CN108637771A - Device for robot switching sled support - Google Patents
Device for robot switching sled support Download PDFInfo
- Publication number
- CN108637771A CN108637771A CN201810397940.7A CN201810397940A CN108637771A CN 108637771 A CN108637771 A CN 108637771A CN 201810397940 A CN201810397940 A CN 201810397940A CN 108637771 A CN108637771 A CN 108637771A
- Authority
- CN
- China
- Prior art keywords
- robot
- driving lever
- sled
- sled support
- spring
- 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.)
- Granted
Links
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
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25H—WORKSHOP EQUIPMENT, e.g. FOR MARKING-OUT WORK; STORAGE MEANS FOR WORKSHOPS
- B25H1/00—Work benches; Portable stands or supports for positioning portable tools or work to be operated on thereby
- B25H1/0007—Work benches; Portable stands or supports for positioning portable tools or work to be operated on thereby for engines, motor-vehicles or bicycles
Abstract
The invention discloses a kind of devices for robot switching sled support, it is related to automobile production equipment manufacturing technology field, including connecting seat and driving lever, carriage is connected between connecting seat and driving lever, carriage includes the upper layer connecting plate that upper surface is connected with connecting seat and lower face is equipped with lower layer's sliding panel that driving lever frame is connected with driving lever, lower layer's sliding panel upper surface is arranged with two sliding blocks, upper layer connecting plate lower end face is equipped with the sliding rail being connected with two sliding blocks, upper layer connecting plate both ends are equipped with slide block limiting plate, two are additionally provided on the connecting plate lower end face of upper layer for pacifying spring-loaded screw rod, pre-load nut, which is screwed into screw rod a distance, makes spring pre-tightening, the spring of preload gives the reset force that lower layer's sliding panel provides two glide directions respectively, it supports and switches for sled；Compared with prior art, the present invention enable to switching support process control, to sled support and robot impact it is small, can meet robot automatically switch sled support the needs of.
Description
Technical field
It is especially a kind of to switch sled support for robot the present invention relates to automobile production equipment manufacturing technology field
Device.
Background technology
Automobile factory's product of early stage is relatively simple, and product platform is less, thus the vehicle body number of support points above sled compared with
The phenomenon that lacking, being not in interference substantially.With the rapid development of national auto industry, the product line of automobile factory is more and more richer
Richness has the vehicle mixed production of kinds of platform on same production line, it may appear that the case where sled support interferes, it need to be by cunning
Sledge supported design avoids interference at the form of overturning switching.Widely used at present is cut by the support of the sled of power of cylinder
It changes and robot switching sled support two ways.By taking the switching sled support of the robot of use as an example, a hard driving lever passes through
Bolt is fixed on the ring flange of six axis of robot, and stirring sled support by hard driving lever is spun upside down, and realizes sled branch
Support vehicle switching.But in practical application, the machining accuracy of sled, the stop position precision of operation add up, and can to slide
The repetitive positioning accuracy of sledge support is poor（About ± 5mm）, when robot is run by fixation locus, because sled Support Position deviates
Cause driving lever to block, causes robot overload-alarm；Simultaneously because robot overload-alarm sensitivity is not high, it is unable to control power output
Numerical value, once there is the above situation, it is easy to cause sled damage etc. secondary failure.
Invention content
In order to solve the above technical problem, the present invention provides a kind of devices for robot switching sled support, can
So that switching support process control, to sled support and robot impact it is small, can meet robot automatically switch sled support
Demand.
The technical solution adopted by the present invention is：This device for robot switching sled support includes connecting seat and dials
Bar is connected with carriage between the connecting seat and the driving lever.
In above-mentioned technical proposal, more specific technical solution can also be：The carriage include upper surface with it is described
The upper layer connecting plate and lower face that connecting seat is connected are equipped with lower layer's sliding panel that driving lever frame is connected with the driving lever, under described
Layer sliding panel upper surface is arranged with two sliding blocks, and upper layer connecting plate lower end face is equipped with the sliding rail being connected with two sliding blocks,
The sliding rail both sides are equipped with for pacifying spring-loaded screw rod, and the screw rod is equipped with spring and for fixing the anti-of the spring
Loose nut, upper layer connecting plate both ends are equipped with slide block limiting plate.
Further：The pre-load nut for spring pre-tightening is equipped between the stop nut and the spring
Further：The warning device being connected with robot control system is equipped between the slide block limiting plate and the sliding block.
Further：The warning device includes location switch and carry switch.
Further：The connecting seat is connect by bolt with the ring flange of robot the 6th axis, the ring flange with
Positioning pin is equipped between the connecting seat.
Further：The driving lever is made of aluminium alloy.
Further：The spring is made with rigidity of the helical spring of 4.5N/mm.
