CN106426131A - Robot for taking out springs - Google Patents
Robot for taking out springs Download PDFInfo
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- CN106426131A CN106426131A CN201510491879.9A CN201510491879A CN106426131A CN 106426131 A CN106426131 A CN 106426131A CN 201510491879 A CN201510491879 A CN 201510491879A CN 106426131 A CN106426131 A CN 106426131A
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Abstract
A robot for taking out springs is used for taking out the springs from a spring machine. A cylinder barrel of a second air cylinder is fixed to a machine body, a piston rod is connected with one end of a rotational flange, the other end of the rotational flange is connected with a transversal shaft, the rotational flange is connected with the machine body through a rotational standard shaft, the piston rod of the second air cylinder is ejected out, and the rotational flange rotates around the rotational standard shaft so that the transversal shaft can be overturned with a vertical shaft; a first air cylinder drives a connection block of the vertical shaft to do horizontal movement on a transversal guide rail, and a third air cylinder drives the vertical shaft to do vertical movement on a vertical guide rail; a hand claw is a folio staggering tooth hand claw; foma wheels which can achieve rapid positioning and fixing of the robot are installed on the bottom of a bottom plate; and external signals are connected with a PLC control system through an interface signal plate, and after receiving signals of a start button, the PLC controls units of the robot to act. By means of the robot, an operator only needs to package and move the arranged springs out, the working efficiency is high, fast and accurate alignment can be achieved, the system compatibility is high, the grabbing mass of the hand claw is large, and the clamping effect is good.
Description
Technical field
The present invention relates to robot automation's technical field, specifically a kind of robot for taking out spring in coiling machine.
Background technology
At present, the production of spring relies primarily on coiling machine.Under normal circumstances, spring is mostly in the box fall directly into ground in process of production, or directly falls on the ground, to be produced picks up carrying by artificial to after some.General small spring can fall directly in box, but some its length are longer, falls into difficult in box.Similar products are all directly to drop after manufacturing outside coiling machine at present, cause very big difficulty to follow-up manual sorting, because its length is longer, easily pull in pickup, deform upon, can only slowly sort one by one, work efficiency is extremely low.
Content of the invention
For overcoming the deficiencies in the prior art, the goal of the invention of the present invention is to provide a kind of spring retrieving robot, makes coiling machine catch taking-up when cutting off spring by robot, and be placed into the slideway ordered arrangement of setting to skid off.
For achieving the above object, the cylinder barrel of the cylinder two of the present invention is fixed on body, the piston rod of cylinder two is connected with one end of rotary flange, the other end of rotary flange is connected with lateral shaft, rotary flange is passed through rotation standard shaft and is connected with body, the piston rod ejection of cylinder two, rotary flange, around rotation standard shaft rotation, makes lateral shaft together overturn with vertical axises；Cylinder one drives vertical axises contiguous block to do horizontal motion on the cross slide way of lateral shaft, and cylinder three drives vertical axises to do movement in vertical direction on vertical guide rail, and the paw of vertical axises lower end clamps and unclamps action；Described paw is split side set type paw；The bottom of base plate is provided with four and enables the quick positioning of robot and fixing good fortune horse wheel；Coiling machine interactive signal, motor unit sensor signal are connected with PLC control system by interface signal plate, and PLC control system controls robot each unit action after receiving start button signal.
Described rotary flange is provided with anglec of rotation regulating tank, one end connecting screw rod of fine setting connecting seat, the other end is connected with fine setting screw rod, screw rod is connected with the piston rod of cylinder two, fine setting rotary flange is connected with rotation standard shaft, one end of fine setting rotating shaft is connected with fine setting rotary flange, and the other end is connected with fine setting screw rod.
