CN112298996B - M5 subassembly stackers of stainbel module transport - Google Patents
M5 subassembly stackers of stainbel module transport Download PDFInfo
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- CN112298996B CN112298996B CN202011047800.0A CN202011047800A CN112298996B CN 112298996 B CN112298996 B CN 112298996B CN 202011047800 A CN202011047800 A CN 202011047800A CN 112298996 B CN112298996 B CN 112298996B
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- cylinder
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- jacquard
- jaw
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/901—Devices for picking-up and depositing articles or materials provided with drive systems with rectilinear movements only
Abstract
The invention relates to a M5 assembly Stainbi module carrying stacker crane, which comprises: the device comprises a position adjusting module, a superposition mould, a first clamping jaw manipulator, an assembly superposition workbench and a top plate clamping mechanism; the first clamping jaw robot is arranged on the position adjusting module, is driven by the position adjusting module to move horizontally or vertically and is used for grabbing the jacquard panel; the component stacking workbench is positioned below the position adjusting module; the superposition mould is arranged on the component superposition workbench and used for bearing a jacquard panel and horizontally and transversely or horizontally and longitudinally moving under the driving of the component superposition workbench; the top plate clamping mechanism is arranged adjacent to the component stacking workbench and used for placing the top plate at the top of the stacked jacquard panels after the jacquard panels are stacked. The invention realizes the automatic stacking of the jacquard panels, does not need manual intervention in the whole process, improves the working efficiency and reduces the labor cost.
Description
Technical Field
The invention relates to the technical field of automatic assembly of textile machinery, in particular to a M5 assembly stanobel module carrying stacker crane.
Background
Jacquard fabric is a product with high technical content and added value in the textile industry of China, and a jacquard head is a key part for realizing jacquard weaving on a jacquard loom. The jacquard panels are generally assembled and then stacked, and a plurality of small-sized parts are mounted on the jacquard panels, the assembled relationship is shown in fig. 1, the M5 stanobel module comprises a jacquard panel bottom plate, a jacquard panel top plate and a jacquard panel middle plate, and the assembled module is shown in fig. 2.
At present, jacquard faucet production enterprises use manpower to assemble the jacquard panels in sequence, and because the jacquard panels are numerous and are provided with a plurality of precise components, the precision is low during manual assembly, the working efficiency is low, and the labor intensity is high.
Disclosure of Invention
The invention provides an M5 assembly stackers for transporting Stainbi modules, aiming at the technical problems in the prior art, and the automatic stacking of jacquard panels and the connection of upper and lower assembly stations are realized.
The technical scheme for solving the technical problems is as follows:
a M5 assembly stanobil module handling stacker, comprising: the device comprises a position adjusting module, a superposition mould, a first clamping jaw manipulator, an assembly superposition workbench and a top plate clamping mechanism;
the first clamping jaw robot is arranged on the position adjusting module, is driven by the position adjusting module to move horizontally or vertically and is used for grabbing the jacquard panel;
the component stacking workbench is positioned below the position adjusting module;
the superposition mould is arranged on the component superposition workbench and used for bearing a jacquard panel and horizontally and transversely or horizontally and longitudinally moving under the driving of the component superposition workbench;
the top plate clamping mechanism is arranged adjacent to the component stacking workbench and used for placing the top plate at the top of the stacked jacquard panels after the jacquard panels are stacked.
The invention has the beneficial effects that: the position adjusting module moves the first clamping jaw robot to a jacquard panel conveying station through horizontal movement or up-and-down movement of the first clamping jaw robot, the jacquard panels are grabbed by the first clamping jaw robot, the position adjusting module drives the first clamping jaw robot to place the jacquard panels on the superposition die, and the steps are repeated for many times to stack a plurality of groups of jacquard panels on the superposition die. Then the assembly stacking workbench drives the stacking mold to horizontally and longitudinally move to the position near the top plate clamping mechanism, the top plate clamping mechanism clamps the top plate and places the top plate on the stacked jacquard panels, finally the assembly stacking workbench drives the stacking mold to horizontally and transversely move, the stacked jacquard panels and the top plate are moved to the next machining station, and the next assembly process is carried out. And after the stacked jacquard panels and the top plate are taken out of the stacking mould at the next station, resetting each component of the stacker crane to stack the next group of jacquard panels. According to the technical scheme, the automatic stacking and carrying of the jacquard panels are realized, manual intervention is not needed in the whole process, the working efficiency is improved, and the labor cost is reduced.
