CN110193836A - Intelligent splicing robot - Google Patents
Intelligent splicing robot Download PDFInfo
- Publication number
- CN110193836A CN110193836A CN201910441906.XA CN201910441906A CN110193836A CN 110193836 A CN110193836 A CN 110193836A CN 201910441906 A CN201910441906 A CN 201910441906A CN 110193836 A CN110193836 A CN 110193836A
- Authority
- CN
- China
- Prior art keywords
- vertical sliding
- sliding frame
- valve plate
- workpiece
- clean tank
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
- B25J11/0085—Cleaning
Abstract
The present invention relates to the technical fields of robot, more particularly to a kind of intelligent splicing robot, including robot body, it further include cleaning mechanism and driving mechanism, the cleaning mechanism includes vertical sliding frame, vertical sliding frame is connect with robot body vertical sliding, and the upper end level of the vertical sliding frame is equipped with clean tank, is uniformly provided with several cleaning holes on the peripheral wall of clean tank；The downside of vertical sliding frame is fixed with cylinder vertically, and piston is axially slidably connected in cylinder, first annular seal space is formed between piston and cylinder, first annular seal space is connected to cleaning hole by pipeline, and pipeline is equipped with the first check valve, feed pipe is also communicated in first annular seal space, feed pipe is equipped with second one-way valve；The driving mechanism drives vertical sliding frame to pump, and piston is driven by vertical sliding frame.Workpiece can be cleaned using this programme, the problem for avoiding the product quality after thering is greasy dirt to lead to assembly on workpiece bad.
Description
Technical field
The present invention relates to the technical fields of robot, and in particular to a kind of intelligent splicing robot.
Background technique
Automatic manual transmission refers to the connection that machine components or component are realized according to the technical requirements of design, machine components or portion
Part is combined into machine.Automatic manual transmission is machine manufacture and the important link repaired, the quality of assembly work to the efficiency of machine, repair
The duration of reason, the labour of work and cost etc. all play very important effect, even all qualified parts, if assembly
It is improper, it can not often form up-to-standard product.Common assembly technology has: cleaning, balance, scraping, thread connection, mistake
It is full of and cooperates connection, splicing, correction etc..In addition, can also apply other assembly technologies, such as welding, riveting, rolling, pressing ring and casting
Connection etc., to meet the needs of various different product structures.Cleaning is using cleaning solution and cleaning equipment to the part before assembly
It is cleaned, removes surface remaining greasy dirt, part is made to reach defined cleannes.Common cleaning method have embathe, hydro-peening, gas
Mutually cleaning and ultrasonic cleaning etc..But existing workpiece cleaning is all to carry out workpiece fixed placement in some station, very
The case where cleaning of workpiece is easy to cause there are dead angle, leads to less clean position, to clean out, at least need to workpiece into
Row turn-over, which changes, places station.
Summary of the invention
The invention is intended to provide intelligent splicing robot, when solving the cleaning of workpiece fixed station, it is easy to appear dead angle
Situation.
In order to achieve the above objectives, the present invention adopts the following technical scheme: intelligent splicing robot, including robot body,
It further include cleaning mechanism and driving mechanism, the cleaning mechanism includes vertical sliding frame, and vertical sliding frame and robot body are perpendicular
It is directly slidably connected, the upper end level of the vertical sliding frame is equipped with clean tank, is uniformly provided with several cleanings on the peripheral wall of clean tank
Hole；The downside of vertical sliding frame is fixed with cylinder vertically, and piston is axially slidably connected in cylinder, between piston and cylinder
First annular seal space is formed, first annular seal space is connected to cleaning hole by pipeline, and pipeline is equipped with the first check valve, the first sealing
Feed pipe is also communicated on chamber, feed pipe is equipped with second one-way valve；The driving mechanism drives vertical sliding frame up and down reciprocatingly
Movement, piston are driven by vertical sliding frame.