The cylinder barrel of described cylinder one is fixed on lateral shaft by lateral shaft air cylinder fixed plate, the piston rod of cylinder one is fixed on vertical axises contiguous block by lateral shaft cylinder gim peg and lateral shaft cylinder stopper, lateral shaft air cylinder fixed plate is connected with vertical axis fixing plate, vertical axis fixing plate is connected with vertical axises contiguous block, makes lateral shaft and vertical axises be linked to be an entirety；The cylinder barrel of cylinder three is fixed with vertical axises contiguous block by vertical axises air cylinder fixed plate, the piston rod of cylinder three is locked in gripper fixed plate by vertical axises cylinder gim peg and stop nut, the lower end of vertical axises is connected with gripper fixed plate, locking respectively on vertical axis fixing plate with vertical axises contiguous block has slide block, and on vertical axises and lateral shaft, lock has vertical guide rail and cross slide way respectively.
The upper end of described vertical axises is provided with vertical limited block, reduces the impulsive force of vertical axises motion by the buffer on vertical axises contiguous block；The vertical axises that vertical axises top is provided with for fine adjustment of vertical axle stroke finely tune screw rod；One end of lateral shaft is provided with cross spacing block, reduces the impulsive force of lateral shaft motion by horizontal buffer.
Described vertical axis fixing plate is connected with stop cylinder by stop cylinder fixed plate.
Described paw is connected in parallel cylinder, parallel cylinder is connected with parallel cylinder contiguous block, one piece one end in two pieces of backplates is connected with parallel cylinder contiguous block, fixing axle is wrapped up by nut and locks by two pieces of backplates, one end of fixing axle is connected with posture portion connecting plate, and posture portion connecting plate is connected in gripper fixed plate.
Described base plate and square steel, reinforcement and square steel one are welded to form base, and the bottom of base is provided with four good fortune horse wheels；The top of base is provided with one section of mechanism for adjusting base height, and square steel two inserts the inside of square steel one, and the side of square steel two is provided with guide rail, and base disk is connected with rotation dispatcher's board, and rotation dispatcher's board is connected with body, and rotation dispatcher's board rotates around axle.
External air source is accessed equipped with pressure regulator valve, one end of pressure regulator valve in the side of described square steel one, and the other end is distributed to electromagnetic valve cylinder manifold and stop cylinder by three way cock.
Described coiling machine interactive signal includes spring blowing to be completed signal and coiling machine and produces to complete signal；Motor unit sensor signal includes cylinder one, cylinder two, the sensor signal of piston movement position of cylinder three, paw position sensor signal.
The present invention is in coiling machine cut-out spring by robot coordinated mechanical arm alignment springs, and by paw gripping, spring is suitably positioned, mechanical arm is respectively completed the rotation of robot, horizontal traveling, the moving up and down of vertical axises, the control of robot to be realized by PLC by cylinder as power.
The present invention is compared with prior art, the spring arranging packing only need to be carried out by operator, decrease artificial, improve work efficiency, structure is simple, and using effect is good, and cost is relatively low, state during spring output can not only be controlled well, and enable machine fast and accurately para-position；System compatibility is strong, devises different types of fixture, is applicable to all of coiling machine, and paw crawl quality is big, and good clamping effect can capture at least product of 3kg, applied range.
Brief description
Fig. 1 is shaft side figure of the present invention.
Fig. 2 is the superstructure figure of Fig. 1.
Fig. 3 is the side view of Fig. 2.
Fig. 4 is the paw clamp structure figure of Fig. 2.
Fig. 5 is the lower base structure chart of Fig. 1.
Fig. 6 is the shaft side figure of Fig. 2.
Fig. 7 is the electrical control block schematic of the present invention.
