CN109352296A - A kind of anchorage O-ring automatic assembly equipment and its operating method - Google Patents
A kind of anchorage O-ring automatic assembly equipment and its operating method Download PDFInfo
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- CN109352296A CN109352296A CN201811268018.4A CN201811268018A CN109352296A CN 109352296 A CN109352296 A CN 109352296A CN 201811268018 A CN201811268018 A CN 201811268018A CN 109352296 A CN109352296 A CN 109352296A
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- 238000011017 operating method Methods 0.000 title claims description 18
- 230000007246 mechanism Effects 0.000 claims abstract description 219
- 238000013519 translation Methods 0.000 claims abstract description 113
- 238000007599 discharging Methods 0.000 claims abstract description 40
- 230000005347 demagnetization Effects 0.000 claims abstract description 8
- 238000007596 consolidation process Methods 0.000 claims abstract description 5
- 210000000078 claw Anatomy 0.000 claims description 35
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- 230000004888 barrier function Effects 0.000 claims description 17
- 238000013016 damping Methods 0.000 claims description 12
- 238000012546 transfer Methods 0.000 claims description 12
- 238000003825 pressing Methods 0.000 claims description 10
- 230000001939 inductive effect Effects 0.000 claims description 7
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Classifications
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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
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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
- B23P19/001—Article feeders for assembling machines
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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
- B23P19/001—Article feeders for assembling machines
- B23P19/004—Feeding the articles from hoppers to machines or dispensers
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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
- B23P19/001—Article feeders for assembling machines
- B23P19/007—Picking-up and placing mechanisms
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Abstract
Half of anchorage and O-ring consolidation are supplied to anchorage from feeding device for vibrating disc and merged on mechanism and O-ring feeding platform by the present invention, anchorage is carried by clamping carrying mechanism, is carried on suit station using translation carrying mechanism translation, O-ring is accurately sleeved on the annular groove of anchorage by O-ring suit mechanism, it is carried on the belt of belt discharging mechanism by the translation of translation carrying mechanism, is discharged after demagnetization case demagnetization again.The present invention provides a kind of be fed to from half of anchorage and O-ring and assembles the anchorage O-ring automatic assembly equipment that whole-course automation degree height, the O-ring of completing discharging are set with accuracy height, high production efficiency.
Description
Technical field
It is especially O-shaped in prestressed anchor the present invention relates to a kind of anchorage O-ring automatic assembly equipment and its operating method
The anchorage O-ring automatic assembly equipment on automatic assembly line is enclosed, field of mechanical technique is belonged to.
Background technique
In prestressed anchor O-ring production process, prestressed anchor is needed by charging, sorting, merging, is carried, set
Fill O-ring and a few procedure operation processing that discharge, only wherein one to two processes can accomplish automatic operation in the prior art,
The equipment for being fed to the whole process automation operation that discharging is completed in assembly from half of anchorage and O-ring rarely has appearance.
Summary of the invention
To solve the above-mentioned problems of the prior art, the present invention provides one kind and is fed to dress from half of anchorage and O-ring
With whole-course automation degree height, the O-ring for completing discharging are set with accuracy height, the anchorage O-ring of high production efficiency assembles automatically
Equipment.
The present invention provides a kind of anchorage O-ring automatic assembly equipment, including under(-)chassis and workbench, on the workbench
It is provided with feeding device for vibrating disc, anchorage is successively fixedly installed on under(-)chassis along the x-axis direction and merges mechanism, clamping carrying implement
Structure, O-ring suit mechanism, translation carrying mechanism and belt discharging mechanism, the anchorage of the feeding device for vibrating disc directly shake device
Discharge port is connected with anchorage and merges mechanism, and the O-ring of the feeding device for vibrating disc road Qi Zhizhen that directly shakes is connected with O-ring feeding
Platform is provided with runner along the x-axis direction on under(-)chassis, and the side of runner is arranged in O-ring feeding platform, and anchorage merges mechanism
Intermediate bulkhead and runner are in same x-axis, and clamping carrying mechanism is fixed at the runner other side, and conveying robot and runner exist
In same xz plane, the top of O-ring feeding platform and runner, O-ring suit mechanism and O-ring is arranged in O-ring suit mechanism
Feeding platform is located at same yz plane, and translation carrying mechanism is fixed on the runner other side opposite with O-ring feeding platform, assembles O-shaped
Anchorage after circle is discharged by belt discharging mechanism.
As a further improvement of the present invention, feeding device for vibrating disc includes workbench, is fixedly installed on workbench defeated
Mechanism, vibrating disk and the device that directly shakes are sent, the discharge port of the conveying mechanism and the hopper of vibrating disk are corresponding, and the straight device that shakes includes anchorage
Straight vibration device and O-ring directly shake device, and the straight device that shakes is connected with the discharge port of vibrating disk, and directly the shake discharge port of device of anchorage is connected with anchorage and closes
And mechanism, directly the shake discharge port of device of O-ring are connected with O-ring feeding platform.
As a further improvement of the present invention, it includes support frame, intermediate bulkhead and pushing block, intermediate bulkhead that anchorage, which merges mechanism,
It is fixed at support frame top, the intermediate bulkhead device discharge port that directly shakes with anchorage is connected, during the pushing block is distributed in opposite directions
Spacing board two sides are additionally provided with control pushing block on support frame and synchronize merging rack-and-pinion that is close to each other or being located remotely from each other movement
Mechanism, the pushing block are set as two, and for active pushing block and driven pushing block, the direction of motion of active pushing block and driven pushing block is edge
X-axis direction, anchorage directly shake device discharging direction be along the y-axis direction.
As a further improvement of the present invention, clamping carrying mechanism includes bottom support frame, is provided on the support frame of bottom
Manipulator mounting plate, the manipulator mounting plate be fixed in the one side that anchorage merges mechanism be arranged along the x-axis direction it is flat
Sliding rail is moved, conveying robot is connect with translation sliding rail by sliding block, is provided with driving conveying robot on the bottom support frame
Along the driving cylinder of translation sliding rail sliding, buffer gear is also fixedly connected on the manipulator mounting plate.
As a further improvement of the present invention, buffer gear includes the buffer stopper being fixed on manipulator mounting plate and runs through
The gag lever post of buffer stopper, further includes the reset cylinder for resetting gag lever post, and the gag lever post stretches along the x-axis direction.
As a further improvement of the present invention, buffer gear is additionally provided with limit switching mechanism, the limit switching mechanism
Including connection frame, stop cylinder and intermediate barrier block, connection frame is fixed below buffer gear, and stop cylinder is fixed on connection frame
On, buffer stopper offers through slot, and stop cylinder extension end is connected with intermediate barrier block, and intermediate barrier block is inserted into through slot, intermediate
Stopper adjusts the retraction stroke of the gag lever post.
As a further improvement of the present invention, translation carrying mechanism includes bottom mounting plate, is provided on bottom mounting plate
Translation sliding rail along the x-axis direction is provided with translation slide on the sliding rail that is translatable, and the translation cylinder that is fixedly connected on bottom mounting plate drives
Dynamic translation slide is provided with vertical slide rail along the y-axis direction, sets in the vertical slide rail along translation sliding rail sliding on the slide that is translatable
It is equipped with vertical sliding, the telescopic cylinder driving vertical sliding being fixedly connected on the translation slide is slided along vertical slide rail, vertically
The translation conveying robot for clamping workpiece is fixedly connected on slide.
As a further improvement of the present invention, O-ring suit mechanism includes bottom support frame and O-ring feeding platform, bottom
Manipulator mounting plate is provided on support frame, the manipulator mounting plate is fixed in the one side of O-ring feeding platform along z-axis
Direction is provided with lifting sliding rail, is lifted on sliding rail and is provided with transfer connecting plate, and lifting cylinder driving transfer connecting plate is slided along lifting
Rail sliding, transfer connecting plate lower part are fixedly connected with plate, and the plate is fixed in the one side far from transfer connecting plate along y-axis
The line slide rail that direction extends, line slide rail are connected with support mechanism outside the distracted three-jaw cylinder of O-ring, flat-removing air cyclinder driving three
The outer support mechanism of pawl cylinder is slided along line slide rail in y-axis.
As a further improvement of the present invention, belt discharging mechanism includes belt and the demagnetization case that is fixed on above belt.
Compared with prior art, the beneficial effects of the present invention are:
1, present device is able to achieve from half of anchorage and O-ring and is fed to the whole process automation that discharging is completed in assembly
Operation, each mechanism structure is compact, and feeding device, carrying mechanism, assemble mechanism and the division of labor of finished product discharging mechanism are clear, and are fed
Device and finished product discharging mechanism independently separate simultaneously apart from not far, and operator is concentrated as far as possible, meets lean production demand,
Equipment integrally occupies little space, and integration degree degree is high, controls route using whole winding displacement design, and configuration rule is orderly,
High production efficiency meets automatic industrial production requirement.
