CN109366120A - A kind of translation carrying mechanism and its operating method - Google Patents

A kind of translation carrying mechanism and its operating method Download PDF

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Publication number
CN109366120A
CN109366120A CN201811270691.1A CN201811270691A CN109366120A CN 109366120 A CN109366120 A CN 109366120A CN 201811270691 A CN201811270691 A CN 201811270691A CN 109366120 A CN109366120 A CN 109366120A
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CN
China
Prior art keywords
translation
station
anchorage
cylinder
along
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CN201811270691.1A
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Chinese (zh)
Inventor
程旭云
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Hubei Fire Robot Technology Co Ltd
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Hubei Fire Robot Technology Co Ltd
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Application filed by Hubei Fire Robot Technology Co Ltd filed Critical Hubei Fire Robot Technology Co Ltd
Priority to CN201811270691.1A priority Critical patent/CN109366120A/en
Publication of CN109366120A publication Critical patent/CN109366120A/en
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23PMETAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P19/00Machines 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
    • B23P19/001Article feeders for assembling machines
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23PMETAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P19/00Machines 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
    • B23P19/001Article feeders for assembling machines
    • B23P19/007Picking-up and placing mechanisms
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23PMETAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P21/00Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with programme control
    • B23P21/004Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with programme control the units passing two or more work-stations whilst being composed

Abstract

The present invention provides a kind of translation carrying mechanism, including bottom mounting plate, translation sliding rail along the x-axis direction is provided on bottom mounting plate, translation slide is provided on translation sliding rail, the translation cylinder driving translation slide being fixedly connected on bottom mounting plate is along translation sliding rail sliding, vertical slide rail along the y-axis direction is provided on translation slide, vertical sliding is provided in the vertical slide rail, the cylinder two being fixedly connected on the translation slide drives vertical sliding to slide along vertical slide rail, and the translation conveying robot for clamping workpiece is fixedly connected in vertical sliding.The present invention provides a kind of high degree of automation, high accuracy, the translation carrying mechanism of high production efficiency and its operating method are carried in translation.

