CN107310911B - A kind of control method overturn and carry workpiece - Google Patents
A kind of control method overturn and carry workpiece Download PDFInfo
- Publication number
- CN107310911B CN107310911B CN201710637473.6A CN201710637473A CN107310911B CN 107310911 B CN107310911 B CN 107310911B CN 201710637473 A CN201710637473 A CN 201710637473A CN 107310911 B CN107310911 B CN 107310911B
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- workpiece
- clamp hand
- central controller
- bar
- connecting rod
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/02—Control or detection
- B65G2203/0266—Control or detection relating to the load carrier(s)
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- Attitude Control For Articles On Conveyors (AREA)
- Specific Conveyance Elements (AREA)
Abstract
The invention discloses a kind of control methods overturn and carry workpiece, pass through the storage of sensor sensing workpiece and gives information to central controller, central controller issues control signal control delivery device and turnover mechanism, wherein delivery device is pushed to workpiece by push rod the grasping part of turnover mechanism, the turnover mechanism makes clamp hand device clamp workpiece by first connecting rod, on the other hand realizes the overturning of workpiece by second connecting rod and is transported on another conveyer belt；Entire control process realizes full-automation, and without the help of manpower, and whole device occupied area is few, and carries and overturn workpiece simultaneously, improves production efficiency.
Description
Technical field
The present invention relates to machining tool field, in particular to a kind of overturning and the control method for carrying workpiece.
Background technique
In production and processing field, need to carry out many workpieces to be transferred to another conveyer from a transport mechanism
Structure, and need to handle the different parts of workpiece, this just needs that workpiece is carried and overturn, existing
Technology in, carry and overturning be point different machine to complete, required footprint area is big, and mechanism complexity and is removed
Distribution is intermediate before and after shipping unit and turnover device needs conveyer belt, increases the conveying distance of transport mechanism, transport mechanism needs
Stop twice, affecting production efficiency in carrying and overturning.
Summary of the invention
The purpose of the present invention is to overcome the shortcomings of the existing technology with it is insufficient, provide one kind can overturn simultaneously and carry plus
The control method of workpiece.
The purpose of the invention is achieved by the following technical solution, which is carried out using following steps:
Step 1: when the workpiece for placing on a moving belt is transported at turnover mechanism, workpiece enters delivery device
On sensor induction range in, the real-time position information of object is transferred to central controller by the sensor at this time, center
Controller receives the control information, and control conveyer belt interval stops conveying；
Step 2: the information is transmitted to by the information of sensor sensing on delivery device to workpiece stop motion
It entreats at controller, central controller receives the information, issues the instruction that delivery device starts braking；
Step 3: after receiving braking instruction, driving mechanism brings into operation delivery device, the second hydraulic actuator it is defeated
Outlet is stretched out, which pushes the trisquare shape hinged with it to stick up bar movement, and cam is in groove rotation and upward sliding, by trisquare
The rotary motion that shape sticks up bar is converted into the linear motion of middle frame, and push rod pushes workpiece to move forward in clamp hand device；
Step 4: the maximum shift motion of push rod is set as the horizontal distance of push rod front end and clamp hand, when push rod is pushed to
When its maximum stroke, central controller is transmitted that information to, central controller receives the information, issues delivery device and opens
The instruction that beginning retracts；Delivery device is after receiving and retracting instruction, and the output end of the second hydraulic actuator is retracted, the output end band
It moves trisquare shape connected to it and sticks up bar movement, push rod is retracted backward；
Step 5: not having the information of workpiece on the sensor sensing to conveyer belt on delivery device, which is transmitted
To central controller, central controller receives the information, issues instruction and the clamp hand device of delivery device stopping movement
Start action command；
Step 6: after clamp hand device receives action command, the first hydraulic actuator brings into operation, the first hydraulic actuator
Output end stretch out, which successively drives second connecting rod, first connecting rod, clamp hand and clamp hand frame rotary motion, clamp hand frame with
Grasping part between clamping limb becomes smaller, and clamps workpiece, and at the same time, clamp hand frame is rotated along the hinge joint of itself and pedestal,
Drive workpiece rotation；
Step 7: clamp hand after it reaches maximum rotation angle, transmit that information to central controller, center control
Device receives information, and issue clamp hand device retracts instruction, and the first hydraulic actuator drives its output end to retract, and the output end is successively
Second connecting rod, first connecting rod, clamp hand and clamp hand frame rotary motion are driven, workpiece is placed on another conveyer belt, with this
Meanwhile clamp hand rotates and returns to original position, and transmits that information to central controller；
Step 8: central controller receives the transport information of clamp hand device, issues conveyer belt start-up operation instruction；Conveyer belt
It after receiving the instruction, starts running, conveys next workpiece, continue to execute the transmission process of next workpiece, execute step
Rapid one；Until all workpieces all convey completion, terminate the work of whole system.
