CN107127559A - Multi-robot work compound high performance pipeline outfit - Google Patents
Multi-robot work compound high performance pipeline outfit Download PDFInfo
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- CN107127559A CN107127559A CN201710451507.2A CN201710451507A CN107127559A CN 107127559 A CN107127559 A CN 107127559A CN 201710451507 A CN201710451507 A CN 201710451507A CN 107127559 A CN107127559 A CN 107127559A
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- 150000001875 compounds Chemical class 0.000 title claims abstract description 34
- 230000007246 mechanism Effects 0.000 claims abstract description 78
- 239000000463 material Substances 0.000 claims description 36
- 239000000523 sample Substances 0.000 claims description 18
- 230000000903 blocking effect Effects 0.000 claims description 14
- 238000007664 blowing Methods 0.000 claims description 11
- 230000008878 coupling Effects 0.000 claims description 3
- 238000010168 coupling process Methods 0.000 claims description 3
- 238000005859 coupling reaction Methods 0.000 claims description 3
- 238000000034 method Methods 0.000 abstract description 3
- 230000008569 process Effects 0.000 abstract description 3
- 238000003825 pressing Methods 0.000 description 8
- 238000004519 manufacturing process Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 3
- 230000007306 turnover Effects 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 230000006835 compression Effects 0.000 description 2
- 238000007906 compression Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 210000004209 hair Anatomy 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000033764 rhythmic process Effects 0.000 description 2
- 241000531807 Psophiidae Species 0.000 description 1
- 229910000639 Spring steel Inorganic materials 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 239000013536 elastomeric material Substances 0.000 description 1
- 230000008450 motivation Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 241000894007 species Species 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/04—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for assembling or disassembling parts
- B23P19/048—Springs
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/001—Article feeders for assembling machines
- B23P19/006—Holding or positioning the article in front of the applying tool
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/001—Article feeders for assembling machines
- B23P19/007—Picking-up and placing mechanisms
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- Mechanical Engineering (AREA)
- Automatic Assembly (AREA)
Abstract
The present invention relates to the automated assembling equipment of button switch, more specifically to a kind of automated arm for being used to convey spring.Multi-robot work compound high performance pipeline outfit, including：Workbench, the vibrating disk for delivery spring, the feeding track for conveying the spring, the upset reclaimer robot for clamping the spring and flipping an angle, the catching robot for grabbing the spring from the upset reclaimer robot, the catching robot is located at the top of the upset reclaimer robot, the dynamic clamp mechanism is located at the bottom of the catching robot, and the chain delivery machanism is located at the side of the catching robot.Multi-robot work compound high performance pipeline outfit of the present invention, realize the order output to spring, spring is adjusted to after predetermined angle, it is placed on fixture, the smooth, controllable of spring moving process is ensure that using double-manipulator, avoid crushing spring, spring realizes the Automatic Conveying between different station by chain delivery machanism.
Description
Technical field
The present invention relates to the automated assembling equipment of button switch, it is used to convey spring more specifically to a kind of
Automated arm.
Background technology
Spring be it is a kind of utilize elasticity come work machine components.The part being made of elastomeric material is sent out under external force
Raw deformation, removes and is restored to the original state again after external force.Also " spring " is made.Typically it is made of spring steel.The species complexity of spring is various, presses
Shape point, mainly there is helical spring, scroll spring, flat spring, heterotypic spring etc..
Although Spring Industry is a small industry among whole manufacturing industry, its played a part of be absolutely not can be low
Estimate.The industrial manufacturing industry of country, auto industry will be accelerated development, and based on one of part, parts Spring Industry just
The advanced phase of a development is more needed, the fast development of national whole industry is just adapted to.In addition, spring product scale product
The need for expansion, the raising of quality level planted are also the machinery Replacement replacement and the need for the raising of matched host machine performance, because
This, the development of whole National Industrial, spring product plays an important role.
Commodity industry and irommongery, including lighter, toy, lockset, door hinge, fitness equipment, mattress, sofa etc., just
For quantity, spring is had the call, number is with 10,000,000,000, and technical requirements are not high, and price is very low.
In electric equipment products, such as in electric switch, circuit breaker a large amount of assemblings by spring, because spring structure is small,
Size easily changes, accordingly, it would be desirable to which workman realizes the crawl to spring by hand.
