CN110280989A - A kind of filament automatic takeup that tensile force is controllable and method - Google Patents
A kind of filament automatic takeup that tensile force is controllable and method Download PDFInfo
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- CN110280989A CN110280989A CN201910549468.9A CN201910549468A CN110280989A CN 110280989 A CN110280989 A CN 110280989A CN 201910549468 A CN201910549468 A CN 201910549468A CN 110280989 A CN110280989 A CN 110280989A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/001—Article feeders for assembling machines
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- Investigating Strength Of Materials By Application Of Mechanical Stress (AREA)
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Abstract
The present invention relates to a kind of filament automatic takeup that tensile force is controllable and methods, belong to precision assembly field.The device includes feeding unit material, filament clamping unit, tensile force control unit filament position adjustment unit；There are two the filament position adjustment unit is total, for adjusting filament in the position of Z-direction；The filament clamping unit, tensile force control unit and filament position adjustment unit are two each, centered on feeding unit material, are symmetrically arranged；Wherein, filament position adjustment unit is mounted in tensile force control unit by L-type plate and Z-direction slide unit mounting plate；Filament clamping unit is installed version by cylinder pinboard and cylinder and is mounted on filament position adjustment unit.The Automatic-clamping to filament may be implemented in the present invention, and automatic Detection & Controling in real time can be carried out to the size of tensile force, and the adjusting of filament three degree of freedom may be implemented, improve assembly efficiency and assembly precision, and can be integrated in automated assembling equipment, guarantee assembly consistency.
Description
Technical field
The invention belongs to precision assembly technology fields, relate in particular to a kind of filament auto-tensioning that tensile force is controllable dress
It sets and method.
Background technique
Assembly is the process that part is bonded into component or several part and assemblies are bonded into product.As industry is raw
The development with science and technology is produced, Automated assembly technology becomes important field of research, and the requirement to assembly precision is also more next
It is higher.
Chinese patent " a kind of locking device and assembly method for micro parts automatic assembling ", Publication No.
CN108581469A, the important composition for the precision assembly of small inertia device, such as accelerometer, as inertial navigation system
Part is a kind of typical microminiature electronic product, relies primarily on and manually complete under the microscope.
Chinese patent " a kind of clamp system and tension device ", Publication No. CN109333811A provides a kind of clamping
Mechanism, the mechanism are switched in tensioning seat sliding process from open configuration to closed configuration by two pulling claws, and formation is used for
To the limit chamber that the end of workpiece to be tensioned is limited, by limiting the end of workpiece to be tensioned in limit chamber,
The limit of single workpiece to be tensioned is realized, so that tensioning equipment can be by the clamp system to single workpiece to be tensioned
Carry out tensioning.
Above-mentioned assembly method has that production efficiency is low and assembles consistency difference.
Summary of the invention
The purpose of the present invention is overcoming the problems, such as that production efficiency in the prior art is low and the consistency of assembly is poor, one is provided
Kind tensile force controllable filament automatic takeup and method are applied to filament and clamp and operate, provide filament preoperative folder
Tightly, the functions such as tensile force control, position adjustment, automatically processing and integrating as automatic production line provides technology hand for filament
Section.
In order to solve the above-mentioned technical problem, what the invention is realized by the following technical scheme:
A kind of filament automatic takeup that tensile force is controllable, including feeding unit material 1., filament clamping unit 2., tensile force
Control unit 3. with filament position adjustment unit 4.；The feeding unit material be 1. used to install it is to be installed replace the spare parts, and adjust part with
Filament is in X to opposite position；The filament clamping unit is 2. for realizing the Automatic-clamping of filament；The tensile force control is single
3. member is control effectively by tensile force of the Micro-force sensor 11 to filament, and adjust the position of filament in the Y direction；It is described thin
4. silk position adjustment unit is used to adjust filament in the position of Z-direction；The filament clamping unit 2., tensile force control unit 3.