By adopting the above-described technical solution, the present invention has the advantages that compared with prior art：
1, by the connecting seat being connected with robot and by sled support erect come driving lever between be equipped with carriage, slide
Device has the function of buffering, plays the role of reducing sled support to robot impact force；
2, carriage is designed as two layers, is the upper layer connecting plate for being fixed with sliding rail at the middle and upper levels, and lower layer is to be fixed with cunning
Lower layer's sliding panel of block is combined by the line slide rail of sliding rail and sliding block, the sliding between levels is realized, in upper layer connecting plate
It is additionally provided with the self-return that upper and lower structures are realized for the spring of pressed slider；
3, it is equipped with slide block limiting plate at upper layer connecting plate both ends, is to be caused sliding block from sliding rail by impact force is excessive in order to prevent
It slips, the warning device being connected with robot control system is equipped between slide block limiting plate and sliding block and plays prompt working condition
Effect, when sliding block slides to location switch, prompt working condition it is normal, when sliding block slide to carry switch when, robot can be stood
Quarter is stopped；
4, in view of driving lever and sled are supported by friction, driving lever selects aluminum alloy material that can mitigate the abrasion that sled supports；Its
Secondary aluminium alloy elongation is relatively low, once excess load will be broken rather than deform, prevent driving lever deformation caused by driving lever with
Sled support collision failure, protects the safety of robot and sled support.
Description of the drawings
Fig. 1 is the stereoscopic schematic diagram of the present invention.
Fig. 2 is the structural schematic diagram of the present invention.
Fig. 3 is the overlooking structure diagram of Fig. 2.
Fig. 4 is that the pressing force that driving lever exports in the present invention compresses the correspondence figure of distance with robot.
Specific implementation mode
The invention will be further described for example below in conjunction with the accompanying drawings：
Device for robot switching sled support as shown in Figure 1, Figure 2 and Figure 3, including connecting seat 1 and driving lever 2, connection
It is connected with carriage between seat 1 and driving lever 2；Carriage includes the upper layer connecting plate 3-1 that upper surface is connected with connecting seat 1
It is equipped with the lower layer sliding panel 4-1 that driving lever frame 4-3 is connected with driving lever 2 with lower face, the upper surfaces lower layer sliding panel 4-1 are arranged with
Two sliding block 4-2, the lower faces upper layer connecting plate 3-1 are equipped with the sliding rail 3-6 being connected with two sliding blocks, upper layer connecting plate both ends
It is equipped with slide block limiting plate 3-7, two are additionally provided on the connecting plate lower end face of upper layer for pacifying spring-loaded screw rod 3-2, will be pre-tightened
Nut 3-3, which is screwed into screw rod 3-2 a distances, makes spring 3-4 pre-tighten, and the spring 3-4 of preload gives lower layer sliding panel 4-1 to provide respectively
The reset force of two glide directions, and robot displacement makes to provide, size opposite with robot displacement direction when spring-compressed
Controllable elastic force, for sled support switching；It is equipped with for spring pre-tightening between stop nut 3-3-1 and the spring 3-4
The warning device 3-5 being connected with robot control system is equipped between pre-load nut 3-3-2 slide block limiting plates 3-7 and sliding block 4-2；
Warning device 3-5 includes location switch 3-5-1 and carry switch 3-5-2；Connecting seat 1 passes through bolt and positioning pin and robot the
The ring flange of six axis is connected and is fixed, and positioning pin is equipped between the ring flange and connecting seat 1, and driving lever 2 is made of aluminium alloy,
Spring 3-4 is made with rigidity of the helical spring of 4.5N/mm.
In use, as shown in figure 4, sled is supported the limit for erecting come and reaching sled support by driving lever 2 by robot
After point, robot continues to run 50mm to sled support limit point direction, driving lever 2 and connection during robot continues to run with
Sliding is generated by carriage between seat 1, spring 3-4 compressed, the elastic force that spring 3-4 is generated by driving lever frame 4-3, dial
Bar 2 is transmitted in sled support, and the pressing force of about 200N~300N acts in sled support, it is ensured that sled support reaches limit
Point prevents sled support because getting rusty or sundries card resistance can not switch incomplete phenomena caused by flexible rotating；In machine
While people has run 50mm, location switch 3-5-1 can send out signal when the slippage of sliding block 4-2 is 50mm, give robot
Control system confirms sled support switching in place；The pressing force exported if there is driving lever 2 can not make sled support rotating in place
Serious card resistance situation, when robot has run 50mm, the slippage of sliding block 4-2 will be more than 50mm, can touch carry switch
3-5-2 gives robot control system alarm signal, periods of robot operation stop to prevent sled support and switch feelings not in place
Condition.The helical spring that spring 3-4 is about 4.5N/mm using rigidity is equipped between stop nut 3-3-1 and the spring 3-4 and uses
Pre-load nut 3-3-2 is tightened into about 11mm when mounted in the pre-load nut 3-3-2 of spring pre-tightening, to spring 3-4 about 50N's
Pretightning force, pretightning force are more than the dead weight of driving lever frame 4-3 and driving lever 2 so that driving lever frame 4-3 can be returned accurately automatically with driving lever 2
It is bound to original position.The present invention is cleverly realized by carriage and spring 3-4 the displacement of robot being converted to pressing force
Mechanism has not only played the advantage that robot motion is flexible, teaching is convenient, repeatable accuracy is good, and also compensating for robot can only be into
Row Bit andits control can not carry out the deficiency of power output control；Through practical proof, the present invention can meet robot and cut automatically completely
Change the demand of sled support.