Specific embodiment
As Fig. 1, Fig. 2, shown in Fig. 3, rotary flange 2 is passed through rotation standard shaft 3 and is connected with body 1, the cylinder barrel of cylinder 2 11 is connected on body 1, the piston rod of cylinder 2 11 is connected with one end of rotary flange 2, the other end of rotary flange 2 is connected with lateral shaft 4, when the piston rod of cylinder 2 11 ejects, rotary flange 2 rotates around rotation standard shaft 3, so that whole lateral shaft 4 and vertical axises 25 also overturn certain angle, one section of angular adjustment groove is designed with rotary flange 2, locking nut is unclamped, be slidably connected rotary flange 2 with the screw rod of piston rod to correct position, then locking nut is locked, the angle (≤90 °) that i.e. scalable lateral shaft 4 and vertical axises 25 are overturn.It is fixing that the cylinder barrel of cylinder 1 passes through lateral shaft air cylinder fixed plate 18, the piston rod of cylinder 1 passes through lateral shaft cylinder gim peg 6 and lateral shaft cylinder stopper 5 is fixed on vertical axises contiguous block 20, lateral shaft air cylinder fixed plate 18 is connected with vertical axis fixing plate 19, vertical axis fixing plate 19 is connected with vertical axises contiguous block 20, so that lateral shaft 4 and vertical axises 25 are linked to be an entirety again.The cylinder barrel of cylinder 3 26 is fixed together with vertical axises contiguous block 20 by vertical axises air cylinder fixed plate 27，The piston rod of cylinder 3 26 is locked in gripper fixed plate 14 by vertical axises cylinder gim peg 28 and stop nut，The lower end of vertical axises 25 is connected with gripper fixed plate 14，On vertical axis fixing plate 19 with vertical axises contiguous block 20, lock has slide block 17 respectively，On vertical axises 25 and lateral shaft 4, lock has vertical guide rail 24 and cross slide way 8 respectively，When the piston rod of cylinder 3 26 and cylinder 1 ejects，Cylinder 1 drives vertical axises contiguous block 20 to do horizontal motion on the cross slide way of lateral shaft 4，Cylinder 3 26 drives vertical axises 25 to do movement in vertical direction on vertical guide rail，The paw 12 of vertical axises 25 lower end clamps and unclamps action，Paw 12 is connected in parallel cylinder 13；In addition, being provided with vertical limited block 23 in the upper end of vertical axises 25, the stroke of vertical axises 25 can be any limitation as, reducing the impulsive force of vertical axises 25 motion by the buffer 21 on vertical axises contiguous block 20；The vertical axises that vertical axises 25 top is provided with for fine adjustment of vertical axle 25 stroke finely tune screw rod 22；One end of lateral shaft 4 is provided with cross spacing block 9, and the stroke of lateral shaft 4 is any limitation as, and reduces the impulsive force of lateral shaft 4 motion by horizontal buffer 10.Stop cylinder 15 is connected on 19 on vertical axis fixing plate by stop cylinder fixed plate 16, stop cylinder 15 is in the case of airproof, the piston rod of stop cylinder 15 is in ejection state, block one end of gripper fixed plate 14, so that whole vertical axises 25 will not fall down in the case of disconnecting source of the gas；In equipment normal course of operation, the piston rod of stop cylinder 15 is in return state.
As shown in Figure 4, paw 12 is connected in parallel cylinder 13, parallel cylinder 13 is connected with parallel cylinder contiguous block 31, one piece one end in two pieces of backplates 32 is connected with parallel cylinder contiguous block 31, fixing axle 33 is wrapped up and is locked by nut by two pieces of backplates 32, one end of fixing axle 33 is connected with posture portion connecting plate 34, and posture portion connecting plate 34 is connected in gripper fixed plate.During adjustment workpiece para-position, for different bending springs, by the present invention can be flexible and changeable adapt to relevant position require, unclamp three nuts of backplate 32 side, backplate 32 is turned to, with handss, the angle being suitable for gripping workpiece around fixing axle 33, and the position of workpiece is moved outwardly to just grip along fixing axle 33, then lock three nuts of backplate 32 side, you can complete the regulation of the angles and positions of paw fixture.It is bigger that the split side set type paw 12 of present invention original creation compares common duck-beak type paw clamping force, and gripping effect more preferably, can grip at least product of 3kg.