It is 4. two each with filament position adjustment unit, by feeding unit material 1. centered on, be symmetrically arranged；Wherein, filament position tune
4. whole unit passes through L-type plate 20 and Z-direction slide unit mounting plate 26 be fitted to tensile force control unit 3. on；Filament clamping unit
2. by cylinder pinboard 25 and cylinder install version 15 be fitted to filament position adjustment unit 4. on；
3. the tensile force control unit includes linear motor 16, linear motor mounting plate 17, photoelectric sensor 18, sensing
Device sender block 19, L-type plate 20, linear guide 21, miniature couplings 22 and bottom plate 23；The linear guide 21 is mounted on bottom plate 23
On；There are two the linear motor mounting plate 17 is total, 23 two sides of bottom plate are respectively symmetrically mounted on, are set on linear motor mounting plate 17
There is the through-hole for the output of 16 shaft of linear motor；The linear motor 16 shares two, is separately mounted to linear motor mounting plate
On 17；There are two the L-type plate 20 is total, the vertical plate of L-type plate 20 passes through turn of miniature couplings 22 and corresponding linear motor 16
Axis is connected, and level board is nested in linear guide 21；There are two the photoelectric sensor 18 is total, it is symmetrically mounted on bottom plate 23；
There are two the sensor sender block 19 is total, it is symmetrically mounted on bottom plate 23；Photoelectric sensor 18 is matched with sensor sender block 19
It closes, for judging 16 origin position of linear motor；The tensile force control unit 3. adjusts L-type plate 20 by motor and filament presss from both sides
2. tight unit is fixed in linear guide 21, and then adjust the position of filament in the Y direction；
4. the filament position adjustment unit includes Z-direction slide unit 24, cylinder pinboard 25 and Z-direction slide unit mounting plate 26；Institute
Stating Z-direction slide unit mounting plate 26 is L-type, is mounted on L-type plate 20；The Z-direction slide unit 24 is mounted on the perpendicular of Z-direction slide unit mounting plate 26
In straight panel；The cylinder pinboard 25 is mounted on Z-direction slide unit 24；4. the filament position adjustment unit passes through adjusts filament folder
Tight unit adjusts filament in the position of Z-direction 2. in the position of Z-direction；
1. the feeding unit material includes part B support plate 1, workpiece mounting plate 2, X to slide unit 3, X to slide unit mounting plate 4, zero
Part A5 and part B6；The X is mounted on bottom plate 23 totally to slide unit mounting plate 4 two, and linear guide 21 is installed from two slide units
It is passed through between plate 4；The X is mounted on two X on slide unit mounting plate 4 to slide unit 3；The workpiece mounting plate 2 is installed by screw
In X to 3 upper surface of slide unit；The part A5 is mounted on workpiece mounting plate 2；The part B support plate 1 is connected through a screw thread peace
On workpiece mounting plate 2；The part B6 is placed in part B support plate 1 and is sleeved on the magnet of part A5；It is described
1. feeding unit material passes through adjusts part in the position of X-direction, and then adjusts part and filament in the relative position of X-direction；
2. the filament clamping unit is used for filament clamping, including fixed gripping finger mounting plate 7, mobile gripping finger 8, cylinder 9, micro-
Force snesor mounting plate 10, Micro-force sensor 11, fixed gripping finger 12, guiding axis 13, step set 14 and cylinder install version 15；It is described
Micro-force sensor mounting plate 10 is mounted on left side L-type plate 20；The Micro-force sensor 11 is mounted on Micro-force sensor mounting plate
On 10；The fixed gripping finger mounting plate 7 be mounted on the filament position adjustment unit on right side 4. in Z-direction slide unit 24 mounting surface
On；There are two the fixed gripping finger 12 is total, one of them is mounted on Micro-force sensor 11, another is mounted on fixed gripping finger peace
In loading board 7；There are two the cylinder installation version 15 is total, it is separately mounted on corresponding cylinder pinboard 25；The cylinder 9 is shared
It two, is separately mounted in cylinder installation version 15；There are two the guiding axis 13 is total, each 13 one end of guiding axis is by screw
It is fixed in each mobile gripping finger 8, the other end is mounted in step set 14, for limiting the rotary freedom of cylinder 9；Described
There are two rank set 14 is total, it is separately mounted in cylinder installation version 15；There are two the mobile gripping finger 8 is total, it is separately mounted to cylinder 9
Piston on；
The feeding unit material 1., filament clamping unit 2., 3. 4. tensile force control unit leads to filament position adjustment unit
Cross coordinated realize filament auto-tensioning and tensile force is controlled, position is adjusted.
