CN109335681A - A kind of feeding device for disk cover parts - Google Patents
A kind of feeding device for disk cover parts Download PDFInfo
- Publication number
- CN109335681A CN109335681A CN201811464541.4A CN201811464541A CN109335681A CN 109335681 A CN109335681 A CN 109335681A CN 201811464541 A CN201811464541 A CN 201811464541A CN 109335681 A CN109335681 A CN 109335681A
- Authority
- CN
- China
- Prior art keywords
- clamping jaw
- pallet
- cover parts
- disk cover
- feeding device
- 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
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Classifications
-
- 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
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Feeding Of Workpieces (AREA)
Abstract
The invention discloses a kind of feeding devices for disk cover parts, including three axis truss robots, hand push truck and its positioning device, several pallets；The three axis truss robot by the linear mould group of XYZ and pneumatic set of jaws at, the linear mould group of XYZ includes horizontal axis X, longitudinal axis Y and vertical pivot Z, the lower end that the Pneumatic clamping jaw is mounted on vertical pivot Z is used for the crawl and release of part, the positioning device of the hand push truck is located at the ground being adapted with three axis truss robots, for hand push truck to be limited to designated position, guarantee that three axis truss robots can grab all parts and placement tray.The present invention has the advantages that versatility is good, high-efficient.
Description
Technical field
The invention belongs to machine feeding device, and in particular to a kind of feeding device for disk cover parts.
Background technique
Currently, the material-uploading style for machining disk cover parts is commonly artificial loading, common automatic charging device, generally
It is to be only used for a kind of specification disk cover parts, the part of different size need to replace crawl fixture one by one, when due to clamp-replacing
Between it is long, cause its efficiency to be difficult to improve.
Summary of the invention
A kind of the object of the present invention is to provide versatilities good, the high-efficient feeding device for disk cover parts.
Realize the object of the invention the technical solution adopted is as follows:
Provided by the present invention for the feeding device of disk cover parts, including three axis truss robots, hand push truck and its positioning
Device, several pallets；The three axis truss robot is by the linear mould group of XYZ and pneumatic set of jaws at the linear mould group packet of XYZ
Horizontal axis X, longitudinal axis Y and vertical pivot Z are included, the lower end that the Pneumatic clamping jaw is mounted on vertical pivot Z is used for the crawl and release of part, the hand
The positioning device of lorry is located at the ground being adapted with three axis truss robots, for hand push truck to be limited to specific bit
It sets, guarantees that three axis truss robots can grab all parts and placement tray.
The Pneumatic clamping jaw by the cylinder block being mounted on the vertical pivot Z, the cylinder being located on cylinder block, be located on cylinder
Three clamping jaws, the flexible gasket composition that is located on clamping jaw, 120 ° of each self-contained of three clamping jaws, along cylinder axis around being connected to gas
On cylinder, clamping jaw both ends camber, flexible gasket is attached to the inner and outer ends face of clamping jaw.
The Pneumatic clamping jaw is connected to guiding one-way valve.
The hand push truck includes sweep, the pushing hands for being located at sweep rear end, the idler wheel for being located at sweep bottom, is located on sweep
Face is used for the pallet location hole of pallet positioning, and the front and back end of the sweep is respectively equipped with corner block and positioning pin, the positioning dress
Set including respectively with the corner block and the block and key seat equipped with V-shaped groove that match of positioning pin on hand push truck.
Directive wheel is provided on the corner block.
The pallet includes plate body, the clamping jaw hole matched with Pneumatic clamping jaw for being located at plate body center, is located on plate body
Several through-holes for placing different size part are located at plate body diagonal positioning column and support column；The upper end of the positioning column
For round tube, lower end is bullet, so that pallet is when stacking, upper and lower pallet can be carried out by the cooperation of bullet and round tube
It voluntarily positions, feel relieved.
The clamping jaw hole uses two ladder concave station structure of inner hole, and inner hole is through-hole.
Beneficial effects of the present invention
1, structure is simple, it is good to position firm, high reliablity, strong operability, economy.
2, the loading efficiency of disk cover parts can be substantially improved, solve and cope with a variety of disk cover parts in feeding process
Clamp-replacing problem.
Technical solution of the present invention is further illustrated with reference to the accompanying drawing.
Detailed description of the invention
Fig. 1 is structural schematic diagram of the invention.
Fig. 2 is the structural schematic diagram of Pneumatic clamping jaw in the present invention.
Fig. 3 is the schematic diagram of Pneumatic clamping jaw crawl variety classes specification part.
