CN110509101A - A kind of material conveying and automatic loading and unloading system for main beating cap processing - Google Patents
A kind of material conveying and automatic loading and unloading system for main beating cap processing Download PDFInfo
- Publication number
- CN110509101A CN110509101A CN201910819295.8A CN201910819295A CN110509101A CN 110509101 A CN110509101 A CN 110509101A CN 201910819295 A CN201910819295 A CN 201910819295A CN 110509101 A CN110509101 A CN 110509101A
- Authority
- CN
- China
- Prior art keywords
- workpiece
- unloading
- main
- cylinder
- automatic loading
- 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.)
- Granted
Links
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
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Feeding Of Workpieces (AREA)
Abstract
The present invention provide it is a kind of for main beating cap processing material conveying and automatic loading and unloading system, the system comprises three station pipelines being set side by side, being located in the middle station pipeline is manipulator automatic loading/unloading pipeline, two station pipelines positioned at outside are artificial loading and unloading pipeline, robot station is equipped on manipulator automatic loading/unloading pipeline, automatic loading and unloading robot is equipped at robot station, manual operation station is equipped on two artificial loading and unloading pipelines, the corresponding two artificial loading and unloading pipelines of manipulator automatic loading/unloading pipeline and two artificial operation position sides, which are corresponded to, in robot station side is provided with the three-dimensional turntable of front and back sides detection.This system passes through the rational deployment to pipeline, by the way of robot automatic conveyor line and the cooperation of artificial conveyance line, on the one hand the convenience that can guarantee operation, on the other hand can effectively improve the processing efficiency of engine main bearing cover under the premise of controlling cost.
Description
Technical field
The invention mainly relates to engine main bearing covers to process correlative technology field, specifically a kind of to be used for base bearing
The material conveying of lid processing and automatic loading and unloading system.
Background technique
Engine main bearing cover is an important part on engine, in the batch machining production process of main beating cap
In, usually by main beating cap casting first at semi-finished product, then it is delivered at lathe and finely add by corresponding pipeline
Work.
In the prior art, for realizing the production line of main beating cap batch feed generally by the side of setting carrier chain
Main beating cap is placed on carrier chain and realizes conveying by formula.The transportation system of the prior art has following defect: low efficiency
Under, the transfer efficiency of workpiece is improved in existing pipeline, the mode that a plurality of pipeline is set side by side is usually used, and is used
Artificial loading and unloading, artificial loading and unloading efficiency is lower, and needs to reserve the space for worker's disengaging between pipeline, and in practical behaviour
During work, the operating personnel at delivered inside line is limited by space, and operation is very inconvenient, and if blindly increasing pipeline
The distance between, and excessive space can be occupied, so that structure is not compact enough, subsequent processing efficiency is equally also influenced, and such as
Pipeline is all changed to automatic production line by fruit, then higher cost, is not suitable for the plant produced line transformation of limited budget；It adopts
The manually mode of loading and unloading, usually worker, which are removed semi-finished product from pipeline and put to lathe, processes, after processing is completed,
It removes finished product and is put into finished product pipeline, the positive and negative processing for directly influencing subsequent lathe of workpiece, therefore, worker carry out pickup
When, it needs manpower to judge the front and back sides of workpiece, carries out feeding operation further according to the front and back sides of workpiece, manual labor's intensity is big, effect
Rate is more low.
Summary of the invention
For the deficiency for solving current technology, the present invention combination prior art provides a kind of for leading from practical application
The material conveying of bearing cap processing and automatic loading and unloading system, this system is by the rational deployment to pipeline, using robot
The mode of automatic conveyor line and the cooperation of artificial conveyance line, on the one hand can guarantee the convenience of operation, on the other hand can control
The processing efficiency of engine main bearing cover is effectively improved under the premise of this is made.