2, the feeding device for vibrating disc in present invention setting will be two in the feed bin 1 and feed bin 2 of preceding working procedure using conveyer belt
Half of anchorage is respectively delivered in vibrating disk, is shaken regular ordering by vibrating disk and is entered straight vibration device, the width of the straight device that shakes with
The minimum widith of half of anchorage is identical, the conveying direction of half of anchorage more into accuracy is limited with it is regular, both sides directly shake device
In half of anchorage direction be opposite direction arrangement, two halves side anchor tool by directly vibration device discharges to anchorage merging mechanism on, pass through
Anchorage merges and enters subsequent handling after mechanism merges two halves side anchor tool accuracy, and device is by unordered, mixed and disorderly identical half side anchor
Tool is arranged by promotion, Regularization, and the highland discharging of sequence certainty enters anchorage merging mechanism and merges, and is supplied with high reliability
Expect to subsequent handling.
3, two half of anchorages are merged by directly vibration device discharge hole for discharge to anchorage of the present invention on the intermediate bulkhead of mechanism,
In discharging direction by baffle, then by both sides promotion merging, the side of straight shake device discharging direction and the workpiece to be combined with needs
To consistent, the difficulty of feeding is low, decrease change direction to be combined and the problem of bring error, two half of misalignments,
The merging precision for merging workpiece can be improved, is provided safeguard for subsequent request automation procedure with high accuracy.
4, limit switching mechanism is provided in clamping carrying mechanism of the invention on buffer gear, control stop cylinder pushes away
Dynamic/pulling out the control of intermediate barrier block to stop/does not stop gag lever post, to realize that gag lever post stops conveying robot to stop the first work
The switching of position or second station reaches the switching of a conveying robot multi-destination by the setting of simple structure, saves
Equipment investment reduces production cost.
5, translation carrying mechanism of the invention can be by anchorage feeding to the 3rd station and the 4th of subsequent O-ring suit mechanism
On the operation position of station, while it will can be placed on originally on 3rd station and the 4th station and be set with by O-ring suit mechanism
The anchorage of completion, is carried to belt discharging mechanism top discharge, and the same mechanism is completed at the same time two kinds of operations, clever structure, equipment
The utilization rate of function is high, saves equipment the space occupied cost, improves the efficiency of production operation.
6, the O-ring feeding platform of O-ring suit mechanism of the invention is provided with spring mechanism, and spring mechanism includes middle circle
Column and three-dimensional damp limited block, are connected with spring under intermediate cylindrical, handgrip can be pressed down against cylinder, handgrip is smoothly protruded into O
O-ring is strutted again in type circle, three-dimensional damping limited block can be oriented to O-ring and be limited in O-ring feeding；O-shaped
When circle is softened, the expansion action that three-dimensional limited block adapts to handgrip is moved to the direction away from the center of circle, and three-dimensional damps limited block and O
Type circle is in contact, and O-ring can be assisted steadily to stretch, and reduces O-ring to a certain extent and moves in the axial direction, it is O-shaped to improve suit
The stability of circle.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of anchorage O-ring automatic assembly equipment of the invention；
Fig. 2 is the structural schematic diagram one of feeding device for vibrating disc of the invention；
Fig. 3 is the structural schematic diagram one of feeding device for vibrating disc of the invention；
Fig. 4 is the enlarged drawing of feeding device for vibrating disc of the invention at A；
Fig. 5 is the structural schematic diagram one that anchorage of the invention merges mechanism；
Fig. 6 is the structural schematic diagram two that anchorage of the invention merges mechanism；
Fig. 7 is the structural schematic diagram one of clamping carrying mechanism of the invention；
Fig. 8 is the structural schematic diagram two of clamping carrying mechanism of the invention；
Fig. 9 is the structural schematic diagram one of O-ring suit mechanism of the invention；
Figure 10 is the structural schematic diagram two of O-ring suit mechanism of the invention；
Figure 11 is the structural schematic diagram one of translation carrying mechanism of the invention；
Figure 12 is the structural schematic diagram two of the part of translation carrying mechanism of the invention.
In figure: under(-)chassis 1, workbench 2, feeding device for vibrating disc 3, conveying mechanism 31, vibrating disk 32, conveyer belt 33,
Hopper 34, the straight device 35 that shakes, anchorage directly shake device 36, and O-ring directly shakes device 37, driving shaft 38, driven shaft 39, reciprocating air cylinder 310, cam
311, bearing 312, anchorage vibrating disk 313, O-ring vibrating disk 314, the road Zhi Zhen 315, infrared laser inductor 316, stop cylinder
317, block 318, mounting plate 319, anchorage merging mechanism 4, support frame 41, intermediate bulkhead 42, pushing block 43, merging rack-and-pinion machine
Structure 44, active pushing block 45, driven pushing block 46, gear 47, active rack gear 48, driven rack gear 49, active gib block 410 are driven to lead
To item 411, link block 412, telescopic cylinder 413, through-hole 414, convex block 415, lifting cylinder 416, top plate 417, baffle 418, sense
Inductive sensing device 419, clamps carrying mechanism 5, bottom support frame 51, and manipulator mounting plate 52 translates sliding rail 53, conveying robot
54, drive cylinder 55, buffer gear 56, rodless cylinder 57, clamping cylinder 58, claw 59, connecting plate 510, cylinder link block
511, long sliding slot 512, buffer stopper 513, gag lever post 514, reset cylinder 515, limit switching mechanism 516, connection frame 517, blocking
Cylinder 518, intermediate barrier block 519, through slot 520, bottom workbench 521, the first station 522, second station 523, magnet 524, O
Type snare mounting mechanism 6, is lifted sliding rail 61, and transfer connecting plate 62 is lifted cylinder 63, plate 64, line slide rail 65, outside three-jaw cylinder
Support mechanism 66, flat-removing air cyclinder 67, fixed plate 68, three-jaw cylinder 69, handgrip 610, dipper crowding gear 611 push cylinder 612, pressing plate
613, circular hole 614 is oriented to road 615, spring mechanism 616, intermediate cylindrical 617, three-dimensional damping limited block 618, damping limited block
619, limited block 620, connecting rod 621, spring 622, be translatable carrying mechanism 7, bottom mounting plate 71, and be translatable sliding rail 72, and be translatable slide
73, be translatable cylinder 74, vertical slide rail 75, vertical sliding 76, cylinder 2 77, and be translatable conveying robot 78, translation manipulator installation
Plate 79, carries finger 710, and traverse gear rackwork 711 actively carries finger 712, driven carrying finger 713, traverse gear
714, be translatable active rack gear 715, and be translatable driven rack gear 716, and be translatable active gib block 717, and be translatable driven gib block 718, opening and closing
Cylinder 719, be translatable buffer 720,3rd station 721, the 4th station 722, belt discharging mechanism 8, belt 81, and demagnetize case 82, O
Type circle feeding platform 9, runner 10.
Specific embodiment
To facilitate the understanding of the present invention, a more comprehensive description of the invention is given in the following sections with reference to the relevant attached drawings.In attached drawing
Give better embodiment of the invention.But the invention can be realized in many different forms, however it is not limited to herein
Described embodiment.On the contrary, the purpose of providing these embodiments is that making to understand more the disclosure
Add thorough and comprehensive.
When component is referred to as " being set to " another component, it can directly on the other part or there may also be
Component placed in the middle, " setting " indicate a kind of existing mode, can be connection, install, are fixedly connected, the connection sides such as activity connection
Formula.When a component is considered as " connection " another component, it can be directly to another component or may be same
When there are components placed in the middle.Term as used herein "vertical", "horizontal", "left" and "right", " x-axis ", " y-axis ", " z-axis "
And similar statement is for illustrative purposes only, is not meant to be the only embodiment.
Unless otherwise defined, all technical and scientific terms used herein and belong to technical field of the invention
The normally understood meaning of technical staff is identical.Term as used herein in the specification of the present invention is intended merely to description tool
The purpose of the embodiment of body, it is not intended that in the limitation present invention.Term " and or " used herein includes one or more
Any and all combinations of relevant listed item.
