CN107127559A - Multi-robot work compound high performance pipeline outfit - Google Patents

Abstract

The invention relates to automatic assembly equipment for push button switches, and more specifically, to an automatic equipment for conveying springs. Multi-manipulator cooperative operation efficient assembly line complete set of equipment, including: workbench, vibrating plate for output spring, feeding track for conveying the spring, flipping and retrieving manipulator for clamping the spring and turning it over at a certain angle, In order to grab the grasping manipulator of the spring from the flipping and reclaiming manipulator, the grabbing manipulator is located at the upper part of the turning and retrieving manipulator, and the dynamic clamp mechanism is located at the lower part of the grabbing manipulator, so The chain conveying mechanism is located at the side of the grasping manipulator. The multi-manipulator cooperative operation of the present invention is a complete set of high-efficiency assembly line equipment, which realizes the orderly output of the spring. After the spring is adjusted to a predetermined angle, it is placed on the fixture, and the double manipulator ensures the smooth and controllable movement of the spring. The spring is pinched, and the spring relies on the chain conveying mechanism to realize automatic conveying between different stations.

Description

Multi-manipulator cooperative operation efficient assembly line equipment

technical field

The invention relates to automatic assembly equipment for push button switches, and more specifically, to an automatic equipment for conveying springs.

Background technique

A spring is a mechanical part that uses elasticity to work. Parts made of elastic materials are deformed under the action of external force, and return to their original shape after the external force is removed. Also known as "spring". Generally made of spring steel. The types of springs are complex and diverse. According to the shape, there are mainly coil springs, scroll springs, leaf springs, special-shaped springs, etc.

Although the spring industry is a small industry in the entire manufacturing industry, its role cannot be underestimated. The country's industrial manufacturing and automobile industries need to speed up the development, and the spring industry as one of the basic parts and components needs to have an advanced stage of development in order to adapt to the rapid development of the country's entire industry. In addition, the expansion of the scale and variety of spring products and the improvement of the quality level are also the needs of the replacement of mechanical equipment and the improvement of the performance of supporting hosts. Therefore, spring products play an important role in the development of the entire national industry.

The daily necessities industry and the hardware industry, including lighters, toys, locks, door hinges, fitness equipment, mattresses, sofas, etc., in terms of quantity, the demand for springs is the largest, tens of billions, the technical requirements are not high, and the price is very high. Low.

In electrical products, such as electrical switches and circuit breakers, a large number of springs are assembled. Since the springs are small in structure and easy to change in size, workers need to manually grasp the springs.

Contents of the invention

The purpose of the present invention is to provide a multi-manipulator cooperative operation high-efficiency assembly line complete set of equipment, in the automatic assembly production of electrical products, the springs are grabbed and placed on the fixture in an orderly manner, and the orderly output of the springs is realized by using the vibrating plate To the feeding track, use the flipping and retrieving manipulator to grab the spring from the feeding track. The station is beneficial to realize the fully automatic operation of multi-station. The multi-manipulator cooperative operation of the present invention is a complete set of high-efficiency assembly line equipment, which realizes the orderly output of the spring. After the spring is adjusted to a predetermined angle, it is placed on the fixture, and the double manipulator ensures the smooth and controllable movement of the spring. The spring is pinched, and the spring relies on the chain conveying mechanism to realize automatic conveying between different stations.

A complete set of multi-manipulator collaborative operation efficient assembly line equipment, including: a workbench, a vibrating plate for outputting springs, a feeding track for transporting the springs, and an overturning reclaiming manipulator for clamping the springs and turning them over at a certain angle , a grasping manipulator for grabbing the spring from the turning and retrieving manipulator, a blocking mechanism for limiting the moving speed of the spring, a chain conveying mechanism for transporting the spring, mounted on the The dynamic clamp mechanism on the chain conveying mechanism, the output port of the vibrating plate is connected to the feeding track, the output port of the feeding track is connected to the turning and retrieving manipulator, and the blocking mechanism is located on the feeding track At the output port, the grabbing manipulator is located on the upper part of the flipping and reclaiming manipulator, the dynamic clamp mechanism is located on the lower part of the grabbing manipulator, and the chain conveying mechanism is located on the side of the grabbing manipulator;

The dynamic clamp mechanism includes: a roller, a sliding plate, and a clamp, the roller is movably connected to the sliding plate, and the clamp is fixedly connected to the sliding plate;