A kind of method for the filament automatic takeup that tensile force is controllable of the present invention, comprising the following steps:
Step 1: the A5 and part B6 to be installed that replaces the spare parts is mounted on workpiece mounting plate 2 by screw；Make it with X to cunning
Platform 4 moves together；Wherein, there is a root long filament on part B6；
Step 2: the left and right end of the filament on observation part B6 and the position of left and right gripping finger, if filament is not in mobile gripping finger 8
Between fixed gripping finger 12, then that side linear motor 16 of filament not between mobile gripping finger 8 and fixed gripping finger 12 sends arteries and veins
Punching drives filament clamping unit 2. to move, and is moved to filament and is in mobile gripping finger 8 and fixes until between gripping finger 12；
It is moved together step 3: compressed air pushes the drive of left and right cylinder 9 to move left and right gripping finger 8, makes to move left and right gripping finger 8
Filament both ends are pressed in the fixed gripping finger 12 in left and right；
Step 4: right side linear motor 16 sends pulse, drive right side filament clamping unit 2. mobile to the direction Y+, filament
Tensioning, and in real-time detection photoelectric sensor 18 power size, when the size of power meets scheduled tensile force size, straight-line electric
Machine 16 stops sending pulse；At this time filament auto-tensioning and in regulation tensile force size under；
Step 5: the filament of observation part B6 is between the A5 to be installed that replaces the spare parts at a distance from X-direction, if distance is unsatisfactory for wanting
It asks, adjusts filament between the A5 to be installed that replaces the spare parts at a distance from X-direction to slide unit 4 by adjusting X；
Step 6: the filament of observation part B6 is between the A5 to be installed that replaces the spare parts at a distance from Z-direction, if distance is unsatisfactory for wanting
It asks, adjusts filament between the A5 to be installed that replaces the spare parts at a distance from Z-direction by adjusting left and right Z-direction slide unit 24.
Compared with prior art the invention has the advantages that: 2. 3. filament clamping unit may be used with tensile force control unit
To realize the Automatic-clamping to filament, and automatic Detection & Controling in real time can be carried out to the size of tensile force, improve dress
With efficiency, assembly precision ensure that；It can be integrated in automated assembling equipment, guarantee assembly consistency.Filament position adjustment is single
4. member combines X to slide unit 3 and two linear motors 16, and the adjusting to filament X, Y, Z three degree of freedom may be implemented.
Detailed description of the invention
Fig. 1 is the controllable filament automatic takeup schematic diagram of tensile force.
Fig. 2 is feeding unit material schematic diagram.
Fig. 3 a and Fig. 3 b are filament clamping unit schematic diagram.
Fig. 4 is tensile force control unit schematic diagram.Filament clamping unit.
Fig. 5 is filament position adjustment unit schematic diagram.
Fig. 6 is part A.
Fig. 7 is part B.
1., feeding unit material in figure:；2., filament clamping unit；3., tensile force control unit；4., filament position adjustment it is single
Member；1, part B support plate；2, workpiece mounting plate；3, X is to slide unit；4, X is to slide unit mounting plate；5, part A；6, part B；7, solid
Clamp refers to mounting plate；8, mobile gripping finger；9, cylinder；10, Micro-force sensor mounting plate；11, Micro-force sensor；12, fixed gripping finger；
13, guiding axis；14, step set；15, cylinder installs version；16, linear motor；17, linear motor mounting plate；18, photoelectric sensing
Device；19, sensor sender block；20, L-type plate；21, linear guide；22, miniature couplings；23, bottom plate；24, Z-direction slide unit；25,
Cylinder pinboard；26, Z-direction slide unit mounting plate.
