CN107150225A - Assembling and detection integral type integrated intelligence manufacture outfit - Google Patents
Assembling and detection integral type integrated intelligence manufacture outfit Download PDFInfo
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- CN107150225A CN107150225A CN201710451369.8A CN201710451369A CN107150225A CN 107150225 A CN107150225 A CN 107150225A CN 201710451369 A CN201710451369 A CN 201710451369A CN 107150225 A CN107150225 A CN 107150225A
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- 238000004519 manufacturing process Methods 0.000 title claims abstract description 51
- 238000001514 detection method Methods 0.000 title claims abstract description 46
- 230000007246 mechanism Effects 0.000 claims abstract description 131
- 239000000463 material Substances 0.000 claims abstract description 41
- 238000012360 testing method Methods 0.000 claims abstract description 30
- 210000000078 claw Anatomy 0.000 claims abstract description 25
- 230000000903 blocking effect Effects 0.000 claims abstract description 16
- 239000000523 sample Substances 0.000 claims description 35
- 238000007664 blowing Methods 0.000 claims description 11
- 238000007599 discharging Methods 0.000 claims description 9
- 238000003825 pressing Methods 0.000 claims description 9
- 241000531807 Psophiidae Species 0.000 claims description 3
- 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
- 230000005540 biological transmission Effects 0.000 claims description 2
- 230000035611 feeding Effects 0.000 description 67
- 230000033001 locomotion Effects 0.000 description 8
- 238000010586 diagram Methods 0.000 description 5
- 230000000694 effects Effects 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 230000006835 compression Effects 0.000 description 2
- 238000007906 compression Methods 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
- 229910000639 Spring steel Inorganic materials 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 239000013536 elastomeric material Substances 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 241000894007 species Species 0.000 description 1
- 230000007306 turnover Effects 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
-
- 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
-
- 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
- B23P19/004—Feeding the articles from hoppers to machines or dispensers
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/12—Gripping heads and other end effectors having finger members with flexible finger members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/023—Cartesian coordinate type
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Automatic Assembly (AREA)
Abstract
The present invention relates to automated assembling equipment, more specifically to a kind of mechanized equipment for being used to realize Automated assembly.Present invention assembling and detection integral type integrated intelligence manufacture outfit, mainly include：Workbench, vibrating disk, feeding track, upset reclaimer robot, catching robot, dynamic clamp mechanism, blocking mechanism, chain delivery machanism, three claw robot, cover plate vibrating disk, cover plate feeding track, treat that nip, spring head into mechanism, mechanism for testing.Present invention assembling and detection integral type integrated intelligence manufacture outfit realize the quick crawl and carrying to material using several manipulators, Automated assembly and the automatic test to cover plate and spring are realized, automation integrated level is high, realize unmanned quick assembling, the test jobs of electric equipment products.
Description
Technical field
The present invention relates to automated assembling equipment, more specifically to a kind of machinery for being used to realize Automated assembly
Equipment.
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 one kind assembling and detection integral type integrated intelligence manufacture outfit, application
In the Automated assembly production of electric equipment products or engineering goods.Present invention assembling and the integrated intelligence manufacture of detection integral type
Outfit realizes the quick crawl and carrying to material using several manipulators, and spring is realized using chain delivery machanism
Long distance delivery, automation integrated level is high, realize the unmanned quick assembling operation of electric equipment products.
One kind assembling and detection integral type integrated intelligence manufacture outfit, including：Workbench, for delivery spring
Vibrating disk, the feeding track for conveying the spring, the upset reclaimer for clamping the spring and flipping an angle
Tool hand, for from it is described upset reclaimer robot in grab the catching robot of the spring, for limiting the spring
The blocking mechanism of translational speed, the chain delivery machanism for conveying the spring, it is equipped on the chain delivery machanism
Dynamic clamp mechanism, the three claw robot for capturing cover plate, the cover plate vibrating disk for exporting the cover plate, be connected to it is described
The cover plate feeding track of the discharging opening of cover plate vibrating disk, be connected to the cover plate feeding track treat nip, for by the bullet
The spring that spring is assembled in the cover plate heads into mechanism, for the mechanism for testing tested the spring and cover plate；It is described
The delivery outlet of vibrating disk is connected to the feeding track, and the delivery outlet of the feeding track is connected to the upset feeding machinery
Hand, the blocking mechanism is located at the equipped at outlet port of the feeding track, and the catching robot is located at the upset feeding machinery
The top of hand, the dynamic clamp mechanism is located at the bottom of the catching robot, and the chain delivery machanism is located at described grab
Take the side of manipulator；The discharging opening of the cover plate vibrating disk is connected to the cover plate feeding track, the cover plate feeding track
Discharging opening be connected to it is described treat nip, the three claw robot is located at the top for treating nip, and the spring heads into mechanism
Positioned at the bottom of the dynamic clamp mechanism, the mechanism for testing is located at the bottom of the three claw robot；
The three claw robot includes：No. four supports, No. four horizontal sliding tables, No. four vertical slide unit, horizontal connecting plate, flexibilities
Paw；No. four supports are fixed on the workbench, and No. four horizontal sliding tables are fixed on No. four supports, described No. four
Vertical slide unit is fixed on No. four horizontal sliding tables, and the horizontal connecting plate is fixed on described No. four vertical slide units, the flexibility
Paw is equally spacedly arranged in the bottom of the horizontal connecting plate；The quantity of the flexible paw is three, including：A number flexibility
Paw, No. two flexible paws, No. three flexible paws；
The mechanism for testing includes：No. six supports, splicing slider cylinder, splicing paw, upper testboard, lower testboards, institute
State No. six supports and be fixed on the workbench, the cylinder block of the splicing slider cylinder is fixed on No. six supports, described to connect
Material paw is fixed on the slide unit of the splicing slider cylinder, and the upper testboard is fixed on No. six supports, the upper survey
Test stand is located at the top of the splicing paw, and the lower testboard is fixed on No. six supports, and the upper testboard is located at institute
State the bottom of splicing paw；The lower testboard includes：Lower slide unit cylinder, lower conducting probe, lower insulating base, the lower slide unit gas
The cylinder block of cylinder is fixed on No. six supports, and the lower insulating base is fixed on the slide unit of the lower slide unit cylinder, it is described under
Conducting probe is fixed on the lower insulating base；The upper testboard includes：Upper slide unit cylinder, upper conducting probe, upper insulating base, institute
The cylinder block for stating upper slide unit cylinder is fixed on No. six supports, and the upper insulating base is fixed on the slide unit of the upper slide unit cylinder
On, the upper conducting probe is fixed on the upper insulating base；The lower conducting probe and the spring match.
