CN107838660B - Automatic avoiding mechanism for bottom surface of clamp for vertical assembly - Google Patents

Abstract

The invention discloses an automatic avoidance mechanism for the bottom surface of a clamp for vertical assembly, which includes: a slider, which is arranged on a guide rail and can slide along the guide rail; one end of the slider is fixedly connected to the bottom surface of the clamp; a first connecting rod, One end of the second connecting rod is hinged with the slider, and the other end is hinged with the roller; the second connecting rod is hinged with the roller at one end, and the other end is hinged with the mechanism base; a return spring is sleeved on the spring guide shaft, and the spring One end is fixedly connected to the slider through a spring compression piece, and the other end is fixedly connected to the fixed seat of the spring guide shaft. The spring compression piece can follow the slider to move along the spring guide shaft; the constraint assembly is fixedly connected to the assembly. On the base, during the contact process between the roller and the constraint component, the roller reciprocates according to the trajectory fitted by the constraint component, so as to drive the bottom surface of the clamp to achieve the avoidance and reset process. The automatic avoidance mechanism for the bottom surface of the clamp provided by the invention for vertical assembly has a simple structure and does not require external driving.

Description

An automatic avoidance mechanism for the bottom surface of the fixture for vertical assembly

Technical field

The invention belongs to the technical field of automatic assembly machinery, and particularly relates to an automatic avoidance mechanism for the bottom surface of a clamp facing vertical assembly.

Background technique

Nowadays, in the context of the country's major strategic plan to promote "Made in China 2025", with the development of my country's economy and technology, product assembly processes are becoming more and more complex. The use of high-quality, high-performance automated assembly equipment can improve product quality and improve Production efficiency has huge social and economic benefits. However, in the high-volume, repetitive, and efficient vertical assembly process, the existing fixture bottom avoidance mechanism is complex in design, has poor adaptability, and often requires external drive, and cannot meet the requirements of dexterity, efficiency, and high reliability of automated machinery. Therefore, it is necessary to design an automatic avoidance mechanism for the bottom surface of the fixture that is simple to use and does not require an external drive for vertical assembly. It can be widely used in related vertical assembly in the equipment manufacturing industry, automobile manufacturing industry, and defense industry to improve the accuracy of assembly. Production efficiency and the stability of the entire assembly system.

Contents of the invention

The purpose of the present invention is to overcome the shortcomings of the existing clamp bottom avoidance mechanism that has a complex structure and requires external drive, and provides an automatic clamp bottom avoidance mechanism for vertical assembly that is simple in structure and does not require external drive.

The technical solution provided by the invention is:

An automatic avoidance mechanism for the bottom surface of a fixture for vertical assembly, including:

A slider, which is arranged on the guide rail and can slide along the guide rail. One end of the slider is fixedly connected to the bottom surface of the fixture;

A first connecting rod, one end of which is hinged to the slider and the other end to the roller;

The second connecting rod has one end hinged with the roller and the other end hinged with the mechanism base;

A return spring is sleeved on the spring guide shaft. One end of the spring is fixedly connected to the slider through a spring compression piece, and the other end is fixedly connected to the fixed seat of the spring guide shaft. The spring compression piece can follow the slider. The block moves along the spring guide axis;

The constraint component is fixedly connected to the assembly base. During the contact process between the roller and the constraint component, the roller reciprocates according to the trajectory fitted by the constraint component to drive the bottom surface of the clamp to achieve the avoidance and reset process.

Preferably, the guide rail and the spring guide shaft are fixedly connected to the upper side of the mechanism seat, and the guide rail is parallel to the spring guide shaft.

Preferably, the first connecting rod and the second connecting rod are provided on the lower side of the mechanism base.

Preferably, the first connecting rod is located below the second connecting rod, and the roller is located below the first connecting rod.

Preferably, the mechanism base is fixedly connected to the lower side of the upper clamp mounting turntable and can rotate with the upper clamp mounting turntable.

Preferably, the upper clamp mounting turntable is connected above the assembly base through the upper turntable rotation shaft, and the upper turntable rotation shaft drives the upper clamp installation turntable to rotate relative to the assembly base.

Preferably, the restraint assembly includes an escape restraint member and a return restraint member.

Preferably, the avoidance restraint member and the return restraint member are fixedly connected to the restraint assembly mounting seat of the assembly base.

Preferably, the contour lines of the avoidance constraint and the reset constraint are determined based on the motion trajectory of the roller.

Preferably, the contour lines of the contact portions of the avoidance restraint member and the return restraint member with the roller are smooth curves.

The beneficial effects of the present invention are:

(1) The automatic avoidance mechanism for the bottom surface of the clamp provided by the present invention for vertical assembly has a simple structure, and the movement of the avoidance execution component is passive movement and does not require external driving.

(2) The invention provides an automatic avoidance mechanism for the bottom surface of a clamp for vertical assembly. The curve profiles of the avoidance constraint and the reset constraint are determined according to the motion trajectory fitting, so that the avoidance and reset process flow is natural and free of jamming and impact. , the system has long life and high reliability.

(3) The invention provides an automatic avoidance mechanism for the bottom surface of the fixture for vertical assembly. The design of the reset component realizes sequential automatic movement of the process without the need for external drive and timing control, and is suitable for efficient and batch vertical assembly processes.

Description of the drawings

Figure 1 is a schematic diagram of the principle of the automatic avoidance mechanism for the bottom surface of the clamp according to the present invention.

Figure 2 is a schematic diagram of the connection between the avoidance actuator and the reset mechanism and the mechanism base according to the present invention.

Figure 3 is a schematic diagram of the connection between the two-link structure and the lower mounting surface of the mechanism seat according to the present invention.

Figure 4 is a schematic diagram of the automatic avoidance mechanism on the bottom surface of the clamp according to the present invention from the avoidance posture to the reset posture.

Figure 5 is a schematic diagram of the installation position of the automatic avoidance mechanism for the bottom surface of the clamp in the assembly system according to the present invention.

Detailed ways

The present invention will be further described in detail below with reference to the accompanying drawings, so that those skilled in the art can implement it with reference to the text of the description.

As shown in Figures 1-5, the present invention provides an automatic avoidance mechanism for the bottom surface of a fixture for vertical assembly. The automatic avoidance mechanism includes: an avoidance execution component 100, a reset component 200 and a restraint component 300. Among them, the avoidance execution component 100 and the reset component 200 are installed on the mechanism base 400 respectively.

The avoidance execution component 100 includes a clamp bottom surface 110 that is fixedly connected to one end of the slider 120 . A matching guide rail 130 is provided below the slider 120 . The guide rail 130 is a linear guide rail and is fixedly connected to the upper mounting surface of the mechanism base 400 . The slider 120 can move linearly along the guide rail 130 . The first connecting rod 140 has one end articulated with the adapter seat 121 of the slider 120 through the first rotating shaft 141 and the other end articulated with the roller 150 through the second rotating shaft 151; the second connecting rod 160 has one end connected with the second rotating shaft 151 is hingedly connected to the roller 150, and the other end is hingedly connected to the lower mounting surface of the mechanism base 400 through the third rotating shaft 161. The first connecting rod 140 and the second connecting rod 150 are both located on the lower side of the mechanism base 400, and the first connecting rod 140 is located below the second connecting rod 160, and the roller 150 is located on the first connecting rod. Below 140, a two-link mechanism driven by the intermediate roller 150 is formed.

The reset assembly 200 includes a spring guide shaft 210, which is arranged parallel to the guide rail 130 on the upper mounting surface of the mechanism base 400. Both ends of the spring guide shaft 210 are fixedly connected to the mechanism base through the first fixed seat 211 and the second fixed seat 212 respectively. 400 on. The return spring 220 is sleeved on the spring guide shaft 210. One end of the return spring 220 is fixedly connected to the side of the slider 120 close to the return spring 220 through a spring compression member 221, and the other end is fixedly connected to the third side of the spring guide shaft 210. On the two fixed seats 212, the spring compression member 221 can follow the slider 120 to move linearly along the spring guide shaft 210. When the bottom surface 110 of the clamp needs to be avoided, the return spring 220 is compressed, and the spring compression member 221 moves linearly along the spring guide shaft 210 toward the second fixed seat 212. The return spring 220 stores elastic force; when the bottom surface 110 of the clamp needs to be reset, the return spring 220 The elastic force is released and gradually stretches out, pushing the spring compression member 221 to drive the slider 120 to move linearly along the guide rail 130, which in turn drives the bottom surface of the clamp 110 to move linearly until the reset is completed. When the bottom surface 110 of the clamp completes the reset, the return spring 220 is in a completely relaxed state.

The constraint component 300 is fixedly connected to the assembly base 500. During the contact process between the roller 150 and the constraint component 300, the roller 150 reciprocates according to the trajectory fitted by the constraint component to drive the bottom surface 110 of the clamp to achieve the avoidance and reset process.