The chain conveying mechanism includes: a gantry support, a chain transmission mechanism, a drive motor, a sliding track, a vertical limit cylinder, a vertical limit plate, and a limit guide column. The gantry support is fixedly connected to the workbench, The chain transmission mechanism is movably connected to the gantry bracket, the drive motor is fixedly connected to the gantry bracket, and the output shaft of the drive motor is fixedly connected to the chain transmission mechanism through a coupling; The sliding track matched with the dynamic clamp mechanism is provided on the top, the roller is movably connected to the slide track, and the dynamic clamp mechanism is fixedly connected to the chain transmission mechanism through a connecting chain plate; the vertical The cylinder block of the limit cylinder is fixedly connected to the gantry bracket, the vertical limit plate is fixed on the slider of the vertical limit cylinder, and the limit plate is provided with the limit A guide post, the clamp is provided with a limit guide hole matching the limit guide post, and the limit guide post is located on the upper part of the material table support seat.

Preferably, a blocking piece is provided on the clamp, a sensor is arranged on the gantry bracket, and the blocking piece matches the sensor.

Preferably, the turning and reclaiming manipulator includes: No. 1 bracket, No. 1 horizontal sliding cylinder, No. 1 horizontal slide plate, turning cylinder, No. 1 claw cylinder, upper finger, lower finger, elastic pressing block, cover plate, the The No. 1 bracket is fixedly connected to the workbench, the cylinder block of the No. 1 horizontal slide cylinder is fixedly connected to the No. 1 bracket, the No. 1 horizontal slide plate is movably connected to the No. 1 bracket, and the No. 1 horizontal slide plate is movably connected to the No. 1 bracket. The end of the piston rod of the sliding cylinder is fixedly connected to the No. 1 horizontal slide plate; the cylinder block of the overturning cylinder is fixedly connected to the No. 1 horizontal slide plate, and the cylinder block of the No. 1 hand claw cylinder is fixedly connected to the turned over On the output flange of the air cylinder; the upper finger and the lower finger are fixedly connected to the No. 1 claw cylinder, the upper finger is fixedly connected with the upper finger, the lower finger is fixedly connected with the lower finger, and the lower finger is fixedly connected with the lower finger. The finger is provided with a material inlet matching the spring direction, the upper finger is movably connected to the elastic pressing block, and the cover plate is fixedly connected to the upper finger, between the elastic pressing block and the cover plate A downward pressure spring is arranged between, and the elastic pressing block is matched with the material inlet.

Preferably, the blocking mechanism includes: a No. 2 bracket, an upper and lower cylinder, an end connecting plate, an upper and lower sliding plate, and an elastic probe. The No. 2 bracket is fixed to the worktable, and the cylinder body of the upper and lower cylinders is On the No. 2 bracket, the upper and lower sliding plates are movably connected to the No. 2 bracket, and the ends of the piston rods of the upper and lower cylinders are fixedly connected to the upper and lower sliding plates through the end connecting plates; Connected to the upper and lower sliding plates, the elastic probe matches the feeding track.

Preferably, the grasping manipulator includes: No. 3 bracket, No. 2 horizontal sliding table, No. 2 vertical sliding table, Y-axis sliding table, discharging finger cylinder, and discharging finger. The No. 3 bracket is fixedly connected to the The No. 2 horizontal slide table is fixedly connected to the No. 3 bracket, the No. 2 vertical slide table is fixedly connected to the slider of the No. 2 horizontal slide table, and the Y-axis slide table is fixed Connected to the slide block of the No. 2 vertical slide table, the discharge finger cylinder is fixedly connected to the slide block of the Y-axis slide table.

Preferably, when the piston rod of the No. 1 horizontal sliding cylinder is in an extended state, the feed inlet matches the feeding track, and the No. 1 claw cylinder is in an unfolded state, the spring can enter into the In the material inlet; when the No. 1 claw cylinder is in the closed state, the spring is clamped by the No. 1 claw cylinder.

Preferably, the clamp is provided with two material holes for accommodating the spring: No. 1 material hole and No. 2 material hole.

Preferably, when the piston rod of the upper and lower cylinders is in the extended state, the elastic column of the elastic probe enters into the feeding track and contacts the surface of the spring; when the piston rod of the upper and lower cylinders is in the In the retracted state, the elastic column breaks away from the feeding track and out of contact with the spring.

Preferably, the lower part of the dynamic clamp mechanism is provided with the table support seat for supporting the dynamic clamp mechanism.

