CN109335681B

CN109335681B - Feeding device for disc sleeve type parts

Info

Publication number: CN109335681B
Application number: CN201811464541.4A
Authority: CN
Inventors: 许亮; 彭铕; 华文孝; 黄骏; 张欣荣
Original assignee: Yuhuan Cnc Machine Tool Co ltd
Current assignee: Yuhuan Cnc Machine Tool Co ltd
Priority date: 2018-12-03
Filing date: 2018-12-03
Publication date: 2023-09-05
Anticipated expiration: 2038-12-03
Also published as: CN109335681A

Abstract

The invention discloses a feeding device for a disc sleeve part, which comprises a triaxial truss robot, a hand-push skip, a positioning device thereof and a plurality of trays, wherein the hand-push skip is connected with the positioning device; the three-axis truss robot consists of an XYZ linear module and a pneumatic clamping jaw, wherein the XYZ linear module comprises a transverse axis X, a longitudinal axis Y and a vertical axis Z, the pneumatic clamping jaw is arranged at the lower end of the vertical axis Z and used for grabbing and releasing parts, and the positioning device of the hand-push skip is arranged on the ground which is adaptive to the three-axis truss robot and used for limiting the hand-push skip at a designated position, so that the three-axis truss robot can grab all parts and place a tray. The invention has the advantages of good universality and high efficiency.

Description

Feeding device for disc sleeve type parts

Technical Field

The invention belongs to a machining feeding device, and particularly relates to a feeding device for disc sleeve parts.

Background

At present, the loading mode of machining disc cover class part is generally artifical material loading, and common automatic feeding device generally can only be used to the disc cover class part of one kind specification, and the part of different specifications needs to be changed one by one and snatches anchor clamps, because anchor clamps change time is long, leads to its efficiency to be difficult to improve.

Disclosure of Invention

The invention aims to provide a feeding device for disc sleeve parts, which has good universality and high efficiency.

The technical scheme adopted for realizing the purpose of the invention is as follows:

the invention provides a feeding device for a disc sleeve part, which comprises a triaxial truss robot, a hand-push skip, a positioning device thereof and a plurality of trays, wherein the positioning device is used for positioning the hand-push skip; the three-axis truss robot consists of an XYZ linear module and a pneumatic clamping jaw, wherein the XYZ linear module comprises a transverse axis X, a longitudinal axis Y and a vertical axis Z, the pneumatic clamping jaw is arranged at the lower end of the vertical axis Z and used for grabbing and releasing parts, and the positioning device of the hand-push skip is arranged on the ground which is adaptive to the three-axis truss robot and used for limiting the hand-push skip at a designated position, so that the three-axis truss robot can grab all parts and place a tray.

The pneumatic clamping jaw consists of a cylinder seat arranged on the vertical axis Z, a cylinder arranged on the cylinder seat, three clamping jaws arranged on the cylinder and a flexible gasket arranged on the clamping jaws, wherein the three clamping jaws respectively form 120 degrees, are connected to the cylinder in a surrounding manner along the center of the cylinder, the two ends of the clamping jaws form an arc shape, and the flexible gasket is attached to the inner end face and the outer end face of the clamping jaw.

The pneumatic clamping jaw is connected with a pilot-operated one-way valve.

The hand push skip includes the sweep, establishes the pushing hands at the sweep rear end, establishes the gyro wheel in the sweep bottom, establishes the tray locating hole that is used for the tray location above the sweep, the front and back end of sweep is equipped with triangular block and locating pin respectively, positioner include respectively with triangular block and locating pin matched with on the hand push skip be equipped with dog and the keyway of V-arrangement groove.

And the triangular block is provided with a guide wheel.

