CN110434661A - Automate wire body workpiece front and back sides detection device - Google Patents
Automate wire body workpiece front and back sides detection device Download PDFInfo
- Publication number
- CN110434661A CN110434661A CN201910819299.6A CN201910819299A CN110434661A CN 110434661 A CN110434661 A CN 110434661A CN 201910819299 A CN201910819299 A CN 201910819299A CN 110434661 A CN110434661 A CN 110434661A
- Authority
- CN
- China
- Prior art keywords
- workpiece
- back sides
- wire body
- cylinder
- push
- 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.)
- Pending
Links
- 238000001514 detection method Methods 0.000 title claims abstract description 53
- 239000000523 sample Substances 0.000 claims abstract description 14
- 230000000712 assembly Effects 0.000 claims abstract description 11
- 238000000429 assembly Methods 0.000 claims abstract description 11
- 230000033001 locomotion Effects 0.000 claims description 15
- 239000002184 metal Substances 0.000 claims description 13
- 230000000694 effects Effects 0.000 claims description 9
- 230000005693 optoelectronics Effects 0.000 claims description 8
- 238000007667 floating Methods 0.000 claims description 3
- 210000000078 claw Anatomy 0.000 claims description 2
- 230000005611 electricity Effects 0.000 claims 1
- 238000007689 inspection Methods 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 10
- 238000010009 beating Methods 0.000 description 6
- 238000000034 method Methods 0.000 description 6
- 239000011265 semifinished product Substances 0.000 description 6
- 230000008569 process Effects 0.000 description 5
- 238000004519 manufacturing process Methods 0.000 description 4
- 239000000047 product Substances 0.000 description 4
- 238000012840 feeding operation Methods 0.000 description 3
- 238000003754 machining Methods 0.000 description 3
- 230000004888 barrier function Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 230000000903 blocking effect Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 230000004913 activation Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000007664 blowing Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000005520 cutting process Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 239000000758 substrate Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
- B23Q7/04—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting by means of grippers
- B23Q7/043—Construction of the grippers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The present invention provides a kind of automation wire body workpiece front and back sides detection device, and the detection device includes that three-dimensional turntable is detected in stopper and front and back sides, wherein the stopper is set to above automation wire body, for the location of workpiece to be detected and corrected；The front and back sides detect three-dimensional turntable and are set to automation wire body one end, and front and back sides detect three-dimensional turntable and include frame body, be set to the gyro black assembly turned on frame body for realizing workpiece, be set to the push-and-pull component on gyro black assembly for realizing workpiece push-and-pull, be set on push-and-pull component for realizing the clamp assemblies of piece-holder and be set to the current probe detection components detected on push-and-pull component for realizing workpiece front and back sides.The present apparatus can be realized the automatic detection of workpiece front and back sides in automation wire body, while can carry out position adjustment to the workpiece in reverse side, so as to the crawl of workpiece when subsequent artefacts' feeding or manipulator automatic charging.
Description
Technical field
The invention mainly relates to machining correlative technology field, specifically a kind of automation wire body workpiece front and back sides detection
Device.
Background technique
In mechanical batch machining automated production pipeline, loading and unloading speed directly influences the processing of whole production line
Efficiency.Feeding process removes the workpiece automated in wire body on clamping to lathe generally by the mode of manually or mechanically arm
It is processed.The unified placement in the workpiece front and back sides in wire body will be automated either in automatic charging or manual feeding process
The clamping speed of feeding and workpiece can be effectively improved.Such as, in the batch machining production line of engine main bearing cover, usually
Main beating cap is cast into semi-finished product first, then workpiece is delivered at lathe by automation wire body accordingly and finely add
Work.However, since semi-finished product is when being put into automation wire body, it is difficult to guarantee that the front and back sides direction of all workpiece is unified,
Therefore in subsequent feeding process, when artificial loading, worker's pickup is needed, when pickup, needs manpower to judge the front and back sides of workpiece,
Feeding operation is carried out further according to the front and back sides of workpiece, manual labor's intensity is big, and efficiency is more low, when manipulator feeding, workpiece
Front and back sides disunity, it is difficult to be efficiently completed feeding operation.
Therefore, how to realize the quick detection of workpiece front and back sides in automation wire body, and the workpiece in reverse side is carried out
Adjustment, can greatly facilitate subsequent artefacts or manipulator feeding operation.
Summary of the invention
For the deficiency for solving current technology, the present invention combination prior art provides a kind of automation from practical application
Wire body workpiece front and back sides detection device can be realized the automatic detection of workpiece front and back sides in automation wire body, while can be to being in
The workpiece of reverse side carries out position adjustment, so as to the crawl of workpiece when subsequent artefacts' feeding or manipulator automatic charging.
