CN107127559B - Multi-robot work compound high performance pipeline outfit - Google Patents
Multi-robot work compound high performance pipeline outfit Download PDFInfo
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- CN107127559B CN107127559B CN201710451507.2A CN201710451507A CN107127559B CN 107127559 B CN107127559 B CN 107127559B CN 201710451507 A CN201710451507 A CN 201710451507A CN 107127559 B CN107127559 B CN 107127559B
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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 35
- 239000000523 sample Substances 0.000 claims description 18
- 230000000903 blocking effect Effects 0.000 claims description 15
- 238000007664 blowing Methods 0.000 claims description 11
- 230000033001 locomotion Effects 0.000 claims description 5
- 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
- 238000010586 diagram Methods 0.000 description 7
- 238000005516 engineering process Methods 0.000 description 4
- 238000004519 manufacturing process Methods 0.000 description 4
- 230000007306 turnover Effects 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 230000005540 biological transmission Effects 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
- 239000007787 solid Substances 0.000 description 2
- 229910000639 Spring steel Inorganic materials 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000013013 elastic material Substances 0.000 description 1
- 230000008450 motivation Effects 0.000 description 1
Classifications
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- 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
Abstract
The present invention relates to the automated assembling equipments of button switch, more specifically to a kind of automated arm for conveying spring.Multi-robot work compound high performance pipeline outfit, including：Workbench, for the vibrating disk of delivery spring, the feeding track for conveying the spring, the overturning reclaimer robot for the spring to be clamped and flips an angle, for grabbing the catching robot of the spring from the overturning reclaimer robot, the catching robot is located at the top of the overturning reclaimer robot, the dynamic clamp mechanism is located at the lower part 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, after spring is adjusted to scheduled angle, it is placed on fixture, the smooth, controllable of spring moving process is ensure that using double-manipulator, it avoids 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 equipments of button switch, more specifically to a kind of for conveying spring
Automated arm.
Background technology
Spring be it is a kind of utilize elasticity come work machine components.The part made of elastic material is sent out under external force
Raw deformation restores to the original state again after removing external force.Also make " spring ".Generally it is made of spring steel.The type 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 in entire manufacturing industry, its played the role 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
It more needs just to adapt to national entire industrial fast development there are one the advanced phase developed.In addition, spring product scale product
The expansion of kind, the raising of quality level are also the needs of needs and the raising of matched host machine performance that machinery Replacement is regenerated, because
This, the development of entire National Industrial, spring product plays an important role.
Daily necessities industry and irommongery, including lighter, toy, lockset, door hinge, fitness equipment, mattress, sofa etc., just
It for quantity, has the call to spring, number is with 10,000,000,000, and technology is of less demanding, and price is very low.
Largely assemble in electric equipment products, such as in electric switch, circuit breaker by spring, due to spring structure is small,
Size is easy to happen variation, and therefore, it is necessary to workers to realize the crawl to spring by hand.
Invention content
The object of the present invention is to provide a kind of multi-robot work compound high performance pipeline outfits, are produced in electric appliance
In the Automated assembly production of product, spring is captured in an orderly manner and is placed on fixture, had to spring using vibrating disk realization
Sequence is exported into feeding track, and spring is grabbed from feeding track using overturning reclaimer robot, will using catching robot
Spring crawl from overturning reclaimer robot comes and is placed on fixture, and spring is delivered to 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 at suit
It is standby, the order output to spring is realized, after spring is adjusted to scheduled angle, is placed on fixture, utilizes double-manipulator
It ensure that the smooth, controllable of spring moving process, avoid crushing spring, 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, the overturning reclaimer robot for the spring to be clamped and flips an angle,
Catching robot for grabbing the spring from the overturning reclaimer robot, the mobile speed for limiting the spring
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 lower part 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, driving motor, sliding rail, limits gas at chain-drive mechanism vertically
Cylinder, vertical limiting plate, limit guide post, the gantry support are fixed on the workbench, and the chain-drive mechanism is movably connected on
The gantry support, the driving motor are fixed on the gantry support, and the output shaft of the driving motor is solid by shaft coupling
It is connected in the chain-drive mechanism；The sliding rail to match with the dynamic clamp mechanism is provided on the gantry support
Road, the roller are 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, the limit guide post is provided on the vertical limiting plate, be provided on the fixture with it is described
The limition orientation hole that limit guide post matches, the limit guide post are located at the top of material platform support seat.