Fig. 4 is the structural schematic diagram of hand push truck in the present invention.
Fig. 5 is the schematic diagram of hand push truck front end positioning.
Fig. 6 is the partial schematic diagram of hand push truck front end positioning.
Fig. 7 is the schematic diagram of hand push truck rear alignment.
Fig. 8 is the structural schematic diagram of pallet in the present invention.
Fig. 9 is the schematic diagram that pallet is matched with Pneumatic clamping jaw.
Figure 10 is the schematic diagram that upper and lower pallet matches.
Figure 11 is the schematic diagram that pallet places variety classes specification part.
Specific embodiment
Fig. 1 is seen, provided by the present invention for the feeding device of disk cover parts, including a three axis truss robots 2, two
Platform hand push truck 1 and its positioning device, several pallets 5 form；The three axis truss robot 2 is by the linear mould group of XYZ and pneumatically
Clamping jaw 4 forms, and the linear mould group of XYZ includes horizontal axis X, longitudinal axis Y and vertical pivot Z, and Pneumatic clamping jaw 4 is mounted on the lower end of vertical pivot Z, pneumatic clamps
Pawl 4 is used for the crawl and release of part A, and the positioning device of hand push truck 1 is located at the ground being adapted with three axis truss robots 2
Face guarantees that three axis truss robots 2 can grab all parts and placement tray for hand push truck 1 to be limited to designated position
5, it may also include the conveyer belt 3 for transmitting part A.
See Fig. 2, the Pneumatic clamping jaw 4 is by the cylinder block 404 being mounted on vertical pivot Z, the cylinder being located on cylinder block 404
403, three clamping jaws 402 being located on cylinder 403, the flexible gasket 401 being located on clamping jaw 402 form, and three clamping jaws 402 are respective
At 120 °, along 403 center ring of cylinder around being connected on cylinder 403,402 both ends camber of clamping jaw, flexible gasket 401 is attached to clamping jaw
402 inner and outer ends face keeps grasping movement more firm to increase the frictional force and contact area of contact, and cylinder block 404 is as company
The connector of three axis truss robots 2 and cylinder 403 is connect, and is used to fix position of the Pneumatic clamping jaw 4 on vertical pivot Z.
Pneumatic clamping jaw 4 is to fully consider disk cover parts specification, formed and the feasible location in crawl, and conjoint disk
Made of the exploitation of cover parts own characteristic.When part A is grabbed, since there are certain difference, pneumatic clamps for disk cover parts specification
The outer dimension and specification of the visual part A of pawl 4 takes inner hole to strut crawl and the empty crawl two ways of hole compression, a variety of to adapt to
The disk of specification covers part, as shown in a, b, c in Fig. 3；Pneumatic clamping jaw 4 uses three-jaw structure, and part can lead to when ensure that crawl
Structure self-centering is crossed, jaws contact face is flexible gasket 401, and the transfer process after grabbing part A is secured.
The jaw position of Pneumatic clamping jaw 4 is adjustable, clamping force is adjustable, clamping jaw stroke 10-40mm, passes through the position of clamping jaw 402
With the setting of clamping jaw stroke, the crawl to all kinds of specification disk cover parts can be substantially met.402 design length of clamping jaw is suitable, no
Interference can be generated with part A and pallet 5.
The Pneumatic clamping jaw 4 is connected to guiding one-way valve, guarantee system die suddenly or unexpected abort state under still
It is in clamped condition, avoid part from falling off, it is ensured that safety.
See Fig. 4 --- Fig. 7, the hand push truck 1 include sweep 104, be located at 104 rear end of sweep pushing hands 103, be located at vehicle
The idler wheel 101 of 104 bottom of plate, the pallet location hole 107 positioned for pallet 5 being located above sweep 104, the sweep 104
Front and back end be respectively equipped with corner block 105 and positioning pin 102, the positioning device include respectively with the triangle on hand push truck 1
The block 7 and key seat 8 equipped with V-shaped groove 701 that block 105 and positioning pin 102 match, block 7 by fixed plate 6 by that can be fixed
On ground, directive wheel 106 can be set on corner block 105 in order to reduce friction.
Hand push truck 1 passes through the positioning column 504 on pallet location hole 107 and pallet 5 for placement and transport pallet 5
It matches and positions pallet 5, it is whole that the positioning of its own, which determines the position that the crawl position of all part A and pallet 5 are placed,
Very important link in a feeding device.The accurate positioning, easy to operate for guaranteeing truck is to guarantee that whole device is reliable, operation
Stable precondition.