It is as follows for the technical solution of invention:
A kind of material conveying and automatic loading and unloading system for main beating cap processing, the system comprises what is be set side by side
Three station pipelines, wherein being located in the middle station pipeline is manipulator automatic loading/unloading pipeline, positioned at the two of outside
Station pipeline is artificial loading and unloading pipeline, and robot station, machine are equipped on manipulator automatic loading/unloading pipeline
It is equipped with automatic loading and unloading robot at artificial position, manual operation station is equipped on two artificial loading and unloading pipelines, in institute
It states robot station side and corresponds to manipulator automatic loading/unloading pipeline and corresponding two people in two artificial operation position sides
Work loading and unloading pipeline is provided with front and back sides and detects three-dimensional turntable, and three-dimensional turntable is detected for grabbing and detecting in the front and back sides
Workpiece front and back sides direction on corresponding pipeline, and when it is positive for detecting workpiece, workpiece is returned into pipeline, works as detection
To workpiece be reverse side when, workpiece is turned to.
Further, the three-dimensional turntable of front and back sides detection of corresponding manipulator automatic loading/unloading pipeline setting, which is worked as, detects workpiece
When for reverse side, 180 ° of workpiece progress are turned to and automatic loading and unloading robot is waited to grab, corresponding artificial loading and unloading pipeline is set
Three-dimensional turntable is detected when detecting workpiece is reverse side in the front and back sides set, and supplies manually to grab after workpiece to be carried out to 90 ° of steerings outward
It takes.
Further, front and back sides detection three-dimensional turntable side is corresponded on three station pipelines is equipped with stopper, it is described
Stopper is for being detected and corrected the position of workpiece to be detected on the conveyor line.
Further, the stopper includes that sheet metal component, optoelectronic switch, hook pawl and stop cylinder, the sheet metal component are fixed
Above pipeline, the optoelectronic switch is set on sheet metal component for detecting the location of workpiece, and the hook pawl connects stop cylinder,
Hooking pawl can be overturn under stop cylinder effect, and the hooks claw shape and workpiece are adaptable, when the hook pawl downwardly turn over to
When in front of 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, 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 hinge
It connects in succession, the stop cylinder rear end and cylinder connection piece are articulated and connected, and hingedly connect between the piston rod and hook seat of stop cylinder
It connects, when stop cylinder is stretched, is driven by the hook seat and hook pawl realization flip-flop movement.
Further, the front and back sides detect three-dimensional turntable and realize front and back sides based on the asymmetric protrusion of main beating cap front and back sides
Detection, 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
On gyro black assembly for realizing workpiece push-and-pull push-and-pull component, be set to push and pull component on for realizing piece-holder clamping group
Part and be set to push-and-pull component on for realizing workpiece front and back sides detection current probe detection components.
Further, the gyro black assembly includes rotary cylinder, revolution backing plate, and the rotary cylinder is installed on frame body, institute
It states revolution backing plate to be set to above frame body and connect with rotary cylinder, the push-and-pull component is installed on revolution backing plate；It is described to push away
Drawing component includes push-and-pull cylinder, linear guide, guide rail backing plate, and the push-and-pull cylinder, linear guide are both secured on revolution backing plate
Side, the guide rail backing plate are slidably arranged on above linear guide, and guide rail backing plate connects push-and-pull cylinder, the clamp assemblies peace
Loaded on guide rail backing plate；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；The current probe detection components include two simultaneously
The electrode catheter of setting is arranged, two electrode catheters are connected with power supply and the current detection module for detecting the presence of electric current, and two
Electrode catheter is installed on guide rail backing plate by probe big envelope, and two electrode catheters are correspondingly arranged with the conductive bumps on workpiece,
When the conductive bumps position of two electrode catheters and workpiece contacts, current detection module detects current flowing, and system is sentenced at this time
Be set to workpiece for front, when workpiece be reverse side when, due to main beating cap reverse side do not have protrusion, two electrode catheters not with workpiece
Projection contacts, at this time current detection module detect no current circulate, at this time system be determined as workpiece be reverse side.
Further, spring is additionally provided in the probe big envelope, two electrode catheters can be realized by the spring one
Determine the floating in range.
Further, arm fixture is provided in the automatic loading and unloading robot, the arm fixture includes main connecting plate,
The main connecting plate is equipped with two groups of gripper assemblies, and two groups of gripper assemblies are respectively arranged at main connecting plate two sides, when the main company
When fishplate bar rotates 180 ° centered on in-between interconnecting piece, two groups of gripper assembly location swaps；The gripper assembly includes folder
Cylinder, main driving collet, driven collet are taken, the clamping cylinder is fixed on main connecting plate, the main driving collet connection folder
It takes cylinder and is slidably matched by slide track component and main connecting plate, the driven collet is set to main driving collet side, driven
Collet connects main driving collet by lever assembly, when clamping cylinder acts, can drive the main driving collet relative to from
Dynamic collet direction movement, the main driving collet can drive driven collet to press from both sides relative to main driving when acting by lever assembly
The movement of head direction, and then the clamping and release of workpiece can be realized by main driving collet and the cooperation of driven collet.