As shown in Figure 5, base plate 37 is welded with square steel 36, reinforcement 38 and square steel 1 and forms base, the bottom of base is provided with four good fortune horse wheels 35, enable quick positioning and the fixation of whole mechanical hand, after robotic device and coiling machine relative position are fixing, the position of equipment can be locked by locking good fortune horse wheel 35, convenient and swift；The top of base is provided with one section of mechanism for adjusting base height, square steel 2 42 inserts the inside of square steel 1, the side of square steel 2 42 is provided with guide rail 41, square steel 2 42 can be along the direction oscilaltion of slide rail 41, servo-drive and two kinds of regulative modes of hand screw can be adopted on regulative mode, make it can realize fast lifting and fine setting lifting, thus adapting to the demand of the coiling machine of differing heights；Base disk 43 is connected with rotation dispatcher's board 44, and rotation dispatcher's board 44 is connected with body, and rotation dispatcher's board 44 rotates around axle 45, and whole base quality is about 245kg, is rocked with preventing mechanical hand from producing in motor process.After unclamping the bolt of base disk 43, rotation dispatcher's board 44 can be adjusted and rotate around axle 45, so that whole mechanical hand is rotated in the horizontal direction.Pressure regulator valve 40 is fixed on the side of square steel 1, and external air source is accessed in pressure regulator valve 40 one end, and the other end is distributed to electromagnetic valve cylinder manifold and stop cylinder by three way cock, and general air pressure is adjusted to 0.5Mpa.
As shown in fig. 6, the present invention devises simple and practical micro-adjusting mechanism, so that angle is controlled during lateral shaft 4 and vertical axises 4 upset, adjust convenient.Rotary flange is provided with anglec of rotation regulating tank 53, one end connecting screw rod 48 of fine setting connecting seat 49, the other end is connected with fine setting screw rod 52, screw rod 48 is connected with the piston rod of cylinder two, locked with stop nut 47, fine setting rotary flange 50 is connected with rotation standard shaft, and one end of fine setting rotating shaft 51 is connected with fine setting rotary flange 50, and the other end is connected with fine setting screw rod 52.During regulation, spanner blocks screw rod 48, somewhat unclamp stop nut 47 and nut 46, then adjust fine setting screw rod 52 with inner hexagon spanner, make screw rod 48 mobile along the angular adjustment groove 53 of rotary flange, after angular adjustment is suitable, locking nut 46, again stop nut 47 is locked, you can complete the fine setting of angle.
As shown in fig. 7, coiling machine interactive signal 54, motor unit sensor signal 55 are connected with PLC control system 57 by interface signal plate 56, PLC control system 57 controls robot each unit 59 action after receiving start button 58 signal.The present invention devises the control system with Siemens's PLC control system 57 as core, interface signal plate 56 employs the external signal voltage adaptive design of uniqueness, so that system can be docked with the different signal source of outside 5-30v, make the compatibility docked with coiling machine signal more preferably.Described coiling machine interactive signal 54 includes spring blowing to be completed signal and coiling machine and produces to complete signal；Motor unit sensor signal 55 includes cylinder one, cylinder two, the sensor signal of piston movement position of cylinder three, paw position sensor signal.
Claims (9)
1. a kind of spring retrieving robot it is characterised in that：Cylinder two（11）Cylinder barrel be fixed on body（1）On, cylinder two（11）Piston rod and rotary flange（2）One end connect, rotary flange（2）The other end and lateral shaft（4）It is connected, rotary flange（2）By rotating standard shaft（3）With body（1）Connect, cylinder two（11）Piston rod ejection, rotary flange（2）Around rotation standard shaft（3）Rotation, makes lateral shaft（4）With vertical axises（25）Together overturn；Cylinder one（7）Drive vertical axises contiguous block（20）In lateral shaft（4）Cross slide way on do horizontal motion, cylinder three（26）Drive vertical axises（25）In vertical guide rail（24）On do movement in vertical direction, vertical axises（25）The paw of lower end（12）Clamp and unclamp action；Described paw（12）For split side set type paw；Base plate（37）Bottom be provided with four and enable the quick positioning of robot and fixing good fortune horse wheel（35）；Coiling machine interactive signal（54）, motor unit sensor signal（55）By interface signal plate（56）With PLC control system（57）It is connected, PLC control system（57）Receive start button（58）Control robot each unit after signal（59）Action.