The principle and advantage of this programme are: when practical application, the vertical sliding frame of this programme slides above and below, can be by cylinder
External cleaning solution etc. is pumped into first annular seal space, is then ejected into cleaning solution in clean tank by pipeline and cleaning hole, from
And it realizes and clean purpose is carried out to workpiece surface；Vertical sliding frame constantly slides above and below, can play the role of concussion, and
And it is uniformly provided with cleaning hole on the peripheral wall of clean tank, so the surrounding of workpiece can be ejected into cleaning solution, so that workpiece can be by
It cleans, avoids the case where leaving dead angle.
Preferably, as an improvement, the driving mechanism includes central turnplate and stop collar, and central turnplate is fixed at
On robot body, stop collar is circumferentially slidably connected with central turnplate；Gag lever post is radially equipped on stop collar, on gag lever post
Equipped with first sliding groove, it is eccentrically provided with drive rod on central turnplate, rotation is equipped with for matching with first sliding groove on drive rod
First sliding block；It is horizontal on the vertical sliding frame to be equipped with second sliding slot, the second sliding block is rotatably connected on the first sliding block, second is sliding
Slot is slidably matched with the second sliding block.
In eccentric rotary on central turnplate, stop collar and gag lever post cooperate the drive rod of this programme, to the first sliding block
Motion profile is defined, and realizes the purpose that the first sliding block of control moves on fixation locus；Meanwhile first sliding block drive the
Two sliding blocks slide on vertical sliding frame, and vertical sliding frame is that vertical sliding is connected on robot body, thus real
The purpose that drive rod rotation drives vertical sliding frame to move up and down is showed.
It preferably, as an improvement, further include material storing box, material storing box is located at the surface of vertical sliding frame, material storing box
It is equipped with discharge port.
This programme can carry out high-volume cleaning to workpiece, if artificial feeding, then worker only needs to process needs
Workpiece is pre-stored in material storing box, is not needed worker and is on the side always, and the lasting workpiece by after cleaning takes out and will be to clear
The workpiece washed is sent in clean tank；If automating feeding, then workpiece to be cleaned can be transported in clean tank in batches, be not necessarily to
Continuous service conveying equipment；And the material storing box of this programme is set to the surface of vertical sliding frame, after workpiece is transported to material storing box,
It is come out in i.e. reachable clean tank from discharge port, is deposited in ground relative to by workpiece, this programme is without again doing work to workpiece
Workpiece is lifted in clean tank from ground；But also the size as workpiece can be made in the width of material storing box, so that
The biggish diameter of workpiece size is screened out, and the feelings of the waste of cleaning solution caused by being cleaned to larger-size workpiece are avoided
Condition.
Preferably, as an improvement, vertical sliding is equipped with the first valve plate on the discharge port, one end of the first valve plate from
It is stretched out in material storing box, the mandril for offseting with the first valve plate is fixed on the stop collar；First valve plate and material storing box it
Between be also fixed with reset spring.
Mandril can also be driven to squeeze the first valve plate when the stop collar rotation of this programme, the first valve plate is made to rotate, thus
Make workpiece to be cleaned from rolling out and being dropped into clean tank in discharge port, realizes the purpose of automatic material taking；Mandril continues to rotate
To after being detached from the position of the first valve plate, the first valve plate can set back under the action of reset spring.
Preferably, as an improvement, the vertical sliding frame is equipped with blowpit, and blowpit is equipped with the second valve plate.
Blowpit facilitates workpiece after clean tank completes cleaning, directly rolls and leaves clean tank, first is that not having to worker or machine
Tool arm takes out workpiece, has saved manpower and material resources；Second is that the workpiece surface for just completing cleaning is wet and is stained with cleaning solution, work
People, which manually takes out, to be easy to damage skin, and is chronically at wet environment and is also easy to cause prestige to the health of worker
The side of body；And it is general on mechanical arm on have lubricating oil, cleaning solution is easy to wash away lubricating oil, so that the use to mechanical arm causes
It influences.
Preferably, as an improvement, the blowpit is located at the position that the end of clean tank is intersected with bottom, and discharging
The bottom surface of slot is higher than the bottom surface of second sliding slot.
When using this programme, because the least significant end of blowpit is higher than the bottom surface of second sliding slot, the second sliding block is slided into
The end of second sliding slot will receive blocking without will continue to slide, so the sliding of the second sliding block will not be by the shadow of blowpit
It rings.
