CN108296856B - A kind of automatic station sets platform - Google Patents
A kind of automatic station sets platform Download PDFInfo
- Publication number
- CN108296856B CN108296856B CN201810072928.9A CN201810072928A CN108296856B CN 108296856 B CN108296856 B CN 108296856B CN 201810072928 A CN201810072928 A CN 201810072928A CN 108296856 B CN108296856 B CN 108296856B
- Authority
- CN
- China
- Prior art keywords
- cylinder
- position block
- erecting bed
- axis
- ball
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
- 230000007246 mechanism Effects 0.000 claims abstract description 40
- 230000013011 mating Effects 0.000 claims abstract description 3
- 230000003139 buffering effect Effects 0.000 claims 1
- 239000000463 material Substances 0.000 description 7
- 238000010586 diagram Methods 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 238000005096 rolling process Methods 0.000 description 2
- 206010003671 Atrioventricular Block Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010960 commercial process Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
-
- 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
- B23P21/00—Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with programme control
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
- B23Q7/04—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting by means of grippers
Abstract
The present invention relates to a kind of automatic stations to set platform, including positioning mechanism and supporting mechanism；Positioning mechanism is set on supporting mechanism；Positioning mechanism includes positioning pin and guide plate；Location hole is provided on guide plate for mating with positioning pin；Supporting mechanism includes erecting bed, axis, upper ball, upper limit position block, transfer block, cylinder, lower position block, lower ball, bottom support and sole piece.The technical program passes through the lower ball between upper ball, sole piece and the lower position block between erecting bed and upper limit position block, realize the relative rotation of supporting mechanism, and pass through the setting of four cylinders, realize the correction after erecting bed shifts, the position for realizing the crawl of crawl robot is held essentially constant, and improves crawl precision.
Description
Technical field
The invention belongs to technical field of automatic control, particularly relate to a kind of automatic station for automatic production line
Set platform.
Background technique
In commercial process, to improve production efficiency, is generally independently produced using small parts and pass through utensil again
Circulate the production method always spelled to assembly wire body.Utensil due to loading part is generally required to carry out far between multiple plant areas
Distance circulate, and the more common tooling of positioning accuracy wants much lower, mainly based on load function.
As shown in Figure 1 it is prior art material library and transfer arrangement schematic diagram, includes stock material point 01, material positioning
Point 02, robot station 03, piece uploading station 04 and positioning tool 05.Several utensils to load part are placed in inventory location,
It is transferred to material anchor point after part in robotic gripper tool, then is placed on positioning tool after realizing high-precision crawl.
Because the utensil positioning accuracy for commonly loading part is low, and can further destroy its positioning accurate during transportation
Degree；The crawl process of robot is divided into two steps and is just able to achieve high-precision crawl, reduces productive temp.
Summary of the invention
The object of the present invention is to provide a kind of automatic stations to set platform, to solve the positioning accuracy of prior art working position apparatus
The problem of low and influence grabs precision.
The present invention is achieved by the following technical solutions:
A kind of automatic station sets platform, including positioning mechanism and supporting mechanism；The positioning mechanism is set to the support
In mechanism；
The positioning mechanism includes positioning pin and guide plate；Location hole is provided on the guide plate for described fixed
Position pin is mating；
The supporting mechanism includes erecting bed, axis, upper ball, upper limit position block, transfer block, cylinder, lower position block, lower rolling
Pearl, bottom support and sole piece；
It is fixedly connected between the erecting bed, the axis and the sole piece；
It is fixedly connected between the upper limit position block, the transfer block and the lower position block；It is set on the upper limit position block
It is equipped with centre bore, lower centre bore is provided on the lower position block；The upper end of the axis pass through the upper centre bore with
The lower surface of the erecting bed is fixedly connected, and the lower end of the axis passes through the lower centre bore and is fixedly connected with the sole piece；
It is slidably connected between the upper surface of the upper limit position block and the lower surface of the erecting bed by the upper ball；Institute
It states and is slidably connected between the lower surface of lower position block and the upper surface of the sole piece by the lower ball；
The cylinder is fixed on the upper surface of the lower position block, and the piston rod of the cylinder and the fixed company of the axis
It connects；
The lower surface of the lower position block is fixed in the bottom support.