The tray comprises a plate body, a clamping jaw hole which is arranged in the center of the plate body and matched with the pneumatic clamping jaw, a plurality of through holes which are arranged on the plate body and used for placing parts with different specifications, positioning columns and supporting columns which are arranged on opposite angles of the plate body; the upper end of the positioning column is a circular tube, and the lower end of the positioning column is a conical body, so that the upper tray and the lower tray can be automatically positioned and centered through the cooperation of the conical body and the circular tube when the trays are stacked.

The clamping jaw hole adopts an inner hole two-step concave table structure, and the inner hole is a through hole.

The beneficial effects of the invention are that

1. Simple structure, firm positioning, high reliability, strong operability and good economical efficiency.

2. The feeding efficiency of disc sleeve type parts can be greatly improved, and the problem of clamp replacement of various disc sleeve type parts in the feeding process is solved.

The technical scheme of the invention is further described below with reference to the accompanying drawings.

Drawings

Fig. 1 is a schematic structural view of the present invention.

Fig. 2 is a schematic structural view of a pneumatic clamping jaw in the invention.

FIG. 3 is a schematic view of a pneumatic gripper gripping different types of parts.

Fig. 4 is a schematic structural view of a hand-push cart according to the present invention.

Fig. 5 is a schematic view of the front end positioning of the hand propelled vehicle.

Fig. 6 is a partial schematic view of the front end positioning of the hand truck.

FIG. 7 is a schematic view of the rear end positioning of a hand truck.

Fig. 8 is a schematic view of the structure of the tray in the present invention.

Fig. 9 is a schematic view of the tray mated with the pneumatic jaws.

Fig. 10 is a schematic view of the upper and lower trays mated.

Fig. 11 is a schematic view of a pallet holding parts of different types of specifications.

Detailed Description

Referring to fig. 1, the feeding device for the sleeve parts provided by the invention comprises a triaxial truss robot 2, two hand-push skip vehicles 1, a positioning device thereof and a plurality of trays 5; the three-axis truss robot 2 consists of an XYZ linear module and a pneumatic clamping jaw 4, wherein the XYZ linear module comprises a transverse axis X, a longitudinal axis Y and a vertical axis Z, the pneumatic clamping jaw 4 is arranged at the lower end of the vertical axis Z, the pneumatic clamping jaw 4 is used for grabbing and releasing a part A, a positioning device of the hand-push skip 1 is arranged on the ground adapting to the three-axis truss robot 2 and used for limiting the hand-push skip 1 at a designated position, the three-axis truss robot 2 is guaranteed to grab all parts and place a tray 5, and the three-axis truss robot further comprises a conveying belt 3 used for conveying the part A.

Referring to fig. 2, the pneumatic clamping jaw 4 is composed of a cylinder seat 404 installed on a vertical axis Z, a cylinder 403 arranged on the cylinder seat 404, three clamping jaws 402 arranged on the cylinder 403, and flexible gaskets 401 arranged on the clamping jaws 402, wherein the three clamping jaws 402 are respectively 120 degrees and are connected to the cylinder 403 along the center of the cylinder 403 in a surrounding manner, two ends of the clamping jaws 402 are arc-shaped, the flexible gaskets 401 are attached to the inner end surface and the outer end surface of the clamping jaws 402 so as to increase the contact friction force and the contact area, so that the grabbing action is more firm, and the cylinder seat 404 is used as a connecting piece for connecting the triaxial truss robot 2 and the cylinder 403 and is used for fixing the position of the pneumatic clamping jaw 4 on the vertical axis Z.

The pneumatic clamping jaw 4 is developed by fully considering the specification, formation and feasible position in grabbing of the sleeve type part and combining the characteristics of the sleeve type part. When the part A is grabbed, as the specifications of the sleeve parts have certain difference, the pneumatic clamping jaw 4 can be used for clamping the sleeve parts with various specifications according to the external dimensions and the specifications of the part A in a mode of inner hole expanding and grabbing and hole compressing and empty grabbing, so that the part A is suitable for the sleeve parts with various specifications, as shown in a, b and c in fig. 3; the pneumatic clamping jaw 4 adopts a three-jaw structure, so that the automatic centering of the part through the structure during grabbing is ensured, and the contact surface of the clamping jaw is a flexible gasket 401, so that the transfer process of the part A after grabbing is firm.

