CN103010726A - Automatic part charging device of automobile welding production line - Google Patents
Automatic part charging device of automobile welding production line Download PDFInfo
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- CN103010726A CN103010726A CN2012102072397A CN201210207239A CN103010726A CN 103010726 A CN103010726 A CN 103010726A CN 2012102072397 A CN2012102072397 A CN 2012102072397A CN 201210207239 A CN201210207239 A CN 201210207239A CN 103010726 A CN103010726 A CN 103010726A
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Abstract
The invention discloses an automatic part charging device of an automobile welding production line, which is suitable for charging parts of a robot welding production line. The automatic part charging device comprises a base and a movable material shelf, wherein a plurality of workpiece locating supports which are arrayed in order are arranged on the upper part of the material shelf, one side of the base is provided with an inward sunken containing cavity, a guide mechanism is arranged in the containing cavity, the material shelf can enter the containing cavity from one side of the base under the guiding of the guide mechanism, a jacking device for jacking the material shelf and a controller for controlling the motion of the jacking device are also arranged on the base, and a locating mechanism for locating the material shelf is arranged between the jacking device and the material shelf. The automatic part charging device adopts a split structure and can satisfy the requirements of different automobile types and different workpieces on part charging, moreover, the labor intensity of operating personnel can be obviously reduced, and the automatic part charging device moves stably and has high safety.
Description
Technical field
The present invention relates to a kind of accessory equipment of automotive body welding automatic production line, be specifically related to a kind of automatic piece supplying device of auxiliary spare part, it is applicable to the automobile full-automatic robot welding product line.
Background technology
At present, on the full-automatic robot welding product line of automobile auxiliary spare part upper general adopt artificial upper part mode, operating personal is from the material frame Workpiece handling, then utilizes anchor clamps that workpiece is fixed to assigned address on the vehicle body.The shortcoming of this upper method is that staff labor intensity is large, and transport efficiency is low, can not satisfy the requirement of automatic production lines, and the personal safety of operating personal do not ensure, has potential safety hazard.In order to address the above problem, there is human hair to understand automatic piece supplying device, for example, on Chinese patent literature disclosed a kind of " turnover mechanism for installing vehicle side around external covering ", publication number is CN101474731A, comprise substrate, be located at the first noumenon bearing and the second body bearing on the substrate, be located at respectively the first upset bearing and the second upset bearing of the first noumenon bearing and the second body bearing top left, be located at respectively the first low limited post and the second low limited post on the first noumenon bearing and the second body bearing top the right, be located at respectively on the substrate and be positioned at the first noumenon bearing and the first high limited post and the second high limited post in the second body bearing left side, be located at respectively the first cylinder block and the second cylinder block and the first and second cylinders on the substrate, the front and rear of turnover body respectively with first the upset bearing be connected the upset bearing be connected: the first and second cylinders are connected with turnover body.In the time of upper, operating personal only needs workpiece is placed on the turnover body, then promotes by cylinder, and turnover body is upset upwards, makes workpiece arrive the position of weld of appointment.Above-mentioned automatic piece supplying device can guarantee the personal safety of operating personal, reduce accident potential, and the transport efficiency of raising workpiece, but have the following disadvantages simultaneously: because workpiece is to rise to assigned address by the mode of overturning, therefore corresponding clamping device fixation workpiece need to be arranged, thereby can't adopt the robot of manufacturing line to pass through material grasping anchor clamps automatic capturing, because the required position parameters such as height are different between different vehicles and the workpiece, and the final location of workpiece is directly to finish by upper device, thereby upper part device can not adapt to different automobile types, upper needs of different workpieces.In addition, upper process is that single-piece goes up part successively, can not be once many, so operating personal must be all the time in standing in a device side, and operating personal needs ceaselessly to walk up and down between the shelf of place work piece and upper part device, thereby causes the labour intensity of operating personal large.
Summary of the invention
The present invention be for solve in the existing craft of prior art part efficient low, have a potential safety hazard, and automatic piece supplying device can not adapt to the large problem of labour intensity of upper needs and the operating personal of different automobile types, different workpieces, a kind of automatic piece supplying device of automotive welding production line is provided, this device can adapt to the robot of manufacturing line by material grasping anchor clamps automatic capturing workpiece, thereby can satisfy upper needs of different automobile types, different workpieces, and can significantly reduce the labour intensity of operating personal.
To achieve these goals, the present invention is by the following technical solutions: a kind of automatic piece supplying device of automotive welding production line, its be applicable to robot welding product line upper, comprise pedestal, material frame movably, the top of described material frame is provided with the workpiece locating support of some ordered arrangements, one side of described pedestal have one cave inward hold cavity, hold and be provided with guiding mechanism in the cavity, described material frame can be under the guiding of guiding mechanism enters from a side of pedestal and holds in the cavity, also be provided with the jacking apparatus of jacking material frame and the controller of control jacking apparatus action on the pedestal, between jacking apparatus and material frame, be provided with the detent mechanism of positioning materials frame.
Automatic piece supplying device of the present invention adopts Split type structure, pedestal wherein can be fixedly installed on the welding production line side, and the material frame of place work piece can adopt the removable frame of go-cart one class, and can place in an orderly manner a plurality of workpiece simultaneously on the material frame, because workpiece is that on even keel is positioned on the material frame, there is no fixing and holding mechanism, therefore, make it be applicable to the robot automatic welding production line, and a pedestal can configure a plurality of material frames simultaneously, different material frames can be placed the different workpieces of different automobile types, makes the applicable surface of whole upper device wider.During welding, jacking apparatus with the material frame jacking to predetermined altitude, robot on the manufacturing line can be according to the program of prior establishment grabbing workpiece one by one, wait whole workpiece grabbings complete after, material frame descends, operating personal can be pulled out it from holding in the cavity of pedestal, and another material frame of piling workpiece pushed hold in the cavity, jacking apparatus is again with the material frame jacking, and continues welding sequence, the boring exchange process Simple fast that adds can adapt to the beat of welding production line.Since operating personal can be on material frame a plurality of workpiece of property placement once, thereby can avoid between workpiece laydown area and upper part device, walking up and down continually, be conducive to reduce labor intensity, increase work efficiency, simultaneously, can maintain a certain distance between workpiece laydown area and the welding production line, be conducive to the layout of workpiece laydown area, avoid because too causing the crowded of place near welding production line.Hold the location that cavity then is conducive to material frame on the pedestal.