Specific embodiment
1- Fig. 5 and technical solution with reference to the accompanying drawing, the invention will be further described, but does not limit the present invention.
A kind of controllable filament automatic takeup of tensile force of the invention is disclosed as shown in Figure 1, and the tensile force is controllable
Filament automatic takeup include feeding unit material 1., filament clamping unit 2., tensile force control unit 3. and two filament positions
Set adjustment unit 4.；The feeding unit material be 1. used to install it is to be installed replace the spare parts, and adjust part and filament in X to opposite position
It sets；The filament clamping unit is 2. for realizing the Automatic-clamping of filament；3. the tensile force control unit is sensed by micro- power
Device 11 control effectively to the tensile force of filament, and adjusts the position of filament in the Y direction；The filament position adjustment unit is 4.
There are two altogether, for adjusting filament in the position of Z-direction；The filament clamping unit 2., tensile force control unit 3. and filament
Position adjustment unit is 4. two each, by feeding unit material 1. centered on, be symmetrically arranged；Wherein, filament position adjustment unit
4. by L-type plate 20 and Z-direction slide unit mounting plate 26 be mounted on tensile force control unit 3. on；2. filament clamping unit passes through cylinder
Pinboard 25 and cylinder installation version 15 be mounted on filament position adjustment unit 4. on；
Tensile force in a kind of controllable filament automatic takeup of tensile force of the invention and method is illustrated in figure 4 to control
3., 3. which includes linear motor 16, linear motor mounting plate 17, photoelectric sensor 18, sensor to unit
Sender block 19, L-type plate 20, linear guide 21, miniature couplings 22 and bottom plate 23；The linear guide 21 is mounted on bottom plate 23
On；There are two the linear motor mounting plate 17 is total, 23 two sides of bottom plate are respectively symmetrically mounted on, are set on linear motor mounting plate 17
There is the through-hole for the output of 16 shaft of linear motor；The linear motor 16 shares two, is separately mounted to linear motor mounting plate
On 17；There are two the L-type plate 20 is total, the vertical plate of L-type plate 20 passes through turn of miniature couplings 22 and corresponding linear motor 16
Axis is connected, and level board is nested in linear guide 21；There are two the photoelectric sensor 18 is total, it is symmetrically mounted on bottom plate 23；
There are two the sensor sender block 19 is total, it is symmetrically mounted on bottom plate 23；Photoelectric sensor sensor 18 and sensor sender
Block 19 cooperates, for judging 16 origin position of linear motor；The tensile force control unit 3. by motor adjust L-type plate 20 and
2. filament clamping unit is fixed in linear guide 21, and then adjust the position of filament in the Y direction；
It is illustrated in figure 5 filament position tune in a kind of controllable filament automatic takeup of tensile force of the invention and method
4., 4. which includes Z-direction slide unit 24, cylinder pinboard 25 and Z-direction slide unit mounting plate 26 to whole unit；It is described
Z-direction slide unit mounting plate 26 is L-type, is mounted on L-type plate 20；The Z-direction slide unit 24 is mounted on the vertical of Z-direction slide unit mounting plate 26
On plate；The cylinder pinboard 25 is mounted on Z-direction slide unit 24；4. the filament position adjustment unit passes through adjusts filament clamping
Unit adjusts filament in the position of Z-direction 2. in the position of Z-direction；
It is illustrated in figure 2 feeding unit material in a kind of controllable filament automatic takeup of tensile force of the invention and method
1. 1. the feeding unit material includes part B support plate 1, workpiece mounting plate 2, X to slide unit 3, X to slide unit mounting plate 4,5 and of part A
Part B 6；The X is mounted on bottom plate 23 totally to slide unit mounting plate 4 two, linear guide 21 from two slide unit mounting plates 4 it
Between pass through；The X is mounted on two X on slide unit mounting plate 4 to slide unit 3；The workpiece mounting plate 2 by screw be mounted on X to
