CN109366242B - Feeding and discharging and positioning device suitable for feeding and discharging flexible production line of robot - Google Patents
Feeding and discharging and positioning device suitable for feeding and discharging flexible production line of robot Download PDFInfo
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- CN109366242B CN109366242B CN201811651330.1A CN201811651330A CN109366242B CN 109366242 B CN109366242 B CN 109366242B CN 201811651330 A CN201811651330 A CN 201811651330A CN 109366242 B CN109366242 B CN 109366242B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
- B23Q7/04—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting by means of grippers
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Abstract
The invention discloses a feeding, discharging and positioning device suitable for a flexible robot feeding and discharging production line, which comprises a fork-shaped feeding and discharging device, a plurality of pull nails, an auxiliary workbench and a plurality of zero positioning systems, wherein the fork-shaped feeding and discharging device comprises a feeding and discharging device body and a positioning device body; a plurality of pull nails are uniformly arranged on the quick-change tray, two lug plates provided with positioning holes are arranged, and RFID codes are fixed at the corners; a robot flange component is fixed at the center of a cross arm of the U-shaped fork component, a position sensor and a code reader are fixed at two ends of the cross arm, and positioning pin mounting holes for fixing positioning pins are formed in two vertical walls of the U-shaped fork component; a zero point positioning system is fixed on the auxiliary workbench at a position corresponding to the blind rivet; when the quick-change tray works, the positioning hole of the quick-change tray is inserted on the positioning pin of the fork assembly; the blind rivet is arranged in the blind rivet zero point positioning hole of the zero point positioning system, and the inverted cone surface at the upper end of the blind rivet is clamped in the inverted cone hole of the zero point positioning system. The invention is used on a flexible production line for loading and unloading of a robot, can adapt to the diversity of workpieces, and has the advantages of high identification accuracy, good grabbing reliability and high zero positioning precision.
Description
Technical Field
The invention belongs to the field of industrial automatic processing and manufacturing, and relates to a feeding, discharging and positioning device suitable for a flexible robot feeding and discharging production line.
Background
With the progress of society, the production mode of products is changed from a mass production mode to a multi-variety medium and small mass production mode. The labor cost is gradually increased, and therefore, how to improve the flexibility of the production line, improve the utilization rate of the machine tool and reduce the flexible production line of the operating workers becomes a very urgent problem.
In a flexible production line, before processing, a workpiece (tool) needs to be moved to a bin from a manual feeding and discharging workbench and moved to a machine tool from the bin, and after processing, the workpiece (tool) needs to be moved to the bin from the machine tool and moved to the manual feeding and discharging workbench from the bin, so that a working cycle is completed. The existing feeding and discharging grabbing device for the feeding and discharging flexible production line of the robot is only suitable for a single workpiece, and whether the workpiece is grabbed in place or not is not identified. Because the robot grabs the product not only, how to discern, how to judge whether the product of snatching at every turn is reliable, whether all be a product is the problem that must solve of flexible automatic production line. The flexible production line is complicated various facing products, how to improve the flexibility of the feeding and discharging mechanism, and the flexible feeding and discharging mechanism is suitable for the diversity of workpieces, and has very important significance for the design of the flexible production line. The automatic assembly line is characterized in that a workpiece (tool) is positioned and placed on a machine tool by adopting a zero-point positioning system after being grabbed, a zero-point blind rivet and a supporting plate are fixed together through threads, an assembly formed by the blind rivet and a zero-point quick-change tray is called zero-point quick change, the zero-point quick-change tray and a positioning device on a zero-point auxiliary workbench are positioned through a taper hole and an end face, the positioning mode is over-positioning, high requirements are provided for processing, and when the zero-point quick-change tray is applied to an automatic line, the installation and positioning can be realized through a six-axis robot, and high requirements are provided for the reliability and accuracy of placement of. The structure of current zero point positioning system is because the machining error of each spare part, it is not real and there is the gap between blind rivet and the positioner taper hole to cause laminating between the terminal surface of zero point quick change tray and positioner's the terminal surface very easily, and do not install location detecting system, only can the human eye survey, so often because the location is not in place, add man-hour at the work piece, can cause the damage to positioner on zero point quick change tray and the vice workstation at zero point, reduce the life of these spare parts, cause the machining error of work piece even, destroy the work piece even.
