Flexible automatic shaping machine for metal powder sintered product

Abstract

The utility model relates to a flexible automatic shaping machine for a product obtained after metal powder sintering. An existing automatic shaping machine has the defects that main parts such as a corresponding vibration disc, a positioning jig and a shaping die need to be replaced when products are switched, so that the cost is increased, the debugging period is prolonged, and the production efficiency is influenced. The device comprises a rack, a shaping die component and an oil press component, and a flexible vibration disc feeding component, a multi-axis robot grabbing component, a visual positioning component, a fine positioning component and a transferring component are arranged on the rack; the multi-axis robot grabbing part is used for grabbing a product on the flexible vibration disc feeding part to the fine positioning part for fine positioning through recognition of the visual positioning part, the transferring part is used for transferring the fine positioning product to the shaping mold part for machining, then the product is moved out, and the transferring part comprises a moving module and a vacuum suction nozzle. The full-automatic machining device can adapt to full-automatic machining of various products of different specifications, the cost is reduced, and the debugging period is shortened.

Description

Technical Field

[0001] The invention belongs to the field of automatic shaping equipment for metal powder sintered products, in particular to a flexible automatic shaping machine for metal powder sintered products. Background Art

[0002] The existing automatic shaping machines for sintered metal powder products all use special vibration plates for feeding and are equipped with corresponding positioning fixtures and shaping molds. The disadvantage of this automatic shaping machine is that when switching products, it is necessary to replace the corresponding vibration plates, positioning fixtures and shaping molds, which are the main components, resulting in increased costs, longer debugging cycles, and affected production efficiency. Summary of the invention

[0003] In view of the above problems, the present invention provides a flexible automatic shaping machine for metal powder sintered products, which has strong adaptability, can achieve rapid switching, and reduce costs and debugging cycles.

[0004] To this end, the present invention adopts the following technical scheme: a flexible automatic shaping machine for products after metal powder sintering, including a frame, a shaping mold component and a hydraulic press component, characterized in that a flexible vibration disk feeding component, a multi-axis robot grasping component, a visual positioning component, a fine positioning component and a transfer component are arranged on the frame, the multi-axis robot grasping component grasps the product on the flexible vibration disk feeding component to the fine positioning component for fine positioning after identification by the visual positioning component, the transfer component transfers the finely positioned product to the shaping mold component and removes it after processing is completed, and the transfer component includes a moving module and a vacuum suction nozzle.

[0005] Preferably, the precise positioning component comprises a positioning jig, wherein the positioning jig is provided with notch grooves at the front and the side, and further comprises a positioning slide block which can extend into the notch groove and is driven by a cylinder.

[0006] Preferably, slide cylinders are respectively arranged on both sides of the movable module, the slide cylinders are connected to the mounting plate, a vacuum nozzle is arranged at the outer end of the mounting plate, the slide cylinder controls the vacuum nozzle to move up and down, and a stacking sensor is arranged on the upper part of the inner vacuum nozzle.

[0007] Preferably, the positioning fixture is installed on a rodless cylinder.

[0008] Preferably, the visual positioning component comprises a guide shaft support, a column is arranged on the guide shaft support, a camera and a lens are arranged on a mounting plate at the upper end of the column, and a light source is arranged at the lower part of the mounting plate.

[0009] Preferably, the multi-axis robot grasping component includes a mounting seat, a four-axis robot is arranged on the mounting seat, a terminal of the four-axis robot is connected to a vacuum nozzle, and the four axes of the four-axis robot are X-axis, Y-axis, Z-axis and R-axis.

[0010] Preferably, a material channel is arranged behind the shaping mold component.

[0011] Preferably, the flexible vibration disk feeding component comprises a silo, and the discharge port of the silo is connected to the vibrator.

[0012] When the plastic surgery product needs to be replaced, the present invention can achieve rapid switching by simply replacing the positioning fixture in the precision positioning component, adjusting the product placement position of the multi-axis robot grasping component and the core of the plastic surgery mold. It can adapt to the fully automatic processing of a variety of products of different specifications, reducing costs and debugging cycles. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 It is a structural schematic diagram of the present invention.

[0014] Figure 2 This is a schematic diagram of the structure in which the protective cover is omitted in the present invention.

[0015] Figure 3 It is a schematic diagram of the installation positions of the precise positioning component and the transfer component of the present invention.

[0016] Figure 4 It is a structural schematic diagram of the precise positioning components.

[0017] Figure 5 It is a schematic diagram of the structure of the transfer component.

[0018] Figure 6 Schematic diagram of the coordination between the silo and the vibrator.

[0019] Figure 7 This is a schematic diagram of the structure of a multi-axis robot.

[0020] Figure 8 Position components for vision.

[0021] In the figure: 1. Frame 2. Display 3. Protective cover 4. Hydraulic press component 5. Touch screen 6. Flexible vibration plate feeding component 7. Multi-axis robot grabbing component 8. Visual positioning component 9. Shaping mold component 10. Precision positioning component 11. Transfer component 12. Material channel 61. Material bin 62. Vibrator 71. Mounting seat 72. 4-axis robot 73. Vacuum nozzle 81. Guide shaft support 82. Column 83. Camera 84. Lens 85. Light source 101. Rodless cylinder 102. No. 1 cylinder 103. Positioning fixture 104. No. 2 cylinder 105. Positioning block 106 Sliding block 111. Stacking sensor 112. No. 1 vacuum nozzle 113. No. 1 slide cylinder 114. Moving module 115. No. 2 vacuum nozzle 116. No. 2 slide cylinder. DETAILED DESCRIPTION

[0022] The present invention is further described below in conjunction with specific embodiments.

[0023] like Figure 1-Figure 3 The flexible automatic shaping machine for products after sintering of metal powder shown in the figure comprises a frame 1, a shaping mold component 9 and a hydraulic press component 4. A flexible vibration plate feeding component 6, a multi-axis robot grasping component 7, a visual positioning component 8, a precision positioning component 10 and a transfer component 11 are arranged on the frame 1. A protective cover 3 is arranged outside the flexible vibration plate feeding component, and a touch screen 5 and a display 2 are arranged on the protective cover. Among them, the multi-axis robot grasping component 7 grasps the product on the flexible vibration plate feeding component 6 to the precision positioning component 10 for precision positioning after identification by the visual positioning component 8, and the transfer component 11 transfers the precisely positioned product to the shaping mold component 9 and then removes it after processing. The transfer component comprises a moving module 114 and a vacuum suction nozzle. A material channel 12 is arranged at the rear of the shaping mold component 9, and a hydraulic press is arranged above the shaping mold component 9.

[0024] like Figure 4 As shown, in one embodiment, the precision positioning component includes a positioning fixture 103, and the positioning fixture is provided with notch grooves at the front and side, and a positioning slide block driven by a cylinder is arranged in the notch groove.

[0025] Specifically, the cylinder includes No. 1 cylinder 102 and No. 2 cylinder 104, wherein No. 1 cylinder 102 controls the front sliding block to move forward and backward. No. 2 cylinder 104 controls the side positioning block 105 to move and adjust. The sliding block and the positioning block extend into the notch groove to press against the product to achieve precise positioning.

[0026] Specifically, the positioning jig is installed on the rodless cylinder 101. The position of the positioning jig can be adjusted by the rodless cylinder 101.

[0027] like Figure 5As shown, in one embodiment, slide cylinder No. 113 and slide cylinder No. 216 are respectively arranged on both sides of the mobile module 114, and the slide cylinder is connected to the mounting plate, and vacuum nozzle No. 112 and vacuum nozzle No. 215 are respectively arranged at the outer ends of the mounting plate, and a stacking sensor 111 is arranged on the upper part of the vacuum nozzle No. 1. The mobile module 114 drives slide cylinder No. 113 and slide cylinder No. 216 to realize left and right movement, and the slide cylinder controls the vacuum nozzle to realize up and down movement. If the vacuum nozzle No. 112 does not place the product in the corresponding position of the shaping mold component 9, the stacking sensor 111 alarms. The two sets of slide cylinders can simultaneously complete the feeding and discharging of the product, thereby improving efficiency.

[0028] like Figure 6 As shown, the flexible vibration plate feeding component includes a silo 61, and the discharge port of the silo 61 is connected to the vibrator 62. The silo 61 stores a certain amount of products and can automatically deliver products to the vibrator 62, and the vibrator 62 can make the products perform various actions such as flipping, gathering, and dispersing.

[0029] like Figure 7 As shown, the multi-axis robot grasping component includes a mounting seat 71, on which a four-axis robot 72 is arranged, and a terminal of the four-axis robot 72 is connected to a vacuum nozzle. The four axes of the four-axis robot are the X-axis, the Y-axis, the Z-axis and the R-axis, and the four-axis robot is mainly used to grasp the product to the precision positioning component for subsequent shaping preparation.

[0030] like Figure 8 As shown, the visual positioning component 8 includes a guide shaft support 81, a column 82 is arranged on the guide shaft support 81, a camera 83 and a lens 84 are arranged on a mounting plate at the upper end of the column 82, and a light source 85 is arranged at the lower part of the mounting plate. The visual positioning component 8 takes a picture of the product in the vibrator 62 and identifies the coordinates of the product that can be grasped.

[0031] The working process of the whole equipment is as follows: the products to be shaped are poured into the silo of the feeding component of the flexible vibration plate. The silo conveys the products to the flexible vibration plate in a timely manner according to the number of products in the flexible vibration plate. The flexible vibration plate vibrates, driving the products to move irregularly. After the flexible vibration plate stops vibrating, the visual positioning component takes pictures and sends the coordinates of the products suitable for grabbing to the 4-axis robot grabbing component. After the 4-axis robot grabs the product, it rotates the product to the specified angle and places it in the fine positioning component. The fine positioning component uses 2 sets of cylinders to finely position the product. The transfer component transfers the finely positioned product to the shaping mold component, the moving component is transferred to a safe position, the hydraulic press component descends to shape the product, and rises after completion. After the PLC receives the hydraulic press rising signal, it controls the transfer component to transfer the shaped product to the material channel, thereby realizing automatic feeding, picking, positioning, transfer and shaping of the product. The whole cycle process is about 5S.

[0032] If you need to change the plastic surgery product, you only need to replace the positioning fixture in the precision positioning component, adjust the product placement position of the 4-axis robot grasping component and the core of the plastic surgery mold to achieve quick switching.

[0033] It should be understood that these embodiments are only used to illustrate the present invention and are not used to limit the scope of the present invention. In addition, it should be understood that after reading the content taught by the present invention, those skilled in the art can make various changes or modifications to the present invention, and these equivalent forms also fall within the scope limited by the appended claims of the application.

Claims

1. A flexible automatic shaping machine for metal powder sintered products, comprising a frame (1), a shaping die component (9) and a hydraulic press component (4), characterized in that The frame (1) is provided with a flexible vibration plate feeding component (6), a multi-axis robot grasping component (7), a visual positioning component (8), a precision positioning component (10) and a transfer component (11); the multi-axis robot grasping component (7) grasps the product on the flexible vibration plate feeding component (6) and carries out precision positioning on the precision positioning component (10) after identification by the visual positioning component (8); the transfer component (11) transfers the precision positioned product to the shaping mold component (9) and removes it after processing is completed; the transfer component comprises a moving module (114) and a vacuum suction nozzle.

2. A flexible automatic shaping machine for metal powder sintered products according to claim 1, characterized in that The precise positioning component comprises a positioning fixture (103), wherein the positioning fixture is provided with notches at the front and the side, and further comprises a positioning slide block which can extend into the notches and is driven by a cylinder.

3. A flexible automatic shaping machine for metal powder sintered products according to claim 2, characterized in that Slide cylinders are respectively arranged on both sides of the movable module, the slide cylinders are connected to the mounting plate, a vacuum suction nozzle is arranged at the outer end of the mounting plate, the slide cylinder controls the vacuum suction nozzle to rise and fall, and a stacking sensor (111) is arranged on the upper part of the inner vacuum suction nozzle.

4. A flexible automatic shaping machine for metal powder sintered products according to claim 3, characterized in that The positioning fixture is installed on the rodless cylinder (101).

5. A flexible automatic shaping machine for metal powder sintered products according to claim 1 or 4, characterized in that The visual positioning component (8) includes a guide shaft support (81), a column (82) is arranged on the guide shaft support (81), a camera (83) and a lens (84) are arranged on a mounting plate at the upper end of the column (82), and a light source (85) is arranged at the lower part of the mounting plate.

6. A flexible automatic shaping machine for metal powder sintered products according to claim 1 or 4, characterized in that The multi-axis robot grasping component comprises a mounting seat (71), a four-axis robot (72) is arranged on the mounting seat (71), a terminal of the four-axis robot (72) is connected to a vacuum suction nozzle, and the four axes of the four-axis robot are respectively an X-axis, a Y-axis, a Z-axis and an R-axis.

7. A flexible automatic shaping machine for metal powder sintered products according to claim 1 or 4, characterized in that A material channel (12) is arranged behind the shaping mold component (9).

8. A flexible automatic shaping machine for metal powder sintered products according to claim 1 or 4, characterized in that The flexible vibration plate feeding component comprises a material bin (61), and the material outlet of the material bin (61) is connected to the vibrator (62).

Images