CN106607884A - Conveying manipulator used on silicon steel sheet inspection line - Google Patents
Conveying manipulator used on silicon steel sheet inspection line Download PDFInfo
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- CN106607884A CN106607884A CN201510695607.0A CN201510695607A CN106607884A CN 106607884 A CN106607884 A CN 106607884A CN 201510695607 A CN201510695607 A CN 201510695607A CN 106607884 A CN106607884 A CN 106607884A
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- stalloy
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Abstract
A conveying manipulator used on a silicon steel sheet inspection line comprises six mechanisms, namely a finger mechanism, a wrist mechanism, a small-arm telescoping mechanism, a big-arm rotating mechanism, a lifting mechanism and a horizontal sliding mechanism. The conveying manipulator is characterized in that real-time location verification of rotary motion is performed by an incremental rotary encoder; and location control of rectilinear motion is performed by travel switches and a mechanical limiting device. The conveying manipulator can automatically convey silicon steel sheets to stations on the silicon steel sheet inspection line, makes the inspection and sampling of the silicon steel sheets efficient, quick and accurate and realizes full-automatic operation.
Description
Technical field
The present invention relates to a kind of mechanical hand, particularly a kind of stalloy inspection streamline conveying mechanical arm.
Background technology
Stalloy is a kind of extremely low silicon-iron soft magnetic alloy of carbon containing, it is the main material for making various transformators, motor and generator iron-core, the large-scale steel mill as Wuhan Iron and Steel Plant, stalloy to be produced every year is up to tens of thousands of tons, and will therefrom extract some per several tons of stalloys and be detected, detection process mainly selects different positions to rush several disks as sample on stalloy, and then these samples are detected.At present, to the work of the check sampling of stalloy or by manually operating, due to total output it is big, therefore the workload of inspection sampling is also very big, and stalloy is small-sized and very thin, manually stalloy carried out cleaning, dried, the operation such as punching when, need which is piecemeal separate, operated again, work efficiency is relatively low, and easily malfunctioned.With the continuous improvement of automated manufacturing level, mechanical hand is widely used in the industrial production.Mechanical hand be it is a kind of imitate staff action, and by setup program, track and requiring realize automatically crawl, conveying work pieces, manage instrument or the robot apparatus for being operated.
The content of the invention
In order to improve the work efficiency and work quality of stalloy sampling inspection, the present invention proposes a kind of stalloy inspection streamline conveying mechanical arm, it can be with each station on automatic conveying stalloy to streamline, make the inspection sampling of stalloy become efficient, quick, accurate, realize full-automatic operation.
The technical solution adopted in the present invention is：
The rotation of the conveying mechanical arm and linear motion, are controlled using toothed belt transmission and lead screw transmission as the main kind of drive using photoelectric sensor and PLC by step motor drive mechanical driving device.Whole conveying mechanical arm is made up of 6 mechanisms：Finger mechanism, Wrist mechanism, forearm telescoping mechanism, large arm cyclotron mechanism, elevating mechanism, horizontal slide mechanism.Real time position verification is carried out using increment rotary encoder to rotary motion.Linear motion carries out position control by travel switch and mechanical stop limiter.
To ensure accurately to pick up the workpiece that thickness is only 0.5mm, lighter in weight is completed to clean during transport, is dried, punching, abandoning work.Unlikely landing, it is necessary to have pine, the folder action of enough clamping forces and flexibility and reliability.The finger gripping mechanism of mechanical hand is using using lever+cam drive work in combination principle, during grabbing workpiece, rotated by motor belt motor moving cam, when turning to path and contacting with latch, spring extends, the briquetting of finger tip is closed up as lever by finger arm plate, the rubber blanket uniform contact stalloy on the inside of briquetting, so as to stalloy is clamped；When cam rotation is contacted to big footpath with latch, latch stress, spring are compressed, and open the briquetting of finger tip by the leverage of finger arm plate, stalloy is put down, and complete opening and clamping process for finger.