Further, the main driving collet and lever assembly are respectively arranged at main connecting plate two sides, on the main connecting plate
Equipped with sliding slot, the main driving chuck portion passes through the sliding slot and lever assembly cooperates；The lever assembly include lever arm,
Support base, the support base are fixed on main connecting plate, are articulated and connected between the lever arm and support base by pin shaft, described
Driven collet is fixed on lever arm one end, and the lever arm other end is provided with idler wheel, the idler wheel and main driving chuck portion
Inclined-plane fit；The spring to exert a force towards outside to lever arm, the spring are equipped between the lever arm and main connecting plate
It is arranged between driven collet and support base.
Beneficial effects of the present invention:
1, the loading and unloading system designed by the present invention uses, intermediate green for the machining production line of engine main bearing cover
Producing line uses manipulator automatic loading/unloading mode, and the production line in two outsides uses artificial loading and unloading mode, due to artificial loading and unloading
Pipeline is arranged on the outside, therefore worker has enough operating spaces, and intermediate using robotic realization, Neng Gouxiang
The operating efficiency of system should be improved, this loading and unloading system is particularly suitable for processing existing main beating cap the transformation of conveying production line
It uses, layout structure is reasonable, that is, can guarantee improvement cost, and can improve processing efficiency to a certain extent.
2, stopper structure of the invention cooperation front and back sides are detected three-dimensional turntable and are used, and can be realized the position detection of workpiece
And accurately positioning, crawl of the three-dimensional turntable to workpiece is detected convenient for subsequent front and back sides.
3, front and back sides of the invention detect three-dimensional turntable and are directed to main beating cap only this raised feature of front, utilize
Electric current touches the detection mode of conducting, and structure design is simple, and accuracy rate is high；It is provided with corresponding steering mechanism simultaneously, is being detected
When reversed to workpiece, the rotation that workpiece is carried out to respective angles can be facilitated manipulator for automatic loading/unloading production line
Crawl can increase substantially artificial loading and unloading production line the operating efficiency of worker, reduce manual labor's intensity.
4, robot arm fixture of the invention can stablize firm realization main beating cap using lever principle
The automated job of feeding and blanking is realized in crawl by robot, meanwhile, fixture uses reverse symmetry formula structure, Neng Goutong
The fixture for crossing two sides realizes feeding and blanking respectively, high-efficient, high degree of automation.
Detailed description of the invention
Fig. 1 is total arrangement schematic diagram of the present invention；
Fig. 2 is robot arrangement schematic diagram of the present invention；
Fig. 3 is pipeline structural schematic diagram in part 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 of the present invention；
Figure 10 is arm fixture stereoscopic schematic diagram one of the present invention；
Figure 11 is arm fixture stereoscopic schematic diagram two of the present invention；
Figure 12 is arm fixture stereoscopic schematic diagram three of the present invention；
Figure 13 is arm fixture stereoscopic schematic diagram four of the present invention；
Figure 14 is main beating cap positive structure schematic of the present invention；
Figure 15 is main beating cap reverse structure schematic 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.
It is above and below a kind of material for main beating cap processing provided by the invention conveys and is automatic as shown in Fig. 1~15
Material system, the automation machining production line for drilling equipment cold in main beating cap.In the present embodiment, workpiece 4 is with model
The present invention will be described in detail for the engine main bearing cover of 5309323 (shown in Figure 14, Figure 15).
As shown in Figure 1, this system mainly includes three station pipelines being set side by side, intermediate station pipeline is machine
Tool hand automatic loading/unloading pipeline, two station pipelines in outside are artificial loading and unloading pipeline, automatically upper and lower in manipulator
Expect that pipeline is equipped with the robot station for mounting robot 1, robot 1 is mainly used for clamping workpiece 4 and realizes work
The feeding of part and blanking operation.Manual operation station, artificial loading and unloading conveying are equipped on two artificial loading and unloading pipelines
The loading and unloading that line passes through manually realization workpiece.