Technical scheme is as follows:
Wire body workpiece front and back sides detection device is automated, has the workpiece of asymmetric protrusion in automation line for front and back sides
Front and back sides detection and adjustment on body, the detection device include that three-dimensional turntable is detected in stopper and front and back sides, wherein
The stopper is set to above automation wire body, for the location of workpiece to be detected and corrected；
The front and back sides detect three-dimensional turntable and are set to automation wire body one end, and it includes frame that three-dimensional turntable is detected in front and back sides
Body is set to the gyro black assembly turned on frame body for realizing workpiece, is set on gyro black assembly for realizing workpiece push-and-pull
Push-and-pull component is set on push-and-pull component for realizing the clamp assemblies of piece-holder and is set on push-and-pull component for real
The current probe detection components of existing workpiece front and back sides detection.
Further, the stopper includes sheet metal component, optoelectronic switch, hooks pawl and stop cylinder, and the sheet metal component is solid
Above automation wire body, the optoelectronic switch is set on sheet metal component for detecting the location of workpiece, the hook pawl connection resistance
Cylinder is kept off, hooking pawl can be overturn under stop cylinder effect, and the hook claw shape and workpiece are adapted, when the hook pawl is downward
When in front of overturning to workpiece, the blocking of workpiece and the attitude rectification of workpiece can be realized.
Further, the stopper further includes hooking seat, hooking seat connector, cylinder connection piece, the hook seat connector, gas
Cylinder connector is individually fixed in sheet metal component rear and front end, and the hook pawl is fixedly connected with seat is hooked, the hook seat and hook seat connector
Articulated connection, the stop cylinder rear end and cylinder connection piece are articulated and connected, hinged between the piston rod and hook seat of stop cylinder
Connection when stop cylinder is stretched, is driven by the hook seat and hooks pawl realization flip-flop movement.
Further, the gyro black assembly includes rotary cylinder, revolution backing plate, and the rotary cylinder is installed on frame body,
The revolution backing plate is set to above frame body and connect with rotary cylinder, and the push-and-pull component is installed on revolution backing plate.
Further, the push-and-pull component includes push-and-pull cylinder, linear guide, guide rail backing plate, the push-and-pull cylinder, straight line
Guide rail is both secured to above revolution backing plate, and the guide rail backing plate is slidably arranged on above linear guide, the connection of guide rail backing plate
Push-and-pull cylinder, the clamp assemblies are installed on guide rail backing plate.
Further, the clamp assemblies include gripper cylinder, two clamping jaws, and the gripper cylinder is fixed on guide rail backing plate
On, gripper cylinder both ends are equipped with piston rod, and two clamping jaws are connected on two piston rods, two under gripper cylinder effect
A clamping jaw is able to carry out relative motion and then realizes the clamping and release of workpiece.
Further, the V-shaped structure setting in position of clamping workpiece is used on the clamping jaw.
Further, the current probe detection components include two electrode catheters being set side by side, two electrode catheters
It is connected with power supply and the current detection module for detecting the presence of electric current, two electrode catheters are installed on push-and-pull by probe big envelope
On component, two electrode catheters are correspondingly arranged with the conductive bumps on workpiece, when the conductive bumps of two electrode catheters and workpiece
It can be realized the conducting of electric current when location contacts.
Further, spring is additionally provided in the probe big envelope, two electrode catheters can be realized by the spring
A certain range of floating.
Further, the workpiece is positive face with the engine main bearing cover of convex portion, reverse side without convex portion.
Beneficial effects of the present invention:
1, the workpiece front and back sides detection device designed by the present invention, is mainly used for having the workpiece of asymmetric protrusion automatic
Change front and back sides detection and the adjustment in wire body, is particularly suitable for using in engine main bearing cover automatic production line, this detection
Device can be realized the automatic detection of workpiece front and back sides in automation wire body, while can carry out position tune to the workpiece in reverse side
It is whole, so as to the crawl of workpiece when subsequent artefacts' feeding or manipulator automatic charging.
2, the stopper designed by the present invention can be realized positioning and position of the workpiece in automation wire body and adjust, adjustment
Workpiece afterwards can detect three-dimensional turntable for subsequent front and back sides and accurately be grabbed, while when being also convenient for subsequent mechanical and expecting on hand
Accurate crawl to workpiece.
3, the front and back sides designed by the present invention detect that three-dimensional turntable structure is compact, movement flexibility and reliability, can be used as separate single
Member setting is easily installed and arranges in automation wire body, while being directed to characteristic, and the detection side of conducting is touched using electric current
Formula, structure design is simple, and accuracy rate is high.