Disclosure of Invention
The feeding, discharging and positioning device is used on the flexible production line of the robot feeding and discharging, can adapt to the diversity of workpieces, and is high in identification accuracy, good in grabbing reliability and high in zero point positioning precision.
In order to achieve the purpose, the technical solution of the invention is as follows: a feeding, discharging and positioning device suitable for a flexible robot feeding and discharging production line comprises a fork-shaped feeding and discharging device, a plurality of pull nails, an auxiliary workbench and a zero positioning system which is the same in number and matched with the pull nails;
the fork-shaped loading and unloading device comprises a quick-change tray, a fork-shaped assembly, a positioning pin, a robot flange assembly, an RFID code, a position sensor and a code reader; the quick-change tray is uniformly provided with a plurality of mounting holes, two lug plates are respectively fixed at the middle positions of two long side surfaces of the quick-change tray or integrally formed, an RFID code is fixed at the corner part of one end of each lug plate, a pull nail is fixed in each mounting hole, and a positioning hole of a positioning pin is formed at one end, far away from the RFID code, of each lug plate; the fork-shaped component is a U-shaped component, the inner wall of a cross arm of the fork-shaped component is provided with a groove, a position sensor is fixed in the groove, a flange component which is matched and installed with a flange plate on a robot is fixed at the middle position of the rear end face of the cross arm, a code reader or a code reader is fixed on the flange component at the position of the cross arm corresponding to an RFID code on a quick-change tray, the front end parts of two vertical arms of the fork-shaped component are planes, a plurality of columns of positioning pin installing holes in each row are formed in the front end parts of the two vertical arms, and positioning; when the quick-change tray works, the positioning hole of the quick-change tray is inserted on the positioning pin of the fork assembly;
the auxiliary workbench is fixed on the machine tool, and the length and the width of the auxiliary workbench are not less than those of the quick-change tray; zero point mounting grooves are formed in the positions, corresponding to the pull nails on the quick-change tray, on the auxiliary workbench; a zero positioning system is fixed in each zero mounting groove; the zero positioning system comprises a cylindrical base body, a piston, a plurality of rectangular springs, a steel ball supporting frame, a steel ball and a plurality of sealing rings; a piston mounting hole is formed in the base body, the upper end wall of the base body is thin and is in compression joint with micro deformation, and an inverted cone hole matched with an inverted cone face at the upper end of the blind rivet is formed in the center of the base body; the piston is slidably arranged in the piston mounting hole through a sealing ring, and the upper end surface of the piston is provided with a plurality of spring holes; the steel ball support frame is provided with a blind rivet zero point positioning hole matched with the diameter of the maximum circle of the conical surface of the lower end surface of the blind rivet, the bottom surface of the steel ball support frame is provided with a base body bottom cover which is outwards turned, the upper end surface of the blind rivet zero point positioning hole is an inverted cone-shaped hole, the wall of the steel ball support frame is provided with a steel ball mounting conical hole with a large outer circle hole and a small inner circle hole, the steel ball support frame is arranged in the inner hole of the piston and is contacted with the inner circle of the piston, sealing rings are respectively arranged between the steel ball support frame and the upper end surface of the piston and the base body; the steel ball is clamped in the steel ball mounting taper hole and is pressed on the conical surface of the lower end part of the blind rivet, and a steel ball accommodating groove communicated with the lower end part of the steel ball mounting taper hole is formed in the inner circle of the piston; a cavity is arranged between the piston and the upper end wall of the base body, the rectangular spring is arranged in the spring hole, and the upper end of the rectangular spring is propped against the upper end wall of the base body; an oil cavity is reserved between the piston and a base body bottom cover of the steel ball support frame; a bearing block is arranged on the table top of the auxiliary workbench, a cleaning port and an unlocking air source are arranged on the bearing block, the inner end of the cleaning port is connected to the bottom of the blind rivet zero-point positioning hole of each zero-point positioning system, and the outer end of the cleaning port is connected with an air pump through an electromagnetic valve; the inner end of the unlocking air source is connected with the oil cavity, and the outer end of the unlocking air source is connected with the hydraulic pump or the air pump through the electromagnetic valve.