Device for executing the overturning of above-mentioned control method and carry workpiece includes delivery device and turnover mechanism
And central controller, the delivery device includes rack, the driving machine of the push rod that is arranged on the rack, driving push rod linear motion
There are the sensors of location information for structure and induction workpiece；The turnover mechanism includes platform, is fixedly connected with platform one end
Pedestal, the clamp hand device hinged with pedestal and the overturning of driving clamp hand device and hinged with the platform other end first hydraulic hold
Row device；The driving mechanism include the second hydraulic actuator placed vertically, the trisquare shape being connect with gantry rotation stick up bar, with it is bent
Ruler shape sticks up the cam of bar one end rotation connection, and the push rod rear portion is equipped with a middle frame, intermediate to be equipped with width with cam corresponding position
Groove corresponding with cam height is spent, in pushing mechanism movement, the cam is slided up and down and rotated in groove；The song
Ruler shape sticks up the bar other end and the second hydraulic actuator output end is hinged, and trisquare shape, which is stuck up, to be connect in the middle part of bar with gantry rotation；The folder
Arm device includes first that one end is hinged with the hinged clamp hand frame of pedestal and the hinged clamp hand of the clamp hand frame other end, one end
Connecting rod and second connecting rod, wherein the clamp hand is L shape, the articulated jib of clamping limb and lower part including top, and the clamping limb is prominent
Clamp hand top of support and the grasping part with clamp hand frame formation workpiece, the first connecting rod other end and articulated jib one end hinge out
It connects, the other end of second connecting rod and clamp hand frame middle and lower part are hinged, and the output end of second connecting rod bottom and the first hydraulic actuator is cut with scissors
It connects and the two forms slanting angle；When pushing workpiece, the push rod and grasping part are in same straight line
On, and conveyer belt, between them, the central controller is electrically connected with conveyer belt, delivery device, turnover mechanism.
As preferred embodiment, the clamp hand is provided with the escape groove of second connecting rod, second connecting rod and clamp hand frame
Hinge joint is arranged in escape groove.
As preferred embodiment, the oblique upper of pedestal, and hinge joint is arranged in the hinge joint of pedestal and clamp hand frame
The thickness of clamp hand frame is equal to distance and " Y " to distance with " X " of pedestal.
As preferred embodiment, top, the lower section of the grasping part are respectively provided with a protrusive board, and the protrusive board of top is solid
It is scheduled on clamping limb lower end, the protrusive board of lower section is fixed on clamp hand frame top.
As preferred embodiment, the rack with trisquare shape stick up bar it is corresponding place be equipped with bearing, the trisquare shape
Bar is stuck up to connect by bearing with gantry rotation.
As preferred embodiment, the cam and trisquare shape stick up and are equipped with a connecting plate between bar, the connecting plate
One end and cam are rotatablely connected, and the other end sticks up bar one end with trisquare shape and is fixedly connected.
As preferred embodiment, the rack is additionally provided with a support frame, which is equipped with through hole, described to push away
Bar passes through through hole and is slidably matched with through hole.
As preferred embodiment, the front end of the push rod is equipped with a push plate, the number of the push rod be two and
All it is fixedly connected with push plate.
As preferred embodiment, in the step 6, clamp hand frame works as folder along the hinge joint rotary motion of itself and pedestal
It stops rotating when the low top surface for connecing pedestal of hand cradle front upper portion, ensure that workpiece just has rotated 90 degree.
The present invention has the following advantages and effects with respect to the prior art: the present apparatus passes through a simple sensor sense
It answers real-time position information existing for workpiece and is transmitted to central controller, it is made to issue control signal control pushing mechanism, and handle
Workpiece is pushed to turnover mechanism, realizes the overturning of workpiece by control turnover mechanism and is put on another conveyer belt,
The overturning and transfer of workpiece are realized simultaneously, and entire control method realizes full-automation, participates in without artificial；Whole device accounts for
Ground area is few, and carries and overturn workpiece simultaneously, improves production efficiency.
