CN110180707A - A kind of handling equipment and paint finishing - Google Patents
A kind of handling equipment and paint finishing Download PDFInfo
- Publication number
- CN110180707A CN110180707A CN201910323346.8A CN201910323346A CN110180707A CN 110180707 A CN110180707 A CN 110180707A CN 201910323346 A CN201910323346 A CN 201910323346A CN 110180707 A CN110180707 A CN 110180707A
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- Prior art keywords
- fixedly connected
- clamping
- sucker
- fixed frame
- fixed
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- 239000003973 paint Substances 0.000 title claims abstract description 10
- 241000252254 Catostomidae Species 0.000 claims abstract description 73
- 239000000463 material Substances 0.000 claims abstract description 18
- 210000001847 Jaw Anatomy 0.000 claims description 28
- 238000009434 installation Methods 0.000 claims description 18
- 239000007787 solid Substances 0.000 claims description 9
- 230000005540 biological transmission Effects 0.000 claims description 4
- 238000007906 compression Methods 0.000 claims description 3
- 230000000875 corresponding Effects 0.000 claims description 3
- 239000002360 explosive Substances 0.000 description 6
- 239000002421 finishing Substances 0.000 description 6
- 239000000203 mixture Substances 0.000 description 4
- 230000005484 gravity Effects 0.000 description 3
- 238000005507 spraying Methods 0.000 description 3
- 230000002708 enhancing Effects 0.000 description 2
- 239000000843 powder Substances 0.000 description 2
- 241001088417 Ammodytes americanus Species 0.000 description 1
- 239000000969 carrier Substances 0.000 description 1
- 238000010410 dusting Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000006011 modification reaction Methods 0.000 description 1
- 238000007591 painting process Methods 0.000 description 1
- 239000007921 spray Substances 0.000 description 1
- 239000000725 suspension Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
- B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
- B05B13/0221—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work characterised by the means for moving or conveying the objects or other work, e.g. conveyor belts
- B05B13/0264—Overhead conveying means, i.e. the object or other work being suspended from the conveying means; Details thereof, e.g. hanging hooks
Abstract
The present invention provides a kind of handling equipment, including upper and lower material clamp and calibration positioning device, and the material clamp up and down is fixed on external manipulator；The material clamp up and down includes fixed frame, sucker mould group, gripper and dropper clamps modulus group, and the sucker mould group and the gripper are all fixedly connected on the fixed frame, and the hook jig plate group is fixed on the top of the fixed frame；The calibration positioning device includes supporting element and locating piece, and the locating piece is fixed on the supporting element；The present invention also provides a kind of paint finishing, which may be implemented to realize the accurate loading and unloading of workpiece, saves manually, improves efficiency.
Description
Technical field
The present invention relates to spraying equipment field, in particular to a kind of handling equipment and paint finishing.
Background technique
In electrostatic painting process, it is generally used the mode of automatic assembly line, workpiece is suspended on conveyor chain,
Then it is transported into powder spraying chamber, is dried after dusting in powder spraying chamber, workpiece is finally unloaded, that is, completes a spray stream
Journey.In the prior art, workpiece loading and unloading are much also manually performed, therefore being badly in need of one kind can be in the realization automatically of cooperative mechanical hand
The handling equipment of blanking.
Summary of the invention
Based on this, it is necessary to provide the handling equipment and paint finishing that can realize automatic loading/unloading with cooperative mechanical hand.
The embodiment of the present invention provides a kind of handling equipment, including upper and lower material clamp and calibration positioning device, described upper and lower
Material clamp is fixed on external manipulator；The material clamp up and down includes fixed frame, sucker mould group, gripper and hook clamping
Mould group, the sucker mould group and the gripper are all fixedly connected on the fixed frame, and the hook jig plate group is fixed on institute
State the top of fixed frame；The calibration positioning device includes supporting element and locating piece, and the locating piece is fixed on the supporting element
On.
Preferably, the gripper includes fixed frame, clamping piece and the first flexible mould group, and the clamping piece is provided with more
It is a, and multiple clamping pieces are slidably connected to the fixed frame；The first flexible mould group includes flexible power device and stretches
Contracting connecting rod, the shrinking connecting-rod include first connecting rod, second connecting rod and third connecting rod, the first connecting rod, second connecting rod and
Three-link head and the tail are hinged, and the both ends of the flexible power device are connected with the first connecting rod and third connecting rod respectively,
The middle part of the second connecting rod is rotatably connected with the fixed frame, and it is flexible that the multiple clamping piece is connected to described first
The both ends of mould group.
Preferably, fixed connecting rod is additionally provided on the fixed frame, the fixed connecting rod is fixedly connected with the fixed frame,
It is hinged in the middle part of the fixed connecting rod and the second connecting rod.
Preferably, the gripper further includes guide pad and guide rod, and the guide rod is slidably connected to the guide pad,
One end of the guide rod is located at the inside of the fixed frame, and the other end is fixedly connected with the clamping piece；Alternatively,
It further include guide rod, the guide rod is fixedly connected with the fixed frame, and the guide rod includes expansion end, institute
The expansion end for stating guide rod is fixedly connected with the clamping piece.