Referring to Fig. 1-12, the present invention provides a kind of anchorage O-ring automatic assembly equipment and its operating method, including bottom frame
Frame 1 and workbench 2 are provided with feeding device for vibrating disc 3 on the workbench 2, successively fix along the x-axis direction on under(-)chassis 1
It is provided with anchorage and merges mechanism 4, clamping carrying mechanism 5, O-ring suit mechanism 6, translation carrying mechanism 7 and belt discharging mechanism
8, the anchorage of the feeding device for vibrating disc 3 directly shake device 36 discharge port be connected with anchorage merge mechanism 4, feeding device for vibrating disc
Directly the shake road Zhi Zhen 315 of device 37 of 3 O-ring is connected with O-ring feeding platform 9, and stream along the x-axis direction is provided on under(-)chassis 1
The side of runner 10 is arranged in road 10, O-ring feeding platform 9, and the intermediate bulkhead 42 and runner 10 that anchorage merges mechanism 4 are in same x
On axis, clamping carrying mechanism 5 is fixed at 10 other side of runner, and conveying robot and runner 10 are O-shaped in same xz plane
The top of O-ring feeding platform 9 and runner 10 is arranged in snare mounting mechanism 6, and O-ring suit mechanism 6 is located at O-ring feeding platform 9
Same yz plane, translation carrying mechanism 7 is fixed on the other side opposite with O-ring feeding platform 9 of runner 10, after assembling O-ring
Anchorage is discharged by belt discharging mechanism 8.Present device is able to achieve from half of anchorage and O-ring and is fed to assembly completion discharging
Whole process automation operation, each mechanism structure is compact, feeding device, carrying mechanism, assemble mechanism and finished product discharging mechanism
The division of labor is clear, and feeding device and finished product discharging mechanism independently separate simultaneously apart from not far, and operator is concentrated as far as possible,
Meeting lean production demand, equipment integrally occupies little space, and integration degree degree is high, and control route is designed using whole winding displacement,
Orderly, high production efficiency meets automatic industrial production requirement to configuration rule.
Half of anchorage and O-ring consolidation are supplied to anchorage from feeding device for vibrating disc 3 and merge mechanism 4 and O-shaped by the present invention
It encloses on feeding platform 9, anchorage is carried by clamping carrying mechanism 5, is being carried to suit station by the translation translation of carrying mechanism 7
On, O-ring is accurately sleeved on the annular groove of anchorage by O-ring suit mechanism 6, then there is translation carrying mechanism 7 to translate
It is carried on the belt 81 of belt discharging mechanism 8, discharges after demagnetization case 82 demagnetizes, below by whole equipment according to difference
Mechanism is described in detail specific embodiment:
1, feeding device for vibrating disc:
Anchorage O-ring automatic assembly equipment of the invention includes feeding device for vibrating disc 3, and feeding device for vibrating disc 3 wraps
Workbench 2 is included, conveying mechanism 31, vibrating disk 32 and straight vibration device 35, the conveying mechanism 31 are fixedly installed on workbench 2 and is gone out
Material mouth is corresponding with the hopper 34 of vibrating disk 32, and the straight device 35 that shakes includes that anchorage directly shakes device 36 and O-ring directly shakes device 37, the straight device 35 that shakes
It is connected with the discharge port of vibrating disk 32, directly the shake discharge port of device 36 of anchorage is connected with anchorage and merges mechanism 4, and O-ring directly shakes device 37
Discharge port be connected with O-ring feeding platform 9.The present invention is half of by the feed bin 1 and feed bin 2 of preceding working procedure two using conveyer belt 33
Anchorage is respectively delivered in vibrating disk 32, is shaken regular ordering by vibrating disk 32 and is entered straight vibration device 35, the width of the straight device 35 that shakes
Degree with one side of something the minimum widith of anchorage it is identical, the conveying direction of half of anchorage more into accuracy is limited with it is regular, both sides are straight
Half of anchorage direction in vibration device 35 is the arrangement of opposite direction, and two halves side anchor tool is discharged by directly vibration device 35 merges mechanism to anchorage
On 4, mechanism 4 is merged by anchorage two halves side anchor has after accuracy merges and enter subsequent handling, device is by unordered, mixed and disorderly phase
It is arranged with one side of something anchorage by promotion, Regularization, the highland discharging of sequence certainty enters anchorage merging mechanism 4 and merges, high
It is fed to subsequent handling to reliability.
As a further improvement of the present invention, the conveying mechanism 31 includes conveyer belt 33, driving shaft 38 and driven shaft 39,
Driving shaft 38 and driven shaft 39 tighten conveyer belt 33, and reciprocating air cylinder 310 is fixedly installed on the side wall of 33 side of conveyer belt, past
The output shaft of multiple cylinder 310 is connect with the small end of cam 311 by bearing 312, cam 311 one end and master far from bearing 312
Moving axis 38 is fixedly connected.33 transmission mode of conveyer belt of the invention is that reciprocating air cylinder 310 drives conveyer belt 33, compares existing use
The mode that motors driving belts drive anchorage to be transported has torque smaller, laborsaving, ability to work, running life and safety
The advantages of better performances.
As a further improvement of the present invention, bearing 312 is unilateral bearing.Reciprocating air cylinder 310 of the invention and conveyer belt
It is connected by the way of unilateral bearing between 33 transmission shafts, the characteristic that unilateral bearing reversely locks improves conveyer belt 33 and carries anchor
Have the bearing capacity of quantity, prevents conveyer belt 33 because the big drive belt reversion of anchorage weight, damages reciprocating air cylinder 310 and conveying
33 transmission parts of band.
As a further improvement of the present invention, vibrating disk 32 includes anchorage vibrating disk 313 and O-ring vibrating disk 314.
As a further improvement of the present invention, O-ring directly shakes, and there are two the roads Zhi Zhen 315 for the setting of device 37, and the road Zhi Zhen 315 enters
Material mouth respectively with the spiral channel that is arranged in the shape of a spiral in O-ring vibrating disk 314 from 34 bottom of hopper towards 34 opening direction of hopper
Two discharge ports of different height be connected to one by one.
As a further improvement of the present invention, directly the shake discharge port in the road Zhi Zhen 315 of device 37 of O-ring is connected on O-ring
Expect platform 9.
As a further improvement of the present invention, conveying mechanism 31 is set as two, corresponds with anchorage vibrating disk 313.
As a further improvement of the present invention, infrared laser inductor 316 directly is provided on vibration device 35 and vibrating disk 32.This
It is provided with infrared laser inductor 316 on the vibrating disk 32 of invention and straight vibration device 35, is lacked when on vibrating disk 32 and straight vibration device 35
When material, inductor can incude rapidly, and transmit a signal to controller, controller control charging equipment feeding to conveyer belt 33 or
In vibrating disk 32, the degree of automation of device is improved, improves production efficiency.
As a further improvement of the present invention, directly vibration 35 discharge port of device is provided with stop cylinder 317, the stop cylinder
Stop the block 318 of discharge port anchorage discharging on the end of 317 extension ends.
As a further improvement of the present invention, mounting plate 319, the conveying mechanism 31, vibration are fixedly installed on workbench 2
Moving plate 32 and straight vibration device 35 are fixedly mounted on mounting plate 319, and the mounting plate 319 that each is fixedly connected with vibrating disk 32 is mutual
Independently and there are certain intervals.The present invention exists the Automatic-feeding equipment that two halves side anchor has and O-ring Automatic-feeding integration of equipments
On same workbench 2, space is saved, integration degree is high, and the mounting plate 319 where each vibrating disk 32 is mutually indepedent
And there are certain intervals, and resonance interference occurs when preventing vibrating disk 32 from vibrating.
It further include the concrete operation method having separately as feeding device for vibrating disc are as follows: half of anchorage is defeated by conveying mechanism
It send to anchorage vibrating disk, is discharged by the device that directly shaken after anchorage vibration disc vibration consolidation by anchorage and merge mechanism to anchorage, wait anchor
Tool merges the operation of mechanism；Meanwhile the direct feeding of O-ring is to O-ring vibrating disk, is vibrated after disc vibration consolidation by O-ring by O
Type circle directly shake device discharge to O-ring feeding platform wait O-ring suit mechanism operation.
2, anchorage merges mechanism:
Anchorage O-ring automatic assembly equipment of the invention includes that anchorage merges mechanism 4, and it includes support that anchorage, which merges mechanism 4,
Frame 41, intermediate bulkhead 42 and pushing block 43, intermediate bulkhead 42 are fixed at 41 top of support frame, the intermediate bulkhead 42 and anchorage
Straight vibration 36 discharge port of device is connected, and the pushing block 43 is distributed in 42 two sides of intermediate bulkhead in opposite directions, is additionally provided with control on support frame 41
Pushing block 43 synchronizes merging gear and rack teeth mechanism 44 that is close to each other or being located remotely from each other movement, and the pushing block 43 is set as two,
For active pushing block 45 and driven pushing block 46, the direction of motion of active pushing block 45 and driven pushing block 46 is along the x-axis direction that anchorage directly shakes
The discharging direction of device 36 is along the y-axis direction.Two half of anchorages are closed by directly vibration 35 discharge hole for discharge of device to anchorage of the present invention
And on the intermediate bulkhead 42 of mechanism 4, stopped in discharging direction by baffle 418, then is pushed and merge by both sides, straight 35 side of discharging of device that shakes
To consistent with the direction of workpiece to be combined is needed, the difficulty of feeding is low, decreases change direction to be combined and bring
The problem of error, two half of misalignments, the merging precision for merging workpiece can be improved, be subsequent request automatic chemical industry with high accuracy
Sequence provides safeguard.