2. spring retrieving robot according to claim 1 it is characterised in that：Described rotary flange（2）It is provided with anglec of rotation regulating tank（53）, finely tune connecting seat（49）One end connecting screw rod（48）, the other end with fine setting screw rod（52）Connect, screw rod（48）With cylinder two（11）Piston rod be connected, finely tune rotary flange（50）With rotation standard shaft（3）It is connected, finely tune rotating shaft（51）One end with fine setting rotary flange（50）Connection, the other end and fine setting screw rod（52）It is connected.
3. spring retrieving robot according to claim 1 it is characterised in that：Described cylinder one（7）Cylinder barrel pass through lateral shaft air cylinder fixed plate（18）It is fixed on lateral shaft（4）On, cylinder one（7）Piston rod pass through lateral shaft cylinder gim peg（6）With lateral shaft cylinder stopper（5）It is fixed on vertical axises contiguous block（20）On, lateral shaft air cylinder fixed plate（18）With vertical axis fixing plate（19）It is connected, vertical axis fixing plate（19）With vertical axises contiguous block（20）It is connected, make lateral shaft（4）With vertical axises（25）It is linked to be an entirety；Cylinder three（26）Cylinder barrel pass through vertical axises air cylinder fixed plate（27）With vertical axises contiguous block（20）Fixing, cylinder three（26）Piston rod pass through vertical axises cylinder gim peg（28）It is locked in gripper fixed plate with stop nut（14）On, vertical axises（25）Lower end and gripper fixed plate（14）It is connected, in vertical axis fixing plate（19）With vertical axises contiguous block（20）Upper lock respectively has slide block（17）, vertical axises（25）With lateral shaft（4）Upper lock respectively has vertical guide rail（24）And cross slide way（8）.
4. spring retrieving robot according to claim 1 it is characterised in that：Described vertical axises（25）Upper end be provided with vertical limited block（23）, by vertical axises contiguous block（20）On buffer（21）Reduce vertical axises（25）The impulsive force of motion；Vertical axises（25）Top is provided with for fine adjustment of vertical axle（25）The vertical axises fine setting screw rod of stroke（22）；Lateral shaft（4）One end be provided with cross spacing block（9）, by horizontal buffer（10）Reduce lateral shaft（4）The impulsive force of motion.
5. spring retrieving robot according to claim 3 it is characterised in that：Described vertical axis fixing plate（19）By stop cylinder fixed plate（16）It is connected with stop cylinder（15）.
6. spring retrieving robot according to claim 1 it is characterised in that：Described paw（12）It is connected to parallel cylinder（13）On, parallel cylinder（13）With parallel cylinder contiguous block（31）Connect, two pieces of backplates（32）In one piece one end and parallel cylinder contiguous block（31）Connect, two pieces of backplates（32）By nut by fixing axle（33）Wrap up and lock, fixing axle（33）One end and posture portion connecting plate（34）Connect, posture portion connecting plate（34）It is connected to gripper fixed plate（14）On.
7. spring retrieving robot according to claim 1 it is characterised in that：Described base plate（37）With square steel（36）, reinforcement（38）With square steel one（39）It is welded to form base, the bottom of base is provided with four good fortune horse wheels（35）；The top of base is provided with one section of mechanism for adjusting base height, square steel two（42）Insertion square steel one（39）Inside, square steel two（42）Side be provided with guide rail（41）, base disk（43）With rotation dispatcher's board（44）Connect, rotate dispatcher's board（44）With body（1）It is connected, rotate dispatcher's board（44）Around axle（45）Rotation.