Furthermore, the position adjusting module comprises three direction adjusting cylinders of XYZ axes, wherein the XYZ axes are mutually perpendicular, the X-axis direction adjusting cylinder is a horizontal transverse adjusting cylinder, the Y-axis direction adjusting cylinder is a horizontal longitudinal adjusting cylinder, and the Z-axis direction adjusting cylinder is a vertical direction adjusting cylinder; the fixed part of the X-axis direction adjusting cylinder is fixedly connected with the moving part of the Y-axis direction adjusting cylinder, and the fixed part of the Z-axis direction adjusting cylinder is fixedly connected with the moving part of the X-axis direction adjusting cylinder; and the first clamping jaw mechanical hand is fixedly connected with the moving part of the Z-axis direction adjusting cylinder.
Furthermore, first clamping jaw machine hand is a flat pneumatic finger, including first clamping jaw cylinder and the first clamping jaw of being connected with the removal portion of first clamping jaw cylinder, the fixed part of first clamping jaw cylinder with the removal portion fixed connection of Z axle direction adjusting cylinder.
Further, the first clamping jaw comprises first clamping arms which are arranged in a bilateral symmetry manner; the first clamping arm is of an inverted U-shaped structure and comprises two supporting arms, and the connecting part of the two supporting arms is fixedly connected with the moving part of the first clamping jaw cylinder; the free end of each support arm is provided with a first clamping finger; the two first clamping fingers arranged on each supporting arm are provided with grooves matched with the jacquard panel for clamping the jacquard panel.
Furthermore, the superposition mould comprises a superposition mould panel, and a positioning block and a positioning column which are arranged on the superposition mould panel and used for positioning the jacquard panel.
Furthermore, a groove matched with the first clamping jaw is further formed in the panel of the superposition mould.
Further, the component stacking station includes: a rodless cylinder and a first sliding table cylinder;
the fixed part of the first sliding table cylinder is fixedly connected with the movable part of the rodless cylinder and driven by the rodless cylinder to move horizontally and longitudinally; the superposition mould is fixedly arranged on the moving part of the first sliding table cylinder and is driven by the first sliding table cylinder to move horizontally and transversely.
Further, the top plate clamping mechanism comprises a second clamping jaw robot hand, a second sliding table cylinder and a rotary cylinder; the fixed part of the second sliding table cylinder is fixedly connected with the rotating part of the rotary cylinder; the second clamping jaw manipulator is fixedly connected with the moving part of the second sliding table cylinder; and the second clamping jaw robot hand moves up and down under the driving of the second sliding table cylinder and horizontally rotates under the driving of the rotary cylinder.
Further, second clamping jaw machine hand is a flat pneumatic finger, including second clamping jaw cylinder and the second clamping jaw of being connected with the removal portion of second clamping jaw cylinder, the fixed part of second clamping jaw cylinder with the removal portion fixed connection of second slip table cylinder.
Further, the second clamping jaw comprises second clamping arms which are arranged in a bilateral symmetry manner; each second clamping arm is provided with two second clamping fingers; and grooves matched with the top plate are formed in the second clamping fingers and used for clamping the top plate.
Drawings
FIG. 1 is a schematic view of a jacquard panel structure;
FIG. 2 is a schematic view of the assembled Stainbi module of M5 device;
fig. 3 is a schematic view of an overall structure of a stackers for stackers of M5 modules according to an embodiment of the present invention;
FIG. 4 is a schematic structural diagram of a stack mold according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of a position adjustment module according to an embodiment of the present invention;
fig. 6 is a schematic structural view of a Z-axis direction adjusting cylinder and a first jaw robot according to an embodiment of the present invention;
fig. 7 is a structural schematic diagram of a first jaw robot in a disassembled state according to an embodiment of the present invention;
fig. 8 is a schematic structural diagram of a component stacking work table and a stacking mold according to an embodiment of the present invention;
fig. 9 is a schematic structural diagram of a top plate clamping mechanism according to an embodiment of the present invention;
fig. 10 is a schematic view of the working states of the top plate clamping mechanism, the component stacking workbench and the stacking mold according to the embodiment of the present invention.