As preferably, the rectangular arranged in arrays of workpiece locating support on the described material frame, the workpiece locating support comprises and the adaptive bearing surface of surface of the work and and the adaptive locating dowel pin of workpiece auxiliary hole.The rectangular arranged in arrays of workpiece locating support is conducive to simplify robot program's establishment, and is conducive to the accuracy that guarantees that robot is located when grabbing workpiece.
As above-mentioned preferred a kind of replacement scheme, described material frame top water level land is provided with rotating disk, rotating disk is driven by a stepping motor, the workpiece locating support is fixed on the rotating disk and around the center of turn circular array of rotating disk and arranges, junction surface at material frame and jacking apparatus is provided with plug-in type cable connector, described plug-in type cable connector one end connects stepping motor, and the other end connects controller.Stepping motor can cooperate the fix rotation of angle of the beat of manufacturing line under the control of controller, thereby make robot when grabbing workpiece, need not to adjust the position, thereby can greatly simplify the establishment of its operation procedure, and the shift motion when being conducive to shorten the robot grabbing workpiece, thereby the quantity of workpiece locating support on the accretion bin correspondingly, reduce the exchange times of material frame.
As preferably, described workpiece locating support has a crawl station of waiting for the robot grabbing workpiece, and corresponding crawl station and an adjacent rear station place are provided with respectively the position transduser that detects the location of workpiece on the described material frame.Position transduser can detect on crawl station and the rear station whether workpiece is arranged, thus by controller control dial rotation, or jacking apparatus is descended with the quid pro quo bin, and then avoid robot the phenomenon that uses leisure moments when the crawl material, to occur.
As preferably, both sides, described material frame bottom have areal of support, described jacking apparatus comprises and is arranged on straight up the jacking cylinder that pedestal holds the cavity both sides, the piston rod end that described jacking cylinder makes progress connects the top board of a level, described detent mechanism comprises the taper dowel pin that is arranged on the top board and is arranged on accordingly knock hole on the material frame areal of support, the top of taper dowel pin is lower than areal of support, the cylinder body both sides of described jacking cylinder are provided with pilot sleeve abreast, are provided with slidably the pilot bar that the upper end is connected with top board in the pilot sleeve.
Be arranged on the areal of support of material frame both sides by the top board jacking of piston rod end, make material frame more steady reliable when lifting, the upper conical locating dowel pin of top board has the automatic centering effect, is conducive to its automatic guide and enters in the knock hole on the areal of support.Simultaneously, the cylinder body both sides arrange pilot sleeve and are conducive to increase stationarity and the rigidity of jacking cylinder when lifting.
As preferably, the two ends of described cover top surface are provided with adjusting bolt, and the be threaded feet of cylindricality of adjusting bolt upper end also is provided with on the adjusting bolt against the jam nut of feet bottom surface, and taper dowel pin is arranged on the end face of feet.Its height of the feet capable of regulating that is threaded, and by the jam nut lock-bit, thereby guarantee the steady support of material frame when lifting.
As preferably, described guiding mechanism comprises the some rollers that hold the cavity both sides that are arranged on respectively pedestal along material frame turnover direction, both sides, material frame bottom then are provided with the guide plate of strip, both sides guide plate lateral surface tilts towards the material frame outside from the bottom up, the front end of guide plate curvedly curves inwardly, the pivot center of two side wheels is lateriversion outside material frame from the bottom up, and the angle between the guide plate of both sides equals the angle between the two side wheel pivots center.
The guide plate of the inside arc-shaped bend of front end material frame enter pedestal hold cavity the time have a good guiding function, material frame can be entered rapidly hold in the cavity, the friction force when holding the roller of both sides in the cavity and then being conducive to reduce the material frame turnover and holding cavity.Especially, has an angle between the guide plate of both sides, make it form the V font, thereby can reduce the gap between roller and the guide plate as far as possible, when the spacing between the roller slightly less than between the guide plate apart from the time, the roller of both sides can produce a push effect, make slightly jack-up upwards of material frame, thereby and surface separation, guide plate then moves forward and backward along roller, thereby can greatly improve the accuracy of positioning of material frame, guarantee that material frame is by the smooth jack-up of jacking apparatus.
As preferably, being positioned at the piston bottom in the cylinder body of described jacking cylinder is the rising chamber, and what be positioned at piston top is the decline chamber, and the pipeline that connects the rising chamber is provided with an air restrictor, and on air restrictor check valve of bypass.When the jacking cylinder makes progress jack-up with material frame, this check valve conducting, pressurized air can enter in the rising chamber by check valve; When material frame descended, the pressurized air in the rising chamber can't oppositely be passed through check valve, and this moment, air restrictor played the throttle effect, and material frame can be descended reposefully, avoided producing and impacted, and was conducive to improve safety performance.
As preferably, the lateral surface of described pilot bar is provided with spacing elongated slot vertically, the bottom surface of spacing elongated slot is provided with sawtooth, be provided with the locating dowel pin that cooperates with spacing elongated slot in the described pilot sleeve, the outside of pilot sleeve is provided with a self-locking cylinder vertically, the middle part of the upper end of pilot sleeve and an auto-lock shifting fork is hinged, auto-lock shifting fork is provided with torsion spring, torsion spring is connected on the sawtooth of spacing elongated slot an end of auto-lock shifting fork, the auto-lock shifting fork other end then is hinged with an end of a transition connecting rod, the other end of transition connecting rod and the piston rod of self-locking cylinder are hinged, and the cavity of close transition connecting rod one side of self-locking cylinder is by the air inlet gas circuit UNICOM of pipeline and jacking cylinder.
