CN105397447B - A kind of ring set equipment with gripper - Google Patents

A kind of ring set equipment with gripper Download PDF

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Publication number
CN105397447B
CN105397447B CN201511001388.8A CN201511001388A CN105397447B CN 105397447 B CN105397447 B CN 105397447B CN 201511001388 A CN201511001388 A CN 201511001388A CN 105397447 B CN105397447 B CN 105397447B
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CN
China
Prior art keywords
sealing ring
plate
cylinder
grabbing
fixed
Prior art date
Application number
CN201511001388.8A
Other languages
Chinese (zh)
Other versions
CN105397447A (en
Inventor
吴国赛
吴文贤
张斌
Original Assignee
宁波黑田精工有限公司
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Application filed by 宁波黑田精工有限公司 filed Critical 宁波黑田精工有限公司
Priority to CN201511001388.8A priority Critical patent/CN105397447B/en
Publication of CN105397447A publication Critical patent/CN105397447A/en
Application granted granted Critical
Publication of CN105397447B publication Critical patent/CN105397447B/en

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23PMETAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P19/00Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
    • B23P19/001Article feeders for assembling machines
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23PMETAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P19/00Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
    • B23P19/001Article feeders for assembling machines
    • B23P19/007Picking-up and placing mechanisms
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23PMETAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P19/00Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
    • B23P19/02Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for connecting objects by press fit or for detaching same

Abstract

The invention discloses a kind of ring set equipment with gripper.The present invention includes frame(1), sealing ring feed device(2), sealing ring grabbing device(3), sliding axle feed device(7), sliding axle grabbing device(4), finished product storage basket(5), finished product grabbing device(6), the sealing ring grabbing device(3)Including sealing ring jacking system(3a), sealing ring apparatus for temporary storage(3b), sealing ring catching robot(3c), sealing ring vertical motion device(3d), sealing ring horizontal movement device(3e).Pass through sealing ring grabbing device(3)Sealing ring is taken out and strutted, then sealing ring is enclosed on to the specified location of sliding axle automatically.So as to change the mode of production of the original sealing ring of set by hand, the labor intensity of worker is alleviated, there is provided operating efficiency, while the appearance of defect ware caused by avoiding human factor, reduce the cost of product, there is provided the competitiveness of product.

Description

A kind of ring set equipment with gripper
Technical field
The present invention relates to industrial equipment field, more particularly to a kind of ring set equipment with gripper.
Background technology
Magnetic valve is widely used as the automatic foundamental element of control fluid in current commercial Application.Electricity Magnet valve produces magnetic force so as to attract the sliding axle in valve body to move by coil electricity, so that the hole mutual conduction on valve body Or disconnect.Generally it is required for being arranged sealing ring on sliding axle, so as to realize the barrier to hole on valve body.With pneumatically or hydraulically controlling System it is increasingly complicated, it is often necessary to a magnetic valve controls multiplexer channel simultaneously, and this requires to be arranged on sliding axle multiple Sealing ring, so that whether it turns between controlling the hole on multiple valve bodies simultaneously.And the life of magnetic valve sliding axle at present Sealing ring is arranged majority or using manual mode progress in production.Not only efficiency is low for such mode, labor strength Height, and inevitably produce some and have the defective products caused by human factor, so that the production cost of sliding axle It is higher, decline the profit of enterprise.
The content of the invention
In order to overcome drawbacks described above and the deficiency present invention to provide following technical scheme:A kind of sealing snare with gripper Install standby, the equipment includes frame, and sealing ring feed device, sealing ring grabbing device, sliding axle feed device, sliding axle are grabbed Device, finished product storage basket, finished product grabbing device are taken, it is temporary that the sealing ring grabbing device includes sealing ring jacking system, sealing ring Cryopreservation device, sealing ring catching robot, sealing ring vertical motion device, sealing ring horizontal movement device.
Preferably, the sealing ring jacking system is made up of support, cylinder, push pedal, thimble, the thimble by bottom plate, First cylinder shaft part, the second cylinder shaft part, round platform shaft part composition, the bottom plate are a cuboid, and its end face center connects State diameter phase of the diameter of the first cylinder shaft part, the first cylinder shaft part with being arranged on manhole A on feeding guide A Match somebody with somebody, the first cylinder shaft part top surface connects the second cylinder shaft part, and the first cylinder shaft part and second cylinder Shaft part is arranged concentrically, and the diameter of the second cylinder shaft part matches with internal diameter of the seal ring, the top surface of the second cylinder shaft part Overlapped with the big end end face of the round platform shaft part, and the diameter of the second cylinder shaft part and the diameter phase at the big end of the round platform shaft part Together, the side of the cylinder is fixed on the bracket, and the piston of the cylinder is connected in the push pedal, the push pedal top surface It is fixedly connected with the bottom surface of the bottom plate.