As a further improvement of the present invention, merging gear and rack teeth mechanism 44 includes gear 47, and gear 47 is solid by bearing
It is scheduled on 41 bottom of support frame as described above, 47 two sides of gear and gear 47 are engaged with the active rack gear 48 and driven rack gear being parallel to each other
49, the active rack gear 48 and driven rack gear 49 are fixedly connected with active gib block 410 and driven gib block 411 respectively, actively
Gib block 410 and driven gib block 411 are connect by sliding slot and sliding rail with the side wall of support frame 41, the active gib block 410
It is connect by link block 412 with active pushing block 45, driven gib block 411 is connect by link block 412 with driven pushing block 46, described
The direction of motion of active rack gear 48 and active gib block 410 along sliding rail glide direction with the direction of motion phase of active pushing block 45
Together, 413 extension end of telescopic cylinder is fixedly connected with active gib block 410, the direction of motion and active of 413 extension end of telescopic cylinder
The direction of motion of pushing block 45 is identical.Anchorage of the invention merges mechanism 4 and is controlled by cylinder the merging drive of gear and rack teeth mechanism 44 1
Pushing block 43 synchronous opening/closing in both sides overcomes the asynchronous operation bring error of the prior art, and realization moves synchronously, and can improve equipment
Work, anchorage merge the accuracy of position, and keep the consistency of the location of workpiece after every merging, subsequent to remove workpiece holding
When transporting the clamping operation of mechanism 5, location position device can be reduced, apparatus structure is simplified, improves production efficiency.Anchorage of the invention closes
And the rack gear of mechanism 4 is fixedly connected with gib block, gib block is connect by sliding rail with fixed frame, and pushing block is provided on gib block
43, guarantee the smaller force of sliding friction being subjected only between horizontal slide rail and slideway when both sides pushing block 43 moves, improves pushing block 43
Sport efficiency, saving equipment needs energy to be offered, and improves the service life of equipment.
As a further improvement of the present invention, it is provided with through-hole 414 on 41 side of support frame, intermediate bulkhead 42 is fixedly connected
There is convex block 415, convex block 415 stretches out support frame 41 through through-hole 414 and connect with lifting cylinder 416.
As a further improvement of the present invention, the contact surface that pushing block 43 is contacted with anchorage is V-arrangement.Pushing block 43 of the invention with
The position of anchorage workpiece contact is V-arrangement, and both sides pushing block 43 is at least in contact there are four face with anchorage workpiece, effectively increases pushing block 43
With the contact area between anchorage workpiece, guarantees that pushing block 43 contacts stable and firm, promotion when pushing workpiece steadily, further increase
The merging precision of big workpiece.
As a further improvement of the present invention, the material of pushing block 43 is brass.Both sides pushing block 43 of the present invention uses brass material
Material, the flexibility of brass is good, will not cause to damage to workpiece in 43 workpiece of pushing block.
As a further improvement of the present invention, top plate 417 is fixedly installed at the top of support frame 41, top plate 417 is fixedly installed
There is stop anchorage directly to shake along anchorage baffle 418 that the discharging direction of device 36 moves.
As a further improvement of the present invention, the contact surface of baffle 418 and anchorage is set as arc-shaped.
As a further improvement of the present invention, the inductive pick-up 419 for incuding half of anchorage is fixed on support frame 41.This
Invention is provided with the inductive pick-up 419 of detection workpiece in place, when two half of anchorages are mobile by the discharge port for the device 35 that directly shakes
To on intermediate bulkhead 42 of the invention, two half of anchorages of identification of inductive pick-up 419 all in place after, cylinder drives both sides
Pushing block 43 merges anchorage to intermediary movements, and clever structure saves space, and can guarantee that two one side of something all exist
In the case where just merge, reduce material leakage alarm, device is out of service etc. the case where wasting time, reduce production when
Between cost, improve the efficiency of production.
The present invention also provides the operating methods for merging mechanism separately as anchorage, comprising the following steps:
S1: when anchorage is directly shaken in device 36 discharge hole for discharge to intermediate bulkhead 42 by anchorage；
S2: after inductive pick-up 419 identifies two half of anchorages all in place, anchorage directly shakes the blocking gas of 36 discharge port of device
Cylinder 317 works, and anchorage is stopped directly to shake the anchorage discharging in device 36；
S3: intermediate bulkhead 42 declines；
S4: the driving of telescopic cylinder 413 merges gear and rack teeth mechanism 44 and moves, and both sides pushing block 43 merges anchor to intermediary movements
Tool；
S5: the driving of telescopic cylinder 413 merges gear and rack teeth mechanism 44 and resets, and anchorage waiting is clamped by clamping carrying mechanism 5；
S6: after being clamped by clamping carrying mechanism 5, intermediate bulkhead 42 rises；
S7: S1-S7 is repeated.The invention also includes there is the operating method for merging mechanism, method control is simple, it is easy to accomplish,
It is closely connected between each mechanism, the quick precision for being able to achieve anchorage merges, and is suitble to the full-automatic production of industry.
3, carrying mechanism is clamped:
Anchorage O-ring automatic assembly equipment of the present invention includes clamping carrying mechanism 5, and clamping carrying mechanism 5 includes bottom branch
Support 51, manipulator mounting plate 52 is provided on bottom support frame 51, and the manipulator mounting plate 52 merges mechanism 4 close to anchorage
One side on be fixed with the translation sliding rail 53 being arranged along the x-axis direction, conveying robot 54 is connect with translation sliding rail 53 by sliding block,
The driving cylinder 55 that driving conveying robot 54 is slided along translation sliding rail 53, the machinery are provided on the bottom support frame 51
Buffer gear 56 is also fixedly connected on hand mounting plate 52.The claw 59 of conveying robot 54 of the invention directly merges in anchorage
Anchorage after clamping merges on the intermediate bulkhead 42 of mechanism 4, then conveying robot 54 passes through under driving 55 impetus of cylinder,
It is slid on runner 10 along translation sliding rail 53,54 operation position of plate conveying robot of subsequent handling is provided on runner 10,
Subsequent handling is facilitated to operate, this programme structure is simple, and conveying robot 54 is only along being fixed on manipulator mounting plate 52
It is mobile to translate sliding rail 53, the frictional force being subjected only in x-axis direction, and be not subject on z-axis vertical plane by gravity bring frictional force,
Resistance to sliding is small, and the accuracy of carrying is high, provides safeguard for subsequent request automation procedure with high accuracy.
As a further improvement of the present invention, conveying robot 54 is fixedly connected sequentially from top to bottom along z-axis, and whether there is or not bar gas
Cylinder 57, clamping cylinder 58 and claw 59, the telescopic rod of rodless cylinder 57 stretch along the z-axis direction, and clamping cylinder 58 controls claw 59
Opening and closing, 59 direction of motion of claw be along the x-axis direction.
As a further improvement of the present invention, rodless cylinder 57 is fixed on connecting plate 510, is fixed on connecting plate 510
Cylinder link block 511, the cylinder link block 511 pass through long sliding slot 512 along x-axis on manipulator mounting plate 52 and are mounted on
Driving cylinder 55 on bottom support frame 51 is connected.
As a further improvement of the present invention, buffer gear 56 includes the buffer stopper being fixed on manipulator mounting plate 52
513 and through buffer stopper 513 gag lever post 514, further include reset gag lever post 514 reset cylinder 515, the gag lever post 514
It stretches along the x-axis direction.The present invention is provided with the buffer gear 56 that limiting buffer effect is played to conveying robot 54, can carry
When manipulator 54 is moved to operation position corresponding position, stop limit conveying robot 54, make conveying robot 54 leniently, essence
Really stop at purpose station.