The content of the invention
Object of the present invention is to provide a kind of multi-robot work compound high performance pipeline outfit, in electrical equipment production
In the Automated assembly production of product, spring is captured and is placed on fixture in an orderly manner, realize have to spring using vibrating disk
Sequence is exported into feeding track, and spring is grabbed from feeding track using reclaimer robot is overturn, will using catching robot
Spring crawl from upset reclaimer robot comes and is placed on fixture, and spring is delivered into difference using chain delivery machanism
Station, be advantageously implemented the full-automatic operation of multistation.Multi-robot work compound high performance pipeline of the present invention is into suit
It is standby, the order output to spring is realized, spring is adjusted to after predetermined angle, is placed on fixture, utilize double-manipulator
It ensure that the smooth, controllable of spring moving process, it is to avoid spring is crushed, spring realizes different station by chain delivery machanism
Between Automatic Conveying.
A kind of multi-robot work compound high performance pipeline outfit, including：Workbench, the vibration for delivery spring
Disk, the feeding track for conveying the spring, for clamp the spring and flip an angle upset reclaimer robot,
For grabbing the catching robot of the spring, the mobile speed for limiting the spring from the upset reclaimer robot
The blocking mechanism of degree, the chain delivery machanism for conveying the spring, the dynamic folder being equipped on the chain delivery machanism
Has mechanism, the delivery outlet of the vibrating disk is connected to the feeding track, and the delivery outlet of the feeding track is connected to described turn over
Turn reclaimer robot, the blocking mechanism is located at the equipped at outlet port of the feeding track, and the catching robot is located at described turn over
Turn the top of reclaimer robot, the dynamic clamp mechanism is located at the bottom of the catching robot, the chain delivery machanism
Positioned 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, institute
Fixture is stated to be fixed on the sliding panel；
The chain delivery machanism includes：Gantry support, chain-drive mechanism, motor, sliding rail, vertical spacing gas
Cylinder, vertical limiting plate, spacing guide pillar, the gantry support are fixed on the workbench, and the chain-drive mechanism is movably connected on
The gantry support, the motor is fixed on the gantry support, and the output shaft of the motor is solid by shaft coupling
It is connected in the chain-drive mechanism；The slip rail matched with the dynamic clamp mechanism is provided with the gantry support
Road, the roller is movably connected on the sliding rail, and the dynamic clamp mechanism is fixed on the chain biography by connecting carrier bar
Motivation structure；The cylinder block of the vertical limiting cylinder is fixed on the gantry support, and the vertical limiting plate is fixed on described perpendicular
On the sliding block of straight limiting cylinder, be provided with the vertical limiting plate on the spacing guide pillar, the fixture be provided with it is described
The spacing pilot hole that spacing guide pillar matches, the spacing guide pillar is located at the top of material platform support seat.
Preferably, it is provided with the fixture on catch, the gantry support and is configured with sensor, the catch and described
Sensor matches.
Preferably, the upset reclaimer robot includes：Number support, horizontal sliding cylinder, horizontal slide plate,
Tumble cylinder, paw cylinder, upper finger, lower finger, elastic press, a cover plate, a support are fixed on the work
Platform, the cylinder block of a horizontal sliding cylinder is fixed on a support, and a horizontal slide plate is movably connected on
A number support, the end of the piston rod of a horizontal sliding cylinder is fixed on a horizontal slide plate；It is described to turn over
The cylinder block of rotaring cylinder is fixed on a horizontal slide plate, and the cylinder block of a paw cylinder is fixed on the upset gas
On the output flange of cylinder；The upper finger, lower finger are fixed on a paw cylinder, the upper finger and are fixed with
Refer to, be fixed with the lower finger on the feeding mouth being provided with lower finger, the lower finger with the spring to matching, the upper finger
The elastic press is flexibly connected, the cover plate is fixed on the upper finger, under being provided between the elastic press and cover plate
Pressing spring, the elastic press and feeding mouth match.
Preferably, the blocking mechanism includes：No. two supports, upper and lower air cylinders, end connecting plate, upper lower skateboard, elasticity are visited
Pin, No. two supports are fixed on the workbench, and the cylinder block of the upper and lower air cylinders is fixed on No. two supports, it is described on
Lower skateboard is movably connected on No. two supports, and the end of the piston rod of the upper and lower air cylinders is connected by the end connecting plate
In the upper lower skateboard；The elastic probe is fixed on the upper lower skateboard, the elastic probe and the feeding track phase
Match somebody with somebody.