Detailed description of the invention
Fig. 1 is that wire body schematic layout pattern is automated in the embodiment of the present invention；
Fig. 2 is robot arrangement schematic diagram in the embodiment of the present invention；
Fig. 3 is partial automation wire body partial structure diagram of the present invention；
Fig. 4 is stopper structural upright schematic diagram of the present invention；
Fig. 5 is stopper structure schematic side view of the present invention；
Fig. 6 is that three-dimensional turntable stereoscopic schematic diagram one is detected in front and back sides of the present invention；
Fig. 7 is that three-dimensional turntable stereoscopic schematic diagram two is detected in front and back sides of the present invention；
Fig. 8 is that three-dimensional turntable schematic side view is detected in front and back sides of the present invention；
Fig. 9 is robot architecture's schematic diagram in the embodiment of the present invention；
Figure 10 is arm fixture stereoscopic schematic diagram one in the embodiment of the present invention；
Figure 11 is arm fixture stereoscopic schematic diagram two in the embodiment of the present invention；
Figure 12 is arm fixture stereoscopic schematic diagram three in the embodiment of the present invention；
Figure 13 is arm fixture stereoscopic schematic diagram four in the embodiment of the present invention；
Figure 14 is main beating cap positive structure schematic in the embodiment of the present invention；
Figure 15 is main beating cap reverse structure schematic in the embodiment of the present invention.
Label shown in attached drawing:
1, robot；2, three-dimensional turntable is detected in front and back sides；3, stopper；4, workpiece；5, sheet metal component；6, stop cylinder；7,
Hook seat；8, pawl is hooked；9, seat connector is hooked；10, cylinder connection piece；11, frame body；12, backing plate is turned round；13, push-and-pull cylinder；14, it leads
Track plate；15, gripper cylinder；16, clamping jaw；17, electrode catheter；18, rotary cylinder；19, arm fixture；20, main connecting plate；
21, clamping cylinder；22, sliding slot；23, main driving collet；24, driven collet；25, lever；26, support base；27, idler wheel；28, bullet
Spring；29, gusset；30, inclined-plane；31, raised.
Specific embodiment
With reference to the drawings and specific embodiments, the invention will be further described.It should be understood that these embodiments are merely to illustrate
The present invention rather than limit the scope of the invention.In addition, it should also be understood that, after reading the content taught by the present invention, this field
Technical staff can make various changes or modifications the present invention, and such equivalent forms equally fall within range defined herein.
Automation wire body front and back sides provided by the invention detection device mainly includes stopper 3 and front and back sides detection three
Tie up 2 two-part structure of turntable.It is suitable for front and back sides to have the workpiece of asymmetric conductive bumps positive and negative in automation wire body
Face detection and adjustment.In the present embodiment, specific workpiece 4 is with the engine spindle of model 5309323 (shown in Figure 14, Figure 15)
Hold lid for the present invention will be described in detail.
The setting of stopper 2 of the invention is above automation wire body, detection and workpiece 4 for realizing 4 position of workpiece
The amendment of position.Its specific structure refers to Fig. 3,4,5, includes sheet metal component 5, optoelectronic switch, hooks pawl 8, stop cylinder 6, hook seat 7, hook
Seat connector 9, cylinder connection piece 10, sheet metal component 5 are fixed on above pipeline, and 5 upper side of sheet metal component and left and right side are close
Aperture at 4 stop position of workpiece.Upper side aperture purpose is reduction by 3 overall weight of stopper, and left and right side aperture purpose is
Optoelectronic switch installation detection.Hook seat connector 9, cylinder connection piece 10 is separately fixed at 5 rear and front end of sheet metal component, hook pawl 8 and hook
Seat 7 is fixedly connected, and is hooked seat 7 and is hooked the articulated connection of seat connector 9,6 rear end of stop cylinder and cylinder connection piece 10 are articulated and connected, resistance
It keeps off the piston rod of cylinder 6 and hooks and be articulated and connected between seat 7, combination of the above mode forms link mechanism, when stop cylinder 6 is flexible
When, the realization flip-flop movement of pawl 8 is hooked by hooking the driving of seat 7.It is similar to 4 shape of workpiece to hook 8 shape of pawl, guarantees at work, warp
The barrier effect for hooking pawl 8 is crossed, the location of workpiece is consistent.
3 working principle of stopper of the invention is as follows: workpiece 4 is moved with wire body, the optoelectronic switch in stopper 3
When detecting workpiece 4, control centre sends instruction, and 6 piston rod stretch out motion of stop cylinder drives the hook seat 7 of stopper 3 to surround and hooks
Seat connector 9, which rotates counterclockwise to drive (for link mechanism), hooks 8 counterclockwise movement of pawl (the shape needs of hook pawl 8 preferably cooperation work
Part, at 4 crawl of workpiece there are also a certain distance, workpiece 4 moves forward for optoelectronic switch position, until workpiece 4 and hooks pawl 8
It is in contact).Due to hooking 8 barrier effect of pawl, the position of workpiece 4 and posture are corrected, and control centre stops wire body stop motion,
6 piston rod retraction movement of stop cylinder drives hook pawl 8 to turn clockwise reset.4 position of workpiece is repaired with posture at this time
Just, front and back sides detect three-dimensional turntable 2 and can be grabbed and be detected.
