the first speed set by the controller. That is, the controller controls the first robot 12 and the second robot 13 to pick up the material faster as the ceramic tube 5 rotates faster. Then the third robot 14 moves to the waiting point of the flipping frame 6 to wait for the next blank 2 to be flipped into place.
[0049] Then, the fourth robot 15 picks up the blank 2 and moves it from the safety zone of the second punch press 7 to the quenching safety zone. When the quenching chain 9 is not running and the fifth robot 16 has not performed the basket placement action, the controller drives the fourth robot 15 to put the blank 2 into the basket 10 of the quenching chain 9.
[0050] In a preferred embodiment, the first robot 12, the second robot 13, the third robot 14 and the fourth robot 15 are mainly composed of a base and a robotic arm body. The robotic arm body is set on the ground through the base. The robotic arm body can rotate along the base and move as a whole in the horizontal direction. An identifier and a gripping component are provided at the end of the robotic arm body to determine the gripping and lowering position of the blank 2, so as to realize precise gripping and precise lowering work.
[0051] Furthermore, the fifth robot 16 is also composed of a base, a robotic arm body and a recognition device. The difference is that the fifth robot 16 has a lifting device at its end that matches the basket 10, thereby enabling the fifth robot 16 to complete the grasping and lowering of the basket 10.
[0052] In this process, after the second punch press 7 completes the forming and rolling of the blank 2, the unloading device is activated. After the unloading device is in position, the fourth robot 15 enters to pick up and clamp the blank. After clamping, the unloading device returns to its original position, and the fourth robot 15 takes out the blank 2 and moves it to the safety zone of the second punch press 7, and continues to run to the quenching safety zone.
[0053] Specifically, if the fifth robot 16 is emptying the basket and / or the quenching chain 9 is running, the fourth robot 15 waits in the quenching safety zone. After the quenching chain 9 has run one station and the fifth robot 16 has finished emptying the basket 10, the controller controls the fourth robot 15 to enter the basket 10 of the quenching chain 9 to release the material.
[0054] Then, the controller determines the number of blanks 2 in the basket 10 based on the number of times the fourth robot 15 releases material. When the set number is reached, the controller controls the basket lifting mechanism 8 to start lifting the baskets 10 in each slot of the quenching chain 9 and stop after reaching the set height value. At the same time, the fifth robot 16 grabs an empty basket from the return basket chain and runs to the safe area of the quenching tank to wait.
[0055] Specifically, when the number of workpieces in the quenching tank basket 10 increases to the full basket size and the fourth robot 15 reaches the quenching safety zone, the controller controls the basket lifting mechanism 8, the quenching chain 9 and the fifth robot 16 to move simultaneously. At this time, the controller controls the rotation speed of the ceramic tube 5 to the second rotation speed, that is, the slowest rotation speed set by the controller. At the same time, the controller controls the picking actions of the first robot 12, the second robot 13 and the third robot 14 to the slowest, thereby matching the ceramic tube 3 to complete the loading and unloading.
[0056] Then, the controller controls the quenching chain 9 to run, so that the baskets 10 in each tank run to the position where the basket lifting mechanism 8 has lifted the baskets 10 and stops. During this process, the controller detects the position of the baskets 10 according to the sensor. Then, the fifth robot 16 puts the empty baskets 10 into the quenching tank.
[0057] In a preferred embodiment, a medium tank 91 and a water tank group 92 are provided below the quenching chain 9. The medium tank 91 is filled with medium liquid, and the water tank group 92 is filled with water. The medium tank 91 and the water tank group 92 are located on the same axis along the length of the quenching chain 9. The sliding component of the quenching chain 9 drives the basket 10 to move in the medium tank 91 and the water tank group 92. The lifting component of the basket lifting mechanism 8 drives the basket 10 to move in the vertical direction. At the same time, the basket lifting mechanism 8 drives the basket 10 to move horizontally, so that the basket 10 of the medium tank 91 can slide into the water tank group 92. Meanwhile, the basket 10 at the end of the water tank group 92 is moved to the finished product discharge point by the basket lifting mechanism 8, so that the cleaned finished parts can be taken out from the basket 10.
[0058] Specifically, the fifth robot 16 waits above the quenching tank basket placement position, that is, above the medium tank 91. The basket lifting mechanism 8 moves to the next basket placement position and lowers the basket body 10 before returning to the standby point to wait for the controller to send a basket lifting signal. After the quenching chain 9 reaches its position, the fifth robot 16 puts the basket into the quenching tank. The fourth robot 15 places the blank 2 into the basket body 10 of the quenching tank. At the same time, the controller controls the ceramic tube 5 to change to the first rotation speed, that is, the normal speed set by the controller. At this time, the first robot 12, the second robot 13 and the third robot 14 operate normally and pick up the blank 2.
[0059] Finally, the basket lifting mechanism 8 lifts the basket 10 in the water tank to the unloading area, removes the finished product that has been cleaned in the water tank from the basket 10, and obtains the processed finished product. At the same time, the empty basket 10 is put back on the return chain 11 for reuse.
[0060] In other embodiments, two second punch presses 7 can be arranged at intervals at the unloading end of the ceramic tube 5. Two third robots 14 respectively place the heated blank 2 into the corresponding second punch press 7 for hot pressing, and two fourth robots 15 respectively clamp the heat-treated blank 2 of the second punch press 7 to improve the quenching efficiency of the blank 2.
[0061] Furthermore, two rows of roller hearth furnaces 4 can be set up. The controller controls the second robot 13 to place the blank 2 in the first punch press 3 onto the ceramic tubes 5 of the two roller hearth furnaces 4 respectively. The heated blank 2 is then placed into the second punch press 7 by two third robots 14 for heat treatment, thereby further improving the production efficiency of the blank 2.