As a further improvement of the present invention, buffer gear 56 is additionally provided with limit switching mechanism 516, the limit switching
Mechanism 516 includes connection frame 517, stop cylinder 518 and intermediate barrier block 519, and connection frame 517 is fixed under buffer gear 56
Side, stop cylinder 518 are fixed on connection frame 517, and buffer stopper 513 offers through slot 520, the connection of 518 extension end of stop cylinder
There is intermediate barrier block 519, intermediate barrier block 519 is inserted into through slot 520, and intermediate barrier block 519 adjusts the receipts of the gag lever post 514
Indention journey.There are two station settings of the invention, and limit switching mechanism 516 is provided on buffer gear 56, controls stop cylinder
518 promotions/control of pull-out intermediate barrier block 519 stops/do not stop gag lever post 514, to realize that gag lever post 514 stops carrying implement
Tool hand 54 stops the first station 522 or the switching of second station 523 reaches a carrying implement by the setting of simple structure
Equipment investment is saved in the switching of 54 multi-destination of tool hand, reduces production cost.
It as a further improvement of the present invention, further include bottom workbench 521, bottom workbench 521 is fixed on bottom frame
On frame 1, runner 10 along the x-axis direction is detachably connected on bottom workbench 521, runner 10 is with conveying robot 54 same
The first station 522 and second station 523 are provided in one xz plane, on runner 10 along the x-axis direction.Runner 10 of the invention and bottom
Portion's workbench 521 uses dismountable connection type, detachable and interchangeable when runner 10 damages, and reduces maintenance time cost.
As a further improvement of the present invention, the distance between the first station 522 and second station 523 and intermediate barrier block
519 in the direction of the x axis of same size.
As a further improvement of the present invention, magnet 524, magnet are provided in the first station 522 and second station 523
There are four 524 settings, constitutes a rectangle.It is provided with magnet 524 in first station 522 of the invention and second station 523, when
When anchorage is carried on station by conveying robot 54, magnet 524 can attract securely anchorage, and in conveying robot 54
The deviation of the relative position of anchorage caused by the vibration being difficult to avoid that in the handling process has certain correcting action, also subtracts
Few subsequent 54 required precision of plate conveying robot.
As a further improvement of the present invention, the contact surface that is in contact with anchorage of claw 59 is set as the V-type knot with oblique angle
Structure.Claw 59 of the invention is set as V-arrangement, and claw 59 is at least in contact there are four face with anchorage, effectively increases claw 59 and anchor
It is stable and firm to guarantee that claw 59 is contacted when clamping anchorage, further increases the precision of carrying for contact area between tool.Into one
Step, the v-shaped structure of claw 59 of the invention has an oblique angle, and the inclined-plane of oblique angle and anchorage matches, and can be further improved claw
59 clamping action.The claw 59 of conveying robot 54 of the present invention can use brass material, and claw 59 is contacted with anchorage
Position setting and the top of O-shaped slot, such manipulator anchorage surface will not be caused to damage.
The present invention also provides the operating methods separately as clamping carrying mechanism, comprising the following steps:
S1: when anchorage is after anchorage merges the merging of mechanism 4；
S2: driving cylinder 55 controls conveying robot 54 and moves along the x-axis to anchorage；
S3: 57 extension bar of rodless cylinder on conveying robot 54 is extended downwardly along z-axis, pushes clamping cylinder 58 and claw
59 move downward along z-axis, and the opening of claw 59 is distributed in anchorage two sides；
S4: clamping cylinder 58 controls the closure of claw 59 and clamps anchorage；
S5: 57 extension bar of rodless cylinder is shunk upwards along z-axis；
S6: driving cylinder 55 controls conveying robot 54 and moves along the x-axis, and is stopped by the blocking of gag lever post 514 of buffer gear 56
Only；
S7: 57 extension bar of rodless cylinder is extended downwardly along z-axis, and clamping cylinder 58 and claw 59 is pushed to move downward along z-axis
On first station 522, anchorage is attracted by the magnet 524 of the first station 522 to be fixed；
S8: clamping cylinder 58 controls claw 59 and opens；
S9: 57 extension bar of rodless cylinder is shunk upwards along x-axis；
S10: 518 extension end of stop cylinder is shunk, and intermediate barrier block 519 leaves buffer stopper 513；
S11: repeating abovementioned steps S2-S6, and 57 extension bar of rodless cylinder is extended downwardly along z-axis, pushes clamping cylinder 58
It is moved downward in second station 523 with claw 59 along z-axis, anchorage is attracted by the magnet 524 of second station 523 to be fixed；
S12: clamping cylinder 58 controls claw 59 and opens；
S13: 57 extension bar of rodless cylinder is shunk upwards along z-axis；
S14: reset cylinder 515 pushes gag lever post 514 to reset；
S15: step S1-S15 is repeated.The invention also includes the operating method for having clamping carrying mechanism, this operating method is adopted
There is the control of priority to operate with three kinds of cylinders, by complicated process decomposition process control between simple components, each component it
Between operation logic it is clear, structure is simple, clamps and carries with being able to achieve the quick of anchorage, precision, is suitble to industry full-automatic
Metaplasia produces.
4, O-ring suit mechanism:
Anchorage O-ring automatic assembly equipment of the present invention includes O-ring suit mechanism 6, and O-ring suit mechanism 6 includes bottom
Support frame 51 and O-ring feeding platform 9 are provided with manipulator mounting plate 52, the manipulator mounting plate 52 on bottom support frame 51
It is fixed in the one side of O-ring feeding platform 9 and is provided with lifting sliding rail 61 along the z-axis direction, be lifted on sliding rail 61 in being provided with
Turn connecting plate 62, lifting cylinder 63 drives transfer connecting plate 62 to slide along lifting sliding rail 61, and 62 lower part of transfer connecting plate is fixed to be connected
It is connected to plate 64, is fixed with the line slide rail 65 extended along the y-axis direction in the one side of the plate 64 far from transfer connecting plate 62,
Line slide rail 65 is connected with support mechanism 66 outside the distracted three-jaw cylinder of O-ring, and flat-removing air cyclinder 67, which drives, supports machine outside three-jaw cylinder
Structure 66 is slided along line slide rail 65 in y-axis.The configuration of the present invention is simple, the outer support mechanism 66 of three-jaw cylinder is by being fixed on manipulator peace
Sliding rail on z-axis direction and lifting mechanism in loading board 52 on two direction of y-axis direction is with realizing multiple degrees of freedom mobile, sliding rail sliding
Resistance is small, and the accuracy of carrying is high, provides safeguard for subsequent request automation procedure with high accuracy.
As a further improvement of the present invention, the outer support mechanism 66 of three-jaw cylinder successively includes fixed plate 68, three from top to bottom
Pawl cylinder 69 and handgrip 610, fixed plate 68 are slidably connected with line slide rail 65 by sliding block, and three-jaw cylinder 69 and fixed plate 68 are solid
Fixed connection, handgrip 610 are fixedly connected with the tache motorice of three-jaw cylinder 69, and the opening and closing of handgrip 610 is controlled by three-jaw cylinder 69, stream of action
Freely, it is higher to automatically control degree, is suitble to industrialization production, the outer support mechanism 66 of the three-jaw cylinder further includes by O-ring pressure from grabbing
The dipper crowding gear 611 of hand 610, the dipper crowding gear 611 include the pushing cylinder 612 being fixed in fixed plate 68, push cylinder
612 extension end is connected with the pressing plate 613 that direction is stretched out perpendicular to pushing cylinder 612, is provided with circular hole 614 on pressing plate 613, grabs
Hand 610 runs through circular hole 614.Handgrip outer surface of the invention is set as arc-shaped, can guarantee O-ring when being stretched can uniformly by
Power, and handgrip is provided with the circular hole 614 for playing position-limiting action, guarantees that O-ring will not be elongated excessively when being stretched, occurs
The case where fracture, extends the service life of O-ring.
As a further improvement of the present invention, handgrip 610 is set as three valve fingers, the shape of every valve finger be it is arc-shaped,
The contact surface that three valve fingers are contacted with anchorage surrounds truncated cone-shaped.
As a further improvement of the present invention, the outer surface of handgrip 610 surrounds truncated cone-shaped.
As a further improvement of the present invention, the straight vibration in the guiding road 615 and feeding device for vibrating disc 3 of O-ring feeding platform 9
The discharge port in road 315 is connected, and the O-ring feeding platform 9 is provided with spring mechanism 616, and spring mechanism 616 includes intermediate cylindrical
617 and three-dimensional damp limited block 618, spring is connected under intermediate cylindrical 617, the three-dimensional damping limited block 618 enters for O-ring
Material path two sides damping limited block 619 and the damping limited block 619 for stopping O-ring to move to pan feeding direction are constituted, the damping limit
Position block 619 includes limited block 620, connecting rod 621 and spring 622, and 621 one end of connecting rod is fixedly connected with limited block 620, the other end and
Spring 622 is connected.O-ring feeding platform 9 of the invention is provided with spring mechanism 616, and spring mechanism 616 includes intermediate cylindrical 617
Limited block 618 is damped with three-dimensional, is connected with spring 622 under intermediate cylindrical 617, handgrip 610 can be pressed down against cylinder, smoothly will
Handgrip 610, which protrudes into O-ring, again struts O-ring, and three-dimensional damps limited block 618 and can carry out in O-ring feeding to O-ring
Guiding and limit；When O-ring is softened, three-dimensional limited block 620 adapt to handgrip 610 expansion action to deviate from the center of circle direction
Movement, three-dimensional damping limited block 618 are in contact with O-ring, O-ring can be assisted steadily to stretch, reduce O-ring to a certain extent and exist
Axial direction is mobile, improves the stability of suit O-ring.