In order to ensure suddenly dying etc. that material frame can not fall suddenly during situation running into, the present invention is provided with self-locking mechanism at pilot bar, at first by the cooperation of locating dowel pin and spacing elongated slot, makes pilot bar avoid rotating in lifting process; And the cooperation of auto-lock shifting fork and sawtooth produces the self-locking action of similar click, because auto-lock shifting fork is connected with the piston rod of self-locking cylinder by the transition connecting rod, and the epitrochoidal chamber of self-locking cylinder is with the gas circuit UNICOM of jacking cylinder, therefore, when upper device normal operation, self-locking cylinder drives auto-lock shifting fork by the transition connecting rod, and its application force that overcomes torsion spring is separated with sawtooth, and pilot bar is lifting freely.When running into paroxysmal dying during accident, self-locking cylinder is inoperative, and this moment, the elastic force of torsion spring drove auto-lock shifting fork and butt sawtooth tightly, thereby realized self-locking, to guarantee safety.
In sum, the present invention has following beneficial effect: upper needs of different automobile types, different workpieces can be satisfied, and the labour intensity of operating personal can be significantly reduced, and stable action, safety performance is high.
Description of drawings
Fig. 1 is the structural representation of the embodiment of the invention 1.
Fig. 2 is the structural representation of jacking apparatus part among the present invention.
Fig. 3 is the structural representation of roller portion among the present invention.
Fig. 4 is the structural representation of the embodiment of the invention 2 turntables part.
Among the figure: 1, pedestal 11, pockets 12, roller 2, material frame 21, areal of support 22, cardan wheel 23, handrail 24, guide plate 25, rotating disk 3, workpiece locating support 31, bearing surface 32, locating dowel pin 4, jacking apparatus 41, jacking cylinder 42, top board 43, pilot sleeve 44, pilot bar 45, adjusting bolt 46, feet 47, jam nut 48, taper dowel pin 49, knock hole 51, spacing elongated slot 52, sawtooth 53, locating dowel pin 54, self-locking cylinder 55, rotation seat 56, auto-lock shifting fork 57, the transition connecting rod
The specific embodiment
The present invention will be further described below in conjunction with accompanying drawing and the specific embodiment.
Embodiment 1: as shown in Figure 1, the automatic piece supplying device of a kind of automotive welding production line of the present invention, be applicable to robot welding product line upper, comprise pedestal 1, movably material frame 2, material frame is the framed structure of a cuboid, the bottom of material frame inwardly dwindles the formation step in the both sides of length direction, make its cross-sectional plane be down convex shape, the horizontal surface at step place, both sides is the areal of support 21 of both sides, construct bin bottom then, four edges in the bottom that inwardly dwindles are equipped with four cardan wheels 22, and the side after Width leans on arranges handrail 23, to make things convenient for its implementation.The abducent upper top of material frame is provided with 8 workpiece locating supports 3,8 workpiece locating supports are lined up the rectangular arranged in arrays of two rows, the workpiece locating support be provided with the adaptive bearing surface 31 of surface of the work and and the adaptive locating dowel pin 32 of workpiece auxiliary hole, when workpiece is placed on the workpiece locating support, bearing surface consists of good support to workpiece, and locating dowel pin then can be located accurately to workpiece.One side of pedestal have one cave inward hold cavity 11, thereby make pedestal roughly be concave shape, hold and be provided with guiding mechanism in the cavity, material frame can be under the guiding of guiding mechanism enters from a side of pedestal and holds in the cavity, guiding mechanism comprises respectively along the cavity both sides that hold that material frame turnover direction is arranged on pedestal and is linearly aligned some rollers 12, with it accordingly, both sides, material frame bottom then are provided with the guide plate 24 of strip, and the front end of guide plate curvedly curves inwardly.As shown in Figure 3, both sides guide plate lateral surface tilts towards the material frame outside from the bottom up, the pivot center of two side wheels is lateriversion outside material frame from the bottom up, and the angle between the guide plate of both sides equals the angle between the two side wheel pivots center, above-mentioned angle can be arranged to 40 degree to 50 degree, and its preferred value is 45 degree.The guide plate of the inside arc-shaped bend of front end material frame enter pedestal hold cavity the time have good guiding and an automatic centering effect, material frame can be entered easily to be held in the cavity, owing to becoming the setting of V font between the guide plate of both sides, thereby can make spacing between two side wheels less than 3 to 8 millimeters of the spacings between the guide plate of both sides, like this, when material frame enters when holding the oral cavity, the guide plate of inward at both ends arc-shaped bend still can enter between two side wheels easily, and meeting produces a component that makes progress in the thrust of the pair of rollers guide plate that both sides are obliquely installed, thereby material frame is upwards lifted slightly, its four cardan wheels then with surface separation, and eliminate tolerance clearance between guide plate and the roller fully, thereby can greatly improve the accuracy of positioning of material frame.
In addition, also be provided with the jacking apparatus 4 of jacking material frame and the controller of control jacking apparatus action on the pedestal, controller is connected with the master controller of robot welding product line, thereby make it can send according to the work tempo of robot welding product line corresponding action command, to realize close look at the swing between the two.As shown in Figure 2, jacking apparatus comprises and is arranged on straight up the jacking cylinder 41 that pedestal holds the cavity both sides, the piston rod end that the jacking cylinder makes progress connects the top board 42 of a level, distance between the top board of both sides just equals the distance between the areal of support of material frame both sides, thereby when material frame enter into pedestal hold in the cavity time, but top board jack-up areal of support.The cylinder body both sides of jacking cylinder arrange respectively a pilot sleeve 43 abreast, and the columniform pilot bar 44 that the upper end is connected with top board is set in the pilot sleeve slidably.When top board moved up and down under the drive of jacking cylinder, pilot bar can move up and down in pilot sleeve simultaneously, to increase stationarity and the rigidity of jacking cylinder when the lifting.In order to control the action of jacking cylinder, corresponding travel switch (not shown) can be set in the cavity in holding of pedestal, when material frame enters into when holding in the cavity fully, travel switch can send signal to controller, and controller can be controlled the action of jacking cylinder.Need to prove, the jacking apparatus among the present invention also can adopt oil cylinder to replace.
