Nickel starting sheet truss mechanical hand precision grabbing device

Abstract

The utility model belongs to the electrolytic nickel production automation technical domain, specifically discloses a kind of nickel initial electrode piece truss manipulator precision gripping device, nickel initial electrode piece tray is placed in feeding station by crane, by roller tray is moved to specified position, by 1# manipulator initial electrode piece on tray is transferred to alignment station, after alignment, by 2# manipulator moves to 1#, 2# plate shearing machine, 1#, 2# plate shearing machine is sheared to the both sides of nickel initial electrode piece, after shearing is completed, by 3# manipulator moves to steering station, by 3# manipulator reversing mechanism 90 ° rotation reversing of initial electrode piece is carried out and is centered, subsequently by 4# manipulator initial electrode piece is sent into 3#, 4# plate shearing machine, and the remaining two sides of nickel initial electrode piece are sheared, after shearing, by 5# manipulator initial electrode piece is sent to corner station, realize the nickel initial electrode piece transfer technology with high degree of automation, accurate positioning, efficient transfer, to solve the defect of traditional mode, promote the development of nickel electrolysis production to efficient, high quality direction.

Description

Technical Field

[0001] This utility model belongs to the field of automation technology in electrolytic nickel production, specifically relating to a precise gripping device for five gantry robots in the double-sided precision shearing process of nickel starting sheet. Background Technology

[0002] Nickel starter sheets have high toughness but require stringent dimensional accuracy during shearing (±0.5mm). Current transfer methods rely on manual labor or single-machine operation. While semi-automated transfer modes combining machines and manual labor have emerged with industry development, they still have many shortcomings. On the one hand, positioning failures or deformation of the starter sheets due to compression frequently occur, leading to increased scrap rates and affecting subsequent processes such as lug attaching and rod threading. On the other hand, some processes use forklifts to transfer starter sheets, or use storage and transport boxes combined with multiple chain conveyors and rotating devices for transfer. The former has low automation and poor transfer efficiency, while the latter involves a variety of equipment, high costs, and inconvenient maintenance. It also results in the need to stop the machine to wait when the transport box is full, disrupting the continuous rhythm of the production line and indicating poor equipment coordination.

[0003] Against this backdrop, the industry urgently needs a nickel starter sheet transfer technology that is highly automated, precise in positioning, has good equipment coordination, and is highly efficient in transfer, in order to solve the shortcomings of the traditional model and promote the development of nickel electrolysis production towards high efficiency and high quality. Utility Model Content

[0004] In view of the problems of the prior art, the purpose of this utility model is to provide a precise gripping device for nickel starting sheet truss robotic arms to solve the problems of equipment positioning deviation and poor coordination.

[0005] To achieve the above objectives, the present invention adopts the following technical solution: A precision gripping device for nickel starting sheet truss robotic arms includes a five-in-one truss, five robotic arms, and a PLC. The five-in-one truss is fixedly installed on a foundation by support columns. Long-stroke linear guides are installed on the five-in-one truss. The robotic arms are slidably connected to the guides on the five-in-one truss via slider mechanisms. The five robotic arms, from left to right, are robotic arm #1, robotic arm #2, robotic arm #3, robotic arm #4, and robotic arm #5. A solenoid valve is installed on the side of the hand, and a telescopic cylinder is installed inside. The piston rods of the telescopic cylinders of robotic arms #1, #2, #4, and #5 are connected vertically downward to a horizontal mounting plate via threads. Vacuum suction cups are symmetrically installed on the bottom of the mounting plate. The piston rod of the telescopic cylinder of robotic arm #3 is connected to a rotary cylinder at the end. The piston rod of the rotary cylinder is connected vertically downward to a horizontal mounting plate via threads. Vacuum suction cups are symmetrically installed on the bottom of the mounting plate. A pressure sensor is fixedly installed on the top of the mounting plate. Below robotic arms #1, #2, #3, #4, and #5, there are correspondingly installed positioning tables, shearing machines #1 and #2, rotary centering tables, shearing machines #3 and #4, and corner workstations. Photoelectric sensors are installed on the equipment frames of the positioning tables, shearing machines #1 and #2, rotary centering tables, and shearing machines #3 and #4.

[0006] More preferably, a feeding roller is provided on the left side of the positioning table, and a photoelectric sensor is provided on the equipment frame of the feeding roller.

[0007] More preferably, the pressure sensor and photoelectric sensor are connected to the signal input terminal of the PLC, and the signal output terminal of the PLC is connected to the solenoid valve.

[0008] Compared with the prior art, this utility model has the following advantages: 1. Improved shearing pass rate: The combination of cylinder positioning control and dynamic correction by the robot arm controls the dimensional deviation within ±0.3mm; eliminates rhomboid pieces (angle error <0.5°).

