CN106044217B - A kind of general end effector of robot and sequential control method of brake block hot pressing loading and unloading - Google Patents
A kind of general end effector of robot and sequential control method of brake block hot pressing loading and unloading Download PDFInfo
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- CN106044217B CN106044217B CN201610519430.3A CN201610519430A CN106044217B CN 106044217 B CN106044217 B CN 106044217B CN 201610519430 A CN201610519430 A CN 201610519430A CN 106044217 B CN106044217 B CN 106044217B
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- end effector
- buoyant
- charging
- brake block
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/92—Devices for picking-up and depositing articles or materials incorporating electrostatic or magnetic grippers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/02—Control or detection
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The present invention discloses a kind of general end effector of robot and sequential control method of brake block hot pressing loading and unloading, including braced frame, braced frame is circumferentially all provided with friction material charging and discharging mechanism, buoyant charging and discharging mechanism and fetching device, realizes picking and placeing for the loading and unloading of friction material, buoyant loading and unloading and steel back or pressed brake block.Wherein, friction material charging and discharging mechanism provides multiple discharge positions up and down with buoyant charging and discharging mechanism, one by one feeding, disposable blanking；Magnetic chuck with quantity such as discharge positions above and below charging and discharging mechanism is provided on fetching device, realizes punching press while multiple steel backs are in press machine.According to setting sequential, carries out rubbing successively and expect that feeding buoyant feeding steel back adsorbs friction material blanking buoyant blanking placement steel back punching press brake block and adsorbs placement brake block.Advantages of the present invention is：By rationally designing, and with due regard to certain product scalability, achieve the effect that be automatically performed hot pressing process have the advantages that success rate is high, at low cost.
Description
Technical field
The invention belongs to industrial automations, are related to the application of industrial robot, and in particular to a kind of brake block hot pressing
The general end effector apparatus of robot of loading and unloading.
Background technology
Due to the fast development of automobile industry, the demand of brake block also increases suddenly, and automobile industry is related to people
Body safety, is gradually increased the quality requirement of part.And the hot pressing process in brake flat production process be brake block make in extremely
An important procedure is closed, this process directly affects the quality of product quality.Hot pressing refer to by certain temperature-time,
It is using certain mold, friction material and steel back is closely compressed together.
In recent years, the extensive use with industrial robot in automatic field starts in the production process of brake block
Introduce industrial robot.But hot pressing process does not complete also from manually to the transformation of automation, at present domestic main brake block life
Business men still uses manual operation in this process.However site work environment very severe, because friction material is dust
Shape, there are certain dust pollutions；Press machine is high temperature press device simultaneously, and there are security risks for manual operation.And people
When work produces, product quality is very big by manually-operated influence, may cause the irregular of same batch products quality.
Invention content
In view of the above-mentioned problems, the present invention proposes that a kind of general end effector of robot of brake block hot pressing loading and unloading is timely
Sequence controlling method, using mentality of designing based on multifunctional unit, to realize the general end of hot pressing loading and unloading automated production
Actuator is design object, based on the detailed understanding to hot pressing raw material steel back, friction material and buoyant characteristic, is expected steel back, friction
It is rationally designed with the charging and discharging mechanism of buoyant, and with due regard to certain product scalability, reaches and be automatically performed heat
The effect for pressing process has the advantages that success rate is high, at low cost.
A kind of general end effector of robot of brake block hot pressing loading and unloading, including braced frame, friction material loading and unloading
Mechanism, buoyant charging and discharging mechanism and fetching device.
Braced frame is used to be connected with robot end, has installation position there are three being evenly distributed in circumferential direction, is respectively intended to install
Friction material charging and discharging mechanism, buoyant charging and discharging mechanism and fetching device.
The charging and discharging mechanism includes installation base plate, material receiving cup, discharge nozzle, pull plate and execution cylinder.Wherein, base is installed
Seat top has n row's m row mounting holes, and n and m is positive integer.Material receiving cup and discharge nozzle are installed at each mounting hole；Material receiving cup
It is located at installation pedestal upper and lower surface with discharge nozzle, is interconnected.Pull plate is n blocks, often arranges mounting hole and corresponds to one piece of pull
Plate is provided with m through-hole on pull plate.The movement of n block pull plates is driven by execution cylinder, makes the through-hole point on n block pull plates
It does not overlap with n row's mounting holes, or is respectively blocked n row's mounting holes by n blocks pull plate.