Preferably, the sealing ring apparatus for temporary storage is made up of symmetrically arranged left and right two parts, its right half part is by propping up Frame B, cylinder C, sealing ring keep in plate composition, and the cylinder C, the cylinder C cylinder bodies top are fixedly connected with the top surface of the support The rectangular-shape that face is provided with through whole cylinder body is raised, the raised top be provided with slide plate an A, the slide plate A with it is described Cylinder C piston is connected, and the slide plate A is provided with the groove A to match with the projection, the described raised and groove A groups Into slide rail sliding groove structure, fixed connection and sealing circle keeps in plate on the top surface of the slide plate A, and the left end that the sealing ring keeps in plate surpasses Go out the segment distance of left end one of the slide plate A, the sealing ring is kept in and is disposed with the first circle from bottom to top on the left side of plate Arc fluting and the second arc groove, the diameter phase of the diameter of first arc groove and the first cylinder shaft part on the thimble Matching, the external diameter of the diameter and the sealing ring of second arc groove match.
Preferably, the sealing ring catching robot is led by fixed plate A, two guide pillars, connecting plate A, cylinder A, two Set, Pneumatic four claw, four pieces of contiguous block A, scraper plate, four sealing rings strut pawl composition.The cylinder A is fixed on the fixed plate A The centre of top surface, the both ends of the fixed plate A are respectively equipped with through hole, and two guide pin bushing is fixed on the bottom surface of the fixed plate A Both ends, and concentric with the through hole on the fixed plate A respectively, two guide pillars are extended through on the fixed plate A two logical Hole and two guide pin bushing, the both ends of the upper ends of two guide pillars respectively with the connecting plate are connected, under two guide pillars The both ends respectively with the scraper plate are held to be connected, the piston of the cylinder A connects a top plate, the top surface of the top plate and the connection Plate bottom surface connects, and the Pneumatic four claw top surface is fixed on the bottom surface center of the fixed plate A, four of the Pneumatic four claw Clamp jaw is connected with four pieces of contiguous block A top surface, and the bottom surface of four pieces of contiguous block A struts pawl company with four sealing rings Connect, the sealing ring struts pawl and passed from the through hole for being arranged on the scraper plate center.
Compared with prior art, the invention has the advantages that:The present invention include frame, sealing ring feed device, Sealing ring grabbing device, sliding axle feed device, sliding axle grabbing device, finished product storage basket, finished product grabbing device.Pass through sealing Sealing ring is taken out and strutted by circle grabbing device, then sealing ring is enclosed on to the specified location of sliding axle automatically.So as to change original To cover the mode of production of sealing ring by hand, alleviate the labor intensity of worker, there is provided operating efficiency, while avoid it is artificial because The appearance of defect ware caused by element, reduce the cost of product, there is provided the competitiveness of product.
Brief description of the drawings
Fig. 1 is the stereogram of embodiment of the present invention.
Fig. 2 is the stereogram of sealing ring grabbing device in embodiment of the present invention.
Fig. 3 is the stereogram of sliding axle feed device and sliding axle grabbing device in embodiment of the present invention.
Fig. 4 is sliding axle feed device and the stereogram of another angle of sliding axle grabbing device in embodiment of the present invention.
Fig. 5 is the stereogram of finished product crawl and storing unit in embodiment of the present invention.
Fig. 6 is the stereogram of sealing ring jacking system in embodiment of the present invention.
Fig. 7 is the stereogram that sealing ring temporarily puts device in embodiment of the present invention.
Fig. 8 is sealing ring catching robot stereogram in embodiment of the present invention.
Fig. 9 is the stereogram that sealing ring vertical motion device removes after its support left plate in embodiment of the present invention.
Figure 10 is the stereogram of sealing ring horizontal movement device in embodiment of the present invention.
Figure 11 is Pneumatic clamping jaw stereogram in embodiment of the present invention.
Figure 12 is the stereogram of feeding guide in embodiment of the present invention.
Figure 13 is the stereogram that sealing ring struts pawl in embodiment of the present invention.
Embodiment
Below in conjunction with the accompanying drawings, the embodiment of the present invention is elaborated.As shown in figure 1, it is a kind of cover automatically it is close The equipment of seal, the equipment include frame 1, sealing ring feed device 2, sealing ring grabbing device 3, sliding axle feed device 7, Sliding axle grabbing device 4, finished product storage basket 5, finished product grabbing device 6.
Four universal wheel support whole equipments are provided with the bottom surface of the frame 1.
The sealing ring feed device 2 is made up of vibration feeder A, support desk and feeding guide A2a.The feeding guide A2a is in cuboid, and the end face center of the feeding guide A2a sets a rectangular recess 2a1, the depth of the rectangular recess 2a1 Match with the thickness of sealing ring, the rectangular recess 2a1 only runs through a side end face of the feeding guide A2a, in the square One end do not run through on connected in star 2a1 bottom surface is provided with a manhole A2a2.
The sealing ring grabbing device 3 includes sealing ring jacking system 3a, sealing ring apparatus for temporary storage 3b, sealing ring gripper Tool hand 3c, sealing ring vertical motion device 3d, sealing ring horizontal movement device 3e.
The sealing ring jacking system 3a is made up of support A3a1, cylinder B3a2, push pedal 3a3, thimble 3a4.The thimble 3a4 is made up of bottom plate 3a41, the first cylinder shaft part 3a42, the second cylinder shaft part 3a43, round platform shaft part 3a44.The bottom plate 3a41 For a cuboid, its end face center be connected with the first cylinder shaft part 3a42, the first cylinder shaft part 3a42 diameter with The diameter of the manhole A2a2 matches, and the first cylinder shaft part 3a42 is passed freely through the manhole A2a2, the first cylinder shaft part 3a42 top surfaces connect the second cylinder shaft part 3a43, and the first cylinder shaft part 3a42 It is arranged concentrically with the second cylinder shaft part 3a43, diameter and the internal diameter of the seal ring phase of the second cylinder shaft part 3a43 Match somebody with somebody, the top surface of the second cylinder shaft part 3a43 overlaps with the big end end face of the round platform shaft part 3a44, and the second cylinder shaft part 3a43 diameter is identical with the diameter at the big end of the round platform shaft part 3a44.The side of the cylinder B3a2 is fixed on the support On A3a1, the piston of the cylinder B3a2 is connected on the push pedal 3a3, and the push pedal 3a3 top surfaces are with the bottom plate 3a41's Bottom surface is fixedly connected.
The sealing ring apparatus for temporary storage 3b is made up of symmetrically arranged left and right two parts.It is the sealing ring as shown in Figure 7 Apparatus for temporary storage 3b right half parts, it is kept in plate 3b3 and formed by support B3b1, cylinder C3b2, sealing ring.The top of the support B3b1 The cylinder C3b2 is fixedly connected with face, the cylinder C3b2 cylinder decks are provided with the rectangular-shape projection through whole cylinder body 3b21, the raised 3b21 top are provided with a slide plate A3b22, and the slide plate A3b22 is connected with the piston of the cylinder C3b2, The slide plate A3b22 is provided with groove A, the raised 3b21 and the groove A composition to match with the raised 3b21 and slided Rail sliding groove structure, ensure the slide plate A3b22 can relatively described cylinder C3b2 cylinder bodies move along a straight line.The slide plate A3b22 Top surface on fixed connection and sealing circle keep in plate 3b3, the sealing ring keeps in plate 3b3 left end beyond the slide plate A3b22's The segment distance of left end one, the sealing ring are kept in and are disposed with the first arc groove 3b31 from bottom to top on plate 3b3 left side Diameter with the second arc groove 3b32, the first arc groove 3b31 and the first cylinder shaft part on the thimble 3a4 3a42 diameter matches, and the external diameter of the diameter and the sealing ring of the second arc groove 3b32 matches.
The sealing ring catching robot 3c is by fixed plate A3c1, two guide pillar 3c2, connecting plate A3c3, cylinder A3c4, two Individual guide pin bushing 3c5, Pneumatic four claw 3c6, four pieces of contiguous block A3c7, scraper plate 3c8, four sealing rings strut pawl 3c9 compositions.The cylinder A3c4 is fixed on the centre of the fixed plate A3c1 top surfaces, and the both ends of the fixed plate A3c1 are respectively equipped with through hole, and described two lead Set 3c5 is fixed on the both ends of the bottom surface of the fixed plate A3c1, and concentric with the through hole on the fixed plate A3c1 respectively, described Two guide pillar 3c2 extend through two through hole and the two guide pin bushings 3c5 on the fixed plate A3c1, two guide pillar 3c2's Both ends of the upper end respectively with the connecting plate 3c3 are connected, the lower end of two guide pillar 3c2 respectively with the scraper plate 3c8 two End is connected, and the scraper plate 3c8 lower surfaces center is provided with cylindrical bump, and the center of the scraper plate 3c8 is provided with manhole first, edge The circumference across of the manhole first is evenly arranged with the manhole second that four diameters are less than the manhole first, institute The piston for stating cylinder A3c4 connects a top plate 3c41, and the top surface of the top plate 3c41 is connected with the connecting plate 3c3 bottom surfaces, institute State the bottom surface center that Pneumatic four claw 3c6 top surfaces are fixed on the fixed plate A3c1, four clamp jaws of the Pneumatic four claw 3c6 3c61 is in crossing distribution, and four clamp jaw 3c61 of the Pneumatic four claw 3c6 and four pieces are in the contiguous block A3c7 of " 7 " font Top surface connects, and the bottom surface of four pieces of contiguous block A3c7 struts pawl 3c9 with four sealing rings and is connected, and the sealing ring struts Pawl 3c9 is made up of body 3c91, the first connecting pole 3c92, the second connecting pole 3c93, the 3rd connecting pole 3c94.The body 3c91 For a secter pat, the first connecting pole 3c92, the radial direction of the first connecting pole 3c92 are connected on the lower surface of the body 3c91 Section is arranged concentrically in sector, the first connecting pole 3c92 with the body 3c91, and the second connecting pole 3c93 is arranged on On first connecting pole 3c92 bottom surface, its radial section is also in sector, and the second connecting pole 3c93 and the first connecting pole 3c92 is also arranged concentrically, and the 3rd connecting pole 3c94 is connected on the bottom surface of the second connecting pole 3c93, and the described 3rd Connecting pole 3c94 radial section is also in sector, and its outer cylinder is round table surface.The sealing ring struts the second company on pawl 3c9 Post 3c93 is met to pass from the through hole for being arranged on the scraper plate 3c8 centers.
The sealing ring vertical motion device 3d by support D3d1, dividing plate 3d2, motor 3d3, sliding block 3d4, elevator 3d5, Slide rail 3d6, screw mandrel 3d7 are formed.The support D3d1 is in uncovered box body shape, parallel at the top plate in the support D3d1 The top plate is provided with dividing plate 3d2, and motor 3d3, the motor are provided with the center of the cover top surface of the support D3d1 3d3 axle is connected after penetrating rack plate with the screw mandrel 3d7, the screw mandrel 3d7 penetrate be fixed on after the dividing plate 3d2 it is described On support D3d1 bottom plate, the slide rail 3d6 that two horizontal cross-sections are rectangle, institute are symmetrically arranged with the backboard of the support D3d1 The upper surface for stating slide rail 3d6 overlaps with the bottom surface of the dividing plate, the lower surface of the slide rail 3d6 and the bottom of the support D3d1 The upper surface of plate overlaps, and the sliding block 3d4 is provided with the chute through whole sliding block 3d4, the chute and the slide rail 3d6 phases Coordinate.Totally four pieces of the sliding block 3d4, it is separately positioned on four corner positions at the elevator 3d5 back sides, the elevator It is additionally provided with the nut to match with the screw mandrel 3d7 on 3d5, the screw mandrel 3d7 is from the nut being arranged on the elevator 3d5 In pass through.
The sealing ring horizontal movement device 3e is made up of cylinder D, and connecting bracket 3e3, on the cylinder D cylinder decks Top provided with rectangular-shape projection 3e1, the raised 3e1 through whole cylinder body is provided with a slide plate B3e2, the slide plate B3e2 is connected with the piston of the cylinder D, and the slide plate B3e2 is provided with the groove B to match with the raised 3e1, described convex Play 3e1 and the groove B composition slide rail sliding groove structure, ensure the slide plate B3e2 can relatively described cylinder D cylinder bodies do straight line Motion.Connecting bracket 3e3, the connecting bracket 3e3 left side and the cunning are fixedly connected with the top surface of the slide plate B3e2 Plate B3e2 left side overlaps.The connecting bracket 3e3 is in " 7 " font, vertical portion and the cunning of the connecting bracket 3e3 Plate B3e2 is fixedly connected, the horizontal component of the connecting bracket 3e2 and the fixed plate in the sealing ring catching robot 3c A3c1 is fixedly connected.It is vertical that the sealing ring horizontal movement device 3e by the bottom surface of the cylinder D is fixed on the sealing ring Elevator 3d5 front in telecontrol equipment 3d.
The sliding axle feed device 7 is made up of vibration feeder B7a, feeding guide B7b and stopper 7c, the feeding Guide rail B7b is a cuboid, and its top surface is provided with the groove of a rectangular in cross-section, width and the sliding axle maximum outside diameter of the groove Match, one end of the feeding guide B7b is connected with the vibration feeder B7a, on the other end of the feeding guide B7b It is provided with stopper 7c, the stopper 7c and is rotated in a clockwise direction 90 in one0" 7 " font, the stopper 7c left ends Face is connected with the feeding guide B7b end faces, the top surface of the stopper 7c horizontal segments and the groove on the feeding guide B7b Bottom surface overlap, the width of the stopper 7c, match with the sliding axle.
The sliding axle grabbing device 4 includes support C4a, Pneumatic clamping jaw 4b and rotary cylinder 4c, the Pneumatic clamping jaw 4b Two activity gripping finger 4a1 on to fix one piece of gripping block 4a2, the gripping block 4a2 respectively be in rectangular-shape, the gripping block 4a2 One side center at be provided with an arc-shaped groove 4a21, the arc-shaped groove 4a21 runs through the both ends vertical with face where it Face, the plane parallel with plane where the arc-shaped groove 4a21 is fixed with the activity gripping finger 4a1 on the gripping block 4a2 Connection.
The finished product grabbing device 6 is made up of support E6a, cylinder D, Pneumatic clamping jaw 4b, and the Pneumatic clamping jaw 4b is arranged on Right-hand member on the top surface of the slide plate B3e2, and the gripping block 4a2 on the Pneumatic clamping jaw 4b stretches out the right side of the slide plate B3e2 End face.
During work, sealing ring is delivered to by vibration feeder A in feeding guide A2a groove, is reached when there is a sealing ring The end of groove on feeding guide A2a, with the setting manhole A2a2 in a groove it is concentric when, the thimble 3a4 Jacked up upwards under the promotion of the cylinder B3a2, being passed through from the manhole A2a2 makes sealing ring be sheathed on the thimble 3a4 the second cylinder shaft part 3a43 outside, sealing ring are jacked up by the upper first cylinder shaft part 3a42 of thimble 3a4 top surface, Two pieces of sealing rings when cylinder B3a2 moves to extreme position in the sealing ring apparatus for temporary storage 3b keep in plate 3b3 and are its rubbish Under the cylinder C3b2 of rubbish promotion, from left and right to intermediary movements, until two pieces of sealing rings, which are kept in plate 3b3 and contacted with each other, stops fortune Dynamic, the first arc groove on plate 3b3 is kept in now the first cylinder shaft part 3a42 insertions on thimble 3a4 by two pieces of sealing rings In the circular hole of 3b31 compositions, the sealing ring is located to be made up of the second arc groove 3b32 on the temporary plate 3b3 of two pieces of sealing rings Circular hole in.Then thimble 3a4 moves downward reset under cylinder B3a2 drive, and sealing ring is stayed in into two pieces of sealing rings keeps in On plate 3b3.Then the sealing ring vertical motion device 3d bands dynamic seal ring horizontal movement device 3e, and then grabbed with dynamic seal ring Manipulator 3c is taken to move downward, now four clamp jaws on the Pneumatic four claw 3c6 in sealing ring catching robot 3c, which are in, receives Hold together state, drive four sealing rings to strut pawl 3c9 by four pieces of contiguous block A3c7 and be also at rounding state, four sealing rings strut The first connecting pole 3c92, the second connecting pole 3c93 on pawl 3c9 are combined into two cylinders, four the 3rd connecting pole 3c94 compositions One round platform, sealing ring catching robot 3c continuous decreases, until the cylinder portion for thering are four the second connecting pole 3c93 to be combined into Divide from the centre bore for staying in the sealing ring on the temporary plate 3b3 of sealing ring after passing one section, sealing ring vertical motion device 3d stops Only move, then four on Pneumatic four claw 3c6 clamp jaw starts to open, and drives four pieces of contiguous block A3c7, and then drive four Sealing ring struts pawl 3c9 openings, while two pieces of sealing rings are kept in plate 3b3 and separately resetted to both sides, and sealing ring is originally strutted while blocked Strutted in the sealing ring on pawl 3c9, now Pneumatic four claw 3c6 stop motions, keep open configuration, this completes sealing The crawl of circle and strut work.Then sealing ring vertical motion device 3d is again started up, driving sealing ring catching robot 3c to Upper one section of motion, then sealing ring horizontal movement device 3e startups, band dynamic seal ring catching robot 3c are captured to sliding axle and filled Put the motion of 4 directions.While sealing ring grabbing device 3 captures sealing ring, sliding axle feed device 7 passes through vibration feeder B7a delivers to sliding axle in the groove on feeding guide B7b, and axial end and the stop on feeding guide B7b are slided until one Vertical block contact on block 7c, while the rotary cylinder 4c in sliding axle grabbing device 4 drives Pneumatic clamping jaw 4b rotations 900Afterwards two Block gripping block 4a2 is located at the both sides of sliding axle respectively, and then Pneumatic clamping jaw 4b drives gripping block 4a2 to clamp sliding axle, Ran Houxuan Rotaring cylinder 4c drives Pneumatic clamping jaw 4b rotations 900So that sliding axle is in vertical state.Sealing ring catching robot 3c is sealed Circle horizontal movement device 3e drives the top for moving to sliding axle, sealing ring and sealing ring horizontal movement during sliding axle concentric position Device 3e stop motions holding position.Then sealing ring vertical motion device 3d starts, under band dynamic seal ring catching robot 3c Drop, when reaching sealing ring installation site, stop declining.Cylinder A3c4 on sealing ring catching robot 3c starts, and drive is scraped Plate 3c8 is moved downward, and is pushed so as to which sealing ring be strutted from sealing ring on pawl 3c9, and sealing ring shrinks under natural resiliency effect Reply is clamped on sliding axle, then the homing of sealing ring grabbing device 3.Sealing ring grabbing device 3 constantly repeats above-mentioned mistake Journey just can constantly cover sealing ring one by one on sliding axle.After the sealing ring on sliding axle is a full set of upper, finished product grabbing device 6 In cylinder D start, drive the Pneumatic clamping jaw 4b in finished product grabbing device 6 to extend by sliding axle, then in finished product grabbing device 6 Pneumatic clamping jaw 4b actions, clamp and package the sliding axle of sealing ring, then the Pneumatic clamping jaw 4b in sliding axle grabbing device unclamps, Original position is shunk back followed by the cylinder D in finished product grabbing device 6, the Pneumatic clamping jaw 4b for then clipping finished product is unclamped, and finished product is fallen into In finished product storage basket 5, while sliding axle grabbing device 4 starts to capture new sliding axle.
Compared with prior art, the invention has the advantages that:The present invention includes frame 1, sealing ring feed device 2nd, sealing ring grabbing device 3, sliding axle feed device 7, sliding axle grabbing device 4, finished product storage basket 5, finished product grabbing device 6. Sealing ring is taken out and strutted by sealing ring grabbing device 3, then sealing ring is enclosed on to the specified location of sliding axle automatically.So as to The mode of production of the original sealing ring of set by hand is changed, alleviates the labor intensity of worker, there is provided operating efficiency, avoid simultaneously The appearance of defect ware caused by human factor, reduce the cost of product, there is provided the competitiveness of product.
Above to the present invention have been described in detail, but the invention is not limited in specific embodiment party described herein Formula.It will be appreciated by those skilled in the art that in the case without departing from the scope of the present invention, other changes and deformation can be made.This hair Bright protection domain is defined by the following claims.

Claims (3)

1. a kind of ring set equipment with gripper, the equipment include frame(1), sealing ring feed device(2), it is close Seal grabbing device(3), sliding axle feed device(7), sliding axle grabbing device(4), finished product storage basket(5), finished product crawl dress Put(6), it is characterised in that the sealing ring grabbing device(3)Including sealing ring jacking system(3a), sealing ring apparatus for temporary storage (3b), sealing ring catching robot(3c), sealing ring vertical motion device(3d), sealing ring horizontal movement device(3e), it is described Sealing ring apparatus for temporary storage(3b)It is made up of symmetrically arranged left and right two parts, its right half part is by support B(3b1), cylinder C (3b2), sealing ring keep in plate(3b3)Composition, the support B(3b1)Top surface on be fixedly connected with the cylinder C(3b2), it is described Cylinder C(3b2)Cylinder deck is provided with the rectangular-shape projection through whole cylinder body(3b21), the projection(3b21)Top Provided with a slide plate A(3b22), the slide plate A(3b22)With the cylinder C(3b2)Piston be connected, the slide plate A(3b22)On Provided with the projection(3b21)The groove A to match, the projection(3b21)Slide rail sliding groove structure is formed with the groove A, The slide plate A(3b22)Top surface on fixed connection and sealing circle keep in plate(3b3), the sealing ring keeps in plate(3b3)Left end Beyond the slide plate A(3b22)The segment distance of left end one, the sealing ring keeps in plate(3b3)Left side on from bottom to top successively It is provided with the first arc groove(3b31)With the second arc groove(3b32), first arc groove(3b31)Diameter and top Pin(3a4)On the first cylinder shaft part(3a42)Diameter match, second arc groove(3b32)Diameter with it is described The external diameter of sealing ring matches.
A kind of 2. ring set equipment with gripper according to claim 1, it is characterised in that the sealing ring top Lifting device(3a)By support A(3a1), cylinder B(3a2), push pedal(3a3), thimble(3a4)Form, the thimble(3a4)By bottom plate (3a41), the first cylinder shaft part(3a42), the second cylinder shaft part(3a43), round platform shaft part(3a44)Composition, the bottom plate (3a41)For a cuboid, its end face center is connected with the first cylinder shaft part(3a42), the first cylinder shaft part (3a42)Diameter and be arranged on feeding guide A(2a)Upper manhole A(2a2)Diameter match, first cylinder axis Section(3a42)Top surface connects the second cylinder shaft part(3a43), and the first cylinder shaft part(3a42)With second cylinder Shaft part(3a43)It is arranged concentrically, the second cylinder shaft part(3a43)Diameter match with internal diameter of the seal ring, it is described second circle Axis of a cylinder section(3a43)Top surface and the round platform shaft part(3a44)Big end end face overlap, and the second cylinder shaft part(3a43)It is straight Footpath and the round platform shaft part(3a44)Big end diameter it is identical, the cylinder B(3a2)Side be fixed on the support A (3a1)On, the cylinder B(3a2)Piston be connected to the push pedal(3a3)On, the push pedal(3a3)Top surface and the bottom plate (3a41)Bottom surface be fixedly connected.
3. a kind of ring set equipment with gripper according to claim 1, it is characterised in that the sealing ring is grabbed Take manipulator(3c)By fixed plate A(3c1), two pieces guide pillar (3c2), connecting plate A(3c3), cylinder A(3c4), two guide pin bushings (3c5), Pneumatic four claw(3c6), four pieces of contiguous block A(3c7), scraper plate(3c8), four sealing rings strut pawl(3c9)Composition, it is described Cylinder A(3c4)It is fixed on the fixed plate A(3c1)The centre of top surface, the fixed plate A(3c1)Both ends be respectively equipped with it is logical Hole, two guide pin bushing(3c5)It is fixed on the fixed plate A(3c1)Bottom surface both ends, and respectively with the fixed plate A(3c1) On through hole it is concentric, two guide pillars(3c2)Extend through the fixed plate A(3c1)On two through hole and two guide pin bushing (3c5), two guide pillars(3c2)Upper end respectively with the connecting plate(3c3)Both ends connection, two guide pillars (3c2)Lower end respectively with the scraper plate(3c8)Both ends be connected, the cylinder A(3c4)Piston connect a top plate (3c41), the top plate(3c41)Top surface and the connecting plate(3c3)Bottom surface connects, the Pneumatic four claw(3c6)Top surface It is fixed on the fixed plate A(3c1)Bottom surface center, the Pneumatic four claw(3c6)Four clamp jaws(3c61)With four pieces Contiguous block A(3c7)Top surface connection, four pieces of contiguous block A(3c7)Bottom surface and four sealing rings strut pawl(3c9) Connection, the sealing ring strut pawl(3c9)From being arranged on the scraper plate(3c8)Passed in the through hole at center.
CN201511001388.8A 2015-12-29 2015-12-29 A kind of ring set equipment with gripper CN105397447B (en)

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