The finger gripping mechanism of the mechanical hand is made up of finger briquetting, finger lever, finger arm plate, cam, spring, latch and motor.The arm and carpal joint of mechanical hand is used for support tip executor (finger).The requirement of carpal joint and large-arm joint realizes that around X, Y two axles do 90 degree of gyrations, and forearm will realize that telescopic feed is moved.Rotary motion is mainly realized using screw-driven+tooth bar movement combination.Motor drives wrist revolution leading screw rotation, is moved back and forth by screw-driven band carry-over bar, and the gear being meshed with tooth bar is rotated, and realizes carpal swing, rotatable 90 ° relative to bracing frame of wrist joint；Mode moving back and forth with carry-over bar of the large-arm joint again by screw-driven, realizes the swing of rotating shaft, and rotating shaft is 0=900 relative to the rotatable total kilometres of bracing frame.It is flexible to be carried through leading screw rotation, drive the sliding axle fixed with nut to move back and forth.
The control system of the mechanical hand adopts 16 relays, controls the rotating of 6 motors by PLC, to realize that whole motion realizes the motion of desired design.The driving of motor adopts 24V DC sources.Control program is made up of mastery routine and three sub- programs, and mastery routine realizes system initialization, judgement, positioning, detection, and three kinds of control modes are realized in subprogram respectively：One be manually control, two be automatically control, 3 points of touch-control systems.Automatically working method is divided into single step, monocycle and continuously-running duty again.Selected with conditional jump instructions between three subprograms.In order to ensure safety, after mechanical hand is rotated, just workpiece is put down also workpiece if can stretch out in the case of no part only in frock, mechanical hand answers automatic pause to wait.A photoswitch is provided with for this, to detect the signal " without workpiece ".
The input position detection signal of PC has 6 travel switch control limit of sports record positions；The detection signal of " without workpiece ", making detecting element with photoswitch then needs an input terminal；No. 2 rotary encoder inputs.According to system requirements, " beginning ", " stopping ", " time-out ", " automatic ", " manual ", RESET, " jerk " 7 working method rotary switches are needed.The output signal of PC be used for control machinery hand decline, rise, stretch out, retracting, moving to left, moving to right, arm rotation, wrist rotation, clamp etc. 9 electromagnetic valve coils, then need 9 output points；Mechanical hand is started working from origin, needs an origin to indicate, that is, is also required to an output point, then needs 10 output points.
The invention has the beneficial effects as follows：Conveying mechanical arm working stability, efficiency high can quick and precisely complete the check sampling work of stalloy, reach design requirement.Realize full-automatic operation.
Description of the drawings
The present invention is further described with reference to the accompanying drawings and examples.
Fig. 1 is the robot manipulator structure schematic diagram of the present invention.
Fig. 2 is the finger gripping mechanism structure chart of the present invention.
Fig. 3 is the control system schematic diagram of the present invention.
Specific embodiment
The invention will be further described with reference to the accompanying drawings and examples.
Such as Fig. 1, the rotation of conveying mechanical arm and linear motion, are controlled using toothed belt transmission and lead screw transmission as the main kind of drive using photoelectric sensor and PLC by step motor drive mechanical driving device.Whole conveying mechanical arm is made up of 6 mechanisms：Finger mechanism 1, Wrist mechanism 2, forearm telescoping mechanism 3, large arm cyclotron mechanism 4, elevating mechanism 5, horizontal slide mechanism 6.Real time position verification is carried out using increment rotary encoder to rotary motion.Linear motion carries out position control by travel switch and mechanical stop limiter.
Conveying action of the mechanical hand on transfer matic is divided into six steps：Gripping stalloy；Deliver to washing station；Deliver to drying station；Deliver to punching station；Abandon waste material；Return and reset.
(1) grabbing workpiece：Slide unit drops to minimum point by elevating mechanism, and finger mechanism opens catches stalloy, then clamps.
(2) deliver to washing station：Slide unit rises to working face by elevating mechanism, and fuselage moves to washing station by horizontal slide mechanism, and wrist is put into level by 90 degree of wrist rotating mechanism rotate counterclockwise, and stalloy is into plumbness.