The fetching device includes mounting bracket and electromagnetic adsorption mechanism.It is equipped in mounting bracket and pacifies in installation pedestal
The quantity such as hole are filled, and using the electromagnetic adsorption mechanism of aligned identical mode.Electromagnetic adsorption mechanism has magnechuck.
For the action sequence control method of the general end effector of robot of above-mentioned brake block hot pressing loading and unloading, pass through
Following step is completed：
A, the friction material charging and discharging mechanism that end effector is controlled by robot is moved in weighing machine, and is further controlled
System friction material charging and discharging mechanism movement, makes each material receiving cup be moved to the lower discharge position of friction material successively, and respectively by under weighing machine
Material；
B, the buoyant feed mechanism that end effector is controlled by robot is moved in weighing machine, and further control is floating
Expect charging and discharging mechanism movement, so that each material receiving cup is moved to discharge position under buoyant successively, and respectively by weighing machine blanking；
C, the fetching device that end effector is controlled by robot is moved in feeding conveying device above conveyer belt, and
Further the movement of control fetching device, each magnechuck are moved to absorption position successively, draw the steel back of conveyer belt transmission；
D, the friction material charging and discharging mechanism that end effector is controlled by robot is integrally placed at press machine intracavitary, will be each
Through-hole is connected to each row of mounting holes in installation pedestal on pull plate, disposable to complete whole material receiving cups in friction material charging and discharging mechanism
Friction material blanking；
E, the buoyant charging and discharging mechanism that end effector is controlled by robot is placed in press machine intracavitary, by each pull plate
Upper through-hole is connected to each row of mounting holes in installation pedestal, disposable to complete in buoyant charging and discharging mechanism under the buoyant of whole material receiving cups
Material；
F, the fetching device that end effector is controlled by robot is placed in press machine intracavitary, and each electromagnetic adsorption mechanism is inhaled
Attached steel back is respectively placed on each buoyant, is then controlled magnechuck power-off, so that steel back is detached from magnechuck, and control pick-and-place machine
Structure removes punching press machine cavity, and press machine proceeds by punching press；
G, after machine punching press to be punched, the fetching device that end effector is controlled by robot is moved to punching press machine cavity
It is interior, so that each magnechuck is corresponded to and be placed in above each brake block suppressed, whole magnechucks are powered, disposably will be whole
It the brake block that suppresses while adsorbing；
H, the fetching device that end effector is controlled by robot removes press machine intracavitary, moves further into feedback and passes
It send and formulates position above the conveyer belt of device, the brake block all suppressed is placed in biography by the power-off of subsequent whole magnechucks
It send and takes, so far the single operation of end effector finishes.Return to step a carries out reciprocating working again according to above-mentioned steps.
The advantage of the invention is that：
1, the general end effector of robot and its sequential control method of brake block hot pressing loading and unloading of the present invention, contributes to
By manual improvement of manufacturing line at robot workstation, production automation is realized；
2, the general end effector of robot of brake block hot pressing loading and unloading of the present invention, by worker and high temperature press device every
From eliminating safe hidden trouble, and be equipped with rational conveying device, to reduce the dust soakage of worker, ensure that the body of worker is strong
Health；
3, the general end effector of robot of brake block hot pressing loading and unloading of the present invention can be with using robot workstation
Ensure, with the consistency of batch product quality, to help to improve product quality.
Description of the drawings
Fig. 1 is the general end effector overall structure diagram of robot of brake block hot pressing loading and unloading of the present invention；
Fig. 2 illustrates for support frame structure in the general end effector of robot of brake block hot pressing loading and unloading of the present invention
Figure；
Fig. 3 pacifies for the round flange of braced frame in the general end effector of robot of brake block hot pressing loading and unloading of the present invention
Holding position schematic diagram；
Fig. 4 is charging and discharging mechanism structural representation in the general end effector of robot of brake block hot pressing loading and unloading of the present invention
Figure；
Fig. 5 is charging and discharging mechanism bottom structure in the general end effector of robot of brake block hot pressing loading and unloading of the present invention
Schematic diagram.
Fig. 6 is fetching device structural representation in the general end effector of robot of brake block hot pressing loading and unloading of the present invention
Figure.
In figure：
1- braced frame 2- charging and discharging mechanism 3- fetching devices
Connecting flange on 101- link 102- mounting brackets 101a-
Connecting flange 101c supporters 101d- round flanges under 101b-
201- installation base plate 202- material receiving cup 203- discharge nozzles
204- pull plate 205- execution cylinder 206- switching cylinders
207- discharging pedestal tube 208- connecting seat 209- connecting plates
210- pull floating junction pedestal 211- limited block 301- mounting brackets
302- electromagnetic adsorptions mechanism 303- contact-making switch A 304- contact-making switches B
The main mounting rod 301b- magnechucks mounting plate 302a- magnechucks of 301a-
302b- connecting shaft 302c- oilless bushing 302d- springs
303a- rotation stop plate 303b- locating shaft 304a- support plates
Specific implementation mode
The present invention is described in further details below in conjunction with the accompanying drawings.
The general end effector of robot of brake block hot pressing loading and unloading of the present invention, including braced frame 1, charging and discharging mechanism
2 with fetching device 3, as shown in Figure 1.
The braced frame 1 includes link 101 and extending bracket 102, as shown in Figure 2 and Figure 3.It is shown.Wherein, it connects
Frame 101 includes upper connecting flange 101a, lower connecting flange 101b, supporter 101c and round flange 101d.Upper connecting flange 101a
With lower connecting flange 101b settings symmetrical above and below, it is coaxially installed with cylindrical support 101c between the two, it will be upper by screw
Connecting flange 101a, lower connecting flange 101b and supporter 101c three fix, by connecting flange in supporter 101c realizations
Support and positioning between 101a, lower connecting flange 101b.It is installed between above-mentioned upper connecting flange 101a and lower connecting flange 101b
There are round flange 101d, round flange 101d to be sleeved on outside supporter, end effector and machine of the present invention are realized by round flange 101d
Connection between device people end makes end effector random device people end rotate together, is mobile.
101 circumferential direction of above-mentioned link goes up three installation positions of uniform design, and extending bracket 102 is equipped at three installation positions.
The extending bracket 102 is mutually parallel by two pieces and symmetrically arranged ladder structure of right angle extension board is constituted.Three are enabled to extend branch
The right angle end of frame 102 is end, then 102 end of extending bracket be fixed on connecting flange 101a and lower connecting flange 101b it
Between；In three extending brackets 102, two 102 front ends of extending bracket are respectively equipped with a set of charging and discharging mechanism 2, another extends branch
102 front end of frame is equipped with two sets of fetching devices 3；And lead between two extension boards in the extending bracket 102 for installing charging and discharging mechanism 2
It crosses cross reinforcing 103 to be connected, reinforces the overall structure of extending bracket 102；And it is used to install the extending bracket 102 of fetching device
In two overall structures extended, pass through the fetching device 3 installed thereon and reinforce.
Two sets of charging and discharging mechanisms 2 are used for buoyant respectively as buoyant charging and discharging mechanism and friction material charging and discharging mechanism
With the loading and unloading of friction material.Two sets of 2 structures of charging and discharging mechanism are identical, including installation base plate 201, material receiving cup 202, discharge nozzle 203,
Pull plate 204 and execution cylinder 205, as shown in Figure 4, Figure 5.Three rows and four columns mounting hole is provided on installation base plate 201, often the four of row
A mounting hole spaced set, and spacing is more than the diameter of mounting hole.Material receiving cup 202 and discharge nozzle are installed at each mounting hole
203；Wherein, material receiving cup 202 uses cone cylinder structure, is set to 201 upper surface of installation base plate, and peace is mounted on by switching cylinder 206
It fills at hole；Specially：202 serrated end of material receiving cup and 206 top of switching cylinder are circumferentially fixed, and mounting hole is inserted into 206 bottom end of switching cylinder
It is interior, it fixes by the shoulder positioning circumferentially designed and with installation base plate 201.Discharge nozzle 203 is set to 201 following table of installation base plate
Face is coordinated by the connecting seat 208 designed in discharge pedestal tube 207 and mounting plate bottom surface and is connected, makes discharge nozzle 203 and mounting hole
It communicates；Specially：Discharging pedestal tube 207 is fixed on by screw on connecting seat 208, on discharging pedestal tube 207 and connecting seat 208
It is provided with the equal discharge hole of and diameter coaxial with mounting hole；203 one end of discharge nozzle is inserted into the discharge hole on discharging pedestal tube 207,
It fixes by the shoulder positioning circumferentially designed and with discharging pedestal tube 207.Material receiving cup 202 passes through above-mentioned installation with tremie pipe 203
Mode so that material receiving cup 202, mounting hole are communicated with 203 three of tremie pipe, form loading and unloading channel.Above-mentioned connecting seat 208 and peace
What dress seat 207 connected is provided with groove on one side so that forms slideway between mounting base 207 and connecting seat 208, is used for pull plate 204
Installation and sliding.
The pull plate 204 is a template, and totally three pieces, three pull plates 204 are each passed through each peace at three row mounting holes
The slideway formed between dress seat 207 and connecting seat 208.There are four install on installation base plate 201 for design in three pieces of pull plate axial directions
The equal through-hole of bore dia, and the spacing of four through-holes is equal to the spacing of often row mounting hole；As a result, by sliding pull plate 204,
Four through-holes can be made to be connected to simultaneously with four mounting holes, loading and unloading channel is in the conduction state at this time；Four mounting holes can also be made
It is blocked simultaneously by non-aperture segment on pull plate 204, loading and unloading channel is in and blocks state at this time.Above three pull plate 204
It is driven by execution cylinder 205, realizes that synchronous sliding, concrete mode are：Three 204 one end of pull plate are passed through into connecting plate
209 fix；Two execution cylinders 205 are used simultaneously, are respectively arranged in 201 lower surface of installation base plate, and be located at adjacent two
Between row mounting hole.The piston push rod of two execution cylinders 205 respectively with the pull floating junction pedestal installed on connecting plate 209
210 fix, in the thrust to connecting plate 209 for making the output of execution cylinder 205.As a result, by controlling two execution cylinders 205
It is synchronous that connecting plate 209 is pushed to move, and then realize the synchronous slide of three pull plates 204.In order to accurately control loading and unloading channel
Blanking flow, limited block 211 is installed at the both ends of three pull plates 204, two limited blocks are located at 201 liang of installation base plate
Side.211 upper edge pull plate of limited block 204 is axial to be provided with sliding slot, is fixed limited block 211 across sliding slot by adjusting bolt；By
This, limits pull moving range, and unclamp adjusting bolt and adjusted to the position of limited block 211 by two limited blocks 211
Section realizes the adjusting to pull moving range, final to realize four through-holes on pull item 204 and the weight between four mounting holes
Close area；In two sets of charging and discharging mechanisms 2 of above structure, it is designed between 201 upper surface adjacent rows mounting hole of installation base plate
Mounting groove coordinates with two extension board bottom edges in extending bracket 102 respectively, realizes between charging and discharging mechanism 2 and braced frame 1
It is fixed.
The fetching device 3 includes mounting bracket 301, electromagnetic adsorption mechanism 302 and contact-making switch, as shown in Figure 6.Its
In, mounting bracket 301 includes main mounting rod 301a and magnechuck mounting plate 301b.Main mounting rod 301a is vertically at equal intervals
The installation site of three magnechuck 302a is designed, each magnechuck 302a installed positions are equipped with perpendicular to main installation
The magnechuck mounting plate 301b of bar 301a settings, at the both ends magnechuck mounting plate 301b, symmetric position opens mounting hole, each to pacify
Equipped with a set of magnechuck mechanism 302.
The electromagnetic adsorption mechanism 302 includes magnechuck 302a, connecting shaft 302b, oilless bushing 302c and spring
302d.Specific mounting means of the electromagnetic adsorption mechanism 302 on magnechuck mounting plate 301b be：Oilless bushing 302c passed through
Cooperation of being full of coaxially is fixedly installed in mounting hole；Magnechuck 302a is coaxially fixedly mounted on the bottom ends connecting shaft 302b, connecting shaft
The tops 302b are connected after passing through oilless bushing 302c with hexagon socket head cap screw, and connecting shaft is realized by the nut portion of hexagon socket head cap screw
The limit that 302b is moved down.To prevent the shaft when magnechuck 302a is adsorbed from rotating, therefore it is also devised with and connects
Touch switch A303, including rotation stop plate 303a and locating shaft 303b；The one end rotation stop plate 303a is designed with rectangular notch, while connecting shaft
Opposite flank is designed as plane at the top of 302b；Thus rotation stop plate 303a is plugged on by end notches at the tops connecting shaft 302b,
Splicing position is located between hex bolts nut and the tops oilless bushing 302c, and the rotation stop plate 303a other ends are installed on electromagnetism by being sleeved on
On the locating shaft 303b of sucker mounting plate 301b end verticals installation；The rotation of rotation stop plate 303a is limited by locating shaft 303b,
Also achieve the guiding that connecting shaft 302b is moved up and down simultaneously；And pass through rotation stop plate 303a end notches and the tops connecting shaft 302b
Plane-plane contact coordinates between side, realizes the rotation limitation of connecting shaft 302b, at the same ensure that magnechuck 302a up rightness and
Horizontality.The spring 302d is sleeved on connecting shaft 302b, between magnechuck 302a and oilless bushing 302c, passes through bullet
Impact suffered when being adsorbed to magnechuck 302a spring 302d is into row buffering.
Contact-making switch B304 there are one being respectively mounted at above-mentioned each electromagnetic adsorption mechanism 302, contact-making switch B304 are fixed on
The one end support plate 304a, the support plate 304a other ends are fixedly attached on connecting shaft 302b, and positioned at the bottom ends spring 302d and electricity
Between magnetic-disc 302a.It is detected by contact-making switch B304 after whether there is steel back or hot pressing below each magnechuck 302a
Brake block；When detecting the presence of, magnechuck 302a energizations are adsorbed.
Two sets of fetching devices 3 of above structure, by being located at adjacent magnechuck mounting plate on main mounting rod 301a
Mounting hole between 301b is fixed on two in extending bracket 102 extension board bottom edges；So that the quantity of magnechuck with
Installation hole number on installation base plate 201 is identical, and arrangement mode is also the same as the mounting hole arrangement mode phase on installation base plate 201
Together.
During carrying out brake block hot pressing loading and unloading, it can be controlled by robot on friction material charging and discharging mechanism and buoyant
Cutting agency is respectively moved in weighing machine, is made in the material receiving cup 202 on friction material charging and discharging mechanism and buoyant charging and discharging mechanism
The friction material and buoyant of constant weight are picked up, realizes the feeding of friction material and buoyant.It is powered by electromagnet in fetching device 3,
Steel back on conveyer belt can be adsorbed successively.After completing the above process, controlled under friction material blanking machine structure, buoyant by robot
Material mechanism is sequentially placed into press machine intracavitary with fetching device 3, is respectively completed the blanking of friction material, buoyant and steel back, and blanking is completed
Control end effector removes punching press machine cavity afterwards, and press machine punching press is waited for complete；Then it is placed in by robot control fetching device 3
Press machine intracavitary adsorbs pressed brake block successively.Finally it is moved on conveyer belt by robot control fetching device 3, this
When magnechuck 302a power off one by one, pressed brake block is placed on conveyer belt successively.
The action sequence control method of the general end effector of robot of above-mentioned brake block hot pressing loading and unloading is：
A, the friction material charging and discharging mechanism that end effector is controlled by robot is moved in weighing machine, and is further controlled
System friction material charging and discharging mechanism movement, makes the material receiving cup 202 being located in whole material receiving cups 202 at one jiao be moved to friction material blanking
Position.
B, when friction expects that the optoelectronic switch installed at lower discharge position detects that there are behind material receiving cup 202, signal is passed for lower section
Weighing machine is transported to, weighing machine starts the friction material of lower leakage fixed quantity at this time, and after for 3 seconds, weighing machine stops blanking, completes one
Blanking is expected in secondary friction.
C, the offset that end effector is controlled by robot makes adjacent material receiving cup be moved to the lower discharge position of friction material；
D, step b, c process is repeated, until 12 material receiving cups 202 put required number in friction material charging and discharging mechanism
The friction material of amount completes friction material feeding process.
E, the buoyant feed mechanism that end effector is controlled by robot is moved to discharge position under the buoyant in weighing machine,
And further control buoyant charging and discharging mechanism makes the material receiving cup 202 being located in whole material receiving cups 202 at one jiao be moved under buoyant
Discharge position.
F, when the optoelectronic switch installed at discharge position under buoyant detects lower section there are behind material receiving cup 202, by signal transmission
To weighing machine, weighing machine starts the buoyant of lower leakage fixed quantity at this time, and after for 3 seconds, weighing machine stops blanking, completes primary floating
Expect blanking.
G, the offset that end effector is controlled by robot, makes adjacent material receiving cup 202 be moved to discharge position under buoyant；
H, step b, c process is repeated, until 12 material receiving cups 202 put requirement in buoyant charging and discharging mechanism
Buoyant, complete buoyant feeding process.
I, the fetching device 3 that end effector is controlled by robot is moved in feeding conveying device above conveyer belt,
And further control fetching device 3 moves, and the magnechuck 302a being located in whole magnechuck 302a at one jiao is made to be moved to
Absorption position；After the optoelectronic switch installed on feeding conveying device detects end effector, conveyer belt brings into operation, and passes through
Being detected close to switch 303 for being installed at magnechuck 302a whether there is steel back below magnechuck 302a, if detecting down
Side whether there is steel back, then is currently located at the magnechuck above absorption position and is powered, adsorb steel back.If detecting lower section without steel
The back of the body then continues to wait at absorption position.
J, the offset that end effector is controlled by robot, makes adjacent magnechuck 302a be moved to material position under buoyant
It sets；
K, step i, j process is repeated, until 12 magnechuck 302a are adsorbed with steel in two sets of fetching devices 3
The back of the body completes steel back suction process；
L, the friction material charging and discharging mechanism that end effector is controlled by robot is integrally placed at press machine intracavitary, three pumpings
Pulling plate 204 is under the drive of execution cylinder 205, synchronizing moving, and blanking channel is connected, disposable to complete friction material charging and discharging mechanism
In 12 material receiving cups 202 friction material blanking；
M, end effector is controlled by robot and rotates 120 degree, buoyant charging and discharging mechanism is placed in press machine intracavitary, three
Pull plate 204 is under the drive of execution cylinder 205, synchronizing moving, and blanking channel is connected, disposable to complete buoyant charging ＆ discharging machine
The buoyant blanking of 12 material receiving cups 202 in structure；
N, end effector is controlled by robot and rotates 120 degree, fetching device 3 is placed in press machine intracavitary, it will be by 12
The steel back of each magnechuck 302a absorption is respectively placed on each buoyant, then controls magnechuck power-off, steel back is made to be detached from electromagnetism
Sucker 302a, and control fetching device 3 and remove punching press machine cavity, press machine proceeds by punching press；
O, after machine punching press to be punched, the fetching device 3 that end effector is controlled by robot is moved to press machine
Intracavitary makes each magnechuck 302a correspond to and is placed in above each brake block suppressed, and whole magnechuck 302a are powered, and one
Secondary property is by the brake block all suppressed while adsorbing；
P, the fetching device 3 that end effector is controlled by robot removes press machine intracavitary, moves further into feedback
Position, subsequent whole magnechuck 302a power-off, the brake block that will all suppress are formulated above the conveyer belt of transmission device
It is placed on conveyer belt, so far the single operation of end effector finishes.Return to step a is carried out reciprocal again according to above-mentioned steps
Operation.
In summary, the general end effector apparatus of robot of brake block hot pressing loading and unloading of the present invention by steel back,
The charging and discharging mechanism of friction material and buoyant is rationally designed, and realizes hot pressing process from manual production to automated production
Transformation has filled up the automation blank of this domestic production link, has improved production efficiency, reduce production cost.The present invention
The general end effector apparatus of robot of brake block hot pressing loading and unloading can meet in the market 90% or more brake sheet type, right
The following novel brake block also has certain autgmentability.
The relevant information for collecting this process production efficiency and cost is depicted as table 1, it can be seen that the application of this device is very big
Improve production efficiency.
Table 1.
Claims (7)
1. a kind of general end effector of robot of brake block hot pressing loading and unloading, it is characterised in that：Including braced frame, friction
Expect charging and discharging mechanism, buoyant charging and discharging mechanism and fetching device；
Braced frame has for being connected with robot end, in circumferential direction to be evenly distributed with there are three installation position, and installation friction is respectively intended to
Expect charging and discharging mechanism, buoyant charging and discharging mechanism and fetching device；
The charging and discharging mechanism includes installation base plate, material receiving cup, discharge nozzle, pull plate and execution cylinder；Wherein, in installation pedestal
Side has n row's m row mounting holes, and n and m is positive integer；Material receiving cup and discharge nozzle are installed at each mounting hole；Material receiving cup with go out
Expects pipe is located at installation pedestal upper and lower surface, is interconnected；Pull plate is n blocks, often arranges mounting hole and corresponds to one piece of pull plate, takes out
M through-hole is provided on pulling plate；Drive the movement of n block pull plates by execution cylinder, make through-hole on n block pull plates respectively with n
It arranges mounting hole to overlap, or is respectively blocked n row's mounting holes by n blocks pull plate；
The fetching device includes mounting bracket, electromagnetic adsorption mechanism and contact-making switch；Wherein, mounting bracket includes main mounting rod
With magnechuck mounting plate；The installation site of main mounting rod three magnechucks of equal space design vertically, each electromagnetism are inhaled
Disk installed position is equipped with the magnechuck mounting plate being arranged perpendicular to main mounting rod, at magnechuck mounting plate both ends pair
Claim position to open mounting hole, a set of magnechuck mechanism is respectively installed；
The electromagnetic adsorption mechanism includes magnechuck, connecting shaft, oilless bushing and spring；Electromagnetic adsorption mechanism is in electromagnetic adsorption
Specific mounting means on mounting plate is：Oilless bushing is coaxially fixedly installed in mounting hole by interference fit；Magnechuck
Coaxial to be fixedly mounted on connecting shaft bottom end, connecting shaft top is connected after passing through oilless bushing with hexagon socket head cap screw, by interior hexagonal spiral shell
The nut portion of bolt realizes the limit that connecting shaft moves down；It is also devised with rotation preventive mechanism, including rotation stop plate and locating shaft；Rotation stop
Plate one end is designed with rectangular notch, while opposite flank is designed as plane at the top of connecting shaft；Thus rotation stop plate passes through end notches
At being plugged at the top of connecting shaft, splicing position is between hex bolts nut and oilless bushing top, and the rotation stop plate other end is by covering
On the locating shaft for being installed on the installation of magnechuck mounting plate end vertical.
2. a kind of general end effector of robot of brake block hot pressing loading and unloading as described in claim 1, it is characterised in that：n
Block pull plate one end is fixed by connecting plate；Two execution cylinders, two actuator cylinders are used to be installed on installation base plate simultaneously,
Piston push rod is fixed with the pull floating junction pedestal installed on connecting plate respectively.
3. a kind of general end effector of robot of brake block hot pressing loading and unloading as described in claim 1, it is characterised in that：Limit
Position block upper edge pull plate is axially provided with sliding slot, is fixed limited block across sliding slot by adjusting bolt, the two of three pull plates
End is equipped with limited block, and two limited blocks are located at installation base plate both sides.
4. a kind of general end effector of robot of brake block hot pressing loading and unloading as described in claim 1, it is characterised in that：Electricity
There are one contact-making switches for installation at magnetic suck mechanism.
5. for a kind of action sequence control of the general end effector of robot of brake block hot pressing loading and unloading described in claim 1
Method processed, it is characterised in that：
A, the friction material charging and discharging mechanism that end effector is controlled by robot is moved in weighing machine, and further control rubs
Material charging and discharging mechanism movement is wiped, so that each material receiving cup is moved to the lower discharge position of friction material successively, and respectively by weighing machine blanking；
B, the buoyant feed mechanism that end effector is controlled by robot is moved in weighing machine, and is further controlled on buoyant
Cutting agency moves, and so that each material receiving cup is moved to discharge position under buoyant successively, and respectively by weighing machine blanking；
C, the fetching device that end effector is controlled by robot is moved in feeding conveying device above conveyer belt, goes forward side by side one
Step control fetching device movement, each magnechuck are moved to absorption position, draw the steel back of conveyer belt transmission successively；
D, the friction material charging and discharging mechanism that end effector is controlled by robot is integrally placed at press machine intracavitary, by each pull
Through-hole is connected to each row of mounting holes in installation pedestal on plate, and whole material receiving cups rubs in disposable completion friction material charging and discharging mechanism
Wipe material blanking；
E, the buoyant charging and discharging mechanism that end effector is controlled by robot is placed in press machine intracavitary, will lead on each pull plate
Hole is connected to each row of mounting holes in installation pedestal, the disposable buoyant blanking for completing whole material receiving cups in buoyant charging and discharging mechanism；
F, the fetching device that end effector is controlled by robot is placed in press machine intracavitary, by the absorption of each electromagnetic adsorption mechanism
Steel back is respectively placed on each buoyant, then controls magnechuck power-off, steel back is made to be detached from magnechuck, and controls fetching device shifting
Go out punching press machine cavity, press machine proceeds by punching press；
G, after machine punching press to be punched, the fetching device that end effector is controlled by robot is moved to press machine intracavitary,
Make each magnechuck correspond to be placed in above each brake block suppressed, whole magnechucks are powered, disposably by whole pressures
It the brake block that makes while adsorbing；
H, the fetching device that end effector is controlled by robot removes press machine intracavitary, moves further into feedback transmission dress
Position is formulated above the conveyer belt set, the brake block all suppressed is placed in conveyer belt by the power-off of subsequent whole magnechucks
On, so far the single operation of end effector finishes, return to step a, and reciprocating working is carried out again according to above-mentioned steps.
6. the action sequence control of a kind of general end effector of robot of brake block hot pressing loading and unloading as claimed in claim 5
Method, it is characterised in that：In step a and b, the lower discharge position of friction material is equipped with optoelectronic switch with discharge position under buoyant, for examining
It surveys lower section and whether there is material receiving cup.
7. the action sequence control of a kind of general end effector of robot of brake block hot pressing loading and unloading as claimed in claim 5
Method, it is characterised in that：In step c, it whether there is steel back by being installed at electromagnetic adsorption mechanism close to switch detection lower section,
If detecting, lower section whether there is steel back, is currently located at the electromagnetic adsorption mechanism above absorption position and is powered, adsorbs steel back.
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| CN201610519430.3A CN106044217B (en) | 2016-07-01 | 2016-07-01 | A kind of general end effector of robot and sequential control method of brake block hot pressing loading and unloading |
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| CN201610519430.3A CN106044217B (en) | 2016-07-01 | 2016-07-01 | A kind of general end effector of robot and sequential control method of brake block hot pressing loading and unloading |
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| CN106044217A CN106044217A (en) | 2016-10-26 |
| CN106044217B true CN106044217B (en) | 2018-08-28 |
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| CN109047770A (en) * | 2018-07-05 | 2018-12-21 | 长春市康尼克森自动化设备有限公司 | A kind of full-automatic level specific pressure hot press device and control method of the artificial core of multi-axis machine |
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| CN102173088A (en) * | 2011-01-27 | 2011-09-07 | 济南易久自动化技术有限公司 | Brake pad multi-cavity mould premix automatic weighing, packaging and charging device |
| CN104002178A (en) * | 2014-05-27 | 2014-08-27 | 广州大正新材料科技有限公司 | Detection device for material picking of mechanical arm |
| CN203959319U (en) * | 2014-07-30 | 2014-11-26 | 东营宝丰汽车配件有限公司 | Electromagnetic brake sheet upper slice machine |
| CN104759796A (en) * | 2015-04-08 | 2015-07-08 | 苏州市吴中区木渎华利模具加工店 | Three-position manipulator of elastic screw nut installer of condenser |
| CN204818921U (en) * | 2015-07-21 | 2015-12-02 | 黑龙江建筑职业技术学院 | Telescopic multi -functional feeding mechanical arm arm of going up |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JP2684589B2 (en) * | 1993-11-30 | 1997-12-03 | 神奈川県 | Small parts takeout hand |
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Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102173088A (en) * | 2011-01-27 | 2011-09-07 | 济南易久自动化技术有限公司 | Brake pad multi-cavity mould premix automatic weighing, packaging and charging device |
| CN104002178A (en) * | 2014-05-27 | 2014-08-27 | 广州大正新材料科技有限公司 | Detection device for material picking of mechanical arm |
| CN203959319U (en) * | 2014-07-30 | 2014-11-26 | 东营宝丰汽车配件有限公司 | Electromagnetic brake sheet upper slice machine |
| CN104759796A (en) * | 2015-04-08 | 2015-07-08 | 苏州市吴中区木渎华利模具加工店 | Three-position manipulator of elastic screw nut installer of condenser |
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Effective date of registration: 20201202 Address after: 273500 No. 1 South Road, West Outer Ring, Zoucheng City, Jining City, Shandong Province Patentee after: Shandong Lingzhi Robot Automation Co.,Ltd. Address before: 273500, overseas industrial park, No.1 West Ring Road South, Jining, Shandong, Zoucheng Patentee before: SHANDONG INSTITUTE OF INTELLIGENT ROBOT & APPLIED TECHNOLOGY |