Further preferably, the structure that the positioning pin is fixedly installed in one of the positioning pin installation holes is as follows: the positioning pin mounting hole is a reducing hole, the middle upper part is matched with the positioning pin, and the lower part is matched with the screw; the positioning pin is inserted into and fixed in the positioning pin mounting hole by a screw at the lower end, and the screw is sunk in the positioning pin mounting hole; the positioning pin is in clearance fit with the positioning hole on the quick-change tray. Easy disassembly and assembly and position adjustment, and very convenient use.
Further preferably, the flange assembly is fixed at the middle position of the rear end face of the cross arm by screws and pins. The fixation is simple and reliable.
Further preferably, the zero point positioning system further comprises a ring tension spring which is clamped on the clamping table at the lower end of the outer circle of the steel ball mounting taper hole. When the blind rivet is pulled out of the blind rivet zero-point positioning hole, the blind rivet extrudes the steel ball to move outwards, after the blind rivet zero-point positioning hole is extruded, the annular tension spring enables the steel ball to reset, the steel ball is still clamped in the steel ball mounting taper hole, the steel ball mounting taper hole is sealed, and fine impurities such as chips, dust and the like are prevented from entering the cavity of the steel ball supporting frame and the piston stroke, the steel ball supporting frame and the piston are damaged or the cavity of the steel ball mounting taper hole and the piston stroke are blocked, so that the positioning accuracy of the zero-point positioning system is poor, even the zero-point positioning system is damaged, the positioning accuracy of the zero-point positioning system is.
Further preferably, the receiving block of the auxiliary worktable is further provided with an air detection port, the inner end of the air detection port is respectively connected with the upper end surface of the upper end wall of the base body of each zero positioning system, and the outer end of the air detection port is connected with the digital position sensor through an electromagnetic valve. And detecting the compactness between the upper end surface of each zero positioning system and the lower end surface of the quick-change tray.
Further preferably, the lower end surface of the piston is provided with a rectangular groove. So as to reduce the weight of the piston and save materials and manufacturing cost.
Further preferably, the structure that the zero point positioning system is fixed in the zero point installation groove of the auxiliary worktable is as follows: and a base body of the zero positioning system is fixed in the zero mounting groove of the auxiliary workbench through a screw.
Compared with the prior art, the invention has the beneficial effects that:
1. the fork assembly is used for grabbing the quick-change tray, when the quick-change tray is placed on a machine tool, the problem of positioning errors can be effectively solved, after most of the blind rivets enter the blind rivet zero-point positioning holes, the fork assembly continues to move downwards, even if the blind rivets on the quick-change tray have position deviation with the blind rivet zero-point positioning holes, the blind rivets can slowly slide into the blind rivet zero-point positioning holes, and no clamping stagnation exists when the blind rivets are placed.
2. The fork assembly is provided with a plurality of columns of positioning pin mounting holes in each row, so that the quick-change pallet with different specifications and sizes can be suitable only by adjusting the positions of the positioning pins, the diversity of workpieces is adapted, and the application range is wide.