3 upper surface of slide unit；The part A 5 is mounted on workpiece mounting plate 2；The part B support plate 1, which is connected through a screw thread, to be mounted on
On workpiece mounting plate 2；The part B 6 is placed in part B support plate 1 and is sleeved on the magnet of part A 5；On described
1. material unit passes through adjusts part in the position of X-direction, and then adjusts part and filament in the relative position of X-direction；
It is as shown in Figure 3a and Figure 3b shows thin in a kind of tensile force of the invention controllable filament automatic takeup and method
2., 2. which includes fixed gripping finger mounting plate 7, mobile gripping finger 8, cylinder 9, Micro-force sensor peace to silk clamping unit
Loading board 10, Micro-force sensor 11, fixed gripping finger 12, guiding axis 13, step set 14 and cylinder install version 15；The Micro-force sensor
Mounting plate 10 is mounted on left side L-type plate 20；The Micro-force sensor 11 is mounted on Micro-force sensor mounting plate 10；It is described solid
Clamp refer to mounting plate 7 be mounted on the filament position adjustment unit on right side 4. in Z-direction slide unit 24 mounting surface on；The fixation
There are two gripping finger 12 is total, one of them is mounted on Micro-force sensor 11, another is mounted on fixed gripping finger mounting plate 7；Institute
State cylinder installation version 15 altogether there are two, be separately mounted on corresponding cylinder pinboard 25；There are two the cylinder 9 is total, respectively
It is mounted in cylinder installation version 15；There are two the guiding axis 13 is total, each 13 one end of guiding axis is fixed on often by screw
In a mobile gripping finger 8, the other end is mounted in step set 14, for limiting the rotary freedom of cylinder 9；The step set 14 is total
There are two, it is separately mounted in cylinder installation version 15；There are two the mobile gripping finger 8 is total, it is separately mounted to the piston of cylinder 9
On；
The feeding unit material 1., filament clamping unit 2., 3. 4. tensile force control unit leads to filament position adjustment unit
Cross coordinated realize filament auto-tensioning and tensile force is controlled, position is adjusted.
The method of the controllable filament automatic takeup of the tensile force of this law, comprising the following steps:
Step 1: the A 5 and part B 6 to be installed that replaces the spare parts is mounted on workpiece mounting plate 2 by screw；Make its with X to
Slide unit 4 moves together；Wherein, there is a root long filament on part B 6；
Step 2: the left and right end of the filament on observation part B 6 and the position of left and right gripping finger, if filament is not in mobile gripping finger
Between 8 and fixed gripping finger 12, then that side linear motor 16 of filament not between mobile gripping finger 8 and fixed gripping finger 12 sends arteries and veins
Punching drives filament clamping unit 2. to move, and is moved to filament and is in mobile gripping finger 8 and fixes until between gripping finger 12；
It is moved together step 3: compressed air pushes the drive of left and right cylinder 9 to move left and right gripping finger 8, makes to move left and right gripping finger 8
Filament both ends are pressed in the fixed gripping finger 12 in left and right；
Step 4: right side linear motor 16 sends pulse, drive right side filament clamping unit 2. mobile to the direction Y+, filament
Tensioning, and in real-time detection photoelectric sensor 18 power size, when the size of power meets scheduled tensile force size, straight-line electric
Machine 16 stops sending pulse；At this time filament auto-tensioning and in regulation tensile force size under；
Step 5: the filament of observation part B 6 is between the A 5 to be installed that replaces the spare parts at a distance from X-direction, if distance is unsatisfactory for wanting
It asks, adjusts filament between the A 5 to be installed that replaces the spare parts at a distance from X-direction to slide unit 4 by adjusting X；
Step 6: the filament of observation part B 6 is between the A 5 to be installed that replaces the spare parts at a distance from Z-direction, if distance is unsatisfactory for wanting
It asks, adjusts filament between the A 5 to be installed that replaces the spare parts at a distance from Z-direction by adjusting left and right Z-direction slide unit 24.