8. spring retrieving robot according to claim 7 it is characterised in that：Described square steel one（39）Side equipped with pressure regulator valve（40）, pressure regulator valve（40）One end access external air source, the other end distributed to electromagnetic valve cylinder manifold and stop cylinder by three way cock（15）.
9. spring retrieving robot according to claim 1 it is characterised in that：Described coiling machine interactive signal（54）Complete signal including spring blowing and complete signal with coiling machine production；Motor unit sensor signal（55）Including cylinder one（7）, cylinder two（11）, cylinder three（26）The sensor signal of piston movement position, paw（12）Position sensor signal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510491879.9A CN106426131A (en) | 2015-08-12 | 2015-08-12 | Robot for taking out springs |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510491879.9A CN106426131A (en) | 2015-08-12 | 2015-08-12 | Robot for taking out springs |
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| Publication Number | Publication Date |
|---|---|
| CN106426131A true CN106426131A (en) | 2017-02-22 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510491879.9A Pending CN106426131A (en) | 2015-08-12 | 2015-08-12 | Robot for taking out springs |
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| CN (1) | CN106426131A (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107009356A (en) * | 2017-04-25 | 2017-08-04 | 苏州中悦行自动化机械科技有限公司 | Energy-saving and emission-reduction electric manipulator |
| CN107285053A (en) * | 2017-07-24 | 2017-10-24 | 芜湖超源力工业设计有限公司 | A kind of intelligent goods loading device for logistics |
| CN108724161A (en) * | 2017-04-25 | 2018-11-02 | 苏州中悦行自动化机械科技有限公司 | Intelligent energy-saving emission reduction robot |
| CN109571439A (en) * | 2018-12-29 | 2019-04-05 | 宁波赛普乐科技有限公司 | A kind of gantry robot and its method of adjustment convenient for position adjusting |
| CN109927018A (en) * | 2019-04-29 | 2019-06-25 | 盐城工学院 | A kind of movement chassis of movable six-joint robot |
| CN110053038A (en) * | 2019-05-22 | 2019-07-26 | 吴正义 | Novel universal gas-liquid robot |
| CN117503374A (en) * | 2024-01-08 | 2024-02-06 | 北京中科鸿泰医疗科技有限公司 | Holding mechanical arm of surgical robot |
-
2015
- 2015-08-12 CN CN201510491879.9A patent/CN106426131A/en active Pending
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107009356A (en) * | 2017-04-25 | 2017-08-04 | 苏州中悦行自动化机械科技有限公司 | Energy-saving and emission-reduction electric manipulator |
| CN108724161A (en) * | 2017-04-25 | 2018-11-02 | 苏州中悦行自动化机械科技有限公司 | Intelligent energy-saving emission reduction robot |
| CN107285053A (en) * | 2017-07-24 | 2017-10-24 | 芜湖超源力工业设计有限公司 | A kind of intelligent goods loading device for logistics |
| CN109571439A (en) * | 2018-12-29 | 2019-04-05 | 宁波赛普乐科技有限公司 | A kind of gantry robot and its method of adjustment convenient for position adjusting |
| CN109571439B (en) * | 2018-12-29 | 2023-09-29 | 宁波赛普乐科技有限公司 | Truss type robot convenient for position adjustment and adjustment method thereof |
| CN109927018A (en) * | 2019-04-29 | 2019-06-25 | 盐城工学院 | A kind of movement chassis of movable six-joint robot |
| CN110053038A (en) * | 2019-05-22 | 2019-07-26 | 吴正义 | Novel universal gas-liquid robot |
| CN117503374A (en) * | 2024-01-08 | 2024-02-06 | 北京中科鸿泰医疗科技有限公司 | Holding mechanical arm of surgical robot |
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Application publication date: 20170222 |
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| WD01 | Invention patent application deemed withdrawn after publication |