Claims (8)
1. a kind of device for robot switching sled support, including connecting seat（1）And driving lever（2）, it is characterised in that：It is described
Connecting seat（1）With the driving lever（2）Between be connected with carriage.
2. the device according to claim 1 for robot switching sled support, it is characterised in that：The carriage
Including upper surface and the connecting seat（1）The upper layer connecting plate being connected（3-1）It is equipped with driving lever frame with lower face（4-3）With it is described
Driving lever（2）The lower layer's sliding panel being connected（4-1）, lower layer's sliding panel（4-1）Upper surface is arranged with two sliding blocks（4-
2）, the upper layer connecting plate（3-1）Lower face is equipped with and two sliding blocks（4-2）Connected sliding rail（3-6）, the sliding rail（3-6）
Both sides are equipped with screw rod（3-2）, the screw rod（3-2）It is equipped with spring（3-4）And stop nut（3-3-1）, the upper layer connects
Fishplate bar（3-1）Both ends are equipped with slide block limiting plate（3-7）.
3. the device according to claim 2 for robot switching sled support, it is characterised in that：The stop nut
（3-3-1）With the spring（3-4）Between be equipped with pre-load nut（3-3-2）.
4. the device according to claim 3 for robot switching sled support, it is characterised in that：The sliding block limit
Plate（3-7）With the sliding block（4-2）Between be equipped with the warning device that is connected with robot control system（3-5）.
5. the device according to claim 4 for robot switching sled support, it is characterised in that：The warning device
（3-5）Including location switch（3-5-1）It is switched with carry（3-5-2）.
6. the device according to claim 5 for robot switching sled support, it is characterised in that：The connecting seat
（1）It is connect with the ring flange of robot the 6th axis by bolt, in the ring flange and the connecting seat（1）Between be equipped with positioning
Pin.
7. the device according to claim 6 for robot switching sled support, it is characterised in that：The driving lever（2）
It is made of aluminium alloy.
8. the device according to claim 7 for robot switching sled support, it is characterised in that：The spring（3-
4）It is made of the helical spring of 4.5N/mm with rigidity.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810397940.7A CN108637771B (en) | 2018-04-28 | 2018-04-28 | Device for switching skid support of robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810397940.7A CN108637771B (en) | 2018-04-28 | 2018-04-28 | Device for switching skid support of robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108637771A true CN108637771A (en) | 2018-10-12 |
| CN108637771B CN108637771B (en) | 2020-08-14 |
Family
ID=63748454
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810397940.7A Active CN108637771B (en) | 2018-04-28 | 2018-04-28 | Device for switching skid support of robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN108637771B (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102862305A (en) * | 2012-09-28 | 2013-01-09 | 天津赛象科技股份有限公司 | Tire face feeding system |
| CN204308970U (en) * | 2014-12-17 | 2015-05-06 | 上海卡甫机电设备有限公司 | The online switching mechanism of a kind of robot frock |
| CN204779654U (en) * | 2015-06-30 | 2015-11-18 | 福州严创自动化科技有限公司 | Machinery in casthouse hand |
| CN105252329A (en) * | 2015-11-06 | 2016-01-20 | 天津市晟方庆宇科技发展有限公司 | Discharging device |
| CN105945497A (en) * | 2016-06-29 | 2016-09-21 | 上汽通用五菱汽车股份有限公司 | Car body conveying skid system |
| CN106272327A (en) * | 2016-08-28 | 2017-01-04 | 九江职业技术学院 | A kind of mechanical hand |
-
2018
- 2018-04-28 CN CN201810397940.7A patent/CN108637771B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102862305A (en) * | 2012-09-28 | 2013-01-09 | 天津赛象科技股份有限公司 | Tire face feeding system |
| CN204308970U (en) * | 2014-12-17 | 2015-05-06 | 上海卡甫机电设备有限公司 | The online switching mechanism of a kind of robot frock |
| CN204779654U (en) * | 2015-06-30 | 2015-11-18 | 福州严创自动化科技有限公司 | Machinery in casthouse hand |
| CN105252329A (en) * | 2015-11-06 | 2016-01-20 | 天津市晟方庆宇科技发展有限公司 | Discharging device |
| CN105945497A (en) * | 2016-06-29 | 2016-09-21 | 上汽通用五菱汽车股份有限公司 | Car body conveying skid system |
| CN106272327A (en) * | 2016-08-28 | 2017-01-04 | 九江职业技术学院 | A kind of mechanical hand |
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| Publication number | Publication date |
|---|---|
| CN108637771B (en) | 2020-08-14 |
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