In the present invention, since workpiece 4 is its front of main beating cap with a protrusion 31, reverse side does not have convex
Rise, according to this feature, with reference to Fig. 6,7,8 (Fig. 6 is with work status, and Fig. 7 be no work status), it is of the invention in, front and back sides
It is as follows to detect 2 structure of three-dimensional turntable: detecting three-dimensional turntable 2 and includes frame body 11, is set on frame body 11 for realizing work in front and back sides
The gyro black assembly of the steering of part 4 is set to the push-and-pull component on gyro black assembly for realizing workpiece push-and-pull, is set on push-and-pull component
For realizing workpiece 4 clamp clamp assemblies and be set to push-and-pull component on for realizing 4 front and back sides of workpiece detection electric current
Probe in detecting component.
Specifically, gyro black assembly includes rotary cylinder 18, revolution backing plate 12 in the present invention, rotary cylinder 18 is installed on frame
11 bottom of body, revolution backing plate 12 are set to 11 top of frame body and connect with rotary cylinder 18, and bearing is arranged in junction, when revolution gas
When cylinder 18 rotates, it is able to drive the rotation that revolution backing plate 12 carries out respective angles, to realize the commutation of workpiece 4.Push and pull component
Including push-and-pull cylinder 13, linear guide, guide rail backing plate 14, push-and-pull cylinder 13, linear guide are both secured to 12 top of revolution backing plate,
Guide rail backing plate 14 is slidably arranged on above linear guide, and guide rail backing plate 14 connects push-and-pull cylinder 13, when push-and-pull cylinder 13 is stretched
When contracting, guide rail backing plate 14 can be driven to carry out reciprocal linear motion.Clamp assemblies include 15, two clamping jaws 16 of gripper cylinder,
Gripper cylinder 15 is fixed on guide rail backing plate 14, and 15 both ends of gripper cylinder are equipped with piston rod, and two clamping jaws 16 are connected to
On two piston rods, two clamping jaws 16 are able to carry out relative motion and then realize the clamping of workpiece 4 under the effect of gripper cylinder 15
With release, in order to guarantee clamping effect, the position that clamping workpiece 4 is used on clamping jaw 16 is set as V-structure.
In the present invention, current probe detection components include two electrode catheters being set side by side 17, two electrode catheters 17
It is connected with power supply and the current detection module for detecting the presence of electric current, electrode catheter 17 is fixed in probe big envelope, probe envelope
Set, thimble cutting ferrule are fixed on attitude detection bracket, and attitude detection bracket is fixed on guide rail backing plate 14,17 length of electrode catheter
Have design requirement: after clamping jaw 16 holds workpiece 4 tightly, if workpiece 4 positive (having protrusion part) is contact surface, electrode catheter 17 needs
It is in contact with it, at this time current lead-through；If workpiece reverse side (no protrusion part) is contact surface, electrode catheter 17 cannot be in contact with it,
Electric current is not turned at this time.In order to guarantee the detection effect of electrode catheter 17, in the present invention, it is additionally provided with spring in probe big envelope,
Two electrode catheters 17 can be realized floating (about 0.2mm) in a certain range by spring, that is, guarantee contact rigidity, again
It avoids accidentally touching.
It is as follows that 2 working principle of three-dimensional turntable is detected in front and back sides of the invention: control centre receives the blocking of stopper 3 and finishes letter
After number, push-and-pull cylinder 13 pushes guide rail backing plate 14 to travel forward；After movement in place, gripper cylinder 15 drives two clamping jaws 16 to hold tightly
Workpiece 4, push-and-pull cylinder 13 pull guide rail backing plate 14 to move backward, and workpiece 4, which reaches at revolution backing plate 12, (is equipped with close open at this
Close, judge whether there is workpiece), if detecting workpiece close to switch, electrode catheter 17, which is powered, to be detected, if there is electric current, is illustrated at this time
Contact surface is front, and gripper cylinder 15 unclamps, and revolution 12 angle of backing plate remains unchanged, and push-and-pull cylinder 13, gripper cylinder 15 act
It sends workpiece 4 back to pipeline and waits robot crawl；If no current passes through, illustrate that contact surface is reverse side, rotary cylinder 18 drives
12 angle of backing plate rotation 180 degree (or 90 °) is turned round, gripper cylinder 15 unclamps, and waits robot grabbing workpiece 4, and workpiece 4 grabs
Afterwards, pipeline is restarted.