In the drawings, the components represented by the respective reference numerals are listed below:
1. the device comprises a position adjusting module, 2, a superposition mould, 3, a first clamping jaw manipulator, 4, a component superposition workbench, 5 and a top plate clamping mechanism; 100. a jacquard panel; 200. a top plate;
11. a Z-axis direction adjusting cylinder, a 12 and X-axis direction adjusting cylinder, and an 13/14 and Y-axis direction adjusting cylinder;
21. a mold panel 211, a positioning block 212, a groove 213-217 and a positioning column are superposed; 2111 to 2114 respectively represent positioning blocks at different positions, and 2121 to 2125 respectively represent grooves at different positions;
31. a first clamping jaw cylinder 32, a first clamping jaw 321/323, a first clamping finger 322 and a first clamping arm;
41. a rodless cylinder 42 and a first sliding table cylinder;
51. the second clamping jaw manipulator comprises a second clamping jaw manipulator body 52, a second sliding table air cylinder 53, a rotary air cylinder 511, a second clamping jaw air cylinder 512, a second clamping arm 513/514 and a second clamping finger.
Detailed Description
The principles and features of this invention are described below in conjunction with the following drawings, which are set forth by way of illustration only and are not intended to limit the scope of the invention.
An embodiment of the present invention provides a stackers for transporting stackers of stanobil modules of M5 modules, as shown in fig. 1, including: the device comprises a position adjusting module 1, a superposition mould 2, a first clamping jaw manipulator 3, an assembly superposition workbench 4 and a top plate clamping mechanism 5;
the first clamping jaw robot 3 is installed on the position adjusting module 1, and is driven by the position adjusting module 1 to horizontally move or vertically move for grabbing the jacquard panel 100;
the component stacking workbench 4 is positioned below the position adjusting module 1;
the superposition mould 2 is arranged on the component superposition workbench 4, is used for bearing the jacquard panel 100 and moves along the horizontal transverse direction or the horizontal longitudinal direction under the driving of the component superposition workbench 4;
the top plate clamping mechanism 5 is arranged adjacent to the component stacking workbench 4 and used for placing the top plate 200 on the top of the stacked jacquard panels 100 after the jacquard panels 100 are stacked.
As a preferred embodiment, the position adjusting module 1, as shown in fig. 5, includes three direction adjusting cylinders having XYZ axes, which are perpendicular to each other. The X-axis direction adjusting cylinder 12 is a horizontal transverse adjusting cylinder, and can be realized by a rodless cylinder. The Y-axis direction adjusting cylinders are horizontal and longitudinal adjusting cylinders, and comprise two cylinders indicated by 13 and 14 in figure 5, the two cylinders are respectively arranged at two ends of the X-axis direction adjusting cylinder, and the two cylinders move synchronously. The Z-axis direction adjusting cylinder 11 is a vertical direction adjusting cylinder; two ends of the X-axis direction adjusting cylinder 12 are respectively and fixedly connected with the moving parts of the Y-axis direction adjusting cylinders 13 and 14, and the fixed part of the Z-axis direction adjusting cylinder 11 is fixedly connected with the moving part of the X-axis direction adjusting cylinder 12; the first clamping jaw mechanical hand 3 is fixedly connected with a moving part of the Z-axis direction adjusting cylinder 11. Through the structure, the first clamping jaw mechanical hand 3 moves up and down and left and right.
As a preferred embodiment, the first jaw robot 3 is a flat pneumatic finger, and as shown in fig. 6 and 7, includes a first jaw cylinder 31 and a first jaw 32 connected to a moving portion of the first jaw cylinder 31, and a fixed portion of the first jaw cylinder 31 is fixedly connected to a moving portion of the Z-axis direction adjusting cylinder 11.
The first clamping jaw 32 comprises first clamping arms 322 which are arranged in a bilateral symmetry manner; the first clamping arm 322 is of an inverted U-shaped structure and comprises two supporting arms, and the connecting part of the two supporting arms is fixedly connected with the moving part of the first clamping jaw cylinder 31; the free end of each support arm is provided with a first clamping finger 321/323; the two first clamping fingers arranged on each support arm are provided with grooves matched with the jacquard panel 100 and used for clamping the jacquard panel 100.
As a preferred embodiment, the overlay mold 2, as shown in fig. 4, includes an overlay mold panel 21, and positioning blocks 211 and positioning columns 213-217 disposed on the overlay mold panel for positioning the jacquard panel; the superimposed mould panel 21 is further provided with a groove 212 matched with the first clamping jaw. In the drawing, 2111 to 2114 respectively represent positioning blocks at different positions, and 2121 to 2125 respectively represent grooves at different positions.