Further, as shown in Figure 2, be fixedly installed adjusting bolt 45 at the two ends of cover top surface, the feet 46 of the cylindricality that is threaded on the adjusting bolt, can adjust easily its height by the rotational support pin, guarantee steadily reliable when the jack-up material frame of top board.And in adjusting bolt a jam nut 47 is set, when the rotation lock nut makes it be resisted against the feet bottom surface, can locks feet.For avoiding the displacement of material frame in lifting process, between jacking apparatus and material frame, also be provided with the detent mechanism of positioning materials frame, detent mechanism comprises the taper dowel pin 48 that is arranged on the top board, and be arranged on accordingly knock hole 49 on the material frame areal of support, taper dowel pin can be set directly at the end face of feet, and on the top board of both sides, respectively arrange one respectively, two taper dowel pins can be realized the fully location of material frame, simultaneously the top of taper dowel pin should be lower than areal of support, is entering when holding cavity and taper dowel pin interferes to avoid material frame.
As shown in Figure 2, in order to ensure suddenly dying etc. that material frame can not fall suddenly during situation running into, the present invention is provided with self-locking mechanism at pilot bar, at first the lateral surface at pilot bar arranges spacing elongated slot 51 vertically, the bottom surface of spacing elongated slot arranges sawtooth 52, the locating dowel pin 53 that cooperates with spacing elongated slot then radially is set in the pilot sleeve, makes pilot bar in lifting process, avoid rotating.Secondly, in the outside of pilot sleeve a self-locking cylinder 54 is set straight up, the upper end of pilot sleeve is provided with the rotation seat 55 of U-shaped, one roughly the middle part of V-shaped auto-lock shifting fork 56 be hinged in the rotation seat of upper end of pilot sleeve, and at auto-lock shifting fork the torsion spring (not shown) is set, the elastic force of torsion spring is connected on the sawtooth of spacing elongated slot an end of auto-lock shifting fork, to the pilot bar self-locking, avoids it to move down.The other end of auto-lock shifting fork then is hinged with an end of a transition connecting rod 57, and the other end of transition connecting rod and the piston rod of self-locking cylinder are hinged, thereby consist of a multi-connecting-rod mechanism, avoids the piston rod of self-locking cylinder to be stuck when action.Self-locking cylinder is epitrochoidal chamber near the cavity of transition connecting rod one side, and this epitrochoidal chamber is by the air inlet gas circuit UNICOM of pipeline and jacking cylinder.Therefore, upper when normal operation device, the epitrochoidal chamber of self-locking cylinder is full of pressurized air all the time, and piston rod is by transition connecting rod pulling auto-lock shifting fork, and makes auto-lock shifting fork overcome the application force of torsion spring and separate freely lifting of pilot bar at this moment with sawtooth.When running into paroxysmal dying during accident, the epitrochoidal chamber of self-locking cylinder and jacking cylinder are died synchronously, and this moment, the elastic force of torsion spring can drive that auto-lock shifting fork resets and butt sawtooth tightly, thereby realized self-locking, to guarantee safety.
Being positioned at the piston bottom in the cylinder body of jacking cylinder is the rising chamber, and what be positioned at piston top is the decline chamber.When material frame need to rise, pressurized air entered in the rising chamber, rose thereby promote material frame by piston rod; When material frame need to descend, pressurized air entered in the decline chamber, descended thereby drive material frame by piston rod.Compressed-air actuated switching can realize by the solenoid directional control valve of a prior art, not do at this and give unnecessary details.Because the action of gravitation of material frame own, make its required application force when rising and descend differ very big, when rising, the application force of jacking cylinder need to overcome gravity and the friction drag of material frame (comprising workpiece), and when descending, the gravity of material frame becomes application force with the jacking cylinder, therefore can be significantly greater than friction drag, thus the fast-descending of material frame caused, can produce larger impact on the one hand, have on the other hand potential safety hazard, easily operating personal is damaged.Steady decline in order to ensure material frame, at the pipeline that connects the rising chamber air restrictor is set, preferably can select adjustable restrictor, correspondingly to adjust its flow according to changes in weight of workpiece etc., bypass arranges a check valve on air restrictor simultaneously, the conducting direction of this check valve is consistent with the gas circuit direction of jacking cylinder when rising, thereby when the jacking cylinder need to make progress jack-up with material frame, this check valve is in conducting state, pressurized air can enter in the rising chamber of jacking cylinder by check valve, realizes the rising of normal speed; When material frame descended, because the reverse cut-off effect of check valve, this moment, air restrictor played the throttle effect, and material frame can be descended reposefully, avoided producing and impacted, and was conducive to improve safety performance.
In the automatic piece supplying device of the present invention, pedestal can be fixedly installed on the welding production line side, and the material frame of place work piece can arrange at least two, at first two material frames are moved to by the shelf of place work piece, on material frame, sequentially place 8 workpiece, when a material frame enter pedestal hold in the cavity by jacking the time, another material frame prepare at any time with pedestal in the material frame transposition.After the material frame in the pedestal was swapped out, operating personal is place work piece on this material frame immediately, so as at any time with pedestal in material frame transposition, the continuously upper part that so circulation can holding workpiece.Certainly, in order to adapt to upper needs of different automobile types, different workpieces, the workpiece of every kind of model all can arrange accordingly at least two material frames.
