CN111824759A - Grabbing platform based on assembly line - Google Patents

Abstract

The invention discloses a grabbing platform based on an assembly line, which comprises a workbench, wherein the workbench is arranged on an X-direction transmission device, the X-direction transmission device is connected with the workbench through a ball screw and used for driving the workbench to move along the X direction, a Z-direction transmission device is arranged below the X-direction transmission device, the Z-direction transmission device is connected with the X-direction transmission device through a servo electric cylinder and used for driving the X-direction transmission device to move along the Z direction, a Y-direction transmission device is arranged on the workbench, two ends of the Y-direction transmission device are correspondingly provided with two-way grabbing devices, and the Y-direction transmission device can drive the two-way grabbing devices to move along the Y direction. The invention effectively improves the flexibility and the responsiveness of the system, shortens the fault debugging time, reduces the manual intervention, enables the system to flexibly adapt to the production change, effectively distributes resources to the required places and improves the production efficiency of enterprises.

Description

Grabbing platform based on assembly line

Technical Field

The invention belongs to the technical field of assembly line production, and particularly relates to a grabbing platform based on an assembly line.

Background

In the current intense market environment, enterprises to develop in competition need of continuous product innovation and large-scale manufacturing to reduce cost and improve production efficiency, and thus industrial automation pipelines come into force. The automation technology of mechanical engineering is developed with the increasing level of modern manufacturing industry. It is not only related to the development of the technical level of the manufacturing field itself, but also embodies the cross-field technical fusion. The conveying manipulator is mainly used for conveying workpieces and conveying the workpieces from the previous processing station to the next processing station, so that the workpieces can flow among different processing procedures, and the conveying manipulator is widely applied to automatic assembly line production. The use of the manipulator not only improves the production quality and the automation level of products, but also can reduce the manual use and improve the production yield. At present and in the future, the development trend of an automatic assembly line is to adapt to flexible production, the processing and production precision and the factory unmanned level need to be continuously improved, and an automatic factory is realized.

At present, the production lines of most domestic vacuum cup enterprises still adopt manual operation, one person completes a specific processing process by one machine, and the production efficiency depends on the labor efficiency of workers.

Disclosure of Invention

The technical problem to be solved by the invention is to provide a grabbing platform based on a production line, aiming at the defects in the prior art, so that the flexibility and the responsiveness of the system are effectively improved, the fault debugging time is shortened, the manual intervention is reduced, the system can flexibly adapt to the production change, the resources are effectively distributed to the required places, and the production efficiency of enterprises is improved.

The invention adopts the following technical scheme:

the utility model provides a snatch platform based on assembly line, comprises a workbench, the workstation sets up on X is to transmission, X is connected with the workstation through ball to transmission, be used for driving the workstation along X to the motion, X is provided with Z to transmission's below, Z is connected to transmission through servo electronic jar and X to transmission, be used for driving X to transmission along Z to the motion, be provided with Y on the workstation to transmission, Y is provided with two-way grabbing device to transmission's both ends correspondence, Y can drive two-way grabbing device along Y to the motion to transmission.

Specifically, two-way grabbing device includes the main part fixed block, and the both sides of main part fixed block are provided with first connecting elements, and main part fixed block and first connecting elements are connected with one side of second connecting elements respectively, and the opposite side center of second connecting elements is provided with V type and adjusts the fixed block, and the one end that the fixed block was adjusted to the V type is connected with the main part fixed block through second connecting elements, and the other end is connected with V type piece setting element, and the bilateral symmetry of V type adjustment fixed block and V type piece setting element is provided with flexible finger.

Furthermore, the V-shaped block positioning piece comprises a cylindrical part, and the cylindrical part can move up and down in a cylindrical hole in the middle of the V-shaped block adjusting fixing block to adjust the distance; an infrared distance sensor for detecting whether the workpiece is to be grabbed is arranged above the second connecting component.

Specifically, the X-direction transmission device comprises a bottom plate, a bearing seat is arranged on the bottom plate, an angular contact ball bearing is arranged in the bearing seat, and the Z-direction transmission device is connected with the X-direction transmission device through the bearing seat.

Furthermore, a first ball screw is arranged on the bottom plate, rectangular guide rails are arranged on two sides of the first ball screw, and the workbench is arranged in the rectangular guide rails and connected with the first ball screw.

Furthermore, hanging pieces are arranged on two sides of the bottom plate, and guide rods are correspondingly arranged between the hanging pieces and the base of the Z-direction transmission device.

Specifically, Y is to transmission including horizontal base, and the both ends correspondence of horizontal base is provided with sharp cylinder, and the air inlet and the gas vent of sharp cylinder set up relatively, and sharp cylinder passes through the slider to be connected with two-way grabbing device, and the middle of horizontal base corresponds different sharp cylinder and is provided with the tribit five-way solenoid valve respectively.

Further, horizontal base is the cell type structure, and sharp cylinder all sets up in horizontal base with tribit five-way solenoid valve, is provided with the organ safety cover on the horizontal base, and the below and the workstation of horizontal base are connected.

Specifically, Z adopts servo electronic jar to transmission, including servo motor, and servo motor is connected with second ball, and second ball sets up in the cylinder body, and the front end of cylinder body is provided with front end housing and linear displacement sensor.

Further, the cylinder body is fixed on the base, and the base is fixedly connected with the ground.

Compared with the prior art, the invention has at least the following beneficial effects:

according to the grabbing platform based on the assembly line, different driving modes are adopted in three different movement directions, and a workpiece is grabbed by a grabbing hand; the motion mode of the grabbing hand driven by grabbing motion is pneumatic, and the flexible grabbing hand is required to be good in containment, light and free of pollution. The driving mode of the grabbing platform moving in the X direction is that a motor drives a ball screw to transmit, and the motion in the X direction is transmission motion between different stations, so that the transmission is required to be stable and accurate; the driving mode of the grabbing platform moving in the Y direction is pneumatic driving, and the grabbing hand is a flexible grabbing hand, and pneumatic transmission is correspondingly rapid, so that the action requirement in the direction is met. The driving mode of the grabbing platform in the Z direction is driven by a servo electric cylinder, and the grabbing platform is stable in transmission and high in bearing. The transmission of the platform in three directions takes different design requirements of all movement directions into consideration, so that the transmission in different directions is individually designed by combining different use requirements; and the connection stability of the transmission in three directions is considered to adopt bolt connection. Through the investigation of a factory, the existing assembly line gripping hand is generally an industrial robot or a manual work, and the two modes are not suitable for the existing assembly line gripping work due to high cost, so the invention is in accordance with the technical defects and has better market demand.

Furthermore, due to the arrangement of the bidirectional grabbing device, the processing and production efficiency is improved; the bilateral symmetry distributes independently and installs on same horizontal base, can satisfy both sides and grab the work operation of putting simultaneously, also can be according to the different unilateral independent operations of output demand.

Furthermore, the V-shaped block positioning piece is designed to be a wide V-shaped block, and the wide V-shaped block positioning piece has the advantages that the workpiece can rotate to 4 point contacts, so that 4 degrees of freedom are limited; positioning the liner and the shell workpiece of the vacuum cup by adopting a V-shaped block device; the V-shaped block has a good automatic centering effect, so that when the two flexible finger modules bend to grab the cup body, the cup body is positioned at the same position in space each time, accurate positioning is guaranteed, and the subsequent placement work is facilitated; the V-shaped block has a certain telescopic range and is adjusted by matching with the distance between the flexible finger modules so as to meet the requirements of flexibly producing workpieces with different specifications; after the distance is adjusted, fixing the cable by a set screw; through the fine adjustment device, when actual installation and debugging are achieved, the V-shaped block is used as a positioning reference under the condition that the extension length of each grabbing head is slightly wrong, two sides of the grabbing head are symmetrical about a central line, and the grabbing and placing links are achieved through accurate positioning.

Furthermore, the X-direction transmission device is in ball screw transmission, so that the transmission is stable and the precision is high; the grabbing hand suitable for the device can smoothly and accurately transfer the workpiece from one station to another station.

Furthermore, the first ball screw is different from the second ball screw, and is a driving element of the X-direction ball screw transmission device; the precision is higher than that of the second ball screw, and the bearing capacity is weaker than that of the second ball screw; the first ball screw plays a role in transferring workpieces, and the second ball screw is inherently designed for the servo electric cylinder and is strong in bearing capacity.

Furthermore, the hanging piece and the guide rod are designed for preventing jolting and vibration caused by small uneven stress due to the change of the gravity center when the grabbing platform moves in the X direction and the Z direction; the pendant is mutually supported with the guide arm, has improved the motion smoothness of platform in the Z direction, also guarantees that the platform can keep the motion precision of design when meetting the vibration that can not survey.

Furthermore, the Y-direction transmission mechanism is arranged for realizing the reciprocating linear motion of the grabbing hand mechanism, and the linear cylinder transmission has the advantages of easy obtainment of working media, convenience in centralized gas supply, quick action response and good environmental adaptability.

Furthermore, the transverse base is a base body for assembling parts, the structure of the transverse base is designed to be groove-shaped due to the fact that enough space is needed for installing pneumatic elements and pipelines, the spaces at two ends are used for installing the flexible finger modules, the through hole in the middle of the lower portion is used for being connected with a motor shaft, and bolt holes in two sides of the through hole are used for being connected with the lifting support platform.

Furthermore, the Z-direction transmission device can bear the Z-direction movement of the device, and the servo electric cylinder can ensure the stability in the movement process.

Further, the cylinder body adopts flange and bolt and base to link to each other, and the purpose that the footing bolt is connected with ground for the base is in order to increase the stability of whole device, avoids producing in the course of the work to rock or squint.

In conclusion, the automatic clamping and positioning device integrates conveying and clamping and positioning, has the capability of continuously conveying materials by an assembly line, avoids using expensive industrial robots, has the capability of accurately clamping and positioning the materials, simplifies an automatic production line, reduces the cost and has certain engineering application value.

The technical solution of the present invention is further described in detail by the accompanying drawings and embodiments.

Drawings

FIG. 1 is a drawing of a grasping hand;

FIG. 2 is a view of a first connecting member;

FIG. 3 is a view of a second connecting member;

FIG. 4 is a V-shaped adjustment fixing block diagram;

FIG. 5 is a view of a V-shaped positioning member;

FIG. 6 is a block diagram of the main body;

FIG. 7 is a Y-direction drive diagram;

FIG. 8 is an enlarged view of the piping;

FIG. 9 is a view of a linear cylinder block;

FIG. 10 is a transverse base view;

FIG. 11 is a table view;

FIG. 12 is a ball screw connection;

FIG. 13 is a top view of the device in the X direction;

FIG. 14 is a view of the Z-direction apparatus;

FIG. 15 is a diagram of a servo electric cylinder;

FIG. 16 is a schematic view of a grasping platform according to the present invention;

FIG. 17 is a top view of the base plate;

FIG. 18 is a combination X-drive and Z-drive;

FIG. 19 is a connection diagram of the X-direction transmission device and the Z-direction transmission device.

Wherein: 1. a bidirectional gripping device; 2. a first connecting member; 3. a second connecting member; 4, adjusting a fixed block in a V shape; a V-shaped block positioning piece; 6. a main body fixing block; 7. a flexible finger; 8. a work table; 10. a first ball screw; an X-direction transmission device; a Z-direction transmission device; 13. a servo motor; 14. a cylinder body; 15. a front end cover; 16. a linear displacement sensor; 17. a second ball screw; a Y-direction transmission device; 19. a base plate; 20. a bearing seat; 21. angular contact ball bearings; 22. hanging parts; 23. a guide bar; 31. a linear cylinder; 32. a transverse base; 33. a three-position five-way electromagnetic valve; 34. a pipeline; 35. organ protection cover.

Detailed Description

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "one side", "one end", "one side", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, are not to be construed as limiting the present invention. Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

Various structural schematics according to the disclosed embodiments of the invention are shown in the drawings. The figures are not drawn to scale, wherein certain details are exaggerated and possibly omitted for clarity of presentation. The shapes of various regions, layers and their relative sizes and positional relationships shown in the drawings are merely exemplary, and deviations may occur in practice due to manufacturing tolerances or technical limitations, and a person skilled in the art may additionally design regions/layers having different shapes, sizes, relative positions, according to actual needs.

Referring to fig. 16, the gripping platform based on the assembly line of the present invention includes a bidirectional gripping device 1, a worktable 8, an X-direction transmission device 11, a Y-direction transmission device 18, and a Z-direction transmission device 12.

Y is to transmission 18 setting on workstation 8, two-way grabbing device 1 sets up and is used for realizing Y to the transmission on Y to transmission 18, Z is to transmission 12 setting in the below of workstation 8, be connected with workstation 8 through X to transmission 11, Z is to transmission 12 and carries out Z to the transmission through servo electric cylinder drive workstation, X is to transmission 11 being used for driving workstation 8 and realizing X to the transmission, Y is to transmission 18 and is connected with X to transmission 11 through the backup pad, drive the backup pad through first ball 10 and move along X to the guide rail.

Referring to fig. 1, the bidirectional gripping device 1 employs a flexible manipulator, and is responsible for gripping a workpiece or returning the workpiece to a next station, and includes: the device comprises a first connecting component 2, a second connecting component 3, a V-shaped adjusting fixing block 4, a V-shaped block positioning piece 5, a main body fixing block 6 and a flexible finger 7.

Referring to fig. 2, 3 and 6, the first connecting members 2 are disposed at two sides of the main body fixing block 6 and respectively connected to one side of the second connecting member 3, a V-shaped adjusting fixing block 4 is disposed at the center of the other side of the second connecting member 3, a V-shaped block positioning member 5 is disposed at an end of the V-shaped adjusting fixing block 4, and flexible fingers 7 are symmetrically disposed at two sides of the V-shaped adjusting fixing block 4 and the V-shaped block positioning member 5.

Referring to fig. 4 and 5, the V-shaped block adjusting fixing block 4 is used in cooperation with the V-shaped block positioning member 5, and the V-shaped block adjusting fixing block 4 is fastened to the second connecting member 3 by four bolts; the cylindrical part of the V-shaped block positioning piece 5 can move up and down in a cylindrical hole in the middle of the V-shaped block adjusting fixing block 4 to adjust the distance.

The cylindrical part of the V-shaped block positioning piece 5 is marked with scales and is adjusted to a corresponding position according to different workpieces. After the distance position is adjusted, a fastening screw on the side surface of the fixing block 4 is adjusted through the V-shaped block, and the V-shaped block positioning piece 5 is fastened to be stable and fixed.

The distance adjustment of the flexible fingers 7 belongs to automatic adjustment driven by a motor, and the V-shaped adjusting fixing block 4 belongs to manual adjustment; after the two flexible fingers and the V-shaped block are adjusted to be combined, the workpieces of the appointed type can be grabbed, and the workpieces of different types are grabbed and need to be adjusted again.

The bidirectional grabbing device 1 is in an opening position in an initial state, two flexible fingers 7 which are symmetrical left and right rotate in situ through a bolt driven by a double-shaft motor with the same power source to enable the first connecting component 2 to move left and right, and the flexible fingers fixed with the first connecting component 2 through the bolt move left and right; the first linking member 2 is limited in freedom on a fixed rectangular track on the second linking member 3 and therefore can only slide left and right without rotating.

When grabbing, detecting whether a workpiece is to be grabbed between the two flexible fingers 7 through an infrared distance sensor arranged above the second connecting component 3, controlling the air pressure of an air cavity in the flexible fingers 7 to be negative pressure through a matched controller of the flexible fingers 7 after the workpiece is detected, enabling the flexible fingers 7 to bend and hold the workpiece together, enabling one side of the workpiece to be in contact with the V-shaped block positioning piece 5 when the workpiece is held together, and enabling the position of the workpiece to be determined through the V-shaped block positioning piece 5;

the grabbing process is like the process that a cup is grabbed by a hand, and after the cup is grabbed to a designated position, the workpiece is released in the following process:

the two flexible fingers 7 control the air pressure of the air cavity in the flexible fingers 7 to be positive pressure through a matched controller, and the two flexible fingers are in an initial state, namely the two flexible fingers are straightened, and then the grasped workpiece is released; the two-way gripping device 1 is positioned by the V-shaped protrusion and the V-shaped recess on the second connecting member 3, and is fixed by four bolts through the main body fixing block 6, and is assembled into a whole for use or can be used independently.

Referring to fig. 19, the X-direction transmission device 11 is connected to the Z-direction transmission device 12 through a bearing seat 20 on a bottom plate 19, the bearing seat 20 is embedded in the bottom surface of the bottom plate 19, the Z-direction transmission shaft is a stepped shaft, a shoulder of the stepped shaft is matched with a stepped surface of the bearing seat, an inner ring of an angular contact ball bearing 21 is matched with the Z-direction transmission shaft, an outer ring is matched with the inner surface of the bearing seat, and a spring retainer ring is externally applied to the bearing for axial.

Referring to fig. 11 and 12, the X-direction transmission device 11 uses the first ball screw 10 for transmission, and is responsible for moving the workpiece from one station to the next station along the direction of the production line.

The ball screw 10 is a long shaft and is fixed by two bearing blocks, and the bearing blocks are connected on the bottom plate by bolts. In order to ensure the moving stability of the first ball screw 10, rectangular guide rails are respectively arranged on two sides of the bearing seat to guide the movement of the ball screw.

The hexagonal head bolt is connected with the Y-direction transmission device 18 through a connecting hole in the workbench 8, the workbench 8 is provided with symmetrically distributed connecting holes, the workbench 8 and the sliding block are connected with the ball nut seat through the connecting holes in a bolted mode, the workbench 8 is connected with the ball screw transmission system, and the ball nut seat is used for connecting the ball screw 10 and structural parts of the workbench 8.

Referring to fig. 7 and 8, the Y-direction actuator 18 is driven by a linear cylinder and is responsible for taking out or replacing the workpiece from or in the direction perpendicular to the line.

The Y-direction actuator 18 includes a linear cylinder 31, a transverse base 32, a three-position, five-way solenoid valve 33, and a conduit 34.

Because this device is bilateral symmetry structure, consequently need two symmetrical arrangement's straight line cylinder 31 and two tribit five-way solenoid valves 33, wherein, straight line cylinder 31 arranges the both ends at horizontal base 32, fixes to the bottom of horizontal base 32 through the bolt, relies on the removal of slider to drive two-way grabbing device 1 motion, and tribit five-way solenoid valve 33 arranges the both sides in horizontal base 32 middle, adopts the fix with screw on the base wall equally, and every tribit five-way solenoid valve 33 controls a straight line cylinder 31.

Referring to fig. 9, the two-way gripping device 1 is integrally connected to the slider of the linear cylinder 31 and fixed by a bolt, and a height increasing pad is disposed between the head fixing block of the two-way gripping device 1 and the cylinder slider, so that the thickness of the pad can be adjusted as required in specific implementation.

Referring to fig. 10, the transverse base 32 is a groove structure, which is a base for assembling parts, and the linear cylinder 31 and the three-position five-way solenoid valve 33 are assembled inside the transverse base 32, and there is enough space inside to install pneumatic components and pipes. The linear cylinder 31 has its slider connected to the two-way gripping device 1, and requires a certain space on both sides of the transverse base 32 for mounting the two-way gripping device 1, so that the height of both sides is relatively lower than that of the middle portion. Meanwhile, the transverse base 32 is also a connecting piece, the lower surface of the transverse base 32 is fixedly connected with the workbench 8 through bolts, and X-direction translation and Z-direction lifting can be realized under the driving of the transverse base. Because the transverse base 32 is internally provided with a plurality of electric elements, in actual production, in order to realize dust prevention and water prevention, the organ protection cover 35 is connected to the upper part of the transverse base, and the organ protection cover 35 can slide on an upper guide rail.

The transverse base 32 has four screw holes in its interior for the fixed connection to the lower plate, a through hole in its middle for the connection of the motor shaft, and a circular hole on its right side for the purpose of passing the air tube and some electrical connection wires through this hole into the transverse base 32.

The three-position five-way solenoid valve 33 is used for controlling the flowing direction, flow, speed and other parameters of gas, and as the device needs to realize a telescopic function, has two limit positions, and needs a position for preventing position uncertainty caused by sudden power failure in the running process, the three-position five-way solenoid valve 33 is used for controlling an actuating mechanism.

Referring to fig. 8, compressed air is transmitted to the apparatus from an air source pipeline configured in a factory through an external triplet, and the compressed air is distributed to two three-position five-way solenoid valves 33 through a three-way pipeline 34 to respectively control the linear cylinders 31 on both sides, the compressed air flows into the cylinders from the air inlet to push the internal pistons to move, so as to drive the external sliders to move, the gas exhausted from the linear cylinders 31 flows back to the three-position five-way solenoid valves 33 through the air outlet to realize a cycle, the cycle is forward movement, i.e., extending, and the three-position five-way solenoid valves 33 control the reverse flow of the gas flow, i.e., retracting, so that the air inlet and the air outlet of the linear cylinders 31 are arranged.

The Z-direction transmission device 12 adopts a servo electric cylinder which is responsible for moving in the vertical direction and avoiding violent collision in the Z-direction transmission process.

Referring to fig. 14, the Z-direction transmission device 12 is used for supporting all devices thereon and moving up and down, and in order to ensure the transmission stability and carrying capacity, a cylinder 14 of a servo motor is selected as a driving element, the bottom end in the Z direction is required to be fixed, and the whole set of devices are supported, so that a base is designed, the cylinder 14 is fixed on the base through flanges and bolts, and the base is firmly fixed on the ground through anchor bolts.

Referring to fig. 18, in order to maintain the balance of the X-direction transmission device 11, 4 holes are formed in the middle of both sides of the base bottom plate, and the X-direction transmission device 11 is connected with the base through a guide rod 23 to prevent inclination.

Referring to fig. 15, the servo electric cylinder is a modular product in which a servo motor and a ball screw are integrally designed, and includes a servo motor 13, a cylinder body 14, a front end cover 15, a linear displacement sensor 16, and a second ball screw 17, the servo motor 13 is connected to the second ball screw 17, the second ball screw 17 is disposed in the cylinder body 14, and the front end of the cylinder body 14 is provided with the front end cover 15 and the linear displacement sensor 16.

The rotary motion of the servo motor 13 is converted into linear motion through the second ball screw 17-nut transmission pair, and simultaneously the characteristics of the servo motor 13 are as follows: the precise rotating speed control, the precise rotating speed control and the precise torque control are converted into the precise speed control, the precise position control and the precise thrust control, and the device is a brand new revolutionary product for realizing the high-precision linear motion control.

Referring to fig. 13, a power source of the whole transmission system is driven by a servo motor FANUC ∞ 8/3000i type motor, the servo motor 13 is connected with the second ball screw 17 shaft through a diaphragm elastic coupling, a motor base is designed for ensuring the transmission stability of the servo motor 13 and the coupling and enhancing the fixing stability of the motor on a base plate, the right side surface of the motor base is connected with a motor bolt, and the lower bottom surface of the motor base is connected with a hole bolt on the base plate.

Referring to fig. 15, the motion sequence of the transmission is as follows:

the servo motor 13 rotates to drive the coupler to rotate, the coupler transmits the motion to the second ball screw 17, the second ball screw 17 rotates to enable the workbench 8 to move in a translation mode through the ball nut, and the workbench 8 moves to drive the bidirectional grabbing device 1 and the Y-direction transmission device 18 to move in a translation mode.

Referring to fig. 13, since the entire device moves in the X direction during the translation of the table 8, the center of mass of the entire device changes during the translation, which has a certain effect on the motion stability of the device. In order to solve this problem, the hanging pieces 22 are attached to both side surfaces of the bottom plate 19, and the hanging pieces 22 are fixedly attached to the side surfaces of the bottom plate 19 by means of bolt connection.

The guide rod 23 extends out of the Z-direction transmission device 12, and the guide rod 23 moves up and down through a central hole of the hanging piece 22, so that the stability of the whole device in the movement process is improved.

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of the embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

With the increasingly fierce market competition, enterprises want to stand in the fierce competition, and besides the quality and the updating of products, the enterprises need to reduce the cost and provide abundant resource guarantee by large-scale production, so that a foundation is provided for the development of industrial automatic production pipelines.

The world population today is as many as 70 and more people, and the Chinese population alone is as many as 14 and more people. The market preservation quantity of stainless steel vacuum thermal insulation vessels in China reaches 6.25 hundred million in 2015, and the per-capita preservation quantity reaches 0.45 hundred million. Therefore, the demand of the market for the vacuum cup is huge. The invention is used as a working platform for automatic assembly line processing production of the liner and the shell workpieces of the vacuum cup, and has certain market demand. The design realizes that the manual operation of the traditional factory is changed into an automatic assembly line production mode, the workers are released from repeated labor, the 24-hour processing production can be carried out uninterruptedly, and the production cycle is shortened, so that the yield is effectively improved.

TABLE 1 price list of major standard products

In the table above, two servo electric cylinders with unit price of 2800 yuan are selected according to the serial working mode of 6 devices, and the average price of a single working platform is about 930 yuan. The independent design and manufacture of parts in the design and the standard parts such as the socket head cap screws, the air pipes and the cylinder joints used for connection do not appear in the table, and the price of the non-standard parts is approximately 1600 yuan according to the rough estimation. In conclusion, the cost of a single working platform is about 5800 yuan. The design is adopted to replace the traditional manual operation mode, 24-hour uninterrupted production can be realized, and a complete movement period is about 8 seconds. Compared with the situation that workers work for 8 hours every day and monthly wages are about 3500 Yuan, the method has better competitive advantage. The production cost of enterprises can be effectively reduced, the production efficiency is improved, and the market competitiveness is improved.

The key technical problems mainly solved by the invention are as follows:

1. the design meets the flexible production requirement, and is suitable for vacuum cup liners and shells of various sizes and models;

2. the efficient production mode of one-line double-machine is realized;

3. the precise positioning movement of the spatial position is realized by utilizing servo drive and pneumatic drive;

4. the automation of a series of actions is realized by utilizing the control of a single chip microcomputer;

5. the reasonable mechanical structure design realizes the fine adjustment of the positioning precision during the field installation and debugging;

6. realize the modularized design, connect the module according to actual demand, lengthen, shorten the assembly line.

The invention combines the PLC technology, the servo driving technology and the pneumatic driving technology to realize the automatic operation of a mechanical structure so as to realize 'robot exchange', improve the production efficiency, reduce the production cost and realize safe production; the conveying system and the manipulator clamping, positioning and placing system are combined into a whole, so that an industrial robot is replaced at lower cost, and automatic flow line production is realized; the parallel synchronous conveying modular design of each working platform is realized, the actual production requirements are better met, and the flexible production is adapted.

In conclusion, the grabbing platform based on the assembly line disclosed by the invention is designed to meet the flexible production requirement and is suitable for accurately positioning, grabbing and placing the inner containers and the shells of the vacuum cups with various sizes and models. Realize the high-efficient production mode of "one-line two-machine". And the precise positioning movement of the spatial position is realized by utilizing servo drive and pneumatic drive. And the reasonable mechanical structure design realizes fine adjustment of positioning precision during field installation and debugging.

The above-mentioned contents are only for illustrating the technical idea of the present invention, and the protection scope of the present invention is not limited thereby, and any modification made on the basis of the technical idea of the present invention falls within the protection scope of the claims of the present invention.

Claims (10)

1. The utility model provides a snatch platform based on assembly line, which is characterized in that, including workstation (8), workstation (8) set up on X to transmission (11), X is connected through ball and workstation (8) to transmission (11), be used for driving workstation (8) along X to the motion, X is provided with Z to transmission (12) to the below of transmission (11), Z is connected with X to transmission (11) through servo electronic jar to transmission (12), be used for driving X to transmission (11) along Z to the motion, be provided with Y on workstation (8) to transmission (18), Y is provided with two-way grabbing device (1) to the both ends correspondence of transmission (18), Y can drive two-way grabbing device (1) along Y to the motion to transmission (18).

2. The assembly line-based grabbing platform of claim 1, wherein the bidirectional grabbing device (1) comprises a main body fixing block (6), first connecting members (2) are arranged on two sides of the main body fixing block (6), the main body fixing block (6) and the first connecting members (2) are respectively connected with one side of a second connecting member (3), a V-shaped adjusting fixing block (4) is arranged in the center of the other side of the second connecting member (3), one end of the V-shaped adjusting fixing block (4) is connected with the main body fixing block (6) through the second connecting member (3), the other end of the V-shaped adjusting fixing block is connected with a V-shaped block positioning piece (5), and flexible fingers (7) are symmetrically arranged on two sides of the V-shaped adjusting fixing block (4) and the V-shaped block positioning piece (5).

3. The assembly line based gripping platform of claim 2, wherein the V-block positioning member (5) comprises a cylindrical portion which can move up and down in a cylindrical hole in the middle of the V-block adjusting fixing block (4) for adjusting the distance; an infrared distance sensor for detecting whether the workpiece is to be grabbed is arranged above the second connecting component (3).

4. The assembly line-based grabbing platform of claim 1, characterized in that, the X-direction transmission device (11) comprises a bottom plate (19), a bearing seat (20) is arranged on the bottom plate (19), an angular contact ball bearing (21) is arranged in the bearing seat (20), and the Z-direction transmission device (12) is connected with the X-direction transmission device (11) through the bearing seat (20).

5. The assembly line-based gripping platform of claim 4, wherein the bottom plate (19) is provided with a first ball screw (10), rectangular guide rails are arranged on two sides of the first ball screw (10), and the workbench (8) is arranged in the rectangular guide rails and connected with the first ball screw (10).

6. The assembly line-based grabbing platform of claim 4, characterized in that, the bottom plate (19) is provided with pendants (22) on both sides, and guide rods (23) are correspondingly arranged between the pendants (22) and the base of the Z-direction transmission device (12).

7. The assembly line-based grabbing platform of claim 1, characterized in that, the Y-direction transmission device (18) includes a transverse base (32), two ends of the transverse base (32) are correspondingly provided with linear cylinders (31), the air inlets and the air outlets of the linear cylinders (31) are arranged oppositely, the linear cylinders (31) are connected with the bidirectional grabbing device (1) through sliders, and the middle of the transverse base (32) is respectively provided with three-position five-way solenoid valves (33) corresponding to different linear cylinders (31).

8. The assembly line-based grabbing platform of claim 7, characterized in that, the horizontal base (32) is of a groove structure, the linear cylinder (31) and the three-position five-way solenoid valve (33) are both arranged in the horizontal base (32), the horizontal base (32) is provided with an organ protection cover (35), and the lower part of the horizontal base (32) is connected with the workbench (8).

9. The assembly line-based grabbing platform of claim 1, characterized in that, Z to transmission (12) adopts servo electronic jar, includes servo motor (13), and servo motor (13) is connected with second ball (17), and second ball (17) sets up in cylinder body (14), and the front end of cylinder body (14) is provided with front end housing (15) and linear displacement sensor (16).

10. Pipeline based gripping platform according to claim 9, characterized in that the cylinder (14) is fixed on a base, which is fixedly connected to the ground.

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