The position of the clamping jaw of the pneumatic clamping jaw 4 is adjustable, the clamping force is adjustable, the stroke of the clamping jaw is 10-40mm, and the clamping jaw can basically meet the grabbing of various specification disc sleeve parts through the position of the clamping jaw 402 and the setting of the stroke of the clamping jaw. The clamping jaw 402 is designed to be of a suitable length so as not to interfere with the part a and the tray 5.

The pneumatic clamping jaw 4 is connected with a pilot-operated one-way valve, so that the system is still in a clamping state under the condition of sudden air interruption or accidental suspension, parts are prevented from falling off, and safety is ensured.

Referring to fig. 4-7, the hand-push trolley 1 comprises a trolley plate 104, a pushing handle 103 arranged at the rear end of the trolley plate 104, a roller 101 arranged at the bottom of the trolley plate 104, and a tray positioning hole 107 arranged on the trolley plate 104 and used for positioning the tray 5, wherein triangular blocks 105 and positioning pins 102 are respectively arranged at the front end and the rear end of the trolley plate 104, the positioning device comprises a stop block 7 and a pin seat 8 which are respectively matched with the triangular blocks 105 and the positioning pins 102 on the hand-push trolley 1 and provided with V-shaped grooves 701, the stop block 7 is fixed on the ground through a fixing plate 6, and guide wheels 106 can be arranged on the triangular blocks 105 for reducing friction.

The hand pushing trolley 1 is used for placing and conveying the tray 5, and is matched with the positioning column 504 on the tray 5 through the tray positioning hole 107 to position the tray 5, and the self positioning determines the grabbing positions of all the parts A and the placing positions of the tray 5, so that the hand pushing trolley is an important link in the whole feeding device. The positioning accuracy and the easy operation of the skip are ensured, and the positioning accuracy and the easy operation of the skip are preconditions for ensuring the reliability and the running stability of the whole device.

The hand pushing skip 1 adopts a front and back positioning mode to position, the front end positioning adopts triangular blocks 105 and guide wheels 106 to be matched with V-shaped grooves 701 of the stop blocks 7, the rear end positioning adopts positioning pins 102 to be matched with pin bosses 8, after the hand pushing skip enters a designated position, the two triangular blocks 105 and the guide wheels 106 at the front end of the hand pushing skip are in contact with the V-shaped grooves 701 of the stop blocks 7 and roll to the central line of the V-shaped grooves 701 to achieve accurate positioning, and then the positioning pins 102 are inserted into the pin bosses 8 to achieve the positioning and fastening functions.

Referring to fig. 8-11, the tray 5 includes a plate 501, a jaw hole 503 provided at the center of the plate 501 and engaged with the pneumatic jaw 4, a plurality of through holes 502 (see a, b, c in fig. 11) provided on the plate 501 for placing parts of different specifications, a positioning column 504 provided at the opposite corners of the plate 501, and a supporting column 505 provided under the other opposite corners of the plate 501. The through holes 502 of the tray 5 can be commonly used for various disc sleeve parts so as to ensure that various disc sleeve parts can be easily placed and grabbed by the pneumatic clamping jaw 4, and reasonable gaps are reserved among the through holes 502 so as to ensure that the parts of different types cannot interfere with each other when placed, and the through holes 502 adopt a 4-row x 5-array structure; the clamping jaw hole 503 adopts a two-step concave table structure with an inner hole, and the inner hole is a through hole and is used for grabbing the clamping jaw 402 of the pneumatic clamping jaw 4; the upper end of the positioning column 504 of the tray 5 is provided with a circular tube 5041, and the lower end of the positioning column is provided with a conical body 5042, so that when the trays 5 are stacked, the upper tray 5 and the lower tray 5 can be automatically positioned and centered through the cooperation of the conical body 5042 and the circular tube 5041, the accumulated error of stacking of the trays caused by small errors between the trays 5 and 5 is limited, and the grabbing reliability and precision of the pneumatic clamping jaw 4 are ensured.