The present invention is when work, the opening part that material frame holds cavity from pedestal enters into and holds in the cavity, this moment, the guide plate of material frame both sides formed friction of rolling with the roller that holds the cavity both sides, and the material frame automatic centering located, when material frame enters when holding in the cavity fully, travel switch works, send the signal that puts in place to controller, controller is namely controlled jacking cylinder drive material frame and is risen to specified altitude assignment, this moment, the robot on the welding production line can begin one by one from the unit one of first row according to the program of prior establishment that grabbing workpiece carries out automatic welding to assigned address, its crawl order can sequentially be carried out by row, is perhaps undertaken by the leu order.After 8 workpiece on the material frame have all grasped, controller control jacking cylinder drives material frame and descends, thereby finish part program on first, at this moment, operating personal can be pulled out material frame from holding in the cavity of pedestal, and another material frame of piling workpiece pushed hold in the cavity, to restart second upper part program.Certainly, normal lifting in order to ensure material frame, we also can arrange a position transduser below the 8th workpiece locating support on the material frame, when the 8th workpiece is crawled by robots, this position transduser namely sends a signal to controller, and controller can be controlled lift cylinder and drive material frame decline so that exchange.
Embodiment 2: the automatic piece supplying device of a kind of automotive welding production line of the present invention, be applicable to robot welding product line upper, its basic structure is identical with embodiment 1, with reference to accompanying drawing 1, comprise base, 1, movably material frame 2, material frame is the framed structure of a cuboid, the bottom of material frame inwardly dwindles the formation step in the both sides of length direction, make its cross-sectional plane be down convex shape, the horizontal surface at both sides step place is the areal of support 21 of both sides, construct bin bottom then, and four edges in the bottom that inwardly dwindles are equipped with four cardan wheels 22, and in a side of Width handrail 23 is set, to make things convenient for its implementation.As shown in Figure 4, the abducent upper top on even keel of material frame arranges a rotating disk 25, and rotating disk is driven by a stepping motor (not shown), with its rotational angle of accurate control.Rotating disk is provided with 8 workpiece locating supports 3, and the workpiece locating support is fixed on the rotating disk and around the center of turn circular array of rotating disk and arranges.The workpiece locating support be provided with the adaptive bearing surface 31 of surface of the work and and the adaptive locating dowel pin 32 of workpiece auxiliary hole, when workpiece is placed on the workpiece locating support, bearing surface consists of good support to workpiece, and locating dowel pin then can be located accurately to workpiece.The workpiece locating support has 8 stations, what wherein wait for the robot grabbing workpiece is the crawl station, after the workpiece that is positioned at the crawl station is crawled by robots, angle of dial rotation, the workpiece locating support that be positioned on the station of rear adjacent this moment namely arrives the crawl station, to wait for the crawl of robot.One side of pedestal have one cave inward hold cavity 11, thereby make pedestal roughly be concave shape, hold and be provided with guiding mechanism in the cavity, material frame can be under the guiding of guiding mechanism enters from a side of pedestal and holds in the cavity, guiding mechanism comprises respectively along the cavity both sides that hold that material frame turnover direction is arranged on pedestal and is linearly aligned some rollers 12, with it accordingly, both sides, material frame bottom then are provided with the guide plate 24 of strip, and the front end of guide plate curvedly curves inwardly.As shown in Figure 3, both sides guide plate lateral surface tilts towards the material frame outside from the bottom up, the pivot center of two side wheels is lateriversion outside material frame from the bottom up, and the angle between the guide plate of both sides equals the angle between the two side wheel pivots center, above-mentioned angle can be arranged to 40 degree to 50 degree, and its preferred value is 45 degree.The guide plate of the inside arc-shaped bend of front end material frame enter pedestal hold cavity the time have good guiding and an automatic centering effect, material frame can be entered easily to be held in the cavity, owing to becoming the setting of V font between the guide plate of both sides, thereby can make spacing between two side wheels less than 3 to 8 millimeters of the spacings between the guide plate of both sides, like this, when material frame enters when holding the oral cavity, the guide plate of inward at both ends arc-shaped bend still can enter between two side wheels easily, and meeting produces a component that makes progress in the thrust of the pair of rollers guide plate that both sides are obliquely installed, thereby material frame is upwards lifted slightly, its four cardan wheels then with surface separation, and eliminate tolerance clearance between guide plate and the roller fully, thereby can greatly improve the accuracy of positioning of material frame.
In addition, also be provided with the jacking apparatus of jacking material frame and the controller of control jacking apparatus action on the pedestal, controller is connected with the master controller of robot welding product line, thereby make it can send according to the work tempo of robot welding product line corresponding action command, to realize close look at the swing between the two.As shown in Figure 2, jacking apparatus comprises and is arranged on straight up the jacking cylinder 41 that pedestal holds the cavity both sides, the piston rod end that the jacking cylinder makes progress connects the top board 42 of a level, distance between the top board just equals the distance between the areal of support of material frame both sides, thereby when material frame enter into pedestal hold in the cavity time, but top board jack-up areal of support.The cylinder body both sides of jacking cylinder arrange respectively a pilot sleeve 43 abreast, and the columniform pilot bar 44 that the upper end is connected with top board is set in the pilot sleeve slidably.When top board moved up and down under the drive of jacking cylinder, pilot bar can move up and down in pilot sleeve simultaneously, to increase stationarity and the rigidity of jacking cylinder when the lifting.In order to control the action of jacking cylinder, corresponding travel switch (not shown) can be set in the cavity in holding of pedestal, when material frame enters into when holding in the cavity fully, travel switch can send signal to controller, and controller can be controlled the action of jacking cylinder.Need to prove, the jacking apparatus among the present invention also can adopt oil cylinder to replace.