Based on automation wire body workpiece provided by the invention front and back sides detection device, in order to further be said to the present invention
It is bright, corresponding automation wire body structure is additionally provided in the embodiment of the present invention, the automation wire body is for main beating cap processing
Material conveying and automatic loading/unloading.
As shown in Figure 1, automation wire body mainly includes three station pipelines being set side by side, intermediate in the present embodiment
Station pipeline be manipulator automatic loading/unloading pipeline, two station pipelines in outside are artificial loading and unloading pipeline,
The robot station for mounting robot 1 is equipped on manipulator automatic loading/unloading pipeline, robot 1 is mainly used for clamping
Workpiece 4 and feeding and the blanking operation for realizing workpiece.It is equipped with manual operation station on two artificial loading and unloading pipelines,
The loading and unloading that artificial loading and unloading pipeline passes through manually realization workpiece.
Manipulator automatic loading/unloading pipeline and two manual operations are corresponded in the robot station side of the present embodiment
The corresponding two artificial loading and unloading pipelines in station side are provided with front and back sides and detect three-dimensional turntable 2, and front and back sides detection is three-dimensional to be turned
Platform 2 is used to grab and detect the 4 front and back sides direction of workpiece on corresponding pipeline, and when it is positive for detecting workpiece, by workpiece 4
Pipeline is returned to, when detecting workpiece 4 is reverse side, workpiece 4 is turned to.Particularly, it is arranged automatic in manipulator
Three-dimensional turntable 2 is detected when detecting workpiece 4 is reverse side in front and back sides on loading and unloading pipeline, and workpiece is carried out 180 ° and is turned to simultaneously
It waits automatic loading and unloading robot 1 to grab, when it is positive for detecting workpiece 4, workpiece 4 is returned into pipeline and waits machine
People's crawl；Three-dimensional turntable 2 is detected when detecting workpiece 4 is reverse side in the front and back sides of corresponding artificial loading and unloading pipeline setting, will
Workpiece 4 grabs after carrying out 90 ° of steerings outward for artificial, when it is positive for detecting workpiece 4, after sending workpiece 4 back to pipeline
For manually grabbing.The setting that three-dimensional turntable 2 is detected in front and back sides is able to detect and adjusts the front and back sides of workpiece 4, to guarantee just to face
To robot 1 or operator direction, to realize to the quick crawl of workpiece 4 and accurate loading and unloading operation.
Front and back sides 2 side of the three-dimensional turntable of detection is corresponded on three station pipelines of the present embodiment and is equipped with stopper 3, is hindered
Lug-latch 3 is provided for the position of workpiece 4 to be detected on the conveyor line to be detected and corrected to detect three-dimensional turntable 2 to front and back sides
The signal in place of workpiece 4, while to being also convenient for front and back sides after the adjustment of 4 position of workpiece and detect three-dimensional turntable 2 to examine the crawl of workpiece 4
It surveys.
On the pipeline of the present embodiment, multiple workpiece 4 can be stored, every strip transmission line includes the semi-finished product pipeline of front end
With the finished product pipeline of rear end, it is respectively used to convey the finished product after semi-finished product and processing to be processed.Pipeline uses motor
Driving can be realized the automatic conveying of workpiece 4, have supporting bar among the corresponding chain plate conveyor belt of pipeline, be used for and workpiece 4
The circular arc cooperation of bottom carries out the coarse positioning of workpiece 4, when run-off the straight overturns workpiece 4 during transportation, it is ensured that overturn
It is limited, while it being easy to righting workpiece 4 using frictional force, avoid the appearance of workpiece 4 from significantly tilting.
Position needed for the pipeline of the present embodiment is equipped with corresponding sensor, for whether in place and work to detect workpiece
Whether part is paved with conveyer belt etc..The specific work flow of the pipeline of the present embodiment is as follows:
Manipulator automatic loading/unloading pipeline: the semi-finished product 4 that preamble completes the process is placed on automatic conveyer chain
(artificial blowing)-detects in place, and pipeline stopping -3 positioning of stopper-front and back sides detect the three-dimensional movement of turntable 2 and realizing workpiece 4 just
Reverse side, which detects-completes predetermined posture overturning or sends workpiece back to pipeline-robot 1 grabbing workpiece 4- robot 1, has unloaded lathe
Workpiece to be processed-finished works are put into subsequent product conveying belt-completion and centainly work and follow in 180 ° of workpieces processing and rotation
Ring continues next circulation.
Artificial loading and unloading pipeline: the semi-finished product 4 that preamble completes the process is placed on automatic conveyer chain and (is manually put
Material)-detect in place, pipeline stopping -3 positioning of stopper-front and back sides detect the three-dimensional movement of turntable 2 and realize that 4 front and back sides of workpiece are examined
The overturning of survey-completion predetermined posture or by workpiece send back to the artificial grabbing workpiece 4- of pipeline-manually unload lathe finished work and on
Workpiece to be processed-finished work is put into the subsequent certain working cycles of product conveying belt-completion, continues next circulation.
