CN109202397B - sliding claw type gasket quantitative assembly robot system - Google Patents
sliding claw type gasket quantitative assembly robot system Download PDFInfo
- Publication number
- CN109202397B CN109202397B CN201811054311.0A CN201811054311A CN109202397B CN 109202397 B CN109202397 B CN 109202397B CN 201811054311 A CN201811054311 A CN 201811054311A CN 109202397 B CN109202397 B CN 109202397B
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- gasket
- lugs
- device body
- jacking ring
- spring
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/001—Article feeders for assembling machines
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Gasket Seals (AREA)
- Automatic Assembly (AREA)
Abstract
The invention discloses a sliding claw type quantitative gasket assembling robot system which comprises a feeding pipe, a discharging device body, a floating jacking ring, a fixing plate and a second spring, wherein the fixing plate and the second spring are positioned above the discharging device body; the gasket quantitative taking and assembling device can achieve the purpose that quantitative taking and assembling of the gasket are combined together, reduces abrasion caused by friction between the gasket and other objects, and enables the stability of the gasket to be more durable.
Description
Technical Field
the invention relates to the field of part assembly, in particular to a sliding claw type quantitative gasket assembly robot system.
background
In the production process of an engine, the installation work of the gasket is important, if the gasket is lacked, subsequent stations cannot be searched, the durability problem can occur in the operation process of the engine, the abnormal noise of the engine can occur when the gasket is placed too many, and the NVH effect of the engine is influenced, so that the gasket can be quickly and accurately taken in quantity, and the installation process is very important, aiming at the situation, the gasket quantitative taking device is adopted in the prior art and comprises a base, a fixed seat is fixedly arranged on the base, a feeding pipe is arranged on the fixed seat, a through groove is arranged between the fixed seat and the base, the feeding pipe is communicated with the through groove, a push block and a pull block are arranged on the base, a sliding groove is also arranged on the base, the pull block is positioned in the sliding groove, the groove wall of the sliding groove is wedge-shaped, the part of the pull block, which is embedded into the sliding groove, is consistent in shape with the inner contour of, the method solves the problem of quantitative taking of the gasket; however, the gasket is rubbed with other objects, so that the stability of the gasket is not durable enough, and even the gasket is used for a long time, and due to the friction, the gasket can be quantitatively taken with errors.
Disclosure of Invention
The invention aims to overcome the defects and provide a sliding claw type gasket quantitative assembly robot system.
In order to achieve the purpose, the invention adopts the following specific scheme: a sliding claw type quantitative gasket assembling robot system comprises a main cross arm, a connecting arm capable of sliding left and right is arranged below the main cross arm, and an assembling manipulator is arranged below the connecting arm.
The assembly manipulator comprises a gasket placing device; the gasket placing device comprises a tubular discharging device body and a floating jacking ring, the inner diameter of the floating jacking ring is equal to the outer diameter of the discharging device body, the floating jacking ring is sleeved on the discharging device body, the height difference between the bottom surface of the floating jacking ring and the bottom surface of the gasket at the bottommost end is two gasket thicknesses, three pairs of first lugs are arranged on the outer wall of the discharging device body at equal intervals, three pairs of second lugs corresponding to the three pairs of first lugs respectively are arranged on the top surface of the floating jacking ring, each pair of first lugs is connected with a transmission block in a shaft joint mode, a roller is rotatably connected between each pair of second lugs, a first spring is connected between the upper portion of the transmission block and the outer wall of the discharging device body, a cambered surface abutted against the roller is arranged on one surface of the middle portion of the transmission block, which deviates from the discharging device body, a sliding clamping jaw is pivoted on the lower portion of the transmission block, the discharging device body is provided, the three limiting holes are respectively positioned under the three pairs of first lugs, the three sliding clamping jaws are respectively arranged in the three limiting holes in a penetrating manner and extend into the feeding device body, a concave surface is arranged at one end of each sliding clamping jaw, which is in contact with the gasket, three U-shaped openings formed by outward sinking are arranged on the inner circumferential wall of the floating jacking ring, and the U-shaped openings are used for providing movable spaces for the sliding clamping jaws and the transmission block; the gasket placing device further comprises an annular fixing plate and a second spring, the fixing plate is arranged on the top surface of the emptying device body, three third lugs are arranged on the circumferential wall of the fixing plate in an outward protruding mode, the third lugs and the first lugs are arranged in a staggered mode, screws penetrate through the three third lugs, the other end of each screw is in threaded connection with the floating jacking ring, the second spring is sleeved on the screws, one end of the second spring abuts against the third lugs, and the other end of the second spring abuts against the floating jacking ring;
the feeding device comprises a feeding pipe, the outer diameter of the feeding pipe is equal to the inner diameter of the fixing plate, and one end of the feeding pipe sequentially extends into the fixing plate and the feeding device body.