3. The fork-shaped loading and unloading device is provided with the RFID identification code and the code reader, so that after the quick-change tray is grabbed each time, the code reader can judge the information of the type of the grabbed quick-change tray, the type of a workpiece, the type of a working procedure, the processing time and the like by reading the RFID identification code. Whether the grabbed workpiece is correct or not is timely reminded, and the recognition accuracy is high.
4. The fork-shaped loading and unloading device is provided with a position sensor for judging information such as whether the quick-change tray is in place and whether the quick-change tray falls off, so that the quick-change tray can not run in an idle state, and the grabbing reliability is good.
5. According to the zero positioning system, the structure of the upper rectangular spring and the lower oil cavity enables the peripheral wall and the upper end face of the base body to be made of an integral material, so that the concentricity of the excircle and the inverted taper hole of the base body is high, and the error is small; and the upper end surface of the base body is thin and slightly deformed by compression joint, so when the blind rivet is tensioned, the upper end surface of the base body and the side end surface of the taper hole have small deformation, the over-positioning problem between the excircle of the taper surface of the blind rivet and the end surface of the inverted taper hole of the base body, and the zero point positioning system and the quick-change tray is adapted, the blind rivet is easy to assemble, the small deformation is uniformly changed along the circumferential direction, the position deviation of the blind rivet along the circumferential direction can not be caused, and the zero point positioning system and the quick-change tray are uniformly attached. All the main positioning parts of the whole zero point are realized on the base body, so that error factors caused by element matching are reduced, and the positioning precision of the zero point is easier to guarantee.
6. Through the configuration of the gas detection hole on the base body and the position sensor, the automatic on-line quick-change tray can be conveniently applied to an automatic line, whether the bottom surface of the quick-change tray is attached to the top surface of the zero positioning system or not is effectively monitored, and whether the tray is placed in place or not can be confirmed.
7. The steel ball is tightened through the tension spring, when the pull nail is unlocked at zero point, the steel ball is tensioned through the tension spring in the process that the pull nail withdraws from the zero-point positioning hole of the base body pull nail, the steel ball is tightly attached to the taper hole in the steel ball supporting frame, and iron chips and dust are effectively prevented from entering the steel ball supporting frame and a cavity of a piston stroke, so that the service life of a zero-point positioning system is ensured.
Drawings
FIG. 1 is a schematic perspective view of the present invention;
fig. 2 is a schematic perspective view of the quick-change tray in the invention when viewed from the front;
fig. 3 is a schematic perspective view of the quick-change tray in the invention when viewed from the bottom;
FIG. 4 is a cross-sectional view AA of FIG. 2;
FIG. 5 is a perspective view of a fork assembly of the present invention;
FIG. 6 is a schematic view of the mounting structure of the quick-change tray and the fork assembly according to the present invention;
FIG. 7 is a schematic structural view of a quick-change tray, a zero-point positioning system and an auxiliary worktable in the invention;
FIG. 8 is a top view of the zero point positioning system of the present invention;
FIG. 9 is a cross-sectional view BB of FIG. 8;
FIG. 10 is a cross-sectional view CC of FIG. 8;
fig. 11 is a schematic view of the structure of the present invention mounted to a robot.
Detailed Description
The invention is further described with reference to the accompanying drawings and the detailed description.
As shown in fig. 1 to 11, the present embodiment includes a fork-shaped feeding and discharging device, a plurality of pull nails 12, a sub-table 8, and a zero point positioning system 32 which is the same in number and is matched with the pull nails 12.