Further, as shown in Figure 2, be fixedly installed adjusting bolt 45 at the two ends of cover top surface, the feet 46 of the cylindricality that is threaded on the adjusting bolt, can adjust easily its height by the rotational support pin, guarantee steadily reliable when the jack-up material frame of top board.And in adjusting bolt a jam nut 47 is set, when the rotation lock nut makes it be resisted against the feet bottom surface, can locks feet.For avoiding the displacement of material frame in lifting process, between jacking apparatus and material frame, also be provided with the detent mechanism of positioning materials frame, detent mechanism comprises the taper dowel pin 48 that is arranged on the top board, and be arranged on accordingly knock hole 49 on the material frame areal of support, taper dowel pin can be set directly at the end face of feet, and on the top board of both sides, respectively arrange one respectively, two taper dowel pins can be realized the fully location of material frame, simultaneously the top of taper dowel pin should be lower than areal of support, is entering when holding cavity and taper dowel pin interferes to avoid material frame.
For ease of the control of controller to stepping motor, at the junction surface of material frame and jacking apparatus the plug-in type cable connector (not shown) is set, this plug-in type cable connector one end connects stepping motor, and the other end connects controller.Stepping motor can cooperate the rotation of angle that fixes of the beat of manufacturing line under the control of controller, thereby makes robot need not to adjust the position when grabbing workpiece, has simplified the establishment of operation procedure.
As shown in Figure 2, in order to ensure suddenly dying etc. that material frame can not fall suddenly during situation running into, the present invention is provided with self-locking mechanism at pilot bar, at first the lateral surface at pilot bar arranges spacing elongated slot 51 vertically, the bottom surface of spacing elongated slot arranges sawtooth 52, the locating dowel pin 53 that cooperates with spacing elongated slot radially is set in the pilot sleeve, makes pilot bar in lifting process, avoid rotating.Secondly, in the outside of pilot sleeve a self-locking cylinder 54 is set straight up, the upper end of pilot sleeve is provided with the rotation seat 55 of U-shaped, one roughly the middle part of V-shaped auto-lock shifting fork 56 be hinged in the rotation seat of upper end of pilot sleeve, and at auto-lock shifting fork the torsion spring (not shown) is set, the elastic force of torsion spring is connected on the sawtooth of spacing elongated slot an end of auto-lock shifting fork, to the pilot bar self-locking, avoids it to move down.The other end of auto-lock shifting fork then is hinged with an end of a transition connecting rod 57, and the other end of transition connecting rod and the piston rod of self-locking cylinder are hinged, thereby consist of a multi-connecting-rod mechanism, avoids the piston rod of self-locking cylinder to be stuck when action.Self-locking cylinder is epitrochoidal chamber near the cavity of transition connecting rod one side, and this epitrochoidal chamber is by the air inlet gas circuit UNICOM of pipeline and jacking cylinder.Therefore, upper when normal operation device, the epitrochoidal chamber of self-locking cylinder is full of pressurized air all the time, and piston rod is by transition connecting rod pulling auto-lock shifting fork, and makes auto-lock shifting fork overcome the application force of torsion spring and separate freely lifting of pilot bar at this moment with sawtooth.When running into paroxysmal dying during accident, the epitrochoidal chamber of self-locking cylinder and jacking cylinder are died synchronously, and this moment, the elastic force of torsion spring can drive that auto-lock shifting fork resets and butt sawtooth tightly, thereby realized self-locking, to guarantee safety.
Being positioned at the piston bottom in the cylinder body of jacking cylinder is the rising chamber, and what be positioned at piston top is the decline chamber.When material frame need to rise, pressurized air entered in the rising chamber, rose thereby promote material frame by piston rod; When material frame need to descend, pressurized air entered in the decline chamber, descended thereby drive material frame by piston rod.Steady decline in order to ensure material frame, at the pipeline that connects the rising chamber air restrictor is set, preferably can select adjustable restrictor, correspondingly to adjust its flow according to changes in weight of workpiece etc., bypass arranges a check valve on air restrictor simultaneously, the conducting direction of this check valve is consistent with the gas circuit direction of jacking cylinder when rising, thereby when the jacking cylinder need to make progress jack-up with material frame, this check valve is in conducting state, pressurized air can enter in the rising chamber of jacking cylinder by check valve, realizes the rising of normal speed; When material frame descended, because the reverse cut-off effect of check valve, this moment, air restrictor played the throttle effect, and material frame can be descended reposefully.
In the automatic piece supplying device of the present invention, pedestal can be fixedly installed on the welding production line side, and the material frame of place work piece can arrange at least two, at first two material frames are moved to by the shelf of place work piece, on material frame, sequentially place 8 workpiece, when a material frame enter pedestal hold in the cavity by jacking the time, another material frame prepare at any time with pedestal in the material frame transposition.After the material frame in the pedestal was swapped out, operating personal is place work piece on this material frame immediately, so as at any time with pedestal in material frame transposition, the continuously upper part that so circulation can holding workpiece.Certainly, in order to adapt to upper needs of different automobile types, different workpieces, the workpiece of every kind of model all can arrange accordingly at least two material frames.
The present invention is when work, the opening part that material frame holds cavity from pedestal enters into and holds in the cavity, this moment, the guide plate of material frame both sides formed friction of rolling with the roller that holds the cavity both sides, and the material frame automatic centering located, when material frame enters when holding in the cavity fully, travel switch works, send the signal that puts in place to controller, controller is namely controlled jacking cylinder drive material frame and is risen to specified altitude assignment, and the robot on the welding production line can be positioned at grabbing workpiece on the unit one locating support that grasps station according to the program of prior establishment from material frame at this moment; Then controller control step electric machine rotation 45 is spent, and at this moment, second workpiece locating support on the rear adjacent station forwards the crawl station to, waits for the crawl of robot.After the workpiece on 8 workpiece locating supports on the material frame has all grasped, controller control jacking cylinder drives material frame and descends, thereby finish part program on first, at this moment, operating personal can be pulled out material frame from holding in the cavity of pedestal, and another material frame of piling workpiece pushed hold in the cavity, to restart second upper part program.Certainly, normal lifting in order to ensure material frame, we also can arrange two position transdusers at material frame, one of them position transduser is positioned at the below of crawl station on the material frame, another position transduser then is positioned at the below of an adjacent rear station, when two position transdusers sent signal simultaneously, workpiece all on the prover bin was all crawled, and controller can be controlled lift cylinder and drive material frame decline so that exchange.