further, the outer wall of the feeding pipe is provided with a strip-shaped hole.
The other end of the feeding pipe is provided with an end cover.
The invention has the beneficial effects that: the external displacement mechanism drives the downward probe to contact with the surface of a workpiece to be provided with the gasket, the spring is extruded to realize quantitative assembly of the gasket, and the gasket assembling device is reliable in work and high in efficiency; the gaskets are stacked in the feeding pipe, so that the friction between the surfaces of the gaskets can be reduced to the maximum extent, the surface quality of the gaskets is ensured, the gaskets are automatically fed under the action of gravity, the mode is flexible, and the efficiency is high; setting the height difference between the bottom surface of the floating jacking ring and the gasket at the bottommost end as the thickness of two gaskets, enabling the floating jacking ring to drive the sliding clamping jaw to loosen once when rising every time, and only one gasket can fall off, so as to realize quantitative assembly of the gasket, when the gasket placing device is in a non-pressure state, the floating jacking ring resets under the action of the second spring, the roller cannot extrude the transmission block, so that the first spring rebounds and transmits the clamping force to the sliding clamping jaw through the transmission block to clamp the penultimate gasket, and preparation is made for assembling the next gasket; the gasket taking and assembling device can be used for finishing quantitative taking and assembling of the gasket, the efficiency is higher, in the process of taking and assembling the gasket, the abrasion caused by the friction between the gasket and other objects is reduced, the gasket is better protected, and the stability of the gasket is longer.
Drawings
FIG. 1 is a front view of the present invention;
FIG. 2 is a schematic structural view of the present invention;
FIG. 3 is a schematic structural view from another perspective of the present invention;
FIG. 4 is a schematic view of the gasket-placing apparatus of the present invention;
FIG. 5 is a schematic view of the gasket-placing apparatus of the present invention from another perspective;
FIG. 6 is a top view of the gasket placement device of the present invention;
FIG. 7 is a bottom view of the gasket placement device of the present invention;
FIG. 8 is a schematic structural view of the discharging device body of the present invention;
FIG. 9 is a schematic structural view of the floating lift ring of the present invention;
FIG. 10 is a schematic view of the construction of the drive block of the present invention;
description of reference numerals: 11-a discharging device body; 111-a first lug; 112-a limiting hole; 12-floating jacking ring; 121-a second lug; 122-a U-shaped mouth; 13-a transmission block; 14-a roller; 15-a first spring; 16-sliding jaws; 17-fixing the plate; 171-a third lug; 18-a second spring; 19-a screw; 21-a feeding pipe; 211-bar shaped holes; a 1-primary crossbar; a 2-assembly robot.
Detailed Description
The invention will be described in further detail with reference to the following figures and specific examples, without limiting the scope of the invention.