Detailed description of the invention
Fig. 1 is the structural perspective for overturning and carrying the device of workpiece.
Fig. 2 is to overturn and carry front view of the device of workpiece in Fig. 1.
Fig. 3 is the rearview in the Fig. 1 for overturn and carry the device of workpiece.
Specific embodiment
Present invention will now be described in further detail with reference to the embodiments and the accompanying drawings, but embodiments of the present invention are unlimited
In this.
The device that one kind as shown in Figure 1 and Figure 2 can overturn workpiece 15 and put down, including delivery device 1 and turn over
Rotation mechanism 2 and central controller (not shown), the delivery device 1 include rack 11, the push rod being arranged in rack 11
12 and driving push rod 12 move along a straight line driving mechanism 13；Push rod 12 is pushed workpiece 15 by the driving of driving mechanism 13
To turnover mechanism 2.The turnover mechanism 2 is hinged including platform 21, the pedestal 22 being fixedly connected with 21 one end of platform and pedestal 22
Clamp hand device 23 and the overturning of driving clamp hand device 23 and first hydraulic actuator 24 hinged with 21 other end of platform, when the
When one hydraulic actuator 24 acts, clamp hand device 23 clamps workpiece 15 and workpiece 15 is overturn, in the process, processing
Part 15 is easily removed from original conveyer belt 9 and is put into another conveyer belt (not shown).The delivery device 1 is additionally provided with sensing
Device 16 can incude location information existing for workpiece 5 when workpiece 15 reaches 12 front of push rod, and be transmitted to and control with center
Device processed, the central controller are electrically connected with conveyer belt 9, delivery device 1, turnover mechanism 2 and control them and act.Pass through center
Controller issues control signal, and push rod 12 makes workpiece 15 shift turnover mechanism 2 onto, and the rack 11 is arranged vertically within pedestal 14
On, the driving mechanism 13 sticks up bar including the second hydraulic actuator 131 placed vertically, the trisquare shape being rotatablely connected with rack 11
132, the cam 133 of 132 one end of bar rotation connection is stuck up with trisquare shape；The trisquare shape is stuck up 132 other end of bar and hydraulic is held with second
131 output end of row device is hinged, trisquare shape is stuck up the middle part of bar 132 and is rotatablely connected with rack 11, and trisquare shape sticks up bar 132 placing vertically
The vertical direction conversion of motion of second hydraulic actuator, 131 output end is that the horizontal direction of push rod 12 moves along a straight line, the rack
11 are equipped with bearing 134 sticking up the corresponding place of bar 132 with trisquare shape, and the trisquare shape sticks up bar 132 and passes through bearing 134 and 11 turns of rack
Dynamic connection, when 131 output end of the second hydraulic actuator moves upwards, trisquare shape sticks up 132 one end of bar centered on bearing 134
Rotation, trisquare shape stick up 132 other end of bar band moving cam 133 around 134 circular motion of bearing, in order to preferably with 15 table of workpiece
The push plate 121 of a plane is arranged in face contact, 12 front end of push rod, and 12 rear end of push rod is additionally provided with a middle frame 136,
The middle frame 136 and the corresponding place of cam 133 are equipped with one and width groove 135 corresponding with the height of cam 133, described
Cam 133 is caught in the inner formation face contact of groove 135.When cam 133 rotates, the acting surface and groove 135 of cam 133 are just
The contact of face 1351 and upward sliding, and push rod 12 is pushed, it is convex when 131 output end of the second hydraulic actuator moves downward
Wheel 133 is contacted with the reverse side 1352 of groove 135 and slide downward, so that push rod 12 be driven back to move along a straight line.
In order to facilitate disassembly and installation cam 133, the cam 133 and trisquare shape stick up and are equipped with a connection between bar 132
132 one end of bar is stuck up with trisquare shape and is fixedly connected with the rotation connection of cam 133, the other end in one end of plate 137, the connecting plate 137.
