An automatic hard
alloy spheral tooth
robot of the present invention is a device which is used for picking, deburring, weighing, sorting and stacking before the
sintering of hard
alloy spheral teeth in the field of
powder metallurgy. The structure includes a stander, a deburring mechanism, an electronic scale, a multi-joint
robot and an automatic plate-replacing mechanism, and wherein, the multi-joint
robot, the electronic scale and the automatic plate-replacing mechanism are mounted on the panel of the stander. The multi-joint robot comprises a base seat, three horizontal joints, a Z-axis motion mechanism and grasping fingers, wherein, the three horizontal joints includes an A-axis horizontal joint, a B-axis horizontal joint and a W-axis horizontal joint, the Z-axis motion mechanism is provided with a
servo motor (Z) and a ballscrew nut, and a ballscrew thread is arranged on a rotary shaft (W). The grasping fingers are arranged on the lower end of the rotary shaft (W) (also called as Z axis) on the bottom of the Z-axis motion mechanism. The automatic plate-replacing mechanism consists of driving motors (No.1, No.2, No.3), synchronous dentiform conveyer belts (No.1, No.2, No.3),
setter plates and an air cylinder.