Claims (9)
1. the automatic piece supplying device of an automotive welding production line, its be applicable to robot welding product line upper, comprise pedestal (1), material frame (2) movably, the top of described material frame is provided with the workpiece locating support (3) of some ordered arrangements, one side of described pedestal have one cave inward hold cavity (11), hold and be provided with guiding mechanism in the cavity, described material frame can be under the guiding of guiding mechanism enters from a side of pedestal and holds in the cavity, also be provided with the jacking apparatus (4) of jacking material frame and the controller of control jacking apparatus action on the pedestal, between jacking apparatus and material frame, be provided with the detent mechanism of positioning materials frame.
2. the automatic piece supplying device of a kind of automotive welding production line according to claim 1, it is characterized in that, the rectangular arranged in arrays of workpiece locating support on the described material frame, workpiece locating support comprise the bearing surface adaptive with surface of the work (31) and and the adaptive locating dowel pin (32) of workpiece auxiliary hole.
3. the automatic piece supplying device of a kind of automotive welding production line according to claim 1, it is characterized in that, described material frame top water level land is provided with rotating disk (25), rotating disk is driven by a stepping motor, the workpiece locating support is fixed on the rotating disk and around the center of turn circular array of rotating disk and arranges, junction surface at material frame and jacking apparatus is provided with plug-in type cable connector, and described plug-in type cable connector one end connects stepping motor, and the other end connects controller.
4. the automatic piece supplying device of a kind of automotive welding production line according to claim 3, it is characterized in that, described workpiece locating support has a crawl station of waiting for the robot grabbing workpiece, and corresponding crawl station and an adjacent rear station place are provided with respectively the position transduser that detects the location of workpiece on the described material frame.
5. according to claim 1 and 2 or the automatic piece supplying device of 3 or 4 described a kind of automotive welding production lines, it is characterized in that, both sides, described material frame bottom have areal of support (21), described jacking apparatus comprises and is arranged on straight up the jacking cylinder (41) that pedestal holds the cavity both sides, the piston rod end that described jacking cylinder makes progress connects the top board (42) of a level, described detent mechanism comprises the taper dowel pin (48) that is arranged on the top board, and be arranged on accordingly knock hole (49) on the material frame areal of support, the top of taper dowel pin is lower than areal of support, the cylinder body both sides of described jacking cylinder are provided with pilot sleeve (43) abreast, are provided with slidably the pilot bar (44) that the upper end is connected with top board in the pilot sleeve.
6. the automatic piece supplying device of a kind of automotive welding production line according to claim 5, it is characterized in that, the two ends of described cover top surface are provided with adjusting bolt (45), the feet (46) of the cylindricality that is threaded on the adjusting bolt, also be provided with the jam nut (47) against the feet bottom surface on the adjusting bolt, taper dowel pin is arranged on the end face of feet.
7. according to claim 1 and 2 or the automatic piece supplying device of 3 or 4 described a kind of automotive welding production lines, it is characterized in that, described guiding mechanism comprises the some rollers (12) that hold the cavity both sides that are arranged on respectively pedestal along material frame turnover direction, both sides, material frame bottom then are provided with the guide plate (24) of strip, both sides guide plate lateral surface tilts towards the material frame outside from the bottom up, the front end of guide plate curvedly curves inwardly, the pivot center of two side wheels is lateriversion outside material frame from the bottom up, and the angle between the guide plate of both sides equals the angle between the two side wheel pivots center.
8. the automatic piece supplying device of a kind of automotive welding production line according to claim 5, it is characterized in that, being positioned at the piston bottom in the cylinder body of described jacking cylinder is the rising chamber, and what be positioned at piston top is the decline chamber, the pipeline that connects the rising chamber is provided with an air restrictor, and on air restrictor check valve of bypass.