The feeding process of the invention

1. The hand pushing skip 1 filled with materials and the empty hand pushing skip 1 are respectively pushed into a working area, and after the triangular blocks 105 and the guide wheels 106 on the skip are matched with the stop blocks 7 of the positioning device for positioning, the positioning pins 102 are inserted into the pin seats 8 to fix the skip 1.

2. The machine is started, the truss robot 2 drives the clamping jaws, and the workpieces A placed on the tray 5 on the full-material hand-pushing skip 1 are grabbed one by one and placed on the conveyor belt 3.

3. After all the workpieces A on the upper tray 5 are grabbed, the truss robot 2 drives the pneumatic clamping jaw 4 to move to the center of the tray 5, the gripper penetrates through the clamping jaw hole 503 of the tray 5, and after the tray 5 is clamped, the gripper moves to the empty hand pushing car 1, so that the replacement of the tray 5 is completed.

4. After the replacement of the tray 5 is completed, the step 2-3 is repeated, and only the workpiece A on the hand cart 1 is fed.

Claims

1. A feeding device for a disc sleeve part is characterized by comprising a triaxial truss robot, a hand-push skip, a positioning device of the hand-push skip and a plurality of trays; the three-axis truss robot consists of an XYZ linear module and a pneumatic clamping jaw, wherein the XYZ linear module comprises a transverse axis X, a longitudinal axis Y and a vertical axis Z, the pneumatic clamping jaw is arranged at the lower end of the vertical axis Z and used for grabbing and releasing parts, and the positioning device of the hand-push skip is arranged on the ground which is suitable for the three-axis truss robot and used for limiting the hand-push skip at a designated position so as to ensure that the three-axis truss robot can grab all parts and place a tray; the pneumatic clamping jaw consists of a cylinder seat arranged on the vertical axis Z, a cylinder arranged on the cylinder seat, three clamping jaws arranged on the cylinder and a flexible gasket arranged on the clamping jaws, wherein the three clamping jaws are respectively 120 degrees and are connected to the cylinder in a surrounding manner along the center of the cylinder, two ends of each clamping jaw are arc-shaped, and the flexible gaskets are attached to the inner end face and the outer end face of each clamping jaw; the pneumatic clamping jaw is connected with a pilot-operated one-way valve; the tray comprises a plate body, a clamping jaw hole which is arranged in the center of the plate body and matched with the pneumatic clamping jaw, a plurality of through holes which are arranged on the plate body and used for placing parts with different specifications, positioning columns and supporting columns which are arranged on opposite angles of the plate body; the upper end of the positioning column is a circular tube, and the lower end of the positioning column is a conical body, so that the upper tray and the lower tray can be automatically positioned and centered through the cooperation of the conical body and the circular tube when the trays are stacked.

2. The feeding device for the disc sleeve type parts according to claim 1, wherein the hand-pushing trolley comprises a trolley plate, a pushing handle arranged at the rear end of the trolley plate, rollers arranged at the bottom of the trolley plate and tray positioning holes arranged on the trolley plate and used for positioning trays, triangular blocks and positioning pins are respectively arranged at the front end and the rear end of the trolley plate, and the positioning device comprises stop blocks and pin seats which are respectively matched with the triangular blocks and the positioning pins on the hand-pushing trolley and are provided with V-shaped grooves.

3. The feeding device for the sleeve-like parts according to claim 2, wherein the triangular block is provided with a guide wheel.

4. The feeding device for the sleeve parts according to claim 3, wherein the clamping jaw hole adopts a two-step concave table structure with an inner hole, and the inner hole is a through hole.