(3) deliver to drying station：Fuselage is moved horizontally to drying station by horizontal slide mechanism.
(4) deliver to punching station：Fuselage moves to punching station by horizontal slide mechanism, and by 90 degree of rotating shaft rotate counterclockwise, stalloy changes into horizontality to large arm slew gear, wait first hole of punching, sliding axle is moved forward and backward by forearm telescoping mechanism, and other inspection holes are rushed in wait, altogether 5 inspection holes of punching on stalloy.
(5) abandon waste material：Slide unit rises to peak by elevating mechanism, fuselage is moved to by horizontal slide mechanism loses discharge position, large arm slew gear is turn 90 degrees by rotating shaft dextrorotation, stalloy changes into plumbness, wrist is turn 90 degrees by wrist rotating mechanism dextrorotation, finger gripping mechanism unclamps, and useless stalloy falls down.
(6) return feeding station：Fuselage moves backward to feeding station by horizontal slide mechanism, so far completes a period of motion, and each reset of mechanical hand is to original state.
To ensure accurately to pick up the workpiece that thickness is only 0.5mm, lighter in weight is completed to clean during transport, is dried, punching, abandoning work.Unlikely landing, it is necessary to have pine, the folder action of enough clamping forces and flexibility and reliability.The finger gripping mechanism of mechanical hand is using using lever+cam drive work in combination principle, during grabbing workpiece, rotated by motor belt motor moving cam, when turning to path and contacting with latch, spring extends, the briquetting of finger tip is closed up as lever by finger arm plate, the rubber blanket uniform contact stalloy on the inside of briquetting, so as to stalloy is clamped；When cam rotation is contacted to big footpath with latch, latch stress, spring are compressed, and open the briquetting of finger tip by the leverage of finger arm plate, stalloy is put down, and complete opening and clamping process for finger.
Such as Fig. 2, the finger gripping mechanism of mechanical hand are made up of finger briquetting 7, finger lever 8, finger arm plate 9, cam 10, spring 11, latch 12 and motor 13.The arm and carpal joint of mechanical hand is used for support tip executor (finger).The requirement of carpal joint and large-arm joint realizes that around X, Y two axles do 90 degree of gyrations, and forearm will realize that telescopic feed is moved.Rotary motion is mainly realized using screw-driven+tooth bar movement combination.Motor drives wrist revolution leading screw rotation, is moved back and forth by screw-driven band carry-over bar, and the gear being meshed with tooth bar is rotated, and realizes carpal swing, rotatable 90 ° relative to bracing frame of wrist joint；Mode moving back and forth with carry-over bar of the large-arm joint again by screw-driven, realizes the swing of rotating shaft, and rotating shaft is 0=900 relative to the rotatable total kilometres of bracing frame.It is flexible to be carried through leading screw rotation, drive the sliding axle fixed with nut to move back and forth.
Such as Fig. 3, the control system of mechanical hand adopts 16 relays, by the rotating of PLC 6 motors of control, to realize that whole motion realizes the motion of desired design.The driving of motor adopts 24V DC sources.Control program is made up of mastery routine and three sub- programs, and mastery routine realizes system initialization, judgement, positioning, detection, and three kinds of control modes are realized in subprogram respectively：One be manually control, two be automatically control, 3 points of touch-control systems.Automatically working method is divided into single step, monocycle and continuously-running duty again.Selected with conditional jump instructions between three subprograms.In order to ensure safety, after mechanical hand is rotated, just workpiece is put down also workpiece if can stretch out in the case of no part only in frock, mechanical hand answers automatic pause to wait.A photoswitch is provided with for this, to detect the signal " without workpiece ".
The input position detection signal of PC has 6 travel switch control limit of sports record positions；The detection signal of " without workpiece ", making detecting element with photoswitch then needs an input terminal；No. 2 rotary encoder inputs.According to system requirements, " beginning ", " stopping ", " time-out ", " automatic ", " manual ", RESET, " jerk " 7 working method rotary switches are needed.The output signal of PC be used for control machinery hand decline, rise, stretch out, retracting, moving to left, moving to right, arm rotation, wrist rotation, clamp etc. 9 electromagnetic valve coils, then need 9 output points；Mechanical hand is started working from origin, needs an origin to indicate, that is, is also required to an output point, then needs 10 output points.
Claims (7)
1. a kind of stalloy checks streamline conveying mechanical arm, it is characterized in that：The rotation of the conveying mechanical arm and linear motion, are controlled using toothed belt transmission and lead screw transmission as the main kind of drive using photoelectric sensor and PLC by step motor drive mechanical driving device.
2. a kind of stalloy according to claim 1 checks streamline conveying mechanical arm, it is characterized in that：The conveying mechanical arm is made up of 6 mechanisms：Finger mechanism, Wrist mechanism, forearm telescoping mechanism, large arm cyclotron mechanism, elevating mechanism, horizontal slide mechanism.
3. a kind of stalloy according to claim 1 checks streamline conveying mechanical arm, it is characterized in that：The mechanical hand carries out real time position verification using increment rotary encoder to rotary motion, and linear motion carries out position control by travel switch and mechanical stop limiter.
4. a kind of stalloy according to claim 1 checks streamline conveying mechanical arm, it is characterized in that：The finger gripping mechanism of mechanical hand is using using lever+cam drive work in combination principle, during grabbing workpiece, rotated by motor belt motor moving cam, when turning to path and contacting with latch, spring extends, the briquetting of finger tip is closed up as lever by finger arm plate, the rubber blanket uniform contact stalloy on the inside of briquetting, so as to stalloy is clamped；When cam rotation is contacted to big footpath with latch, latch stress, spring are compressed, and open the briquetting of finger tip by the leverage of finger arm plate, stalloy is put down, and complete opening and clamping process for finger.
5. a kind of stalloy according to claim 1 checks streamline conveying mechanical arm, it is characterized in that：In the articulated type Pneumatic positioning system, computer is used as system controller, the control voltage of comparative example valve is calculated according to the rotary encoder actual rotational angle for measuring and the deviation for setting corner, driving ratio valve core makes corner reach setting value so as to changing the inflow of valve port opening control cylinder gas and flowing out.
6. a kind of stalloy according to claim 1 checks streamline conveying mechanical arm, it is characterized in that：The finger gripping mechanism of the mechanical hand is made up of finger briquetting, finger lever, finger arm plate, cam, spring, latch and motor.
7. a kind of stalloy according to claim 1 checks streamline conveying mechanical arm, it is characterized in that：The control system of the mechanical hand adopts 16 relays, controls the rotating of 6 motors by PLC, to realize that whole motion realizes the motion of desired design.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510695607.0A CN106607884A (en) | 2015-10-21 | 2015-10-21 | Conveying manipulator used on silicon steel sheet inspection line |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510695607.0A CN106607884A (en) | 2015-10-21 | 2015-10-21 | Conveying manipulator used on silicon steel sheet inspection line |
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| CN106607884A true CN106607884A (en) | 2017-05-03 |
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| CN201510695607.0A Pending CN106607884A (en) | 2015-10-21 | 2015-10-21 | Conveying manipulator used on silicon steel sheet inspection line |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109552871A (en) * | 2018-12-10 | 2019-04-02 | 无锡城市职业技术学院 | A kind of bagged grain conveyance |
| CN114227240A (en) * | 2021-11-30 | 2022-03-25 | 苏州浪潮智能科技有限公司 | Automatic relay assembling machine |
-
2015
- 2015-10-21 CN CN201510695607.0A patent/CN106607884A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109552871A (en) * | 2018-12-10 | 2019-04-02 | 无锡城市职业技术学院 | A kind of bagged grain conveyance |
| CN114227240A (en) * | 2021-11-30 | 2022-03-25 | 苏州浪潮智能科技有限公司 | Automatic relay assembling machine |
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Application publication date: 20170503 |