9. the automatic piece supplying device of a kind of automotive welding production line according to claim 5, it is characterized in that, the lateral surface of described pilot bar is provided with spacing elongated slot (51) vertically, the bottom surface of spacing elongated slot is provided with sawtooth (52), be provided with the locating dowel pin (53) that cooperates with spacing elongated slot in the described pilot sleeve, the outside of pilot sleeve is provided with a self-locking cylinder (54) vertically, the middle part of the upper end of pilot sleeve and an auto-lock shifting fork (56) is hinged, auto-lock shifting fork is provided with torsion spring, torsion spring is connected on the sawtooth of spacing elongated slot an end of auto-lock shifting fork, the auto-lock shifting fork other end then is hinged with an end of a transition connecting rod (57), the other end of transition connecting rod and the piston rod of self-locking cylinder are hinged, and the cavity of close transition connecting rod one side of self-locking cylinder is by the air inlet gas circuit UNICOM of pipeline and jacking cylinder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210207239.7A CN103010726B (en) | 2012-06-21 | 2012-06-21 | Automatic part charging device of automobile welding production line |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210207239.7A CN103010726B (en) | 2012-06-21 | 2012-06-21 | Automatic part charging device of automobile welding production line |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103010726A true CN103010726A (en) | 2013-04-03 |
| CN103010726B CN103010726B (en) | 2014-12-03 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201210207239.7A Expired - Fee Related CN103010726B (en) | 2012-06-21 | 2012-06-21 | Automatic part charging device of automobile welding production line |
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| CN (1) | CN103010726B (en) |
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| CN103624459A (en) * | 2013-11-21 | 2014-03-12 | 山东迈赫自动化装备股份有限公司 | Workpiece hoisting device and hoisting tool precise positioning automatic locking mechanism |
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| CN104551461A (en) * | 2014-12-15 | 2015-04-29 | 张家港江苏科技大学产业技术研究院 | Feeding device for boards of various specifications |
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| CN105252195B (en) * | 2015-11-19 | 2016-09-07 | 安徽江淮汽车股份有限公司 | A kind of top cover assembly rack |
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| CN108098194A (en) * | 2016-11-25 | 2018-06-01 | 上汽通用五菱汽车股份有限公司 | The integrated feeding system of weldering is grabbed by a kind of accumulative and travel type material frame and robot |
| CN108393618A (en) * | 2018-03-29 | 2018-08-14 | 广州瑞松北斗汽车装备有限公司 | Reciprocating machine people's welding system of the main spelling system of automobile flexible |
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| CN103624459A (en) * | 2013-11-21 | 2014-03-12 | 山东迈赫自动化装备股份有限公司 | Workpiece hoisting device and hoisting tool precise positioning automatic locking mechanism |
| CN104493401B (en) * | 2014-11-13 | 2018-02-16 | 宁波蓝圣智能科技有限公司 | Clamping device and door pillar plate weld clamping method |
| CN104493401A (en) * | 2014-11-13 | 2015-04-08 | 宁波敏实汽车零部件技术研发有限公司 | Clamping device and car door post plate welding clamping method |
| CN104551461A (en) * | 2014-12-15 | 2015-04-29 | 张家港江苏科技大学产业技术研究院 | Feeding device for boards of various specifications |
| CN105171290A (en) * | 2015-10-12 | 2015-12-23 | 天津伟创达自动化技术有限公司 | Automatic part feeding device used in welding stage of automotive body welding production line |
| CN105252195B (en) * | 2015-11-19 | 2016-09-07 | 安徽江淮汽车股份有限公司 | A kind of top cover assembly rack |
| CN106041787A (en) * | 2016-07-07 | 2016-10-26 | 广州德恒汽车装备科技有限公司 | Multi-vehicle high-precision material vehicle mechanism |
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| CN108098194A (en) * | 2016-11-25 | 2018-06-01 | 上汽通用五菱汽车股份有限公司 | The integrated feeding system of weldering is grabbed by a kind of accumulative and travel type material frame and robot |
| CN106736208A (en) * | 2017-04-04 | 2017-05-31 | 吉林赛金得智能机械制造有限公司 | One kind is with pipeline walking fixture |
| CN107225524A (en) * | 2017-07-12 | 2017-10-03 | 上海克来罗锦机电自动化工程有限公司 | A kind of limiting tool that can be remodeled automatically |
| CN107520571A (en) * | 2017-09-30 | 2017-12-29 | 南京惠德机械有限公司 | A kind of robot clamp apparatus for fast switching |
| CN107651415A (en) * | 2017-10-20 | 2018-02-02 | 广州汽车集团乘用车有限公司 | A kind of external handgrip incision wire body automation equipment of production line |
| CN107651415B (en) * | 2017-10-20 | 2023-08-15 | 广汽乘用车有限公司 | Automatic device for cutting line body by external grippers of production line |
| CN109896255A (en) * | 2017-12-11 | 2019-06-18 | 纳瑞盛（上海）实业有限公司 | A kind of automatic positioning toter for rotor assembling line |
| CN110116282A (en) * | 2018-02-05 | 2019-08-13 | 埃贝斯佩歇排气技术有限责任两合公司 | Transportation system |
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| CN109822267A (en) * | 2019-03-28 | 2019-05-31 | 南昌大学 | One kind is passed through for cylinder and circular cone hands over welding robot device |
| CN111673636A (en) * | 2020-05-22 | 2020-09-18 | 博众精工科技股份有限公司 | Jacking fixture |
| CN111673636B (en) * | 2020-05-22 | 2022-03-08 | 博众精工科技股份有限公司 | Jacking fixture |
| CN111730228B (en) * | 2020-06-08 | 2022-03-25 | 日立电梯电机（广州）有限公司 | Welding device and welding method |
| CN111730228A (en) * | 2020-06-08 | 2020-10-02 | 日立电梯电机（广州）有限公司 | Welding device and welding method |
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| CN112122828B (en) * | 2020-09-07 | 2022-02-22 | 中车唐山机车车辆有限公司 | Automatic centering device and method for railway passenger car roof camber beam |
| CN112846704A (en) * | 2021-01-15 | 2021-05-28 | 江苏纳盛科技有限公司 | Device and method for manufacturing variable-resistance water curtain for river regulation |
| CN112846704B (en) * | 2021-01-15 | 2022-06-24 | 江苏纳盛科技有限公司 | Device and method for manufacturing variable-resistance water curtain for river regulation |
| CN113319433A (en) * | 2021-06-23 | 2021-08-31 | 三一汽车制造有限公司 | Automatic roller welding production line and roller production method |
| CN113319433B (en) * | 2021-06-23 | 2023-09-05 | 三一汽车制造有限公司 | Automatic roller welding production line and roller production method |
| CN113547267A (en) * | 2021-08-09 | 2021-10-26 | 安徽瑞泰智能装备有限公司 | Large-circulation quick switching mechanism for clamp of any vehicle type |
| CN116475640A (en) * | 2023-05-19 | 2023-07-25 | 广州中益机械有限公司 | Automatic welding robot's of auto parts device of going up |
| CN116475640B (en) * | 2023-05-19 | 2024-01-05 | 广州中益机械有限公司 | Automatic welding robot's of auto parts device of going up |
| CN117428391A (en) * | 2023-09-01 | 2024-01-23 | 斯领克新材料(浙江)有限公司 | Convenient assembly device based on intelligent welding |
| CN117104825A (en) * | 2023-10-13 | 2023-11-24 | 靖江市强林石油钻采设备制造有限公司 | Transportation device for on-site transportation of throttler |
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