Hexagonal press assembly block automatic feeding and cleaning system and method

Abstract

The application discloses a kind of hexagonal top press leaf-rhachis assembly block automatic feeding and cleaning system and method, belong to superhard material synthesis equipment technical field.The hexagonal top press leaf-rhachis assembly block automatic feeding and cleaning system includes Z direction lifting feeding positioning mechanism, robot transfer mechanism with seventh shaft extension, flexible self-adaptive gripping paw, front and rear double-zone cleaning separation mechanism, discharging guide mechanism and PLC control unit.Method through feeding positioning, clamping transport, accurate into cavity, synthesis after mechanical separation, synchronous discharging and cavity cleaning whole-process automation operation, cooperate with PLC safety interlocking logic, realize unmanned production.The application can completely replace artificial feeding and cleaning operation, positioning precision is high, cavity concentricity is good, single operation cycle ≤35 seconds, cavity 360 ° dead angle cleaning, both eliminate the security risks under high temperature and high pressure working condition, and improve synthesis yield and production efficiency, adapt to superhard material industry scale intelligent production demand.

Description

Technical Field

[0001] This invention belongs to the field of superhard material synthesis equipment technology, specifically relating to an automatic loading, unloading and cleaning system and method for pyrophyllite assembly blocks using a six-sided top press, and also to a corresponding automated control operation method, which can be applied to high-temperature and high-pressure synthesis production scenarios of superhard materials such as synthetic diamond and cubic boron nitride. Background Technology

[0002] The pyrophyllite assembly block is the core pressure transmission, sealing and heat insulation medium for high-temperature and high-pressure synthesis in a six-sided top press. Its positioning accuracy, concentricity, and cleanliness of the top hammer chamber directly affect the uniformity of the synthesis pressure field, product consistency and yield.

[0003] Currently, the superhard materials industry generally uses manual methods to complete the loading, unloading, and top hammer chamber cleaning of pyrophyllite assembly blocks. This method has several inherent technical defects: First, manual placement is prone to eccentricity and tilting, resulting in poor positioning accuracy, uneven pressure in the synthesis chamber, high crystal defect rate, and difficulty in ensuring product quality consistency. Second, the six-sided top press operates under high temperature and high pressure conditions, posing a risk of top hammer breakage and dislodging, and close-range manual operation poses significant personal safety hazards. Third, manual loading and unloading operations are time-consuming, have unstable cycle times, high labor intensity, and high labor costs, making it difficult to achieve large-scale continuous production. Fourth, manual cleaning standards are inconsistent and incomplete, and residual dust and debris can easily damage the top hammer surface, causing abnormalities in the synthesis process. Fifth, general industrial robots can only achieve basic picking, placing, and transferring, and cannot solve industry-specific pain points such as the adhesion and separation of pyrophyllite and top hammer, 360° full-area cleaning of narrow chambers, and high-precision centering of the insertion into the chamber.

[0004] In summary, the lack of dedicated, efficient, safe, and high-precision automated loading, unloading, and cleaning equipment in the current technology, as well as the lack of full-process automated control methods adapted to such equipment, restricts the upgrading of the superhard materials industry towards high quality and intelligence.

[0005] It should be noted that the analysis of the above technical information is the result of creative labor. The detailed description of it in the background section is only intended to deepen the understanding of the non-obviousness of the overall background of this application by those skilled in the art, and should not be regarded as an admission or in any form an implication that the above technical information constitutes prior art known to those skilled in the art. Summary of the Invention

[0006] This invention addresses the shortcomings of existing methods for manual loading and unloading of pyrophyllite assemblies in superhard material synthesis, which suffer from poor positioning accuracy, high safety risks, low production efficiency, and incomplete chamber cleaning. Furthermore, general-purpose robotic arms are not suitable for the specific operational needs of the industry. This invention proposes an automatic loading, unloading, and cleaning system and method for pyrophyllite assemblies in a six-sided top press, which achieves precise positioning, safety and reliability, high cycle time, and thorough cleaning of pyrophyllite assemblies in a six-sided top press.

[0007] To solve the above-mentioned technical problems, the present invention adopts the following technical solution:

[0008] An automatic loading, unloading, and cleaning system for pyrophyllite assembly blocks in a six-sided top press is characterized by comprising: a Z-axis lifting and loading positioning mechanism for carrying the pyrophyllite assembly blocks and lifting them vertically to a preset picking station; a robot transfer mechanism equipped with a walking extension unit and a flexible gripper assembly, wherein the walking extension unit drives the robot body to move between the picking station, the press assembly station, and the unloading station, and the flexible gripper assembly adaptively grips the pyrophyllite assembly blocks and adjusts their cavity entry posture; and a cavity cleaning and workpiece separation mechanism, comprising two parts respectively located at the front and rear of the six-sided top press. The system includes a front-end cleaning unit and a rear-end separation cleaning unit. The rear-end separation cleaning unit is used to mechanically separate the synthesized pyrophyllite assembly from the top hammer. The front-end cleaning unit and the rear-end separation cleaning unit work together to purge and clean the press chamber. The feeding and guiding mechanism is used to receive and guide the output of the synthesized pyrophyllite assembly. The control unit is electrically connected to the Z-axis lifting and feeding positioning mechanism, the robot transfer mechanism, and the chamber cleaning and workpiece separation mechanism, respectively, and is used to control each mechanism to perform the entire process of feeding, placing in the chamber, separating the workpiece, feeding, and cleaning the chamber in a preset sequence.