As a preferred embodiment, the component stacking station, as shown in fig. 8, includes: a rodless cylinder 41 and a first slide cylinder 42;
the fixed part of the first sliding table cylinder 42 is fixedly connected with the movable part of the rodless cylinder 41 and moves along the horizontal longitudinal direction under the driving of the rodless cylinder 41; the superposition mould 2 is fixedly arranged on a moving part of the first sliding table air cylinder 42 and moves horizontally and transversely under the driving of the first sliding table air cylinder 42.
As a preferred embodiment, the top plate gripping mechanism 5, as shown in fig. 9, includes a second gripper robot 51, a second slide table cylinder 52, and a revolving cylinder 53; the fixed part of the second sliding table cylinder 52 is fixedly connected with the rotating part of the rotary cylinder 53; the second clamping jaw robot hand 51 is fixedly connected with the moving part of the second sliding table cylinder 52; the second gripper robot 3 moves up and down by being driven by the second slide table cylinder 52, and horizontally rotates by being driven by the revolving cylinder 53.
Specifically, second clamping jaw machine hand is a flat pneumatic finger, including second clamping jaw cylinder 511 and the second clamping jaw of being connected with the removal portion of second clamping jaw cylinder, second clamping jaw cylinder 511's fixed part with the removal portion fixed connection of second slip table cylinder 52. The second clamping jaw comprises second clamping arms 512 which are arranged in a bilateral symmetry manner; each second clamping arm is provided with two second clamping fingers 513/514; and grooves matched with the top plate are formed in the second clamping fingers and used for clamping the top plate.
During operation, as shown in fig. 3 and 10, the position adjusting module moves the first clamping jaw robot horizontally or vertically to grab the jacquard panel on the jacquard panel conveying station, and then the position adjusting module drives the first clamping jaw robot to place the jacquard panel on the stacking mold, and the steps are repeated for a plurality of times to stack a plurality of groups of jacquard panels on the stacking mold. Then the assembly stacking workbench drives the stacking mold to horizontally and longitudinally move to the position near the top plate clamping mechanism, the top plate clamping mechanism clamps the top plate and places the top plate on the stacked jacquard panels, finally the assembly stacking workbench drives the stacking mold to horizontally and transversely move, the stacked jacquard panels and the top plate are moved to the next machining station, and the next assembly process is carried out. And after the stacked jacquard panels and the top plate are taken out of the stacking mould at the next station, resetting each component of the stacker crane to stack the next group of jacquard panels. According to the technical scheme, the automatic stacking and carrying of the jacquard panels are realized, manual intervention is not needed in the whole process, the working efficiency is improved, and the labor cost is reduced.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (9)
1. The utility model provides a M5 subassembly stackers of stanobil module transport which characterized in that includes: the device comprises a position adjusting module (1), a superposition mould (2), a first clamping jaw manipulator (3), a component superposition workbench (4) and a top plate clamping mechanism (5);
the first clamping jaw robot hand (3) is installed on the position adjusting module (1) and is driven by the position adjusting module to horizontally move or vertically move for grabbing the jacquard panel (100);
the component stacking workbench (4) is positioned below the position adjusting module;
the superposition mould (2) is arranged on the component superposition workbench (4) and is used for bearing a jacquard panel (100) and moves along the horizontal transverse direction or the horizontal longitudinal direction under the driving of the component superposition workbench (4);
the top plate clamping mechanism (5) is arranged adjacent to the component stacking workbench (4) and used for placing a top plate on the top of the stacked jacquard panels (100) after the jacquard panels (100) are stacked;
the top plate clamping mechanism (5) comprises a second clamping jaw robot hand (51), a second sliding table cylinder (52) and a rotary cylinder (53); the fixed part of the second sliding table cylinder (52) is fixedly connected with the rotating part of the rotary cylinder (53); the second clamping jaw robot hand (51) is fixedly connected with a moving part of the second sliding table cylinder (52); the second clamping jaw robot hand (51) moves up and down under the driving of a second sliding table air cylinder (52) and rotates horizontally under the driving of a rotary air cylinder (53).
2. A handling stacker crane according to claim 1, wherein the position adjusting module (1) comprises three direction adjusting cylinders of XYZ axes, the XYZ axes being perpendicular to each other, wherein the X-axis direction adjusting cylinder (12) is a horizontal lateral adjusting cylinder, the Y-axis direction adjusting cylinder (13/14) is a horizontal longitudinal adjusting cylinder, and the Z-axis direction adjusting cylinder (11) is a vertical adjusting cylinder; the fixed part of the X-axis direction adjusting cylinder (12) is fixedly connected with the moving part of the Y-axis direction adjusting cylinder (13/14), and the fixed part of the Z-axis direction adjusting cylinder (11) is fixedly connected with the moving part of the X-axis direction adjusting cylinder (12);
and the first clamping jaw mechanical hand (3) is fixedly connected with a moving part of the Z-axis direction adjusting cylinder (11).
3. A handling and palletizing machine according to claim 2, wherein the first jaw robot (3) is a flat pneumatic finger, and comprises a first jaw cylinder (31) and a first jaw (32) connected with a moving part of the first jaw cylinder (31), and a fixed part of the first jaw cylinder (31) is fixedly connected with a moving part of the Z-axis direction adjusting cylinder (11).
4. A handling stacker according to claim 3, wherein said first jaw (32) comprises a first clamping arm (322) arranged bilaterally symmetrically; the first clamping arm (322) is of an inverted U-shaped structure and comprises two supporting arms, and the connecting part of the two supporting arms is fixedly connected with the moving part of the first clamping jaw cylinder (31); the free end of each support arm is provided with a first clamping finger (321/323); two first clamping fingers (321/323) arranged on each support arm are provided with grooves matched with the jacquard panel for clamping the jacquard panel.
5. A handling stacker according to claim 3, characterized in that said superimposed mould (2) comprises a superimposed mould panel (21) and positioning blocks (211) and positioning posts (213) provided on said superimposed mould panel (21) and intended to position the jacquard panel.
6. A handling and stacking machine according to claim 4, characterised in that the superimposed mould panels (21) are also provided with recesses (212) cooperating with the first jaws (32).
7. A handling stacker according to claim 1, wherein said assembly superimposition work station (4) comprises: a rodless cylinder (41) and a first sliding table cylinder (42);
the fixed part of the first sliding table cylinder (42) is fixedly connected with the moving part of the rodless cylinder (41) and moves along the horizontal longitudinal direction under the driving of the rodless cylinder (41); the superposition mould (2) is fixedly arranged on a moving part of the first sliding table cylinder (42) and is driven by the first sliding table cylinder (42) to move along the horizontal direction.
8. The handling stacker according to claim 1, wherein the second jaw robot (51) is a flat pneumatic finger, and comprises a second jaw cylinder (511) and a second jaw connected to the moving part of the second jaw cylinder (511), and the fixed part of the second jaw cylinder (511) is fixedly connected to the moving part of the second sliding table cylinder (52).
9. The transfer stacker of claim 8, wherein the second jaw includes a second clamp arm (512) disposed in left-right symmetry; each second clamping arm (512) is provided with two second clamping fingers (513/514); the second clamping fingers (513/514) are provided with grooves matched with the top plate and used for clamping the top plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011047800.0A CN112298996B (en) | 2020-09-29 | 2020-09-29 | M5 subassembly stackers of stainbel module transport |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011047800.0A CN112298996B (en) | 2020-09-29 | 2020-09-29 | M5 subassembly stackers of stainbel module transport |
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| CN112298996A CN112298996A (en) | 2021-02-02 |
| CN112298996B true CN112298996B (en) | 2022-03-11 |
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| CN110844549A (en) * | 2019-11-29 | 2020-02-28 | 安徽悦得自动化有限公司 | Code robot mechanism is swept to production line multi-angle |
| CN111170022A (en) * | 2020-03-02 | 2020-05-19 | 青岛德隆装备有限公司 | Empty bottle pile up neatly device |
| CN210594293U (en) * | 2019-07-30 | 2020-05-22 | 合肥国轩高科动力能源有限公司 | Square battery cover plate feeding mechanism |
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| JP2001192119A (en) * | 2000-01-06 | 2001-07-17 | Amada Co Ltd | Method and device for carrying out and accumulating workpiece |
| CN203512750U (en) * | 2013-08-29 | 2014-04-02 | 江苏三环实业股份有限公司 | Lead-acid storage battery grid automatic carrying device |
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