Preferably, the catching robot includes：No. three supports, No. two horizontal sliding tables, No. two vertical slide units, Y-axis slide unit,
Blowing finger cylinder, blowing finger, No. three supports are fixed on the workbench, and No. two horizontal sliding tables are fixed on described
No. three supports, described No. two vertical slide units are fixed on the sliding block of No. two horizontal sliding tables, and the Y-axis slide unit is fixed on described
On the sliding block of No. two vertical slide units, the blowing finger cylinder is fixed on the sliding block of the Y-axis slide unit.
Preferably, when the piston rod of a horizontal sliding cylinder is in stretching state, the feeding mouth and described send
When material track matches, a paw cylinder is in deployed condition, the spring can be entered in the feeding mouth；When
When a number paw cylinder is in closure state, in the state of the spring is in clamped by a paw cylinder.
Preferably, two material holes for accommodating the spring are provided with the fixture：Number material hole, a No. two material holes.
Preferably, when the piston rod of the upper and lower air cylinders is in stretching state, the elastic of the elastic probe enters
Into the feeding track and touch 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.
Preferably, the bottom of the dynamic clamp mechanism is provided with the material platform for supporting the dynamic clamp mechanism
Support seat.
Compared with conventional art, multi-robot work compound high performance pipeline outfit of the present invention has following positive work
With and beneficial effect：
Multi-robot work compound high performance pipeline outfit of the present invention, mainly includes：Workbench, vibrating disk, feeding
Track, upset reclaimer robot, catching robot, dynamic clamp mechanism, blocking mechanism, chain delivery machanism.The spring is first
Pour into the vibrating disk, the vibrating disk is input in the feeding track after the spring is carried out into ordered queue；Institute
Feeding track is stated to be conveyed direction where the spring to the upset reclaimer robot；The blocking mechanism is used to control
The spring enters the rhythm of the upset reclaimer robot；The upset discharging of the reclaimer robot from the feeding track
Grabbed at mouthful after the spring, the spring is departed from the feeding track, and by the certain angle of the spring pivotal；
Sliding rail described in driving lower edge of the dynamic clamp mechanism in the chain delivery machanism is moved, the dynamic clamp mechanism
After staying in the material platform support seat, the spacing guide pillar enters in the spacing pilot hole further to improve the folder
The positioning precision of tool；The catching robot grabs the spring from the upset reclaimer robot, and by the spring
It is positioned in the material hole, No. two material holes；Then, the spring is delivered to other different by the chain delivery machanism
On station, to realize pipelining.Multi-robot work compound high performance pipeline outfit of the present invention, realizing will be described
Spring is automatically assembled in the material hole, No. two material holes, it is to avoid the clamping to the spring is deformed, and realize by
The spring is delivered on other different stations, and automaticity is high, operating efficiency is high.
Next the course of work and operation principle of the chain delivery machanism described：
The chain-drive mechanism is movably connected on the gantry support, and the motor drives the chain-drive mechanism phase
The gantry support is rotated.
The roller is movably connected on the sliding rail, the dynamic clamp mechanism by connect carrier bar be fixed on it is described
Chain-drive mechanism, the chain-drive mechanism drives the dynamic clamp mechanism to be moved along direction where the sliding rail, due to
The guiding function of the sliding rail, improves the kinematic accuracy of the dynamic clamp mechanism.On the chain delivery machanism
The spacing guide pillar of positioning precision can be improved by being additionally provided with.
When the dynamic clamp mechanism reaches aiming station, i.e.,：The catch and the sensor match, the chain
Transmission mechanism stop motion.Pass through the catch and the electromagnetic action of sensor, it is possible to achieve the dynamic clamp mechanism it is thick
Positioning.Next, further improving the positioning precision of the dynamic clamp mechanism.
Because the fixture is located at the top of the material platform support seat, the spacing guide pillar is in the vertical limiting cylinder
Entered under driving in the spacing pilot hole, state is accurately positioned because the spacing guide pillar and spacing pilot hole are in, from
And the positioning precision of the fixture is improved, while making the fixture be fixed in the material platform support seat, make the fixture not
Have any transportable space.The fixture can accurately dock the catching robot, so as to realize pipelining
Precision, efficient driving.
Next the course of work and operation principle of the upset reclaimer robot described：
A number horizontal slide plate is movably connected on a support, the piston rod of a horizontal sliding cylinder
End is fixed on a horizontal slide plate, and the cylinder block of the tumble cylinder is fixed on a horizontal slide plate, described one
Number sliding cylinder is used to drive the tumble cylinder to depart from or touch the feeding track.
The cylinder block of a number paw cylinder is fixed on the output flange of the tumble cylinder, the upper finger, under
Finger, which is fixed on a paw cylinder, the upper finger, is fixed with finger, and lower finger is fixed with the lower finger.It is described
A number paw cylinder closure, can drive the upper finger, lower refer to close, so as to realize the clamping to the spring；Described No. one
Paw cylinder is unclamped, and the upper finger, lower refer to can be driven to depart from, so as to realize the release to the spring.
Because the material of the spring is softer, in order to prevent the upper finger, lower refer to from closing, the spring is realized and clamped
When and cause the crimp to the spring.Refer on described and be provided with elastic mechanism, so as to realize the guarantor to the spring
Shield, prevents the spring from occurring crimp.
The elastic press is flexibly connected on the upper finger, the cover plate is fixed on the upper finger, in the elastic press
Lower pressing spring is provided between cover plate, the elastic press and feeding mouth match.A number paw cylinder is unclamped, described
Spring is entered after the feeding mouth；Then, the paw cylinder closure, the elastic press touches the spring
Surface, because the behind of the elastic press is provided with the lower pressing spring, compression occurs for the lower pressing spring, so that institute
The surface that elastic press flexibility is squeezed in the spring is stated, prevents the spring from occurring crimp.
Next the course of work and operation principle of the blocking mechanism described：
At first, the piston rod of a horizontal sliding cylinder is in stretching state, the feeding mouth and described
Feeding track matches, a paw cylinder is in deployed condition, 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, and the spring can enter the feeding mouth
In；Then, the paw cylinder driving upper finger, the lower flexible clamping for referring to closure, realizing to the spring；Then,
The piston rod of the upper and lower air cylinders is in stretching state, the elastic of the elastic probe is entered in the feeding track simultaneously
Touch the surface of the spring, it is ensured that the spring only captured by a paw cylinder can be moved,
And the spring pushed down by the elastic probe can not be moved.
By the elastic of the elastic probe is driven by flexible higher spring, the elastic touches institute
State after spring, it is possible to prevente effectively from occurring crimp to the spring.
Brief description of the drawings
Fig. 1 is the structural representation of multi-robot work compound high performance pipeline outfit of the present invention；
Fig. 2,3 are that the structure of chain delivery machanism of multi-robot work compound high performance pipeline outfit of the present invention is shown
It is intended to；
Fig. 4,5,6 are the part-structure schematic diagrams of multi-robot work compound high performance pipeline outfit of the present invention；
Fig. 7,8 be multi-robot work compound high performance pipeline outfit of the present invention upset reclaimer robot structure
Schematic diagram.
1 workbench, 2 vibrating disks, 3 feeding tracks, 4 upset reclaimer robots, 5 catching robots, 6 fixtures, 7 stop machine
Structure, No. 8 supports, No. 9 horizontal sliding cylinders, No. 10 horizontal slide plates, 11 tumble cylinders, No. 12 paw cylinders, on 13
Finger, 14 times fingers, 15 elastic press, 16 cover plates, 17 springs, 18 upper and lower air cylinders, 19 end connecting plates, lower skateboard, 21 on 20
Elastic probe, refer on 22,23 down finger, 24 elastics, 25 times pressing springs, 26 feeding mouths, 27 No. two horizontal sliding tables, 28 No. two vertically
Slide unit, 29Y axles slide unit, 30 blowing finger cylinders, 31 blowing fingers, No. 32 material holes, 33 No. two material holes, 34 No. two supports, 35
No. three supports, 36 chain delivery machanisms, 37 material platform support seats, 38 gantry supports, 39 chain-drive mechanisms, 40 motors, 41 connect
Chain link plate, 42 sliding rails, 43 rollers, 44 sliding panels, 45 dynamic clamp mechanisms, 46 catch, 47 sensors, 48 vertical spacing gas
Cylinder, 49 vertical limiting plates, 50 spacing guide pillars, 51 spacing pilot holes.
Embodiment
The present invention is described in further detail below in conjunction with accompanying drawing, but does not constitute any limitation of the invention,
Similar element numbers represent similar element in accompanying drawing.As described above, the invention provides a kind of multi-robot work compound
High performance pipeline outfit, in the Automated assembly production of electric equipment products, spring is captured in an orderly manner and fixture is placed into
On, realized using vibrating disk to the order output of spring into feeding track, using overturning reclaimer robot from feeding track
Spring is grabbed, the crawl from upset reclaimer robot comes and is placed on fixture by spring using catching robot, utilizes
Spring is delivered to different stations by chain delivery machanism, is advantageously implemented the full-automatic operation of multistation.Multimachine of the present invention
Tool hand work compound high performance pipeline outfit, realizes the order output to spring, spring is adjusted into predetermined angle
Afterwards, it is placed on fixture, ensure that the smooth, controllable of spring moving process using double-manipulator, it is to avoid spring is crushed, spring
The Automatic Conveying between different station is realized by chain delivery machanism.
Fig. 1 is the structural representation of multi-robot work compound high performance pipeline outfit of the present invention, and Fig. 2,3 are this hairs
The structural representation of the chain delivery machanism of bright multi-robot work compound high performance pipeline outfit, Fig. 4,5,6 are this hairs
The part-structure schematic diagram of bright multi-robot work compound high performance pipeline outfit, Fig. 7,8 are multi-robot associations of the present invention
With the structural representation of the upset reclaimer robot of operation high performance pipeline outfit.
A kind of multi-robot work compound high performance pipeline outfit, including：Workbench 1, for delivery spring 17
Vibrating disk 2, the feeding track 3 for conveying the spring 17, the upset for clamping the spring 17 and flipping an angle
Reclaimer robot 4, for from it is described upset reclaimer robot 4 in grab the catching robot 5 of the spring 17, for limiting
The blocking mechanism 7 of the translational speed of the spring 17, the chain delivery machanism 36 for conveying the spring 17, be equipped on it is described
Dynamic clamp mechanism 45 on chain delivery machanism 36, the delivery outlet of the vibrating disk 2 is connected to the feeding track 3, described
The delivery outlet of feeding track 3 is connected to the upset reclaimer robot 4, and the blocking mechanism 7 is located at the defeated of the feeding track 3
Exit, the catching robot 5 is located at the top of the upset reclaimer robot 4, and the dynamic clamp mechanism 45 is located at institute
The bottom of catching robot 5 is stated, the chain delivery machanism 36 is located at the side of the catching robot 5；
The dynamic clamp mechanism 45 includes：Roller 43, sliding panel 44, fixture 6, the roller 43 are movably connected on described
Sliding panel 44, the fixture 6 is fixed on the sliding panel 44；
The chain delivery machanism 36 includes：Gantry support 38, chain-drive mechanism 39, motor 40, sliding rail 42,
Vertical limiting cylinder 48, vertical limiting plate 49, spacing guide pillar 50, the gantry support 38 are fixed on the workbench 1, the chain
Transmission mechanism 39 is movably connected on the gantry support 38, and the motor 40 is fixed on the gantry support, the driving
The output shaft of motor 40 is fixed on the chain-drive mechanism 39 by shaft coupling；Be provided with the gantry support 38 with it is described
The sliding rail 42 that dynamic clamp mechanism 45 matches, the roller 43 is movably connected on the sliding rail 42, described
Dynamic clamp mechanism 45 is fixed on the chain-drive mechanism 39 by connecting carrier bar 41；The cylinder block of the vertical limiting cylinder 48
The gantry support 38 is fixed on, the vertical limiting plate 49 is fixed on the sliding block of the vertical limiting cylinder 48, it is described perpendicular
The limit for being provided with and matching with the spacing guide pillar 50 on the spacing guide pillar 50, the fixture 6 is provided with straight limiting plate 49
Position pilot hole 51, the spacing guide pillar 50 is located at the top of material platform support seat 37.
More specifically, being provided with catch 46 on the fixture 6, sensor 47 is configured with the gantry support 38, it is described
Catch 46 and the sensor 47 match.
More specifically, the upset reclaimer robot 4 includes：Number support 8, horizontal sliding cylinder 9, a level
Slide plate 10, tumble cylinder 11, paw cylinder 12, upper finger 13, lower finger 14, elastic press 15, a cover plate 16, described No. one
Support 8 is fixed on the workbench 1, and the cylinder block of a horizontal sliding cylinder 9 is fixed on a support 8, described
A number horizontal slide plate 10 is movably connected on a support 8, and the end of the piston rod of a horizontal sliding cylinder 9 is connected
In a horizontal slide plate 10；The cylinder block of the tumble cylinder 11 is fixed on a horizontal slide plate 10, described No. one
The cylinder block of paw cylinder 12 is fixed on the output flange of the tumble cylinder 11；The upper finger 13, lower finger 14 are connected
Lower finger 23, institute are fixed with 22, the lower finger 14 in being fixed with to refer in a paw cylinder 12, the upper finger 13
The lower feeding mouth 26 for referring to and being provided with 23 with the spring 17 to matching is stated, upper refer to is flexibly connected the elastic press on 22
15, the cover plate 16 is fixed on the upper finger 22, and lower pressing spring 25, institute are provided between the elastic press 15 and cover plate 16
State elastic press 15 and feeding mouth 26 matches.
More specifically, the blocking mechanism 7 includes：No. two supports 34, upper and lower air cylinders 18, end connecting plate 19, upper downslides
Plate 20, elastic probe 21, No. two supports 34 are fixed on the workbench 1, and the cylinder block of the upper and lower air cylinders 18 is fixed on
No. two supports 34, the upper lower skateboard 20 is movably connected on No. two supports 34, the piston rod of the upper and lower air cylinders 18
End the upper lower skateboard 20 is fixed on by the end connecting plate 19；The elastic probe 21 is fixed on the upper downslide
Plate 20, the elastic probe 21 and the feeding track 3 match.
More specifically, the catching robot 5 includes：No. three supports 35, No. two horizontal sliding tables 27, No. two vertical slide units
28th, Y-axis slide unit 29, blowing finger cylinder 30, blowing finger 31, No. three supports 35 are fixed on the workbench 1, described two
Number horizontal sliding table 27 is fixed on No. three supports 35, and described No. two vertical slide units 28 are fixed on No. two horizontal sliding tables 27
On sliding block, the Y-axis slide unit 29 is fixed on the sliding block of described No. two vertical slide units 28, and the blowing finger cylinder 30 is fixed on
On the sliding block of the Y-axis slide unit 29.
More specifically, when the piston rod of described No. one horizontal sliding cylinder 9 is in stretching state, the feeding mouth 26 and institute
When stating that feeding track 3 matches, a paw cylinder 12 is in deployed condition, the spring 17 can enter it is described enter
In material mouth 26；When a paw cylinder 12 is in closure state, the spring 17 is in by a paw cylinder
In the state of 12 is clamped.
More specifically, being provided with two material holes for accommodating the spring 17 on the fixture 6：A number material hole 32, two
Number material hole 33.
More specifically, when the piston rod of the upper and lower air cylinders 18 is in stretching state, the elasticity of the elastic probe 21
Post 24 enters in the feeding track 3 and touches the surface of the spring 17；At the piston rod of the upper and lower air cylinders 18
When retracted mode, the elastic 24 departs from the feeding track 3 and departs from the contact with the spring 17.
More specifically, the bottom of the dynamic clamp mechanism 45 is provided with the institute for supporting the dynamic clamp mechanism 45
State material platform support seat 37.
Below in conjunction with Fig. 1 to 8, the work of multi-robot work compound high performance pipeline outfit of the present invention is further described
Make principle and the course of work：
Multi-robot work compound high performance pipeline outfit of the present invention, mainly includes：Workbench 1, vibrating disk 2, send
Expect track 3, upset reclaimer robot 4, catching robot 5, dynamic clamp mechanism 45, blocking mechanism 7, chain delivery machanism 36.
The spring 17 is first poured into the vibrating disk 2, and the spring 7 is carried out being input to institute after ordered queue by the vibrating disk 2
State in feeding track 3；The feeding track 3 is conveyed the spring 17 to the upset reclaimer robot 4 place direction；
The blocking mechanism 7 is used for the rhythm for controlling the spring 17 to enter the upset reclaimer robot 4；The upset reclaimer
The discharge outlet of tool hand 4 from the feeding track 3 is grabbed after the spring 17, and the spring 17 is departed from the feeding rail
Road 3, and the spring 17 is rotated into certain angle；Driving of the dynamic clamp mechanism 45 in the chain delivery machanism 36
Sliding rail 42 is moved described in lower edge, described spacing after the dynamic clamp mechanism 45 is stayed in the material platform support seat 37
Guide pillar 50 enters in the spacing pilot hole 51 further to improve the positioning precision of the fixture 6；The catching robot 5
The spring 17 is grabbed from the upset reclaimer robot 4, and the spring 17 is positioned over the material hole 32, two
Number material hole 33 in；Then, the spring 17 is delivered on other different stations by the chain delivery machanism 36, to realize stream
Waterline operation.Multi-robot work compound high performance pipeline outfit of the present invention, is realized the spring 17 automatically
It is assembled in the material hole 32, No. two material holes 33, it is to avoid the clamping to the spring 17 is deformed, and is realized the bullet
Spring 17 is delivered on other different stations, and automaticity is high, operating efficiency is high.
Next the course of work and operation principle of the chain delivery machanism 36 described：
The chain-drive mechanism 39 is movably connected on the gantry support 38, and the motor 40 drives the Chain conveyer
Mechanism 39 is rotated relative to the gantry support 38.
The roller 43 is movably connected on the sliding rail 42, and the dynamic clamp mechanism 45 is consolidated by connecting carrier bar 41
It is connected in the chain-drive mechanism 39, the chain-drive mechanism 39 drives the dynamic clamp mechanism 45 along the institute of sliding rail 42
In direction motion, due to the guiding function of the sliding rail 42, the kinematic accuracy of the dynamic clamp mechanism 45 is improved.
The spacing guide pillar 50 of positioning precision can be improved by being additionally provided with the chain delivery machanism 36.
When the dynamic clamp mechanism 45 reaches aiming station, i.e.,：The catch 46 and the sensor 47 match,
The stop motion of chain-drive mechanism 39.Pass through the catch 46 and the electromagnetic action of sensor 47, it is possible to achieve the dynamic
The coarse positioning of clamp mechanism 45.Next, further improving the positioning precision of the dynamic clamp mechanism 45.
Because the fixture 6 is located at the top of the material platform support seat 37, the spacing guide pillar 50 is described vertical spacing
Entered under the driving of cylinder 48 in the spacing pilot hole 51, because the spacing guide pillar 50 and spacing pilot hole 51 are in essence
True positioning states, so that the positioning precision of the fixture 6 is improved, while making the fixture 6 be fixed on the material platform support seat
On 37, the fixture 6 is set not have any transportable space.The fixture 6 can accurately dock the catching robot
5, so as to realize the precision of pipelining, efficient driving.
Next the course of work and operation principle of the upset reclaimer robot 4 described：
A number horizontal slide plate 10 is movably connected on a support 8, the piston of a horizontal sliding cylinder 9
The end of bar is fixed on a horizontal slide plate 10, and the cylinder block of the tumble cylinder 11 is fixed on a horizontal slide plate
10, a sliding cylinder 9 is used to drive the tumble cylinder 11 to depart from or touch the feeding track 3.
The cylinder block of a number paw cylinder 12 is fixed on the output flange of the tumble cylinder 11, the upper finger
13rd, lower finger 14, which is fixed on a paw cylinder 12, the upper finger 13, is fixed with finger 22, the lower finger 14
It is fixed with lower finger 23.A number paw cylinder 12 is closed, can drive it is described it is upper refer to 22, it is lower refer to 23 and close, so as to realize pair
The clamping of the spring 17；A number paw cylinder 12 is unclamped, and upper 22, the lower finger 23 that refers to can be driven to depart from, so that real
Now to the release of the spring 17.
Because the material of the spring 17 is softer, in order to prevent upper 22, the lower finger 23 that refers to from closing, to the spring 17
Realize during clamping and cause the crimp to the spring 17.Refer on described and 22 be provided with elastic mechanism, so as to realize pair
The protection of the spring 17, prevents the spring 17 from occurring crimp.
Upper refer to is flexibly connected the elastic press 15 on 22, the cover plate 16 is fixed on the upper finger 22, described
Lower pressing spring 25 is provided between elastic press 15 and cover plate 16, the elastic press 15 and feeding mouth 26 match.Described one
Number paw cylinder 12 is unclamped, and the spring 17 is entered after the feeding mouth 26；Then, a paw cylinder 12 is closed,
The elastic press 15 touches the surface of the spring 17, and bullet is pushed described in the behind of the elastic press 15 is provided with
Compression occurs for spring 25, the lower pressing spring 25, so that the flexibility of the elastic press 15 is squeezed in the surface of the spring 17,
Prevent the spring 17 from occurring crimp.
Next the course of work and operation principle of the blocking mechanism 7 described：
At first, the piston rod of described No. one horizontal sliding cylinder 9 is in stretching state, the feeding mouth 26 and institute
State feeding track 3 match, a paw cylinder 12 be in deployed condition, the upper and lower air cylinders 18 piston rod be in contracting
The state of returning, the elastic 24 departs from the feeding track 3 and departs from the contact with the spring 17, and the spring 17 can enter
Enter into the feeding mouth 26；Then, a paw cylinder 12 drives upper 22, the lower finger 23 that refers to close, and realizes to institute
State the flexible clamping of spring 17；Then, the piston rod of the upper and lower air cylinders 18 is in stretching state, makes the elastic probe 21
Elastic 24 enters in the feeding track 3 and touches the surface of the spring 17, it is ensured that only by the trumpeter pawl
The spring 17 that cylinder 12 is captured can be moved, and the spring 17 pushed down by the elastic probe 21 can not occur
Motion.
By the elastic 24 of the elastic probe 21 is driven by flexible higher spring, the elastic 24 connects
Contact after the spring 17, it is possible to prevente effectively from occurring crimp to the spring 17.
Finally it is pointed out that above example is only multi-robot work compound high performance pipeline outfit of the present invention
More representational example.Obviously, multi-robot work compound high performance pipeline outfit of the present invention is not limited to above-mentioned implementation
Example, can also there is many deformations.Every technology according to multi-robot work compound high performance pipeline outfit of the present invention is real
Any simple modification, equivalent variations and modification that confrontation above example is made, are considered as belonging to multi-robot association of the present invention
With the protection domain of operation high performance pipeline outfit.
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.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710451507.2A CN107127559B (en) | 2017-06-08 | 2017-06-08 | Multi-robot work compound high performance pipeline outfit |
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| CN201710451507.2A CN107127559B (en) | 2017-06-08 | 2017-06-08 | Multi-robot work compound high performance pipeline outfit |
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| CN107127559B CN107127559B (en) | 2018-10-26 |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107415216A (en) * | 2017-09-12 | 2017-12-01 | 烟台中科蓝德数控技术有限公司 | Suitable for the full-automatic reinforcing bar heat-shrinkable T bush streamline of high-speed railway |
| CN107749375A (en) * | 2017-10-24 | 2018-03-02 | 浙江深科自动化科技有限公司 | Circuit breaker operation mechanism assembles equipment |
| CN109244008A (en) * | 2018-09-01 | 2019-01-18 | 温州市科泓机器人科技有限公司 | For manufacturing the intelligent assembly line of chip |
| CN109625858A (en) * | 2019-01-23 | 2019-04-16 | 江苏氢璞创能科技有限公司 | A kind of cover type nut automatic charging equipment and charging method |
| CN109877781A (en) * | 2019-04-16 | 2019-06-14 | 东莞卓众自动化科技有限公司 | A kind of torsional spring loading mechanism for pulling button |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113102963B (en) * | 2021-03-22 | 2022-03-01 | 浙江佳龙电子有限公司 | Automatic assembly production line for button switches |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107415216A (en) * | 2017-09-12 | 2017-12-01 | 烟台中科蓝德数控技术有限公司 | Suitable for the full-automatic reinforcing bar heat-shrinkable T bush streamline of high-speed railway |
| CN107749375A (en) * | 2017-10-24 | 2018-03-02 | 浙江深科自动化科技有限公司 | Circuit breaker operation mechanism assembles equipment |
| CN109244008A (en) * | 2018-09-01 | 2019-01-18 | 温州市科泓机器人科技有限公司 | For manufacturing the intelligent assembly line of chip |
| CN109625858A (en) * | 2019-01-23 | 2019-04-16 | 江苏氢璞创能科技有限公司 | A kind of cover type nut automatic charging equipment and charging method |
| CN109625858B (en) * | 2019-01-23 | 2023-11-14 | 江苏氢璞创能科技有限公司 | Automatic feeding equipment and feeding method for cap nut |
| CN109877781A (en) * | 2019-04-16 | 2019-06-14 | 东莞卓众自动化科技有限公司 | A kind of torsional spring loading mechanism for pulling button |
| CN109877781B (en) * | 2019-04-16 | 2023-11-17 | 东莞卓众自动化科技有限公司 | Torsional spring loading mechanism of spanner |
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|---|---|
| CN107127559B (en) | 2018-10-26 |
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Effective date of registration: 20220615 Address after: 510630 Room 502, building 1, No. 40, xiayuangang East Street, Tianhe District, Guangzhou, Guangdong Patentee after: Guangzhou Boyi Intellectual Property Operation Co.,Ltd. Address before: 325000 Ouhai science and Technology Park, Ouhai, Wenzhou, Zhejiang, No. 38 Dongfang Road, Ouhai Economic Development Zone, Wenzhou Patentee before: WENZHOU VOCATIONAL & TECHNICAL College |