Manipulator automatic loading/unloading pipeline and two artificial operative employees are corresponded in the robot station side of this system
The corresponding two artificial loading and unloading pipelines in position side are provided with front and back sides and detect three-dimensional turntable 2, and three-dimensional turntable 2 is detected in front and back sides
For grabbing and detecting the 4 front and back sides direction of workpiece on corresponding pipeline, and when it is positive for detecting workpiece, workpiece 4 is sent
It is back to pipeline, when detecting workpiece 4 is reverse side, workpiece 4 is turned to.Particularly, it is arranged on manipulator is automatic
Three-dimensional turntable 2 is detected when detecting workpiece 4 is reverse side in front and back sides on blanking pipeline, and workpiece is carried out 180 ° and turns to and waits
It is grabbed to automatic loading and unloading robot 1, when it is positive for detecting workpiece 4, workpiece 4 is returned into pipeline and waits robot
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, by work
Part 4 supplies after sending workpiece 4 back to pipeline for artificial crawl when it is positive for detecting workpiece 4 after carrying out 90 ° of steerings outward
Artificial crawl.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, with guarantee just facing towards
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 invention and is equipped with stopper 3, is stopped
Device 3 provides work 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 part 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 detect the crawl of workpiece 4.
On pipeline of the invention, can store multiple workpiece 4, every strip transmission line include front end semi-finished product pipeline and
The finished product pipeline of rear end is respectively used to convey the finished product after semi-finished product and processing to be processed.Pipeline is driven using motor
The dynamic automatic conveying that can be realized workpiece 4, has supporting bar among the corresponding chain plate conveyor belt of pipeline, is used for and 4 bottom of workpiece
The circular arc cooperation in portion carries out the coarse positioning of workpiece 4, when run-off the straight overturns workpiece 4 during transportation, it is ensured that overturning has
Limit, while it being easy to righting workpiece 4 using frictional force, avoid the appearance of workpiece 4 from significantly tilting.
Position needed for pipeline of the invention is equipped with corresponding sensor, for whether in place and workpiece to detect workpiece
Whether conveyer belt etc. is paved with.The specific work flow of pipeline of the invention 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 invention, corresponding three strip transmission lines are equipped with stopper 3, and whether stopper 3 arrives mainly for detection of workpiece 4
Up to crawl point, and workpiece 4 is modified, so that robot mechanical arm and front and back sides detect three-dimensional turntable 2 and can smoothly complete
Clamp work.
In a kind of embodiment provided by the invention, 3 specific structure of stopper refers to Fig. 3,4,5, including sheet metal component 5, photoelectricity
Switch hooks pawl 8, stop cylinder 6, hooks seat 7, hooking seat connector 9, cylinder connection piece 10, and sheet metal component 5 is fixed on above pipeline,
The aperture at 4 stop position of workpiece of 5 upper side of sheet metal component and left and right side.Upper side aperture purpose is to reduce stopper 3
Overall weight, left and right side aperture purpose are optoelectronic switch installation detection.It is solid respectively to hook seat connector 9, cylinder connection piece 10
It is scheduled on 5 rear and front end of sheet metal component, pawl 8 is hooked and is fixedly connected with seat 7 is hooked, seat 7 is hooked and hook seat connector 9 is articulated and connected, stop cylinder 6
Rear end and cylinder connection piece 10 are articulated and connected, and are articulated and connected between the piston rod and hook seat 7 of stop cylinder 6, combination of the above mode
Link mechanism is formed, when stop cylinder 6 is stretched, hooks the realization flip-flop movement of pawl 8 by hooking the driving of seat 7.Hook 8 shape of pawl and workpiece
4 shapes are similar, guarantee that at work, by hooking the barrier effect of pawl 8, the location of workpiece is consistent.