Compared with the traditional technology, the multi-manipulator cooperative operation high-efficiency assembly line complete set of equipment of the present invention has the following positive effects and beneficial effects:

The multi-manipulator cooperative operation high-efficiency assembly line complete set of equipment of the present invention mainly includes: a workbench, a vibrating plate, a feeding track, a turning and retrieving manipulator, a grabbing manipulator, a dynamic clamp mechanism, a blocking mechanism, and a chain conveying mechanism. The springs are first poured into the vibrating plate, and the vibrating plate arranges the springs in an orderly manner and then inputs them into the feeding track; direction; the blocking mechanism is used to control the rhythm of the spring entering the flipping and reclaiming manipulator; after the turning and reclaiming manipulator grabs the spring from the outlet of the feeding track, The spring is detached from the feeding track and rotates the spring at a certain angle; the dynamic clamp mechanism moves along the slide track driven by the chain conveying mechanism, and the dynamic clamp mechanism stays on the After the material table support seat is placed on, the limit guide column enters the limit guide hole to further improve the positioning accuracy of the clamp; The spring is placed in the No. 1 material hole and the No. 2 material hole; then, the chain conveying mechanism transfers the spring to other different stations to realize assembly line operation. The high-efficiency assembly line complete set of multi-manipulator cooperative operation of the present invention realizes the automatic assembly of the spring into the No. 1 material hole and No. 2 material hole, avoids clamping deformation of the spring, and realizes the The spring is transmitted to other different stations, with a high degree of automation and high work efficiency.

Next, describe the working process and working principle of the chain conveyor mechanism:

The chain transmission mechanism is movably connected to the gantry support, and the drive motor drives the chain transmission mechanism to rotate relative to the gantry support.

The rollers are movably connected to the sliding track, and the dynamic clamping mechanism is fixedly connected to the chain transmission mechanism through a connecting chain plate, and the chain transmission mechanism drives the dynamic clamping mechanism to move along the direction of the sliding track. The guiding function of the sliding track improves the motion precision of the dynamic clamp mechanism. The limit guide post which can improve the positioning accuracy is also arranged on the chain conveying mechanism.

When the dynamic clamping mechanism reaches the target station, that is, the blocking piece matches the sensor, the chain transmission mechanism stops moving. The rough positioning of the dynamic clamp mechanism can be realized through the electromagnetic action of the shutter and the sensor. Next, further improve the positioning accuracy of the dynamic clamp mechanism.

Since the clamp is located on the upper part of the material platform support seat, the limit guide post enters into the limit guide hole driven by the vertical limit cylinder, because the limit guide post and limit The positioning guide hole is in a state of precise positioning, thereby improving the positioning accuracy of the clamp, and at the same time, the clamp is fixed on the support seat of the table, so that the clamp does not have any movable space. The clamp can accurately dock with the grasping manipulator, thereby realizing precise and efficient transmission of assembly line operations.

Next, describe the working process and working principle of the flipping and reclaiming manipulator:

The No. 1 horizontal slide plate is movably connected to the No. 1 bracket, the end of the piston rod of the No. 1 horizontal sliding cylinder is fixedly connected to the No. 1 horizontal slide plate, and the cylinder body of the turning cylinder is fixedly connected to the No. 1 horizontal slide plate. No. 1 horizontal slide plate, and the No. 1 sliding cylinder is used to drive the turning cylinder to break away from or contact the feeding track.

The cylinder block of the No. 1 claw cylinder is fixedly connected to the output flange of the flipping cylinder, the upper finger and the lower finger are fixedly connected to the No. 1 claw cylinder, and the upper finger is fixedly connected to the upper finger cylinder. Finger, the lower finger is fixedly connected with the lower finger. The No. 1 hand claw cylinder is closed, which can drive the upper finger and lower finger to close, thereby realizing the clamping of the spring; the No. 1 hand claw cylinder is released, and can drive the upper finger and lower finger to disengage. , so as to realize the release of the spring.

Since the material of the spring is relatively soft, in order to prevent the upper finger and the lower finger from closing, when the spring is clamped, the spring is squeezed and deformed. An elastic mechanism is provided on the upper finger, so as to protect the spring and prevent the spring from being squeezed and deformed.

The upper finger is movably connected to the elastic pressing block, the cover plate is fixedly connected to the upper finger, and a downward pressure spring is arranged between the elastic pressing block and the cover plate, and the elastic pressing block and the feeding material Mouth matches. The No. 1 claw cylinder is released, and the spring enters the material inlet; then, the No. 1 claw cylinder is closed, and the elastic pressing block contacts the surface of the spring, and due to the elasticity The press-down spring is arranged on the back of the press block, and the press-down spring is compressed and deformed, so that the elastic press block is flexibly pressed against the surface of the spring to prevent the spring from being pressed and deformed.

