CN103010726B - 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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- CN103010726B CN103010726B CN201210207239.7A CN201210207239A CN103010726B CN 103010726 B CN103010726 B CN 103010726B CN 201210207239 A CN201210207239 A CN 201210207239A CN 103010726 B CN103010726 B CN 103010726B
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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 automobile full-automatic robot welding product line.
Background technology
At present, on the full-automatic robot welding product line of automobile, part mode is manually gone up in upper the general employing of auxiliary spare part, and operating personal, from material frame Workpiece handling, then utilizes fixture that workpiece is fixed to the assigned address on vehicle body.The shortcoming of this upper method is that staff labor intensity is large, and transport efficiency is low, can not meet 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, in 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 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 right, the second body bearing top, be located at respectively on 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 substrate, the front and rear of turnover body is connected with the second upset bearing with the first upset bearing respectively: the first and second cylinders are connected with turnover body.In the time of upper, operating personal only need be placed on workpiece in turnover body, then by cylinder, promotes, 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 improve the transport efficiency of workpiece, but have the following disadvantages simultaneously: due to workpiece be by upset mode rise to assigned address, therefore need to there is corresponding clamping device fixation workpiece, thereby cannot adopt the robot of manufacturing line by material grasping fixture automatic capturing, because the location parameters such as height required between different vehicles and workpiece are different, and the final location of workpiece is directly to complete by upper device, thereby upper 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 efficiency low, there is 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 fixture automatic capturing workpiece, thereby can meet 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 in cavity, be provided with guiding mechanism, described material frame can be under the guiding of guiding mechanism enters and holds in cavity from a side of pedestal, on pedestal, be also provided with the jacking apparatus of jacking material frame and the controller of controlling jacking apparatus action, 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 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 material frame, because workpiece is that on even keel is positioned on material frame, there is no fixing and holding mechanism, therefore, make it be applicable to 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 by material frame jacking to predetermined altitude, robot on manufacturing line can be according to the program of prior establishment grabbing workpiece one by one, and after waiting whole workpiece grabbings complete, material frame declines, operating personal can be pulled out it from holding in cavity of pedestal, and the material frame that another is piled to workpiece pushes and hold in cavity, jacking apparatus is again by material frame jacking, and continues welding sequence, the boring exchange process adding is simple and quick, can adapt to the beat of welding production line.Due to operating personal can be on material frame once property place a plurality of workpiece, thereby can avoid walking up and down continually between workpiece laydown area and upper part device, be conducive to reduce labor intensity, increase work efficiency, simultaneously, between workpiece laydown area and welding production line, can maintain a certain distance, be conducive to the layout of workpiece laydown area, avoid because too causing the crowded of place near welding production line.On pedestal, hold the location that cavity is conducive to material frame.
As preferably, the rectangular arranged in arrays of workpiece locating support on described material frame, workpiece locating support comprises and the bearing surface of surface of the work adaptation and and the locating dowel pin of workpiece auxiliary hole adaptation.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, workpiece locating support is fixed on 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 coordinate the fix rotation of angle of the beat of manufacturing line under the control of controller, thereby make robot when grabbing workpiece without adjusting position, thereby can greatly simplify the establishment of its operation procedure, and the shift motion while being conducive to shorten robot grabbing workpiece, thereby the quantity of workpiece locating support on accretion bin correspondingly, reduce the exchange times of material frame.
As preferably, described workpiece locating support has a crawl station of waiting for robot grabbing workpiece, correspondingly on described material frame captures station and an adjacent rear station place is respectively equipped with the position transduser that detects the location of workpiece.Position transduser can detect to capture on station and a rear station whether have workpiece, thereby controls dial rotation by controller, or jacking apparatus is declined with quid pro quo bin, and then avoids robot when capturing material, to occur the phenomenon that uses leisure moments.
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 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 being arranged on top board and is arranged on accordingly the knock hole on 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 upper end is connected with top board in pilot sleeve.
By the top board jacking of piston rod end, be arranged on the areal of support of material frame both sides, make material frame more steadily reliable when lifting, the upper conical locating dowel pin of top board has automatic centering effect, is conducive to its automatic guide and enters in the knock hole on areal of support.Meanwhile, 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, is also provided with in 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 being threaded, and by 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 cavity both sides that are arranged on respectively pedestal along material frame turnover direction, both sides, material frame bottom are provided with the guide plate of strip, both sides guide plate lateral surface tilts towards 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 two side wheel pivots center.
The guide plate of the inside arc-shaped bend of front end material frame enter pedestal hold cavity time there is good guiding function, material frame can be entered rapidly and hold in cavity, the roller that holds both sides in cavity is conducive to reduce material frame and passes in and out the friction force while holding cavity.Especially, between the guide plate of both sides, there is an angle, make it form V font, thereby can reduce the gap between roller and guide plate as far as possible, when the spacing between roller is less than the distance between guide plate slightly, the roller of both sides can produce a push effect, make material frame jack-up upwards slightly, thereby and surface separation, guide plate moves forward and backward along roller, thereby can greatly improve the positioning precision of material frame, guarantee that material frame is by the smooth jack-up of jacking apparatus.
As preferably, in the cylinder body of described jacking cylinder, being positioned at piston bottom is rising chamber, and what be positioned at piston top is decline chamber, and the pipeline that connects rising chamber is provided with an air restrictor, and on air restrictor check valve of bypass.When jacking cylinder makes progress jack-up by material frame, this check valve conducting, pressurized air can enter in rising chamber by check valve; When material frame declines, the pressurized air in rising chamber cannot oppositely be passed through check valve, and now air restrictor plays throttle effect, and material frame can be declined reposefully, avoids producing and impacts, and is 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, in described pilot sleeve, be provided with the locating dowel pin coordinating with spacing elongated slot, 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 one end of auto-lock shifting fork, the auto-lock shifting fork other end is hinged with one end of a transition connecting rod, the other end of transition connecting rod and the piston rod of self-locking cylinder are hinged, self-locking cylinder near the cavity of transition connecting rod one side by the air inlet gas circuit UNICOM of pipeline and jacking cylinder.
In order to ensure can not falling suddenly running into sudden material frame during situation such as die, the present invention is provided with self-locking mechanism on pilot bar, first by the cooperation of locating dowel pin and spacing elongated slot, makes pilot bar in lifting process, avoid rotating; 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 transition connecting rod, and the epitrochoidal chamber of self-locking cylinder is with the gas circuit UNICOM of jacking cylinder, therefore, when upper the normal work of device, self-locking cylinder drives auto-lock shifting fork by transition connecting rod, makes its application force that overcomes torsion spring separated with sawtooth, and pilot bar is lifting freely.When running into paroxysmal dying during accident, self-locking cylinder is inoperative, and now the elastic force of torsion spring drives auto-lock shifting fork butt sawtooth tightly, thereby realizes self-locking, to guarantee safety.
In sum, the present invention has following beneficial effect: upper needs of different automobile types, different workpieces can be met, and the labour intensity of operating personal can be significantly reduced, and stable action, safety performance is high.
Accompanying drawing explanation
Fig. 1 is the structural representation of the embodiment of the present invention 1.
Fig. 2 is the structural representation of jacking apparatus part in the present invention.
Fig. 3 is the structural representation of roller portion in the present invention.
Fig. 4 is the structural representation of the embodiment of the present invention 2 turntable parts.
In 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, transition connecting rod
The specific embodiment
Below in conjunction with accompanying drawing and the specific embodiment, the present invention will be further described.
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 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, four of the bottoms edge inwardly dwindling is equipped with four cardan wheels 22, and the side after Width leans on arranges handrail 23, to facilitate 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, workpiece locating support be provided with the bearing surface 31 of surface of the work adaptation and and the locating dowel pin 32 of workpiece auxiliary hole adaptation, when workpiece is placed on workpiece locating support, bearing surface forms good support to workpiece, and locating dowel pin 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 in cavity, be provided with guiding mechanism, material frame can be under the guiding of guiding mechanism enters and holds in cavity from a side of pedestal, guiding mechanism comprises that respectively the cavity both sides that hold that are arranged on pedestal along material frame turnover direction are linearly aligned some rollers 12, answer in contrast ground, both sides, material frame bottom 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 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 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 time there is good guiding and automatic centering effect, material frame can be entered easily to be held in cavity, owing to becoming the setting of V font between the guide plate of both sides, thereby can make spacing between two side wheels be less than 3 to 8 millimeters of spacing between the guide plate of both sides, like this, when material frame enters while holding oral cavity, the guide plate of inward at both ends arc-shaped bend still can enter between two side wheels easily, and meeting produces the component making 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 with surface separation, and eliminate the tolerance clearance between guide plate and roller completely, thereby can greatly improve the positioning precision of material frame.
In addition, on pedestal, be also provided with the jacking apparatus 4 of jacking material frame and the controller of controlling jacking apparatus action, controller is connected with the master controller of robot welding product line, thereby make it send corresponding action command according to the work tempo of robot welding product line, 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 cavity both sides, the piston rod end that 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 cavity time, top board can 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 upper end is connected with top board is set in pilot sleeve slidably.When top board moves 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 cavity in holding of pedestal, when material frame enters into while holding in cavity completely, travel switch can send signal to controller, and controller can be controlled the action of jacking cylinder.It should be noted that, the jacking apparatus in the present invention also can adopt oil cylinder to replace.
Further, as shown in Figure 2, at the two ends of cover top surface, be fixedly installed adjusting bolt 45, the be threaded feet 46 of cylindricality of adjusting bolt upper end, by rotational support pin, can adjust easily its height, guarantee steadily reliable when jack-up material frame of top board.And a jam nut 47 is set in adjusting bolt, when rotation lock nut makes it be resisted against feet bottom surface, can locks feet.For avoiding the displacement of material frame in lifting process, between jacking apparatus and material frame, be also provided with the detent mechanism of positioning materials frame, detent mechanism comprises the taper dowel pin 48 being arranged on top board, and be arranged on accordingly the knock hole 49 on 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 location completely of material frame, the top of taper dowel pin should be lower than areal of support simultaneously, to avoid material frame entering while holding cavity and taper dowel pin interferes.
As shown in Figure 2, in order to ensure can not falling suddenly running into sudden material frame during situation such as die, the present invention is provided with self-locking mechanism on pilot bar, 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 coordinating with spacing elongated slot is radially set in 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 torsion spring (not shown) is set on auto-lock shifting fork, the elastic force of torsion spring is connected on the sawtooth of spacing elongated slot one end of auto-lock shifting fork, to pilot bar self-locking, avoids it to move down.The other end of auto-lock shifting fork is hinged with one 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 forms 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, when upper the normal work of device, the epitrochoidal chamber of self-locking cylinder is full of pressurized air all the time, and piston rod pulls auto-lock shifting fork by transition connecting rod, and makes auto-lock shifting fork overcome the application force of torsion spring and separated with sawtooth, freely lifting of pilot bar now.When running into paroxysmal dying during accident, the epitrochoidal chamber of self-locking cylinder is synchronizeed and is died with jacking cylinder, and now the elastic force of torsion spring can drive auto-lock shifting fork to reset and butt sawtooth tightly, thereby realizes self-locking, to guarantee safety.
In the cylinder body of jacking cylinder, being positioned at piston bottom is rising chamber, and what be positioned at piston top is decline chamber.When material frame need to rise, pressurized air enters in rising chamber, thereby promote material frame by piston rod, rises; When material frame need to decline, pressurized air enters in decline chamber, thereby drives material frame to decline by piston rod.Compressed-air actuated switching can realize by the solenoid directional control valve of a prior art, at this, does not repeat.Effect due to the gravity of material frame own, make its required application force when rising and decline 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 while declining, the gravity of material frame becomes application force together with jacking cylinder, therefore can be greater than significantly friction drag, thereby cause the fast-descending of material frame, 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, on the pipeline that connects rising chamber, an air restrictor is set, preferably can select adjustable restrictor, correspondingly to adjust its flow according to changes in weight of workpiece etc., on air restrictor, bypass arranges a check valve simultaneously, the conducting direction of this check valve is consistent with the gas circuit direction of jacking cylinder when rising, thereby when jacking cylinder need to make progress jack-up by 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 declines, due to the reverse cut-off effect of check valve, now air restrictor plays throttle effect, and material frame can be declined reposefully, avoids producing and impacts, and is conducive to improve safety performance.
In automatic piece supplying device of the present invention, pedestal can be fixedly installed on welding production line side, and the material frame of place work piece can arrange at least two, 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 cavity by jacking time, another material frame prepare at any time with pedestal in material frame transposition.After material frame in pedestal is 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 at least two material frames accordingly.
The present invention is when work, the opening part that material frame holds cavity from pedestal enters into and holds in cavity, now the guide plate of material frame both sides forms friction of rolling with the roller that holds cavity both sides, and material frame automatic centering is located, when material frame enters while holding in cavity completely, travel switch works, to controller, send the signal that puts in place, controller is controlled jacking cylinder and is driven material frame to rise to specified altitude assignment, now the robot on welding production line can start one by one grabbing workpiece from the unit one of first row according to the program of prior establishment and carry out automatic welding to assigned address, its crawl order can sequentially be carried out by row, or undertaken by leu order.After 8 workpiece on material frame have all captured, controller is controlled jacking cylinder and is driven material frame to decline, thereby complete part program on first, now, operating personal can be pulled out material frame from holding in cavity of pedestal, and the material frame that another is piled to workpiece pushes and holds in 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 material frame, when the 8th workpiece is crawled by robots, this position transduser sends a signal to controller, and controller can be controlled lift cylinder and drive material frame to 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 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, four of the bottoms edge inwardly dwindling is equipped with four cardan wheels 22, and in a side of Width, handrail 23 is set, to facilitate 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), accurately to control its rotational angle.Rotating disk is provided with 8 workpiece locating supports 3, and workpiece locating support is fixed on rotating disk and around the center of turn circular array of rotating disk and arranges.Workpiece locating support be provided with the bearing surface 31 of surface of the work adaptation and and the locating dowel pin 32 of workpiece auxiliary hole adaptation, when workpiece is placed on workpiece locating support, bearing surface forms good support to workpiece, and locating dowel pin can be located accurately to workpiece.Workpiece locating support has 8 stations, what wherein wait for robot grabbing workpiece is crawl station, after being positioned at the workpiece that captures station and being crawled by robots, angle of dial rotation, the workpiece locating support being now positioned on the station of rear adjacent arrives 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 in cavity, be provided with guiding mechanism, material frame can be under the guiding of guiding mechanism enters and holds in cavity from a side of pedestal, guiding mechanism comprises that respectively the cavity both sides that hold that are arranged on pedestal along material frame turnover direction are linearly aligned some rollers 12, answer in contrast ground, both sides, material frame bottom 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 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 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 time there is good guiding and automatic centering effect, material frame can be entered easily to be held in cavity, owing to becoming the setting of V font between the guide plate of both sides, thereby can make spacing between two side wheels be less than 3 to 8 millimeters of spacing between the guide plate of both sides, like this, when material frame enters while holding oral cavity, the guide plate of inward at both ends arc-shaped bend still can enter between two side wheels easily, and meeting produces the component making 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 with surface separation, and eliminate the tolerance clearance between guide plate and roller completely, thereby can greatly improve the positioning precision of material frame.
In addition, on pedestal, be also provided with the jacking apparatus of jacking material frame and the controller of controlling jacking apparatus action, controller is connected with the master controller of robot welding product line, thereby make it send corresponding action command according to the work tempo of robot welding product line, 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 cavity both sides, the piston rod end that jacking cylinder makes progress connects the top board 42 of a level, distance between 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 cavity time, top board can 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 upper end is connected with top board is set in pilot sleeve slidably.When top board moves 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 cavity in holding of pedestal, when material frame enters into while holding in cavity completely, travel switch can send signal to controller, and controller can be controlled the action of jacking cylinder.It should be noted that, the jacking apparatus in the present invention also can adopt oil cylinder to replace.
Further, as shown in Figure 2, at the two ends of cover top surface, be fixedly installed adjusting bolt 45, the be threaded feet 46 of cylindricality of adjusting bolt upper end, by rotational support pin, can adjust easily its height, guarantee steadily reliable when jack-up material frame of top board.And a jam nut 47 is set in adjusting bolt, when rotation lock nut makes it be resisted against feet bottom surface, can locks feet.For avoiding the displacement of material frame in lifting process, between jacking apparatus and material frame, be also provided with the detent mechanism of positioning materials frame, detent mechanism comprises the taper dowel pin 48 being arranged on top board, and be arranged on accordingly the knock hole 49 on 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 location completely of material frame, the top of taper dowel pin should be lower than areal of support simultaneously, to avoid material frame entering while holding cavity and taper dowel pin interferes.
Control for ease of controller to stepping motor, arranges plug-in type cable connector (not shown) at the junction surface of material frame and jacking apparatus, and this plug-in type cable connector one end connects stepping motor, and the other end connects controller.Stepping motor can coordinate the rotation of angle that fixes of the beat of manufacturing line under the control of controller, thus make robot when grabbing workpiece without adjusting position, simplified the establishment of operation procedure.
As shown in Figure 2, in order to ensure can not falling suddenly running into sudden material frame during situation such as die, the present invention is provided with self-locking mechanism on pilot bar, 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 coordinating with spacing elongated slot is radially set in 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 torsion spring (not shown) is set on auto-lock shifting fork, the elastic force of torsion spring is connected on the sawtooth of spacing elongated slot one end of auto-lock shifting fork, to pilot bar self-locking, avoids it to move down.The other end of auto-lock shifting fork is hinged with one 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 forms 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, when upper the normal work of device, the epitrochoidal chamber of self-locking cylinder is full of pressurized air all the time, and piston rod pulls auto-lock shifting fork by transition connecting rod, and makes auto-lock shifting fork overcome the application force of torsion spring and separated with sawtooth, freely lifting of pilot bar now.When running into paroxysmal dying during accident, the epitrochoidal chamber of self-locking cylinder is synchronizeed and is died with jacking cylinder, and now the elastic force of torsion spring can drive auto-lock shifting fork to reset and butt sawtooth tightly, thereby realizes self-locking, to guarantee safety.
In the cylinder body of jacking cylinder, being positioned at piston bottom is rising chamber, and what be positioned at piston top is decline chamber.When material frame need to rise, pressurized air enters in rising chamber, thereby promote material frame by piston rod, rises; When material frame need to decline, pressurized air enters in decline chamber, thereby drives material frame to decline by piston rod.Steady decline in order to ensure material frame, on the pipeline that connects rising chamber, an air restrictor is set, preferably can select adjustable restrictor, correspondingly to adjust its flow according to changes in weight of workpiece etc., on air restrictor, bypass arranges a check valve simultaneously, the conducting direction of this check valve is consistent with the gas circuit direction of jacking cylinder when rising, thereby when jacking cylinder need to make progress jack-up by 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 declines, due to the reverse cut-off effect of check valve, now air restrictor plays throttle effect, and material frame can be declined reposefully.
In automatic piece supplying device of the present invention, pedestal can be fixedly installed on welding production line side, and the material frame of place work piece can arrange at least two, 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 cavity by jacking time, another material frame prepare at any time with pedestal in material frame transposition.After material frame in pedestal is 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 at least two material frames accordingly.
The present invention is when work, the opening part that material frame holds cavity from pedestal enters into and holds in cavity, now the guide plate of material frame both sides forms friction of rolling with the roller that holds cavity both sides, and material frame automatic centering is located, when material frame enters while holding in cavity completely, travel switch works, to controller, send the signal that puts in place, controller is controlled jacking cylinder and is driven material frame to rise to specified altitude assignment, now the robot on welding production line can be positioned at according to the program of prior establishment grabbing workpiece on the unit one locating support that captures station from material frame, then controller control step electric machine rotation 45 is spent, and now, second workpiece locating support on rear adjacent station forwards crawl station to, waits for the crawl of robot.After workpiece on 8 workpiece locating supports on material frame has all captured, controller is controlled jacking cylinder and is driven material frame to decline, thereby complete part program on first, now, operating personal can be pulled out material frame from holding in cavity of pedestal, and the material frame that another is piled to workpiece pushes and holds in cavity, to restart second upper part program.Certainly, normal lifting in order to ensure material frame, we also can arrange two position transdusers on material frame, one of them position transduser is positioned at the below that captures station on material frame, another position transduser is positioned at the below of an adjacent rear station, when two position transdusers send signal simultaneously, workpiece all on prover bin is all crawled, and controller can be controlled lift cylinder and drive material frame to decline so that exchange.
Claims (8)
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 in cavity, be provided with guiding mechanism, described material frame can be under the guiding of guiding mechanism enters and holds in cavity from a side of pedestal, on pedestal, be also provided with the jacking apparatus (4) of jacking material frame and the controller of controlling jacking apparatus action, between jacking apparatus and material frame, be provided with the detent mechanism of positioning materials frame, the rectangular arranged in arrays of workpiece locating support on described material frame, workpiece locating support comprises and the bearing surface (31) of surface of the work adaptation and and the locating dowel pin (32) of workpiece auxiliary hole adaptation.
2. 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, workpiece locating support is fixed on 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.
3. the automatic piece supplying device of a kind of automotive welding production line according to claim 2, it is characterized in that, described workpiece locating support has a crawl station of waiting for robot grabbing workpiece, and on described material frame, corresponding crawl station and an adjacent rear station place are respectively equipped with the position transduser that detects the location of workpiece.
4. according to the automatic piece supplying device of a kind of automotive welding production line described in claim 1 or 2 or 3, 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 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) being arranged on top board, and be arranged on accordingly the knock hole (49) on 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, in pilot sleeve, be provided with slidably the pilot bar (44) that upper end is connected with top board.
5. the automatic piece supplying device of a kind of automotive welding production line according to claim 4, it is characterized in that, the two ends of described cover top surface are provided with adjusting bolt (45), the be threaded feet (46) of cylindricality of adjusting bolt upper end, in adjusting bolt, be also provided with the jam nut (47) against feet bottom surface, taper dowel pin is arranged on the end face of feet.
6. according to the automatic piece supplying device of a kind of automotive welding production line described in claim 1 or 2 or 3, it is characterized in that, described guiding mechanism comprises the some rollers (12) that hold cavity both sides that are arranged on respectively pedestal along material frame turnover direction, both sides, material frame bottom are provided with the guide plate (24) of strip, both sides guide plate lateral surface tilts towards 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, angle between the guide plate of both sides equals the angle between two side wheel pivots center.
7. the automatic piece supplying device of a kind of automotive welding production line according to claim 4, it is characterized in that, in the cylinder body of described jacking cylinder, being positioned at piston bottom is rising chamber, and what be positioned at piston top is decline chamber, the pipeline that connects rising chamber is provided with an air restrictor, and on air restrictor check valve of bypass.
8. the automatic piece supplying device of a kind of automotive welding production line according to claim 4, 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), in described pilot sleeve, be provided with the locating dowel pin (53) coordinating with spacing elongated slot, 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 one end of auto-lock shifting fork, the auto-lock shifting fork other end is hinged with one end of a transition connecting rod (57), the other end of transition connecting rod and the piston rod of self-locking cylinder are hinged, self-locking cylinder near the cavity of transition connecting rod one side 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 |
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| Publication Number | Publication Date |
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| CN103010726A CN103010726A (en) | 2013-04-03 |
| CN103010726B true CN103010726B (en) | 2014-12-03 |
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| Application Number | Title | Priority Date | Filing Date |
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| 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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