As shown in figure 3, the clamp hand device 23 includes one end and the hinged clamp hand frame 231 of pedestal 22, the clamp hand frame 231
For L-type, clamp hand 232 includes the clamping limb 2321 on top and the articulated jib 2322 of lower part, the end on wherein the first side of clamp hand frame 231
Be hinged with the articulated jib 2322 of clamp hand 232 and form hinge joint 3, the end on the second side of clamp hand frame 231 with abut pedestal 22
Side 222 be hinged and form hinge joint 8；Prominent 231 top surface of clamp hand frame of the clamping limb 2321 of clamp hand 232 and with clamp hand frame
231 the first side is oppositely arranged, and forms the grasping part of workpiece 15；The right end and first of the articulated jib 2322 of clamp hand 232
One end of connecting rod 233 is hinged and forms hinge joint 7, and the other end of first connecting rod 233 and 234 one end of second connecting rod are hinged simultaneously
Hinge joint 4 is formed, the other end of second connecting rod 234 is hinged on the middle and lower part on the second side of clamp hand frame 231 and forms hinge joint 6；
In order to conveniently clip to workpiece 15, top, the lower section of the grasping part are respectively provided with a protrusive board 235, the protrusive board of top
235 are fixed on 2321 lower end of clamping limb, and the protrusive board 235 of lower section is fixed on 231 top of clamp hand frame.234 bottom of second connecting rod and the
The output end of one hydraulic actuator 24 is hinged and forms hinge joint 5, and the two forms slanting angle.In order to preferably arrange
The position of each section part, the hinge joint 3, hinge joint 4, hinge joint 5, hinge joint 6, hinge joint 7, hinge joint 8 are all at one
On vertical plane, for this purpose, the clamp hand frame 231 is equipped with the escape groove 236 of second connecting rod 234, second connecting rod 234 and clamp hand frame 231
The setting of hinge joint 6 at the middle part of escape groove 236.When 24 output end of the first hydraulic actuator oblique promotion second connecting rod 234,
On the one hand: 234 one end of second connecting rod, which is put in escape groove 236 and by the effect of hinge joint 6, makes clamp hand frame 231 with hinge joint 8
Center is around pedestal 22 to horizontal motion；On the other hand: 234 other end of second connecting rod pushes first by the effect of hinge joint 4
Connecting rod 233, first connecting rod 233 move around hinge joint 7 and push the articulated jib 2322 of clamp hand 232, the clamping limb of clamp hand 232
2321 are moved centered on hinge joint 3 to clamp hand frame 231, and grasping part becomes smaller and clamps workpiece 15.It ensures that
Workpiece 15 is promoted grasping part when delivery device 1 pushes, when pushing workpiece 15, the push rod 12 and clamping
Space is on the same line, and conveyer belt 9 is between them.
Due to when workpiece 15 is overturn, especially overturn rectangular or square workpiece 15 when
It waits, needs accurately to turn over and turn 90 degrees, workpiece 15 is turned to side from front, and workpiece 15 is carried from conveyer belt 9
Onto another conveyer belt, for this purpose, the oblique upper of pedestal 22 is arranged in the hinge joint 8 of pedestal 22 and clamp hand frame 231, and hinged
" X " of point 8 and pedestal 22 is equal to the thickness of clamp hand frame 231 to distance and " Y " to distance (as shown in Figure 1)；When first hydraulic
When oblique promotion second connecting rod 234 of 24 output end of actuator, 2311 upper end of front of clamp hand frame 231 abuts the top surface of pedestal 22
221 so that terminate the stretching of 24 output end of the first hydraulic actuator, clamp hand frame 231 is vertical with pedestal 22 at this time, and workpiece 15
It is turn 90 degrees by turning over from vertical direction to horizontal direction, and has gone to side from front, be easily removed from another from conveyer belt 9
Conveyer belt；When 24 output end of the first hydraulic actuator is withdrawn, 2311 lower end of front of clamp hand frame 231 abuts the side of pedestal 22
222 and the two it is parallel, so that it is guaranteed that grasping part and push rod 12 are on the same line.
Since conveyer belt 9 is between push rod 12 and grasping part, and conveyer belt 9 has one fixed width, in order to ensure pushing away
When push skew does not occur for bar 12, and the rack 11 is additionally provided with a support frame 10, which is equipped with through hole
101, the push rod 12 passes through through hole 101 and is slidably matched with through hole 101, and the sensor 16 is located at the top of support frame 10
Portion.When delivery device 1 pushes workpiece 15, prominent 101 plane of through hole of push rod 12 simultaneously promotes clamping empty workpiece 15
Between.Since the side of workpiece 15 is not of uniform size, at biggish workpiece 15 in promotion side, a push rod 12 and workpiece
15 position cannot be guaranteed that workpiece 15 takes the air line, for this reason, it may be necessary to which multiple positions, described to push away in this embodiment example
The number of bar 12 is two, and two push rods 12, on being fixed on push plate 121, but not limited to this.