[0009] 2. Improved efficiency through multi-machine collaboration: Interlocking logic reduces equipment waiting time, increasing production capacity by 40%; five robotic arms operate in fully automated relay, with a failure rate of <0.1 times / shift.

[0010] 3. Enhanced safety protection: Real-time alarm for adsorption failure, reducing raw material loss by 90%; long-stroke cylinder avoidance design achieves zero collision. Attached Figure Description

[0011] Figure 1 This is an installation diagram of the present invention; Figure 2 This is the control flowchart of this utility model.

[0012] The meanings of the reference numerals in the attached diagram are as follows: 1. Feeding roller; 2. Five-in-one truss; 3. #1 robot; 4. #2 robot; 5. #3 robot; 6. #4 robot; 7. #5 robot; 8. #1 / #2 shearing machine; 9. #3 and #4 shearing machine; 10. Positioning table; 11. Rotary centering table; 12. Pressure sensor; 13. Photoelectric sensor; 14. Solenoid valve; 15. Telescopic cylinder; 16. Rotary cylinder; 17. Mounting plate; 18. Vacuum suction cup; 19. Corner station. Detailed Implementation

[0013] To make the objectives, technical solutions, and advantages of this utility model clearer, the present utility model will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this utility model and are not intended to limit this utility model.

[0014] like Figure 1-2As shown, a precision gripping device for nickel starting sheet truss robots includes a five-in-one truss, five robotic arms, and a PLC (Siemens S7-1215). The five-in-one truss 2 is fixedly installed on the foundation by support columns, supporting the five robotic arms. Long-stroke linear guides are installed on the five-in-one truss 2. The robotic arms are slidably connected to the guides on the five-in-one truss 2 through a slider mechanism. The five robotic arms, from left to right, are robotic arm 1#3, robotic arm 2#4, robotic arm 3#5, robotic arm 4#6, and robotic arm 5#7. Solenoid valves 14 are installed on the sides of robotic arms 1#3, 2#4, 3#5, 4#6, and 5#7. Telescopic cylinders 15 are installed inside the solenoid valves 14, and the telescopic cylinders 15 are the Z-axis of the robotic arms. The lifting drive mechanism has solenoid valve 14 connected to each cylinder (telescopic cylinder 15, rotary cylinder 16) and vacuum generator via pneumatic hoses. The piston rods of the telescopic cylinders 15 of robotic arms 1# 3, 2# 4, 4# 6, and 5# 7 are vertically connected to a horizontal mounting plate 17 via threads. Vacuum suction cups 18 are symmetrically mounted on the bottom of the mounting plate 17. The piston rod of the telescopic cylinder 15 of robotic arm 3# 5 is connected to a rotary cylinder 16. The rotary cylinder 16 is a dedicated rotary actuator for robotic arm 3#. The piston rod of the rotary cylinder 16 is vertically connected to a horizontal mounting plate 17 via threads. Vacuum suction cups 18 are symmetrically mounted on the bottom of the mounting plate 17. A pressure sensor 12 is fixedly mounted on the top of the mounting plate 17.

[0015] Below robotic arms #1 (3), #2 (4), #3 (5), #4 (6), and #5 (7), there are sequentially installed positioning tables 10, #1 / #2 shearing machines 8, a rotating centering table 11, #3 and #4 shearing machines 9, and a corner station 19. A feeding roller 1 is located on the left side of positioning table 10, which is responsible for the automatic feeding of nickel starting sheets. Shearing machines #1 and #2 are arranged longitudinally to perform initial shearing, while shearing machines #3 and #4 are arranged laterally to perform secondary shearing.

[0016] Robot 1# is near the feeding roller and above the positioning table 10. Robot 2# is located directly above the shearing machines 1# and 2#. Robot 3# is centered and corresponds to the rotating centering table. Robot 4# is located directly above the shearing machines 3# and 4#. Robot 5# is located directly above the corner station 19 in the rightmost finished product output area.

[0017] Photoelectric sensors 13 are installed on the frames of the feeding roller 1, positioning table 10, shearing machine 8 (1# / 2#), rotating centering table 11, and shearing machines 9 (3# and 4#).

[0018] Pressure sensor 12 and photoelectric sensor 13 are connected to the signal input terminal of PLC, and the signal output terminal of PLC is connected to solenoid valve 14.