Preferably, the spring heads into mechanism and included：No. five supports, push-in cylinder, thimble slide plate, thimble, towing force rollers,
No. five supports are fixed on the workbench, and the cylinder block of the push-in cylinder is fixed on No. five supports, the thimble
Slide plate is movably connected on No. five supports, and the end of the piston rod of the push-in cylinder is fixed on the thimble slide plate；It is described
The thimble is fixed with the top of thimble slide plate, the thimble and the dynamic clamp mechanism match；The towing force roller is lived
Dynamic to be connected to No. five supports, the towing force roller is located at the bottom of the dynamic clamp mechanism, the towing force roller and dynamic
State clamp mechanism matches.
Preferably, the flexible paw includes：No. four finger cylinders, left hand refers to, the right hand refers to, left side assisted finger, right side
Assisted finger, spring base, finger springs, flexible clamping plate, the cylinder block of No. four finger cylinders are fixed on the level and connected
Fishplate bar, the left hand, which refers to refer to the right hand, is connected to No. four finger cylinders, and the left hand refers to refers into parallel folding with the right hand
State；The left side assisted finger is fixed on the left hand and referred to, and the right side assisted finger is fixed on the right hand and referred to；It is described soft
Property grip block is movably connected on the right hand and referred to, and the spring base is fixed on the right hand and referred to, in the flexible clamping plate and bullet
Finger springs are provided between spring abutment；The left hand refers to constitutes one group of clamping combination, the left side auxiliary with right side assisted finger
Finger and flexible clamping plate constitute one group of clamping combination.
Preferably, the dynamic clamp mechanism includes：Roller, sliding panel, fixture, the roller are movably connected on the cunning
Dynamic plate, the fixture is fixed on the sliding panel；
Preferably, the chain delivery machanism includes：It is gantry support, chain-drive mechanism, motor, sliding rail, perpendicular
Straight limiting cylinder, vertical limiting plate, spacing guide pillar, the gantry support are fixed on the workbench, and the chain-drive mechanism is lived
Dynamic to be connected to the gantry support, the motor is fixed on the gantry support, and the output shaft of the motor passes through
Shaft coupling is fixed on the chain-drive mechanism；The institute matched with the dynamic clamp mechanism is provided with the gantry support
Sliding rail is stated, the roller is movably connected on the sliding rail, and the dynamic clamp mechanism is fixed on by connecting carrier bar
The chain-drive mechanism；The cylinder block of the vertical limiting cylinder is fixed on the gantry support, and the vertical limiting plate is connected
Set on the sliding block of the vertical limiting cylinder, being provided with the vertical limiting plate on the spacing guide pillar, the fixture
There is the spacing pilot hole matched with the spacing guide pillar, 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, present invention assembling and detection integral type integrated intelligence manufacture outfit have following product
Pole is acted on and beneficial effect：
Present invention assembling and detection integral type integrated intelligence manufacture outfit, mainly include：Workbench, vibrating disk,
Feeding track, upset reclaimer robot, catching robot, dynamic clamp mechanism, blocking mechanism, chain delivery machanism, three-jaw machine
Tool hand, cover plate vibrating disk, cover plate feeding track, treat that nip, spring head into mechanism, mechanism for testing.The spring is first poured into institute
State in vibrating disk, the vibrating disk is input in the feeding track after the spring is carried out into ordered queue；The feeding rail
Road is conveyed direction where the spring to the upset reclaimer robot；The blocking mechanism is used to control the spring
Enter the rhythm of the upset reclaimer robot；The upset reclaimer robot is captured from the discharge outlet of the feeding track
To after the spring, the spring is departed from the feeding track, and by the certain angle of the spring pivotal；The dynamic
Sliding rail described in driving lower edge of the clamp mechanism in the chain delivery machanism is moved, and the dynamic clamp mechanism stays in institute
After stating in material platform support seat, the spacing guide pillar enters in the spacing pilot hole further to improve the positioning of the fixture
Precision；The catching robot grabs the spring from the upset reclaimer robot, and the spring is positioned over into institute
State in a material hole, No. two material holes；Then, the spring is delivered on other different stations by the chain delivery machanism,
To realize pipelining.Present invention assembling and detection integral type integrated intelligence manufacture outfit, are realized the bullet
Spring is automatically assembled in the material hole, No. two material holes, it is to avoid the clamping to the spring is deformed, the spring quilt
The dynamic clamp mechanism is delivered to cover plate assembly station；The cover plate is after cover plate vibrating disk output, by the lid
Plate feeding track reach it is described treat nip, described No. one flexible paw is treated at nip to clamp to come and put by the cover plate from described
It is placed in and has been located in the dynamic clamp mechanism at cover plate assembly station, because the spring has been located in the dynamic clamp machine
On structure, the spring heads into that mechanism is bottom-up to be pushed into the spring in the pilot hole of the cover plate, by the spring and
Cover plate realizes assembling；Then, described No. two flexible paws grab the spring and cover plate that assemble at test station, institute
The stretching of splicing slider cylinder is stated, the splicing paw clamps the spring and cover plate for coming from described No. two flexible paws；
Then, the splicing slider cylinder is retracted, and the upper testboard, lower testboard complete the test to the spring and cover plate.This
Invention assembling and detection integral type integrated intelligence manufacture outfit are real using the upset reclaimer robot, catching robot
The quick crawl and carrying to the spring are showed, the long range for realizing the spring using the chain delivery machanism is defeated
Send, realize the carrying to the cover plate, assembling using the three claw robot and test.Present invention assembling and detection integral type
Integrated intelligence manufacture outfit realizes the unmanned quick assemblings of electric equipment products, test jobs, efficiency high, product quality
Reliably.