Preferably, the gripper further includes sliding panel, and there are two the sliding panel settings, and two sliding panels are opposite
Setting, the sliding panel is slidably connected to the fixed frame, and the lateral surface of the sliding panel is fixedly connected with the clamping piece.
Preferably, the gripper further includes guide pad, guide rod and sliding panel, and the guide pad and the fixed frame are solid
Fixed connection, is fixedly connected with connecting plate on the inside of the guide pad, and the sliding panel is slidably connected to the connecting plate, and described the
The both ends of one flexible mould group are fixedly connected with corresponding sliding panel respectively, and the clamping piece is fixedly connected on the connecting plate
On.
Preferably, the dropper clamps modulus group is fixedly connected on the upper end of the fixed frame, the dropper clamps modulus group packet
Installation part, clamping power device and clamping jaw, the clamping power device and the clamping jaw is included to be fixedly connected on the installation part,
There are two the clamping jaw settings, and described two clamping jaws are oppositely arranged；Alternatively,
The dropper clamps modulus group is fixedly connected on the upper end of the fixed frame, and the dropper clamps modulus group includes installation
Part, clamping power device and clamping jaw, the clamping power device and the clamping jaw are fixedly connected on the installation part, the folder
There are two pawl settings, and described two clamping jaws are oppositely arranged, and one end of the clamping jaw is fixedly connected with the installation part, the other end
It is provided with holding tank, the holding tank is gradually reduced from its opening to its bottom.
Preferably, the sucker mould group includes sucker, and the sucker and the clamping piece are towards the same of the fixed frame
Face, and the sucker mould group is scalable；Under a kind of state, the sucker than the clamping piece with a distance from the fixed frame more
Closely, the sucker does not influence the use of the clamping piece, and under another state, the sucker is than the clamping piece from the fixed frame
Distance it is farther, the clamping piece does not influence the use of the sucker；Alternatively,
The sucker mould group includes mounting fixing parts, sucker power device, guiding device, sucker stand and multiple suckers,
The guiding device is fixedly connected in the mounting fixing parts, the other end stretch out the mounting fixing parts and with the sucker branch
Frame is fixedly connected, and the sucker power device is fixedly connected in the mounting fixing parts, and it is solid that the other end also stretches out the installation
Determine part and be connected to the sucker stand, the multiple sucker is fixedly connected on the sucker stand.
It preferably, further include jacking mould group, one end of the jacking mould group is fixedly connected on the fixed frame, and the other end can
Free extension；Alternatively,
It further include jacking mould group, the jacking mould group includes shell, jacking power device, jacking axis and guide bearing, institute
It states cylinder to be fixed in the shell, the output shaft of the cylinder is fixedly connected with the jacking axis, and the guide bearing is fixed
It is connected on the shell, and the jacking axis stretches out the outside of the shell after the guide bearing.
Preferably, the locating piece includes the first locating piece, the second locating piece and third locating piece, first positioning
Part, the second locating piece and third locating piece are all fixedly connected on the supporting element；First locating piece is applied to the hook
Add the power of X-direction, second locating piece applies the power of Y direction to the hook, and the third locating piece gives the extension
The power of hook application Z-direction.
Preferably, first locating piece includes locating part and compressing member, and the compressing member includes compressing power device, turning
Axis and briquetting, the output shaft for compressing power device are fixedly connected with the shaft, and the briquetting is fixed in the shaft,
The compression power device drives the shaft and briquetting rotation；And/or
Second locating piece includes upper supporting piece and pressing member, and the pressing member includes pushing power device and lower platen,
The pushing power device drives the lower platen to move up and down；And/or
The third locating piece includes the first clamping element and the second clamping element, and first clamping element and the second clamping element are extremely
One of them can horizontal direction movement less；And/or
The supporting element is a support frame, and support frame as described above is arranged in herringbone scalariform, and support frame as described above connects with the hook
The one side of touching is in 5-15 ° of tilt angle.
The present invention also provides a kind of paint finishings, upper and lower including transmitting device, loading and unloading manipulator and any of the above-described
Expect that device, the loading and unloading manipulator are located at the loading and unloading station of the transmission device, the material clamp up and down is fixed on institute
It states on loading and unloading manipulator, the calibration positioning device is fixed on the side of the loading and unloading manipulator.
Preferably, there are two the loading and unloading manipulator settings, and loading and unloading are all fixed on each loading and unloading manipulator
Fixture, there are two the calibration positioning device is also provided with.
Handling equipment of the invention can complete the movement of automatic loading/unloading with cooperative mechanical hand, save manpower, and improve
The speed of loading and unloading.
Detailed description of the invention
It is more particularly described by the preferred embodiment of the present invention shown in the drawings, the above and other purpose of the present invention, feature
It will be become more fully apparent with advantage.Identical appended drawing reference indicates identical part in all the attached drawings, and not deliberately by real
Size equal proportion scaling in border draws attached drawing, it is preferred that emphasis is shows this purport.