Preferably, as an improvement, second valve plate is fixedly connected with the second sliding block, the left and right ends of the second valve plate
Equipped with wedge surface.
When the second sliding block sliding of this programme, the second valve plate can be driven to move together, and then workpiece to be cleaned is driven to exist
There is the case where dead angle when further avoiding workpiece cleaning in sliding in clean tank；The left and right ends of the second valve plate are equipped with simultaneously
Wedge surface, so that workpiece is in the case where the side of the separate blowpit of the second valve plate, the second valve plate is slided with the second sliding block
When to the end of second sliding slot, workpiece can be rolled into the upper end of the second valve plate with wedge surface and then roll down to the another of the second valve plate again
Side, so that workpiece be made to have changed to close to the side of blowpit, so that workpiece can roll out clean tank by blowpit.
Preferably, as an improvement, the bottom end of the discharge port is inclined inclined-plane, and is towards one end of clean tank
Low side.
When this programme makes workpiece roll out next from material storing box, the initial velocity with certain horizontal direction, so that workpiece
It after falling on clean tank, can be rolled in clean tank, so that each face of workpiece can be cleaned.
Preferably, as an improvement, the depth of the clean tank is greater than the height of the center of gravity of accessory to be cleaned.
During this programme is avoided that workpiece cleans in clean tank, the case where being tumbled from clean tank.
Preferably, as an improvement, one end in the clean tank far from blowpit is equipped with holding tank, and holding tank erects
Straight height is higher than the thickness of the second valve plate.
When using this programme, holding tank can accommodate the second valve plate, so that workpiece is jacked up upwards and is rolled to
The side of the close blowpit of two valve plates.
Detailed description of the invention
Fig. 1 is the front sectional view of the embodiment of the present invention one.
Fig. 2 is the main view of driving mechanism in the embodiment of the present invention one.
Fig. 3 is the front sectional view of the embodiment of the present invention two, and the position for basically illustrating material storing box and vertical sliding frame is closed
System.
Fig. 4 is cross-sectional view of the Fig. 3 along the direction C-C.
Fig. 5 is the top view of Fig. 3, basically illustrates the positional relationship of mandril and the first valve plate.
Specific embodiment
It is further described below by specific embodiment:
Appended drawing reference in Figure of description includes: vertical sliding frame 1, spacing collar 2, fixed link 3, clean tank 4, cleaning
Hole 5, cylinder 6, piston 7, first annular seal space 8, connection chamber 9, the first check valve 10, second one-way valve 11, central turnplate 12, limit
Ring 13, gag lever post 14, first sliding groove 15, drive rod 16, the first sliding block 17, second sliding slot 18, the second sliding block 19, material storing box 20,
Discharge port 21, the first valve plate 22, the first wedge block 23, connecting rod 24, mandril 25, the second valve plate 26, holding tank 27.
Embodiment one
Substantially as shown in Fig. 1: intelligent splicing robot, including robot body, cleaning mechanism and driving mechanism, cleaning
Mechanism includes vertical sliding frame 1, and vertical sliding frame 1 is connect with robot body by dovetail groove vertical sliding, robot body
On be fixedly welded there are two the spacing collar 2 that is vertically arranged, the lower end of vertical sliding frame 1 is fixedly welded with two and is vertically arranged
Fixed link 3, fixed link 3 and spacing collar 2 are coaxially disposed, and fixed link 3 is inserted into spacing collar 2 with a gap.Vertical sliding
The upper end of frame 1 is horizontally opened with clean tank 4, and the depth of clean tank 4 is greater than the height of the center of gravity of accessory to be cleaned, the week of clean tank 4
Several cleaning holes 5 have uniformly been opened on wall；The downside of vertical sliding frame 1 is fixed with cylinder 6 vertically, and cylinder 6 passes through spiral shell herein
Bolt is fixed on robot body；And piston 7 is axially slidably connected in cylinder 6, the upper end of piston 7 and fixed link 3 are welded；It is living
First annular seal space 8 is formed between the lower end of plug 7 and the bottom of cylinder 6, first annular seal space 8 is connected to cleaning hole 5 by pipeline, is had
As shown in Figure 1, being provided with connection chamber 9 in vertical sliding frame 1, all cleaning holes 5 are connected with connection chamber 9 body mode of communicating；Pipe
The first check valve 10 for making cleaning solution that can only flow to cleaning hole 5 from first annular seal space 8, first annular seal space 8 are installed on road
On be also communicated with feed pipe, be equipped on feed pipe for making cleaning solution that can only flow to the second single of first annular seal space 8 from outside
To valve 11, the other end of feed pipe is connected with water source.
As shown in Figure 1 and Figure 2, driving mechanism includes central turnplate 12 and stop collar 13, and central turnplate 12 is fixedly welded on machine
On device human body, stop collar 13 is circumferentially slidably connected with central turnplate 12 by ball bearing；It is radially solid on stop collar 13
Surely it is welded with gag lever post 14, is provided with first sliding groove 15 on gag lever post 14 along its length, and the upper end of first sliding groove 15 extends to
Make 13 split ring of stop collar on stop collar 13；Eccentric rotary is connected with drive rod 16 on central turnplate 12, drive rod 16 it is upper
End is fixed to be connected with driving shaft, and the other end of driving shaft passes through central turnplate 12 and is fixedly welded with motor, and motor passes through bolt
It is fixedly mounted on robot body；The lower end of drive rod 16 is rotatably connected to by pivot pin for matching with first sliding groove 15
The first sliding block 17, the first sliding block 17 and first sliding groove 15 are slidably connected by linear guide；It is horizontally opened on vertical sliding frame 1
The lower end of second sliding slot 18, the first sliding block 17 is rotatably connected to the second sliding block 19, second sliding slot 18 and the second sliding block by pivot pin
19 are slidably connected by linear guide.
Specific implementation process is as follows: workpiece to be cleaned being transported in clean tank 4 by manually or mechanically arm, starting electricity
Machine simultaneously drives drive rod 16 to do the circular-rotation around driving shaft, and drive rod 16 is done under the limitation of stop collar 13 and gag lever post 14
(visual angle Fig. 1) is rotated counterclockwise, so that stop collar 13 and gag lever post 14 also rotate counterclockwise therewith, drive rod 16 drives first to slide
Block 17 moves in first sliding groove 15, and the movement of the first sliding block 17 drives the movement of the second sliding block 19, and the second sliding block 19 drives vertical cunning
Moving frame 1 moves up and down, to realize the purpose that driving vertical sliding frame 1 moves up and down.When vertical sliding frame 1 moves up
When, first annular seal space 8 is interior to form negative pressure, and cleaning solution is pumped into first annular seal space 8；When vertical sliding frame 1 moves down, the
Pressure increases in one seal chamber 8, and cleaning solution is squeezed into connection chamber 9 and then is sprayed on workpiece by cleaning hole 5, carries out to workpiece
Cleaning；Vertical sliding frame 1 moves up and down the effect that can also play vibration, keeps the cleaning of workpiece more thorough, and clean tank 4
Cleaning hole 5 has uniformly been opened on peripheral wall, so this programme can more fully clean workpiece, avoids going out for cleaning dead angle
It is existing.
Embodiment two
As shown in Fig. 3, Fig. 4 and Fig. 5, the difference between this embodiment and the first embodiment lies in further including material storing box 20, material storing box
20 are located at the surface of vertical sliding frame 1, and the bottom in 20 left side of material storing box is provided with discharge port 21, and the bottom end of discharge port 21 is inclination
Inclined-plane, and left end be low side；First valve plate 22 is connected with by dovetail groove vertical sliding on discharge port 21, as shown in figure 5, the
The upper end of one valve plate 22 is fixedly welded with the first wedge block 23 by connecting rod 24, and it is sliding that the upper side wall of material storing box 20 has opened connecting rod
Slot, connecting rod 24 passes through connecting rod sliding slot with gap, and the upper end of connecting rod 24 and the first wedge block 23 weld, the lower end of connecting rod 24 and the
The welding of one valve plate 22；Reset spring, the specifically upper end of reset spring are also fixed between first valve plate 22 and material storing box 20
(visual angle Fig. 3) and connecting rod sliding slot weld, and the lower end of reset spring and connecting rod 24 weld, and reset spring selects pressure spring；Stop collar 13
On be fixedly welded with mandril 25 for offseting with the first valve plate 22, as shown in figure 3, during mandril 25 and drive rod 16 be located at
The two sides of heart turntable 12.
As shown in figure 3, the place that the right end of clean tank 4 is connected with bottom is provided with blowpit, the bottom surface of blowpit is higher than the
The bottom surface of two sliding slots 18；Blowpit is equipped with the second valve plate 26, and horizontally disposed the is provided between second sliding slot 18 and clean tank 4
Three sliding slots, third sliding slot is interior to slidably connect link block by dovetail groove level, and the upper end of link block and the second valve plate 26 are fixed
Riveting, the lower end of link block is fixedly welded with the second sliding block 19, and the left and right ends of the second valve plate 26 are machined with wedge surface.Clearly
The left end of clean slot 4 is provided with the holding tank 27 for accommodating the second valve plate 26, and the vertical height of holding tank 27 is higher than the second valve plate 26
Thickness, and the height of holding tank 27 be less than workpiece height.
As shown in figure 3, using when be the same as example 1 substantially, said by taking the workpiece that shape is cylindrical as an example herein
It is bright, start drive rod 16, make drive rod 16 drive stop collar 13 counterclockwise rotate, when stop collar 13 turn to mandril 25 start by
When first wedge block 23 pushes up upwards, the second sliding block 19 is also driving the second valve plate 26 to slide to the right；It is moved on to when on the first valve plate 22
When workpiece can be rolled out from discharge port 21, vertical sliding frame 1 has moved up certain distance, and the second valve plate 26 just move to it is most right
End, so the height tumbled is very low when workpiece is rolled out from discharge port 21, will not cause to wear to workpiece；And workpiece is when tumbling
There is the initial velocity of lower section to the left, so the left side of the second valve plate 26 can be fallen on when workpiece is rolled down in clean tank 4,
It will not directly be tumbled away from blowpit.
During second sliding block 19 drives the second valve plate 26 to move downward, the second valve plate 26 can push up to the left workpiece, so that work
Part rolls in clean tank 4 so that the entire circumferential surface of workpiece can 4 bottom of face clean tank cleaning hole 5 so that
The outer surface cleaning of workpiece is more thorough.
After workpiece motion s are to the left end of clean tank 4, when the second valve plate 26 continues to move to left, workpiece can climb up along wedge surface
On two valve plates 26；When in the second valve plate 26 insertion holding tank 27, workpiece can scroll right and roll down to the right side of the second valve plate 26
Side；After workpiece motion s to the right end of the second valve plate 26, the second sliding block 19 starts that the second valve plate 26 is driven to move right, and pushes work
Part scrolls right, and cleans again to workpiece；When workpiece is rolled to the right end of clean tank 4, workpiece can be rolled from blowpit
Out, to realize the purpose of automatic discharging, because the second valve plate 26 is in the left side of workpiece at this time, workpiece will not be prevented from unloading
It is rolled out in hopper.
What has been described above is only an embodiment of the present invention, the common sense such as well known specific technical solution and/or characteristic in scheme
It does not describe excessively herein.It should be pointed out that for those skilled in the art, before not departing from technical solution of the present invention
It puts, several modifications and improvements can also be made, these also should be considered as protection scope of the present invention, these all will not influence this
Invent the effect and patent practicability implemented.The scope of protection required by this application should be based on the content of the claims,
The records such as the specific embodiment in specification can be used for explaining the content of claim.
Claims (10)
1. intelligent splicing robot, including robot body, it is characterised in that: it further include cleaning mechanism and driving mechanism, it is described
Cleaning mechanism includes vertical sliding frame, and vertical sliding frame is connect with robot body vertical sliding, the vertical sliding frame it is upper
End is horizontal to be equipped with clean tank, is uniformly provided with several cleaning holes on the peripheral wall of clean tank；Fixation is set vertically for the downside of vertical sliding frame
There is cylinder, and axially slidably connect piston in cylinder, forms first annular seal space between piston and cylinder, first annular seal space and clear
Clean hole is connected to by pipeline, and pipeline is equipped with the first check valve, is also communicated with feed pipe in first annular seal space, sets on feed pipe
There is second one-way valve；The driving mechanism drives vertical sliding frame to pump, and piston is driven by vertical sliding frame.
2. intelligent splicing robot according to claim 1, it is characterised in that: the driving mechanism include central turnplate and
Stop collar, central turnplate are fixed on robot body, and stop collar is circumferentially slidably connected with central turnplate；Edge on stop collar
It is radially provided with gag lever post, gag lever post is equipped with first sliding groove, is eccentrically provided with drive rod on central turnplate, rotates and be equipped on drive rod
The first sliding block for being matched with first sliding groove；It is horizontal on the vertical sliding frame to be equipped with second sliding slot, turn on the first sliding block
Dynamic to be connected with the second sliding block, second sliding slot is slidably matched with the second sliding block.
3. intelligent splicing robot according to claim 2, it is characterised in that: further include material storing box, material storing box is located at perpendicular
The surface of straight sliding rack, material storing box are equipped with discharge port.
4. intelligent splicing robot according to claim 3, it is characterised in that: vertical sliding is equipped with the on the discharge port
One end of one valve plate, the first valve plate is stretched out from material storing box, is fixed on the stop collar for offseting with the first valve plate
Mandril；Reset spring is also fixed between first valve plate and material storing box.
5. intelligent splicing robot according to claim 2, it is characterised in that: the vertical sliding frame is equipped with discharging
Slot, blowpit are equipped with the second valve plate.
6. intelligent splicing robot according to claim 5, it is characterised in that: the blowpit is located at the end of clean tank
The position intersected with bottom, and the bottom surface of blowpit is higher than the bottom surface of second sliding slot.
7. intelligent splicing robot according to claim 6, it is characterised in that: second valve plate is fixed with the second sliding block
The left and right ends of connection, the second valve plate are equipped with wedge surface.
8. intelligent splicing robot according to claim 3, it is characterised in that: the bottom end of the discharge port is inclined oblique
Face, and towards one end of clean tank be low side.
9. intelligent splicing robot according to claim 1, it is characterised in that: the depth of the clean tank is greater than to be cleaned
The height of the center of gravity of accessory.
10. intelligent splicing robot according to claim 7, it is characterised in that: far from blowpit in the clean tank
One end is equipped with holding tank, and the vertical height of holding tank is higher than the thickness of the second valve plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910441906.XA CN110193836B (en) | 2019-05-24 | 2019-05-24 | Intelligent assembling robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910441906.XA CN110193836B (en) | 2019-05-24 | 2019-05-24 | Intelligent assembling robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110193836A true CN110193836A (en) | 2019-09-03 |
| CN110193836B CN110193836B (en) | 2020-11-13 |
Family
ID=67751671
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910441906.XA Active CN110193836B (en) | 2019-05-24 | 2019-05-24 | Intelligent assembling robot |
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| CN (1) | CN110193836B (en) |
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Effective date of registration: 20220608 Address after: 230000 B-1015, wo Yuan Garden, 81 Ganquan Road, Shushan District, Hefei, Anhui. Patentee after: HEFEI MINGLONG ELECTRONIC TECHNOLOGY Co.,Ltd. Address before: 325000 Zhejiang Wenzhou marine science and Technology Pioneer Park C1 Patentee before: INSTITUTE OF LASER AND OPTOELECTRONICS INTELLIGENT MANUFACTURING, WENZHOU University |
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Effective date of registration: 20230802 Address after: 726099 402 Innovation Building, BYD Avenue, Shangzhou District, Shangluo City, Shaanxi Province Patentee after: Shangluo Zhongxin Craftsman Robot Technology Co.,Ltd. Address before: 230000 B-1015, wo Yuan Garden, 81 Ganquan Road, Shushan District, Hefei, Anhui. Patentee before: HEFEI MINGLONG ELECTRONIC TECHNOLOGY Co.,Ltd. |