Automatic powder filling machine

Abstract

The utility model relates to the technical field of automatic powder filling, in particular to an automatic powder filling machine which comprises a collaborative robot and further comprises an installation machine frame, a metal pipe storage frame, a metal pipe filling mechanism, a gravity pressing rod mechanism and a powder weighing mechanism. The metal pipe filling mechanism is arranged on the front face of the mounting rack, the gravity pressing rod mechanism is arranged on the top of the mounting rack and works in cooperation with the metal pipe filling mechanism, the powder weighing mechanism is arranged on one side of the mounting rack, and the collaborative robot is arranged on the side adjacent to the powder weighing mechanism. According to the powder pressing device, the connecting piece, the servo motor, the single-shaft servo shaft, the gravity weight, the guide sleeve, the pressing rod, the guide wheel and other assemblies are used in cooperation, powder in the metal pipe is pressed downwards, and the stability and accuracy of the metal pipe in the powder filling process are improved.

Description

Technical Field

[0001] The utility model relates to the technical field of automatic powder filling, in particular to an automatic powder filling machine. Background Art

[0002] The traditional powder filling process often uses manual powder filling. The entire powder filling process is to correctly clamp the metal tube in a tooling with a funnel, and fill the powder by quantitatively pouring powder, impacting, compacting and other steps. Since the powder in the traditional process is prone to dust during the impact and compaction process, the dust problem in the working environment is serious, which not only poses a threat to the health of workers, but also may cause powder waste and pollution of production equipment. In addition, in the traditional process, the metal tube is moved up and down manually and hit the ground to prompt the powder to enter the bottom of the metal tube through the funnel. This process takes a relatively long time, resulting in low overall process efficiency. Low efficiency not only increases production time and cost, but also may limit the scale of the process. Summary of the invention

[0003] The utility model provides an automatic powder filling machine to solve the problems of dust generation and low powder filling efficiency in the manual powder filling process in the prior art.

[0004] The technical solution of the utility model is implemented as follows:

[0005] An automatic powder loading machine includes a collaborative robot, and also includes a mounting frame, a metal tube storage frame, a metal tube filling mechanism, a gravity pressure rod mechanism and a powder weighing mechanism. The metal tube storage frame is arranged on the bottom side of the mounting frame, the metal tube filling mechanism is arranged on the front of the mounting frame, the gravity pressure rod mechanism is arranged on the top of the mounting frame, the gravity pressure rod mechanism works in coordination with the metal tube filling mechanism, the powder weighing mechanism is arranged on one side of the mounting frame, and the collaborative robot is arranged on the side adjacent to the powder weighing mechanism.

[0006] Furthermore, the metal pipe storage rack includes a plurality of placement holes, a metal pipe sheath is placed in each of the placement holes, and a metal pipe is arranged in the metal pipe sheath.

[0007] Furthermore, the metal tube filling mechanism includes a base, the base is provided with a through hole, the front and back sides of the base are respectively provided with a motor assembly and a funnel assembly, the motor assembly and the funnel assembly are connected through the through hole on the base, and the motor assembly is used to drive the funnel assembly to move.

[0008] Furthermore, the motor assembly includes a first ball screw, a first servo motor, a second ball screw, a second servo motor, a positioning block and a tension spring; the funnel assembly includes a charging funnel, a ramming tube clamp, a vertical linear guide, a positioning clamp, and a ramming tube support; a positioning block is arranged on the back of the base, a first servo motor is arranged on the top of the positioning block, and a second servo motor is arranged on the bottom of the positioning block; the first servo motor is connected to the first ball screw through a motor shaft; the ramming tube clamp passes through a through hole on the upper part of the base and is movably connected to the first ball screw; the second servo motor is connected to the second ball screw through the motor shaft; the ramming tube support passes through a through hole on the lower part of the base and is movably connected to the second ball screw; one end of the tension spring is fixed to the back of the base, and the other end is connected to the end of the ramming tube clamp; the charging funnel is arranged at the top of the metal tube sheath; the positioning clamp is arranged in the middle of the front side of the base; the linear guide is arranged on the front side of the base and is slidably connected to the ramming tube support.

[0009] Furthermore, there are two groups of metal tube loading mechanisms, and the two groups of metal tube loading mechanisms are symmetrically arranged on both sides of the front of the mounting frame.

[0010] Furthermore, the gravity pressure rod mechanism includes a connecting piece, a third servo motor, a single-axis servo shaft, a load piece, a gravity weight, a guide sleeve, a pressure rod and a guide wheel. The outer side of the connecting piece is movably connected to the mounting frame, a third servo motor is arranged on the top of the outer side of the connecting piece, a single-axis servo shaft is arranged on the inner side of the connecting piece, the third servo motor is rotatably connected to the single-axis servo shaft, the single-axis servo shaft is connected to the load piece, a gravity weight is arranged on the top of the load piece, a guide sleeve is arranged inside the load piece, the top end of the pressure rod is inserted into the guide sleeve and clamped with the load piece, the end of the pressure rod is slidably connected to the guide wheel, and the guide wheel is arranged at the inner bottom of the connecting piece.

[0011] Furthermore, a transverse linear guide rail is arranged on the top of the mounting frame, a sliding device is arranged on the transverse linear guide rail, and one side of the sliding device is fixed to the connecting piece.

[0012] Beneficial effects of the utility model:

[0013] (1) The automatic powder loading machine proposed in the utility model realizes the downward pressing of the powder in the metal tube through the components such as the connecting piece, the servo motor, the single-axis servo shaft, the gravity weight, the guide sleeve, the pressure rod and the guide wheel, thereby improving the stability and accuracy of the metal tube during the powder loading process;

[0014] (2) The metal tube filling mechanism of the automatic powder filling machine proposed in the utility model realizes automatic oscillation of the metal tube after the metal tube is filled with powder through the motor assembly and the funnel assembly, so that the powder filled into the metal tube can be quickly dropped and filled into the required position of the metal tube;

[0015] (3) The automatic powder loading machine proposed in the utility model is provided with a metal pipe storage rack on one side of the bottom of the mounting frame, and metal pipe sheaths are placed through a plurality of placement holes, thereby realizing effective storage and management of metal pipes;

[0016] (4) The automatic powder loading machine proposed in the utility model is provided with a transverse linear guide rail on the top of the mounting frame. Through the setting of the sliding device, the gravity pressure rod mechanism can be smoothly moved in the transverse direction, thereby increasing the flexibility and adaptability of the entire device;

[0017] (5) The automatic powder loading machine proposed in the utility model adopts a collaborative robot and a powder weighing mechanism to collaboratively complete the powder loading process, thereby improving work efficiency and automation level. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0019] Figure 1 It is a schematic diagram of the overall structure of an automatic powder filling machine proposed in an embodiment of the utility model;

[0020] Figure 2 It is a schematic diagram of a metal tube filling mechanism of an automatic powder filling machine proposed in an embodiment of the utility model;

[0021] Figure 3 It is a schematic diagram of a gravity pressure rod mechanism of an automatic powder loading machine proposed in an embodiment of the utility model;

[0022] 1-mounting frame, 2-metal pipe storage rack, 3-metal pipe filling mechanism, 4-gravity pressure rod mechanism, 5-powder weighing mechanism, 6-collaborative robot, 7-base, 8-first ball screw, 9-second ball screw, 10-first servo motor, 11-second servo motor, 12-positioning block, 13-tension spring, 14-charging funnel, 15-funnel cover, 16-ramming pipe clamp, 17-metal pipe sheath, 18-vertical linear guide, 19-positioning clamp, 20-ramming pipe support, 21-connecting part, 22-third servo motor, 23-single-axis servo shaft, 24-load part, 25-gravity weight, 26-guide sleeve, 27-pressure rod, 28-guide wheel, 29-sliding device. DETAILED DESCRIPTION

[0023] In order to make the purpose, technical solutions and advantages of the utility model more clearly understood, the utility model is further described in detail below in conjunction with embodiments and drawings. The schematic implementation manner of the utility model and its description are only used to explain the utility model and are not intended to limit the utility model.

[0024] Example 1

[0025] This embodiment provides an automatic powder filling machine.

[0026] refer to Figure 1 , an automatic powder loading machine, including a collaborative robot 6 of the prior art. Based on the collaborative robot 6 described in this embodiment, it is used to position and clamp the metal pipe. Specifically, the collaborative robot 6 is equipped with a robotic arm, which clamps the metal pipe by opening and closing the robotic arm claws. It should be clear that the robotic arm claws need to consider the diameter and length of the metal pipe to ensure that the clamping is firm and stable. A preferred method is that the metal pipe is a magnetic material, and the collaborative robot 6 can use a magnetic clamping device, that is, the metal pipe is clamped at the end of the robot by magnetic force without the need for a robotic arm claw, which is more suitable for specific types of metal pipes; another preferred method is that the collaborative robot 6 adopts a suction cup clamping method, and the suction cup adsorbs the metal pipe on its surface by generating negative pressure, thereby clamping the metal pipe. This method may be more suitable for processing metal pipes with flat surfaces. In this embodiment, the robot's mechanical arm gripper is adjustable and can be adjusted according to the size of the metal pipe to adapt to metal pipes of different specifications and sizes, thereby improving the flexibility of the device. The application method of the collaborative robot 6 proposed in this embodiment includes using a visual sensor to sense the position of the metal pipe on the metal pipe storage rack 2, and then adjusting the position and posture of the mechanical arm gripper according to the recognition result to ensure accurate gripping of the metal pipe. In addition, the robot may be equipped with a force or torque sensor according to the application scenario to monitor the force and torque during the clamping process. Through the feedback from these sensors, the robot can adjust the clamping force in real time to ensure that the metal pipe is not damaged during the clamping process.

[0027] An automatic powder loading machine includes a powder weighing mechanism 5 of the prior art. The powder weighing mechanism 5 in this embodiment is used to take out a fixed amount of powder and accurately pour it into a metal tube. Specifically, the powder weighing mechanism 5 includes a high-precision powder weighing device, which can use a load cell or other precise sensors to measure the weight of the metal tube and the powder in real time to achieve the purpose of accurate weighing. At the same time, in the powder weighing mechanism 5, a metering screw or a metering bucket is used to accurately take out a certain amount of powder, and the powder in the screw or the bucket is accurately distributed and released by a robotic arm to ensure that the amount of powder entering the metal tube is consistent each time.

[0028] An automatic powder loading machine also includes an installation frame 1, a metal tube storage rack 2, a metal tube filling mechanism 3, and a gravity pressure rod 27 mechanism 4, wherein the metal tube storage rack 2 is arranged on the bottom side of the installation frame 1, the metal tube filling mechanism 3 is arranged on the front of the installation frame 1, the gravity pressure rod 27 mechanism 4 is arranged on the top of the installation frame 1, the gravity pressure rod 27 mechanism 4 cooperates with the metal tube filling mechanism 3, the powder weighing mechanism 5 is arranged on one side of the installation frame 1, and the collaborative robot 6 is arranged on the side adjacent to the powder weighing mechanism 5, wherein the installation frame 1 provides structural support and stability for the entire automatic powder loading machine, and the installation frame 1 is the basic frame connecting various components to ensure that the entire device has sufficient rigidity and firmness to prevent instability during operation; the metal tube storage rack 2 is located at the bottom side of the installation frame 1 and is connected to the installation frame 1. The mounting rack 1 is connected to provide storage space for metal tubes. It should be clear that the metal tubes placed on the metal tube storage rack 2 are metal tubes to be processed or processed and are already covered with metal tube sheaths 17. The metal tube storage rack 2 is provided with multiple placement holes, and the multiple placement holes are suitable for metal tubes and metal tube sheaths 17 of various sizes; there are 2 groups of metal tube filling mechanisms 3, and the 2 groups of metal tube filling mechanisms 3 are symmetrically arranged on both sides of the front of the mounting rack 1, and are used to infuse powder into the metal tube and vibrate it, and vibrate the powder in the metal tube to be uniform to ensure accurate and efficient filling of the metal tube; the gravity pressure rod 27 mechanism 4 is arranged on the top of the mounting rack 1, and works in conjunction with the metal tube filling mechanism 3 to apply uniform pressure to the powder entering the metal tube, so as to ensure the stability of the powder in the process of filling the metal tube and prevent overflow or uneven filling of the powder.

[0029] Example 2

[0030] This embodiment provides a metal tube filling mechanism 3 of an automatic powder filling machine based on the embodiment 1.

[0031] refer to Figure 2 A metal tube filling mechanism 3 includes a base 7, on which a motor assembly and a funnel assembly are arranged, and the motor assembly and the funnel assembly are cooperatively connected. A connection method proposed in this embodiment is that a through hole is arranged on the base 7, and the front and back sides of the base 7 are respectively provided with a motor assembly and a funnel assembly. Specifically, the motor assembly and the funnel assembly are connected through the through hole on the base 7, and the motor assembly is used to drive the funnel assembly to move.

[0032] Wherein, the motor assembly includes a first ball screw 8, a first servo motor 10, a second ball screw 9, a second servo motor 11, a positioning block 12 and a tension spring 13; the funnel assembly includes a charging funnel 14, a ramming tube clamp 16, a vertical linear guide 18, a positioning clamp 19, and a ramming tube support 20; the back of the base 7 is fixedly connected with a positioning block 12, the top of the positioning block 12 is fixed with the first servo motor 10 by screws, and the bottom of the positioning block 12 is fixed with the second servo motor 11 by screws; the motor shaft of the first servo motor 10 and the input end of the first ball screw 8 are mechanically coupled through a coupling to ensure that the rotation of the first servo motor 10 can be effectively transmitted to the first ball screw 8; the ramming tube clamp 16 The end of the tube ramming jaw 16 passes through the through hole on the upper part of the base 7 and is movably connected with the nut of the first ball screw 8. Due to the rotation of the first ball screw 8, the nut on the ball screw or the fixed part of the tube ramming jaw 16 will be affected by the rotation, thereby generating a linear up and down movement, that is, the tube ramming jaw 16 is connected to the nut and will move up and down with the movement of the ball screw. At the same time, the tube ramming jaw 16 passes through the through hole on the upper part of the base 7, and the through hole is used to limit the up and down movement of the tube ramming jaw 16. The tube ramming jaw 16 is used to fix the metal tube and the metal tube sheath 17. The second servo motor 11 is mechanically coupled to the input end of the second ball screw 9 through the motor shaft through a coupling, ensuring that the rotation of the second servo motor 11 can be effectively transmitted to the second Ball screw 9, the protrusion on the back of the ramming tube support 20 passes through the through hole at the bottom of the base 7 and is movably connected with the nut of the second ball screw, the linear guide is arranged on the front of the base 7 and is slidably connected to the back sides of the ramming tube support 20, and the linear guide is used to limit the ramming tube support 20; due to the rotation of the second ball screw 9, the nut on the ball screw or the protrusion on the back of the ramming tube support 20 will be affected by the rotation, thereby generating a linear up and down movement, that is, the ramming tube support 20 is connected to the nut and will move up and down with the movement of the ball screw, one end of the tension spring 13 is fixed on the back of the base 7 below the ramming tube clamp 16, and the other end is connected to the end of the ramming tube clamp 16. When the first servo motor 10 drives When the tube tamping jaw 16 moves upward, the tension spring 13 is deformed and has a pulling force. When the first servo motor 10 stops running, the tube tamping jaw 16 drops rapidly under the action of gravity and pulling force to achieve a vibration of the metal tube sleeve. The vibration can vibrate the powder added to the charging funnel 14 into the metal tube. The second servo motor 11 drives the tube tamping support 20 to move upward or downward, which is compatible with the loading of metal tubes of different lengths. The charging funnel 14 is located above the metal tube sheath 17 and the funnel discharge port is aligned with the metal tube port. A funnel cover 15 is also provided on the charging funnel 14. The positioning jaw 19 is arranged in the middle of the front side of the base 7. The positioning jaw 19 is used to fix the metal tube and the metal tube sheath 17.

[0033] Example 3

[0034] This embodiment proposes a gravity pressing rod 27 mechanism 4 of an automatic powder filling machine based on the embodiment 1.

[0035] refer to Figure 3A gravity pressure rod 27 mechanism 4 includes a connecting piece 21, a third servo motor 22, a single-axis servo shaft 23, a load piece 24, a gravity weight 25, a guide sleeve 26, a pressure rod 27 and a guide wheel 28. A transverse linear guide is arranged on the top of the mounting frame 1 of the automatic powder loading machine, and a sliding device 29 is arranged on the transverse linear guide. One side of the sliding device 29 is movably connected to the outer side of the connecting piece 21. The third servo motor 22 is fixed to the top of the outer side of the connecting piece 21 by screws. The single-axis servo shaft 23 is arranged on the inner side of the connecting piece 21. The third servo motor The motor shaft of the third servo motor 22 is mechanically coupled to the input end of the single-axis servo shaft 23 through a coupling. The moving end of the single-axis servo shaft 23 is connected to the load member 24. A gravity weight 25 is arranged on the top of the load member 24. A guide sleeve 26 is arranged inside the load member 24. The top end of the pressure rod 27 is inserted into and passes through the guide sleeve 26 to be clamped with the load member 24. The end of the pressure rod 27 is slidably connected to the guide wheel 28. The guide wheel 28 is arranged at the inner bottom of the connecting member 21. The connecting member 21 is used to provide support and positioning for the third servo motor 22 to ensure that the third servo motor The machine 22 is firmly connected to the entire mechanism. The load member 24 is connected to the single-axis servo shaft 23, and assumes the motion function transmitted from the third servo motor 22 to the mechanical component. The third servo motor 22 provides power through the single-axis servo shaft 23, and the load member 24 receives the power transmission to move up and down. A gravity weight 25 is set on the top of the load member 24. The gravity weight 25 guides its own gravity to the load member 24, providing additional vertical pressure for realizing the operation of fixing the gravity down-pressing rod 27. A guide sleeve 26 is set inside the load member 24, and the pressure rod 27 is provided with a guide sleeve 26. The guide sleeve 26 is inserted and engaged with the load member 24. The guide sleeve 26 is used to guide the movement of the pressure rod 27 and maintain its stability during movement. At the same time, the sliding connection between the guide wheel 28 and the pressure rod 27 also helps to ensure the smooth movement of the entire pressure rod 27 mechanism. The specific working process of the gravity pressure rod 27 is as follows: the third servo motor 22 is started, and the power is transmitted to the input end of the single-axis servo shaft 23 through the coupling. The moving end of the single-axis servo shaft 23 is connected to the load member 24. The single-axis servo shaft 23 starts to move, and the power is transmitted to the load member 24, so that the load member 24 moves upward. At the same time, the pressure rod 27 fixed in the load member 24 is driven upward. When the load member 24 moves to the set height, the third servo motor 22 stops working. Since a gravity weight 25 is arranged on the top of the load member 24, the gravity of the gravity weight 25 causes the load member 24 to exert pressure downward. At this stage, the motor does not need to work. The load member 24 naturally moves downward due to the action of gravity. As the load member 24 moves downward, the end of the pressure rod 27 is inserted into the metal tube to compact the powder in the metal tube. This process realizes the filling and compacting process of the powder.In addition, since there are two groups of metal tube filling mechanisms 3, in order to realize the function of compacting the powder separately, the outer side of the connecting member 21 is connected to one side of the sliding device 29 set on the mounting frame 1, so that the horizontal movement of the gravity pressure rod 27 mechanism 4 can be aligned with different metal tube filling mechanisms 3 respectively.

[0036] The above shows and describes the basic principle and main features of the utility model and the advantages of the utility model. Those skilled in the art should understand that the utility model is not limited by the above embodiments. The above embodiments and descriptions are only for explaining the principle of the utility model. Without departing from the spirit and scope of the utility model, the utility model may have various changes and improvements, which fall within the scope of the utility model to be protected. The scope of protection claimed by the utility model is defined by the attached claims and their equivalents.

Claims

1. An automatic powder filling machine, comprising a collaborative robot, characterized in that: It also includes an installation rack, a metal tube storage rack, a metal tube filling mechanism, a gravity pressure rod mechanism and a powder weighing mechanism. The metal tube storage rack is arranged on the bottom side of the installation rack, the metal tube filling mechanism is arranged on the front of the installation rack, the gravity pressure rod mechanism is arranged on the top of the installation rack, the gravity pressure rod mechanism works in coordination with the metal tube filling mechanism, the powder weighing mechanism is arranged on one side of the installation rack, and the collaborative robot is arranged on the side adjacent to the powder weighing mechanism.

2. An automatic powder filling machine according to claim 1, characterized in that: The metal pipe storage rack comprises a plurality of placement holes, a metal pipe sheath is placed in each of the placement holes, and a metal pipe is arranged in the metal pipe sheath.

3. The automatic powder filling machine according to claim 1, characterized in that: The metal tube filling mechanism includes a base, a through hole is provided on the base, a motor assembly and a funnel assembly are respectively provided on the front and back of the base, the motor assembly and the funnel assembly are connected through the through hole on the base, and the motor assembly is used to drive the funnel assembly to move.

4. The automatic powder filling machine according to claim 3, characterized in that: The motor assembly includes a first ball screw, a first servo motor, a second ball screw, a second servo motor, a positioning block and a tension spring; the funnel assembly includes a charging funnel, a ramming pipe clamp, a vertical linear guide, a positioning clamp and a ramming pipe support; a positioning block is arranged on the back of the base, a first servo motor is arranged on the top of the positioning block, and a second servo motor is arranged on the bottom of the positioning block; the first servo motor is connected to the first ball screw through a motor shaft; the ramming pipe clamp passes through a through hole on the upper part of the base and is movably connected to the first ball screw; the second servo motor is connected to the second ball screw through the motor shaft; the ramming pipe support passes through a through hole on the lower part of the base and is movably connected to the second ball screw; one end of the tension spring is fixed to the back of the base, and the other end is connected to the end of the ramming pipe clamp; the charging funnel is arranged at the top of the metal pipe sheath; the positioning clamp is arranged in the middle of the front side of the base; the linear guide is arranged on the front side of the base and is slidably connected to the ramming pipe support.

5. The automatic powder filling machine according to claim 3, characterized in that: There are two groups of metal tube loading mechanisms, and the two groups of metal tube loading mechanisms are symmetrically arranged on both sides of the front of the installation frame.

6. The automatic powder filling machine according to claim 1, characterized in that: The gravity pressure rod mechanism includes a connecting piece, a third servo motor, a single-axis servo shaft, a load piece, a gravity weight, a guide sleeve, a pressure rod and a guide wheel. The outer side of the connecting piece is movably connected to the mounting frame, a third servo motor is arranged on the top of the outer side of the connecting piece, a single-axis servo shaft is arranged on the inner side of the connecting piece, the third servo motor is rotatably connected to the single-axis servo shaft, the single-axis servo shaft is connected to the load piece, a gravity weight is arranged on the top of the load piece, a guide sleeve is arranged inside the load piece, the top end of the pressure rod is inserted into the guide sleeve and clamped with the load piece, the end of the pressure rod is slidably connected to the guide wheel, and the guide wheel is arranged on the inner bottom of the connecting piece.

7. The automatic powder filling machine according to claim 1, characterized in that: A transverse linear guide rail is arranged on the top of the mounting frame, a sliding device is arranged on the transverse linear guide rail, and one side of the sliding device is fixed to a connecting piece.

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