[0019] In practical use, the nickel starting sheet is placed on the feeding roller 1 by a crane. The feeding roller 1 moves the nickel starting sheet to the picking position. When the photoelectric switch of the picking position is ON and the cylinder of the #1 robot arm retracts, the transfer is triggered. The #1 robot arm 3 moves to the picking position, and the telescopic cylinder 15 of the #1 robot arm 3 extends. When the cylinder extends to the position, vacuum adsorption is activated, and the pressure sensor 12 detects the pressure. When the pressure reaches -0.5Mpa or above, the telescopic cylinder 15 retracts, and the #1 robot arm 3 moves the starting sheet to the positioning table 10 along the guide rail. When the nickel starting sheet is waiting to be sheared, robot arm #2 receives a signal that the photoelectric switch of the positioning table photoelectric sensor 13 of the positioning table 10 is ON and the shearing machine #1 / #2 is idle. Robot arm #2 moves the nickel starting sheet from the positioning table 10 to the shearing machine #1 / #2. The shearing machine #1 / #2 cuts both sides of the nickel starting sheet. After the nickel starting sheet is cut, it waits to be turned. The nickel starting sheet is transferred from the #1 / #2 shearing machine 8 to the rotary centering table 11. While the #3 robot arm 5 is transferring the sheet, the rotary cylinder 16 rotates 90°. Combined with the photoelectric sensor 13 of the rotary centering table 11, the sheet position is calibrated. The rotary action is terminated when the rotary cylinder 16 rotates to the position and the photoelectric switch of the rotary centering table is ON. Then, wait for re-shearing. Robotic arm 6 #4 transfers the nickel starting sheet from the rotating centering table 11 to shearing machine 9 #3 / 4, and shearing machine 9 #3 / 4 completes the shearing of the remaining two sides of the nickel starting sheet; After the shearing is completed, the starting electrode sheet is sent to the corner station 19 by robot arm #5.

[0020] When pressure sensor 12 detects a pressure below -0.5 MPa, it triggers an alarm and interrupts the current action, and the robotic arm returns to a safe position to await manual intervention.

[0021] The photoelectric sensor 13 of the rotating centering platform 11 detects the position offset of the sheet in real time and feeds it back to the PLC. The PLC issues a correction command based on the offset to control the coordinate of the No. 3 robot arm 5, thereby realizing dynamic correction of the No. 3 robot arm 5.

[0022] In all steps, when there is sheet material at the workstation, the photoelectric sensor 13 sends an ON signal to the system; when there is no sheet material at the workstation, the photoelectric sensor 13 sends an OFF signal to the system. The system then determines whether there is sheet material at the workstation. The subsequent process robot must simultaneously meet the requirements that the lifting cylinder 15 or rotating cylinder 16 of the previous process robot retracts into place and the target photoelectric sensor 13 detects the presence of material before the robot can start to transfer the nickel starting sheet. The vacuum suction cup 18 must be in place before the robot can transfer the sheet. The shearing machine must receive a signal from the robot to complete the sheet placement before it can start its operation.

[0023] The above are merely preferred embodiments of the present utility model and are not intended to limit the present utility model. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A precision gripping device for nickel starting sheet truss robotic arms, comprising a five-in-one truss, five robotic arms, and a PLC, characterized in that: The five-in-one truss (2) is fixedly installed on the foundation by supporting columns. Long-stroke linear guide rails are installed on the five-in-one truss (2). The robotic arms are slidably connected to the guide rails on the five-in-one truss (2) through a slider mechanism. The five robotic arms are, from left to right, robotic arm #1 (3), robotic arm #2 (4), robotic arm #3 (5), robotic arm #4 (6), and robotic arm #5 (7). Solenoid valves (14) are provided on the sides of robotic arms #1 (3), #2 (4), #3 (5), #4 (6), and #5 (7), and telescopic cylinders (15) are provided inside. (3) The piston rod of the telescopic cylinder (15) of the 2# robot (4), 4# robot (6), and 5# robot (7) is connected vertically downward to a horizontal mounting plate (17) by a thread. Vacuum suction cups (18) are symmetrically installed on the bottom of the mounting plate (17). The piston rod of the telescopic cylinder (15) of the 3# robot (5) is connected to a rotary cylinder (16). The piston rod of the rotary cylinder (16) is connected vertically downward to a horizontal mounting plate (17) by a thread. Vacuum suction cups (18) are symmetrically installed on the bottom of the mounting plate (17). A pressure sensor (12) is fixedly installed on the top of the mounting plate (17). Below the 1# robot (3), 2# robot (4), 3# robot (5), 4# robot (6) and 5# robot (7), a positioning table (10), a 1# / 2# shearing machine (8), a rotary centering table (11), a 3# and 4# shearing machine (9) and a corner station (19) are installed in sequence. The equipment frames of the positioning table (10), the 1# / 2# shearing machine (8), the rotary centering table (11), and the 3# and 4# shearing machines (9) are equipped with photoelectric sensors (13).

2. The precise gripping device for a nickel starting sheet truss robot according to claim 1, characterized in that: A feeding roller (1) is provided on the left side of the positioning platform (10), and a photoelectric sensor (13) is provided on the equipment frame of the feeding roller (1).

3. The precise gripping device for a nickel starting sheet truss robot according to claim 1, characterized in that: The pressure sensor (12) and photoelectric sensor (13) are connected to the signal input terminal of the PLC, and the signal output terminal of the PLC is connected to the solenoid valve (14).

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