Description

A kind of translation carrying mechanism and its operating method
Technical field
The present invention relates to a kind of translation carrying mechanism and its operating methods, especially give birth to automatically in prestressed anchor O-ring Translation carrying mechanism and its operating method in producing line, belong to field of mechanical technique.
Background technique
In prestressed anchor O-ring production process, combined anchorage is carried to the work of runner by clamping carrying mechanism After on position, it is also necessary to be carried to next process operation processing, this carrying mechanism that just needs to be translatable carries anchorage.But at present It carries workpiece and realizes that operation is carried in conveying frequently with conveyer belt or multi-joint manipulator.But both conveying mechanisms exist with Lower disadvantage: 1, for anchorage by merging mechanism, combined precision is high, places conveying on the conveyor belt and is easy the vibration because of conveyer belt Dynamic, two halves side anchor tool is mutually shifted, and increases the difficulty that subsequent fixture clamps anchorage to O-ring feeding platform;2, anchorage is from conjunction And mechanism be carried to O-ring feeding platform stroke it is big, by the way of single multi-joint manipulator on the one hand be carry efficiency Low, accuracy requirement needed for manipulator is too high, and lacks precision adjustment, guarantees device, therefore want reaching production accuracy It needs to take more time cost while asking, therefore is unfavorable for efficient, automated production, on the other hand, multi-joint manipulator Occupied space it is big, structure is complicated, repairs the at high cost of substitution.
Therefore need to design a kind of novel translation carrying mechanism and its operating method high-efficient, accuracy is high.
Summary of the invention
To solve the above-mentioned problems of the prior art, the present invention provides a kind of high degree of automation, translation carry it is accurate Property high, the translation carrying mechanism of high production efficiency and its operating method.
The present invention provides a kind of translation carrying mechanism, including bottom mounting plate, is provided with along the x-axis direction on bottom mounting plate Translation sliding rail, be provided with translation slide on the sliding rail that is translatable, the driving translation of the translation cylinder that is fixedly connected on bottom mounting plate is slided Seat is provided with vertical slide rail along the y-axis direction, is provided in the vertical slide rail vertical along translation sliding rail sliding on the slide that is translatable Slide, the cylinder two that is fixedly connected drives vertical sliding to slide along vertical slide rail on the translation slide, fixed in vertical sliding It is connected with the translation conveying robot for clamping workpiece.
As a further improvement of the present invention, translation manipulator mounting plate is fixed in vertical sliding, be translatable handling machinery Hand includes the traverse gear rackwork for carrying finger and control carrying finger opened/closed, and carrying finger includes actively carrying Finger and driven carrying finger, traverse gear rackwork include traverse gear, and traverse gear is fixed on described flat by bearing On dynamic manipulator mounting plate, two sides and traverse gear are engaged with the translation being parallel to each other along the x-axis direction actively to traverse gear up and down Rack gear and translation driven tooth item, the translation active rack gear peace move driven rack gear respectively with translation active gib block and be translatable from Action-oriented item is fixedly connected, and the translation active gib block and the driven gib block of translation and translation manipulator mounting plate pass through sliding rail It is connected with the mode of sliding block, actively carries finger and be fixedly mounted on translation active gib block, driven carrying finger is fixedly mounted It is being translatable on driven gib block, translation active gib block is fixedly connected with the extension end for being opened and closed cylinder.
As a further improvement of the present invention, translation sliding rail both ends are provided with translation buffer.
As a further improvement of the present invention, the contact surface for carrying finger and anchorage constitutes truncated cone-shaped.
As a further improvement of the present invention, be translatable conveying robot carrying finger be four, along the x-axis direction equidistantly Setting.
It as a further improvement of the present invention, further include bottom workbench, bottom workbench is fixed on under(-)chassis, bottom It is detachably connected with runner on portion's workbench, the first station being equally spaced, second station, 3rd station are provided on runner With the 4th station.
As a further improvement of the present invention, the distance between the first station, second station, 3rd station and the 4th station It is identical as the distance between finger is carried.
As a further improvement of the present invention, magnetic is provided on the first station, second station, 3rd station and the 4th station Iron, there are four magnet settings, constitutes a rectangle.
The present invention also provides a kind of operating methods of carrying mechanism that is translatable, comprising the following steps:
S1: when anchorage is carried to the first station and second station, and O-ring suit mechanism general by clamping carrying mechanism After O-ring set to anchorage, when anchorage is in 3rd station and four stations;
S2: the translation conveying robot of translation cylinder driving slides into along translation sliding rail corresponding to the first work on runner Position, second station, 3rd station and the 4th station;
S3: cylinder two pushes forward the translation conveying robot of opening to be moved to anchorage corresponding position along y-axis;
S4: the carrying finger closure of opening and closing cylinder driving translation conveying robot clamps anchorage;
S5: the anchorage of the first station and second station is carried to 3rd station by translation cylinder driving translation conveying robot With the 4th station, while the anchorage of the completion socket of 3rd station and the 4th station being carried on subsequent belt discharging mechanism Material;
S6: the carrying finger for the conveying robot that is translatable is opened, and cylinder two backward shrinks back translation conveying robot initially Position;
S7: S1-S6 is repeated.
Compared with prior art, the beneficial effects of the present invention are:
1, of the invention can be by anchorage feeding to the 3rd station of subsequent O-ring suit mechanism and the operative employee of the 4th station On position, while it will can be placed on originally the anchorage completed on 3rd station and the 4th station by O-ring suit mechanism suit, removed It is transported to belt discharging mechanism top discharge, the same mechanism is completed at the same time two kinds of operations, clever structure, the utilization rate of functions of the equipments Height saves equipment the space occupied cost, improves the efficiency of production operation.
2, translation carrying mechanism of the invention drives both sides translation conveying robot using cylinder control gear and rack teeth mechanism Synchronous opening/closing is moved synchronously by rack-and-pinion guarantee, can improve the accuracy of equipment work, crawl anchorage, and keeps two Half of anchorage grabs, is placed on the consistency of the operation position relative position Shang Shi of O-ring suit mechanism, ensure that subsequent O-shaped The required precision of snare mounting mechanism crawl anchorage.
3, of the invention to be additionally provided with translation buffer, translation buffer is able to bear biggish impact force, has energy-absorbing Damping effect reduces the inertia bring adverse effect when translation base motions where being translatable conveying robot, makes the bottom that is translatable Seat leniently, stop accurately in destination locations.
4, translation conveying robot of the invention and anchorage contact surface constitute truncated cone-shaped, and the position for clamping anchorage is higher than The O-ring slot top of anchorage effectively increases the contact area between pushing block and anchorage workpiece, guarantees translation conveying robot flat Stable and firm, two halves side anchor tool is contacted when dynamic carrying workpiece not relatively move, and is further increased when anchorage translation is carried Precision, and prevent that anchorage is caused to damage when clamping anchorage.
5, cylinder two of the invention uses air cylinder connecting rod control structure, and cylinder two and opening and closing cylinder movement junction are using floating The mode of dynamic connection, can guarantee the smoothness of operation, improves the working efficiency of pusher cylinder.
6, the configuration of the present invention is simple, translation conveying robot by two sliding rails on the fixed face xy with realizing multiple degrees of freedom Mobile, sliding rail resistance to sliding is small, and the accuracy of carrying is high, provides safeguard for subsequent request automation procedure with high accuracy.
7, the invention also includes the operating method for having translation carrying mechanism, translation operation overall process is moved through using rectangular-ambulatory-plane Journey, motion profile controllable precise, high degree of automation.
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.
A kind of anchorage O-ring automatic assembly equipment provided by the present invention is described in detail above.It answers herein With specific embodiment, principle and implementation of the present invention are described, and the explanation of above example is only intended to help Understand method and its core concept of the invention.It should be pointed out that for those skilled in the art, not taking off , can be with several improvements and modifications are made to the present invention under the premise of from the principle of the invention, these improvement and modification also fall into this In invention scope of protection of the claims.

Claims (9)

1. a kind of translation carrying mechanism, it is characterised in that: including bottom mounting plate, be provided with along the x-axis direction on bottom mounting plate Translation sliding rail, be provided with translation slide on the sliding rail that is translatable, the driving translation of the translation cylinder that is fixedly connected on bottom mounting plate is slided Seat is provided with vertical slide rail along the y-axis direction, is provided in the vertical slide rail vertical along translation sliding rail sliding on the slide that is translatable Slide, the cylinder two that is fixedly connected drives vertical sliding to slide along vertical slide rail on the translation slide, fixed in vertical sliding It is connected with the translation conveying robot for clamping workpiece.
2. translation carrying mechanism according to claim 1, it is characterised in that: it is mechanical to be fixed with translation in the vertical sliding Hand mounting plate, translation conveying robot include the traverse gear rackwork for carrying finger and control carrying finger opened/closed, Carrying finger includes actively carrying finger and driven carrying finger, and traverse gear rackwork includes traverse gear, traverse gear It is fixed on the translation manipulator mounting plate by bearing, two sides and traverse gear are engaged with along x-axis side traverse gear up and down Move driven rack gear to the translation active rack gear peace being parallel to each other, the translation active rack gear peace move driven rack gear respectively with it is flat Dynamic active gib block is fixedly connected with the driven gib block that is translatable, the translation active gib block and be translatable driven gib block and translation Manipulator mounting plate is connected by way of sliding rail and sliding block, is actively carried finger and is fixedly mounted on translation active gib block, Driven carrying finger is fixedly mounted on the driven gib block of translation, and translation active gib block and the extension end for being opened and closed cylinder are fixed and connected It connects.
3. translation carrying mechanism according to claim 1, it is characterised in that: it is slow that the translation sliding rail both ends are provided with translation Rush device.
4. translation carrying mechanism according to claim 2, it is characterised in that: the contact surface structure for carrying finger and anchorage At truncated cone-shaped.
5. translation carrying mechanism according to claim 2, it is characterised in that: the carrying finger of the translation conveying robot It is four, spaced set along the x-axis direction.
6. translation carrying mechanism according to claim 1, it is characterised in that: further include bottom workbench, bottom workbench It is fixed on under(-)chassis, runner is detachably connected on the workbench of bottom, the first work being equally spaced is provided on runner Position, second station, 3rd station and the 4th station.
7. translation carrying mechanism according to claim 6, it is characterised in that: first station, second station, third work The distance between position and the 4th station are identical as the distance between finger is carried.
8. translation carrying mechanism according to claim 6, it is characterised in that: first station, second station, third work Magnet is provided on position and the 4th station, there are four magnet settings, constitutes a rectangle.
9. a kind of operating method for the carrying mechanism that is translatable, it is characterised in that: the following steps are included:
S1: when anchorage is carried to the first station and second station by clamping carrying mechanism, and O-ring suit mechanism will be O-shaped After snare to anchorage, when anchorage is in 3rd station and four stations;
S2: 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;
S3: cylinder two pushes forward the translation conveying robot of opening to be moved to anchorage corresponding position along y-axis;
S4: the carrying finger closure of opening and closing cylinder driving translation conveying robot clamps anchorage;
S5: the anchorage of the first station and second station is carried to 3rd station and the by translation cylinder driving translation conveying robot Four stations, while the anchorage of the completion socket of 3rd station and the 4th station is carried to subsequent belt discharging mechanism top discharge;
S6: the carrying finger for the conveying robot that is translatable is opened, and translation conveying robot is shunk back initial position backward by cylinder two;
S7: S1-S6 is repeated.
CN201811270691.1A 2018-10-29 2018-10-29 A kind of translation carrying mechanism and its operating method Pending CN109366120A (en)

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Application Number Priority Date Filing Date Title
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Application Number Priority Date Filing Date Title
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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111152019A (en) * 2020-02-24 2020-05-15 曾永宏 Automatic assembly equipment for shock absorption of automobile twisted teeth
CN112247534A (en) * 2020-10-30 2021-01-22 浙江农林大学 Automatic press-fitting machine for assembling heavy truck hub assembly bolt and press-fitting method thereof

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111152019A (en) * 2020-02-24 2020-05-15 曾永宏 Automatic assembly equipment for shock absorption of automobile twisted teeth
CN111152019B (en) * 2020-02-24 2021-09-07 宁波宏诺汽车零部件科技有限公司 Automatic assembly equipment for shock absorption of automobile twisted teeth
CN112247534A (en) * 2020-10-30 2021-01-22 浙江农林大学 Automatic press-fitting machine for assembling heavy truck hub assembly bolt and press-fitting method thereof
CN112247534B (en) * 2020-10-30 2022-03-25 浙江农林大学 Automatic press-fitting machine for assembling heavy truck hub assembly bolt and press-fitting method thereof

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