In order to express the present invention in more detail, now by taking the assembling work of a certain small component as an example, its purpose is to realize
Filament before filament welding clamps, tensile force control and filament position adjust.
It is mounted on workpiece mounting plate 2 step 1: being first connected through a screw thread the A 5 to be installed that replaces the spare parts, then by part B branch
Fagging 1, which is connected through a screw thread, to be mounted on workpiece mounting plate 2, and part B 6 is placed in part B support plate 1 and is sleeved on
On the magnet of part A 5, filament or so end is located at the front of left and right semi-cylindrical.Entirety can be moved together with X to slide unit 3.
Step 2: the position of observation filament left and right ends, if filament left end is not in the mobile gripping finger 8 in left side and fixed gripping finger 12
Between, left side linear motor 16 sends pulse, drives corresponding filament clamping unit 2. to move right, is moved at filament left end
Until at clamped position P1 between the mobile gripping finger 8 in left side and fixed gripping finger 12.If filament right end is not in the mobile gripping finger 8 in right side
Between fixed gripping finger 12, right side linear motor 16 sends pulse, and corresponding filament clamping unit is driven 2. to be moved to the left, mobile
Until filament right end is at the clamped position P2 between the mobile gripping finger 8 in right side and fixed gripping finger 12.
Step 3: opening air valve, compressed air pushes the drive of left and right cylinder 9 to move left and right gripping finger 8 and moves together, due to gas
Cylinder 9 has rotary motion when mobile, moves gripping finger 8 in order to prevent and rotates with 9 guide rod of cylinder, is limited by guiding axis 13
Its rotary motion be axially moved it may only along cylinder 9.Moving distance S1 makes the left and right end for moving left and right gripping finger 8 for filament
It is pressed in the fixed gripping finger 12 in left and right.
Step 4: right side linear motor 16 sends pulse, drive right side filament stretching unit mobile to the direction Y+, mobile one
After set a distance, filament tensioning, by the size F1 of 11 real-time detection tensile force of Micro-force sensor, when the size of tensile force F1 meets
When the requirement of tensile force, right side linear motor 16 stops sending pulse.Auto-tensioning and tensile force F1 meet filament at this time
The requirement of clamp force.
Step 5: X-direction between the left and right end and A 5 or so the semi-cylindrical to be installed that replaces the spare parts of observation 6 filament of part B
Distance adjusts X to slide unit 3, at this time since filament has been tensioned, will not move, and part 5 is understood with X to slide unit 3 along X
To movement, thus adjust filament or so end at a distance from X-direction, keeps filament left between A 5 or so the semi-cylindrical to be installed that replaces the spare parts
Right end leans against on the semi-cylindrical of left and right.
Step 6: observation part B 6 filament left end at a distance from the A 5 left side semicircle cylinder Z-direction to be installed that replaces the spare parts, if
Distance is unsatisfactory for requiring, and adjusts left side Z-direction slide unit 24, and the fixed gripping finger 12 in left side and mobile gripping finger 8 can be driven to move along Z-direction
It is dynamic, it is final that filament left end is driven to be moved to designated position Z1；Observe part B6 filament right end and 5 right side semicircle cylinder Z of part A
The distance in direction adjusts right side Z-direction slide unit 24 if distance is unsatisfactory for requiring, and can drive fixed gripping finger 12 and mobile 8 edge of gripping finger
Z-direction is mobile, final that filament left end is driven to be moved to designated position Z2.
Claims (2)
1. a kind of filament automatic takeup that tensile force is controllable, which is characterized in that the controllable filament auto-tensioning of the tensile force
Device includes that feeding unit material (1.), filament clamping unit (2.), tensile force control unit (3.) and two filament position adjustment are single
First (4.)；The feeding unit material (1.) for install it is to be installed replace the spare parts, and adjust part and filament in X to opposite position；Institute
Filament clamping unit (2.) is stated for realizing the Automatic-clamping of filament；The tensile force control unit (3.) passes through Micro-force sensor
(11) it control effectively to the tensile force of filament, and adjusts the position of filament in the Y direction；The filament position adjustment unit
(4.) there are two altogether, for adjusting filament in the position of Z-direction；The filament clamping unit (2.), tensile force control unit
(3.) and filament position adjustment unit (4.) is two each, centered on feeding unit material (1.), is symmetrically arranged；Wherein, carefully
Silk position adjustment unit (4.) is mounted on tensile force control unit (3.) by L-type plate (20) and Z-direction slide unit mounting plate (26)；
Filament clamping unit (2.) is mounted on filament position adjustment unit (4.) by cylinder pinboard (25) and cylinder installation version (15)
On；
The tensile force control unit (3.) includes linear motor (16), linear motor mounting plate (17), micro-force sensor
(18), sensor sender block (19), L-type plate (20), linear guide (21), miniature couplings (22) and bottom plate (23)；It is described straight
Line guide rail (21) is mounted on bottom plate (23)；There are two the linear motor mounting plate (17) is total, it is respectively symmetrically mounted on bottom plate
(23) two sides, linear motor mounting plate (17) are equipped with the through-hole exported for linear motor (16) shaft；The linear motor
(16) two are shared, is separately mounted on linear motor mounting plate (17)；There are two the L-type plate (20) is total, L-type plate (20)
Vertical plate is connected by miniature couplings (22) with the shaft of corresponding linear motor (16), and level board is nested in linear guide (21)
On；There are two the photoelectric sensor (18) is total, it is symmetrically mounted on bottom plate (23)；The sensor sender block (19) shares two
It is a, it is symmetrically mounted on bottom plate (23)；Photoelectric sensor (18) and sensor sender block (19) cooperate, for judging linear motor
(16) origin position；The tensile force control unit (3.) adjusts L-type plate (20) by motor and filament clamping unit (2.) is solid
It is scheduled on linear guide (21), and then adjusts the position of filament in the Y direction；
The filament position adjustment unit (4.) includes Z-direction slide unit (24), cylinder pinboard (25) and Z-direction slide unit mounting plate
(26)；The Z-direction slide unit mounting plate (26) is L-type, is mounted on L-type plate (20)；It is sliding that the Z-direction slide unit (24) is mounted on Z-direction
On the vertical plate of platform mounting plate (26)；The cylinder pinboard (25) is mounted on Z-direction slide unit (24)；The filament position adjustment
Unit (4.) adjusts filament in the position of Z-direction by adjusting filament clamping unit (2.) in the position of Z-direction；
The feeding unit material (1.) includes part B support plate (1), workpiece mounting plate (2), X to slide unit (3), X to slide unit mounting plate
(4), part A (5) and part B (6)；The X is mounted on bottom plate (23), linear guide totally to slide unit mounting plate (4) two
(21) it is passed through between two slide unit mounting plates (4)；The X is mounted on two X on slide unit mounting plate (4) to slide unit (3)；It is described
Workpiece mounting plate (2) is mounted on X to slide unit (3) upper surface by screw；The part A (5) is mounted on workpiece mounting plate (2)
On；The part B support plate (1), which is connected through a screw thread, to be mounted on workpiece mounting plate (2)；The part B (6) is placed on part
In B support plate (1) and it is sleeved on the magnet of (5) part A；The feeding unit material (1.) is by adjusting part in X-direction
Position, and then part and filament are adjusted in the relative position of X-direction；
The filament clamping unit (2.) clamps for filament, including fixed gripping finger mounting plate (7), mobile gripping finger (8), cylinder