In the present embodiment, corresponding three strip transmission lines are equipped with stopper 3, stopper 3 mainly for detection of workpiece 4 whether
Crawl point is reached, and workpiece 4 is modified, so that robot mechanical arm and the three-dimensional turntable 2 of front and back sides detection can be smoothly complete
At clamping work.
Automation wire body structure based on the above embodiment, the embodiment of the present invention also provide a kind of arm for robot
Fixture 19.With reference to Fig. 9,10,11,12,13 (Figure 13 is the state after grabbing workpiece), in embodiment provided by the invention, hand
19 structure of arm fixture is as follows: including main connecting plate 20, the intermediate round hole of main connecting plate 20 is used to connect 1 mechanical arm of robot, main
Connecting plate 20 is equipped with two groups of gripper assemblies in reverse symmetry arrangement, and two groups of gripper assemblies are respectively arranged at main connecting plate two
Side, when main connecting plate 20 rotates 180 ° centered on in-between round hole, two groups of gripper assembly location swaps, so making
Used time, when mechanical arm is moved to the position of main beating cap, the gripper assembly of left half completes clamping task, workpiece 4 is transferred
Feeding task is completed to numerically-controlled machine tool, then mechanical arm rotates 180 degree, and the gripper assembly of right half grabs machined work
Part is sent to conveyer belt, completes the task of blanking.
In the present embodiment, gripper assembly specific structure is as follows: including clamping cylinder 21, main driving collet 23, driven collet
24, clamping cylinder 21 is fixed on main connecting plate 20, and main driving collet 23 connects clamping cylinder 21 and passes through slide track component and master
Connecting plate 20 is slidably matched, and driven collet 24 is set to main 23 side of driving collet, and driven collet 24 is connected by lever assembly
Main driving collet 23 can drive main driving collet 23 to move relative to driven 24 direction of collet when clamping cylinder 21 acts, main
Driving collet 23 can drive driven collet 24 to move relative to main 23 direction of driving collet when acting by lever assembly, in turn
The clamping and release of workpiece 4 can be realized by main driving collet 23 and the cooperation of driven collet 24.
In the present embodiment, main driving collet 23 and lever assembly are respectively arranged at main 20 front and back sides two sides of connecting plate, main company
Fishplate bar 20 is equipped with sliding slot 22, and main 23 bottom of driving collet passes through sliding slot 23 and lever assembly cooperates；Lever assembly includes lever
Arm 25, support base 26, support base 26 are fixed on main connecting plate 20, are hingedly connected between lever arm 25 and support base 26 by pin shaft
It connecing and (is here formed as balance pivot), driven collet 24 is fixed on 25 one end of lever arm, and 25 other end of lever arm is provided with idler wheel 27,
Idler wheel 27 and the inclined-plane 30 of main driving 23 bottom of collet fit；It is right towards outside to be equipped between lever arm 25 and main connecting plate 20
The spring 28 that lever arm 25 exerts a force, spring 28 are arranged between driven collet 24 and support base 26.In order to guarantee to realize work
Stablizing for part grabs, and in the present embodiment, driven collet 24 is set as the semicircle slotted engagement of arc-shaped structure Yu workpiece 4, main
Driving collet 23 is set as cooperating on the outside of V-structure and workpiece 4.
In the present embodiment, 19 concrete principle of arm fixture is as follows: when robot 1, which receives signal, to be grabbed to workpiece 4,
Arm fixture 19 is moved to 4 position of workpiece, at this point, workpiece 4 is between main driving collet 23 and driven collet 24, driven collet
It the arc contact of 24 circular arc and workpiece 4 but is not yet in close contact, does not have frictional force between the two, PLC controls clamping cylinder
21 stretch out, and clamping cylinder 21 drives main driving collet 23 mobile, the inclined-plane 30 and idler wheel 27 that main driving collet 23 passes through its bottom
Cooperation, activation lever arm 25 move, and spring 28 is compressed at this time, and according to lever principle, lever arm 25 drives driven collet 24 to press
The inside of case workpiece 4, due to pressure of the inside by driven collet 24 at this time of workpiece 4, pressure of the outside by main driving collet 23,
To form reliable crawl, the clamping to workpiece 4 is completed.When needing to discharge workpiece 4, clamping cylinder 21 is retracted, main driving folder
First 23 reset, and under the effect of spring 28, driven collet 24 resets, and no longer contact with workpiece, to complete to loosen workpiece.
In the present embodiment, in order to guarantee the intensity of arm fixture 19, gusset 29, substrate are provided on main connecting plate 20
29 make this structure more reliable and more stable.