Fig. 1 is the overall structure figure of the handling equipment of the preferred embodiment of the present invention；
Fig. 2 is the overall structure figure of the fixture of the preferred embodiment of the present invention；
Fig. 3 is the explosive view of the fixture of the preferred embodiment of the present invention；
Fig. 4 is the overall structure figure of the gripper of the preferred embodiment of the present invention；
Fig. 5 is the explosive view of the gripper of the preferred embodiment of the present invention；
Fig. 6 is the overall structure figure of the sucker mould group of invention preferred embodiment；
Fig. 7 is the internal structure chart of the sucker mould group of the preferred embodiment of the present invention；
Fig. 8 is the overall structure figure of the hook jig plate group of the preferred embodiment of the present invention；
Fig. 9 is the explosive view of the hook fixture mold of the preferred embodiment of the present invention；
Figure 10 is the overall structure figure of the jacking mould group of the preferred embodiment of the present invention；
Figure 11 is the explosive view of the jacking mold of the preferred embodiment of the present invention；
Figure 12 is the overall structure figure of the calibration positioning device of the preferred embodiment of the present invention；
Figure 13 is the explosive view of the calibration positioning device of the preferred embodiment of the present invention；
Figure 14 is the explosive view of the calibration positioning device of another preferred embodiment of the present invention；
Figure 15 is the overall structure figure of the paint finishing of the preferred embodiment of the present invention.
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.
It should be noted that it can be directly to separately when an element is considered as " connection " another element
One element and it is in combination be integrated, or may be simultaneously present centering elements.Term as used herein " installation ", " one
End ", " other end " and similar statement are for illustrative purposes only.
Unless otherwise defined, all technical and scientific terms used herein are led with the technology belonging to the present invention that belongs to
The normally understood meaning of the technical staff in domain is identical.Term used in book described herein is intended merely to describe specific reality
Apply the purpose of example, it is not intended that in the limitation present invention.Term " and or " used herein includes one or more relevant institutes
Any and all combinations of list of items.
With reference to Fig. 1-14, the present invention provides a kind of handling equipment, including upper and lower material clamp 200 and calibration positioning device
100, upper and lower material clamp 200 is fixed on external manipulator 300, and external manipulator 300 drives the clamping of material clamp 200 up and down
Workpiece on calibration positioning device 100.Referring to figs. 2 and 3, upper and lower material clamp 200 includes fixed frame 50, sucker mould group
20, gripper 10 and dropper clamps modulus group 30, sucker mould group 20 and gripper 10 are all fixedly connected on fixed frame 50, link up with fixture
Mould group 30 is fixed on the top of fixed frame 50, and sucker mould group 20 is used to draw workpiece, and gripper 10 is used to clamp workpiece, dropper clamps
Modulus group 30 is used to clamp hook, which integrates three kinds of functions, functional stronger.In addition, due to some works
The hole very little hung on part for hook, and hook swings back and forth, and wants that clamping workpiece hangs on hook, gripper 10 has almost been difficult
At, but hook is hung on chain it is just relatively easy, dropper clamps modulus group 30 and the cooperation of gripper 10 can simultaneously by
It links up with and hangs over the workpiece on hook to clamp together, then be placed on conveyor chain 500, which solve difficulties in the prior art
Topic, realizes artificial loading and unloading.Calibration positioning device 100 includes supporting element 104 and locating piece, and locating piece is fixed on supporting element
On 104, supporting element 104 and fixing piece cooperation positioning workpiece keep workpiece positioning more accurate, by workpiece and hook while hanging over biography
Accuracy rate on defeated chain 500 is higher.
With reference to Fig. 4 and Fig. 5, in a preferred embodiment, gripper 10 includes fixed frame 1, clamping piece 2 and the first flexible mould group
3, clamping piece 2 is provided with multiple, and multiple clamping pieces 2 are slidably connected to fixed frame 1, clamping piece 2 slidably reciprocate for clamping or
Person unclamps workpiece.First flexible mould group 3 includes flexible power device 31 and shrinking connecting-rod 32, power device 31 of stretching be cylinder,
Electric cylinders etc..Shrinking connecting-rod 32 includes first connecting rod 311, second connecting rod 312 and third connecting rod 313, and first connecting rod 311 and third connect
313 length of bar is identical, and first connecting rod 311, second connecting rod 312 and 313 head and the tail of third connecting rod are hinged, power device of stretching
31 both ends are connected with first connecting rod 311 and third connecting rod 313 respectively, and power device 31 of stretching is flexible to drive shrinking connecting-rod 32
Also telescopic variation is carried out.The middle part of second connecting rod 312 is rotatably connected with fixed frame 1, the position of second connecting rod 312 and fixed frame 1
Set fixation, it is ensured that shrinking connecting-rod 32 is identical as the tie point two sides stroke of fixed frame 1.Multiple clamping pieces 2 are separately connected
In the both ends of the first flexible mould group 3, clamping piece 2 stretches with shrinking connecting-rod 32 to close to middle line L or far from the direction of middle line L
It is mobile, so that completion clamps or releases the movement of workpiece.
In further preferred embodiments, fixed connecting rod 6 is additionally provided on fixed frame 1, fixed connecting rod 6 and fixed frame 1 are solid
Fixed connection, fixed connecting rod 6 and the middle part of second connecting rod 312 are hinged, and it is solid with fixed frame 1 that shrinking connecting-rod 32 passes through fixed connecting rod 6
Fixed connection.
In further preferred embodiments, which further includes guide pad 42 and guide rod 41, wherein guide pad 42
For the block with pilot hole or guide groove, alternatively, guide pad 42 is a linear bearing.Guide rod 41 is slidably connected to guiding
Block 42, one end of guide rod 41 are located at the inside of fixed frame 1, and the other end is fixedly connected with clamping piece 2, clamping piece 2 clamping or
When unclamping workpiece, guide rod 41 also changes with the state of clamping piece 2.In another preferred embodiment, which goes back
Including guide rod 41, guide rod 41 is fixedly connected with fixed frame 1, guide rod 41 include expansion end, guide rod 41 it is scalable
End is fixedly connected with clamping piece 2；Further, guide rod 41 includes fixed part and telescopic section, and fixed part is fixed on
Determine on frame 1, telescopic section stretches out fixed frame 1, and clamps with clamping piece 2 or unclamp workpiece and stretch.
In further preferred embodiments, which further includes sliding panel 5, and there are two the settings of sliding panel 5, two cunnings
Movable plate 5 is oppositely arranged, and sliding panel 5 is slidably connected to fixed frame 1, and the lateral surface of sliding panel 5 is fixedly connected with clamping piece 2 and (slides
The lateral surface of movable plate 5 refers to the direction far from gripper middle line L).Sliding panel 5 both plays the role of guiding, also makes clamping piece 2
Multiple one with the tie point of fixed frame 1, further enhance the stability between clamping piece and fixed frame 1.
In further preferred embodiments, which further includes guide pad 42, guide rod 41 and sliding panel 5, guiding
Block 42 is fixedly connected with fixed frame 1, and fixation is bolted in guide pad 42 and fixed frame 1.The inside of guide pad 42 is fixed to be connected
It is connected to connecting plate 11, bolt hole is provided on connecting plate 11, sliding panel 5 is slidably connected to connecting plate 11.Connecting plate 11 is provided with
Two, two connecting plates 11 are oppositely arranged, and support plate 12 is fixedly connected between two connecting plates 11, and support plate 12 makes connecting plate
11 position and structure are all more stable.The both ends of first flexible mould group 3 are fixedly connected with corresponding sliding panel 5 respectively, folder
Gripping member 2 is fixedly connected on connecting plate 11, and sliding panel 5 both plays the role of guiding, also makes clamping piece more than 2 one and fixed frame
1 tie point further enhances the stability between clamping piece 2 and fixed frame 1.
With reference to Fig. 8 and Fig. 9, in a preferred embodiment, dropper clamps modulus group 30 be fixedly connected on fixed frame 50 upper end (Gu
The upper end for determining frame 50 refers to the upper end of fixed frame 50 in a state of use), dropper clamps modulus group 30 can clamp hook, hook
Clamping mould group 30 will can be linked up with and be hung over simultaneously with the cooperation of gripper 10 and clamp together with the workpiece on linking up with, and transmission is then placed on
On chain.Due to the hole very little hung on some workpiece for hook, and hook swings back and forth, and wants that clamping workpiece hangs on hook, machine
Tool hand is almost difficult to complete, but hook is hung over just relatively easy on chain.In another preferred embodiment, the fixture
It further include dropper clamps modulus group 30, dropper clamps modulus group 30 is fixedly connected on the upper end of fixed frame 50, and (upper end of fixed frame 50 is
Refer to the upper end of fixed frame 50 in a state of use), since hook is typically all in the upper end of workpiece, so dropper clamps modulus group
30 also are located at the upper end of gripper 10 and sucker mould group 20.Dropper clamps modulus group 30 includes installation part 303, clamping power device
301 and clamping jaw 302, clamping power device 301 is electric cylinders or cylinder.Clamp two clampings there are two the settings of power device 301
Power device 301 is oppositely arranged, and each clamping power device 301 connects a clamping jaw 302, and two clamping jaws 302 match co-clip
Getting hook.Clamping power device 301 and clamping jaw 302 are fixedly connected on installation part 303, and there are two the settings of clamping jaw 302, and two
Clamping jaw 302 is oppositely arranged.In other preferred embodiments, which further includes dropper clamps modulus group 30, dropper clamps modulus
Group 30 is fixedly connected on the upper end (upper end that the upper end of fixed frame 50 refers to fixed frame 50 in a state of use) of fixed frame 50,
Dropper clamps modulus group 30 includes installation part 303, clamping power device 301 and clamping jaw 302, clamps power device 301 and clamping jaw 302
It is fixedly connected on installation part 303, there are two the settings of clamping jaw 302, and two clamping jaws 302 are oppositely arranged.One end of clamping jaw 302 with
Installation part 303 is fixedly connected, and the other end is provided with holding tank 3021, and holding tank 3021 is gradually reduced from its opening to its bottom,
Facilitate and the upper hook body of hook is put into the holding tank 3021, the width of the upper hook body of the width and hook of 3021 bottom of holding tank
It is identical, guarantee that the position of hook is accurate.Further, mounting rack 303 includes 3032, two side plates 3033 of bottom plate and a rear side
Plate 3031,3032, two side plates 3033 of bottom plate and a back side panel 3031 are fixedly connected to form the fixed frame of a dustpan shape
303。
With reference to Fig. 6 and Fig. 7, in a preferred embodiment, sucker mould group 20 includes sucker 201,2 court of sucker 201 and clamping piece
To the same face of fixed frame 50, and sucker mould group 20 is scalable.Under a kind of state, sucker 201 is than clamping piece 2 from fixed frame 1
Apart from closer, sucker 201 does not influence the use of clamping piece 2；Under another state, sucker 201 than clamping piece 2 from fixed frame 1 away from
From farther, clamping piece 2 does not influence the use of sucker 201.User can according to need selection and use sucker 201 or clamping piece
2。
In a preferred embodiment, sucker mould group 20 includes mounting fixing parts 204, sucker power device 202, guiding device
203, sucker stand 205 and multiple suckers 201, sucker power device 202 are electric telescopic rod or Pneumatic extension bar.Fixing piece
204 be a box body.Guiding device 203 is fixedly connected on mounting fixing parts 204, the other end stretch out mounting fixing parts 204 and with suction
Disc carrier 205 is fixedly connected.Sucker power device 202 is fixedly connected on mounting fixing parts 204, and the other end, which also stretches out installation, to be fixed
Part 204 is simultaneously connected to sucker stand 205, and multiple suckers 201 are fixedly connected on sucker stand 205.202 band of sucker power device
It moves sucker stand 205 and sucker 201 and does stretching motion along its axial direction, guiding device 203 plays the role of guiding, makes sucker
201 positioning is more accurate.Further, there are two the settings of guiding device 203, the two sides of sucker power device are located at,
Guiding device 203 includes sucker guiding axis 2031 and guiding linear bearing 2032, and guiding linear bearing 2032 is fixed on fixing piece
On 204.
With reference to Figure 10 and Figure 11, in a preferred embodiment, which further includes jacking mould group 40, jacks mould
One end of group 40 is fixedly connected on fixed frame 50, and other end retractable jacks mould group after workpiece is clamped by gripper 10
40 elongations, withstand workpiece, keep the workpiece of clamping more stable.In another preferred embodiment, which further includes jacking mould group
40, jacking mould group 40 includes shell 401, jacking power device 402, jacking axis 403 and guide bearing 404, jacks power device
402 be cylinder or electric cylinders.Cylinder 402 is fixed in shell 401, and output shaft and the jacking axis 403 for jacking power device 402 are solid
Fixed connection, guide bearing 404 are fixedly connected on shell 401, and are jacked axis 403 and stretched out shell 401 after guide bearing 404
Outside, jack the jacking axis 403 of mould group 40 for withstanding the workpiece clamped, keep it more stable, it is not easy to slide.
With reference to Fig. 1 and Fig. 2, in a preferred embodiment, which further includes connection mould group 60 and terminal box
70, it connects mould group 60 and terminal box 70 is all fixedly connected on fixed frame 50.Connection mould group be fixed on fixed frame 50 top (with
The opposite one side of clamping piece 2 is the top of fixed frame 50), for being connected and fixed with manipulator.Terminal box 70 is each with the fixture
A power device is electrically connected, and is connected with the control section of manipulator, and the manipulator control fixture is facilitated.
With reference to Figure 12-14, in a preferred embodiment, calibration positioning device 100 is used to calibrate the position that positioning is vacantly linked up with,
Including supporting element 104, the first locating piece 101, the second locating piece 102 and third locating piece 103, the first locating piece 101, second is fixed
Position part 102 and third locating piece 103 are all fixedly connected on supporting element 104.First locating piece 101 applies X-direction to hook
Power, the second locating piece 102 to hook apply Y direction power, third locating piece 103 to hook apply Z-direction power (this
X-axis, Y-axis and the Z axis at place refer to substantially in the direction of X-axis, Y-axis and Z axis).For the hook three-dimensional for one, three dimensions
After the direction of degree is all defined, physical location is also just fixed.Position be fixed after hook, it is accurate to be more convenient manipulator 30
It picks and places.
In further preferred embodiments, the first locating piece 101 includes locating part and compressing member, and locating part is fixed,
Locating part is applied pressure to the direction of locating part by compressing member, is sandwiched in hook between locating part and compressing member.Compressing member packet
It includes and compresses power device 1011, shaft 1012 and briquetting 1013, output shaft and the shaft 1012 for compressing power device 1011 are fixed
Connection.Briquetting 1013 is fixed in shaft 1012, compresses power device 1011 and shaft 1012 and briquetting 1013 is driven to rotate.It compresses
Power device 1011 is rotary cylinder or decelerating motor etc..When needing to compress hook, power device 1011 is compressed with turn
Axis 1012 and briquetting 1013 turn to the front of hook, and then compress hook；When needing to take off hook, power dress is compressed
It sets 1011 drive briquettings 1013 and turns to other positions, so that briquetting 1013 is no longer compressed hook, facilitate 30 pickup of manipulator.
In further preferred embodiments, the first locating piece 101 includes locating part and compressing member, in the present embodiment, limit
Position part is supporting element, and compressing member applies the power towards supporting element direction to hook.Compressing member will be linked up with to the direction of locating part
It pushes away, the position of locating part and compressing member cooperation jointly by hook in X-axis determines.
In further preferred embodiments, the second locating piece 102 includes upper supporting piece, and upper supporting piece can be a supporting plate, is used
The weight of hook is born, upper supporting piece prevents hook from falling, since hook has certain weight, it is only necessary to fixed its underpart
Position, i.e., in the present embodiment, upper supporting piece are exactly the second locating piece 102.In another preferred embodiment, the second locating piece
102 include upper supporting piece and pressing member, and pressing member includes pushing power device 1022 and lower platen 1021, pushes power device 1022
Lower platen 1021 is driven to move up and down.Due to the effect of the second locating piece 102 and third locating piece 103, cause hook in Y-axis side
To only gravity and upper supporting piece being leaned on to determine that the position of its Y direction also will appear error sometimes, so, to be on the safe side, together
When hook is fixed in the position of Y direction jointly using upper supporting piece and pressing member.
In further preferred embodiments, third locating piece 3 includes the first clamping element 1031 and the second clamping element 1032, the
One clamping element 1031 and the second clamping element 1032 at least one can horizontal direction it is mobile, wherein the motionless clamping element in position is used
Determine the position of hook, another clamping element is used to link up with to shift at the position, and two clamping elements cooperations are determined and linked up in Y
Axis direction position.
In further preferred embodiments, hook includes upper hook body, hook body, lower hook body, hook as a flat plate body,
Multiple lightening holes are provided with hook, in the weight for not influencing to mitigate hook in the case where hook use.First locating piece, 101 He
Third locating piece 103 is all located at the side of hook body, and the second locating piece 102 is located at the rear portion of hook body (close to the first locating piece 101
The direction of locating part is the rear portion of hook body), and the second locating piece 102 protrudes into lightening hole.
In further preferred embodiments, which further includes auxiliary positioning part 106, auxiliary positioning part 106
It is fixed on the top of supporting element 104, multiple fixing grooves 1061, and 1061 bottom of fixing groove are provided on auxiliary positioning part 106
Width and upper hook body it is of same size.When calibration positioning, the upper hook body of hook is hung in locating slot 1061, due to locating slot
The width of 1061 bottoms and upper hook body it is of same size, so, locating slot 1061 and gravity cooperation can calibrate hook in Y-axis side
To position, locating slot 1061 can calibrate hook in the position of Z-direction.
In further preferred embodiments, fixing groove 1061 be provided with it is multiple, using different fixing grooves 1061 can will
Hook is fixed on different positions, and when use can according to circumstances be adjusted.Fixing groove 1061 from its open end to its bottom in by
Contracting setting, such as inverted trapezoidal, half arc are tapered, facilitates and the upper hook body of hook is placed in fixing groove 1061.
In further preferred embodiments, after hook is fixed, the first locating piece 101, the second locating piece 102 and third are fixed
For position part 103 all positioned at the position of the close upper hook body of hook body, the lower hook body of hook will also hang other hooks to be added, and calibration is fixed
Device 100 is located at the top of hook, does not influence hook suspension workpiece.
In a preferred embodiment, supporting element 104 is a support frame, and supporting element 104 is arranged in herringbone scalariform, and supporting element
104 faces inclinations contact with hook, and the angle of the vertical plane of the face and horizontal plane is between 5-15 °, under gravity,
Hook can be attached to automatically on supporting element 104, may be implemented to automatically determine hook in the position of X-direction.Supporting element 104 and auxiliary
Help the cooperation of locating piece 106 that the position of hook being primarily determined to, the calibration positioning device 100 only needs the position slightly to hook
It sets and carries out calibration the position of hook can be made to reach and accurately require.
With reference to Figure 15, the present invention also provides a kind of paint finishing, including transmitting device 500, loading and unloading manipulator 300 and on
The handling equipment of any one is stated, loading and unloading manipulator 300 is located at the loading and unloading station of transmission device, upper and lower material clamp 200
It is fixed on loading and unloading manipulator 300, calibration positioning device 100 is fixed on the side of loading and unloading manipulator 300.
In a preferred embodiment, there are two the settings of loading and unloading manipulator 300, and it is all solid on each loading and unloading manipulator 300
Surely there is upper and lower material clamp 200, there are two calibration positioning device 100 is also provided with.
Feeding both may be implemented in the handling equipment, and blanking also may be implemented.In use, the sucker mould group of feeding manipulator
20 stretch out, and draw workpiece and hang over workpiece on the hook on calibration positioning device 100, after sucker mould group 20 decontrols workpiece
It retracts, by workpiece and hook while being picked up from gripper 10 and dropper clamps modulus group 30 with, then by the upper hook body of hook extension
On transmitting device 500；Blanking mechanical hand is using gripper 10 and dropper clamps modulus group clamping workpiece and hook, then by workpiece
It is placed on calibration positioning device 100 with hook, gripper 10 and dropper clamps modulus group 30 are unclamped, and sucker mould group 20, which is stretched out, draws work
Part takes off workpiece from hook, is deposited in side, stays in the hook on calibration positioning device 100 by feeding manipulator
Material is to use；It circuits sequentially, it is more efficient.
Handling equipment of the invention can complete the movement of automatic loading/unloading with cooperative mechanical hand, save manpower, and improve
The speed of loading and unloading.
Each technical characteristic of above embodiments can be combined arbitrarily, for simplicity of description, not to above-described embodiment
In each technical characteristic it is all possible combination be all described, as long as however, the combination of these technical characteristics be not present lance
Shield all should be considered as described in this specification.
Above embodiments only express the specific embodiment of invention, and the description thereof is more specific and detailed, but can not be because
This and be construed as limiting the scope of the patent.It should be pointed out that for those of ordinary skill in the art, not
Under the premise of being detached from present inventive concept, various modifications and improvements can be made, and these are all within the scope of protection of the present invention.Cause
This, the scope of protection of the patent of the invention shall be subject to the appended claims.
Claims (13)
1. a kind of handling equipment, which is characterized in that including upper and lower material clamp and calibration positioning device, the material clamp up and down is solid
It is scheduled on external manipulator；The material clamp up and down includes fixed frame, sucker mould group, gripper and dropper clamps modulus group, institute
It states sucker mould group and the gripper is all fixedly connected on the fixed frame, the hook jig plate group is fixed on the fixed frame
Top；The calibration positioning device includes supporting element and locating piece, and the locating piece is fixed on the supporting element.
2. handling equipment as described in claim 1, which is characterized in that the gripper includes fixed frame, clamping piece and
One flexible mould group, the clamping piece are provided with multiple, and multiple clamping pieces are slidably connected to the fixed frame；Described first
Flexible mould group includes flexible power device and shrinking connecting-rod, and the shrinking connecting-rod includes that first connecting rod, second connecting rod and third connect
Bar, the first connecting rod, second connecting rod and third connecting rod head and the tail be hinged, the both ends of the flexible power device respectively with institute
It states first connecting rod to be connected with third connecting rod, the middle part of the second connecting rod is rotatably connected with the fixed frame, the multiple
Clamping piece is connected to the both ends of the described first flexible mould group.
3. handling equipment as claimed in claim 2, which is characterized in that be additionally provided with fixed connecting rod, institute on the fixed frame
It states fixed connecting rod to be fixedly connected with the fixed frame, be hinged in the middle part of the fixed connecting rod and the second connecting rod.
4. handling equipment as claimed in claim 2, which is characterized in that the gripper further includes guide pad and guide rod,
The guide rod is slidably connected to the guide pad, and one end of the guide rod is located at the inside of the fixed frame, the other end with
The clamping piece is fixedly connected；Alternatively,
It further include guide rod, the guide rod is fixedly connected with the fixed frame, and the guide rod includes expansion end, described to lead
It is fixedly connected to the expansion end of bar with the clamping piece.
5. handling equipment as claimed in claim 2, which is characterized in that the gripper further includes sliding panel, the sliding
There are two plate settings, and two sliding panels are oppositely arranged, and the sliding panel is slidably connected to the fixed frame, and the sliding
The lateral surface of plate is fixedly connected with the clamping piece.
6. handling equipment as claimed in claim 2, which is characterized in that the gripper further include guide pad, guide rod and
Sliding panel, the guide pad are fixedly connected with the fixed frame, and connecting plate, the cunning are fixedly connected on the inside of the guide pad
Movable plate is slidably connected to the connecting plate, and the both ends of the first flexible mould group are fixed with corresponding sliding panel respectively to be connected
It connects, the clamping piece is fixedly connected on the connecting plate.
7. handling equipment as described in claim 1, which is characterized in that the dropper clamps modulus group is fixedly connected on described solid
Determine the upper end of frame, the dropper clamps modulus group includes installation part, clamping power device and clamping jaw, the clamping power device and institute
It states clamping jaw to be fixedly connected on the installation part, there are two the clamping jaw settings, and described two clamping jaws are oppositely arranged；Alternatively,
The dropper clamps modulus group is fixedly connected on the upper end of the fixed frame, and the dropper clamps modulus group includes installation part, folder
Power device and clamping jaw are taken, the clamping power device and the clamping jaw are fixedly connected on the installation part, and the clamping jaw is set
There are two setting, and described two clamping jaws are oppositely arranged, and one end of the clamping jaw is fixedly connected with the installation part, other end setting
There is holding tank, the holding tank is gradually reduced from its opening to its bottom.
8. handling equipment as described in claim 1, which is characterized in that the sucker mould group includes sucker, the sucker and
The clamping piece is towards the same face of the fixed frame, and the sucker mould group is scalable；Under a kind of state, the sucker compares institute
State that clamping piece is closer with a distance from the fixed frame, the sucker does not influence the use of the clamping piece, described under another state
Sucker is more farther with a distance from the fixed frame than the clamping piece, and the clamping piece does not influence the use of the sucker；Alternatively,
The sucker mould group includes mounting fixing parts, sucker power device, guiding device, sucker stand and multiple suckers, described
Guiding device is fixedly connected on the mounting fixing parts, and the other end stretches out the mounting fixing parts and fixes with the sucker stand
Connection, the sucker power device are fixedly connected on the mounting fixing parts, and the other end also stretches out the mounting fixing parts and company
It is connected to the sucker stand, the multiple sucker is fixedly connected on the sucker stand.
9. handling equipment as described in claim 1, which is characterized in that it further include jacking mould group, the one of the jacking mould group
End is fixedly connected on the fixed frame, other end retractable；Alternatively,
It further include jacking mould group, the jacking mould group includes shell, jacking power device, jacking axis and guide bearing, the gas
Cylinder is fixed in the shell, and the output shaft of the cylinder is fixedly connected with the jacking axis, and the guide bearing is fixedly connected
In on the shell, and the jacking axis stretches out the outside of the shell after the guide bearing.
10. handling equipment as described in claim 1, which is characterized in that the locating piece is determined including the first locating piece, second
Position part and third locating piece, first locating piece, the second locating piece and third locating piece are all fixedly connected on the supporting element
On；First locating piece applies the power of X-direction to the hook, and second locating piece applies Y-axis side to the hook
To power, the third locating piece to it is described hook apply Z-direction power.
11. handling equipment as claimed in claim 10, which is characterized in that first locating piece includes locating part and compression
Part, the compressing member include compressing power device, shaft and briquetting, and the output shaft for compressing power device and the shaft are solid
Fixed connection, the briquetting are fixed in the shaft, and the compression power device drives the shaft and briquetting rotation；And/or
Second locating piece includes upper supporting piece and pressing member, and the pressing member includes pushing power device and lower platen, described
Pushing power device drives the lower platen to move up and down；And/or
The third locating piece includes the first clamping element and the second clamping element, first clamping element and the second clamping element at least its
One of can horizontal direction it is mobile；And/or
The supporting element is a support frame, and support frame as described above is arranged in herringbone scalariform, and support frame as described above is contacted with the hook
It is on one side in 5-15 ° of tilt angle.
12. a kind of paint finishing, which is characterized in that including transmitting device, loading and unloading manipulator and as claim 1-11 is any
Handling equipment described in, the loading and unloading manipulator are located at the loading and unloading station of the transmission device, the loading and unloading
Fixture is fixed on the loading and unloading manipulator, and the calibration positioning device is fixed on the side of the loading and unloading manipulator.
13. paint finishing as claimed in claim 12, which is characterized in that there are two the loading and unloading manipulator settings, and every
Material clamp up and down is all fixed on a loading and unloading manipulator, there are two the calibration positioning device is also provided with.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910323346.8A CN110180707A (en) | 2019-04-22 | 2019-04-22 | A kind of handling equipment and paint finishing |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910323346.8A CN110180707A (en) | 2019-04-22 | 2019-04-22 | A kind of handling equipment and paint finishing |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110180707A true CN110180707A (en) | 2019-08-30 |
Family
ID=67714825
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910323346.8A Pending CN110180707A (en) | 2019-04-22 | 2019-04-22 | A kind of handling equipment and paint finishing |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110180707A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113546784A (en) * | 2021-06-28 | 2021-10-26 | 乐歌人体工学科技股份有限公司 | Automatic clamping device for elastic hook of spraying assembly line |
| CN113713998A (en) * | 2021-09-08 | 2021-11-30 | 湖州洛博特机械科技有限公司 | Intelligent conveying system for spraying large-sized workpiece |
-
2019
- 2019-04-22 CN CN201910323346.8A patent/CN110180707A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113546784A (en) * | 2021-06-28 | 2021-10-26 | 乐歌人体工学科技股份有限公司 | Automatic clamping device for elastic hook of spraying assembly line |
| CN113546784B (en) * | 2021-06-28 | 2022-05-27 | 乐歌人体工学科技股份有限公司 | Automatic clamping device for elastic hook of spraying assembly line |
| CN113713998A (en) * | 2021-09-08 | 2021-11-30 | 湖州洛博特机械科技有限公司 | Intelligent conveying system for spraying large-sized workpiece |
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