Next, describe the working process and working principle of the blocking mechanism:

At the beginning, the piston rod of the No. 1 horizontal sliding cylinder was in an extended state, the feed port matched the feeding track, the No. 1 claw cylinder was in an unfolded state, and the piston rods of the upper and lower cylinders were in an extended state. In the retracted state, the elastic column breaks away from the feeding track and out of contact with the spring, and the spring can enter the material inlet; then, the No. 1 claw cylinder drives the upper finger, The lower finger is closed to realize the flexible clamping of the spring; then, the piston rod of the upper and lower cylinders is in a stretched state, so that the elastic column of the elastic probe enters the feeding track and touches the spring The surface ensures that only the spring caught by the No. 1 claw cylinder can move, and the spring pressed by the elastic probe cannot move.

Since the elastic column of the elastic probe is driven by a highly flexible spring, after the elastic column contacts the spring, it can effectively avoid extrusion deformation of the spring.

Description of drawings

Fig. 1 is a schematic structural view of the multi-manipulator cooperative operation high-efficiency assembly line complete set of equipment of the present invention;

Figures 2 and 3 are schematic structural views of the chain conveying mechanism of the complete set of equipment for multi-manipulator cooperative operation and high-efficiency assembly line of the present invention;

Figures 4, 5 and 6 are partial structural schematic diagrams of the multi-manipulator cooperative operation high-efficiency assembly line complete set of equipment of the present invention;

Figures 7 and 8 are schematic structural views of the turning and reclaiming manipulator of the multi-manipulator cooperative operation high-efficiency assembly line complete set of equipment of the present invention.

1 Workbench, 2 Vibrating plate, 3 Feeding track, 4 Flipping and retrieving manipulator, 5 Grabbing manipulator, 6 Fixture, 7 Blocking mechanism, 8 No. 1 bracket, 9 No. 1 horizontal sliding cylinder, 10 No. 1 horizontal slide plate, 11 Overturning Cylinder, 12 No. 1 claw cylinder, 13 upper finger, 14 lower finger, 15 elastic pressure block, 16 cover plate, 17 spring, 18 upper and lower cylinder, 19 end connecting plate, 20 upper and lower sliding plate, 21 elastic probe, 22 upper Finger, 23 lower finger, 24 elastic column, 25 down pressure spring, 26 material inlet, 27 No. 2 horizontal slide table, 28 No. 2 vertical slide table, 29 Y-axis slide table, 30 discharge finger cylinder, 31 discharge finger , 32 No. 1 material hole, 33 No. 2 material hole, 34 No. 2 bracket, 35 No. 3 bracket, 36 Chain conveyor mechanism, 37 Material platform support seat, 38 Gantry bracket, 39 Chain transmission mechanism, 40 Drive motor, 41 Connection Chain plate, 42 sliding track, 43 roller, 44 sliding plate, 45 dynamic clamp mechanism, 46 stopper, 47 sensor, 48 vertical limit cylinder, 49 vertical limit plate, 50 limit guide column, 51 limit guide hole.

detailed description

The present invention will be further described in detail below in conjunction with the accompanying drawings, but does not constitute any limitation to the present invention. Similar component numbers in the accompanying drawings represent similar components. As mentioned above, the present invention provides a multi-manipulator cooperative operation high-efficiency assembly line complete set of equipment. In the automatic assembly production of electrical products, the springs are grabbed and placed on the fixture in an orderly manner, and the orderly arrangement of the springs is realized by using the vibrating plate. Output to the feeding track, grab the spring from the feeding track with the flipping and retrieving manipulator, use the grabbing manipulator to grab the spring from the flipping and retrieving manipulator and place it on the fixture, and use the chain conveyor mechanism to transport the spring to Different stations are beneficial to realize multi-station fully automatic operation. The multi-manipulator cooperative operation of the present invention is a complete set of high-efficiency assembly line equipment, which realizes the orderly output of the spring. After the spring is adjusted to a predetermined angle, it is placed on the fixture. The use of double manipulators ensures the smooth and controllable movement of the spring. The spring is pinched, and the spring relies on the chain conveying mechanism to realize automatic conveying between different stations.

Fig. 1 is a schematic structural view of the multi-manipulator cooperative operation high-efficiency assembly line complete set of equipment of the present invention, Fig. 2 and 3 are structural schematic diagrams of the chain conveying mechanism of the present invention multi-manipulator cooperative operation high-efficiency assembly line complete set of equipment, Fig. 4, 5 and 6 are the structural representations of the present invention Partial structural schematic diagrams of multi-manipulator collaborative operation high-efficiency assembly line complete sets of equipment. Figures 7 and 8 are structural schematic diagrams of the flipping and reclaiming manipulator of multi-manipulator cooperative operation high-efficiency assembly line complete sets of equipment of the present invention.

A multi-manipulator cooperative operation high-efficiency assembly line complete set of equipment, including: a workbench 1, a vibrating plate 2 for outputting the spring 17, a feeding track 3 for transporting the spring 17, and a certain The flipping and reclaiming manipulator 4 of the angle, the grasping manipulator 5 for grabbing the spring 17 from the flipping and retrieving manipulator 4, the blocking mechanism 7 for limiting the moving speed of the spring 17, and for conveying The chain conveying mechanism 36 of the spring 17, the dynamic clamp mechanism 45 mounted on the chain conveying mechanism 36, the output port of the vibrating plate 2 is connected to the feeding track 3, and the output of the feeding track 3 The opening is connected to the turning and retrieving manipulator 4, the blocking mechanism 7 is located at the output port of the feeding track 3, the grabbing manipulator 5 is located on the upper part of the turning and retrieving manipulator 4, and the dynamic clamp mechanism 45 Located at the bottom of the grabbing robot 5, the chain conveyor mechanism 36 is located on the side of the grabbing robot 5;

The dynamic clamp mechanism 45 includes: a roller 43, a sliding plate 44, and a clamp 6, the roller 43 is movably connected to the sliding plate 44, and the clamp 6 is fixedly connected to the sliding plate 44;

The chain conveying mechanism 36 includes: a gantry support 38, a chain transmission mechanism 39, a driving motor 40, a sliding track 42, a vertical limit cylinder 48, a vertical limit plate 49, a limit guide post 50, and the gantry support 38 is fixedly connected to the workbench 1, the chain transmission mechanism 39 is movably connected to the gantry bracket 38, the driving motor 40 is fixedly connected to the gantry bracket, and the output shaft of the driving motor 40 passes through a coupling Fixedly connected to the chain transmission mechanism 39; the gantry bracket 38 is provided with the sliding track 42 matched with the dynamic clamp mechanism 45, the roller 43 is movably connected to the sliding track 42, the The dynamic clamp mechanism 45 is fixedly connected to the chain transmission mechanism 39 through the connecting chain plate 41; the cylinder body of the vertical limiting cylinder 48 is fixedly connected to the gantry bracket 38, and the vertical limiting plate 49 is fixedly connected to the On the slider of the vertical limit cylinder 48, the vertical limit plate 49 is provided with the limit guide post 50, and the clamp 6 is provided with a matching guide post 50. The limit guide hole 51 , the limit guide post 50 is located on the upper part of the table support seat 37 .

More specifically, the clamp 6 is provided with a blocking piece 46 , the gantry bracket 38 is provided with a sensor 47 , and the blocking piece 46 is matched with the sensor 47 .

More specifically, the turning and reclaiming manipulator 4 includes: No. 1 bracket 8, No. 1 horizontal sliding cylinder 9, No. 1 horizontal slide plate 10, turning cylinder 11, No. 1 claw cylinder 12, upper finger 13, lower finger 14, Elastic briquetting block 15, cover plate 16, described No. 1 support 8 is fixedly connected to described workbench 1, and the cylinder body of described No. 1 horizontal slide cylinder 9 is fixedly connected to described No. 1 support 8, and described No. 1 level The slide plate 10 is movably connected to the No. 1 support 8, and the end of the piston rod of the No. 1 horizontal sliding cylinder 9 is fixedly connected to the No. 1 horizontal slide plate 10; No. 1 horizontal slide plate 10, the cylinder body of the No. 1 hand claw cylinder 12 is fixedly connected on the output flange of the described turning cylinder 11; , the upper finger 13 is fixedly connected with an upper finger 22, the lower finger 14 is fixedly connected with a lower finger 23, and the lower finger 23 is provided with a material inlet 26 matching with the spring 17, the The elastic pressing block 15 is movably connected to the upper finger 22, the cover plate 16 is fixedly connected to the upper finger 22, and a downward pressure spring 25 is arranged between the elastic pressing block 15 and the cover plate 16. The briquetting block 15 matches the feed port 26 .

More specifically, the blocking mechanism 7 includes: a No. 2 bracket 34, an upper and lower cylinder 18, an end connecting plate 19, an upper and lower sliding plate 20, and an elastic probe 21. The No. 2 bracket 34 is fixedly connected to the workbench 1, The cylinder body of the upper and lower cylinders 18 is fixedly connected to the No. 2 support 34, the upper and lower sliding plates 20 are movably connected to the No. 2 support 34, and the ends of the piston rods of the upper and lower cylinders 18 pass through the end connecting plate 19 is fixedly connected to the upper and lower sliding plates 20; the elastic probes 21 are fixed to the upper and lower sliding plates 20, and the elastic probes 21 are matched with the feeding rails 3.

More specifically, the grasping manipulator 5 includes: No. 3 bracket 35, No. 2 horizontal slide table 27, No. 2 vertical slide table 28, Y-axis slide table 29, discharge finger cylinder 30, and discharge finger 31. The No. 3 bracket 35 is fixedly connected to the workbench 1, the No. 2 horizontal sliding platform 27 is fixedly connected to the No. 3 bracket 35, and the No. 2 vertical sliding platform 28 is fixedly connected to the No. 2 horizontal sliding platform. On the slide block of table 27, the Y-axis slide table 29 is fixedly connected to the slide block of the No. 2 vertical slide table 28, and the discharge finger cylinder 30 is fixedly connected to the slide block of the Y-axis slide table 29. on the block.

More specifically, when the piston rod of the No. 1 horizontal slide cylinder 9 is in an extended state, the feed port 26 matches the feeding track 3, and the No. 1 claw cylinder 12 is in an unfolded state, the The spring 17 can enter into the material inlet 26; when the No. 1 claw cylinder 12 is in the closed state, the spring 17 is in the state of being clamped by the No. 1 claw cylinder 12.

More specifically, the clamp 6 is provided with two material holes for accommodating the spring 17 : a No. 1 material hole 32 and a No. 2 material hole 33 .

More specifically, when the piston rod of the upper and lower cylinders 18 is in the extended state, the elastic column 24 of the elastic probe 21 enters the feeding track 3 and contacts the surface of the spring 17; When the piston rod of the upper and lower cylinders 18 is in the retracted state, the elastic column 24 is separated from the feeding track 3 and out of contact with the spring 17 .

More specifically, the lower part of the dynamic clamp mechanism 45 is provided with the material platform support seat 37 for supporting the dynamic clamp mechanism 45 .

The working principle and working process of the multi-manipulator cooperative operation high-efficiency assembly line complete set of equipment of the present invention are further described below in conjunction with Figures 1 to 8:

The multi-manipulator cooperative operation high-efficiency assembly line complete set of equipment of the present invention mainly includes: workbench 1, vibrating plate 2, feeding track 3, flipping and retrieving manipulator 4, grasping manipulator 5, dynamic clamping mechanism 45, blocking mechanism 7, and chain conveying mechanism 36. The springs 17 are first poured into the vibrating plate 2, and the vibrating plate 2 puts the springs 7 into the feeding track 3 in an orderly queue; the feeding track 3 pushes the springs 17 to The direction of the flipping and reclaiming manipulator 4 is conveyed; the blocking mechanism 7 is used to control the rhythm of the spring 17 entering the turning and retrieving manipulator 4; After grabbing the spring 17 at the outlet, the spring 17 is separated from the feeding track 3, and the spring 17 is rotated at a certain angle; 36 to move along the slide track 42, and after the dynamic clamp mechanism 45 stays on the material platform support seat 37, the limit guide post 50 enters into the limit guide hole 51 to further improve The positioning accuracy of the clamp 6; the grasping manipulator 5 grabs the spring 17 from the turning and retrieving manipulator 4, and places the spring 17 in the No. 1 material hole 32, the No. 2 material In the hole 33; then, the chain conveying mechanism 36 transfers the spring 17 to other different stations to realize assembly line operation. The multi-manipulator cooperative operation high-efficiency assembly line complete set of equipment of the present invention realizes the automatic assembly of the spring 17 into the No. 1 material hole 32 and the No. 2 material hole 33, avoids the clamping deformation of the spring 17, and Realize transferring the spring 17 to other different stations, with high degree of automation and high work efficiency.

Next, describe the working process and working principle of the chain conveyor mechanism 36:

The chain transmission mechanism 39 is movably connected to the gantry support 38 , and the driving motor 40 drives the chain transmission mechanism 39 to rotate relative to the gantry support 38 .

The roller 43 is movably connected to the sliding track 42, the dynamic clamp mechanism 45 is fixedly connected to the chain transmission mechanism 39 through the connecting chain plate 41, and the chain transmission mechanism 39 drives the dynamic clamp mechanism 45 along the The sliding track 42 moves in the direction where the sliding track 42 is guided, and the movement accuracy of the dynamic clamp mechanism 45 is improved. The limit guide post 50 which can improve the positioning accuracy is also arranged on the chain conveying mechanism 36 .

When the dynamic clamp mechanism 45 reaches the target station, that is, the blocking plate 46 matches the sensor 47, the chain transmission mechanism 39 stops moving. The rough positioning of the dynamic clamp mechanism 45 can be realized through the electromagnetic action of the blocking plate 46 and the sensor 47 . Next, the positioning accuracy of the dynamic clamp mechanism 45 is further improved.

Since the clamp 6 is located on the upper part of the material platform support seat 37, the limit guide post 50 enters into the limit guide hole 51 driven by the vertical limit cylinder 48, due to the limit The position guide post 50 and the limit guide hole 51 are in an accurate positioning state, thereby improving the positioning accuracy of the clamp 6, and simultaneously making the clamp 6 fixed on the material table support seat 37, so that the clamp 6 will not There is room for anything to move. The gripper 6 can accurately dock with the grasping manipulator 5, so as to realize the precise and efficient transmission of the assembly line operation.

Next, describe the working process and working principle of the flipping and reclaiming manipulator 4:

The No. 1 horizontal slide plate 10 is movably connected to the No. 1 bracket 8, the end of the piston rod of the No. 1 horizontal sliding cylinder 9 is fixedly connected to the No. 1 horizontal slide plate 10, and the cylinder body of the overturning cylinder 11 is fixed. Connected to the No. 1 horizontal slide plate 10 , the No. 1 sliding cylinder 9 is used to drive the turning cylinder 11 to break away from or contact the feeding track 3 .

The cylinder body of the No. 1 claw cylinder 12 is fixed on the output flange of the turning cylinder 11, the upper finger 13 and the lower finger 14 are fixed on the No. 1 claw cylinder 12, and the upper finger 13 is fixedly connected with an upper finger 22 , and the lower finger 14 is fixedly connected with a lower finger 23 . The No. 1 claw cylinder 12 is closed, which can drive the upper finger 22 and the lower finger 23 to close, thereby realizing the clamping of the spring 17; the No. 1 claw cylinder 12 is released, and can drive the upper The finger 22 and the lower finger 23 are disengaged, thereby realizing the release of the spring 17 .

Since the material of the spring 17 is relatively soft, in order to prevent the upper finger 22 and the lower finger 23 from closing, when the spring 17 is clamped, the spring 17 is squeezed and deformed. An elastic mechanism is provided on the upper finger 22 to protect the spring 17 and prevent the spring 17 from being squeezed and deformed.

The elastic pressing block 15 is movably connected to the upper finger 22, the cover plate 16 is fixedly connected to the upper finger 22, and a downward pressure spring 25 is arranged between the elastic pressing block 15 and the cover plate 16. The elastic briquetting block 15 is matched with the material inlet 26. The No. 1 claw cylinder 12 is released, and the spring 17 enters the feed port 26; then, the No. 1 claw cylinder 12 is closed, and the elastic pressing block 15 contacts the spring 17. On the surface, since the press-down spring 25 is arranged on the back of the elastic press block 15, the press-down spring 25 is compressed and deformed, so that the elastic press block 15 is flexibly squeezed on the surface of the spring 17 to prevent The spring 17 is extruded and deformed.

Next, describe the working process and working principle of the blocking mechanism 7:

At the beginning, the piston rod of the No. 1 horizontal sliding cylinder 9 was in an extended state, the feed port 26 matched the feeding track 3, the No. 1 gripper cylinder 12 was in an unfolded state, and the up and down The piston rod of the air cylinder 18 is in a retracted state, and the elastic column 24 breaks away from the feeding track 3 and breaks away from the contact with the spring 17, and the spring 17 can enter into the feed inlet 26; then, the The No. 1 gripper cylinder 12 drives the upper finger 22 and the lower finger 23 to close to realize the flexible clamping of the spring 17; then, the piston rod of the upper and lower cylinders 18 is in an extended state, so that the elastic probe The elastic column 24 of 21 enters in the described feeding rail 3 and contacts the surface of the described spring 17, guarantees that only the described spring 17 that is grasped by the No. 1 claw cylinder 12 can move, and is captured by the described spring 17. The spring 17 pressed by the elastic probe 21 cannot move.

Since the elastic column 24 of the elastic probe 21 is driven by a highly flexible spring, after the elastic column 24 contacts the spring 17 , it can effectively avoid extrusion deformation of the spring 17 .

Finally, it should be pointed out that the above embodiments are only representative examples of the multi-manipulator cooperative operation high-efficiency assembly line complete set of equipment of the present invention. Apparently, the multi-manipulator cooperative operation high-efficiency assembly line complete set of equipment of the present invention is not limited to the above-mentioned embodiments, and many variations are possible. Any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the multi-manipulator collaborative operation high-efficiency assembly line equipment of the present invention should be considered to belong to the protection scope of the multi-manipulator cooperative operation high-efficiency assembly line equipment of the present invention.

Claims (8)

1. a kind of multi-robot work compound high performance pipeline outfit, it is characterised in that including：Workbench, for exporting The vibrating disk of spring, the feeding track for conveying the spring, the upset for clamping the spring and flipping an angle Reclaimer robot, for grabbing the catching robot of the spring from the upset reclaimer robot, it is described for limiting The blocking mechanism of the translational speed of spring, the chain delivery machanism for conveying the spring, it is equipped on the chain-linked conveyer Dynamic clamp mechanism on structure, the delivery outlet of the vibrating disk is connected to the feeding track, the delivery outlet of the feeding track The upset reclaimer robot is connected to, the blocking mechanism is located at the equipped at outlet port of the feeding track, the crawl machinery Hand is located at the top of the upset reclaimer robot, and the dynamic clamp mechanism is located at the bottom of the catching robot, described Chain delivery machanism is located at the side of the catching robot；

The dynamic clamp mechanism includes：Roller, sliding panel, fixture, the roller are movably connected on the sliding panel, the folder Tool is fixed on the sliding panel；

The chain delivery machanism includes：Gantry support, chain-drive mechanism, motor, sliding rail, vertical limiting cylinder, Vertical limiting plate, spacing guide pillar, the gantry support are fixed on the workbench, and the chain-drive mechanism is movably connected on described Gantry support, the motor is fixed on the gantry support, and the output shaft of the motor is fixed on by shaft coupling The chain-drive mechanism；The sliding rail matched with the dynamic clamp mechanism is provided with the gantry support, The roller is movably connected on the sliding rail, and the dynamic clamp mechanism is fixed on the Chain conveyer machine by connecting carrier bar Structure；The cylinder block of the vertical limiting cylinder is fixed on the gantry support, and the vertical limiting plate is fixed on the vertical limit Position cylinder sliding block on, be provided with the vertical limiting plate on the spacing guide pillar, the fixture be provided with it is described spacing The spacing pilot hole that guide pillar matches, the spacing guide pillar is located at the top of material platform support seat.

2. multi-robot work compound high performance pipeline outfit according to claim 1, it is characterised in that the folder It is provided with tool on catch, the gantry support and is configured with sensor, the catch and the sensor matches.

3. multi-robot work compound high performance pipeline outfit according to claim 1, it is characterised in that the resistance Retaining device includes：No. two supports, upper and lower air cylinders, end connecting plate, upper lower skateboard, elastic probes, No. two supports are fixed on The workbench, the cylinder block of the upper and lower air cylinders is fixed on No. two supports, and the upper lower skateboard is movably connected on described No. two supports, the end of the piston rod of the upper and lower air cylinders is fixed on the upper lower skateboard by the end connecting plate；It is described Elastic probe is fixed on the upper lower skateboard, and the elastic probe and the feeding track match.

4. multi-robot work compound high performance pipeline outfit according to claim 1, it is characterised in that described to grab Manipulator is taken to include：No. three supports, No. two horizontal sliding tables, No. two vertical slide units, Y-axis slide unit, blowing finger cylinder, blowing hands Refer to, No. three supports are fixed on the workbench, No. two horizontal sliding tables are fixed on No. three supports, and described No. two are erected Straight slide unit is fixed on the sliding block of No. two horizontal sliding tables, and the Y-axis slide unit is fixed on the sliding block of described No. two vertical slide units On, the blowing finger cylinder is fixed on the sliding block of the Y-axis slide unit.

5. multi-robot work compound high performance pipeline outfit according to claim 1, it is characterised in that when described The piston rod of a number horizontal sliding cylinder matches in stretching state, the feeding mouth and the feeding track, described No. one When paw cylinder is in deployed condition, the spring can be entered in the feeding mouth；When a paw cylinder is in During closure state, in the state of the spring is in clamped by a paw cylinder.

6. multi-robot work compound high performance pipeline outfit according to claim 1, it is characterised in that the folder Two material holes for accommodating the spring are provided with tool：Number material hole, a No. two material holes.

7. multi-robot work compound high performance pipeline outfit according to claim 3, it is characterised in that when described When the piston rod of upper and lower air cylinders is in stretching state, the elastic of the elastic probe is entered in the feeding track and contacted To the surface of the spring；When the piston rod of the upper and lower air cylinders is in retracted mode, the elastic departs from the feeding Track and disengaging and the contact of the spring.

8. multi-robot work compound high performance pipeline outfit according to claim 1, it is characterised in that described dynamic The bottom of state clamp mechanism is provided with the material platform support seat for supporting the dynamic clamp mechanism.