Hand push truck 1 uses front and back positioning method positioning, and front end positioning is using corner block 105 and directive wheel 106 and block 7
V-shaped groove 701 match, rear alignment is matched with key seat 8 using positioning pin 102, after cart enters designated position, cart
Two corner blocks 105 and directive wheel 106 of front end will be contacted with the generation of the V-shaped groove 701 of block 7 and rolled to 701 center line of V-shaped groove
Reach accurate positioning, then positioning pin 102 is inserted into key seat 8 to have the function that positioning and fastening.
Seeing Fig. 8 --- Figure 11, the pallet 5 include plate body 501, are located at matching with Pneumatic clamping jaw 4 for 501 center of plate body
Clamping jaw hole 503, be located on plate body 501 it is several for place the through-hole 502(of different size part referring in Figure 11 a, b,
C), it is located at the diagonal positioning column 504 of plate body 501 and is located at another diagonal following support column 505 of plate body 501.The through-hole of pallet 5
502 can be universally used in multiple types disk set part, to guarantee that all kinds of disk cover parts can be placed easily and be grabbed by Pneumatic clamping jaw 4, and
There are reasonable clearances between each through-hole 502, and will not interfere when guaranteeing that different types of part is placed, through-hole 502 uses 4
Row x5 array array structure；Clamping jaw hole 503 uses two ladder concave station structure of inner hole, and inner hole is through-hole, is used for 4 clamping jaw of Pneumatic clamping jaw
402 crawl；The upper end of the positioning column 504 of pallet 5 is round tube 5041, and lower end is bullet 5042, so that pallet 5 is in stacking
When, upper and lower pallet 5 can voluntarily be positioned, be felt relieved by the cooperation of bullet 5042 and round tube 5041, with limit pallet 5 and
The cumulative errors of stackable pallet caused by slight error between pallet 5 guarantee the crawl reliability and essence of Pneumatic clamping jaw 4
Degree.
Feeding process of the invention
1. a fully charged hand push truck 1 and an empty-handed lorry 1 are pushed into working region respectively, pass through three on vehicle
After hornblock 105 and directive wheel 106 and the cooperation positioning of the block 7 of positioning device, positioning pin 102 is inserted into key seat 8, truck 1 is consolidated
It is fixed.
2. open machine, truss robot 2 drive clamping jaw, to the workpiece A being placed on full material hand push truck 1 on pallet 5 by
One crawl, and be put into conveyer belt 3.
3. truss robot 2 drives Pneumatic clamping jaw 4 to be moved to support after the workpiece A in upper tray 5 all crawl
The center of disk 5, handgrip pass through the clamping jaw hole 503 of pallet 5, are moved on empty-handed lorry 1 after clamping pallet 5, complete support
The replacement of disk 5.
4. repeating step 2-3, only the workpiece A feeding on lorry 1 in one's hands finishes after completing the replacement of pallet 5.
Claims (8)
1. a kind of feeding device for disk cover parts, it is characterized in that including three axis truss robots, hand push truck and its determining
Position device, several pallets；The three axis truss robot is by the linear mould group of XYZ and pneumatic set of jaws at the linear mould group of XYZ
Including horizontal axis X, longitudinal axis Y and vertical pivot Z, the lower end that the Pneumatic clamping jaw is mounted on vertical pivot Z is used for the crawl and release of part, described
The positioning device of hand push truck is located at the ground being adapted with three axis truss robots, for hand push truck to be limited to specific bit
It sets, guarantees that three axis truss robots can grab all parts and placement tray.
2. the feeding device according to claim 1 for disk cover parts, it is characterized in that the Pneumatic clamping jaw is by installing
Cylinder block on the vertical pivot Z, the cylinder being located on cylinder block, three clamping jaws being located on cylinder, be located at it is soft on clamping jaw
Property gasket composition, 120 ° of each self-contained of three clamping jaws, along cylinder axis around being connected on cylinder, clamping jaw both ends camber is flexible
Gasket is attached to the inner and outer ends face of clamping jaw.
3. the feeding device according to claim 2 for disk cover parts, it is characterized in that the Pneumatic clamping jaw is connected to elder generation
Conduction check valve.
4. the feeding device according to any one of claims 1 to 3 for disk cover parts, it is characterized in that the hand push truck
Including sweep, the pushing hands that is located at sweep rear end, the idler wheel for being located at sweep bottom, it is located at pallet above sweep for pallet positioning
Location hole, the front and back end of the sweep are respectively equipped with corner block and positioning pin, the positioning device include respectively with hand push truck
On the block and key seat equipped with V-shaped groove that match of corner block and positioning pin.
5. the feeding device according to claim 4 for disk cover parts, it is characterized in that being provided on the corner block
Directive wheel.
6. the feeding device according to claim 1 for disk cover parts, it is characterized in that the pallet includes plate body, sets
Plate body center the clamping jaw hole matched with Pneumatic clamping jaw, be located at it is several for placing the logical of different size part on plate body
Hole is located at plate body diagonal positioning column and support column；The upper end of the positioning column is round tube, and lower end is bullet, so that pallet
When stacking, upper and lower pallet can voluntarily be positioned by the cooperation of bullet and round tube, be felt relieved.
7. the feeding device according to claim 6 for disk cover parts, it is characterized in that the clamping jaw hole uses inner hole
Two ladder concave station structures, and inner hole is through-hole.
8. the feeding device according to claim 5 for disk cover parts, it is characterized in that the pallet includes plate body, sets
Plate body center the clamping jaw hole matched with Pneumatic clamping jaw, be located at it is several for placing the logical of different size part on plate body
Hole is located at plate body diagonal positioning column and support column；The upper end of the positioning column is round tube, and lower end is bullet, so that pallet
When stacking, upper and lower pallet can voluntarily be positioned by the cooperation of bullet and round tube, be felt relieved.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811464541.4A CN109335681B (en) | 2018-12-03 | 2018-12-03 | Feeding device for disc sleeve type parts |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811464541.4A CN109335681B (en) | 2018-12-03 | 2018-12-03 | Feeding device for disc sleeve type parts |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109335681A true CN109335681A (en) | 2019-02-15 |
| CN109335681B CN109335681B (en) | 2023-09-05 |
Family
ID=65320082
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811464541.4A Active CN109335681B (en) | 2018-12-03 | 2018-12-03 | Feeding device for disc sleeve type parts |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109335681B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110316559A (en) * | 2019-08-13 | 2019-10-11 | 长沙瀚鹏电子技术有限公司 | A kind of sleeper fastening classification delivery method and system |
| CN110465424A (en) * | 2019-08-05 | 2019-11-19 | 苏州奥曼恩自动化科技有限公司 | A kind of non-stick pan spray-painting production line |
| CN113442201A (en) * | 2021-05-24 | 2021-09-28 | 西安航天精密机电研究所 | Solid propellant loads cutting off integer system of powder column |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104444360A (en) * | 2014-12-09 | 2015-03-25 | 华中科技大学无锡研究院 | Five-axis hub transfer robot and clamping manipulator |
| CN206939864U (en) * | 2017-05-25 | 2018-01-30 | 克恩-里伯斯(太仓)有限公司 | A kind of new feeding system |
| CN207404466U (en) * | 2017-07-19 | 2018-05-25 | 宁波易拓智谱机器人有限公司 | A kind of three axis truss manipulators applied to automobile door plate assembling |
| CN208054397U (en) * | 2018-01-17 | 2018-11-06 | 上海宝甸智能科技有限公司 | A kind of robot automatic charging equipment |
-
2018
- 2018-12-03 CN CN201811464541.4A patent/CN109335681B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104444360A (en) * | 2014-12-09 | 2015-03-25 | 华中科技大学无锡研究院 | Five-axis hub transfer robot and clamping manipulator |
| CN206939864U (en) * | 2017-05-25 | 2018-01-30 | 克恩-里伯斯(太仓)有限公司 | A kind of new feeding system |
| CN207404466U (en) * | 2017-07-19 | 2018-05-25 | 宁波易拓智谱机器人有限公司 | A kind of three axis truss manipulators applied to automobile door plate assembling |
| CN208054397U (en) * | 2018-01-17 | 2018-11-06 | 上海宝甸智能科技有限公司 | A kind of robot automatic charging equipment |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110465424A (en) * | 2019-08-05 | 2019-11-19 | 苏州奥曼恩自动化科技有限公司 | A kind of non-stick pan spray-painting production line |
| CN110316559A (en) * | 2019-08-13 | 2019-10-11 | 长沙瀚鹏电子技术有限公司 | A kind of sleeper fastening classification delivery method and system |
| CN113442201A (en) * | 2021-05-24 | 2021-09-28 | 西安航天精密机电研究所 | Solid propellant loads cutting off integer system of powder column |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109335681B (en) | 2023-09-05 |
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