Grab-and-fit equipment for the production of pyrophyllite blocks for diamonds that can achieve compliance

Abstract

The present invention is a complete set of grabbing and packing equipment for diamond pyrophyllite block production that can realize compliance and adjustment, including a feeding belt, a feeding belt and a grabbing and pressing machine arranged along a straight line. The grabbing and pressing machine includes a On the working platform on the column, the lower mold assembly of the forming mold is installed in the middle of the working platform, and a jacking hydraulic cylinder or air cylinder is provided under the working platform to drive the lower mold assembly of the forming mold located in the middle of the working platform; A workpiece moving device is installed on the side of the working platform, which includes a vertical lifting linear module and a horizontal translation linear module. The moving parts of the horizontal translation linear module are connected with a gripping and pressing integrated manipulator; the invention is applied to diamond production The processing of pyrophyllite blocks in the process can realize the automation of grasping and installation, and the support force of the manipulator to grasp the workpiece is relatively uniform, and it is not easy to damage the fragile workpiece. When assembling the workpiece, the compliance ring has a certain position and posture deviation compensation function. , for easy assembly.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a complete set of equipment for grasping and packing diamond pyrophyllite blocks. Background technique [0002] During the production of diamond pyrophyllite blocks (such as figure 1 shown), requires that the dedicated dolomite ring ( figure 1 shown in ①) to be transported above the forming mold ( figure 1 shown in ②), and press-fitted on the punch of the molding cavity ( figure 1 shown in ③); add pyrophyllite powder, and use a hydraulic press to press into a pyrophyllite block with an outer square and an inner hole ( figure 1 shown in ④); the pressed pyrophyllite blocks are ejected from the lower die ( figure 1 shown in ⑤); the pyrophyllite blocks (fragile) are then transported to the designated location ( figure 1 shown in ⑥). The current production process of pyrophyllite blocks adopts manual loading and unloading, and robots have not been used for operations. Even if ind...

AI Technical Summary

Problems solved by technology

The current production process of pyrophyllite blocks adopts manual loading and unloading, and robots have not been used for operations. Even if industrial robots in the prior art are used, it is difficult to complete related work

For example (China Invention, CN201710356710.1 Complete set of equipment for grabbing and assembling diamond pyrophyllite blocks), because the force area of ​​the single inner support claw of the manipulator in this patent is small and the pressure on the inner wall of the workpiece is relatively large, it is difficult to control the clamping The force is very easy to damage the workpiece, and the movement form of the inner claw of the patented manipulator is a swing motion when clamping the workpiece, resulting in multiple complex forces on the workpiece when the inner claw is clamping the workpiece, and the inner claw is very It is difficult to control and it is very easy to cause unnecessary damage to the workpiece. However, the existing technology (application number: CN201910141096.6, subject name: inner-supported flexible manipulator for grasping and assembling fragile thin-walled cylindrical inner wall workpieces) has targeted It solves the problem in the manipulator, but there are still deficiencies. For example, in actual production operations, when the manipulator grabs the workpiece and assembles it with the workpiece to be assembled, due to the inevitable appearance and position of the workpiece and the workpiece to be assembled posture deviation, such as the attached Figure 19 As shown in the schematic diagram of posture deviation, at this time, the robot holds the workpiece with rigid pressure and continues to assemble, which will inevitably damage the workpiece, the workpiece to be assembled, or both, especially the assembly of fragile workpieces, which will affect the continuity of production and reduce the Increase production efficiency, increase production costs, and even damage the manipulator, which is likely to cause greater economic losses

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