Next the course of work and operation principle of the three claw robot described：
No. four horizontal sliding tables are used to drive the flexible paw to realize horizontal movement, and described No. four vertical slide units are used for
The flexible paw is driven to realize vertically movable；The horizontal connecting plate is fixed on described No. four vertical slide units, the flexible hand
Pawl is equally spacedly arranged in the bottom of the horizontal connecting plate.The flexible paw can realize the crawl to material, and in institute
Under the driving for stating No. four horizontal sliding tables and No. four vertical slide units, the quick motion in planar range is realized.In order to improve to material
Efficiency is clamped, the flexible paw can notify to clamp two cover plates.Because the cover plate exists in physical dimension
Small error, the flexible paw can make the flexibility by this small error of the finger springs flexible compensation
Paw can clamp two cover plates simultaneously.
Next the course of work and operation principle of the flexible paw described：
The left side assisted finger is fixed on the left hand and referred to, and the right side assisted finger is fixed on the right hand and referred to；Institute
State flexible clamping plate and be movably connected on the right hand and refer to, the spring base is fixed on the right hand and referred to, in the flexible clamping plate
Finger springs are provided between spring base；The left hand refers to constitutes one group of clamping combination, the left side with right side assisted finger
Assisted finger and flexible clamping plate constitute one group of clamping combination.First, No. four finger cylinders are in open configuration, when described
Cover plate refers between the assisted finger of right side positioned at the left hand, meanwhile, another described cover plate is located at the left side assisted finger
Between flexible clamping plate；Then, No. four finger cylinders closure, No. four finger cylinders drive the left hand to refer to
Closed with right side assisted finger so as to clamping the cover plate, meanwhile, the left side assisted finger and flexible clamping plate closing from
And the cover plate is clamped, the flexible clamping plate is equal to the elastic force of the finger springs to the chucking power of the cover plate.From
And realize, the clamping to two cover plates is completed using No. four finger cylinder, the flexible hand is substantially increased
The operating efficiency of pawl.
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 that present invention assembling and detection integral type integrated intelligence manufacture outfit；
Fig. 2 is that the structure of the three claw robot of present invention assembling and detection integral type integrated intelligence manufacture outfit is shown
It is intended to；
Fig. 3 is the structural representation of the flexible paw of present invention assembling and detection integral type integrated intelligence manufacture outfit
Figure；
Fig. 4 is the part-structure schematic diagram that present invention assembling and detection integral type integrated intelligence manufacture outfit；
Fig. 5,6 are present invention assembling and detect the knot of the chain delivery machanism of integral type integrated intelligence manufacture outfit
Structure schematic diagram；
Fig. 7,8,9 are present invention assembling and the part-structure signal of detection integral type integrated intelligence manufacture outfit
Figure；
Figure 10,11 are present invention assembling and detect the upset reclaimer robot of integral type integrated intelligence manufacture outfit
Structural representation；
Figure 12 is present invention assembling and detects that the spring of integral type integrated intelligence manufacture outfit heads into the knot of mechanism
Structure schematic diagram；
Figure 13 is that the structure of the mechanism for testing of present invention assembling and detection integral type integrated intelligence manufacture outfit is shown
It is intended to.
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, 52 three claw robots, 53 cover plate vibrating disks, 54 cover plate feedings
Nip, 56 cover plates, 57 No. four supports, 58 No. four horizontal sliding tables, 59 No. four vertical slide units, 60 horizontal connecting plates, 61 are treated in track, 55
Number flexible paw, 62 No. four finger cylinders, 63 left hands refer to, 64 right hands refer to, 65 left side assisted fingers, 66 right side assisted fingers,
67 spring bases, 68 finger springs, 69 flexible clamping plates, 70 No. two flexible paws, 71 No. three flexible paws, 72 springs head into machine
Structure, 73 No. five supports, 74 push-in cylinders, 75 thimble slide plates, 76 thimbles, 77 towing force rollers, 78 mechanism for testing, 79 No. six supports,
80 splicing slider cylinders, 81 splicing paws, 82 lower slide unit cylinders, 83 times conducting probes, 84 times insulating bases, 85 upper slide unit cylinders,
Conducting probe on 86, insulating base on 87.