(9), Micro-force sensor mounting plate (10), Micro-force sensor (11), fixed gripping finger (12), guiding axis (13), step set (14) and
Cylinder installs version (15)；The Micro-force sensor mounting plate (10) is mounted on left side L-type plate (20)；The Micro-force sensor
(11) it is mounted on Micro-force sensor mounting plate (10)；The fixed gripping finger mounting plate (7) is mounted on the filament position on right side
It sets in adjustment unit (4.) on the mounting surface of Z-direction slide unit (24)；There are two the fixed gripping finger (12) is total, one of them is mounted on
On Micro-force sensor (11), another is mounted on fixed gripping finger mounting plate (7)；There are two cylinder installation version (15) is total,
It is separately mounted on corresponding cylinder pinboard (25)；There are two the cylinder (9) is total, it is separately mounted to cylinder installation version (15)
On；There are two the guiding axis (13) is total, each guiding axis (13) one end is fixed on each mobile gripping finger (8) by screw
On, the other end is mounted in step set (14), for limiting the rotary freedom of cylinder (9)；The step set (14) shares two
It is a, it is separately mounted in cylinder installation version (15)；There are two the mobile gripping finger (8) is total, it is separately mounted to the piston of cylinder (9)
On；
The feeding unit material (1.), filament clamping unit (2.), tensile force control unit (3.) and filament position adjustment unit
(4.) pass through coordinated realize filament auto-tensioning and tensile force is controlled, position is adjusted.
2. a kind of method of the controllable filament automatic takeup of tensile force according to claim 1, which is characterized in that packet
Include following steps:
Step 1: the A that replaces the spare parts (5) to be installed and part B (6) are mounted on workpiece mounting plate (2) by screw；Make its with X to
Slide unit (4) moves together；Wherein, there is a root long filament on part B (6)；
Step 2: the left and right end of the filament in observation part B (6) and the position of left and right gripping finger, if filament is not in mobile gripping finger (8)
Between fixed gripping finger (12), then filament in mobile gripping finger (8) and does not fix that side linear motor between gripping finger (12)
(16) pulse is sent, drives filament clamping unit (2.) mobile, filament is moved to and is in mobile gripping finger (8) and fixed gripping finger (12)
Between until；
It is moved together step 3: compressed air pushes left and right cylinder (9) drive to move left and right gripping finger (8), makes to move left and right gripping finger
(8) filament both ends are pressed on left and right fixed gripping finger (12)；
Step 4: right side linear motor (16) sends pulse, drive right side filament clamping unit (2.) mobile to the direction Y+, filament
Tensioning, and in real-time detection micro-force sensor (18) power size, when the size of power meets scheduled tensile force size, directly
Line motor (16) stops sending pulse；At this time filament auto-tensioning and in regulation tensile force size under；
Step 5: the filament of observation part B (6) is between the A that replaces the spare parts (5) to be installed at a distance from X-direction, if distance is unsatisfactory for wanting
It asks, adjusts filament between the A that replaces the spare parts (5) to be installed at a distance from X-direction to slide unit (4) by adjusting X；
Step 6: the filament of observation part B (6) is between the A that replaces the spare parts (5) to be installed at a distance from Z-direction, if distance is unsatisfactory for wanting
It asks, adjusts filament between the A that replaces the spare parts (5) to be installed at a distance from Z-direction by adjusting left and right Z-direction slide unit (24).
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111421319A (en) * | 2020-05-19 | 2020-07-17 | 昆山允可精密工业技术有限公司 | Wire threading ring automatic pressing device compatible with multiple specifications of endoscope snake bones |
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| US20180131260A1 (en) * | 2013-08-26 | 2018-05-10 | Honda Motor Co., Ltd. | Coil segment manufacturing apparatus and coil segment manufacturing method |
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| CN110280989B (en) | 2021-02-19 |
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