As a further improvement of the present invention, handgrip 610 be set with O-ring when free end threshold value anchorage groove away from
From for 1-1.5mm.The end of 610 free end of handgrip is higher than the annular recessed of anchorage when the handgrip 610 of O-ring of the present invention grabs anchorage
Slot 1-1.5mm can improve pressing plate 613 and move downward when O-ring is pushed down handgrip 610, O-ring fall into groove accuracy and
Operational stability.
The present invention also provides the operating methods separately as O-ring suit mechanism, comprising the following steps:
S1: it when anchorage is carried to 3rd station 721 and four stations 722 by translation carrying mechanism 7, is supportted outside three-jaw cylinder
Mechanism 66 is along the y-axis direction right above stretch out motion to O-ring；
S2: the outer support mechanism 66 of three-jaw cylinder declines along z-axis, and handgrip 610 is pressed down against intermediate cylindrical 617, intermediate cylindrical 617
Decline, handgrip 610 protrude into O-ring；
S3: three-jaw cylinder 69 controls handgrip 610 and struts O-ring, and three-dimensional damping 618 adaptability of limited block is displaced outwardly；
S4: the outer support mechanism 66 of three-jaw cylinder rises along z-axis to be resetted；
S5: the outer support mechanism 66 of three-jaw cylinder is contracted to along the y-axis direction right above anchorage；
S6: the outer support mechanism 66 of three-jaw cylinder declines along z-axis, and O-ring entangles anchorage；
S7: it pushes cylinder 612 and pressing plate 613 is pushed to move downward along z-axis, so that O-ring is fallen off, pack into anchorage annular groove；
S8: pressing plate 613 resets, and the outer support mechanism 66 of three-jaw cylinder rises along Z axis to be resetted；
S9: S1-S8 is repeated.The invention also includes the operating method for having O-ring suit mechanism, method motion profile accurately may be used
Control, easy to accomplish, high degree of automation, industrial prospect are good.
5, be translatable carrying mechanism:
It includes translation carrying mechanism 7 that the present invention, which provides anchorage O-ring automatic assembly equipment, and translation carrying mechanism 7 includes bottom
Portion's mounting plate 71 is provided with translation sliding rail 72 along the x-axis direction on bottom mounting plate 71, is provided with translation on the sliding rail 72 that is translatable and slides
Seat 73, the driving of the translation cylinder 74 translation slide 73 being fixedly connected on bottom mounting plate 71 are slided along translation sliding rail 72, and translation is slided
It is provided with vertical slide rail 75 along the y-axis direction on seat 73, vertical sliding 76 is provided in the vertical slide rail 75, the translation is slided
The cylinder 2 77 being fixedly connected on seat 73 drives vertical sliding 76 to slide along vertical slide rail 75, is fixedly connected in vertical sliding 76
Clamp the translation conveying robot 78 of workpiece.The configuration of the present invention is simple, translation conveying robot 78 pass through on the fixed face xy two
Sliding rail is with realizing multiple degrees of freedom mobile, and sliding rail resistance to sliding is small, and the accuracy of carrying is high, is that subsequent request is with high accuracy automatically
Chemical industry sequence provides safeguard.
As a further improvement of the present invention, translation manipulator mounting plate 79 is fixed in vertical sliding 76, translation is carried
Manipulator 78 includes the traverse gear rackwork 711 for carrying finger 710 and control carrying 710 opened/closed of finger, handling hand
Referring to that 710 include actively carrying finger 712 and driven carrying finger 713, traverse gear rackwork 711 includes traverse gear 714,
Traverse gear 714 is fixed on the translation manipulator mounting plate 79 by bearing, about 714 two sides of traverse gear and translation tooth
Wheel 714 is engaged with the translation active rack gear 715 being parallel to each other along the x-axis direction and translation driven tooth item 716, the translation driving tooth
Item 715 and translation driven tooth item 716 are fixedly connected with translation active gib block 717 and the driven gib block 718 of translation respectively, described
Translation active gib block 717 and the driven gib block 718 of translation and translation manipulator mounting plate 79 are by way of sliding rail and sliding block
Connection is actively carried finger 712 and is fixedly mounted on translation active gib block 717, and driven carrying finger 713 is fixedly mounted on flat
It moves on driven gib block 718, translation active gib block 717 is fixedly connected with the extension end for being opened and closed cylinder 719.Translation of the invention
Carrying mechanism drives both sides translation 78 synchronous opening/closing of conveying robot using cylinder control gear and rack teeth mechanism, passes through rack-and-pinion
Guarantee moves synchronously, can improve equipment work, crawl anchorage accuracy, and keep two halves side anchor tool crawl, be placed on it is O-shaped
The consistency of the operation position relative position Shang Shi of snare mounting mechanism ensure that the essence of subsequent O-ring suit mechanism crawl anchorage
Degree requires.Cylinder 2 77 of the invention uses air cylinder connecting rod control structure, and cylinder 2 77 and opening and closing cylinder 719 act junction and adopt
With the mode of floating connection, the smoothness of operation can guarantee, improve the working efficiency of pusher cylinder.
As a further improvement of the present invention, translation 72 both ends of sliding rail are provided with translation buffer 720.Of the invention also sets
It is equipped with translation buffer 720, translation buffer 720 is able to bear biggish impact force, has energy-obsorbing and damping effect, reduces translation
Inertia bring adverse effect when the translation base motions at 78 place of conveying robot makes to be translatable pedestal leniently, accurately
Stop at destination locations.
As a further improvement of the present invention, the contact surface for carrying finger 710 and anchorage constitutes truncated cone-shaped.Of the invention is flat
Dynamic conveying robot 78 constitutes truncated cone-shaped with anchorage contact surface, and the position for clamping anchorage is higher than the O-ring slot top of anchorage,
Effectively increase the contact area between pushing block and anchorage workpiece, guarantees that translation conveying robot 78 is contacted when workpiece is carried in translation
Stable and firm, two halves side anchor tool does not relatively move, and further increases precision when anchorage translation is carried, and prevent from clamping
Anchorage is caused to damage when anchorage.
As a further improvement of the present invention, the carrying finger 710 of translation conveying robot 78 is four, along the x-axis direction
Spaced set.
It as a further improvement of the present invention, further include bottom workbench 521, bottom workbench 521 is fixed on bottom frame
On frame 1, it is detachably connected with runner 10 on bottom workbench 521, the first station being equally spaced is provided on runner 10
522, second station 523,3rd station 721 and the 4th station 722.As a further improvement of the present invention, the first station 522,
The distance between second station 523,3rd station 721 and the 4th station 722 are identical as the distance between finger 710 is carried.This
Invention can by the operation position of the 3rd station 721 of anchorage feeding to subsequent O-ring suit mechanism 6 and the 4th station 722,
It will can be placed on originally the anchorage completed on 3rd station 721 and the 4th station 722 by O-ring suit mechanism suit simultaneously,
It is carried to 8 top discharge of belt discharging mechanism, the same mechanism is completed at the same time two kinds of operations, clever structure, the utilization of functions of the equipments
Rate is high, saves equipment the space occupied cost, improves the efficiency of production operation.
As a further improvement of the present invention, the first station 522, second station 523,3rd station 721 and the 4th station
Magnet 524 is provided on 722, there are four the settings of magnet 524, constitutes a rectangle.