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 one kind assembling and detection integral type
Integrated intelligence manufactures outfit, in the Automated assembly production of electric equipment products, spring is captured and is placed into an orderly manner
On fixture, realized using vibrating disk to the order output of spring into feeding track, using overturning reclaimer robot from feeding rail
Spring is grabbed in road, spring is captured from upset reclaimer robot using catching robot and comes and be placed into dynamic clamp
On, spring is delivered to cover plate assembly station using chain delivery machanism；Realized using cover plate vibrating disk to the orderly defeated of cover plate
Go out to cover plate feeding track, using three claw robot by cover plate from treating that nip grabbed on dynamic clamp, and spring is assembled to
On cover plate, then the spring assembled and cover plate are clamped on next station by three claw robot.Present invention assembling and detection
Integral type integrated intelligence manufactures outfit, realizes the order output to spring, spring is adjusted to after predetermined angle,
Be placed on fixture, ensure that the smooth, controllable of spring moving process using double-manipulator, it is to avoid spring is crushed, spring according to
Cover plate assembly station is delivered to by chain delivery machanism；Using three claw robot by cover plate from treating that nip grabs cover plate assembler
On dynamic clamp on position, the assembling that mechanism realizes cover plate and spring is headed into by spring；Then, three claw robot is realized cover plate
In spring clamping to test station, the test to product is completed by mechanism for testing.Present invention assembling and detection integral type are integrated
Change intelligence manufacture outfit realizes the quick crawl and carrying to material using several manipulators, realizes to cover plate and bullet
The Automated assembly and automatic test of spring, automation integrated level is high, realize the unmanned quick assembling operation of electric equipment products.
Fig. 1 is the structural representation that present invention assembling and detection integral type integrated intelligence manufacture outfit, and Fig. 2 is this
The structural representation of the three claw robot of invention assembling and detection integral type integrated intelligence manufacture outfit, Fig. 3 is this hair
The structural representation of the flexible paw of bright assembling and detection integral type integrated intelligence manufacture outfit, Fig. 4 is dress of the present invention
Match somebody with somebody and detect that integral type integrated intelligence manufactures the part-structure schematic diagram of outfit, Fig. 5,6 are present invention assembling and detection
Integral type integrated intelligence manufacture outfit chain delivery machanism structural representation, Fig. 7,8,9 be the present invention assembling and
Detect that integral type integrated intelligence manufactures the part-structure schematic diagram of outfit, Figure 10,11 are present invention assembling and detection one
The structural representation of the upset reclaimer robot of body formula integrated intelligence manufacture outfit, Figure 12 is present invention assembling and detected
The spring of integral type integrated intelligence manufacture outfit heads into the structural representation of mechanism, and Figure 13 is present invention assembling and detected
The structural representation of the mechanism for testing of integral type integrated intelligence manufacture outfit.
One kind assembling and detection integral type integrated intelligence manufacture outfit, including：Workbench 1, for delivery spring
17 vibrating disk 2, the feeding track 3 for conveying the spring 17, for clamping the spring 17 and flipping an angle
Overturn reclaimer robot 4, for grabbing the catching robot 5 of the spring 17 from the upset reclaimer robot 4, being used for
Limit 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
Dynamic clamp mechanism 45 on the chain delivery machanism 36, the three claw robot 52 for capturing cover plate 56, for exporting
State the cover plate vibrating disk 53 of cover plate 56, be connected to the cover plate vibrating disk 53 discharging opening cover plate feeding track 54, be connected to
The cover plate feeding track 54 treats that nip 55, the spring for the spring 17 to be assembled in the cover plate 56 head into mechanism
72, for the mechanism for testing 78 tested the spring 17 and cover plate 56；The delivery outlet of the vibrating disk 2 is connected to described
Feeding track 3, the delivery outlet of the feeding track 3 is connected to the upset reclaimer robot 4, and the blocking mechanism 7 is located at institute
The equipped at outlet port of feeding track 3 is stated, the catching robot 5 is located at the top of the upset reclaimer robot 4, the dynamic folder
Has the bottom that mechanism 45 is located at the catching robot 5, the chain delivery machanism 36 is located at the side of the catching robot 5
Side；The discharging opening of the cover plate vibrating disk 53 is connected to the cover plate feeding track 54, the discharging of the cover plate feeding track 54
Mouth treats nip 55 described in being connected to, and the three claw robot 52 is located at the top for treating nip 55, and the spring heads into mechanism
72 are located at the bottom of the dynamic clamp mechanism 45, and the mechanism for testing 78 is located at the bottom of the three claw robot 52；
The three claw robot includes：No. four supports 57, No. four horizontal sliding tables 58, No. four vertical slide unit 59, level connection joints
Plate 60, flexible paw；No. four supports 57 are fixed on the workbench 1, and No. four horizontal sliding tables 58 are fixed on described four
Number support 57, described No. four vertical slide units 59 are fixed on No. four horizontal sliding tables 58, and the horizontal connecting plate 60 is fixed on institute
No. four vertical slide units 59 are stated, the flexible paw is equally spacedly arranged in the bottom of the horizontal connecting plate 60；The flexible hand
The quantity of pawl is three, including：Number flexible paw 61, No. two flexible paws 70, a No. three flexible paws 71；
The mechanism for testing 78 includes：No. six supports 79, splicing slider cylinder 80, splicing paw 81, upper testboard, lower surveys
Test stand, No. six supports 79 are fixed on the workbench 1, and the cylinder block of the splicing slider cylinder 80 is fixed on described No. six
Support 79, the splicing paw 81 is fixed on the slide unit of the splicing slider cylinder 80, and the upper testboard is fixed on described
No. six supports 79, the upper testboard is located at the top of the splicing paw 81, and the lower testboard is fixed on No. six branch
Frame 79, the upper testboard is located at the bottom of the splicing paw 81；The lower testboard includes：Lower slide unit cylinder 82, under lead
Electric probe 83, lower insulating base 84, the cylinder block of the lower slide unit cylinder 82 are fixed on No. six supports 79, the lower insulating base
84 are fixed on the slide unit of the lower slide unit cylinder 82, and the lower conducting probe 83 is fixed on the lower insulating base 84；On described
Testboard includes：Upper slide unit cylinder 85, upper conducting probe 86, upper insulating base 87, the cylinder block of the upper slide unit cylinder 85 are connected
In No. six supports 79, the upper insulating base 87 is fixed on the slide unit of the upper slide unit cylinder 85, the upper conducting probe
86 are fixed on the upper insulating base 87；The lower conducting probe 83 and the spring 17 match.