Preferably, it is provided with catch on the fixture, is configured with sensor on the gantry support, the catch and described
Sensor matches.
Preferably, the overturning reclaimer robot includes：The horizontal sliding cylinder of No.1 holder, No.1, No.1 horizontal slide plate,
Tumble cylinder, No.1 paw cylinder, upper finger, lower finger, elastic press, cover board, the No.1 holder are fixed on the work
The cylinder block of platform, the horizontal sliding cylinder of No.1 is fixed on the No.1 holder, and the No.1 horizontal slide plate is movably connected on
The end of the No.1 holder, the piston rod of the horizontal sliding cylinder of No.1 is fixed on the No.1 horizontal slide plate；It is described to turn over
The cylinder block of rotaring cylinder is fixed on the No.1 horizontal slide plate, and the cylinder block of the No.1 paw cylinder is fixed on the overturning gas
On the output flange of cylinder；The upper finger, lower finger are fixed on the No.1 paw cylinder, are fixed on the upper finger
Refer to, be fixed with lower finger on the lower finger, is provided on the lower finger with the spring to matched feeding mouth, on the upper finger
It is flexibly connected the elastic press, the cover board is fixed on the upper finger, under being provided between the elastic press and cover board
Pressing spring, the elastic press and feeding mouth match.
Preferably, the blocking mechanism includes：No. two holders, upper and lower air cylinders, end connecting plate, upper lower skateboard, elasticity are visited
Needle, No. two holders are fixed on the workbench, and the cylinder block of the upper and lower air cylinders is fixed on No. two holders, it is described on
Lower skateboard is movably connected on No. two holders, 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.
Preferably, the catching robot includes：No. three holders, No. two horizontal sliding tables, No. two vertical slide units, Y-axis slide unit,
Blowing finger cylinder, blowing finger, No. three holders are fixed on the workbench, and No. two horizontal sliding tables are fixed on described
No. three holders, 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 the horizontal sliding cylinder of the No.1 is in stretching state, the feeding mouth and described send
When expecting that track matches, the No.1 paw cylinder is in unfolded state, the spring can enter in the feeding mouth；When
In the closure state, the spring is in the state of clamped by the No.1 paw cylinder for the No.1 paw cylinder.
Preferably, two material holes for accommodating the spring are provided on the fixture：No.1 material hole, 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
To in the feeding track and touching the surface of the spring；When the piston rod of the upper and lower air cylinders is in retracted mode,
The elastic is detached from the feeding track and is detached from and the contact of the spring.
Preferably, the lower part of the dynamic clamp mechanism is provided with the material platform for being used to support the dynamic clamp mechanism
Support seat.
It is compared with traditional technology, multi-robot work compound high performance pipeline outfit of the present invention has following positive work
With and advantageous effect：
Multi-robot work compound high performance pipeline outfit of the present invention includes mainly：Workbench, vibrating disk, feeding
Track, overturning reclaimer robot, catching robot, dynamic clamp mechanism, blocking mechanism, chain delivery machanism.The spring is first
It pours into the vibrating disk, the vibrating disk is input to after the spring is carried out ordered queue in the feeding track；Institute
Feeding track is stated to convey the spring to the overturning reclaimer robot direction；The blocking mechanism is for controlling
The spring enters the rhythm of the overturning reclaimer robot；The overturning discharging of the reclaimer robot from the feeding track
After grabbing the spring at mouthful, the spring is detached from the feeding track, and by the certain angle of the spring pivotal；
Dynamic clamp mechanism sliding rail described in the driving lower edge of the chain delivery machanism moves, the dynamic clamp mechanism
After staying in the material platform support seat, the limit guide post enters in the limition orientation hole to further increase the folder
The positioning accuracy of tool；The catching robot grabs the spring from the overturning reclaimer robot, and by the spring
It is positioned in No.1 material hole, No. two material holes；Then, the spring is transmitted 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 be automatically assembled to No.1 material hole, No. two material holes in, avoid the clamping to the spring deformation, and realize by
The spring is transmitted on other different stations, and high degree of automation, work efficiency is high.