In this embodiment, the constraint assembly 300 includes an avoidance constraint 310 and a return constraint 320 . The constraint assembly 310 and the reset constraint 320 are both fixedly installed on the constraint mounting base 330, and the mounting base 330 is fixedly connected to the assembly 500 base. The installation positions of the avoidance constraint 310 and the reset constraint 320 correspond to different movement positions of the roller 150. When the roller 150 moves to a position in contact with the outline of the avoidance constraint 310, the bottom surface 110 of the clamp realizes the avoidance process; when the roller 150 moves to When in contact with the contour line of the reset constraint 310, the bottom surface 110 of the clamp implements the reset process. Based on the avoidance movement trajectory of the roller 150, the curve profile of the avoidance constraint 310 is fitted, so that during the contact process between the roller 150 and the avoidance constraint 310, the avoidance action is successfully completed without jamming caused by exceeding the stroke; based on the reset movement trajectory of the roller 150 , fitting the curve profile of the reset constraint 320, so that the roller 150 can naturally complete the reset action during the contact process with the reset constraint 320, reducing the impact caused by the elastic force, and improving the life of the mechanism. After the roller 150 is disengaged from the avoidance constraint 310 and comes into contact with the reset constraint 320, the return spring 220 pushes the slider 120 to drive the clamp bottom 110 to reset. The reset process is a sequential automatic movement without the need for external driving and timing control, and is highly reliable. Preferably, the outline of the contact portion between the avoidance constraint 310 and the reset constraint 320 and the roller is a smooth curve to ensure smooth movement of the entire roller 150 and avoid jamming. The avoidance action is a passive movement without external drive, which simplifies the control process and improves the reliability of the system. The roller design improves the sliding contact into rolling contact, improving the smoothness of the avoidance constraint movement.

The mechanism base 400 is fixedly connected to the lower side of the upper clamp installation turntable 600. The upper clamp installation turntable 600 is hinged with the assembly base 500 through the upper turntable shaft 610. The upper clamp installation turntable 600 is located above the assembly base 500. The upper turntable shaft 610 is driven by the motor. Rotate downward, thereby driving the upper clamp mounting turntable 600 to rotate relative to the assembly base.

The bottomless upper clamp 620 is fixedly installed on the upper clamp installation turntable 600. The bottomless upper clamp 620 is located on the upper side of the clamp bottom 110, and cooperates with the clamp bottom 110 to form a complete upper clamp. The lower clamp 720 is fixedly installed on the lower clamp installation turntable 700 . The lower clamp installation turntable 700 is hinged with the assembly base 500 through the lower turntable shaft 710 . The lower clamp installation turntable 700 is located above the assembly base 500 . The lower turntable rotating shaft 710 is driven by the motor to rotate, thereby driving the lower clamp mounting turntable 700 to rotate relative to the assembly base 500 . Among them, the upper clamp installation turntable 600 and the lower clamp installation turntable 700 are installed relatively on both sides of the assembly base 500 respectively. The upper clamp installation turntable 600 and the lower clamp installation turntable 700 rotate in opposite directions, driving the upper clamp and the lower clamp 720 to move toward each other. The upper clamp and the lower clamp 720 can respectively clamp the upper and lower assembly parts and reach the assembly position at the same time. During the relative movement of the upper clamp and the lower clamp 720 and gradually approaching, the bottom surface 110 of the clamp simultaneously performs avoidance movements. When the upper clamp and the lower clamp 720 After the rotation reaches the assembly position, the bottom surface of the clamp 110 completes the avoidance (completely withdrawn relative to the clamp 620 on the bottomless surface), so that the upper assembly part and the lower assembly part come into contact, and the assembly punch 800 located above the assembly position starts stamping to realize the upper assembly part and the lower assembly part. Vertical assembly of assemblies.

Implementation Taking the working principle of the automatic avoidance mechanism for the bottom surface of the fixture for vertical assembly as an example, a step-by-step explanation:

After the upper clamp clamps the upper assembly at the pick-up position, it is driven by the upper clamp mounting plate 600 to make a circular motion relative to the assembly base 500. At the same time, the lower clamp 720 clamps and removes the assembly at the pick-up position and then places it on the lower clamp mounting plate. Driven by 700, the relative assembly base 500 performs a circular motion, causing the upper clamp and the lower clamp 720 to gradually approach. During the process of the upper clamp and the lower clamp 720 gradually approaching, the bottom surface 110 of the clamp simultaneously performs avoidance movements. When the upper clamp and the lower clamp 720 When 720 reaches the assembly position at the same time (the upper clamp is located directly above the lower clamp 720, and the assembly punch 800 is located directly above the upper clamp), the bottom surface of the clamp 110 completes the avoidance and is completely withdrawn outside the area of the clamp 620 on the bottomless surface, and the upper clamp is installed. The disk 600 and the lower clamp mounting disk 700 temporarily stop rotating. After that, the assembly stamping machine 800 starts stamping to realize the vertical assembly of the upper and lower assembly parts. The specific process of the avoidance movement of the bottom surface of the clamp 110 is as follows: during the rotation of the upper clamp mounting plate 600, the avoidance execution component 100 and the reset component 200 installed on the mechanism base 400 are driven to rotate relative to the installation base 500. When the roller 150 moves to the avoidance constraint, When the outline of 310 is in contact, the roller 150 moves along the outline of the avoidance constraint 310, causing the two link mechanisms to drive the slider 120 to move along the track 130, compressing the return spring 220, and the bottom surface 110 of the clamp realizes the avoidance process.

After the vertical assembly is completed, the upper clamp installation plate 600 and the lower clamp installation plate 700 continue to rotate in the original direction respectively, so that the upper clamp and the lower clamp 720 gradually move away. During the process of the upper clamp and the lower clamp 720 gradually moving away, the bottom surface 110 of the clamp completes its reset. process. The specific process of the reset movement of the clamp bottom surface 110 is as follows: during the rotation of the upper clamp mounting plate 600, the avoidance execution component 100 and the reset component 200 installed on the mechanism base 400 are driven to rotate relative to the installation base 500, causing the roller 150 and the avoidance restraint member 310 to rotate. After being disengaged and in contact with the reset constraint 320, the reset spring 220 pushes the slider 120 to drive the bottom surface 110 of the clamp to reset. The reset process is a sequential automatic movement without the need for external driving and timing control, and the reliability is high.

The invention provides an automatic avoidance mechanism for the bottom surface of a clamp for vertical assembly. It has a simple structure and the movement of the avoidance execution component is passive movement and does not require external driving. The curve contours of the avoidance constraint and the reset constraint are determined according to the motion trajectory of the roller, making the avoidance and reset process smooth and natural, without jamming or impact, and the system has a long life and high reliability. The design of the reset component realizes the sequential automatic movement of the process without the need for external drive and timing control, and is suitable for efficient and batch vertical assembly processes.

Although the embodiments of the present invention have been disclosed above, they are not limited to the applications listed in the description and embodiments. They can be applied to various fields suitable for the present invention. For those familiar with the art, they can easily Additional modifications may be made, and the invention is therefore not limited to the specific details and illustrations shown and described herein without departing from the general concept defined by the claims and equivalent scope.

Claims (8)

1. An automatic avoidance mechanism for the bottom surface of a fixture for vertical assembly, which is characterized by including: A slider, which is arranged on the guide rail and can slide along the guide rail. One end of the slider is fixedly connected to the bottom surface of the fixture; A first connecting rod, one end of which is hinged to the slider and the other end to the roller; The second connecting rod has one end hinged with the roller and the other end hinged with the mechanism base; Wherein, the mechanism base is fixedly connected to the lower side of the upper clamp mounting turntable and can rotate with the upper clamp mounting turntable; A return spring is sleeved on the spring guide shaft. One end of the spring is fixedly connected to the slider through a spring compression piece, and the other end is fixedly connected to the fixed seat of the spring guide shaft. The spring compression piece can follow the slider. The block moves along the spring guide axis; The constraint component is fixedly connected to the assembly base. During the contact process between the roller and the constraint component, it reciprocates according to the trajectory fitted by the constraint component to drive the bottom surface of the clamp to achieve the avoidance and reset process; Wherein, the constraint assembly includes an avoidance constraint and a reset constraint; the installation positions of the avoidance constraint and the reset constraint correspond to different movement positions of the roller. When the roller moves to a position in contact with the outline of the avoidance constraint, the bottom surface of the clamp The avoidance process is realized; when the roller moves to a position in contact with the contour line of the reset constraint, the bottom surface of the clamp realizes the reset process. 2. The automatic avoidance mechanism for the bottom surface of a clamp facing vertical assembly according to claim 1, characterized in that the guide rail and the spring guide shaft are fixedly connected to the upper side of the mechanism seat, and the guide rail and the spring The guide shafts are parallel. 3. The automatic avoidance mechanism for the bottom surface of a clamp facing vertical assembly according to claim 2, characterized in that the first link and the second link are arranged on the lower side of the mechanism seat. 4. The automatic avoidance mechanism for the bottom surface of a clamp facing vertical assembly according to claim 3, characterized in that the first link is located below the second link, and the roller is located above the first link. below. 5. The automatic avoidance mechanism for the bottom surface of the clamp facing vertical assembly according to claim 4, characterized in that the upper clamp installation turntable is connected above the assembly base through the upper turntable rotating shaft, and the upper turntable rotating shaft drives the upper clamp installation turntable for relative assembly. The base rotates. 6. The automatic avoidance mechanism for the bottom surface of a clamp facing vertical assembly according to claim 5, characterized in that the avoidance restraint member and the reset restraint member are fixedly connected to the restraint assembly mounting seat of the assembly base. 7. The automatic avoidance mechanism for the bottom surface of a clamp for vertical assembly according to claim 6, characterized in that the outlines of the avoidance constraint and the reset constraint are determined based on the motion trajectory of the roller. 8. The automatic avoidance mechanism for the bottom surface of a clamp for vertical assembly according to claim 7, wherein the outline of the contact portion between the avoidance constraint and the reset constraint and the roller is a smooth curve.