Include more specifically, the spring heads into mechanism 72：No. five supports 73, push-in cylinder 74, thimble slide plate 75, thimbles
76th, towing force roller 77, No. five supports 73 are fixed on the workbench 1, and the cylinder block of the push-in cylinder 74 is fixed on institute
No. five supports 73 are stated, the thimble slide plate 75 is movably connected on No. five supports 73, the piston rod of the push-in cylinder 74
End is fixed on the thimble slide plate 75；The top of the thimble slide plate 75 is fixed with the thimble 76, the thimble 76 and institute
Dynamic clamp mechanism 45 is stated to match；The towing force roller 77 is movably connected on No. five supports 73, the towing force roller 77
Positioned at the bottom of the dynamic clamp mechanism 45, the towing force roller 77 and dynamic clamp mechanism 45 match.
More specifically, the flexible paw includes：No. four finger cylinders 62, left hands refer to the 63, right hand and refer to 64, left side nondominant hand
Refer to 65, right side assisted finger 66, spring base 67, finger springs 68, flexible clamping plate 69, the cylinder of No. four finger cylinders 62
Body is fixed on the horizontal connecting plate 60, the left hand refer to 63 and the right hand refer to 64 and be connected to No. four finger cylinders 62, it is described
Left hand refers to 63 states for referring to 64 one-tenth parallel foldings with the right hand；The left side assisted finger 65 is fixed on the left hand and refers to 63, described
Right side assisted finger 66 is fixed on the right hand and refers to 64；The flexible clamping plate 69 is movably connected on the right hand and refers to 64, described
Spring base 67 is fixed on the right hand and refers to 64, and finger springs 68 are provided between the flexible clamping plate 69 and spring base 67；
The left hand refers to 63 and the one group of clamping combination of the composition of right side assisted finger 66, the left side assisted finger 65 and flexible clamping plate 69
Constitute one group of clamping combination.
More specifically, the dynamic clamp mechanism 45 includes：Roller 43, sliding panel 44, fixture 6, the activity of roller 43
The sliding panel 44 is connected to, the fixture 6 is fixed on the sliding panel 44；
More specifically, the chain delivery machanism 36 includes：Gantry support 38, chain-drive mechanism 39, motor 40, cunning
Dynamic rail road 42, vertical limiting cylinder 48, vertical limiting plate 49, spacing guide pillar 50, the gantry support 38 are fixed on the work
Platform 1, the chain-drive mechanism 39 is movably connected on the gantry support 38, and the motor 40 is fixed on gantry branch
Frame, the output shaft of the motor 40 is fixed on the chain-drive mechanism 39 by shaft coupling；On the gantry support 38
The sliding rail 42 matched with the dynamic clamp mechanism 45 is provided with, the roller 43 is movably connected on the slip
Track 42, the dynamic clamp mechanism 45 is fixed on the chain-drive mechanism 39 by connecting carrier bar 41；The vertical spacing gas
The cylinder block of cylinder 48 is fixed on the gantry support 38, and the vertical limiting plate 49 is fixed on the cunning of the vertical limiting cylinder 48
On block, it is provided with the spacing guide pillar 50, the fixture 6 and is provided with and the spacing guide pillar 50 on the vertical limiting plate 49
The spacing pilot hole 51 matched, 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 13, further describe present invention assembling and detection integral type integrated intelligence is manufactured into suit
Standby operation principle and the course of work：
Present invention assembling and detection integral type integrated intelligence manufacture outfit, mainly include：Workbench 1, vibrating disk
2nd, feeding track 3, upset reclaimer robot 4, catching robot 5, dynamic clamp mechanism 45, blocking mechanism 7, chain delivery machanism
36th, three claw robot 52, cover plate vibrating disk 53, cover plate feeding track 54, treat that nip 55, spring head into mechanism 72, mechanism for testing
78.The spring 17 is first poured into the vibrating disk 2, and the vibrating disk 2 is input to after the spring 7 is carried out into ordered queue
In the feeding track 3；The feeding track 3 carries out the spring 17 to the upset reclaimer robot 4 place direction defeated
Send；The blocking mechanism 7 is used for the rhythm for controlling the spring 17 to enter the upset reclaimer robot 4；The upset takes
The discharge outlet of material manipulator 4 from the feeding track 3 is grabbed after the spring 17, and the spring 17 is departed from and sent in described
Expect track 3, and the spring 17 is rotated into certain angle；The dynamic clamp mechanism 45 is in the chain delivery machanism 36
Sliding rail 42 described in driving lower edge is moved, described after the dynamic clamp mechanism 45 is stayed in the material platform support seat 37
Spacing guide pillar 50 enters in the spacing pilot hole 51 further to improve the positioning precision of the fixture 6；The gripper