Next the course of work and operation principle of the chain delivery machanism are described：
The chain-drive mechanism is movably connected on the gantry support, and the driving motor drives the chain-drive mechanism phase
The gantry support is rotated.
The roller is movably connected on the sliding rail, and the dynamic clamp mechanism is fixed on described by connection carrier bar
Chain-drive mechanism, the chain-drive mechanism drive the dynamic clamp mechanism to be moved along the sliding rail direction, due to
The guiding function of the sliding rail improves the kinematic accuracy of the dynamic clamp mechanism.On the chain delivery machanism
The limit guide post of positioning accuracy 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.By the electromagnetic action of the catch and sensor, the thick of the dynamic clamp mechanism may be implemented
Positioning.Next, further increasing the positioning accuracy of the dynamic clamp mechanism.
Since the fixture is located at the top of the material platform support seat, the limit guide post is in the vertical limiting cylinder
It is entered under driving in the limition orientation hole, since the limit guide post and limition orientation hole are in and are accurately positioned state, from
And the positioning accuracy of the fixture is improved, while the fixture being made to be fixed in the material platform support seat, make the fixture not
Have any transportable space.The fixture can accurately dock the catching robot, to realize pipelining
Precision, efficient driving.
Next the course of work and operation principle of the overturning reclaimer robot are described：
The No.1 horizontal slide plate is movably connected on the No.1 holder, the piston rod of the horizontal sliding cylinder of No.1
End is fixed on the No.1 horizontal slide plate, and the cylinder block of the tumble cylinder is fixed on the No.1 horizontal slide plate, and described one
Number sliding cylinder is for driving the tumble cylinder to be detached from or touch the feeding track.
The cylinder block of the No.1 paw cylinder is fixed on the output flange of the tumble cylinder, the upper finger, under
Finger is fixed on the No.1 paw cylinder, and finger is fixed on the upper finger, lower finger is fixed on the lower finger.It is described
No.1 paw cylinder is closed, and the upper finger, lower finger can be driven to be closed, to realize the clamping to the spring；The No.1
Paw cylinder is unclamped, and the upper finger, lower finger can be driven to be detached from, to realize the release to the spring.
Since the material of the spring is relatively soft, the upper finger, lower finger are closed in order to prevent, are realized and are clamped to the spring
When and cause the crimp to the spring.The upper finger is provided with elastic mechanism, to realize the guarantor to the spring
Shield prevents the spring from crimp occurs.
The elastic press is flexibly connected on the upper finger, the cover board is fixed on the upper finger, in the elastic press
Lower pressing spring is provided between cover board, the elastic press and feeding mouth match.The No.1 paw cylinder is unclamped, described
After spring enters the feeding mouth；Then, the No.1 paw cylinder is closed, and the elastic press touches the spring
Surface, since the behind of the elastic press is provided with the lower pressing spring, compressive deformation occurs for the lower pressing spring, so that institute
The surface that elastic press flexibility is extruded in the spring is stated, prevents the spring from crimp occurs.
Next the course of work and operation principle of the blocking mechanism are described：
At first, the piston rod of the horizontal sliding cylinder of the No.1 is in stretching state, the feeding mouth and described
Feeding track matches, the No.1 paw cylinder is in unfolded state, the piston rod of the upper and lower air cylinders is in retracted mode,
The elastic is detached from the feeding track and is detached from can enter the feeding mouth with the contact of the spring, the spring
In；Then, the No.1 paw cylinder driving upper finger, lower finger are closed, and realize the flexible clamping to the spring；Then,
The piston rod of the upper and lower air cylinders is in stretching state, and the elastic of the elastic probe is made to enter in the feeding track simultaneously
The surface of the spring is touched, guarantee can only be moved by the spring that the No.1 paw cylinder is captured,
And it cannot be moved by the spring that the elastic probe is pushed down.
Since the elastic of the elastic probe is driven by flexible higher spring, the elastic touches institute
After stating spring, it is possible to prevente effectively from crimp occurs to the spring.
Description of the drawings
Fig. 1 is the structural schematic diagram 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 overturning reclaimer robot structure
Schematic diagram.
1 workbench, 2 vibrating disks, 3 feeding tracks, 4 overturning reclaimer robots, 5 catching robots, 6 fixtures, 7 blocking machines
Structure, 8 No.1 holders, the horizontal sliding cylinder of 9 No.1s, 10 No.1 horizontal slide plates, 11 tumble cylinders, 12 No.1 paw cylinders, on 13
Finger, 14 times fingers, 15 elastic press, 16 cover boards, 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 axis slide unit, 30 blowing finger cylinders, 31 blowing fingers, 32 No.1 material holes, 33 No. two material holes, 34 No. two holders, 35
No. three holders, 36 chain delivery machanisms, 37 material platform support seats, 38 gantry supports, 39 chain-drive mechanisms, 40 driving motors, 41 connect
Chain link plate, 42 sliding rails, 43 rollers, 44 sliding panels, 45 dynamic clamp mechanisms, 46 catch, 47 sensors, 48 vertical limit gas
Cylinder, 49 vertical limiting plates, 50 limit guide posts, 51 limition orientation holes.
Specific implementation mode
The present invention is described in further detail below in conjunction with attached drawing, but does not constitute any limitation of the invention,
Similar element numbers represent similar element in attached drawing.As described above, the present invention provides a kind of multi-robot work compounds
Spring is captured in the Automated assembly production of electric equipment products and is placed into fixture by high performance pipeline outfit in an orderly manner
On, it is realized in the order output to feeding track of spring using vibrating disk, using overturning reclaimer robot from feeding track
Spring is grabbed, the crawl from overturning 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 to scheduled angle
Afterwards, it is placed on fixture, ensure that the smooth, controllable of spring moving process using double-manipulator, avoid crushing spring, spring
The Automatic Conveying between different station is realized by chain delivery machanism.
Fig. 1 is the structural schematic diagram of multi-robot work compound high performance pipeline outfit of the present invention, and Fig. 2,3 are this hairs
The structural schematic diagram 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 schematic diagram of the overturning 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 overturning for the spring 17 to be clamped and flips an angle
Reclaimer robot 4, for grabbing the catching robot 5 of the spring 17 from the overturning reclaimer robot 4, for limiting
The blocking mechanism 7 of the movement speed of the spring 17, the chain delivery machanism 36 for conveying the spring 17, be equipped on it is described
The delivery outlet of dynamic clamp mechanism 45 on chain delivery machanism 36, the vibrating disk 2 is connected to the feeding track 3, described
The delivery outlet of feeding track 3 is connected to the overturning reclaimer robot 4, and the blocking mechanism 7 is located at the defeated of the feeding track 3
Exit, the catching robot 5 are located at the top of the overturning reclaimer robot 4, and the dynamic clamp mechanism 45 is located at institute
The lower part 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 are fixed on the sliding panel 44；
The chain delivery machanism 36 includes：Gantry support 38, chain-drive mechanism 39, driving motor 40, sliding rail 42,
Vertical limiting cylinder 48, vertical limiting plate 49, limit guide post 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 driving 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 on 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
It is fixed on the gantry support 38, the vertical limiting plate 49 is fixed on the sliding block of the vertical limiting cylinder 48, described perpendicular
It is provided with the limit guide post 50 on straight limiting plate 49, the limit to match with the limit guide post 50 is provided on the fixture 6
Position pilot hole 51, the limit guide post 50 are 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 on the gantry support 38, it is described
Catch 46 and the sensor 47 match.
More specifically, the overturning reclaimer robot 4 includes：The horizontal sliding cylinder 9 of No.1 holder 8, No.1, No.1 are horizontal
Slide plate 10, tumble cylinder 11, No.1 paw cylinder 12, upper finger 13, lower finger 14, elastic press 15, cover board 16, the No.1
Holder 8 is fixed on the workbench 1, and the cylinder block of the horizontal sliding cylinder of the No.1 9 is fixed on the No.1 holder 8, described
No.1 horizontal slide plate 10 is movably connected on the No.1 holder 8, and the end of the piston rod of the horizontal sliding cylinder of the No.1 9 is connected
In the No.1 horizontal slide plate 10；The cylinder block of the tumble cylinder 11 is fixed on the No.1 horizontal slide plate 10, the No.1
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
Refer to 22 in being fixed in the No.1 paw cylinder 12, the upper finger 13, lower finger 23, institute are fixed on the lower finger 14
It states lower refer to be provided on 23 with the spring 17 to matched feeding mouth 26, upper refer to is flexibly connected the elastic press on 22
15, the cover board 16 is fixed on the upper finger 22, and lower pressing spring 25, institute are provided between the elastic press 15 and cover board 16
It states elastic press 15 and feeding mouth 26 matches.
More specifically, the blocking mechanism 7 includes：No. two holders 34, upper and lower air cylinders 18, end connecting plate 19, upper downslide
Plate 20, elastic probe 21, No. two holders 34 are fixed on the workbench 1, and the cylinder block of the upper and lower air cylinders 18 is fixed on
No. two holders 34, the upper lower skateboard 20 are movably connected on No. two holders 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 vertical slide units of the horizontal sliding table 27, two of holder 35, two
28, Y-axis slide unit 29, blowing finger cylinder 30, blowing finger 31, No. three holders 35 are fixed on the workbench 1, and described two
Number horizontal sliding table 27 is fixed on No. three holders 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 the horizontal sliding cylinder of the No.1 9 is in stretching state, the feeding mouth 26 and institute
When stating that feeding track 3 matches, the No.1 paw cylinder 12 is in unfolded state, the spring 17 can enter it is described enter
In material mouth 26；When the No.1 paw cylinder 12 in the closure state, the spring 17 be in by the No.1 paw cylinder
In the state that 12 is clamped.
More specifically, being provided with two material holes for accommodating the spring 17 on the fixture 6：No.1 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
Column 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 is detached from the feeding track 3 and is detached from and the contact of the spring 17.
More specifically, the lower part of the dynamic clamp mechanism 45 is provided with the institute for being used to support 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 includes mainly：Workbench 1, is sent vibrating disk 2
Expect track 3, overturning reclaimer robot 4, catching robot 5, dynamic clamp mechanism 45, blocking mechanism 7, chain delivery machanism 36.
The spring 17 first pours into the vibrating disk 2, and the vibrating disk 2 is input to institute after the spring 7 is carried out ordered queue
It states in feeding track 3；The feeding track 3 conveys the spring 17 to 4 direction of overturning reclaimer robot；
The blocking mechanism 7 is used to control the rhythm that the spring 17 enters the overturning reclaimer robot 4；The overturning reclaimer
The spring 17 is detached from the feeding rail by tool hand 4 after the discharge outlet of the feeding track 3 grabs the spring 17
Road 3, and the spring 17 is rotated to certain angle；Driving of the dynamic clamp mechanism 45 in the chain delivery machanism 36
Sliding rail 42 described in lower edge moves, after the dynamic clamp mechanism 45 stays in the material platform support seat 37, the limit
Guide post 50 enters in the limition orientation hole 51 to further increase the positioning accuracy of the fixture 6；The catching robot 5
The spring 17 is grabbed from the overturning reclaimer robot 4, and the spring 17 is positioned over No.1 material hole 32, two
Number material hole 33 in；Then, the spring 17 is transmitted 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, realizes the spring 17 automatically
It is assembled in the material hole 33 of No.1 material hole 32, two, avoids the deformation of the clamping to the spring 17, and realize the bullet
Spring 17 is transmitted on other different stations, and high degree of automation, work efficiency is high.
Next the course of work and operation principle of the chain delivery machanism 36 are described：
The chain-drive mechanism 39 is movably connected on the gantry support 38, and the driving motor 40 drives the chain drive
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 solid 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 42 institute of the sliding rail
It is moved in direction, due to the guiding function of the sliding rail 42, improves the kinematic accuracy of the dynamic clamp mechanism 45.
The limit guide post 50 of positioning accuracy can be improved by being additionally provided on the chain delivery machanism 36.
When the dynamic clamp mechanism 45 reaches aiming station, i.e.,：The catch 46 and the sensor 47 match,
39 stop motion of the chain-drive mechanism.By the electromagnetic action of the catch 46 and sensor 47, the dynamic may be implemented
The coarse positioning of clamp mechanism 45.Next, further increasing the positioning accuracy of the dynamic clamp mechanism 45.
Since the fixture 6 is located at the top of the material platform support seat 37, the limit guide post 50 is in the vertical limit
It is entered under the driving of cylinder 48 in the limition orientation hole 51, since the limit guide post 50 and limition orientation hole 51 are in essence
True positioning states to improve the positioning accuracy of the fixture 6, while making the fixture 6 be fixed on the material platform support seat
On 37, the fixture 6 is made not have any transportable space.The fixture 6 can accurately dock the catching robot
5, to realize precision, the efficient driving of pipelining.
Next the course of work and operation principle of the overturning reclaimer robot 4 are described：
The No.1 horizontal slide plate 10 is movably connected on the No.1 holder 8, the piston of the horizontal sliding cylinder of the No.1 9
The end of bar is fixed on the No.1 horizontal slide plate 10, and the cylinder block of the tumble cylinder 11 is fixed on the No.1 horizontal slide plate
10, the No.1 sliding cylinder 9 is for driving the tumble cylinder 11 to be detached from or touch the feeding track 3.
The cylinder block of the No.1 paw cylinder 12 is fixed on the output flange of the tumble cylinder 11, the upper finger
13, lower finger 14 is fixed on the No.1 paw cylinder 12, finger 22 is fixed on the upper finger 13, on the lower finger 14
It is fixed with lower finger 23.The closure of No.1 paw cylinder 12 can drive upper 22, the lower finger 23 that refers to be closed, to realization pair
The clamping of the spring 17；The No.1 paw cylinder 12 is unclamped, and upper 22, the lower finger 23 that refers to can be driven to be detached from, to real
Now to the release of the spring 17.
Since the material of the spring 17 is relatively soft, upper 22, the lower finger 23 that refers to is closed in order to prevent, to the spring 17
It realizes when clamping and causes the crimp to the spring 17.The upper finger 22 is provided with elastic mechanism, to realization pair
The protection of the spring 17 prevents the spring 17 from crimp occurs.
Upper refer to is flexibly connected the elastic press 15 on 22, the cover board 16 is fixed on the upper finger 22, described
Lower pressing spring 25 is provided between elastic press 15 and cover board 16, the elastic press 15 and feeding mouth 26 match.Described one
Number paw cylinder 12 is unclamped, after the spring 17 enters the feeding mouth 26；Then, the No.1 paw cylinder 12 is closed,
The elastic press 15 touches the surface of the spring 17, since the behind of the elastic press 15 is provided with the pushing bullet
Spring 25, compressive deformation occurs for the lower pressing spring 25, so that 15 flexibility of the elastic press is extruded in the surface of the spring 17,
Prevent the spring 17 from crimp occurs.
Next the course of work and operation principle of the blocking mechanism 7 are described：
At first, the piston rod of the horizontal sliding cylinder of the No.1 9 is in stretching state, the feeding mouth 26 and institute
State feeding track 3 matches, the No.1 paw cylinder 12 is in unfolded state, the piston rod of the upper and lower air cylinders 18 be in contracting
The state of returning, the elastic 24 are detached from the feeding track 3 and are detached from and the contact of the spring 17, the spring 17 can be into
Enter into the feeding mouth 26；Then, the No.1 paw cylinder 12 drives upper 22, the lower finger 23 that refers to be closed, 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, ensures only by the No.1 paw
The spring 17 that cylinder 12 is captured can move, and cannot be occurred by the spring 17 that the elastic probe 21 is pushed down
Movement.
Since the elastic 24 of the elastic probe 21 is driven by flexible higher spring, the elastic 24 connects
After contacting the spring 17, it is possible to prevente effectively from crimp occurs 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, acceptable there are many deformations.The technology of the every work compound of multi-robot according to the present invention high performance pipeline outfit is real
Any simple modification, equivalent change and modification made by confrontation above example 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, which is characterized in that including：Workbench, for exporting
The vibrating disk of spring, the feeding track for conveying the spring, the overturning for the spring to be clamped and flips an angle
Reclaimer robot, for grabbing the catching robot of the spring, described for limiting from the overturning reclaimer robot
The blocking mechanism of the movement speed of spring, is equipped on the chain-linked conveyer at the chain delivery machanism for conveying the spring
The delivery outlet of dynamic clamp mechanism on structure, the vibrating disk is connected to the feeding track, the delivery outlet of the feeding track
It is connected to the overturning reclaimer robot, 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 overturning reclaimer robot, and the dynamic clamp mechanism is located at the lower part 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, driving motor, sliding rail, vertical limiting cylinder,
Vertical limiting plate, limit guide post, the gantry support are fixed on the workbench, and the chain-drive mechanism is movably connected on described
Gantry support, the driving motor are fixed on the gantry support, and the output shaft of the driving motor is fixed on by shaft coupling
The chain-drive mechanism；The sliding rail to match with the dynamic clamp mechanism is provided on the gantry support,
The roller is movably connected on the sliding rail, and the dynamic clamp mechanism is fixed on the chain drive 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
On the sliding block of position cylinder, it is provided with the limit guide post on the vertical limiting plate, is provided on the fixture and the limit
The limition orientation hole that guide post matches, the limit guide post are located at the top of material platform support seat.
2. multi-robot work compound high performance pipeline outfit according to claim 1, which is characterized in that the folder
It is provided with catch on tool, is configured with sensor on the gantry support, the catch and the sensor match.
3. multi-robot work compound high performance pipeline outfit according to claim 1, which is characterized in that the resistance
Retaining device includes：No. two holders, upper and lower air cylinders, end connecting plate, upper lower skateboard, elastic probe, No. two holders are fixed on
The cylinder block of the workbench, the upper and lower air cylinders is fixed on No. two holders, and the upper lower skateboard is movably connected on described
The end of No. two holders, 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, which is characterized in that described to grab
The manipulator is taken to include：No. three holders, No. two horizontal sliding tables, No. two vertical slide units, Y-axis slide unit, blowing finger cylinder, blowing hands
Refer to, No. three holders are fixed on the workbench, and No. two horizontal sliding tables are fixed on No. three holders, and described No. two perpendicular
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, which is characterized in that work as No.1
The piston rod of horizontal sliding cylinder is in that stretching state, feeding mouth and the feeding track match, No.1 paw cylinder is in
When unfolded state, the spring can enter in the feeding mouth；When the No.1 paw cylinder in the closure state, institute
Spring is stated in the state of clamped by the No.1 paw cylinder.
6. multi-robot work compound high performance pipeline outfit according to claim 1, which is characterized in that the folder
Two material holes for accommodating the spring are provided on tool：No.1 material hole, No. two material holes.
7. multi-robot work compound high performance pipeline outfit according to claim 3, which is characterized 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 is contacted
To the surface of the spring；When the piston rod of the upper and lower air cylinders is in retracted mode, the elastic is detached from the feeding
Track is simultaneously detached from and the contact of the spring.
8. multi-robot work compound high performance pipeline outfit according to claim 1, which is characterized in that described dynamic
The lower part of state clamp mechanism is provided with the material platform support seat for being used to support 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 true CN107127559B (en) | 2018-10-26 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113102963A (en) * | 2021-03-22 | 2021-07-13 | 浙江佳龙电子有限公司 | Automatic assembly production line for button switches |
Families Citing this family (5)
| 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 |
| CN107749375B (en) * | 2017-10-24 | 2020-01-03 | 浙江深科自动化科技有限公司 | Circuit breaker operating device equipment |
| CN109244008B (en) * | 2018-09-01 | 2020-12-01 | 温州市科泓机器人科技有限公司 | Intelligent production line for manufacturing chips |
| 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 |
| 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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| Publication number | Priority date | Publication date | Assignee | Title |
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| JPS61125747A (en) * | 1984-11-26 | 1986-06-13 | Tachikawa Spring Co Ltd | Automatic mounting device for tension spring |
| CN2726793Y (en) * | 2004-09-09 | 2005-09-21 | 重庆宗申技术开发研究有限公司 | Spring seat and valve cotter automatic assembling machine |
| CN203092110U (en) * | 2013-02-28 | 2013-07-31 | 昆山富利瑞电子科技有限公司 | Spring prepressing device |
| CN106553060B (en) * | 2015-09-25 | 2019-07-02 | 东莞市春藤实业有限公司 | A kind of spring automatic assembling |
| CN106736539B (en) * | 2017-02-14 | 2018-12-28 | 浙江欣通电气有限公司 | For assembling the full automatic assembly machine of static iron core, spring, dynamic iron core, skeleton |
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2017
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113102963A (en) * | 2021-03-22 | 2021-07-13 | 浙江佳龙电子有限公司 | Automatic assembly production line for button switches |
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