[0062] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the implementation of the present invention. Those skilled in the art can make other variations or modifications based on the above description. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the claims of the present invention.
Claims
1. An automated forming process for agricultural tools, characterized in that, The main steps include: S1. Place the blanks to be processed at intervals along the feeding port on the feeding mechanism and transport them to the picking area in sequence; S2. The first robot identifies and grabs the blank to the first punch press, and then retreats to the safe area with the first robot. The first punch press then marks the blank with a logo. S3. The second robot identifies and grabs the blank from the first punch press, and then places the blank on the ceramic tube at the feeding end of the roller hearth furnace. S4. The billet enters the roller hearth furnace for heating as the ceramic tube rotates. The rotation distance of the ceramic tube is controlled so that the heated billet is transported by the ceramic tube to the turning frame at the unloading end of the roller hearth furnace at the first rotation speed. S5. After the third robot obtains the flipping position signal of the blank, it grabs the blank on the flipping frame and places it on the second punch. When the third robot retreats to the safe area, the second punch hot presses the blank and rolls the blank handle. S6. After the unloading device of the second punch press is in place, the fourth robot picks up the blank, the unloading device returns to its original position, and the fourth robot takes out the blank and moves it to the safe area of the punch press. S7. When the fourth robot picks up the blank from the punch press safety zone to the quenching safety zone, and the quenching chain is not running and the fifth robot has not performed the basket placement action, drive the fourth robot to put the blank into the basket of the quenching chain. S8. Based on the number of times the fourth robot feeds the material, determine the number of blanks in the basket. When the set number is reached, the basket lifting mechanism starts to lift the baskets in each slot of the quenching chain and stops after reaching the set height. At the same time, the fifth robot grabs an empty basket from the return basket chain and runs to the safe area of the quenching slot to wait. S9. Control the operation of the quenching chain so that the baskets in each tank move to the position where the basket lifting mechanism has lifted the baskets and then stop. The fifth robot puts the empty baskets into the quenching tank. S10. The basket lifting mechanism lifts the baskets in the water tank to the unloading area, removes the finished products that have been washed in the water tank from the baskets, and puts the empty baskets back onto the return basket chain.
2. The automated forming agricultural tool production process according to claim 1, characterized in that, In S1, the blanks to be processed are stacked at a certain height on the feeding mechanism along the feeding port. The rotation distance of the feeding mechanism is controlled according to the shape and size of the blanks so that the stacked blanks are spaced at the same distance and are transported to the picking area in sequence.
3. The automated forming agricultural tool production process according to claim 1, characterized in that, In S2, the first robot is controlled to grip the top of the first group of blanks until the last blank is removed. Then, the first robot is raised to the safety zone, and the feeding mechanism is controlled to move the next group of stacked blanks to the picking area so that the first robot can pick up materials continuously.
4. The automated forming agricultural tool production process according to claim 3, characterized in that, When the first robot places the stuck blank into the first punch press, the first punch press feeds back an abnormal current to the controller. The controller then controls the second robot to remove the stuck blank and place it at the abnormal workpiece location to avoid it being clamped onto the ceramic tube.
5. The automated forming agricultural tool production process according to claim 1, characterized in that, In S3-S4, the rotation length of the ceramic tube is obtained through the encoder coaxially connected to the ceramic tube. Based on the rotation distance of the ceramic tube at the first speed, the second robot is controlled to place the blank with the logo at equal intervals on the ceramic tube.
6. The automated forming agricultural tool production process according to claim 1, characterized in that, In S5, after the flipping frame flips, a signal is sent to the controller. The controller controls the third robot to pick up the blank. After the third robot picks up the blank, it controls the ceramic tube to rotate at a third speed, which is slower than the first speed set by the controller. At this time, the picking actions of the first robot and the second robot slow down.
7. The automated forming agricultural tool production process according to claim 1, characterized in that, In S6, when the fourth robot is in the safe zone of the punch press and the forming die of the second punch press is at the top dead center, the third robot is controlled to place the blank on the second punch press. After the third robot releases the material, the ceramic tube is controlled to rotate at the fourth speed, which is faster than the first speed set by the controller. At this time, the picking action of the first robot and the second robot becomes faster.
8. The automated forming agricultural tool production process according to claim 1, characterized in that, In S7, if the fifth robot is emptying the basket and / or the quenching chain is running, the fourth robot waits in the quenching safety zone. After the quenching chain has run one station and the fifth robot has finished emptying the basket, the fourth robot is controlled to enter the basket of the quenching chain to release the material.
9. The automated forming agricultural tool production process according to claim 1, characterized in that, In S8, after the number of blanks in the basket increases to the full basket and the fourth robot reaches the quenching safety zone, the basket lifting mechanism, quenching chain and fifth robot are activated simultaneously. At this time, the ceramic tube is controlled to rotate at the second speed, that is, the controller sets the slowest speed of the ceramic tube, and at the same time, the picking actions of the first, second and third robots are controlled to become the slowest.
10. The automated forming agricultural tool production process according to claim 1, characterized in that, In S9, the fifth robot waits above the basket placement position in the quenching tank. The basket lifting mechanism moves to the next basket placement position and lowers the basket. Then it returns to the standby point to wait for the controller to send a basket lifting signal. After the quenching chain reaches the position, the fifth robot puts the basket into the quenching tank. After the fifth robot moves to the safe area for placing the basket, the fourth robot continues to place the blank into the basket of the quenching tank, while controlling the ceramic tube to switch to the first rotation speed. At this time, the first, second, and third robots operate normally and pick up the blank.