Tool hand 5 grabs the spring 17 from the upset reclaimer robot 4, and the spring 17 is positioned over into the material hole
32nd, in No. two material holes 33；Then, the spring 17 is delivered on other different stations by the chain delivery machanism 36, with
Realize pipelining.Present invention assembling and detection integral type integrated intelligence manufacture outfit, are realized the spring
17 are automatically assembled in the material hole 32, No. two material holes 33, it is to avoid the clamping to the spring 17 is deformed, described
Spring 17 is delivered to cover plate assembly station by the dynamic clamp mechanism 45；The cover plate 56 is exported from the cover plate vibrating disk 53
Afterwards, by the cover plate feeding track 54 reach it is described treat nip 55, described No. one flexible paw 61 is treated at nip 55 from described
The cover plate 56 clamping is come and is positioned over to have been located in the dynamic clamp mechanism 45 at cover plate assembly station, by institute
State spring 17 to have been located in the dynamic clamp mechanism 45, the spring heads into that mechanism 72 is bottom-up to head into the spring 17
Into the pilot hole of the cover plate 56, the spring 17 and cover plate 56 are realized into assembling；Then, described No. two flexible paws 70 will
The spring 17 and cover plate 56 assembled is grabbed at test station, and the splicing slider cylinder 80 is stretched out, the splicing hand
Pawl 81 clamps the spring 17 and cover plate 56 for coming from described No. two flexible paws 70；Then, the splicing slider cylinder
80 retract, and the upper testboard, lower testboard complete the test to the spring 17 and cover plate 56.Present invention assembling and detection one
Body formula integrated intelligence is manufactured outfit and realized using the upset reclaimer robot 4, catching robot 5 to the spring
17 quick crawl and carrying, the long distance delivery of the spring 17 is realized using the chain delivery machanism, using described
Three claw robot realizes the carrying to the cover plate, assembling and tested.Present invention assembling and detection integral type integrated intelligence
Manufacture outfit realizes the unmanned quick assemblings of electric equipment products, test jobs, efficiency high, reliable product quality.
Next the course of work and operation principle of the three claw robot 52 described：
No. four horizontal sliding tables 58 are used to drive the flexible paw to realize horizontal movement, described No. four vertical slide units 59
It is vertically movable for driving the flexible paw to realize；The horizontal connecting plate 60 is fixed on described No. four vertical slide units 59, institute
State the bottom that flexible paw is equally spacedly arranged in the horizontal connecting plate 60.The flexible paw can be realized grabs to material
Take, and under the driving of No. four horizontal sliding tables 58 and No. four vertical slide units 59, realize the quick motion in planar range.For
Improve to material clamp holding effect rate, the flexible paw can notify to clamp two cover plates 56.Due to the cover plate 56
There is small error in physical dimension, the flexible paw can be this small by the flexible compensation of finger springs 68
Error, allow the flexible paw while clamping two cover plates 56.
Next the course of work and operation principle of the flexible paw described：
The left side assisted finger 65 is fixed on the left hand and refers to 63, and the right side assisted finger 66 is fixed on the right hand
Refer to 64；The flexible clamping plate 69 is movably connected on the right hand and refers to 64, and the spring base 67 is fixed on the right hand and refers to 64,
Finger springs 68 are provided between the flexible clamping plate 69 and spring base 67；The left hand refers to 63 and the structure of right side assisted finger 66
Into one group of clamping combination, the left side assisted finger 65 and flexible clamping plate 69 constitute one group of clamping combination.First, described No. four
Finger cylinder 62 is in open configuration, when the cover plate 56 refers between 63 and right side assisted finger 66 positioned at the left hand, meanwhile,
Another described cover plate 56 is located between the left side assisted finger 65 and flexible clamping plate 69；Then, four trumpeter refers to gas
Cylinder 62 is closed, No. four finger cylinders 62 drive the left hand refer to 63 and the closure of right side assisted finger 66 so as to clamping
The cover plate 56, meanwhile, left side assisted finger 65 and flexible clamping plate 69 closure is described so as to clamp the cover plate 56
The chucking power of 69 pairs of the flexible clamping plate cover plate 56 is equal to the elastic force of the finger springs 68.Hereby, it is achieved that utilizing one
No. four finger cylinders 62 complete the clamping to two cover plates 56, substantially increase the work effect of the flexible paw
Rate.