The forked loading and unloading device comprises a quick-change tray 1, a forked assembly 2, a positioning pin 7, a robot flange assembly 4, an RFID code 6, a position sensor 3 and a code reader 5. Six mounting holes are uniformly formed in the quick-change tray 1, two lug plates 11 are respectively fixed at the middle positions of two long side surfaces of the quick-change tray, an RFID code 6 is fixed at the corner of one end of the quick-change tray, a blind rivet 12 is fixed in each mounting hole, and the preferred structure is as follows: the blind rivet 12 is inserted into the mounting hole of the quick-change tray 1 and fixed in the mounting hole by the screw 9. And one ends of the two ear plates 11, which are far away from the RFID code 6, are provided with positioning holes 13 of positioning pins. The fork-shaped component 2 is a U-shaped component, the inner wall of a cross arm of the fork-shaped component is provided with a groove, a position sensor 3 is fixed in the groove, a flange component 4 which is matched and installed with a flange plate 30 on a robot is fixed in the middle position of the rear end face of the cross arm, a code reader 5 (the code reader is fixed on the flange component) is fixed in the position of the cross arm corresponding to the RFID code 6 on the quick-change tray 1, the rear end parts of two vertical arms of the fork-shaped component are thick, inclined planes are formed, the front end parts of the two vertical arms are thin and are planes, and 2 rows of 6 positioning pin mounting holes 15. The positioning pin 7 is fixedly installed in one of the positioning pin installation holes 15, and the preferable structure is as follows: the positioning pin mounting hole 15 is a diameter-variable hole, the middle upper part is matched with the positioning pin 7, and the lower part is matched with the screw 7; the positioning pin 7 is inserted and fixed in the positioning pin mounting hole 15 by a screw 33 at the lower end, and the screw 33 is sunk in the positioning pin mounting hole 15. During working, the positioning hole 13 of the quick-change tray 1 is inserted on the positioning pin 7 of the fork assembly 2; the positioning pin 7 is in clearance fit with the positioning hole 13 on the quick-change tray. Preferably, the flange assembly 4 is fixed at an intermediate position on the rear end face of the cross arm by screws 10 and pins 14.
The auxiliary worktable 8 is fixed on the machine tool, and the length and the width of the auxiliary worktable are slightly larger than the quick-change tray 1. Zero point mounting grooves are formed in the positions, corresponding to the pull nails 12 on the quick-change tray 2, of the auxiliary workbench 8. A zero point positioning system 32 is fixed in each zero point mounting groove. The zero point positioning system 32 includes a cylindrical base 24, a piston 23, a plurality of rectangular springs 22, a ball support 34, a ball 29, and a plurality of sealing rings 37. A piston mounting hole is formed in the base body 24, the upper end wall of the base body 24 is thin, the base body is in compression joint and micro-deformation, and an inverted cone hole 21 matched with an inverted cone face at the upper end of the blind rivet 12 is formed in the center. The piston 23 is slidably mounted in a piston mounting hole through a packing 37, and a plurality of spring holes are formed in the upper end surface thereof. The steel ball support 34 is provided with a rivet zero point positioning hole 28 matched with the diameter of the maximum circle of the conical surface of the lower end face of the rivet 12, the bottom face of the steel ball support is provided with a base body bottom cover 26 turning outwards, the upper end face of the rivet zero point positioning hole 28 is an inverted conical hole, the wall of the steel ball support 34 is provided with a steel ball mounting conical hole 27 with a large outer circle hole and a small inner circle hole, the steel ball support 34 is arranged in an inner hole of the piston 35 and is in contact with the inner circle of the piston 35, a sealing ring 37 is arranged between the steel ball support 34 and the piston 35 and between the steel ball support and the upper end face of the base body 24, the base body bottom cover 26 is. The steel ball 29 is clamped in the steel ball mounting taper hole 27 and is pressed on a conical surface 39 at the lower end part of the blind rivet 12 under the action of the piston 35, and a steel ball accommodating groove 38 communicated with the lower end part of the steel ball 29 mounting taper hole is formed in the inner circle of the piston 35. A cavity 23 is formed between the piston 35 and the upper end surface of the base body 24, a rectangular spring 22 is arranged in the spring hole, and the upper end of the rectangular spring is pressed against the upper end wall of the base body 24. An oil chamber 25 is reserved between the piston 35 and the base body bottom cover 26 of the steel ball support frame 34. A bearing block 20 is arranged on the table top of the auxiliary workbench 8, a cleaning port 18 and an unlocking air source 16 are arranged on the bearing block 20, the inner end of the cleaning port 18 is connected to the bottom of a blind rivet zero point positioning hole 28 of each zero point positioning system 32, and the outer end of the cleaning port is connected with an air pump through an electromagnetic valve; the inner end of the unlocking air source 16 is connected with an oil cavity, and the outer end of the unlocking air source is connected with a hydraulic pump or an air pump through an electromagnetic valve. Preferably, the receiving block 20 of the sub-table 8 is further provided with an air detection port 18, the inner end of the air detection port 18 is respectively connected with the upper end surface of the upper end wall of the base body of each zero positioning system 32, and the outer end is connected with a digital position sensor through an electromagnetic valve. Preferably, the lower end surface of the piston 35 is opened with a rectangular groove 36.
Preferably, the zero point positioning system 32 further includes a ring tension spring 40, which is clamped on the clamping table at the lower end of the outer circle of the steel ball mounting taper hole 27. When the blind rivet 12 is pulled out of the blind rivet zero-point positioning hole 28, the blind rivet 12 extrudes the steel ball 29 to move outwards, and after the blind rivet zero-point positioning hole 28 is extruded, the annular tension spring 40 urges the steel ball 29 to reset and is still clamped in the steel ball mounting taper hole 27, the steel ball mounting taper hole 27 is sealed, so that fine impurities such as chips, dust and the like are prevented from entering a cavity of a steel ball support frame and a piston stroke, the steel ball support frame 34 and the piston 35 are damaged or the cavity of the steel ball mounting taper hole 27 and the piston stroke are blocked, the positioning accuracy of the zero-point positioning system 32 is poor, even the zero-point positioning system 32 is damaged, the positioning accuracy of the zero-point positioning system 32 is kept.
Preferably, the structure of the zero point positioning system 32 fixed on the zero point installation groove of the auxiliary worktable 8 is as follows: the base body 24 of the zero point positioning system 32 is fixed in the zero point installation groove of the sub table 8 by the screw 19.
The solution described above is preferred and exemplary, and a person skilled in the art may make several technical equivalents on the basis thereof, all of which are within the scope of the patent claims.
Claims (10)
1. The utility model provides a go up unloading and positioner suitable for flexible production line of unloading on robot, its characterized in that: the device comprises a fork-shaped feeding and discharging device, a plurality of pull nails, an auxiliary workbench and a zero positioning system which has the same number as the pull nails and is matched with the pull nails for use;
the fork-shaped loading and unloading device comprises a quick-change tray, a fork-shaped assembly, a positioning pin, a robot flange assembly, an RFID code, a position sensor and a code reader; the quick-change tray is uniformly provided with a plurality of mounting holes, two lug plates are respectively fixed at the middle positions of two long side surfaces of the quick-change tray or integrally formed, an RFID code is fixed at the corner part of one end of each lug plate, a pull nail is fixed in each mounting hole, and a positioning hole of a positioning pin is formed at one end, far away from the RFID code, of each lug plate; the fork-shaped component is a U-shaped component, the inner wall of a cross arm of the fork-shaped component is provided with a groove, a position sensor is fixed in the groove, a flange component which is matched and installed with a flange plate on a robot is fixed at the middle position of the rear end face of the cross arm, a code reader or a code reader is fixed on the flange component at the position of the cross arm corresponding to an RFID code on a quick-change tray, the front end parts of two vertical arms of the fork-shaped component are planes, a plurality of columns of positioning pin installing holes in each row are formed in the front end parts of the two vertical arms, and positioning; when the quick-change tray works, the positioning hole of the quick-change tray is inserted on the positioning pin of the fork assembly;
the auxiliary workbench is fixed on the machine tool, and the length and the width of the auxiliary workbench are not less than those of the quick-change tray; zero point mounting grooves are formed in the positions, corresponding to the pull nails on the quick-change tray, on the auxiliary workbench; a zero positioning system is fixed in each zero mounting groove; the zero positioning system comprises a cylindrical base body, a piston, a plurality of rectangular springs, a steel ball supporting frame, a steel ball and a plurality of sealing rings; a piston mounting hole is formed in the base body, the upper end wall of the base body is thin and is in compression joint with micro deformation, and an inverted cone hole matched with an inverted cone face at the upper end of the blind rivet is formed in the center of the base body; the piston is slidably arranged in the piston mounting hole through a sealing ring, and the upper end surface of the piston is provided with a plurality of spring holes; the steel ball support frame is provided with a blind rivet zero point positioning hole matched with the diameter of the maximum circle of the conical surface of the lower end surface of the blind rivet, the bottom surface of the steel ball support frame is provided with a base body bottom cover which is outwards turned, the upper end surface of the blind rivet zero point positioning hole is an inverted cone-shaped hole, the wall of the steel ball support frame is provided with a steel ball mounting conical hole with a large outer circle hole and a small inner circle hole, the steel ball support frame is arranged in the inner hole of the piston and is contacted with the inner circle of the piston, sealing rings are respectively arranged between the steel ball support frame and the upper end surface of the piston and the base body; the steel ball is clamped in the steel ball mounting taper hole and is pressed on the conical surface of the lower end part of the blind rivet, and a steel ball accommodating groove communicated with the lower end part of the steel ball mounting taper hole is formed in the inner circle of the piston; a cavity is arranged between the piston and the upper end wall of the base body, the rectangular spring is arranged in the spring hole, and the upper end of the rectangular spring is propped against the upper end wall of the base body; an oil cavity is reserved between the piston and a base body bottom cover of the steel ball support frame; a bearing block is arranged on the table top of the auxiliary workbench, a cleaning port and an unlocking air source are arranged on the bearing block, the inner end of the cleaning port is connected to the bottom of the blind rivet zero-point positioning hole of each zero-point positioning system, and the outer end of the cleaning port is connected with an air pump through an electromagnetic valve; the inner end of the unlocking air source is connected with the oil cavity, and the outer end of the unlocking air source is connected with the hydraulic pump or the air pump through the electromagnetic valve.
2. The loading, unloading and positioning device suitable for flexible production line of unloading on robot of claim 1, characterized in that: the structure that the locating pin is fixedly arranged in one locating pin mounting hole is as follows: the positioning pin mounting hole is a reducing hole, the middle upper part is matched with the positioning pin, and the lower part is matched with the screw; the positioning pin is inserted into and fixed in the positioning pin mounting hole by a screw at the lower end, and the screw is sunk in the positioning pin mounting hole; the positioning pin is in clearance fit with the positioning hole on the quick-change tray.
3. The loading, unloading and positioning device suitable for flexible production line of unloading on robot of claim 1 or 2, characterized in that: the flange assembly is fixed in the middle of the rear end face of the cross arm through screws and pins.
4. The loading, unloading and positioning device suitable for flexible production line of unloading on robot of claim 3 characterized in that: the zero point positioning system also comprises a ring tension spring which is clamped on a clamping table at the lower end of the excircle of the steel ball mounting taper hole.
5. The loading, unloading and positioning device suitable for flexible production line of unloading on robot of claim 4 characterized in that: and the table top of the auxiliary workbench is also provided with an air detection port, the inner end of the air detection port is respectively connected with the upper end surface of the upper end wall of the base body of each zero positioning system, and the outer end of the air detection port is connected with a digital position sensor through an electromagnetic valve.
6. The loading, unloading and positioning device suitable for flexible production line of unloading on robot of claim 5 characterized in that: the lower end face of the piston is provided with a rectangular groove.