As shown in fig. 1 to 10, the sliding claw type quantitative gasket assembling robot system according to the present embodiment includes a main horizontal arm a1, a connecting arm capable of sliding left and right is provided below the main horizontal arm, and an assembling manipulator a2 is provided below the connecting arm.
the assembly manipulator comprises a gasket placing device; the gasket placing device comprises a tubular discharging device body 11 and a floating jacking ring 12, the inner diameter of the floating jacking ring 12 is equal to the outer diameter of the discharging device body 11, the floating jacking ring 12 is sleeved on the discharging device body 11, the height difference between the bottom surface of the floating jacking ring 12 and the bottom surface of the gasket at the bottommost end is two gasket thicknesses, three pairs of first lugs 111 are arranged on the outer wall of the discharging device body 11 at equal intervals, three pairs of second lugs 121 respectively corresponding to the three pairs of first lugs 111 are arranged on the top surface of the floating jacking ring 12, a transmission block 13 is connected to each pair of first lugs 111 in a shaft mode, a roller 14 is rotatably connected between each pair of second lugs 121, a first spring 15 is connected between the upper portion of the transmission block 13 and the outer wall of the discharging device body 11, and an arc surface abutted to the roller 14 is arranged on one surface of the middle portion of the transmission block 13, which is far away from the, the lower part of the transmission block 13 is pivoted with a sliding clamping jaw 16, the emptying device body 11 is provided with three limiting holes 112 for guiding the sliding clamping jaw 16, the three limiting holes 112 are respectively positioned under the three pairs of first lugs 111, the three sliding clamping jaws 16 are respectively arranged in the three limiting holes 112 in a penetrating manner and extend into the emptying device body 11, one end of the sliding clamping jaw 16, which is contacted with the gasket, is provided with a concave surface, the inner circumferential wall of the floating jacking ring 12 is provided with three U-shaped openings 122 formed by outward sinking, and the U-shaped openings 122 are used for providing movable spaces for the sliding clamping jaw 16 and the transmission block 13; the gasket placing device further comprises an annular fixing plate 17 and a second spring 18, the fixing plate 17 is arranged on the top surface of the emptying device body 11, three third lugs 171 are arranged on the circumferential wall of the fixing plate 17 in an outward protruding mode, the third lugs 171 and the first lugs 111 are arranged in a staggered mode, screws 19 penetrate through the three third lugs 171, the other ends of the screws 19 are in threaded connection with the floating jacking ring 12, the second spring 18 is sleeved on the screws 19, one end of the second spring 18 abuts against the third lugs 171, and the other end of the second spring 18 abuts against the floating jacking ring 12;
The feeding device comprises a feeding pipe 21, the outer diameter of the feeding pipe 21 is equal to the inner diameter of the fixed plate 17, and one end of the feeding pipe 21 sequentially extends into the fixed plate 17 and the discharging device body 11.
The working mode of the embodiment is as follows: when the gasket placing device works, gaskets are sequentially placed into the feeding pipe 21, the three sliding clamping jaws 16 clamp the bottommost gasket, then the external displacement mechanism drives the mechanism to downwards stretch to be in contact with the surface of a workpiece to be filled with the gasket, meanwhile, the floating jacking ring 12 is extruded to rise by the height of one gasket and compress the second spring 18, the floating jacking ring 12 rises to drive the roller 14 to extrude the transmission block 13 to compress the first spring 15, meanwhile, due to the lever principle, the transmission block 13 drives the sliding clamping jaws 16 to outwards slide, so that the gasket is separated from the limit of the sliding clamping jaws 16 and falls on the surface of the workpiece to be installed, when the gasket placing device is driven to rise by the external displacement mechanism, the floating jacking ring 12 resets under the elastic force of the second spring 18, and the roller 14 returns to the fulcrum position and does not extrude the transmission block 13 any more, the first spring 15 extends outwards to transmit clamping force to the sliding clamping jaw 16 through the transmission block 13 to clamp the penultimate gasket, so that the assembly of one gasket is completed, and the quantitative assembly work of the gasket can be continuously carried out by repeating the process.
In the embodiment, the external displacement mechanism drives the downward probe to contact with the surface of the workpiece to be provided with the gasket, the spring is extruded to realize quantitative assembly of the gasket, and the gasket is reliable in operation and high in efficiency; the gaskets are stacked in the feeding pipe 21, so that the friction between the surfaces of the gaskets can be reduced to the maximum extent, the surface quality of the gaskets is ensured, the gaskets are automatically fed under the action of gravity, the mode is flexible, and the efficiency is high; setting the height difference between the bottom surface of the floating jacking ring 12 and the gasket at the bottommost end as the thickness of two gaskets, enabling the floating jacking ring 12 to drive the sliding clamping jaw 16 to loosen once when rising each time, and only one gasket can fall off, so as to realize quantitative assembly of the gasket, when the gasket placing device is in a non-pressure state, the floating jacking ring 12 resets under the action of the second spring 18, the roller 14 cannot squeeze the transmission block 13, so that the first spring 15 rebounds, and the transmission block 13 transmits a clamping force to the sliding clamping jaw 16 to clamp the penultimate gasket, so as to prepare for assembly of the next gasket; this embodiment realizes taking the ration of gasket and assembles the completion together, and efficiency is higher, and at the in-process of taking and assembling of gasket, reduces the wearing and tearing that the friction of gasket and other objects caused, protects the gasket better, makes the stability of gasket more lasting.
based on the above embodiment, further, the outer wall of the feeding pipe 21 is provided with a strip-shaped hole 211, and when the feeding pipe is in operation, the use condition of the gasket in the feeding pipe 21 can be observed through the strip-shaped hole 211.
based on the above embodiment, further, an end cover is arranged at the other end of the feeding pipe 21, not shown in the figure, and the end covers are covered after the gaskets are sequentially loaded into the feeding pipe 21, so that dust or other objects are prevented from falling into the feeding pipe 21, and quantitative taking of the gaskets and surface quality of the gaskets are prevented from being affected.
the above description is only a preferred embodiment of the present invention, and all equivalent changes or modifications of the structure, characteristics and principles described in the present patent application are included in the protection scope of the present patent application.
Claims (3)
1. The utility model provides a sliding jaw formula gasket ration assembly robot system which characterized in that: the gasket assembling device comprises a main cross arm, a connecting arm capable of sliding left and right is arranged below the main cross arm, an assembling manipulator is arranged below the connecting arm, and the assembling manipulator comprises a gasket placing device; the gasket placing device comprises a tubular discharging device body (11) and a floating jacking ring (12), the inner diameter of the floating jacking ring (12) is equal to the outer diameter of the discharging device body (11), the floating jacking ring (12) is sleeved on the discharging device body (11), the height difference between the bottom surface of the floating jacking ring (12) and the bottom surface of the gasket at the bottommost end is two gasket thicknesses, three pairs of first lugs (111) are arranged on the outer wall of the discharging device body (11) at equal intervals, three pairs of second lugs (121) corresponding to the three pairs of first lugs (111) are arranged on the top surface of the floating jacking ring (12), a transmission block (13) is coupled to each pair of first lugs (111), a roller (14) is rotatably connected between each pair of second lugs (121), and a first spring (15) is connected between the upper part of the transmission block (13) and the outer wall of the discharging device body (11), one surface of the middle part of the transmission block (13) departing from the material placing device body (11) is provided with a cambered surface abutted against the roller (14), the lower part of the transmission block (13) is pivoted with a sliding clamping jaw (16), the material placing device body (11) is provided with three limiting holes (112) for guiding the sliding clamping jaw (16), the three limiting holes (112) are respectively positioned under three pairs of first lugs (111), the three sliding clamping jaws (16) are respectively arranged in the three limiting holes (112) in a penetrating manner and extend into the material placing device body (11), one end of the sliding clamping jaw (16) contacting with the gasket is provided with a concave surface, the inner circumferential wall of the floating jacking ring (12) is provided with three U-shaped openings (122) formed by outward sinking, and the U-shaped openings (122) are used for providing movable spaces for the sliding clamping jaw (16) and the transmission block (13); the gasket placing device further comprises a circular fixing plate (17) and a second spring (18), the fixing plate (17) is arranged on the top surface of the discharging device body (11), three third lugs (171) are arranged on the circumferential wall of the fixing plate (17) in an outward protruding mode, the third lugs (171) and the first lugs (111) are arranged in a staggered mode, screws (19) penetrate through the three third lugs (171), the other end of each screw (19) is in threaded connection with the floating jacking ring (12), the second spring (18) is sleeved on the corresponding screw (19), one end of the second spring (18) abuts against the third lugs (171), and the other end of the second spring (18) abuts against the floating jacking ring (12);
The feeding device comprises a feeding pipe (21), the outer diameter of the feeding pipe (21) is equal to the inner diameter of the fixing plate (17), and one end of the feeding pipe (21) sequentially extends into the fixing plate (17) and the discharging device body (11).
2. The sliding jaw gasket dosing robot system of claim 1, wherein: the outer wall of the feeding pipe (21) is provided with a strip-shaped hole (211).
3. The sliding jaw gasket dosing robot system of claim 1, wherein: and the other end of the feeding pipe (21) is provided with an end cover.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811054311.0A CN109202397B (en) | 2018-09-11 | 2018-09-11 | sliding claw type gasket quantitative assembly robot system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811054311.0A CN109202397B (en) | 2018-09-11 | 2018-09-11 | sliding claw type gasket quantitative assembly robot system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109202397A CN109202397A (en) | 2019-01-15 |
| CN109202397B true CN109202397B (en) | 2019-12-13 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201811054311.0A Active CN109202397B (en) | 2018-09-11 | 2018-09-11 | sliding claw type gasket quantitative assembly robot system |
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| CN (1) | CN109202397B (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103495690A (en) * | 2013-09-29 | 2014-01-08 | 苏州浩德自动化设备有限公司 | Riveting machine automatic gasket feed system and riveting device |
| CN104028986A (en) * | 2014-06-12 | 2014-09-10 | 苏州乔岳软件有限公司 | Automatic gasket fitting device |
| CN106393165A (en) * | 2016-10-20 | 2017-02-15 | 宜昌长机科技有限责任公司 | Gripper structure for automatically gripping engine shell and gripping method |
| CN106604805A (en) * | 2014-08-29 | 2017-04-26 | 川崎重工业株式会社 | End effector, industrial robot, and operating method thereof |
| CN206537754U (en) * | 2017-02-08 | 2017-10-03 | 东洋喜岛汽车零件（深圳）有限公司 | A kind of pad weight feed device |
| CN207434521U (en) * | 2017-11-22 | 2018-06-01 | 湖南罗佑发动机部件有限公司 | Gasket quantifies taking device |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2015033730A (en) * | 2013-08-08 | 2015-02-19 | 株式会社タチエス | Washer feeding device |
-
2018
- 2018-09-11 CN CN201811054311.0A patent/CN109202397B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103495690A (en) * | 2013-09-29 | 2014-01-08 | 苏州浩德自动化设备有限公司 | Riveting machine automatic gasket feed system and riveting device |
| CN104028986A (en) * | 2014-06-12 | 2014-09-10 | 苏州乔岳软件有限公司 | Automatic gasket fitting device |
| CN106604805A (en) * | 2014-08-29 | 2017-04-26 | 川崎重工业株式会社 | End effector, industrial robot, and operating method thereof |
| CN106393165A (en) * | 2016-10-20 | 2017-02-15 | 宜昌长机科技有限责任公司 | Gripper structure for automatically gripping engine shell and gripping method |
| CN206537754U (en) * | 2017-02-08 | 2017-10-03 | 东洋喜岛汽车零件（深圳）有限公司 | A kind of pad weight feed device |
| CN207434521U (en) * | 2017-11-22 | 2018-06-01 | 湖南罗佑发动机部件有限公司 | Gasket quantifies taking device |
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| Publication number | Publication date |
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| CN109202397A (en) | 2019-01-15 |
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Effective date of registration: 20191108 Address after: 314513 quchbon village, zhouquan Town, Tongxiang City, Jiaxing, Zhejiang Applicant after: Zhejiang canyuan Home Textile Co., Ltd Address before: Room 328, Productivity Building, Guangdong, Hong Kong and Macao Cultural and Creative Industry Experimental Park, Songshan Lake High-tech Industrial Development Zone, Dongguan City, Guangdong Province Applicant before: Dongguan City Song Yan Zhida Industrial Design Co. Ltd. |
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