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 that present invention assembling and the integrated intelligence manufacture of detection integral type are complete
The more representational example of equipment.Obviously, present invention assembling and detection integral type integrated intelligence manufacture outfit are not limited to
Above-described embodiment, can also there is many deformations.It is every complete according to present invention assembling and the integrated intelligence manufacture of detection integral type
Any simple modification, equivalent variations and modification that the technical spirit of equipment is made to above example, are considered as belonging to this hair
Bright assembling and detection integral type integrated intelligence manufacture the protection domain of outfit.
Claims (10)
1. one kind assembling and detection integral type integrated intelligence manufacture outfit, it is characterised in that including：Workbench, it is used for
The vibrating disk of delivery spring, the feeding track for conveying the spring, for clamping the spring and flipping an angle
Overturn reclaimer robot, for grabbing the catching robot of the spring from the upset reclaimer robot, for limiting
The blocking mechanism of the translational speed of the spring, the chain delivery machanism for conveying the spring, to be equipped on the chain type defeated
Send the dynamic clamp mechanism in mechanism, the three claw robot for capturing cover plate, the cover plate vibrating disk for exporting the cover plate,
It is connected to the cover plate feeding track of the discharging opening of the cover plate vibrating disk, is connected to treating nip, using for the cover plate feeding track
Mechanism is headed into the spring that the spring is assembled in the cover plate, for the test tested the spring and cover plate
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 the upset
Reclaimer robot, the blocking mechanism is located at the equipped at outlet port of the feeding track, and the catching robot is located at the upset
The top of reclaimer robot, the dynamic clamp mechanism is located at the bottom of the catching robot, the chain delivery machanism position
In the side of the catching robot；The discharging opening of the cover plate vibrating disk is connected to the cover plate feeding track, the cover plate
The discharging opening of feeding track treats nip described in being connected to, and the three claw robot is located at the top for treating nip, the spring
The bottom that mechanism is located at the dynamic clamp mechanism is headed into, the mechanism for testing is located at the bottom of the three claw robot；
The three claw robot includes：No. four supports, No. four horizontal sliding tables, No. four vertical slide unit, horizontal connecting plate, flexible hands
Pawl；No. four supports are fixed on the workbench, and No. four horizontal sliding tables are fixed on No. four supports, and described No. four are erected
Straight slide unit is fixed on No. four horizontal sliding tables, and the horizontal connecting plate is fixed on described No. four vertical slide units, the flexible hand
Pawl is equally spacedly arranged in the bottom of the horizontal connecting plate；The quantity of the flexible paw is three, including：A number flexible hand
Pawl, No. two flexible paws, No. three flexible paws；
The mechanism for testing includes：No. six supports, splicing slider cylinder, splicing paw, upper testboard, lower testboards, described six
Number support is fixed on the workbench, and the cylinder block of the splicing slider cylinder is fixed on No. six supports, the splicing hand
Pawl is fixed on the slide unit of the splicing slider cylinder, and the upper testboard is fixed on No. six supports, the upper testboard
Positioned at the top of the splicing paw, the lower testboard is fixed on No. six supports, and the upper testboard is located at described connect
Expect the bottom of paw；The lower testboard includes：Lower slide unit cylinder, lower conducting probe, lower insulating base, the lower slide unit cylinder
Cylinder block is fixed on No. six supports, and the lower insulating base is fixed on the slide unit of the lower slide unit cylinder, the lower conduction
Probe is fixed on the lower insulating base；The upper testboard includes：Upper slide unit cylinder, upper conducting probe, upper insulating base, it is described on
The cylinder block of slider cylinder is fixed on No. six supports, and the upper insulating base is fixed on the slide unit of the upper slide unit cylinder,
The upper conducting probe is fixed on the upper insulating base；The lower conducting probe and the spring match.
2. assembling according to claim 1 and detection integral type integrated intelligence manufacture outfit, it is characterised in that institute
Stating spring and heading into mechanism includes：No. five supports, push-in cylinder, thimble slide plate, thimble, towing force rollers, No. five supports are connected
In the workbench, the cylinder block of the push-in cylinder is fixed on No. five supports, and the thimble slide plate is movably connected on institute
No. five supports are stated, the end of the piston rod of the push-in cylinder is fixed on the thimble slide plate；The top of the thimble slide plate is consolidated
The thimble is connected with, the thimble and the dynamic clamp mechanism match；The towing force roller is movably connected on described No. five
Support, the towing force roller is located at the bottom of the dynamic clamp mechanism, and the towing force roller and dynamic clamp mechanism match.
3. assembling according to claim 1 and detection integral type integrated intelligence manufacture outfit, it is characterised in that institute
Stating flexible paw includes：No. four finger cylinders, left hand refers to, the right hand refers to, left side assisted finger, right side assisted finger, spring base, hand
Thrum spring, flexible clamping plate, the cylinder block of No. four finger cylinders are fixed on the horizontal connecting plate, and the left hand refers to and right
Finger is connected to No. four finger cylinders, and the left hand refers to the state for referring into parallel folding with the right hand；The left side nondominant hand
Finger is fixed on the left hand and referred to, and the right side assisted finger is fixed on the right hand and referred to；The flexible clamping plate is movably connected on
The right hand refers to, and the spring base is fixed on the right hand and referred to, and finger is provided between the flexible clamping plate and spring base
Spring；The left hand refers to constitutes one group of clamping combination, left side assisted finger and flexible clamping the plate structure with right side assisted finger
Into one group of clamping combination.
4. assembling according to claim 1 and detection integral type integrated intelligence manufacture outfit, it is characterised in that institute
Stating dynamic clamp mechanism includes：Roller, sliding panel, fixture, the roller are movably connected on the sliding panel, and the fixture is connected
In on the sliding panel.
5. assembling according to claim 1 and detection integral type integrated intelligence manufacture outfit, it is characterised in that institute
Stating chain delivery machanism includes：Gantry support, chain-drive mechanism, motor, sliding rail, vertical limiting cylinder, vertical limit
Position plate, spacing guide pillar, the gantry support are fixed on the workbench, and the chain-drive mechanism is movably connected on gantry branch
Frame, the motor is fixed on the gantry support, and the output shaft of the motor is fixed on the chain by shaft coupling
Transmission mechanism；The sliding rail matched with the dynamic clamp mechanism, the roller are provided with the gantry support
Subactivity is connected to the sliding rail, and the dynamic clamp mechanism is fixed on the chain-drive mechanism by connecting carrier bar；Institute
The cylinder block for stating vertical limiting cylinder is fixed on the gantry support, and the vertical limiting plate is fixed on the vertical limiting cylinder
Sliding block on, be provided with the spacing guide pillar, the fixture and be provided with and the spacing guide pillar phase on the vertical limiting plate
The spacing pilot hole of matching, the spacing guide pillar is located at the top of material platform support seat.
6. assembling according to claim 4 and detection integral type integrated intelligence manufacture outfit, it is characterised in that institute
State and catch is provided with fixture, sensor is configured with the gantry support, the catch and the sensor match.
7. assembling according to claim 1 and detection integral type integrated intelligence manufacture outfit, it is characterised in that institute
Stating upset reclaimer robot includes：Number support, horizontal sliding cylinder, horizontal slide plate, tumble cylinder, trumpeter's pawl
Cylinder, upper finger, lower finger, elastic press, cover plate, a support are fixed on the workbench, and a level is slided
The cylinder block of cylinder of taking offence is fixed on a support, and a horizontal slide plate is movably connected on a support, described
The end of the piston rod of a number horizontal sliding cylinder is fixed on a horizontal slide plate；The cylinder block of the tumble cylinder is connected
In a horizontal slide plate, the cylinder block of a paw cylinder is fixed on the output flange of the tumble cylinder；Institute
State finger, lower finger and be fixed on a paw cylinder, the upper finger and be fixed with finger, be connected on the lower finger
Have and the elasticity pressure is flexibly connected on the feeding mouth being provided with lower finger, the lower finger with the spring to matching, the upper finger
Block, the cover plate is fixed on the upper finger, and lower pressing spring, the elastic press are provided between the elastic press and cover plate
Match with feeding mouth.
8. assembling according to claim 1 and detection integral type integrated intelligence manufacture outfit, it is characterised in that institute
Stating blocking mechanism includes：No. two supports, upper and lower air cylinders, end connecting plate, upper lower skateboard, elastic probes, No. two supports are consolidated
It is connected in 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
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；
The elastic probe is fixed on the upper lower skateboard, and the elastic probe and the feeding track match.
9. assembling according to claim 1 and detection integral type integrated intelligence manufacture outfit, it is characterised in that institute
Stating catching robot includes：No. three supports, No. two horizontal sliding tables, No. two vertical slide units, Y-axis slide unit, blowing finger cylinder, blowings
Finger, No. three supports are fixed on the workbench, and No. two horizontal sliding tables are fixed on No. three supports, described No. two
Vertical slide unit is fixed on the sliding block of No. two horizontal sliding tables, and the Y-axis slide unit is fixed on the cunning of described No. two vertical slide units
On block, the blowing finger cylinder is fixed on the sliding block of the Y-axis slide unit.
10. assembling according to claim 8 and detection integral type integrated intelligence manufacture outfit, it is characterised in that
When 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
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 institute
State feeding track and disengaging and the contact of the spring.
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| CN201710451369.8A CN107150225B (en) | 2017-07-12 | 2017-07-12 | Assembly and detection integral type integrated intelligence manufacture outfit |
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| CN107150225B CN107150225B (en) | 2018-10-26 |
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| CN108381881A (en) * | 2018-01-09 | 2018-08-10 | 温州职业技术学院 | A kind of efficient handling equipment that material grasping can be adaptive |
| CN109202119A (en) * | 2018-10-25 | 2019-01-15 | 杭州职业技术学院 | The drilling automatic intelligent manufacturing equipment of double-manipulator collaboration auxiliary |
| CN109227098A (en) * | 2018-08-13 | 2019-01-18 | 格力电器（武汉）有限公司 | Sleeve protection spring device |
| CN109227523A (en) * | 2018-10-25 | 2019-01-18 | 杭州职业技术学院 | Man-machine collaboration robot |
| CN109279292A (en) * | 2018-05-07 | 2019-01-29 | 广东利元亨智能装备有限公司 | A kind of main body automatic charging device |
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| CN107150225B (en) | 2018-10-26 |
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Effective date of registration: 20220304 Address after: 201900 548e, building 1, No. 668, SHANGDA Road, Baoshan District, Shanghai Patentee after: Shanghai pairantao Industrial Technology Co.,Ltd. Address before: 325000 Wenzhou City National University Science Park incubator, No. 38 Dongfang South Road, Ouhai Economic Development Zone, Wenzhou, Zhejiang Patentee before: WENZHOU VOCATIONAL & TECHNICAL College |
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