For overturning and carrying the control method of workpiece, which is carried out using following steps:
Step 1: when the workpiece 15 being placed on conveyer belt 9 is transported at turnover mechanism 2, workpiece 15, which enters, to be pushed away
In the induction range for sending the sensor 16 in mechanism 1, the real-time position information of object is transferred to center by the sensor 16 at this time
At controller, central controller receives the control information, and control conveyer belt 9 intermittently stops conveying；
Step 2: the sensor 16 on delivery device 1 senses the information of 15 stop motion of workpiece, which is transmitted
To central controller, central controller receives the information, issues the instruction that delivery device 1 starts braking；
Step 3: after receiving braking instruction, driving mechanism 13 brings into operation delivery device 1, the second hydraulic actuator
131 output end emersion, the output end push the trisquare shape hinged with it to stick up the movement of bar 132, and trisquare shape sticks up bar 132 around middle part
Bearing 134 rotates, and the connecting plate 137 that the drive that trisquare shape sticks up bar 132 is firmly connected with it moves up, and cam 133 is in groove
135 rotations and upward sliding convert the rotary motion that trisquare shape sticks up bar 132 to the linear motion of middle frame 136, and in drive
A structure of an essay 136 moves forward, and middle frame 136 drives the through hole 101 along support frame 10 of push rod 12 to move forward, 12 front end of push rod
Push plate pushes workpiece 15 to move forward in clamp hand device；
Step 4: the maximum shift motion of push rod 12 is set as the horizontal distance of push rod 12 front end and clamp hand 232, works as push rod
12 when being pushed to its maximum stroke, transmits that information to central controller, and central controller receives information, central controller
The information is received, delivery device 1 is issued and starts the instruction retracted；For delivery device 1 after receiving and retracting instruction, second is hydraulic
The output end of actuator 131 is retracted, which drives trisquare shape connected to it to stick up the movement of bar 132, trisquare shape stick up bar 132 around
Bearing 134 rotates, and the connecting plate 137 that the drive that trisquare shape sticks up bar 132 is firmly connected with it moves down, and cam 133 is in groove
135 slide downwards and autobiography convert the rotary motion that trisquare shape sticks up bar 132 to the linear motion of middle frame 136, and in drive
A structure of an essay 136 moves backward, and middle frame 136 drives the through hole 101 along support frame 10 of push rod 12 to move backward, 12 front end of push rod
Push plate 121 is retracted backward；
Step 5: the sensor 16 on delivery device 1 senses the information for not having workpiece 15 on conveyer belt 9, by the letter
Breath is transmitted at central controller, and central controller receives the information, issues the instruction of 1 stopping of delivery device movement, and
Clamp hand device 23 starts action command；
Step 6: after clamp hand device 23 receives action command, the first hydraulic actuator 24 brings into operation, and first hydraulic holds
The output end of row device 24 stretches out, which successively drives second connecting rod 234, first connecting rod 233, clamp hand 232 and clamp hand frame
231 rotary motions, the grasping part between clamp hand frame 231 and clamping limb 2321 become smaller, and clamp workpiece 15, at the same time,
Clamp hand frame 231 around itself and pedestal 22 8 rotary motion of hinge joint, when 2311 upper end of front of clamp hand frame 231 abuts pedestal 22
When top surface 221, the first hydraulic actuator 24 is out of service, and workpiece 15 has rotated 90 degree；
Step 7: the maximum rotation angle of clamp hand 232 is set as 90 degree, and after it reaches rotation angle, which is passed
Defeated to arrive central controller, central controller receives information, and issue clamp hand device 23 retracts instruction；Clamp hand device 23, which receives, to move back
After referring to order, the first hydraulic actuator 24 drives its output end to retract, which successively drives second connecting rod 234, and first connects
Bar 233,231 rotary motion of clamp hand 232 and clamp hand frame, the grasping part between clamp hand frame 231 and clamp hand 232 become larger, will process
Part 15 is placed on another conveyer belt, and at the same time, clamp hand frame 231 works as folder around 8 rotary motion of hinge joint of itself and pedestal 22
When 2311 lower end of front of hand cradle 231 abuts side 222 of pedestal 22, the first hydraulic actuator 24 shuts down, at this point, folder
Hand 232, which is rotated by 90 °, returns to original position, and transmits that information to central controller；
Step 8: central controller receives the transport information of clamp hand device 23, issues the start-up operation instruction of conveyer belt 9；It is defeated
It after sending band 9 to receive the instruction, starts running, conveys next workpiece, continue to execute the transmission process of next workpiece, hold
Row step 1；Until all workpieces all convey completion, terminate the work of whole system.
The above embodiment is a preferred embodiment of the present invention, but embodiments of the present invention are not by above-described embodiment
Limitation, other any changes, modifications, substitutions, combinations, simplifications made without departing from the spirit and principles of the present invention,
It should be equivalent substitute mode, be included within the scope of the present invention.
Claims (10)
1. a kind of overturning and the control method for carrying workpiece, which is characterized in that the control method is carried out using following steps:
Step 1: when the workpiece for placing on a moving belt is transported at turnover mechanism, workpiece is entered on delivery device
In the induction range of sensor, the real-time position information of object is transferred at central controller by the sensor at this time, center control
Device processed receives the control information, and control conveyer belt interval stops conveying；
Step 2: the information is transmitted to central control to the information of workpiece stop motion by the sensor sensing on delivery device
At device processed, central controller receives the information, issues the instruction that delivery device starts braking；
Step 3: after receiving braking instruction, driving mechanism brings into operation delivery device, the output end of the second hydraulic actuator
It stretches out, which pushes the trisquare shape hinged with it to stick up bar movement, and cam sticks up trisquare shape in groove rotation and upward sliding
The rotary motion of bar is converted into the linear motion of middle frame, and push rod pushes workpiece to move forward in clamp hand device；
Step 4: the maximum shift motion of push rod is set as the horizontal distance of push rod front end and clamp hand, when push rod is pushed to it most
When at big stroke, central controller is transmitted that information to, central controller receives information, and central controller receives the letter
Breath issues delivery device and starts the instruction retracted；Delivery device is after receiving and retracting instruction, the output of the second hydraulic actuator
End is retracted, which drives trisquare shape connected to it to stick up bar movement, and push rod is retracted backward；
Step 5: not having the information of workpiece on the sensor sensing to conveyer belt on delivery device, which is transmitted to
It entreats at controller, central controller receives the information, and the instruction and clamp hand device for issuing delivery device stopping movement starting
Action command；
Step 6: after clamp hand device receives action command, the first hydraulic actuator brings into operation, the first hydraulic actuator it is defeated
Outlet is stretched out, which successively drives second connecting rod, first connecting rod, clamp hand and clamp hand frame rotary motion, clamp hand frame and clamping
Grasping part between arm becomes smaller, and clamps workpiece, at the same time, clamp hand frame along itself and pedestal hinge joint rotary motion,
Drive workpiece rotation；
Step 7: clamp hand when its reach maximum rotation angle after, transmit that information to central controller, central controller connects
It collects mail and ceases, issue clamp hand device retracts instruction, and the first hydraulic actuator drives its output end to retract, which successively drives
Second connecting rod, first connecting rod, clamp hand and clamp hand frame rotary motion, workpiece is placed on another conveyer belt, same with this
When, clamp hand rotates and returns to original position, and transmits that information to central controller；
Step 8: central controller receives the transport information of clamp hand device, issues conveyer belt start-up operation instruction；Conveyer belt receives
It to after the instruction, starts running, conveys next workpiece, continue to execute the transmission process of next workpiece, execute step 1；
Until all workpieces all convey completion, terminate the work of whole system.
2. overturning according to claim 1 and the control method for carrying workpiece, it is characterised in that: in the step 6,
Clamp hand frame stops rotating when the clamp hand frame front upper portion low top surface for connecing pedestal along the hinge joint rotary motion of itself and pedestal,
It ensure that workpiece just has rotated 90 degree.
3. being used for the overturning of control method described in perform claim requirement 1 and carrying the device of workpiece, it is characterised in that: including
Delivery device and turnover mechanism and central controller, the delivery device includes rack, the push rod that is arranged on the rack, driving push away
Sensor existing for the driving mechanism and induction workpiece of bar linear motion；The turnover mechanism includes platform and platform one
Hold the pedestal being fixedly connected, with the hinged clamp hand device of pedestal and the overturning of driving clamp hand device and hinged with the platform other end
First hydraulic actuator；The driving mechanism includes the second hydraulic actuator placed vertically, the trisquare connecting with gantry rotation
Shape stick up bar, with trisquare shape stick up bar one end rotation connection cam, the push rod rear portion be equipped with a middle frame, middle frame with it is convex
It takes turns corresponding position and is equipped with width groove corresponding with cam height, in pushing mechanism movement, the cam glides on groove
It moves and rotates；The trisquare shape sticks up the bar other end and the second hydraulic actuator output end is hinged, and trisquare shape is stuck up in the middle part of bar and rack
Rotation connection, the cam and putting back-end are hinged；The clamp hand device includes one end and the hinged clamp hand frame of pedestal and folder
The first connecting rod and second connecting rod that the hinged clamp hand of the hand cradle other end, one end are hinged, wherein the clamp hand is L shape, including
The clamping limb on top and the articulated jib of lower part, the prominent clamp hand top of support of the clamping limb and the clamping that workpiece is formed with clamp hand frame
Space, the first connecting rod other end and articulated jib one end are hinged, and the other end of second connecting rod and clamp hand frame middle and lower part are hinged, the
The output end of two connecting rod bottoms and the first hydraulic actuator is hinged and the two forms slanting angle；Push workpiece when
It waits, the push rod and grasping part are on the same line, and conveyer belt is between them；The central controller with
Conveyer belt, delivery device, turnover mechanism electrical connection.
4. overturning according to claim 3 and the device for carrying workpiece, it is characterised in that: the clamp hand is provided with second
The hinge joint of the escape groove of connecting rod, second connecting rod and clamp hand frame is arranged in escape groove.
5. overturning according to claim 3 and the device for carrying workpiece, it is characterised in that: pedestal is hinged with clamp hand frame
The oblique upper of pedestal is arranged in point, and " X " of hinge joint and pedestal is equal to the thickness of clamp hand frame to distance and " Y " to distance
Degree.
6. overturning according to claim 3 simultaneously carries the device of workpiece, it is characterised in that: the grasping part it is upper
Side, lower section are respectively provided with a protrusive board, and the protrusive board of top is fixed on clamping limb lower end, and the protrusive board of lower section is fixed on clamp hand frame top.
7. overturning according to claim 3 simultaneously carries the device of workpiece, it is characterised in that: the rack with trisquare shape
It sticks up the corresponding place of bar and is equipped with bearing, the trisquare shape is stuck up bar and connect by bearing with gantry rotation.
8. overturning according to claim 7 and the device for carrying workpiece, it is characterised in that: the cam is stuck up with trisquare shape
A connecting plate is equipped between bar, one end of the connecting plate and cam are rotatablely connected, and the other end, which sticks up bar one end with trisquare shape, to be fixed
Connection.
9. overturning according to claim 3 and the device for carrying workpiece, it is characterised in that: the rack is additionally provided with one
Support frame, the support frame are equipped with through hole, and the push rod passes through through hole and is slidably matched with through hole.
10. overturning according to claim 3 and the device for carrying workpiece, it is characterised in that: the front end of the push rod is set
There is a push plate, the number of the push rod is two and is all fixedly connected with push plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710637473.6A CN107310911B (en) | 2017-07-31 | 2017-07-31 | A kind of control method overturn and carry workpiece |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710637473.6A CN107310911B (en) | 2017-07-31 | 2017-07-31 | A kind of control method overturn and carry workpiece |
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| Publication Number | Publication Date |
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| CN107310911A CN107310911A (en) | 2017-11-03 |
| CN107310911B true CN107310911B (en) | 2019-09-06 |
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| CN201710637473.6A Active CN107310911B (en) | 2017-07-31 | 2017-07-31 | A kind of control method overturn and carry workpiece |
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| CN104555405B (en) * | 2014-12-23 | 2017-06-20 | 中国计量学院 | Collecting fins device |
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| CN104787565B (en) * | 2015-04-23 | 2017-01-18 | 广州先导自控专用设备有限公司 | Magnetic shoe feeding method |
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| CN106113032A (en) * | 2016-08-12 | 2016-11-16 | 无锡百禾工业机器人有限公司 | A kind of fixed point displacement mechanical arm mechanism |
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