The present invention also provides the operating methods separately as translation carrying mechanism, comprising the following steps:
S1: when anchorage is carried to the first station 522 and second station 523, and O-ring set by clamping carrying mechanism 5
When the anchorage that suit is completed is carried to 3rd station 721 and four stations 722 by mounting mechanism 6；
S2: the translation conveying robot 78 that translation cylinder 74 drives slides into along translation sliding rail 72 corresponding on runner 10
First station 522, second station 523,3rd station 721 and the 4th station 722；
S3: cylinder 2 77 pushes forward the translation conveying robot 78 of opening to be moved to anchorage corresponding position along y-axis；
S4: the closure of carrying finger 710 of the opening and closing driving translation conveying robot 78 of cylinder 719 clamps anchorage；
S5: the translation driving translation conveying robot 78 of cylinder 74 carries the first station 522 and the anchorage of second station 523
It is carried to 3rd station 721 and the 4th station 722, while by the anchorage of the completion socket of 3rd station 721 and the 4th station 722
To subsequent 8 top discharge of belt discharging mechanism；
S6: the carrying finger 710 of translation conveying robot 78 is opened, and cylinder 2 77 backward receives translation conveying robot 78
Retract initial position；
S7: S1-S6 is repeated.The invention also includes the operating method for having translation carrying mechanism, translation operation overall process is used
Rectangular-ambulatory-plane motion process, motion profile controllable precise, high degree of automation
Further include the operating method for having entire anchorage O-ring automatic assembly equipment of the invention: the following steps are included:
10. the operating method of a kind of anchorage O-ring automatic assembly equipment and its operating method, it is characterised in that: including with
Lower step:
A1: half of anchorage is delivered to anchorage vibrating disk 313 by conveying mechanism 31, is returned by the vibration of anchorage vibrating disk 313
It is directly shaken in the discharging of device 36 to the intermediate bulkhead 42 of anchorage merging mechanism 4 after whole by anchorage；
A2: after inductive pick-up 419 identifies two half of anchorages all in place, anchorage directly shakes the blocking gas of 36 discharge port of device
Cylinder 518 works, and anchorage is stopped directly to shake the anchorage discharging in device；
A3: intermediate bulkhead 42 declines；
A4: the driving of telescopic cylinder 413 merges gear and rack teeth mechanism 44 and moves, and both sides pushing block merges anchorage to intermediary movements；
A5: the driving of telescopic cylinder 413 merges gear and rack teeth mechanism 44 and resets；
A6: driving cylinder 55 controls conveying robot 54 and moves along the x-axis to anchorage；
A7: 57 extension bar of rodless cylinder on conveying robot 54 is extended downwardly along z-axis, pushes clamping cylinder 58 and claw
59 move downward along z-axis, and the opening of claw 59 is distributed in anchorage two sides；
A8: clamping cylinder 58 controls the closure of claw 59 and clamps anchorage；
A9: 57 extension bar of rodless cylinder is shunk upwards along z-axis, and the intermediate bulkhead 42 for merging mechanism 4 rises；
A10: driving cylinder 55 controls conveying robot 54 and moves along the x-axis, and is stopped by the blocking of gag lever post 514 of buffer gear 56
Only；
A11: 57 extension bar of rodless cylinder is extended downwardly along z-axis, and clamping cylinder 58 and claw 59 is pushed to move downward along z-axis
On first station, anchorage is attracted by the magnet of the first station 522 to be fixed；
A12: clamping cylinder 58 controls claw 59 and opens；
A13: 57 extension bar of rodless cylinder is shunk upwards along x-axis；
A14: 518 extension end of stop cylinder is shunk, and intermediate barrier block 519 leaves buffer stopper 513；
A15: repeating abovementioned steps A1-A10, and 57 extension bar of rodless cylinder is extended downwardly along z-axis, pushes clamping cylinder 58
It is moved downward in second station 523 with claw 59 along z-axis, anchorage is attracted by the magnet of second station 523 to be fixed；
A16: clamping cylinder 58 controls claw 59 and opens；
A17: 57 extension bar of rodless cylinder is shunk upwards along z-axis；
A18: reset cylinder 515 pushes gag lever post 514 to reset；
A19: the translation driving translation conveying robot 78 of cylinder 74 removes the anchorage of the first station 522 and second station 523
Be transported to 3rd station 721 and the 4th station 722, the outer support mechanism 66 of three-jaw cylinder along the y-axis direction stretch out motion to O-ring just on
Side；
A20: the outer support mechanism 66 of three-jaw cylinder declines along z-axis, and handgrip is pressed down against intermediate cylindrical 617, intermediate cylindrical decline
617, handgrip protrudes into O-ring；
A21: three-jaw cylinder 69 controls handgrip 610 and struts O-ring, and three-dimensional damping 618 adaptability of limited block is displaced outwardly；
A22: the outer support mechanism 66 of three-jaw cylinder rises along z-axis to be resetted；
A23: the outer support mechanism 66 of three-jaw cylinder is contracted to along the y-axis direction right above anchorage；
A24: the outer support mechanism 66 of three-jaw cylinder declines along z-axis, and O-ring entangles anchorage；
A25: it pushes cylinder 612 and pressing plate 613 is pushed to move downward along z-axis, so that O-ring is fallen off, pack into anchorage annular groove；
A26: pressing plate 613 resets, and the outer support mechanism 66 of three-jaw cylinder rises along z-axis to be resetted；
A27: the translation conveying robot 78 that translation cylinder 74 drives slides into along translation sliding rail 72 corresponding on runner 10
The first station 522, second station 523,3rd station 721 and the 4th station 722；
A28: cylinder 2 77 pushes forward the translation conveying robot 78 of opening to be moved to anchorage corresponding position along y-axis；
A29: the closure of carrying finger 710 of the opening and closing driving translation conveying robot 78 of cylinder 719 clamps anchorage；
A30: the translation driving translation conveying robot 78 of cylinder 74 by the first station 522 and the anchorage of second station 523 again
It is carried to 3rd station 721 and the 4th station 722, while the anchorage that the completion of 3rd station 721 and the 4th station 722 is socketed
Subsequent belt discharging mechanism 8 is carried to discharge after demagnetization case 82 demagnetizes；
A31: the carrying finger 710 of translation conveying robot 78 is opened, and cylinder 2 77 backward will translation conveying robot 78
Shrink back initial position；
A32: A1-A31 is repeated.
Detailed Jie has been carried out to a kind of anchorage O-ring automatic assembly equipment provided by the present invention and its operating method above
It continues.Principle and implementation of the present invention are described for specific embodiment used herein, the explanation of above embodiments
It is merely used to help understand method and its core concept of the invention.It should be pointed out that for the ordinary skill people of the art
Member for, without departing from the principle of the present invention, can with several improvements and modifications are made to the present invention, these improve and
Modification is also fallen within the protection scope of the claims of the present invention.
Claims (10)
1. a kind of anchorage O-ring automatic assembly equipment, it is characterised in that: including under(-)chassis and workbench, on the workbench
It is provided with feeding device for vibrating disc, anchorage is successively fixedly installed on under(-)chassis along the x-axis direction and merges mechanism, clamping carrying implement
Structure, O-ring suit mechanism, translation carrying mechanism and belt discharging mechanism, the anchorage of the feeding device for vibrating disc directly shake device
Discharge port is connected with anchorage and merges mechanism, and the O-ring of the feeding device for vibrating disc road Qi Zhizhen that directly shakes is connected with O-ring feeding
Platform is provided with runner along the x-axis direction on under(-)chassis, and the side of runner is arranged in O-ring feeding platform, and anchorage merges mechanism
Intermediate bulkhead and runner are in same x-axis, and clamping carrying mechanism is fixed at the runner other side, and conveying robot and runner exist
In same xz plane, the top of O-ring feeding platform and runner, O-ring suit mechanism and O-ring is arranged in O-ring suit mechanism
Feeding platform is located at same yz plane, and translation carrying mechanism is fixed on the runner other side opposite with O-ring feeding platform, assembles O-shaped
Anchorage after circle is discharged by belt discharging mechanism.
2. anchorage O-ring automatic assembly equipment according to claim 1, it is characterised in that: the feeding device for vibrating disc
Including workbench, conveying mechanism, vibrating disk and the device that directly shakes, the discharge port of the conveying mechanism and vibration are fixedly installed on workbench
The hopper of Moving plate is corresponding, and the straight device that shakes includes that anchorage directly shakes device and O-ring directly shakes device, the discharge port phase of straight shake device and vibrating disk
Even, directly the shake discharge port of device of anchorage is connected with anchorage and merges mechanism, and directly the shake discharge port of device of O-ring is connected with O-ring feeding platform.
3. anchorage O-ring automatic assembly equipment according to claim 1, it is characterised in that: the anchorage merges mechanism packet
Include support frame, intermediate bulkhead and pushing block, intermediate bulkhead is fixed at support frame top, and the intermediate bulkhead and anchorage directly shake device
Discharge port is connected, and the pushing block is distributed in intermediate bulkhead two sides in opposite directions, and control pushing block is additionally provided on support frame and synchronizes and mutually leans on
Merging gear and rack teeth mechanism that is close or being located remotely from each other movement, the pushing block are set as two, are active pushing block and driven pushing block,
The direction of motion of active pushing block and driven pushing block be along the x-axis direction, anchorage directly shake device discharging direction be along the y-axis direction.
4. anchorage O-ring automatic assembly equipment according to claim 1, it is characterised in that: the clamping carrying mechanism packet
Bottom support frame is included, manipulator mounting plate is provided on the support frame of bottom, the manipulator mounting plate merges mechanism close to anchorage
One side on be fixed with the translation sliding rail being arranged along the x-axis direction, conveying robot is connect with translation sliding rail by sliding block, the bottom
It is also solid along the driving cylinder of translation sliding rail sliding, the manipulator mounting plate that driving conveying robot is provided on portion's support frame
Surely it is connected with buffer gear.
5. anchorage O-ring automatic assembly equipment according to claim 4, it is characterised in that: the buffer gear includes solid
The buffer stopper being scheduled on manipulator mounting plate and the gag lever post through buffer stopper further include the reset cylinder for resetting gag lever post, institute
Gag lever post is stated to stretch along the x-axis direction.
6. anchorage O-ring automatic assembly equipment according to claim 5, it is characterised in that: the buffer gear is also set up
There is limit switching mechanism, the limit switching mechanism includes that connection frame, stop cylinder and intermediate barrier block, connection frame are fixed on slow
Below punch mechanism, stop cylinder is fixed on connection frame, and buffer stopper offers through slot, and stop cylinder extension end is connected with intermediate resistance
Block, intermediate barrier block are inserted into through slot, and intermediate barrier block adjusts the retraction stroke of the gag lever post.
7. anchorage O-ring automatic assembly equipment according to claim 1, it is characterised in that: the translation carrying mechanism packet
Bottom mounting plate is included, translation sliding rail along the x-axis direction is provided on bottom mounting plate, is provided with translation slide on the sliding rail that is translatable,
The translation cylinder driving translation slide being fixedly connected on bottom mounting plate is provided on the slide that is translatable along y along translation sliding rail sliding
The vertical slide rail of axis direction is provided with vertical sliding, the cylinder two being fixedly connected on the translation slide in the vertical slide rail
It drives vertical sliding to slide along vertical slide rail, the translation conveying robot for clamping workpiece is fixedly connected in vertical sliding.
8. anchorage O-ring automatic assembly equipment according to claim 1, it is characterised in that: the O-ring suit mechanism packet
Bottom support frame and O-ring feeding platform are included, manipulator mounting plate is provided on the support frame of bottom, the manipulator mounting plate is close
It is fixed in the one side of O-ring feeding platform and is provided with lifting sliding rail along the z-axis direction, be lifted on sliding rail and be provided with transfer connecting plate,
Cylinder driving transfer connecting plate is lifted along lifting sliding rail sliding, transfer connecting plate lower part is fixedly connected with plate, and the plate is remote
The line slide rail extended along the y-axis direction is fixed in one side from transfer connecting plate, line slide rail is connected with O-ring is distracted
The outer support mechanism of three-jaw cylinder, flat-removing air cyclinder drive the outer support mechanism of three-jaw cylinder to slide along line slide rail in y-axis.
9. anchorage O-ring automatic assembly equipment according to claim 1, it is characterised in that: the belt discharging mechanism packet
The demagnetization case for including belt and being fixed on above belt.
10. a kind of operating method of anchorage O-ring automatic assembly equipment, it is characterised in that: the following steps are included:
A1: half of anchorage is delivered to anchorage vibrating disk by conveying mechanism, by straight by anchorage after anchorage vibration disc vibration consolidation
Vibration device discharges to anchorage on the intermediate bulkhead for merging mechanism；
A2: inductive pick-up identify two half of anchorages all in place after, anchorage directly shake device discharge port stop cylinder work, resistance
Gear anchorage directly shakes the discharging of the anchorage in device；
A3: intermediate bulkhead decline；
A4: telescopic cylinder driving merges gear and rack teeth mechanism movement, and both sides pushing block merges anchorage to intermediary movements；
A5: telescopic cylinder driving merges gear and rack teeth mechanism and resets；
A6: driving cylinder control conveying robot is moved along the x-axis to anchorage；
A7: the rodless cylinder extension bar of handling machinery on hand is extended downwardly along z-axis, pushes clamping cylinder and claw downward along z-axis
Movement, claw opening are distributed in anchorage two sides；
A8: clamping cylinder controls claw closure and clamps anchorage；
A9: rodless cylinder extension bar is shunk upwards along z-axis, and the intermediate bulkhead for merging mechanism rises；
A10: driving cylinder control conveying robot moves along the x-axis, and is stopped to stop by the gag lever post of buffer gear；
A11: rodless cylinder extension bar is extended downwardly along z-axis, and clamping cylinder and claw is pushed to move downward the first station along z-axis
On, anchorage is attracted by the magnet of the first station to be fixed；
A12: clamping cylinder controls claw and opens；
A13: rodless cylinder extension bar is shunk upwards along x-axis；
A14: stop cylinder extension end is shunk, and intermediate barrier block leaves buffer stopper；
A15: repeating abovementioned steps A1-A10, and rodless cylinder extension bar is extended downwardly along z-axis, pushes clamping cylinder and claw edge
Z-axis moves downward in second station, and anchorage is attracted by the magnet of second station to be fixed；
A16: clamping cylinder controls claw and opens；
A17: rodless cylinder extension bar is shunk upwards along z-axis；
A18: reset cylinder pushes gag lever post to reset；
A19: translation cylinder driving translation conveying robot by the anchorage of the first station and second station be carried to 3rd station and
4th station, the outer support mechanism of three-jaw cylinder is along the y-axis direction right above stretch out motion to O-ring；
A20: the outer support mechanism of three-jaw cylinder declines along z-axis, and handgrip is pressed down against intermediate cylindrical, intermediate cylindrical decline, and handgrip protrudes into O
In type circle；
A21: three-jaw cylinder control handgrip struts O-ring, and three-dimensional damping limited block adaptability is displaced outwardly；
A22: the outer support mechanism of three-jaw cylinder rises along z-axis to be resetted；
A23: the outer support mechanism of three-jaw cylinder is contracted to along the y-axis direction right above anchorage；
A24: the outer support mechanism of three-jaw cylinder declines along z-axis, and O-ring entangles anchorage；
A25: it pushes cylinder and pressing plate is pushed to move downward along z-axis, so that O-ring is fallen off, pack into anchorage annular groove；
A26: pressing plate resets, and the outer support mechanism of three-jaw cylinder rises along z-axis to be resetted；
A27: the translation conveying robot of translation cylinder driving along the sliding rail that is translatable slide into corresponding on runner the first station, the
Two stations, 3rd station and the 4th station；
A28: cylinder two pushes forward the translation conveying robot of opening to be moved to anchorage corresponding position along y-axis；
A29: the carrying finger closure of opening and closing cylinder driving translation conveying robot clamps anchorage；
A30: the anchorage of the first station and second station is carried to 3rd station by translation cylinder driving translation conveying robot again
With the 4th station, while the anchorage of the completion socket of 3rd station and the 4th station is carried to subsequent belt discharging mechanism and is passed through
It discharges after demagnetization case demagnetization；
A31: the carrying finger for the conveying robot that is translatable is opened, and translation conveying robot is shunk back initial bit backward by cylinder two
It sets；
A32: A1-A31 is repeated.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811268018.4A CN109352296A (en) | 2018-10-29 | 2018-10-29 | A kind of anchorage O-ring automatic assembly equipment and its operating method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811268018.4A CN109352296A (en) | 2018-10-29 | 2018-10-29 | A kind of anchorage O-ring automatic assembly equipment and its operating method |
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| CN201811268018.4A Pending CN109352296A (en) | 2018-10-29 | 2018-10-29 | A kind of anchorage O-ring automatic assembly equipment and its operating method |
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| CN110002036A (en) * | 2019-04-24 | 2019-07-12 | 香港莫泰实业有限公司 | A kind of multi-functional automatic machine of enclosing ring |
| CN111215865A (en) * | 2020-03-05 | 2020-06-02 | 东莞市固源医疗科技有限公司 | Assembling equipment |
| CN112705938A (en) * | 2020-12-17 | 2021-04-27 | 中德（珠海）人工智能研究院有限公司 | Automatic assembly equipment for O-shaped ring |
| CN113478851A (en) * | 2021-06-18 | 2021-10-08 | 江苏迈尔汽车零部件有限公司 | Efficient rubber ring embeds iron core pressfitting automation line |
| CN116511871A (en) * | 2023-07-04 | 2023-08-01 | 苏州鼎纳自动化技术有限公司 | Annular magnet and PSA equipment laminating equipment |
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Application publication date: 20190219 |