[0009] The beneficial effects are as follows: a fully integrated automated operation system for the entire process of feeding, transferring, entering the cavity, separating, unloading, and cleaning has been constructed, completely replacing manual operation and fundamentally eliminating personal safety hazards under high temperature and high pressure conditions; through the coordinated cooperation of specialized mechanisms, the positioning accuracy and concentricity consistency of the pyrophyllite assembly blocks entering the cavity are ensured, and the uniformity of the synthetic pressure field is improved; the coordinated operation of workpiece transfer and cavity cleaning is realized, the operation cycle is stable and controllable, and the single loading and unloading cycle does not exceed 35 seconds, which can meet the needs of continuous and large-scale production.

[0010] Based on the above technical solutions, as a preferred technical solution for the automatic loading, unloading, and cleaning system of pyrophyllite assembly blocks for the six-sided top press, the Z-axis lifting loading and positioning mechanism includes a Z-axis linear module, a pyrophyllite placement platform, several guide support rods, and a positioning detection sensor. The pyrophyllite placement platform is fixed to the moving end of the Z-axis linear module. The guide support rods are arranged vertically and slide in cooperation with the pyrophyllite placement platform. The positioning detection sensor is located at a preset material picking position and is used to detect whether the pyrophyllite assembly block has reached the picking position and to feed back a positioning signal to the control unit.

[0011] Further beneficial effects include: the closed-loop positioning structure using a Z-axis linear module in conjunction with a position detection sensor achieves the uniqueness of the pyrophyllite assembly block gripping position and high repeatability positioning accuracy, solving the problem of positioning deviation during manual feeding and providing a benchmark guarantee for subsequent precise robotic gripping.

[0012] Based on the above technical solutions, as a preferred technical solution for the automatic loading, unloading and cleaning system of the pyrophyllite assembly blocks of the six-sided top press, the walking extension unit is a robot seventh-axis walking mechanism, including a linear slide, a seventh-axis drive motor, a support base plate and a dust cover; the robot body is fixed on the sliding seat of the linear slide, the seventh-axis drive motor is used to drive the sliding seat to move back and forth along the linear slide, and the dust cover is provided on the outside of the linear slide.

[0013] Further benefits include: by extending the robot's operating radius with the seventh axis, it can cover the needs of multi-station operations, adapt to the production line layout of multiple presses, and improve the equipment's scenario adaptability and space utilization; the matching dustproof structure can block production dust and ensure the long-term operating accuracy of the motion mechanism.

[0014] Based on the above technical solutions, as a preferred technical solution for the automatic loading, unloading, and cleaning system of the pyrophyllite assembly block of the six-sided top press, the flexible gripper assembly includes a connecting frame, a front gripper, a rear top block, a linear drive cylinder, and a spring guide rod; the front gripper is fixed to the front end of the connecting frame, the rear top block is elastically connected to the connecting frame through the spring guide rod, and the output end of the linear drive cylinder is driven to the rear top block to drive the rear top block to move back and forth to cooperate with the front gripper to grip or release the pyrophyllite assembly block; the spring guide rod is used to provide flexible clamping force to adaptively compensate for workpiece size deviations.

[0015] Further beneficial effects include: the flexible clamping structure driven by a cylinder and guided by a spring can adapt to pyrophyllite assembly blocks of different sizes, with no damage or slippage during the clamping process, while ensuring the positioning accuracy of the workpiece after clamping and improving the concentricity of the cavity.

[0016] Based on the above technical solutions, as a preferred technical solution for the automatic loading, unloading and cleaning system of pyrophyllite assembly blocks of the six-sided top press, the front cleaning unit includes a telescopic drive cylinder, a rotary nozzle and a diagonal support bracket. The rotary nozzle is located at the output end of the telescopic drive cylinder. The telescopic drive cylinder is installed at an angle on the front end of the six-sided top press through the diagonal support bracket, and is used to drive the rotary nozzle to extend into the press chamber and rotate 360° to blow clean.

[0017] The rear-end separation and cleaning unit includes an inclined linear module, a cleaning and separation blade, and a module drive motor. The cleaning and separation blade has a gas flow channel inside and several gas nozzles. The cleaning and separation blade is fixed to the moving end of the inclined linear module. The module drive motor is used to drive the inclined linear module to move the cleaning and separation blade obliquely, so as to realize the mechanical separation of the pyrophyllite assembly block and the top hammer, and at the same time, the chamber is purged through the gas nozzles.

[0018] Further beneficial effects include: the front end uses a 360° rotating nozzle to achieve full-area cleaning of the narrow chamber, and the rear end adopts an integrated structure that combines mechanical separation and pneumatic cleaning. A single mechanism can simultaneously complete workpiece separation and chamber blowing, simplifying the equipment structure and improving work efficiency; the chamber cleaning is thorough and can effectively reduce the damage of dust and debris to the top hammer, extending the service life of the top hammer.

[0019] Based on the above technical solutions, as a preferred technical solution for the automatic loading, unloading, and cleaning system of pyrophyllite assembly blocks for the six-sided top press, the unloading and guiding mechanism includes an inclined unloading channel bin and an unloading operating platform. The upper inlet of the unloading channel bin corresponds to the unloading station of the robot transfer mechanism, and the lower outlet extends above the unloading operating platform, used to achieve unpowered collection of pyrophyllite assembly blocks through gravity guidance. The unpowered gravity guidance structure using an inclined channel is simple and reliable, requiring no additional drive to achieve stable workpiece guidance and collection, thus reducing equipment costs and maintenance difficulty.

[0020] An automatic loading, unloading, and cleaning method for pyrophyllite assembly blocks in a six-sided top press, based on the automatic loading, unloading, and cleaning system for pyrophyllite assembly blocks in a six-sided top press described in any of the above technical solutions, includes the following steps:

[0021] S1 loading and positioning: Place the pyrophyllite assembly block on the Z-axis lifting loading and positioning mechanism, control the mechanism to rise to the preset material picking position, and confirm the workpiece is in place through the feedback of the position detection sensor.

[0022] S2 clamping and transfer: Control the robot transfer mechanism to move to the material picking station, and use the flexible clamping gripper component to adaptively clamp the pyrophyllite assembly block and complete the precise positioning;

[0023] S3 Cavity Placement: Control the robot's transfer mechanism to adjust its posture, accurately deliver the pyrophyllite assembly block into the designated position in the synthesis cavity of the six-sided top press, release the flexible gripper assembly and return to the safe working position;

[0024] S4 Synthesis Operation: The six-sided top press performs the high-temperature and high-pressure synthesis process;

[0025] S5 Separation and Unloading: After synthesis, the pyrophyllite assembly block is separated from the top hammer mechanically by the rear separation and cleaning unit. The robot transfer mechanism picks up the synthesized workpiece and transfers it to the unloading and guiding mechanism to complete the unloading.

[0026] S6 Synchronous Cleaning: While the workpiece is being separated and unloaded, the front-end cleaning unit and the rear-end separation cleaning unit are controlled to blow and clean the press chamber according to a preset sequence.

[0027] The entire process is executed through the control unit using PLC safety interlock logic. Each step is triggered sequentially based on sensor feedback signals, and skipping steps is not allowed.

[0028] Furthermore, in step S2, when the flexible gripper assembly grips the workpiece, the linear drive cylinder retracts, causing the rear top block to move backward, which in turn clamps the workpiece with the front gripper. The elastic force of the spring guide rod adaptively compensates for the workpiece size deviation. At the same time, the clamping state is confirmed by the clamping detection sensor before the transfer action can be performed.

[0029] Further beneficial effects include: through the dual protection of spring force adaptive compensation and clamping detection sensor, it avoids damage to the workpiece by rigid clamping and ensures the reliability of the clamping state, preventing the workpiece from falling off during transportation.

[0030] Further, step S6 specifically includes:

[0031] After the S61 pyrophyllite assembly block is separated from the top hammer, and the robot transfer mechanism grabs the workpiece and moves it to a safe distance, the cleaning blades of the rear separation cleaning unit blow the rear end of the press chamber through the gas nozzle.

[0032] After the S62 rear end is purged, the telescopic drive cylinder of the front cleaning unit drives the rotating nozzle to extend into the compressor chamber, and performs full-area cleaning of the front end and circumference of the chamber through 360° rotation purging.

[0033] Further beneficial effects include: adopting a front-end and rear-end segmented cleaning logic, after the rear end is separated, the rear end of the chamber is cleaned first, and then the front rotating nozzle performs full-area cleaning, avoiding cleaning blind spots and ensuring thorough cleaning of the chamber.

[0034] Furthermore, the PLC safety interlock logic includes: when the loading station does not detect a workpiece arrival signal, the robot transfer mechanism is prohibited from performing the material picking action; when the robot transfer mechanism has not returned to the safe station, the six-sided top press is prohibited from starting the synthesis process; when the press chamber has not been cleaned and confirmed to be free of foreign objects, the next cycle of loading into the chamber is prohibited.

[0035] Further beneficial effects include: setting up multi-dimensional process interlocking rules, setting up safety verification nodes throughout the entire process from material picking and synthesis to cyclic feeding, completely eliminating the risk of misoperation, and ensuring the safety of equipment and personnel.

[0036] Compared with the prior art, the present invention has the following beneficial effects:

[0037] This invention achieves fully automated operation of the entire process of pyrophyllite assembly block feeding, transfer, cavity insertion, separation, unloading, and cleaning, and has the following significant advantages compared with the prior art:

[0038] Safety is greatly improved: It completely replaces manual close-range operation and fundamentally eliminates the personal safety hazards caused by the top hammer flying out under high temperature and high pressure conditions; the whole process is controlled by PLC safety interlock to avoid the risk of equipment misoperation.

[0039] Product quality improvement: High-precision positioning and cavity entry control ensure the concentricity consistency of pyrophyllite assembly blocks, significantly improve the uniformity of the synthesis pressure field, and effectively improve the product qualification rate and finished product quality of superhard materials.

[0040] Improved production efficiency: The work cycle is stable and controllable, with a single loading and unloading cycle of no more than 35 seconds, enabling continuous cyclical operation, greatly improving the production line's operating efficiency, and reducing labor costs and labor intensity.

[0041] Extended equipment lifespan: The integrated cleaning structure of 360° rotating blowing and mechanical separation enables thorough cleaning of the chamber without dead angles, effectively reducing damage to the top hammer from dust and debris and extending its service life.

[0042] High adaptability: The flexible gripper is compatible with workpieces of different sizes. With the robot's seventh axis extended motion, it can be adapted to the layout of multiple presses and various on-site installation environments, making it easy to promote industrial application.

[0043] Filling an industry gap: A complete technical solution of "specialized equipment structure + automated control method" has been constructed, forming a specialized automated technology system adapted to the process characteristics of the superhard materials industry, supporting the intelligent upgrading of the industry. Attached Figure Description

[0044] To more clearly illustrate the embodiments of this technical solution, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this technical solution. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0045] Figure 1 This is a schematic diagram of the overall structure of the automatic loading, unloading and cleaning system for six-sided top pyrophyllite described in this invention;

[0046] Figure 2 This is a schematic diagram of the back-end structure of the automatic loading and unloading system described in this invention;

[0047] Figure 3 This is a schematic diagram of the Z-axis lifting and loading positioning mechanism described in this invention;

[0048] Figure 4 This is a schematic diagram of the extended motion mechanism of the robot described in this invention;

[0049] Figure 5 This is a schematic diagram of the flexible adaptive gripper described in this invention;

[0050] Figure 6 This is a schematic diagram of the front-end rotating cleaning mechanism described in this invention;

[0051] Figure 7 This is a schematic diagram of the back-end cleaning and separation mechanism described in this invention;

[0052] (a) is a perspective view of the rear cleaning and separation mechanism; (b) is a cross-sectional view of the cleaning and separation blades;

[0053] Figure 8 This is a schematic diagram of the material feeding and guiding mechanism described in this invention.

[0054] Explanation of reference numerals in the attached figures:

[0055] 1-Six-sided top press, 2-Robot transfer mechanism, 3-Z-axis lifting and loading positioning mechanism, 4-Unloading guide mechanism, 5-Front-end rotating cleaning mechanism, 6-Rear-end cleaning and separation mechanism, 7-Sensor mounting bracket, 8-Landing detection sensor, 9-Pyrophyllite placement platform, 10-Guide support rod, 11-Z-axis linear module, 12-Loading mechanism mounting bracket, 13-Robot main unit, 14-Flexible adaptive gripper, 15-Pyrophyllite assembly block, 16-Drag chain, 17-Robot seventh-axis walking mechanism, 18-Seventh-axis drive motor, 19-Support base plate, 20-Dust cover, 2 1-Front-end gripper, 22-Rear end block, 23-Spring guide rod, 24-Linear telescopic rod, 25-Linear bearing, 26-Connecting frame, 27-Linear drive cylinder, 28-Clamping detection sensor, 29-Panel, 30-Rotating nozzle, 31-Supporting diagonal rod, 32-Linear guide rod, 33-Telescopic drive cylinder, 34-Diagonal brace, 35-Cleaning separation blade, 36-Diagonal linear module, 37-Diagonal guide rod, 38-Separation mechanism bracket, 39-Module drive motor, 40-Air pipe connector, 41-Gas nozzle, 42-Discharge channel bin, 43-Discharge operating table. Detailed Implementation

[0056] The technical solutions of this technical solution will be clearly and completely described below with reference to the accompanying drawings in the embodiments of this technical solution. Obviously, the described embodiments are only a preferred embodiment of this technical solution, and not all embodiments. Based on the core concept of this technical solution and the following embodiments, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this technical solution.

[0057] It should be noted that these embodiments are provided to make the application thorough and complete, and to fully express the scope of the application to those skilled in the art. It should be observed that, unless otherwise specifically stated, the relative arrangement of components and steps, material composition, numerical expressions, and values ​​described in these embodiments should be interpreted as merely exemplary and not as limiting.

[0058] In the description of this technical solution, it should be understood that the terms axial, radial, left, right, top, inner, and outer, indicating orientation or positional relationships, are based on the orientation or positional relationships shown in the accompanying drawings. They are used solely for the convenience of describing the technical solution and for simplification, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this technical solution. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this technical solution, "several" means one or more, unless otherwise explicitly specified.

[0059] In this technical solution, unless otherwise explicitly specified and limited, the terms installation, connection, linking, fixing, etc., should be interpreted broadly. For example, they can refer to fixed connection, detachable connection, or integral connection; they can refer to mechanical connection or electrical connection; they can refer to direct connection or indirect connection through an intermediate medium; and they can refer to the internal connection of two components. For those skilled in the art, the specific meaning of the above terms in this technical solution can be understood according to the specific circumstances.

[0060] Example 1: Basic Example

[0061] This embodiment provides the basic architecture of an automatic loading, unloading, and cleaning system for pyrophyllite assembly blocks in a six-sided top press, such as... Figure 1 , Figure 2 As shown, it includes a six-sided top press 1, a robot transfer mechanism 2, a Z-axis lifting and loading positioning mechanism 3, a material unloading and guiding mechanism 4, a front-end rotating cleaning mechanism 5, a rear-end cleaning and separation mechanism 6, and a control unit.

[0062] The Z-axis lifting and loading positioning mechanism 3 is located on the side of the six-sided top press 1. It is used to carry the pyrophyllite assembly block 15 to be synthesized and can be lifted and lowered vertically to a preset material picking height to provide a unified grasping reference position for the robot.

[0063] The robotic transfer mechanism 2 is positioned between the six-sided top press 1 and the loading and unloading stations. It possesses lateral movement and expansion capabilities, as well as a robotic arm with multi-degree-of-freedom attitude adjustment capabilities. It can reciprocate between the material handling station, the press assembly station, and the unloading station to complete the transfer and attitude adjustment of the workpiece. The robotic arm of the robotic transfer mechanism 2 is equipped with a flexible gripper assembly at its end, which can stably grip the pyrophyllite assembly block 15 and ensure positioning accuracy after gripping.

[0064] The front-end rotary cleaning mechanism 5 is installed at the front end of the six-sided top press 1, and the rear-end cleaning and separation mechanism 6 is installed at the rear end of the six-sided top press 1. Together, they constitute a chamber cleaning and workpiece separation mechanism. The rear-end cleaning and separation mechanism 6 has dual functions of mechanical separation and pneumatic cleaning. It can peel off the pyrophyllite assembly block 15 that is adhered to the top hammer after synthesis, and at the same time blow the inside of the chamber. The front-end rotary cleaning mechanism 5 can extend into the press chamber to perform rotary blowing, achieving full-area cleaning.

[0065] The feeding and guiding mechanism 4 is located on the feeding side of the six-sided top press 1. It is used to receive the synthesized workpieces put down by the robot transfer mechanism 2 and guide them to the operating platform to complete the workpiece collection.

[0066] The control unit is a PLC controller, which is electrically connected to the drive elements and detection elements of each of the above-mentioned mechanisms. It has a built-in control program and safety interlock logic to coordinate the actions of each mechanism according to a preset sequence, so as to realize the fully automated cyclic operation of feeding, entering the cavity, synthesis, separation, unloading and cleaning.

[0067] The core working principle of this embodiment is as follows: the Z-axis lifting and loading positioning mechanism 3 provides a unified material picking benchmark, the robot transfer mechanism 2 completes the precise transfer and placement of the workpiece into the cavity, and after the synthesis is completed, the rear cleaning and separation mechanism 6 completes the separation of the workpiece from the top hammer, and then the robot completes the unloading. At the same time, the front and rear cleaning mechanisms work together to complete the cavity cleaning. The entire process is uniformly scheduled by the control unit, and no manual intervention is required in the operation near the press cavity, realizing automated and safe production.

[0068] Example 2: Optimized Example

[0069] Based on Example 1, this example provides a more detailed explanation of the specific structure of each core mechanism.

[0070] (1) Z-axis lifting and positioning mechanism

[0071] like Figure 3 As shown, the Z-axis lifting and loading positioning mechanism 3 includes a sensor fixing bracket 7, a positioning detection sensor 8, a pyrophyllite placement platform 9, a guide support rod 10, a Z-axis linear module 11, and a loading mechanism fixing bracket 12.

[0072] The Z-axis linear module 11 is vertically mounted on the ground via a feeding mechanism and a fixed bracket 12, and its moving end can reciprocate in the vertical direction. The pyrophyllite placement platform 9 is horizontally fixed to the top surface of the moving end of the Z-axis linear module 11 and is used to place the pyrophyllite assembly block 15. Two guide support rods 10 are provided, parallel to the Z-axis linear module 11, and their top ends slide into the bottom of the pyrophyllite placement platform 9 to provide guidance for the platform's lifting and lowering, ensuring stable platform operation and preventing swaying and deflection.

[0073] The positioning detection sensor 8 is installed at the corresponding height of the preset material picking station via the sensor fixing bracket 7. When the Z-axis linear module 11 drives the pyrophyllite placement platform 9 to rise to the material picking height, the positioning detection sensor 8 can detect the platform or workpiece and generate a positioning signal, which is sent to the control unit to confirm that the gripping position is accurate.

[0074] (2) Robot extended motion mechanism

[0075] like Figure 4 As shown, the walking extension unit of the robot transfer mechanism 2 is a robot seventh-axis walking mechanism 17, including a robot host 13, a flexible adaptive gripper 14, a drag chain 16, a robot seventh-axis walking mechanism 17, a seventh-axis drive motor 18, a support base plate 19, and a dust cover 20.

[0076] The supporting base plate 19 is fixedly installed on the ground, serving as the installation foundation for the entire walking mechanism; the robot's seventh axis walking mechanism 17 is a linear slide structure, laid horizontally on the supporting base plate 19; the robot host 13 is fixedly installed on the sliding seat of the linear slide, and the seventh axis drive motor 18 is installed at the end of the slide to drive the sliding seat to move back and forth along the slide, thereby expanding the working coverage of the robot host 13 so that it can simultaneously cover the material picking station, the press station, and the unloading station.

[0077] The flexible adaptive gripper 14 is mounted on the end flange of the robot host 13 and adjusts its spatial posture with the robot host 13. The cable chain 16 is located on the side of the slide table and is used to store and organize cables and air pipes to prevent them from being pulled and tangled during movement. The dust cover 20 is installed above the linear slide table to prevent dust from the production site from entering the slide table guide rail, ensuring motion accuracy and the service life of the mechanism.

[0078] (3) Flexible adaptive gripper

[0079] like Figure 5 As shown, the flexible adaptive gripper 14 includes a pyrophyllite assembly block 15, a front gripper 21, a rear top block 22, a spring guide rod 23, a linear telescopic rod 24, a linear bearing 25, a connecting frame 26, a linear drive cylinder 27, a clamping detection sensor 28, and a support plate 29.

[0080] The connecting frame 26 serves as the main mounting base for the gripper, with a front gripper 21 fixedly mounted at its front end. The linear drive cylinder 27 is fixedly mounted at the rear end of the connecting frame 26, with its output rod extending forward and its end connected to the rear top block 22. The spring guide rod 23 passes through the rear end plate of the connecting frame 26, with its front end fixedly connected to the rear top block 22. A compression spring is sleeved on the rod, with both ends of the spring abutting against the rear top block 22 and the rear end plate of the connecting frame 26, respectively, providing a forward elastic thrust to the rear top block 22.

[0081] The linear telescopic rod 24 is configured in conjunction with the linear bearing 25 to provide linear guidance for the forward and backward movement of the rear top block 22, ensuring motion accuracy. The support plate 29 is located at the bottom of the gripper to support the bottom of the pyrophyllite assembly block 15 and prevent the workpiece from falling during clamping. The clamping detection sensor 28 is mounted on the connecting frame 26 to detect the position of the rear top block 22, thereby determining whether the workpiece is reliably clamped.

[0082] During operation, the linear drive cylinder 27 extends, causing the rear top block 22 to move forward and open the clamping space. After the workpiece is placed in, the linear drive cylinder 27 retracts, causing the rear top block 22 to move backward, cooperating with the front gripper 21 to clamp the workpiece. During the process, the spring force of the spring guide rod 23 provides flexible clamping force, which can adaptively compensate for the dimensional deviation of the workpiece, avoid rigid clamping and damage to the workpiece, and at the same time ensure the accurate positioning of the workpiece in the clamping space.

[0083] (4) Front and rear dual-zone cleaning and separation mechanism

[0084] Front-end rotating cleaning mechanism

[0085] like Figure 6 As shown, the front-end rotating cleaning mechanism 5 includes a rotating nozzle 30, a supporting inclined rod 31, a linear guide rod 32, a telescopic drive cylinder 33, and an inclined support bracket 34.

[0086] The inclined support bracket 34 is fixedly installed on the front frame of the six-sided top press 1, and is arranged at an angle. The telescopic drive cylinder 33 is fixedly installed on the inclined support bracket 34, and its output end is inclined upward towards the press chamber. The rotating nozzle 30 is installed at the output end of the telescopic drive cylinder 33, which can be supplied with compressed air and achieve 360° rotation, and the ejected airflow forms a full-coverage blowing surface. The linear guide rod 32 cooperates with the supporting inclined rod 31 to provide guidance for the telescopic movement and ensure the accurate insertion position of the nozzle.

[0087] During operation, the telescopic drive cylinder 33 extends, driving the rotating nozzle 30 to extend obliquely upward into the cavity of the six-sided top press 1. The rotating nozzle 30 vents and rotates, cleaning the inner wall of the front end of the cavity and the top hammer surface 360°. After cleaning, the telescopic drive cylinder 33 retracts, driving the nozzle out of the cavity to avoid affecting the press's mold closing operation.

[0088] Back-end cleaning separation mechanism

[0089] like Figure 7 As shown, the rear cleaning and separation mechanism 6 includes a cleaning and separation blade 35, an inclined linear module 36, an inclined guide rod 37, a separation mechanism bracket 38, a module drive motor 39, an air pipe connector 40, and a gas nozzle 41.

[0090] The separation mechanism support 38 is fixedly installed on the rear frame of the six-sided top press 1. The inclined linear module 36 is inclinedly installed on the separation mechanism support 38, and the inclination angle is adapted to the working space at the rear end of the top hammer. The cleaning separation blade 35 is fixedly installed on the moving end of the inclined linear module 36. It has a flat plate structure and an internal gas flow channel. The vertical cleaning separation blade 35 has several gas nozzles 41 that communicate with the gas flow channel. The tail of the cleaning separation blade 35 is provided with an air pipe connector 40 for connecting to external compressed air.

[0091] The module drive motor 39 is installed at the end of the inclined linear module 36 and is used to drive the moving end to reciprocate along the inclined guide rail; the inclined guide rod 37 is set parallel to the module guide rail and provides auxiliary guidance for the movement of the cleaning separation blade 35 to ensure smooth movement.

[0092] During operation, the module drive motor 39 drives the inclined linear module 36 to drive the cleaning separation blade 35 to rise obliquely. The front end of the blade is inserted into the gap between the pyrophyllite assembly block 15 and the top hammer. Through mechanical force, the adhered workpiece is separated from the top hammer. After separation, compressed air is introduced through the air pipe connector 40. The airflow is ejected from the gas nozzle 41 to blow and clean the rear end of the chamber and the top hammer surface, realizing the simultaneous operation of separation and cleaning.

[0093] (5) Material feeding and guiding mechanism

[0094] like Figure 8 As shown, the material feeding and guiding mechanism 4 includes a material feeding channel 42 and a material feeding operating table 43.

[0095] The material unloading channel 42 is an inclined trough-shaped structure. The upper opening is the inlet, corresponding to the unloading station of the robot transfer mechanism 2; the lower opening is the outlet, extending above the unloading operating table 43. The inner wall of the material unloading channel 42 is smooth, ensuring smooth sliding of the workpiece. The unloading operating table 43 is a horizontal work surface used to receive the sliding workpiece for subsequent processing by the operator.

[0096] During operation, the robot transfer mechanism 2 places the synthesized pyrophyllite assembly block 15 at the inlet of the unloading channel 42. The workpiece slides down the channel under the action of gravity and finally falls onto the unloading operation table 43, realizing automatic collection without power.

[0097] Example 3: Optimal Example

[0098] like Figures 1 to 8 As shown, this embodiment is the complete optimal implementation, including all the above-mentioned structural features, and is described in conjunction with the complete workflow.

[0099] The overall system layout in this embodiment is as follows: Figure 1 , Figure 2 As shown, the six-sided top press 1 is centrally located, the Z-axis lifting and loading positioning mechanism 3 is located on the front side of the press, the robot's seventh-axis traveling mechanism 17 is laid along the front-rear direction of the press on one side, the robot host 13 is mounted on the seventh-axis slide, the front-end rotating cleaning mechanism 5 is mounted on the front face of the press, the rear-end cleaning and separation mechanism 6 is mounted on the rear face of the press, and the material discharge guiding mechanism 4 is located on the rear side of the press. The control unit adopts a PLC control cabinet, which is arranged next to the equipment, and all drive components and sensors are connected to the control cabinet.

[0100] The complete workflow is as follows:

[0101] Manual loading: The operator takes the assembled pyrophyllite assembly block 15 out of the drying oven and places it on the pyrophyllite placement platform 9 in the designated position. After confirming that the placement is correct, the operator presses the start button.

[0102] Lifting and positioning: After receiving the start signal, the control unit controls the Z-axis linear module 11 to start, which drives the pyrophyllite placement platform 9 and the workpiece to rise vertically; when it rises to the preset material picking height, the position detection sensor 8 detects the workpiece and sends a position signal to the PLC, and the Z-axis linear module 11 stops moving and maintains its position.

[0103] Robot material handling: The PLC controls the seventh-axis drive motor 18 to start, moving the robot host 13 to above the material handling station. Simultaneously, the robot host 13 adjusts its end effector posture, aligning the flexible adaptive gripper 14 with the workpiece. At this point, the linear drive cylinder 27 extends, moving the rear top block 22 forward to open the clamping space. After the gripper descends to the workpiece position, the linear drive cylinder 27 retracts, and the rear top block 22 moves backward to cooperate with the front gripper 21 in clamping the workpiece. The spring guide rod 23 provides flexible clamping force, adaptively compensating for workpiece dimensional deviations. After the clamping detection sensor 28 detects the clamping position signal, it confirms reliable workpiece clamping.

[0104] Placement in the chamber: The robot host 13 moves the workpiece to adjust its posture, while the seventh-axis traveling mechanism moves in coordination to accurately deliver the workpiece into the center of the synthesis chamber of the six-sided top press 1; after confirming that the position is correct, the linear drive cylinder 27 extends, releases the workpiece, and accurately places the pyrophyllite assembly block 15 in the synthesis position. Then the robot host 13 moves the gripper out of the chamber and returns to the safe standby position.

[0105] Synthesis operation: After the PLC confirms that the robot has returned to the safe position, it sends a mold closing signal to the six-sided top press 1, and the press performs the high-temperature and high-pressure synthesis process.

[0106] Workpiece separation: After the synthesis process is completed, the press opens the mold and sends a completion signal to the PLC; the PLC controls the back-end cleaning and separation mechanism 6 to start, the module drive motor 39 drives the inclined linear module 36 to drive the cleaning and separation blade 35 to rise obliquely and insert into the gap between the workpiece and the top hammer, mechanically separating the adhered pyrophyllite assembly block 15 from the top hammer.

[0107] Material feeding and synchronous cleaning: The robot host 13 moves to the rear station of the press and the flexible adaptive gripper 14 clamps the separated workpiece; then the robot drives the workpiece to the feeding station. After the workpiece moves out of the chamber range, the cleaning separation blade 35 introduces compressed air and blows and cleans the rear of the chamber through the gas nozzle 41.

[0108] After the rear end is purged, the telescopic drive cylinder 33 of the front rotating cleaning mechanism 5 extends, driving the rotating nozzle 30 into the chamber. The rotating nozzle 30 vents and rotates 360° to perform a full-area purging and cleaning of the front end and circumferential inner wall of the chamber, removing residual dust and debris. After cleaning, the rotating nozzle 30 retracts back to its original position.

[0109] Material collection: The robot host 13 moves to the top of the unloading station and puts the workpiece into the inlet of the unloading channel 42. The workpiece slides down the channel to the unloading operation table 43 to complete the unloading.

[0110] Cyclic operation: If the position detection sensor 8 detects that a new workpiece has been placed at the loading station, the PLC control equipment will automatically enter the next cycle and repeat the above process to achieve continuous automated production.

[0111] In this embodiment, the entire process adopts PLC safety interlock control with multiple safety checks: the robot is prohibited from picking up materials when there is no arrival signal at the loading station; the press is prohibited from closing the mold when the robot has not returned to the safety position; the next cycle of filling the cavity is prohibited when the cavity cleaning is not completed. All processes must be executed in sequence, and skipping steps is not allowed, ensuring the safe operation of the equipment. The complete loading, unloading, and cleaning cycle of a single operation does not exceed 35 seconds, with a stable cycle time, which can meet the needs of large-scale continuous production.

[0112] All aspects not detailed in this invention are conventional technical means known to those skilled in the art.

[0113] The above content shows and describes the basic principles, main features, and beneficial effects of this technical solution. The above description is merely a preferred embodiment of this technical solution and is not intended to limit the scope of this technical solution. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of this technical solution should be included within the protection scope of this technical solution.

Claims

1. An automatic loading, unloading, and cleaning system for pyrophyllite assembly blocks in a six-sided top press, characterized in that, include: The Z-axis lifting and loading positioning mechanism is used to carry the pyrophyllite assembly blocks and lift them vertically to the preset material picking position. The robot transfer mechanism is equipped with a walking extension unit and a flexible gripper assembly. The walking extension unit is used to drive the robot body to move between the material picking station, the press assembly station and the unloading station. The flexible gripper assembly is used to adaptively grip the pyrophyllite assembly block and adjust its insertion posture. The chamber cleaning and workpiece separation mechanism includes a front cleaning unit and a rear separation cleaning unit respectively located on the front and rear sides of the six-sided top press. The rear separation cleaning unit is used to mechanically separate the synthesized pyrophyllite assembly block from the top hammer. The front cleaning unit and the rear separation cleaning unit work together to blow and clean the press chamber. The feeding and guiding mechanism is used to receive and guide the synthesized pyrophyllite assembly blocks out. The control unit is electrically connected to the Z-axis lifting and loading positioning mechanism, the robot transfer mechanism, and the chamber cleaning and workpiece separation mechanism, respectively, and is used to control each mechanism to perform the entire process of loading, placing in the chamber, separating the workpiece, unloading and cleaning the chamber in a preset sequence.

2. The automatic loading, unloading, and cleaning system for pyrophyllite assembly blocks of a six-sided top press according to claim 1, characterized in that, The Z-axis lifting and loading positioning mechanism includes a Z-axis linear module, a pyrophyllite placement platform, several guide support rods, and a positioning detection sensor. The pyrophyllite placement platform is fixed to the moving end of the Z-axis linear module. The guide support rods are arranged vertically and slide in cooperation with the pyrophyllite placement platform. The positioning detection sensor is located at a preset material picking position and is used to detect whether the pyrophyllite assembly block has reached the picking position and to feed back a positioning signal to the control unit.

3. The automatic loading, unloading, and cleaning system for pyrophyllite assembly blocks of a six-sided top press according to claim 2, characterized in that, The walking extension unit is a robot's seventh-axis walking mechanism, including a linear slide, a seventh-axis drive motor, a support base plate, and a dust cover; the robot body is fixed on the sliding seat of the linear slide, the seventh-axis drive motor is used to drive the sliding seat to move back and forth along the linear slide, and the dust cover is installed on the outside of the linear slide.

4. The automatic loading, unloading, and cleaning system for pyrophyllite assembly blocks of a six-sided top press according to any one of claims 1-3, characterized in that, The flexible gripper assembly includes a connecting frame, a front gripper, a rear top block, a linear drive cylinder, and a spring guide rod. The front gripper is fixed to the front end of the connecting frame, and the rear top block is elastically connected to the connecting frame via the spring guide rod. The output end of the linear drive cylinder is driven by the rear top block, which is used to drive the rear top block to move back and forth to cooperate with the front gripper to grip or release the pyrophyllite assembly block. The spring guide rod is used to provide flexible clamping force to adaptively compensate for workpiece size deviations.

5. The automatic loading, unloading, and cleaning system for pyrophyllite assembly blocks of a six-sided top press according to claim 4, characterized in that, The front-end cleaning unit includes a telescopic drive cylinder, a rotary nozzle, and a diagonal support bracket. The rotary nozzle is located at the output end of the telescopic drive cylinder. The telescopic drive cylinder is obliquely installed at the front end of the six-sided top press via the diagonal support bracket, and is used to drive the rotary nozzle to extend into the press chamber and rotate 360° to blow clean. The rear-end separation and cleaning unit includes an inclined linear module, a cleaning and separation blade, and a module drive motor. The cleaning and separation blade has a gas flow channel inside and several gas nozzles. The cleaning and separation blade is fixed to the moving end of the inclined linear module. The module drive motor is used to drive the inclined linear module to move the cleaning and separation blade obliquely, so as to realize the mechanical separation of the pyrophyllite assembly block and the top hammer, and at the same time, the chamber is purged through the gas nozzles.

6. The automatic loading, unloading, and cleaning system for pyrophyllite assembly blocks of a six-sided top press according to any one of claims 1-3 and 5, characterized in that, The material feeding and guiding mechanism includes an inclined material feeding channel bin and a material feeding operating platform. The upper inlet of the material feeding channel bin corresponds to the material feeding station of the robot transfer mechanism, and the lower outlet extends to the top of the material feeding operating platform. It is used to achieve non-powered collection of pyrophyllite assembly blocks by gravity guiding.

7. An automatic loading, unloading, and cleaning method for pyrophyllite assembly blocks in a six-sided top press, implemented based on the system described in any one of claims 1-6, characterized in that, Includes the following steps: S1 loading and positioning: Place the pyrophyllite assembly block on the Z-axis lifting loading and positioning mechanism, control the mechanism to rise to the preset material picking position, and confirm the workpiece is in place through the feedback of the position detection sensor. S2 clamping and transfer: Control the robot transfer mechanism to move to the material picking station, and use the flexible clamping gripper component to adaptively clamp the pyrophyllite assembly block and complete the precise positioning; S3 Cavity Placement: Control the robot's transfer mechanism to adjust its posture, accurately deliver the pyrophyllite assembly block into the designated position in the synthesis cavity of the six-sided top press, release the flexible gripper assembly and return to the safe working position; S4 Synthesis Operation: The six-sided top press performs the high-temperature and high-pressure synthesis process; S5 Separation and Unloading: After synthesis, the pyrophyllite assembly block is separated from the top hammer mechanically by the rear separation and cleaning unit. The robot transfer mechanism picks up the synthesized workpiece and transfers it to the unloading and guiding mechanism to complete the unloading. S6 Synchronous Cleaning: While the workpiece is being separated and unloaded, the front-end cleaning unit and the rear-end separation cleaning unit are controlled to blow and clean the press chamber according to a preset sequence. The entire process is executed through the control unit using PLC safety interlock logic. Each step is triggered sequentially based on sensor feedback signals, and skipping steps is not allowed.

8. The automatic loading, unloading, and cleaning method for pyrophyllite assembly blocks of a six-sided top press according to claim 7, characterized in that, In step S2, when the flexible gripper assembly grips the workpiece, the linear drive cylinder retracts, causing the rear top block to move backward, which in turn clamps the workpiece with the front gripper. The elastic force of the spring guide rod adaptively compensates for the workpiece size deviation. At the same time, the clamping state is confirmed by the clamping detection sensor before the transfer action can be performed.

9. The automatic loading, unloading, and cleaning method for pyrophyllite assembly blocks of a six-sided top press according to claim 7 or 8, characterized in that, Step S6 specifically includes: After the S61 pyrophyllite assembly block is separated from the top hammer, and the robot transfer mechanism grabs the workpiece and moves it to a safe distance, the cleaning blades of the rear separation cleaning unit blow the rear end of the press chamber through the gas nozzle. After the S62 rear end is purged, the telescopic drive cylinder of the front cleaning unit drives the rotating nozzle to extend into the compressor chamber, and performs full-area cleaning of the front end and circumference of the chamber through 360° rotation purging.

10. The automatic loading, unloading, and cleaning method for pyrophyllite assembly blocks of a six-sided top press according to claim 9, characterized in that, The PLC safety interlock logic includes: when the loading station does not detect a workpiece arrival signal, the robot transfer mechanism is prohibited from performing the material picking action; when the robot transfer mechanism has not returned to the safe station, the six-sided top press is prohibited from starting the synthesis process; when the press chamber has not been cleaned and confirmed to be free of foreign objects, the next cycle of loading into the chamber is prohibited.

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