The guide plate includes a side guide part that top extends outward of guide plate ontology and the guide plate ontology；
This arcuate structure of the guide part.
Fixed structure between the erecting bed, the axis and the sole piece is in I-shaped, and the axial direction of the axis
The extended line of middle line passes through the midpoint of the erecting bed and the midpoint of the sole piece respectively.
The axis successively includes upper cylinder, quadrangular and lower cylinder from top to bottom；The upper cylinder and the upper center
Hole is corresponding, and the lower cylinder is corresponding with the lower centre bore；
The piston rod of the cylinder is fixed on the quadrangular.
It is cased with upper bumper ring on the upper cylinder, is cased with lower bumper ring on the lower cylinder.
The cylinder is four, respectively the first cylinder, the second cylinder, third cylinder and the 4th cylinder, four gas
Cylinder is uniformly arranged on the lower position block.
The beneficial effects of the present invention are:
The technical program passes through the lower rolling between upper ball, sole piece and the lower position block between erecting bed and upper limit position block
Pearl realizes the relative rotation of supporting mechanism, and passes through the setting of four cylinders, realizes the school after erecting bed shifts
Just, the position for realizing the crawl of crawl robot is held essentially constant, and improves crawl precision.
Detailed description of the invention
Fig. 1 is prior art material library and transfer arrangement schematic diagram；
Fig. 2 is the axonometric drawing that automatic station of the present invention sets platform；
Fig. 3 is positioning mechanism front view；
Fig. 4 is the schematic diagram of internal structure of supporting mechanism；
Fig. 5 is the front view of supporting mechanism；
Fig. 6 is the A-A cross-sectional view of Fig. 5；
Fig. 7 is the B-B cross-sectional view of Fig. 5；
Fig. 8 is the C-C cross-sectional view of Fig. 5.
Description of symbols
01 stock material point, 02 material anchor point, 03 robot working position, 04 piece uploading position, 05 positioning tool, 100 positioning
Mechanism, 101 positioning pins, 102 guide plate ontologies, 103 guide parts, 200 supporting mechanisms, 201 erecting beds, 202 axis roll on 203
Pearl, 204 upper limit position blocks, 205 transfer blocks, 206 cylinders, 207 lower position blocks, 208 lower balls, 209 bottoms support, bumper ring on 210,
211 lower bumper rings, 212 sole pieces.
Specific embodiment
Carry out the technical solution that the present invention will be described in detail by the following examples, and is not to be construed as to the technology of the present invention side
The limitation of case.
As shown in Fig. 2, the application is mainly made of positioning mechanism 100 and supporting mechanism 200, positioning mechanism 100 is set to
On supporting mechanism 200, in this application, positioning mechanism altogether there are two, the line of two positioning mechanisms crosses the axial direction of supporting mechanism
Middle line.
Positioning mechanism 100 includes positioning pin 101 and guide plate；Location hole is provided on guide plate for inserting with positioning pin
Connect cooperation.
As shown in figure 3, guide plate includes leading for the outside top extension of a side of guide plate ontology 102 and guide plate ontology
To portion 103；Guide plate ontology is rectangular parallelepiped structure, and guide plate ontology in this application is hollow rectangular parallelepiped structure, at this
In the other embodiments of application, guide plate ontology can be solid rectangular parallelepiped structure, and location hole is set to guide plate ontology
Upper surface, this arcuate structure of guide part.
The positioning pin 101 of positioning mechanism 100 is fixedly mounted on working position apparatus, and location hole and guide plate are fixedly mounted on branch
On support mechanism, working position apparatus is placed on mounting surface on supporting mechanism.When in use, robot crawl is placed on supporting mechanism 200
Components inside the above working position apparatus, because the position of working position apparatus inner body has deviation to a certain degree, robot system
It will drive supporting mechanism in the process of grasping to shift until grabbed the position of part and default consistent, at this time robot system
Crawl function is executed, after crawl is completed, supporting mechanism automatically resets to original state, and waiting grabs next time.
As shown in figure 4, supporting mechanism 200 includes erecting bed 201, axis 202, upper ball 203, upper limit position block 204, switching
Block 205, cylinder 206, lower position block 207, lower ball 208, bottom support 209 and sole piece 212.
It is fixedly connected between erecting bed 201, axis 202 and sole piece 212；Fixed knot between erecting bed, axis and sole piece
Structure is in I-shaped, and the extended line of the axial centerline of axis passes through the midpoint of erecting bed and the midpoint of sole piece respectively.In this implementation
In example, erecting bed and sole piece are circular plate structure, and the diameter of erecting bed is greater than the diameter of sole piece.
It is fixedly connected between upper limit position block 204, transfer block 205 and lower position block 207；Wherein the upper surface of transfer block with it is upper
The outside under surface of limited block is fixedly connected, and the lower end of transfer block is fixedly connected with the outside under surface of lower position block；Upper limit
Block and lower position block are rondelle structure, and upper centre bore is provided on upper limit position block, is provided in lower on lower position block
Heart hole；The upper end of axis passes through upper centre bore and is fixedly connected with the lower surface of erecting bed, the lower end of axis pass through lower centre bore with
Sole piece is fixedly connected.
It is slidably connected between the upper surface of upper limit position block 204 and the lower surface of erecting bed 201 by upper ball 203；Lower limit
It is slidably connected between the lower surface of position block 207 and the upper surface of sole piece 212 by lower ball；In the present embodiment, in erecting bed
Lower surface and upper limit position block lower surface between be provided with ball on two circles, in the lower surface of lower position block and the upper table of sole piece
Ball under two circles is provided between face.
Specific structure is that upper ball is embedded in the lower surface of erecting bed, and lower ball is embedded in the upper surface of sole piece, in the upper limit
The upper surface of position block is provided with two circle wide-u-shaped notches and two and encloses upper ball engagement；The lower surface of lower position block is provided with two circles
Wide-u-shaped notch and lower ball engagement.
Axis 202 successively includes upper cylinder, quadrangular and lower cylinder from top to bottom；Upper cylinder is corresponding with upper centre bore,
Lower cylinder is corresponding with lower centre bore.
The piston rod of cylinder 206 is fixed on quadrangular, and in the present embodiment, the cross section of quadrangular is square.
It is cased with upper bumper ring 210 on upper cylinder, lower bumper ring 211 is cased on lower cylinder.
Cylinder 206 is fixed on the upper surface of lower position block, and the piston rod of cylinder is fixedly connected with axis；Cylinder is four
A, respectively the first cylinder, the second cylinder, third cylinder and the 4th cylinder, four cylinders are uniformly arranged on lower position block, and four
The piston rod of a cylinder is individually fixed on four sides of quadrangular.
The lower surface of lower position block is fixed in bottom support 209.
In use, state shown in Fig. 7 is original state, and robot system, which starts to contact, at this time is placed in the present invention
On working position apparatus and drive erecting bed 201 to shift, erecting bed 201, axis 202, bottom support 209 and up and down ball it is same
When shift, maximum offset be axis 202 on upper bumper ring be in contact with upper limit position block 204, lower bumper ring and
Lower position block is in contact；When erecting bed 201 and working position apparatus are offset to theoretical position, robot executes grip function and removes
Out, hereafter four cylinders 206 stretching simultaneously restores erecting bed 201, axis 202, bottom support 209 and upper and lower ball to initial shape
Position shown in state, that is, Fig. 7 waits next round crawl movement.
It although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
A variety of variations, modification, replacement can be carried out to these embodiments without departing from the principles and spirit of the present invention by understanding
And deformation, the scope of the present invention are extremely equally limited by appended claims.
Claims (6)
1. a kind of automatic station sets platform, which is characterized in that including positioning mechanism and supporting mechanism；The positioning mechanism is set to
On the supporting mechanism；
The positioning mechanism includes positioning pin and guide plate；Location hole is provided on the guide plate for the positioning pin
It is mating；
The supporting mechanism include erecting bed, axis, upper ball, upper limit position block, transfer block, cylinder, lower position block, lower ball,
Bottom support and sole piece；
It is fixedly connected between the erecting bed, the axis and the sole piece；
It is fixedly connected between the upper limit position block, the transfer block and the lower position block；It is provided on the upper limit position block
Upper centre bore is provided with lower centre bore on the lower position block；The upper end of the axis pass through the upper centre bore with it is described
The lower surface of erecting bed is fixedly connected, and the lower end of the axis passes through the lower centre bore and is fixedly connected with the sole piece；
It is slidably connected between the upper surface of the upper limit position block and the lower surface of the erecting bed by the upper ball；Under described
It is slidably connected between the lower surface of limited block and the upper surface of the sole piece by the lower ball；
The cylinder is fixed on the upper surface of the lower position block, and the piston rod of the cylinder is fixedly connected with the axis；
The lower surface of the lower position block is fixed in the bottom support；
Robot system starts contact and is placed in automatic station and sets the working position apparatus on platform and erecting bed is driven to shift,
Erecting bed, axis, bottom support and upper and lower ball shift simultaneously, and maximum offset is upper bumper ring and the upper limit on axis
Position block is in contact, and lower bumper ring is in contact with lower position block；When erecting bed and working position apparatus are offset to theoretical position opportunity
Device people executes grip function and withdraws from, and hereafter four cylinders stretch out simultaneously restores erecting bed, axis, bottom support and upper and lower ball
To original state position, next round crawl movement is waited.
2. automatic station according to claim 1 sets platform, which is characterized in that the guide plate include guide plate ontology and
A side of guide plate ontology guide part that top extends outward；The guide part is arcuate structure.
3. automatic station according to claim 1 sets platform, which is characterized in that the erecting bed, the axis and described
Fixed structure between sole piece is in I-shaped, and the extended line of the axial centerline of the axis passes through respectively in the erecting bed
The midpoint of point and the sole piece.
4. automatic station according to claim 1 sets platform, which is characterized in that the axis successively includes upper from top to bottom
Cylinder, quadrangular and lower cylinder；The upper cylinder is corresponding with the upper centre bore, the lower cylinder and the lower centre bore phase
It is corresponding；
The piston rod of the cylinder is fixed on the quadrangular.
5. automatic station according to claim 4 sets platform, which is characterized in that be cased with upper buffering on the upper cylinder
Circle, is cased with lower bumper ring on the lower cylinder.
6. automatic station according to claim 4 sets platform, which is characterized in that the cylinder be four, respectively first
Cylinder, the second cylinder, third cylinder and the 4th cylinder, four cylinders are uniformly arranged on the lower position block, four institutes
The piston rod for stating cylinder is individually fixed on four sides of the quadrangular.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810072928.9A CN108296856B (en) | 2018-01-25 | 2018-01-25 | A kind of automatic station sets platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810072928.9A CN108296856B (en) | 2018-01-25 | 2018-01-25 | A kind of automatic station sets platform |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108296856A CN108296856A (en) | 2018-07-20 |
| CN108296856B true CN108296856B (en) | 2019-08-06 |
Family
ID=62866272
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810072928.9A Expired - Fee Related CN108296856B (en) | 2018-01-25 | 2018-01-25 | A kind of automatic station sets platform |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108296856B (en) |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2983985B1 (en) * | 1999-01-28 | 1999-11-29 | エスアールエンジニアリング株式会社 | Article movable support device |
| US8666534B2 (en) * | 2006-03-02 | 2014-03-04 | Mikron Agie Charmilles Ag | Method and apparatus for a displacement correction for a machine tool |
| CN101612703B (en) * | 2008-06-26 | 2011-04-27 | 卫华集团有限公司 | Mechanical processing worktable |
| CN204221496U (en) * | 2014-11-05 | 2015-03-25 | 上海电气核电设备有限公司 | Translation supporting construction |
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2018
- 2018-01-25 CN CN201810072928.9A patent/CN108296856B/en not_active Expired - Fee Related
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| Publication number | Publication date |
|---|---|
| CN108296856A (en) | 2018-07-20 |
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Granted publication date: 20190806 |