7. The loading, unloading and positioning device suitable for flexible production line of unloading on robot of claim 6, characterized in that: the structure that the zero point positioning system is fixed on the zero point mounting groove of the auxiliary worktable is as follows: and a base body of the zero positioning system is fixed in the zero mounting groove of the auxiliary workbench through a screw.
8. The loading, unloading and positioning device suitable for flexible production line of unloading on robot of claim 1 or 2, characterized in that: the zero point positioning system also comprises a ring tension spring which is clamped on a clamping table at the lower end of the excircle of the steel ball mounting taper hole.
9. The loading, unloading and positioning device suitable for flexible production line of unloading on robot of claim 8, characterized in that: and the table top of the auxiliary workbench is also provided with an air detection port, the inner end of the air detection port is respectively connected with the upper end surface of the upper end wall of the base body of each zero positioning system, and the outer end of the air detection port is connected with a digital position sensor through an electromagnetic valve.
10. The loading, unloading and positioning device suitable for flexible production line of unloading on robot of claim 9, characterized in that: a rectangular groove is formed in the lower end face of the piston; the structure that the zero point positioning system is fixed on the zero point mounting groove of the auxiliary worktable is as follows: and a base body of the zero positioning system is fixed in the zero mounting groove of the auxiliary workbench through a screw.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811651330.1A CN109366242B (en) | 2018-12-31 | 2018-12-31 | Feeding and discharging and positioning device suitable for feeding and discharging flexible production line of robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811651330.1A CN109366242B (en) | 2018-12-31 | 2018-12-31 | Feeding and discharging and positioning device suitable for feeding and discharging flexible production line of robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109366242A CN109366242A (en) | 2019-02-22 |
| CN109366242B true CN109366242B (en) | 2021-02-26 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811651330.1A Active CN109366242B (en) | 2018-12-31 | 2018-12-31 | Feeding and discharging and positioning device suitable for feeding and discharging flexible production line of robot |
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| CN110116326B (en) * | 2019-04-30 | 2023-10-17 | 宁波海天智联科技有限公司 | Automatic production line for machined parts machined by numerical control machine tool |
| CN110509260A (en) * | 2019-08-23 | 2019-11-29 | 南兴装备股份有限公司 | A kind of robot clamp body |
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| CN111689215B (en) * | 2020-05-21 | 2021-07-06 | 宁波伟立机器人科技股份有限公司 | Intelligent feed bin of side material loading |
| CN111633455A (en) * | 2020-06-30 | 2020-09-08 | 东莞市超业精密设备有限公司 | Press from both sides material equipment |
| CN114714130A (en) * | 2022-06-07 | 2022-07-08 | 湖南晓光汽车模具有限公司 | Die insert manipulator transferring structure and manipulator transferring system |
| CN116900687A (en) * | 2023-08-22 | 2023-10-20 | 南京宇众自动化装备有限公司 | Locating pin quick change structure, tray assembly and assembly production line |
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| JP3335386B2 (en) * | 1992-10-12 | 2002-10-15 | 株式会社牧野フライス製作所 | Pallet supply device |
| CN202655670U (en) * | 2012-05-15 | 2013-01-09 | 马丁路德机器人（上海）有限公司 | Double-head automatic pneumatic positioning chuck |
| CN203712700U (en) * | 2014-01-23 | 2014-07-16 | 深圳市金正江大五金塑胶制品有限公司 | Automatic feeding and discharging manipulator |
| CN107671593A (en) * | 2017-10-26 | 2018-02-09 | 西安精雕软件科技有限公司 | A kind of carving machine automatic identification flexible processing method and system |
| CN108500956B (en) * | 2018-04-03 | 2023-07-18 | 珠海汉迪自动化设备有限公司 | Robot gripping device, gripping system and gripping method |
| CN108942990A (en) * | 2018-09-21 | 2018-12-07 | 华中科技大学无锡研究院 | Valve plate detects loading and unloading end effector of robot |
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