3 working principle of stopper of the present embodiment is as follows: workpiece 4 is moved with wire body, when the photoelectricity in stopper 3 is opened
When pass detects workpiece 4, control centre sends instruction, and 6 piston rod stretch out motion of stop cylinder drives stopper 3 to hook seat 7 and surrounds
It hooks seat connector 9 to rotate counterclockwise (for link mechanism), drive hooks 8 counterclockwise movement of pawl, and (shape for hooking pawl 8 needs preferably to cooperate
Workpiece, 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 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 and stops fortune
Dynamic, 6 piston rod retraction movement of stop cylinder drives hook pawl 8 to turn clockwise reset.4 position of workpiece and posture carry out at this time
Amendment, 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
It rises, according to this feature, with reference to Fig. 6,7,8 (Fig. 6 is with work status, and Fig. 7 is no work status), one kind provided by the invention
In embodiment, it is as follows that 2 structure of three-dimensional turntable is detected in front and back sides: detecting three-dimensional turntable 2 and includes frame body 11, is set to frame body in front and back sides
On 11 for realizing workpiece 4 turn to gyro black assembly, be set on gyro black assembly for realizing workpiece push-and-pull push-and-pull component, set
It is placed in the clamp assemblies clamped on push-and-pull component for realizing workpiece 4 and is set on push-and-pull component for realizing workpiece 4 just
The current probe detection components of reverse side detection.
Specifically, gyro black assembly includes rotary cylinder 18, revolution backing plate 12 in the present embodiment, rotary cylinder 18 is installed on
11 bottom of frame 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, works as revolution
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, specifically
It is that on corresponding manipulator automatic loading/unloading pipeline, it is 180 ° that rotational angle, which is arranged, in rotary cylinder 18, defeated in artificial loading and unloading
In line sending, it is 90 degree that rotational angle, which is arranged, in rotary cylinder 18.Pushing and pulling component includes 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, and guide rail backing plate 14 is slidably arranged on linear guide
Top, guide rail backing plate 14 connects push-and-pull cylinder 13 can drive guide rail backing plate 14 to carry out reciprocal when push-and-pull cylinder 13 is stretched
Linear motion.Clamp assemblies include 15, two clamping jaws 16 of gripper cylinder, and gripper cylinder 15 is fixed on guide rail backing plate 14, clamping
15 both ends of cylinder are equipped with piston rod, and two clamping jaws 16 are connected on two piston rods, two under the effect of gripper cylinder 15
A clamping jaw 16 is able to carry out relative motion and then realizes that the clamping and release of workpiece 4 are used on clamping jaw 16 to guarantee clamping effect
V-structure is set as in the position of clamping workpiece 4.
In the present embodiment, current probe detection components include two electrode catheters being set side by side 17, two electrode catheters
17 are connected with power supply and the current detection module for detecting the presence of electric current, and electrode catheter 17 is fixed in probe big envelope, probe
Big envelope, thimble cutting ferrule are fixed on attitude detection bracket, and attitude detection bracket is fixed on guide rail backing plate 14, and electrode catheter 17 is long
Degree has design requirement: after clamping jaw 16 holds workpiece 4 tightly, if workpiece 4 positive (having protrusion part) is contact surface, electrode catheter 17 is needed
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 connect with it
Touching, electric current is not turned at this time.In order to guarantee the detection effect of electrode catheter 17, in the present embodiment, it is additionally provided in probe big envelope
Spring, two electrode catheters 17 can be realized floating (about 0.2mm) in a certain range by spring, that is, guarantee that contact is rigid
Property, and avoid accidentally touching.
It is as follows that 2 working principle of three-dimensional turntable is detected in the front and back sides of the present embodiment: control centre receives the blocking of stopper 3 and finishes
After signal, 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 embrace
Clamping of workpieces 4, push-and-pull cylinder 13 pull guide rail backing plate 14 to move backward, and workpiece 4 reaches (to be equipped with close at revolution backing plate 12 at this
Switch, judges whether there is workpiece), if detecting workpiece close to switch, electrode catheter 17, which is powered, to be detected, if there is electric current, illustrates this
When contact surface be front, gripper cylinder 15 unclamps, and revolution 12 angle of backing plate remains unchanged, and push-and-pull cylinder 13, gripper cylinder 15 are dynamic
Make to send workpiece 4 into the crawl of pipeline waiting robot back to；If no current passes through, illustrate that contact surface is reverse side, rotary cylinder 18 drives
Dynamic revolution 12 angle of backing plate rotation 180 degree (or 90 °), gripper cylinder 15 unclamp, and wait robot grabbing workpiece 4, and workpiece 4 grabs
Afterwards, pipeline is restarted.
In the present invention, automatic loading and unloading robot 1 is mainly used for the automatic loading/unloading of workpiece, is provided with arm folder
Tool 19.With reference to Fig. 9,10,11,12,13 (Figure 13 is the state after grabbing workpiece), in a kind of embodiment provided by the invention,
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
Be moved to 4 position of workpiece, at this point, workpiece 4 is between main driving collet 23 and driven collet 24, the circular arc of driven collet 24 with
It the arc contact of workpiece 4 but is not yet in close contact, does not have frictional force between the two, PLC controls clamping cylinder 21 and stretches out, clamping
Cylinder 21 drives main driving collet 23 mobile, and main driving collet 23 is cooperated by the inclined-plane 30 and idler wheel 27 of its bottom, drives thick stick
Lever arm 25 moves, and spring 28 is compressed at this time, and according to lever principle, lever arm 25 drives driven collet 24 to press 4 inside of case workpiece,
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 be formed reliable
The clamping to workpiece 4 is completed in crawl.When needing to discharge workpiece 4, clamping cylinder 21 is retracted, and main driving collet 23 resets, in bullet
Under spring 28 acts on, driven collet 24 resets, and no longer contacts 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. a kind of material conveying and automatic loading and unloading system for main beating cap processing, it is characterised in that: the system comprises
Three station pipelines being set side by side, wherein being located in the middle station pipeline is manipulator automatic loading/unloading pipeline, position
Two station pipelines in outside are artificial loading and unloading pipeline, and robot is equipped on manipulator automatic loading/unloading pipeline
Station is equipped with automatic loading and unloading robot at robot station, is equipped with manual operation on two artificial loading and unloading pipelines
Station corresponds to manipulator automatic loading/unloading pipeline and two artificial operation position sides pair in robot station side
It answers two artificial loading and unloading pipelines to be provided with front and back sides and detects three-dimensional turntable, three-dimensional turntable is detected for grabbing in the front and back sides
The workpiece front and back sides direction on corresponding pipeline is taken and detected, and when it is positive for detecting workpiece, workpiece is returned into conveying
Line turns to workpiece when detecting workpiece is reverse side.
2. a kind of material conveying and automatic loading and unloading system for main beating cap processing as described in claim 1, feature
Be: three-dimensional turntable is detected when detecting workpiece is reverse side in the front and back sides of corresponding manipulator automatic loading/unloading pipeline setting,
180 ° of workpiece progress are turned to and automatic loading and unloading robot is waited to grab, the front and back sides of corresponding artificial loading and unloading pipeline setting
Three-dimensional turntable is detected when detecting workpiece is reverse side, supplies artificial crawl after workpiece to be carried out to 90 ° of steerings outward.
3. a kind of material conveying and automatic loading and unloading system for main beating cap processing as described in claim 1, feature
It is: corresponds to front and back sides detection three-dimensional turntable side on three station pipelines and be equipped with stopper, the stopper is used for
The position of workpiece to be detected on the conveyor line is detected and corrected.
4. a kind of material conveying and automatic loading and unloading system for main beating cap processing as claimed in claim 3, feature
Be: the stopper includes that sheet metal component, optoelectronic switch, hook pawl and stop cylinder, the sheet metal component are fixed on pipeline
Side, the optoelectronic switch are set on sheet metal component for detecting the location of workpiece, and the hook pawl connects stop cylinder, and hooking pawl can hinder
It being overturn under gear cylinder action, the hook claw shape and workpiece are adapted, when the hook pawl is downwardly turned over to workpiece,
It can be realized the blocking of workpiece and the attitude rectification of workpiece.
5. a kind of material conveying and automatic loading and unloading system for main beating cap processing as claimed in claim 4, feature
Be: the stopper further includes hooking seat, hooking seat connector, cylinder connection piece, the hook seat connector, cylinder connection piece difference
It is fixed on sheet metal component rear and front end, the hook pawl is fixedly connected with seat is hooked, the hook seat and hook seat connector articulated connection, described
Stop cylinder rear end and cylinder connection piece are articulated and connected, and are articulated and connected between the piston rod and hook seat of stop cylinder, stop cylinder
When flexible, driven by the hook seat and hook pawl realization flip-flop movement.
6. a kind of material conveying and automatic loading and unloading system for main beating cap processing as described in claim 1, feature
Be: the front and back sides detect three-dimensional turntable and realize front and back sides detection based on the asymmetric protrusion of main beating cap front and back sides, positive and negative
It detects three-dimensional turntable and includes frame body, be set to the gyro black assembly turned on frame body for realizing workpiece, be set to gyro black assembly in face
On for realizing workpiece push-and-pull push-and-pull component, be set to push and pull component on for realizing piece-holder clamp assemblies and set
It is placed in the current probe detection components on push-and-pull component for realizing the detection of workpiece front and back sides.
7. a kind of material conveying and automatic loading and unloading system for main beating cap processing as claimed in claim 6, feature
Be: the gyro black assembly includes rotary cylinder, revolution backing plate, and the rotary cylinder is installed on frame body, the revolution backing plate
It is set to above frame body and is connect with rotary cylinder, the push-and-pull component is installed on revolution backing plate；The push-and-pull component includes
Push-and-pull cylinder, linear guide, guide rail backing plate, the push-and-pull cylinder, linear guide are both secured to above revolution backing plate, the guide rail
Backing 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 pad
On plate；The clamp assemblies include gripper cylinder, two clamping jaws, and the gripper cylinder is fixed on guide rail backing plate, gripper cylinder
Both ends are equipped with piston rod, and two clamping jaws are connected on two piston rods, and two clamping jaws can under gripper cylinder effect
It carries out relative motion and then realizes the clamping and release of workpiece；The current probe detection components include two electricity being set side by side
Pole probe, two electrode catheters are connected with power supply and the current detection module for detecting the presence of electric current, and two electrode catheters are logical
It crosses probe big envelope to be installed on guide rail backing plate, two electrode catheters are correspondingly arranged with the conductive bumps on workpiece, when two electrodes
Current detection module detects current flowing when the conductive bumps position of probe and workpiece contacts, and system is determined as that workpiece is at this time
Front, when workpiece is reverse side, since main beating cap reverse side does not have protrusion, two electrode catheters do not connect with the protrusion of workpiece
Touching, current detection module detects that no current circulates at this time, and system is determined as that workpiece is reverse side at this time.
8. a kind of material conveying and automatic loading and unloading system for main beating cap processing as claimed in claim 7, feature
It is: is additionally provided with spring in the probe big envelope, two electrode catheters can be realized in a certain range by the spring
It floats.
9. a kind of material conveying and automatic loading and unloading system for main beating cap processing as described in claim 1, feature
It is: is provided with arm fixture in the automatic loading and unloading robot, the arm fixture includes main connecting plate, the main connection
Plate is equipped with two groups of gripper assemblies, and two groups of gripper assemblies are respectively arranged at main connecting plate two sides, when the main connecting plate is with wherein
Between interconnecting piece centered on rotate 180 ° when, two groups of gripper assembly location swaps；The gripper assembly includes clamping cylinder, main drive
Dynamic collet, driven collet, the clamping cylinder are fixed on main connecting plate, and the main driving collet connection clamping cylinder simultaneously passes through
Slide track component is slidably matched with main connecting plate, and the driven collet is set to main driving collet side, and driven collet passes through lever
Component connects main driving collet can drive the main driving collet to transport relative to driven collet direction when clamping cylinder acts
Dynamic, the main driving collet can drive driven collet to move relative to main driving collet direction when acting by lever assembly,
And then the clamping and release of workpiece can be realized by main driving collet and the cooperation of driven collet.
10. a kind of material conveying and automatic loading and unloading system for main beating cap processing as claimed in claim 9, feature
Be: the main driving collet and lever assembly are respectively arranged at main connecting plate two sides, and the main connecting plate is equipped with sliding slot, institute
Main driving chuck portion is stated to cooperate across the sliding slot and lever assembly；The lever assembly includes lever arm, support base, described
Support base is fixed on main connecting plate, is articulated and connected between the lever arm and support base by pin shaft, and the driven collet is solid
Due to lever arm one end, the lever arm other end is provided with idler wheel, and the idler wheel and the main inclined-plane for driving chuck portion are affixed
It closes；The spring to exert a force towards outside to lever arm is equipped between the lever arm and main connecting plate, the spring is arranged driven
Between collet and support base.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910819295.8A CN110509101B (en) | 2019-08-31 | 2019-08-31 | Material conveying and automatic feeding and discharging system for machining main bearing cap |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910819295.8A CN110509101B (en) | 2019-08-31 | 2019-08-31 | Material conveying and automatic feeding and discharging system for machining main bearing cap |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110509101A true CN110509101A (en) | 2019-11-29 |
| CN110509101B CN110509101B (en) | 2020-08-18 |
Family
ID=68629924
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910819295.8A Active CN110509101B (en) | 2019-08-31 | 2019-08-31 | Material conveying and automatic feeding and discharging system for machining main bearing cap |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110509101B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112621208A (en) * | 2020-12-11 | 2021-04-09 | 江门市创艺电器有限公司 | Automatic assembling device for assembling connector |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH06163660A (en) * | 1992-11-20 | 1994-06-10 | Mitsubishi Electric Corp | External appearance inspection device for semiconductor device |
| CN203062620U (en) * | 2012-12-14 | 2013-07-17 | 重庆诚硕科技有限公司 | Air cylinder clamping device |
| KR20130125158A (en) * | 2012-05-08 | 2013-11-18 | 세메스 주식회사 | Semiconductor manufafturing equipments with automatic teaching apparatus of wafer transfer robot and method for teaching of the same |
| 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 |
-
2019
- 2019-08-31 CN CN201910819295.8A patent/CN110509101B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH06163660A (en) * | 1992-11-20 | 1994-06-10 | Mitsubishi Electric Corp | External appearance inspection device for semiconductor device |
| KR20130125158A (en) * | 2012-05-08 | 2013-11-18 | 세메스 주식회사 | Semiconductor manufafturing equipments with automatic teaching apparatus of wafer transfer robot and method for teaching of the same |
| CN203062620U (en) * | 2012-12-14 | 2013-07-17 | 重庆诚硕科技有限公司 | Air cylinder clamping device |
| 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 |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112621208A (en) * | 2020-12-11 | 2021-04-09 | 江门市创艺电器有限公司 | Automatic assembling device for assembling connector |
| CN112621208B (en) * | 2020-12-11 | 2022-04-26 | 江门市创艺电器有限公司 | Automatic assembling device for assembling connector |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110509101B (en) | 2020-08-18 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN208234120U (en) | Cylinder body handling gripper | |
| CN217475083U (en) | Full-automatic ultrasonic wave heat sealing machine | |
| CN107046147A (en) | The complete automatic double surface gluer and coating technique of new-energy automobile assembled battery | |
| CN111993055A (en) | Battery positive electrode welding automatic production equipment and battery | |
| CN109848618B (en) | Feeding device for cast welding of lead-acid storage battery | |
| CN114013536B (en) | Vehicle assembly line and vehicle assembly process | |
| CN210388483U (en) | Automatic change line body work piece positive and negative detection device | |
| CN110509101A (en) | A kind of material conveying and automatic loading and unloading system for main beating cap processing | |
| CN206742416U (en) | The complete automatic double surface gluer of new-energy automobile assembled battery | |
| CN110480402A (en) | A kind of robot arm fixture for automatic loading/unloading | |
| CN110434661A (en) | Automate wire body workpiece front and back sides detection device | |
| CN116408272B (en) | Automatic welded pipe detector | |
| CN210435806U (en) | Robot arm clamp for automatic feeding and discharging | |
| CN114985883B (en) | Full-automatic welding production line for base plates | |
| CN217942663U (en) | Tool robot gripper device | |
| CN216180624U (en) | Automatic positioning and loading device for camera front cover | |
| CN103111926B (en) | Crystal blank automatic polishing system and docking mechanism thereof | |
| CN216763470U (en) | A supplementary unloading equipment of going up for motor shaft machine tooling | |
| CN212372223U (en) | Equipment for overturning robot integrated workpiece | |
| CN212578633U (en) | Integrated robot paw | |
| CN111376014B (en) | Buckle and soundproof cotton rigging equipment | |
| CN112246693A (en) | Triaxial sensor production equipment with counting and subpackaging functions | |
| CN211077405U (en) | Material processing and transferring mechanism | |
| CN111906816A (en) | Equipment for overturning robot integrated workpiece | |
| CN213859318U (en) | Feeding detection mechanical arm for sorting machine |
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 | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |