CN105397806B - Three axle positioner work stations - Google Patents
Three axle positioner work stations Download PDFInfo
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- CN105397806B CN105397806B CN201510892789.0A CN201510892789A CN105397806B CN 105397806 B CN105397806 B CN 105397806B CN 201510892789 A CN201510892789 A CN 201510892789A CN 105397806 B CN105397806 B CN 105397806B
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Abstract
The present invention relates to a kind of three axles positioner work station, including the single shaft displacement device with first rotating shaft, driving first rotating shaft rotate single shaft displacement drive device, be connected in first rotating shaft and synchronous rotation and three shaft displacement devices with two second rotating shafts, drive three axles of the second axis of rotation to conjugate drive device, be respectively arranged in two second rotating shafts and two locating turntables and control device of synchronous axial system therewith respectively.It also includes single shaft displacement tailstock with first driven shaft, is connected in first driven shaft and synchronous rotation and three axles displacement tailstock with two second driven shafts, is respectively arranged in two second driven shafts and two driven turntables of synchronous axial system therewith.The present invention can realize transfer of the workpiece between two stations, and material process above and below process, the progress of opposite side station can be processed with side station, so that being processed the industrial robot of operation can continuously work, production efficiency is improved.
Description
Technical field
The present invention relates to a kind of equipment of assisted automated production, and in particular to a kind of equipment for realizing workpiece displacement.
Background technology
Industrial robot work station is a kind of production model of industrial production application at this stage widely, wherein positioner
It is widely used auxiliary equipment in automated production.Conventional positioner has single-shaft position changing machine, L-type positioner, c-type displacement
Machine, end to end frame positioner, positioner of tumbling etc., are generally uniaxially or biaxially positioner.Above-mentioned conventional positioner is either simplex
Position, by loading and unloading time effects so that the working time of industrial robot is discontinuous, reduces production efficiency.With economy
Development, enterprise proposes higher requirement to production efficiency, a kind of new positioner is needed for this, so that industrial robot can
It is continuous to work to improve efficiency.
The content of the invention
It is an object of the invention to provide one kind industrial robot can be made continuously to work, so as to improve three axles of production efficiency
Positioner work station.
To reach above-mentioned purpose, the technical solution adopted by the present invention is：
A kind of three axle positioner work stations, operation, three described axle positioners are processed for installing workpiece to be processed
Work station includes the single shaft displacement driving dress that the single shaft displacement device with first rotating shaft, the first rotating shaft described in driving are rotated
Put, be connected in described first rotating shaft and synchronous three shaft displacement devices for rotating and there is two second rotating shafts, difference
The three axles displacement drive device of the second described axis of rotation of driving, it is respectively arranged in the second rotating shaft described in two and therewith
Two locating turntables and control device of synchronous axial system；Described workpiece to be processed is connected with described locating turntable；When two
During individual described locating turntable horizontal arrangement, the corresponding position of locating turntable described in two forms two stations.
Protective fence is provided between station described in two, described protective fence is fixedly installed in described single shaft and become
On the device of position.
Intermediate beam is provided with the middle part of described protective fence.
The end of described first rotating shaft is provided with detection rotating disk, described three shaft displacement devices and described detection rotating disk
Mutually it is fixedly connected.
Alignment pin is provided with described single shaft displacement device, the edge of described detection rotating disk is provided with a pair of positioning
Hook, when described detection rotating disk turns to two diverse locations, described alignment pin can from it is different described in location hook
Mutually it is affiliated to.
It is provided with the outer of the part edge formation radially protruding of described detection rotating disk, described single shaft displacement device
The proximity switch of the described outer of a pair of detections, described proximity switch is connected with described control device.
Described single shaft displacement drive device includes variable-frequency motor.
Described three axles displacement drive device includes servomotor.
Three described axle positioner work stations also include the single shaft displacement tailstock with first driven shaft, be connected to it is described
In first driven shaft and synchronous rotation and three axles displacement tailstock with two second driven shafts, it is respectively arranged in two institutes
In the second driven shaft stated and therewith two driven turntables of synchronous axial system, driven turntable described in two respectively with described in two
Locating turntable it is corresponding so that between the locating turntable described in corresponding one and the driven turntable described in one formed
Station described in one.
Operating platform is provided between corresponding described locating turntable and described driven turntable, described operation is put down
The two ends of platform are connected with described locating turntable and described driven turntable respectively.
Because above-mentioned technical proposal is used, the present invention has following advantages compared with prior art：The present invention can be realized
Transfer of the workpiece between two stations, can be processed material process above and below process, the progress of opposite side station with side station, from
And the industrial robot for allowing to carry out processing operation can continuously work, production efficiency is improved.
Brief description of the drawings
Accompanying drawing 1 is the front view of the embodiment one of the three axle positioner work stations of the present invention.
Accompanying drawing 2 is the top view of the embodiment one of the three axle positioner work stations of the present invention.
Accompanying drawing 3 is the left view of the embodiment one of the three axle positioner work stations of the present invention.
Accompanying drawing 4 is the A-A zoomed-in views of the embodiment one of the three axle positioner work stations of the present invention.
Accompanying drawing 5 is the schematic perspective view of the embodiment two of the three axle positioner work stations of the present invention.
In the figures above：
1st, single shaft displacement device；2nd, single shaft displacement drive device；3rd, three shaft displacement device；4th, three axles displacement drive device；
5th, locating turntable；6th, rotating disk is detected；7th, alignment pin；8th, location hook；9th, proximity switch；10th, protective fence；11st, intermediate beam；12、
Single shaft conjugates tailstock；13rd, three axles displacement tailstock；14th, driven turntable；15th, operating platform；16th, ground；17th, button box support；
18th, button box；19th, industrial robot.
Embodiment
The invention will be further described for shown embodiment below in conjunction with the accompanying drawings.
Embodiment one：It is a kind of to be used to install workpiece to be processed is processed operation three referring to shown in accompanying drawing 1 to accompanying drawing 4
Axle positioner work station, including single shaft displacement device 1, single shaft displacement drive device 2, three shaft displacement devices 3, the displacement driving of three axles
Device 4, two locating turntables 5 and control device（The control device not shown in the accompanying drawing of the present embodiment）.
Single shaft displacement device 1 is erected on ground, and it includes a casing and with a first rotating shaft that can be rotated,
Single shaft displacement device 1 is connected with the first rotating shaft and drives it to rotate.Single shaft displacement drive device 2 uses variable-frequency motor or change
Frequency reducing motor is simultaneously arranged in casing, and it is operated under control of the control means, and the single shaft conjugates the variable-frequency electric of drive device 2
Machine connects first rotating shaft by structures such as gear train, pivoting supports, and first rotating shaft is then extended to outside casing.
Three shaft displacement devices 3 are a cuboid, and it amounts to three axles of connection, and one is foregoing first rotating shaft, in addition two
Root is then the second rotating shaft for being separately positioned on its both ends.Three shaft displacement devices 3 are connected with first rotating shaft, so as to
One rotating shaft and synchronous axial system.Detection rotating disk 6 is provided with the end of first rotating shaft, three shaft displacement devices 3 are mutually solid with detection rotating disk 6
Fixed connection, so as to realize the connection with first rotating shaft.The positioning of a protrusion is provided with outside the casing of single shaft displacement device 1
Pin 7, and the edge of detection rotating disk 6 is provided with a pair of location hooks 8, it is fixed when detecting that rotating disk 6 turns to two diverse locations
Position pin 7 can be mutually affiliated to from different location hooks 8, so as to realize mechanical position limitation.Three axles displacement drive device 4 is arranged on the change of three axles
Inside the device 3 of position, it is used for the rotation for driving two second rotating shafts respectively.Three axles displacement drive device 4 uses servomotor, its
Also operate under control of the control means.Two second rotating shafts connect respective servomotor, and the second rotating shaft and first respectively
Rotating shaft is located at the both sides of three shaft displacement devices 3 respectively.The end of two the second rotating shafts is each provided with a synchronous rotation
Locating turntable 5, workpiece to be processed is connected with locating turntable 5.When two 5 horizontal arrangements of locating turntable, two positioning turn
The corresponding position of disk 5 forms two stations, thus as first rotating shaft drives the rotation of three shaft displacement devices 3, workpiece can be
Shifted between two stations.Therefore, the rotational angle of first rotating shaft and three shaft displacement devices 3 only needs 180 °, therefore in three axles
A pair of location hooks 8 at detection rotating disk 6 edge that displacement device 3 is connected, need to be located at the both ends of one bar diameter, so as to
Realize and be mutually affiliated to alignment pin 7 on two positions for differing 180 °.
The shape of above-mentioned detection rotating disk 6 is simultaneously non-circular, but in the outer of its part edge formation radially protruding, while
It is provided with the proximity switch 9 of a pair of detection outers on the casing of single shaft displacement device 1, and the proximity switch 9 is close to alignment pin 7
The position being affiliated to location hook 8（The hereinafter referred to as proximity switch 9 of previous position is the first proximity switch, lower position it is close
Switch 9 is the second proximity switch）, the proximity switch 9 is connected with control device.Arc length between two proximity switches 9
It is equal with the arc length of outer on detection rotating disk 6.Rotated in detection rotating disk 6 and during switching station, two close to opening
Close 9 and detect that whether the outer of rotating disk 6 is located at its corresponding position, and send corresponding signal to control device respectively, be easy to
Control device conjugates drive device 2 to single shaft（Variable-frequency motor）Operating be controlled.For example, when carrying out Switch of working position, inspection
Rotating disk 6 is surveyed along rotating in an anti-clockwise direction in accompanying drawing 4.Start time is being rotated, the second proximity switch can't detect detection rotating disk 6
On outer, so timed unit causes variable-frequency motor to be rotated with more slow speed.Rotating disk 6 to be detected turns over certain angle
Degree, the second proximity switch starts to detect the outer on detection rotating disk 6, and control device obtains signal, variable-frequency electric is realized through frequency conversion
The speedup of machine, the rotating speed of detection rotating disk 6 is improved.Detection rotating disk 6 continues to revolve through certain angle so that whole outer all turns over the
Position where two proximity switches, the second proximity switch can't detect the outer on detection rotating disk 6 again, so that control device makes
Detect the rotating speed reduction of rotating disk 6.The detection low speed of rotating disk 6 is rotated counterclockwise, and the first proximity switch detects outer on detection rotating disk 6
End, then trigger timing, now, closely alignment pin 7 of location hook 8.Location hook 8 on rotating disk 6 to be detected is leaned on
After on alignment pin 7, stop delay timing, variable-frequency motor is stopped operating, and Switch of working position is completed.Similarly, on detection rotating disk 6 edge
In accompanying drawing 4 rotationally clockwise when, the signal of the second proximity switch causes detection rotating disk certain time after starting to rotate
When accelerate to rotate, and the first proximity switch then plays a part of giving stopping timing signal, so as to complete Switch of working position.
Protective fence 10 is provided between two stations, protective fence 10 is fixedly installed on single shaft displacement device 1 simultaneously
Can concomitant rotation, the middle part of protective fence 10 is provided with intermediate beam 11.
The industrial robot 19 being processed to workpiece（For welding, polishing, the robot of the operation such as deburring）Set
A station side, the station is called processing stations.In order to realize that it processes operation, it usually needs make to correspond at processing stations
That second rotating shaft needed for three axles displacement drive device 4（Servomotor）With the linkage operation of industrial robot 19.Another
Station is referred to as loading and unloading station, and the loading and unloading of workpiece can be carried out in the station.When using above-mentioned three axles positioner work station
When carrying out work pieces process, the processing of workpiece is carried out in processing stations, while carrying out loading and unloading in loading and unloading station.Work as processing stations
Work pieces process finish after, single shaft displacement drive device 2 drive three shaft displacement devices 3 rotate so that the workpiece transfer after processing
Supreme discharge station, feeding again after first blanking；And the workpiece to be processed for completing feeding is then transferred to processing stations and is processed.
Working continuously for industrial robot 19 so can be achieved, efficiency is improved.
Embodiment two：Referring to shown in accompanying drawing 5, the three axles positioner work station, except including single shaft displacement device 1, single shaft
Conjugate beyond drive device 2, three shaft displacement devices 3, three axles displacement drive device 4, two locating turntables 5 and control device, also
Including single shaft displacement tailstock 12, three axles displacement tailstock 13 and two driven turntables 14.
Single shaft displacement tailstock 12 has first driven shaft, and first driven shaft is connected and the two energy with three axles displacement tailstock 13
Enough synchronous axial systems.The both ends of three axles displacement tailstock 13 have two second driven shafts, and two driven turntables 14 are then located at respectively
The end of two driven shafts and synchronous rotation.Two driven turntables 14 are corresponding with two locating turntables 5 respectively, so that
A station is formed between a corresponding locating turntable 5 and a driven turntable 14.When workpiece is longer, it is necessary to above-mentioned
Single shaft displacement tailstock 12 and three axle displacement tailstock 13 provides support, and workpiece can also be connected with driven turntable 14.Further,
Be provided with operating platform 15 between corresponding locating turntable 5 and driven turntable 14, the two ends of operating platform 15 respectively with positioning
Rotating disk 5 is connected with driven turntable 14, and keeps level.In three axles displacement tailstock 13 pneumatic locking device can be set to make
Operating platform 15 is horizontal all the time, improves safety coefficient.
Three axle positioner work stations in the present embodiment are integrally provided on a ground 16, be additionally provided with the ground 16 by
Button box support 17 and the button box 18 on button box support 17, the button box 18 are a part for control device, by it
Every control function can be realized.
The above embodiments merely illustrate the technical concept and features of the present invention, and its object is to allow person skilled in the art
Scholar can understand present disclosure and implement according to this, and it is not intended to limit the scope of the present invention.It is all according to the present invention
The equivalent change or modification that Spirit Essence is made, should all be included within the scope of the present invention.
Claims (6)
1. a kind of three axles positioner work station, operation is processed for installing workpiece to be processed, it is characterised in that：Described three
Axle positioner work station includes the single shaft displacement that the single shaft displacement device with first rotating shaft, the first rotating shaft described in driving are rotated
Drive device, it is connected in described first rotating shaft and synchronous rotation and with the three axles displacement dress of two second rotating shafts
Put, drive three axles of the second described axis of rotation to conjugate drive device, be respectively arranged in the second rotating shaft described in two respectively
Upper and two locating turntables and control device of synchronous axial system therewith, described single shaft displacement drive device includes variable-frequency motor；
Described workpiece to be processed is connected with described locating turntable；When the locating turntable horizontal arrangement described in two, two institutes
The corresponding position of locating turntable stated forms two stations；
The end of described first rotating shaft is provided with detection rotating disk, and three described shaft displacement devices and described detection rotating disk are mutually solid
Fixed connection；Alignment pin is provided with described single shaft displacement device, the edge of described detection rotating disk is provided with a pair of positioning
Hook, when described detection rotating disk turns to two diverse locations, described alignment pin can from it is different described in location hook
Mutually it is affiliated to；It is provided with the outer of the part edge formation radially protruding of described detection rotating disk, described single shaft displacement device
The proximity switch of the described outer of a pair of detections, respectively the first proximity switch and the second proximity switch, described proximity switch
It is connected with described control device, it is close described in two during described detection rotating disk rotation switches station
Switch detects that whether the outer of described detection rotating disk is located at its corresponding position, and send phase to described control device respectively
Induction signal, the operating for being easy to described control device to conjugate drive device to single shaft is controlled, and is rotating start time, described
Second proximity switch can't detect the outer on the detection rotating disk, and now the control device causes the variable-frequency motor
Rotated with more slow speed, treat that the detection rotating disk turns over certain angle, second proximity switch starts to detect institute
The outer on detection rotating disk is stated, the control device obtains signal, the speedup of the variable-frequency motor is realized through frequency conversion, described
Detect that the rotating speed of rotating disk is improved, the detection rotating disk continues to revolve through certain angle so that the whole outer all turns over described
Position where second proximity switch, second proximity switch can't detect the outer on the detection rotating disk again,
The control device makes the rotating speed reduction of the detection rotating disk；First proximity switch detects the outer on the detection rotating disk
End then trigger timing, after treating that the location hook on the detection rotating disk is leaned against on the alignment pin, stops delay
Timing, the variable-frequency motor is stopped operating, and Switch of working position is completed.
2. three axles positioner work station according to claim 1, it is characterised in that：It is provided between station described in two
Protective fence, described protective fence is fixedly installed on described single shaft displacement device.
3. three axles positioner work station according to claim 2, it is characterised in that：The middle part of described protective fence is set
There is intermediate beam.
4. three axles positioner work station according to claim 1, it is characterised in that：Described three axles displacement drive device bag
Include servomotor.
5. three axles positioner work station according to claim 1, it is characterised in that：Three described axle positioner work stations are also
Including the single shaft displacement tailstock with first driven shaft, it is connected in described first driven shaft and synchronous rotation and has
The three axles displacement tailstocks of two second driven shafts, it is respectively arranged in the second driven shaft described in two and synchronous axial system therewith
Two driven turntables, the driven turntable described in two is corresponding with the locating turntable described in two respectively, so that corresponding
The station described in one is formed between locating turntable described in one and the driven turntable described in one.
6. three axles positioner work station according to claim 5, it is characterised in that：Corresponding described locating turntable and
Be provided with operating platform between described driven turntable, the two ends of described operating platform respectively with described locating turntable and institute
The driven turntable stated is connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510892789.0A CN105397806B (en) | 2015-12-08 | 2015-12-08 | Three axle positioner work stations |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510892789.0A CN105397806B (en) | 2015-12-08 | 2015-12-08 | Three axle positioner work stations |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105397806A CN105397806A (en) | 2016-03-16 |
| CN105397806B true CN105397806B (en) | 2017-09-19 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201510892789.0A Active CN105397806B (en) | 2015-12-08 | 2015-12-08 | Three axle positioner work stations |
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Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106002061A (en) * | 2016-07-13 | 2016-10-12 | 徐州华恒机器人系统有限公司 | Dual-position pneumatic positioner and production equipment employing same |
| CN107470843A (en) * | 2017-10-24 | 2017-12-15 | 深圳诺基业科技有限公司 | A kind of reverse welding positioner of three axles double |
| CN108747153A (en) * | 2018-06-28 | 2018-11-06 | 广州瑞松威尔斯通智能装备有限公司 | A kind of positioner |
| CN110270778A (en) * | 2019-05-20 | 2019-09-24 | 上海科大重工集团有限公司 | Rubber conveyer supporting leg intelligent robot welding system |
| CN110560978B (en) * | 2019-09-20 | 2021-05-14 | 山东同其信息科技有限公司 | Automatic welding equipment for end part of connecting rod of air cylinder |
| CN112556979B (en) * | 2021-02-22 | 2021-05-07 | 中国空气动力研究与发展中心低速空气动力研究所 | Synchronous rotation control device and method for upper and lower turnplates of wind tunnel test section |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4149652B2 (en) * | 2000-12-20 | 2008-09-10 | 本田技研工業株式会社 | Jig changer |
| CN102699612B (en) * | 2012-06-11 | 2015-07-15 | 徐州华恒机器人系统有限公司 | Precision five-axis double-station position changing machine |
| CN103551788B (en) * | 2013-11-01 | 2015-09-02 | 中联重科股份有限公司 | Welding tool and welding method for standard knot square frame of construction elevator |
| CN204135530U (en) * | 2014-09-09 | 2015-02-04 | 南京天河汽车零部件股份有限公司 | Auto-parts Arc Welding Robot Workstation |
| CN204747774U (en) * | 2015-06-10 | 2015-11-11 | 肖宁 | Automatic laser cutting system |
| CN205325678U (en) * | 2015-12-08 | 2016-06-22 | 徐州华恒机器人系统有限公司 | Triaxial quick -witted workstation that shifts |
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2015
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| CN105397806A (en) | 2016-03-16 |
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