Claims (10)
1. automating wire body workpiece front and back sides detection device, have the workpiece of asymmetric protrusion in automation wire body for front and back sides
On front and back sides detection and adjustment, it is characterised in that: the detection device includes that three-dimensional turntable is detected in stopper and front and back sides,
Wherein,
The stopper is set to above automation wire body, for the location of workpiece to be detected and corrected；
The front and back sides detect three-dimensional turntable and are set to automation wire body one end, and front and back sides detect three-dimensional turntable and include frame body, set
It is placed in the gyro black assembly turned on frame body for realizing workpiece, is set on gyro black assembly for realizing the push-and-pull group of workpiece push-and-pull
Part is set on push-and-pull component for realizing the clamp assemblies of piece-holder and is set on push-and-pull component for realizing workpiece
The current probe detection components of front and back sides detection.
2. automation wire body workpiece front and back sides detection device as described in claim 1, it is characterised in that: the stopper includes
Sheet metal component, optoelectronic switch hook pawl and stop cylinder, and the sheet metal component is fixed on above automation wire body, the optoelectronic switch
Be set on sheet metal component for detecting the location of workpiece, the hooks pawl connects stop cylinder, hook pawl can in the case where stop cylinder is acted on into
Row overturning, the hook claw shape and workpiece are adapted, and when the hook pawl is downwardly turned over to workpiece, can be realized workpiece
Stop the attitude rectification with workpiece.
3. automation wire body workpiece front and back sides detection device as claimed in claim 2, it is characterised in that: the stopper also wraps
It includes and hooks seat, hook seat connector, cylinder connection piece, the hook seat connector, cylinder connection piece are individually fixed in two before and after sheet metal component
End, the hook pawl are fixedly connected with seat is hooked, the hook seat and hook seat connector articulated connection, the stop cylinder rear end and cylinder
Connector articulated connection is articulated and connected between the piston rod and hook seat of stop cylinder, when stop cylinder is stretched, passes through the hook seat
Driving hooks pawl and realizes flip-flop movement.
4. automation wire body workpiece front and back sides detection device as described in claim 1, it is characterised in that: the gyro black assembly packet
Include rotary cylinder, revolution backing plate, the rotary cylinder is installed on frame body, the revolution backing plate be set to above frame body and with time
Rotaring cylinder connection, the push-and-pull component are installed on revolution backing plate.
5. automation wire body workpiece front and back sides detection device as claimed in claim 4, it is characterised in that: the push-and-pull component packet
Push-and-pull cylinder, linear guide, guide rail backing plate are included, the push-and-pull cylinder, linear guide are both secured to above revolution backing plate, described to lead
Track plate is slidably arranged on above linear guide, and guide rail backing plate connects push-and-pull cylinder, and the clamp assemblies are installed on guide rail
On backing plate.
6. automation wire body workpiece front and back sides detection device as claimed in claim 5, it is characterised in that: the clamp assemblies packet
Gripper cylinder, two clamping jaws are included, the gripper cylinder is fixed on guide rail backing plate, and gripper cylinder both ends are equipped with piston rod, and two
A clamping jaw is connected on two piston rods, and two clamping jaws are able to carry out relative motion and then realize under gripper cylinder effect
The clamping and release of workpiece.
7. automation wire body workpiece front and back sides detection device as claimed in claim 6, it is characterised in that: be used on the clamping jaw
The V-shaped structure setting in the position of clamping workpiece.
8. automation wire body workpiece front and back sides detection device as described in claim 1, it is characterised in that: the current probe inspection
Surveying component includes two electrode catheters being set side by side, and two electrode catheters are connected with power supply and the electricity for detecting the presence of electric current
Detection module is flowed, two electrode catheters are installed on push-and-pull component by probe big envelope, two electrode catheters and leading on workpiece
Electric protrusion is correspondingly arranged, and can be realized the conducting of electric current when the conductive bumps position of two electrode catheters and workpiece contacts.
9. automation wire body workpiece front and back sides detection device as claimed in claim 8, it is characterised in that: in the probe big envelope
It is additionally provided with spring, two electrode catheters can be realized floating in a certain range by the spring.
10. automation wire body workpiece as described in any one of claims 1 to 9 front and back sides detection device, it is characterised in that: described
Workpiece is positive face with the engine main bearing cover of convex portion, reverse side without convex portion.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910819299.6A CN110434661A (en) | 2019-08-31 | 2019-08-31 | Automate wire body workpiece front and back sides detection device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910819299.6A CN110434661A (en) | 2019-08-31 | 2019-08-31 | Automate wire body workpiece front and back sides detection device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110434661A true CN110434661A (en) | 2019-11-12 |
Family
ID=68438642
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910819299.6A Pending CN110434661A (en) | 2019-08-31 | 2019-08-31 | Automate wire body workpiece front and back sides detection device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110434661A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115008241A (en) * | 2022-07-01 | 2022-09-06 | 上海赛卡精密机械有限公司 | Machining equipment and method for large workpiece |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6439366B1 (en) * | 1998-06-24 | 2002-08-27 | Rosebay Terrace Pty Ltd. | Article separating method and apparatus |
| CN203197630U (en) * | 2013-02-28 | 2013-09-18 | 常州机电职业技术学院 | Milling groove clamping device for sleeve parts |
| CN104308187A (en) * | 2014-10-15 | 2015-01-28 | 浙江今跃机械科技开发有限公司 | Automatic hub processing equipment and method for automatically processing hub |
| CN206437595U (en) * | 2017-01-05 | 2017-08-25 | 江西腾勒动力有限公司 | A kind of automatic assembly line retention device |
| CN206842513U (en) * | 2017-06-30 | 2018-01-05 | 湖北汽车工业学院 | The positive and negative identification device of workpiece and equipment |
| WO2019007148A1 (en) * | 2017-07-07 | 2019-01-10 | 江苏上骐集团有限公司 | Anti-electric erosion motor automatic production line and anti-electric erosion motor |
| CN210388483U (en) * | 2019-08-31 | 2020-04-24 | 襄阳华中科技大学先进制造工程研究院 | Automatic change line body work piece positive and negative detection device |
-
2019
- 2019-08-31 CN CN201910819299.6A patent/CN110434661A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6439366B1 (en) * | 1998-06-24 | 2002-08-27 | Rosebay Terrace Pty Ltd. | Article separating method and apparatus |
| CN203197630U (en) * | 2013-02-28 | 2013-09-18 | 常州机电职业技术学院 | Milling groove clamping device for sleeve parts |
| CN104308187A (en) * | 2014-10-15 | 2015-01-28 | 浙江今跃机械科技开发有限公司 | Automatic hub processing equipment and method for automatically processing hub |
| CN206437595U (en) * | 2017-01-05 | 2017-08-25 | 江西腾勒动力有限公司 | A kind of automatic assembly line retention device |
| CN206842513U (en) * | 2017-06-30 | 2018-01-05 | 湖北汽车工业学院 | The positive and negative identification device of workpiece and equipment |
| WO2019007148A1 (en) * | 2017-07-07 | 2019-01-10 | 江苏上骐集团有限公司 | Anti-electric erosion motor automatic production line and anti-electric erosion motor |
| CN210388483U (en) * | 2019-08-31 | 2020-04-24 | 襄阳华中科技大学先进制造工程研究院 | Automatic change line body work piece positive and negative detection device |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115008241A (en) * | 2022-07-01 | 2022-09-06 | 上海赛卡精密机械有限公司 | Machining equipment and method for large workpiece |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109822217B (en) | Automatic laser welding system | |
| CN105390732A (en) | Machine for automatically mounting battery cell of square power battery into shell | |
| CN110102926A (en) | A kind of full automatic high efficiency bonding machine | |
| CN110893544B (en) | Automatic assembling and detecting system for small charger | |
| CN112670624B (en) | Automatic battery cell casing machine | |
| CN112331899A (en) | Power battery module production line | |
| CN109677917A (en) | A kind of swing clamping manipulator and plastic cement tube vision inspection device | |
| CN210388483U (en) | Automatic change line body work piece positive and negative detection device | |
| CN210603414U (en) | Pretreatment assembly line | |
| CN110434661A (en) | Automate wire body workpiece front and back sides detection device | |
| CN116944623B (en) | Automatic tin soldering production line for micro-switch | |
| CN110509101A (en) | A kind of material conveying and automatic loading and unloading system for main beating cap processing | |
| CN210296529U (en) | Automatic yard plastic unloading equipment of sweeping of electricity core | |
| CN210939261U (en) | Automatic grabbing device of manipulator shifts and overturns | |
| CN219358811U (en) | Feeding device of numerical control machine tool | |
| CN210435806U (en) | Robot arm clamp for automatic feeding and discharging | |
| CN110480402A (en) | A kind of robot arm fixture for automatic loading/unloading | |
| CN110562741A (en) | Machine vision fused separating type station robot and production platform | |
| CN112246693A (en) | Triaxial sensor production equipment with counting and subpackaging functions | |
| CN212372223U (en) | Equipment for overturning robot integrated workpiece | |
| CN213864326U (en) | Semi-finished product input device convenient for automatic production | |
| CN113092909A (en) | Automatic test wire winding all-in-one | |
| CN209970010U (en) | Automatic assembly machine for middle ribs of windshield wipers | |
| CN218974141U (en) | Triaxial detects snatchs mechanism | |
| CN211520116U (en) | Paste mark test equipment |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |