CN113695117B - Fitting access control method suitable for spraying large-sized workpiece - Google Patents
Fitting access control method suitable for spraying large-sized workpiece Download PDFInfo
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- CN113695117B CN113695117B CN202111050821.2A CN202111050821A CN113695117B CN 113695117 B CN113695117 B CN 113695117B CN 202111050821 A CN202111050821 A CN 202111050821A CN 113695117 B CN113695117 B CN 113695117B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
- B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
- B05B13/0221—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work characterised by the means for moving or conveying the objects or other work, e.g. conveyor belts
- B05B13/0264—Overhead conveying means, i.e. the object or other work being suspended from the conveying means; Details thereof, e.g. hanging hooks
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Abstract
The invention relates to the technical field of automatic spraying, in particular to a fitting access control method suitable for spraying of large-sized workpieces, which comprises the following steps that an L1 hook limits the hook by a hook accompanying limiting device and moves to a workpiece loading station along with the hook before advancing to the workpiece loading station on a hoisting and conveying line; the L2 mechanical arm puts the workpiece on a hook of a hoisting conveying line through the automatic workpiece picking and placing device at a workpiece feeding station; the L3 workpiece moves to a workpiece pose detection and correction station along with the hook on the hoisting and conveying line, and the workpiece pose detection and correction device performs pose detection and correction operation on the workpiece. The method can improve the support stability and the deformation resistance of the workpiece by adopting the automatic workpiece picking and placing device in the workpiece picking and placing process, and the automatic workpiece picking and placing device has wide applicability; the hook that needs to be taken and put by the work piece can be limited by the hook accompanying limiting device before the work piece taking and putting process, and the hook is prevented from shaking in the work piece taking and putting process.
Description
Technical Field
The invention relates to the technical field of automatic spraying, in particular to a fitting access control method suitable for spraying large-sized workpieces.
Background
The working flow of the automatic spraying method for the large-scale plate-shaped workpiece is as follows: the mechanical arm places the workpiece on the hook of the hoisting and conveying line at the feeding station of the workpiece, the workpiece moves to the spraying station of the workpiece along with the hook on the hoisting and conveying line, the spraying equipment sprays paint on the workpiece, the workpiece moves to the discharging station of the workpiece along with the hook on the hoisting and conveying line after being sprayed, and the mechanical arm takes the workpiece off the hook at the discharging station of the workpiece.
The existing automatic spraying method for the workpiece has the following defects: 1. in the process that the mechanical arm places the workpiece on the hanging and transporting line hook or takes the workpiece off the hanging and transporting line hook through the clamp, the clamp is completely connected with the workpiece through vacuum adsorption force, when the workpiece is bigger and heavier, the workpiece can be effectively supported only by generating great vacuum adsorption (otherwise, the workpiece is likely to fall off), but the workpiece is likely to deform due to the great vacuum adsorption force, and the performance of the workpiece is degraded once the workpiece is deformed; 2. in the process that the mechanical arm places the workpiece on or takes off the hanging and transporting line hook through the clamp, the hook generally has a shaking phenomenon, so that the mechanical arm cannot place or take off the workpiece on or from the hook rapidly and effectively; 3. the workpiece can easily deflect during the operation along with the hook, so that the workpiece cannot be effectively painted on the paint spraying station.
Patent application number cn201610374365.X discloses a solar panel vacuum clamp comprising a main body frame, a vacuum system and a secondary protection mechanism; the vacuum system comprises a vacuum electromagnetic valve and a sucker; the secondary protection mechanism comprises a fixed bracket, a first rotating arm, a second rotating arm and a third rotating arm with a claw; one end of the first rotating arm is hinged with the second rotating arm, the second rotating arm is hinged with the third rotating arm with the claw, the first rotating arm is hinged with the fixed bracket, and the third rotating arm with the claw is respectively hinged with the fixed bracket; the hinged part of the first rotating arm and the second rotating arm is also hinged with a push rod; the push rod is fixedly connected with a piston rod of the air cylinder; the cylinder is hinged with the fixed bracket through the rotating block. However, the solar cell panel vacuum clamp is only suitable for cell panels with the same size, and has poor applicability.
Patent application number CN201220004045.2 discloses a reconfigurable pallet for fixing a liquid packaging bag, a pallet plate is arranged on a cutting machine, a cross-shaped groove is formed in the center of the pallet plate, and the cross-shaped groove comprises a fixing groove and a cutting feed groove; the tetrahedron packaging bag clamp assembly comprises two flag-shaped fixing blocks, wherein V-shaped grooves are formed in the flag-shaped fixing blocks, the two flag-shaped fixing blocks are respectively located on two sides of the cutting feed groove, and the two flag-shaped fixing blocks are arranged in a central symmetry mode through the central origin of the cross groove. The clamp can carry out follow-up fixation on the liquid packaging bag. But the pallet is not suitable for pallet fixing of hooks on a hoisting and transporting line.
The patent with the application number of CN202110180728.7 discloses an automatic spraying control method and system for workpiece identification, wherein a workpiece identification module is arranged in front of a spraying station of a workpiece, when the workpiece enters an identification area, a workpiece identification camera is triggered to take a picture, the picture is sent to a server, and the server compares pose information of the picture obtained by current shooting with a picture of the workpiece meeting the spraying requirement to determine whether the pose of the corresponding workpiece meets the spraying requirement. However, the accuracy of the method for detecting and identifying the workpiece pose is low, and an effective solution for automatically correcting the workpiece pose is not provided.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a fitting access control method suitable for spraying large-scale workpieces, wherein in the process of taking and placing workpieces, the support stability and the deformation resistance of the workpieces are improved by adopting an automatic workpiece taking and placing device, and the automatic workpiece taking and placing device has wide applicability; before the workpiece taking and placing process, limiting the hook which needs to be taken and placed by the workpiece through the hook accompanying limiting device, so that the hook is prevented from shaking in the workpiece taking and placing process; before the workpiece is subjected to paint spraying operation, the workpiece to be painted is subjected to pose detection and correction through the workpiece pose detection and correction device, so that the workpiece can be effectively painted at a paint spraying station.
The technical scheme adopted for solving the technical problems is as follows: a fitting access control method suitable for spraying large-scale workpieces comprises the following steps,
before the L1 hook advances to the workpiece feeding station on the hoisting and conveying line, the hook is limited by the hook accompanying limiting device and moves to the workpiece feeding station along with the hook;
the L2 mechanical arm puts the workpiece on a hook of a hoisting conveying line through the automatic workpiece picking and placing device at a workpiece feeding station;
the L3 workpiece moves to a workpiece pose detection and correction station along with the hook on the hoisting and conveying line, and the workpiece pose detection and correction device performs pose detection and correction operation on the workpiece;
the L4 workpiece moves to a workpiece paint spraying station along with the hook on the hoisting and conveying line, and paint spraying operation is carried out on the workpiece by paint spraying equipment;
the L5 workpiece moves to the workpiece blanking station along with the hook after the hook is limited by the hook following limiting device along with the hook before the hook moves to the workpiece blanking station on the hoisting and conveying line;
the L6 mechanical arm takes the workpiece off the hook of the hoisting and conveying line at the workpiece blanking station through the workpiece automatic taking and placing device.
Preferably, in the steps L2 and L6, the step of connecting the mechanical arm with the workpiece through the automatic workpiece picking and placing device comprises,
The method comprises the steps that S1, a controller controls a mechanical arm to move a workpiece automatic picking and placing device to the back surface of a workpiece, and a first clamping plate is aligned with a first clamping surface, and a second clamping plate is aligned with a second clamping surface;
s2, the controller controls the first clamping plate driving part to start so that the first clamping plate pushes the first clamping surface to adjust the position of the clamping seat in the first direction and reset; the controller controls the second clamping plate driving part to start so that the second clamping plate pushes the second clamping surface to adjust the position of the clamping seat in the second direction and reset; the first direction is the width direction of the workpiece, and the second direction is the length direction of the workpiece;
s3, the controller controls the first clamping plate driving part to be started again so as to clamp the two first clamping plates and the first clamping surface of the clamping seat, and simultaneously controls the second clamping plate driving part to be started again so as to clamp the two second clamping plates and the second clamping surface of the clamping seat;
s4, the controller controls the telescopic driving component to start so that the mechanical arm and the supporting component approach to the supporting board II along with the supporting board I until the adsorption piece on the supporting component contacts with the back surface of the workpiece;
s5, the controller controls the vacuum adsorption component to start so as to enable the adsorption component to be in vacuum adsorption with the back surface of the workpiece.
Preferably, before the step S1, the method further comprises
S0, installing a guide support piece on the telescopic rod of the first clamping plate driving component and the telescopic rod of the second clamping plate driving component.
Preferably, in the steps L1 and L5, the step of limiting the hook by the hook follower limiting device includes,
the T1 hook position detector detects whether the hook reaches a set position before a workpiece feeding station or a workpiece discharging station, if so, the information that the hook reaches is sent to the controller; if not, re-entering T1;
after receiving the information that the hook arrives, the T2 controller controls the second travelling mechanism to start so as to push the hook fixing piece into contact with the hook, and controls the hook fixing piece to start so as to enable the hook fixing piece to be fixedly connected with the hook;
the T3 controller controls the first travelling mechanism to start so as to push the second travelling mechanism, the hook fixing piece and the hook to the workpiece feeding station/the workpiece discharging station together;
and T4, after the hooks finish the corresponding workpiece loading and unloading operation, the controller controls the hook fixing piece to be separated from the hooks, and sequentially controls the second travelling mechanism and the first travelling mechanism to reset.
Preferably, the step that the hook fixing piece is connected with the hook in the T2 comprises the step that the controller controls the switch to be closed, the power supply supplies power to the coil, and the coil is matched with the iron core after being electrified so that the adsorption plate generates magnetic attraction force connected with the hook.
Preferably, in the step L3, the step of performing the pose detection and correction operation on the workpiece by the workpiece pose detection and correction device includes,
the method comprises the steps that a K1 hook position detection mechanism detects whether a hook enters a workpiece pose correction station, if yes, a workpiece positioning signal is sent to a controller, the controller controls the hook to stop running after receiving the workpiece positioning signal, and sends a workpiece waiting correction signal to a first workpiece pose correction mechanism; if not, re-entering L1;
the method comprises the steps that K2, a first workpiece position correcting mechanism receives a workpiece to-be-corrected signal and then carries out hook position correcting operation on a hook, the hook position correcting operation is completed to send a hook position correcting operation completion signal to a controller, and the controller receives the hook position correcting operation completion signal and then sends a workpiece position to-be-detected signal to a workpiece position detecting mechanism;
the K3 workpiece position detection mechanism detects the position of the workpiece after receiving a workpiece position signal to be detected, judges whether the workpiece has a left-right offset phenomenon, if so, sends a workpiece offset signal to the controller, and sends a workpiece position adjustment signal to the second workpiece pose correction mechanism after receiving the workpiece offset signal; if not, entering L5;
the K4 second workpiece pose correcting mechanism receives a workpiece signal to be adjusted and then carries out workpiece offset correcting operation on the workpiece, and a workpiece offset correcting operation completion signal is sent to the controller after the workpiece offset correcting operation is completed;
And the K5 controller controls the first workpiece pose correcting mechanism and the second workpiece pose correcting mechanism to reset, and the hook continues to operate.
Preferably, the detecting mechanism for detecting the position of the hook in the K1 specifically includes that the infrared transmitter transmits an infrared signal, the infrared receiver receives a corresponding infrared signal, and when the infrared receiver receives the infrared signal, the hook is judged not to enter the workpiece pose correcting station; when the infrared receiver does not receive the infrared signal, the hook is judged to enter a workpiece pose correcting station.
Preferably, the first workpiece pose correcting mechanism in the K2 carries out the pose correcting operation of the hook on the hook, specifically comprises,
the K21 first air cylinder is started to enable the output end of the first air cylinder to extend, and the supporting frame moves to the hook correcting clamp to be in butt joint with the hook through the output end of the first air cylinder;
the K22 first driving motor is started to enable the hook correcting clamp to rotate, and the hook correcting clamp introduces the hook into the limiting space in the rotating process.
Preferably, the detecting mechanism for detecting whether the workpiece is shifted left or right in the K3 embodiment includes that the first infrared emitter and the second infrared emitter emit infrared signals, the first infrared receiver receives the infrared signals emitted by the first infrared emitter, the second infrared receiver receives the infrared signals emitted by the second infrared emitter, and when the first infrared receiver or the second infrared receiver does not receive the infrared signals, the workpiece is judged to be shifted left or right; otherwise, judging that the left-right offset phenomenon of the workpiece does not occur.
Preferably, the second workpiece pose correction mechanism in K4 performs workpiece offset correction operation on the workpiece, specifically including,
k41 second cylinder A is activated to extend correction rod A to be located on the first side of the workpiece hook body, while second cylinder B is activated to extend correction rod B to be located on the second side of the workpiece hook body;
k42 second driving motor A and second driving motor B start so as to make the lead screw rotate;
the K43 transmission nut A and the transmission nut B move in opposite directions through a first thread section and a second thread section which are oppositely and symmetrically arranged on the screw rod until the correcting rod A and the correcting rod B clamp the workpiece hook body.
Advantageous effects
1. The method can improve the support stability and the deformation resistance of the workpiece by adopting the automatic workpiece picking and placing device in the workpiece picking and placing process, and the automatic workpiece picking and placing device has wide applicability; 2. according to the method, the hook which needs to be taken and placed for the workpiece can be limited by the hook follow limiting device before the workpiece taking and placing process, so that the hook is prevented from shaking during the workpiece taking and placing process, and the mechanical arm can take and place the workpiece more quickly and effectively; 3. the method can detect and correct the pose of the workpiece to be painted by the workpiece pose detection and correction device before the workpiece is painted, so that the workpiece can be painted effectively at a painting station.
Drawings
FIG. 1 is a schematic view of the structure of a work piece loading/unloading station of the present invention;
FIG. 2 is a schematic view of a support assembly according to the present invention;
FIG. 3 is a schematic view of the structure of the workpiece of the present invention;
FIG. 4 is a schematic view of a clamping mechanism according to the present invention;
FIG. 5 is a schematic view of a clamping mechanism according to another embodiment of the present invention;
FIG. 6 is a schematic view of the guide support of the present invention;
FIG. 7 is a schematic view of the structure of the height adjustment bracket of the present invention;
FIG. 8 is a schematic view of a first clamping plate according to the present invention;
FIG. 9 is a schematic view of a hook follower limit device of the present invention;
FIG. 10 is a schematic diagram of a second walking mechanism of the present invention;
FIG. 11 is a schematic view of the hook fastener of the present invention;
FIG. 12 is a schematic view showing the structure of the workpiece pose detection and correction device in the initial state;
FIG. 13 is a schematic view of the work piece pose detection and correction device of the present invention in the working state;
FIG. 14 is a schematic view of a first workpiece pose correction mechanism according to the present invention;
FIG. 15 is a schematic view of a second workpiece pose correction mechanism according to the present invention;
fig. 16 is a side view of the workpiece pose detection and correction device of the present invention.
Detailed Description
The technical scheme of the invention is further described below by the specific embodiments with reference to the accompanying drawings.
Examples: a fitting access control method suitable for spraying large-scale workpieces comprises the following steps,
before the L1 hook 5 advances to the workpiece feeding station on the hoisting and conveying line, the hook follow limiting device limits the hook 5 and moves to the workpiece feeding station along with the hook 5. According to the invention, the hook which needs to be placed on the workpiece is limited by the hook accompanying limiting device before the workpiece is fed, so that the hook can be prevented from shaking in the process of placing the workpiece.
The L2 mechanical arm puts the workpiece 1 on the hook 5 of the hoisting and conveying line through the automatic workpiece taking and putting device at the workpiece feeding station. According to the invention, the automatic workpiece picking and placing device is adopted in the workpiece placing process to improve the supporting stability and deformation resistance of the workpiece.
The L3 workpiece 1 moves to a workpiece pose detection and correction station along with the hook 5 on the hoisting and conveying line, and the workpiece pose detection and correction device performs pose detection and correction operation on the workpiece 1. Before the workpiece is subjected to paint spraying operation, the workpiece to be painted is subjected to pose detection and correction through the workpiece pose detection and correction device, so that the workpiece can be effectively painted at a subsequent paint spraying station.
The L4 workpiece 1 moves to a workpiece paint spraying station along with the hook 5 on the hoisting and conveying line, and paint spraying equipment performs paint spraying operation on the workpiece 1.
The L5 workpiece 1 moves along with the hook 5 to the workpiece blanking station along with the hook 5 before moving on the hoisting and conveying line. According to the hook follow limiting device, the hook which needs to be taken down by the workpiece is limited by the hook follow limiting device before the workpiece is fed down, so that the hook can be prevented from shaking in the process of taking down the workpiece.
The L6 mechanical arm takes the workpiece 1 off the hook 5 of the hoisting and conveying line at the workpiece blanking station through the workpiece automatic taking and placing device. According to the invention, the automatic workpiece taking and placing device is adopted in the workpiece taking and placing process, so that the supporting stability and the deformation resistance of the workpiece are improved.
In the L2 and L6, the step of connecting the mechanical arm with the workpiece 1 through the workpiece automatic picking and placing device comprises the steps of,
the S1 controller controls the mechanical arm to move the workpiece automatic picking and placing device to the back surface of the workpiece 1, and enables the first clamping plate 3-7 to be aligned with the first clamping surface 3-1a and the second clamping plate 3-8 to be aligned with the second clamping surface 3-1b.
S2, the controller controls the first clamping plate driving part 3-5 to start so that the first clamping plate 3-7 pushes the first clamping surface 3-1a to adjust the position of the clamping seat 3-1 in the first direction and reset; the controller controls the second clamping plate driving part 3-6 to start so that the second clamping plate 3-8 pushes the second clamping surface 3-1b to adjust the position of the clamping seat 3-1 in the second direction and reset; wherein the first direction is the width direction of the workpiece 1, and the second direction is the length direction of the workpiece 1.
The S3 controller controls the first clamping plate driving part 3-5 to be started again so as to clamp the two first clamping plates 3-7 with the first clamping surface 3-1a of the clamping seat 3-1, and simultaneously controls the second clamping plate driving part 3-6 to be started again so as to clamp the two second clamping plates 3-8 with the second clamping surface 3-1b of the clamping seat 3-1.
And S4, the controller controls the telescopic driving component 3-3 to start so that the mechanical arm and the supporting component approach to the supporting board two 3-4 along with the supporting board one 3-2 until the absorbing component 2-1 on the supporting component contacts with the back surface of the workpiece 1.
S5, the controller controls the vacuum adsorption component to start so as to enable the adsorption component 2-1 to be in vacuum adsorption with the back surface of the workpiece 1.
In this embodiment, the automatic workpiece picking and placing device includes a support assembly, a vacuum adsorption assembly and a clamping mechanism. As shown in fig. 1 to 3, the support assembly includes a first support bar 1-1, a second support bar 1-2 vertically connected to the first support bar 1-1 and used for mounting the vacuum adsorption assembly, and a third support bar 1-3 vertically connected to the first support bar 1-1 and used for mounting a robot arm connection base 1-4. The vacuum adsorption assembly includes an adsorption member 2-1, an adsorption member mounting frame 2-2 for connecting the adsorption member 2-1 and the second support rod 2-2, a vacuum generator 2-3 provided on the second support rod 2-2, and an air pipe connecting the vacuum generator 2-3 and the adsorption member 2-1. The length of each air tube is equal so that the suction force generated by each suction member 2-1 is approximately the same. As shown in fig. 4 and 5, the clamping mechanism comprises a clamping seat 3-1 connected with the workpiece 1 and a clamping assembly connected with the first supporting rod 1-1. The clamping seat 3-1 is provided with a first clamping surface 3-1a and a second clamping surface 3-1b which are mutually perpendicular, the clamping seat 4-1 is fixedly connected with the back rib of the workpiece 1 through a connecting hole and an expansion bolt, and the first clamping surface 3-1a and the second clamping surface 3-1b are provided with two armholes. The clamping assembly comprises a first supporting plate 3-2 connected with the first supporting rod 1-1, a telescopic driving component 3-3 connected with the first supporting plate 3-2, a second supporting plate 3-4 connected with the movable end of the telescopic driving component 3-3, a first clamping plate driving component 3-5 and a second clamping plate driving component 3-6 connected with the second supporting plate 3-4, a first clamping plate 3-7 connected with the movable end of the first clamping plate driving component 3-5 and used for being matched and connected with the first clamping surface 3-1a, and a second clamping plate 3-8 connected with the movable end of the second clamping plate driving component 3-6 and used for being matched and connected with the second clamping surface 3-1 b.
When the automatic workpiece taking and placing device is connected with the workpiece 1, the supporting force is mainly provided by the clamping mechanism, and the clamping mechanism acts on the back rib of the workpiece 1 instead of directly acting on the plate surface of the workpiece 1, so that the automatic workpiece taking and placing device has the function of effectively connecting the mechanical arm and the workpiece 1 and can prevent the workpiece 1 from deforming; in addition, the automatic workpiece taking and placing device is connected with the workpiece 1 in an auxiliary mode through the vacuum adsorption assembly, the vacuum adsorption force provided by the vacuum adsorption assembly can be slightly smaller, and the mechanical arm and the workpiece 1 are better in connection stability on the premise that deformation of the workpiece 1 can be avoided. Secondly, after the first clamping plate 3-7 and the second clamping plate 3-8 are connected and fixed with the clamping seat 3-1, the position of the workpiece 1 relative to the mechanical arm is accurate and non-deflected (because the position of the clamping seat 3-1 relative to the workpiece 1 is fixed, and deflection cannot occur after the clamping seat 3-1 is connected with the clamping plate). Furthermore, when the suction member 2-1 of the vacuum suction assembly is separated from the workpiece 1, the clamping mechanism is fixedly connected with the clamping seat 3-1, so that the acting force for preventing the workpiece 1 from moving along with the suction member 2-1 of the vacuum suction assembly can be improved, and the workpiece 1 can be prevented from shaking on the hoisting and conveying line greatly due to the residual suction force of the suction member 2-1 when the automatic workpiece taking and placing device is separated from the workpiece 1. Finally, the automatic workpiece taking and placing device provided by the invention can be suitable for workpieces 3 with different sizes, and has strong applicability.
In addition, before the step S1, a step S0 is further included of attaching a guide support to the telescopic rod of the first clamping plate driving member 5-4 and the second clamping plate driving member 5-5. The clamping seat 3-1 on the workpiece 1 is clamped and fixed through the clamping plate, the clamping plate provides supporting force through the telescopic rod, and when the workpiece 1 is large and heavy, the supporting force can not be enough provided by the telescopic rod, so that the guide supporting piece is arranged on the supporting plate II 3-4 to assist in supporting the telescopic rod.
As shown in fig. 6 and 7, the guide support includes a guide support sleeve 3-9, a guide support frame 3-10 connected to the support plate two 3-4, and a height adjustment frame 3-11 connecting the guide support sleeve 3-9 and the guide support frame 3-10. The height adjusting frame 3-11 comprises two height adjusting plates 3-11a which are arranged in parallel, a bearing plate 3-11b which is connected with the first length direction end of the two height adjusting plates 3-11a, a connecting rod 3-11c which is connected with the second length direction end of the two height adjusting plates 3-11a, and a clamping sleeve 3-11d which is connected with the connecting rod 3-11 c. The guide support frame 3-10 comprises two support plate bodies 3-10a which are arranged in parallel, a connecting plate 3-10b which is connected with the first length direction end of the two support plate bodies 3-10a, and a support frame connecting seat 3-10c which is arranged at the second length direction end of the support plate body 3-10a and is used for being connected with the second support plate 3-4. The supporting plate body 3-10a is provided with a height adjusting cavity which allows the height adjusting plate 3-11a to move back and forth along the length direction of the supporting plate body 3-10a, and the supporting plate body is also provided with a height adjusting hole 3-10d which allows the connecting rod 3-11c to move along with the height adjusting plate 3-11 a. The guide support sleeve 3-9 comprises two support half sleeves which are arranged in a half omega shape, and a hinge part which connects the two support half sleeves. The supporting half sleeve comprises an arc-shaped clamping part and a horizontal connecting part, the horizontal connecting part is used for being connected with the bearing plate 3-11b, and the bearing plate 3-11b is also provided with an arc-shaped notch 3-11e which is in butt joint with the omega-shaped opening of the guide supporting sleeve 3-9.
In this embodiment, the specific use method of the guide support member is as follows, firstly, the support frame connecting seat 3-10c of the guide support frame 3-10 is connected and fixed with the support plate two 3-4, then the clamping sleeve 3-11d is moved so that the axial end of the clamping sleeve 3-11d is not contacted with the side surface of the support plate body, then the height adjusting frame 3-11 is moved along the length direction of the support plate body until the telescopic rod is just positioned in the arc-shaped notch 3-11e of the bearing plate 3-11b, then the guide support sleeve 3-9 is mounted on the telescopic rod, the horizontal connecting part of the guide support sleeve 3-9 is connected and fixed with the bearing plate 3-11b, finally, the clamping sleeve 3-11d is moved so that the axial end of the clamping sleeve 3-11d is contacted with the side surface of the support plate body, and then a large friction force is generated after the clamping sleeve 3-11d is contacted with the side surface of the support plate body, so that the clamping sleeve 3-11d and the support plate body cannot relatively move, thereby playing a role of fixing the height adjusting frame 3-11.
The inner arc wall of the arc-shaped clamping part can be provided with a ball accommodating groove, and a ball is arranged in the ball accommodating groove. The sliding friction force between the telescopic rod and the guide support sleeve 3-9 can be reduced through the arrangement of the balls, so that the influence of the guide support piece on the normal telescopic movement of the telescopic rod is avoided.
The clamping sleeve 3-9 comprises a sleeve body in threaded connection with the connecting rod 3-11c and a friction disc arranged at one axial end of the sleeve body, and the contact side of the supporting plate body and the friction disc is frosted. The clamping sleeve 3-9 is rotated by threads to adjust the position of the clamping sleeve on the connecting rod 3-11c, so that the friction disc is contacted with or not contacted with the supporting plate body. The diameter of the friction disc is larger than that of the sleeve body, so that strong relative friction force can be generated after the friction disc is contacted with the support plate body arranged by sanding, and the height adjusting frame 3-11 is supported sufficiently and does not move.
As shown in fig. 8, the first clamping plate 3-7 includes a first clamping plate body 3-7a and a second clamping plate body 3-7b that are overlapped. The first side surface of the first clamping plate body 3-7a is connected with the movable end of the first clamping plate driving component 3-5, the second side surface is provided with a pressure detector accommodating groove 3-7c, and a pressure detector connected with the first clamping plate driving component 3-5 is arranged in the pressure detector accommodating groove 3-7c. And friction increasing grains are arranged on the contact side of the second clamping plate body 3-7b and the first clamping surface 3-1 a.
In this embodiment, the first side surface and the second side surface of the first clamping plate body 3-7a are disposed opposite to each other, and the first clamping plate body 3-7a is provided with two pressure detector accommodating grooves 3-7c along the length direction thereof. The pressure detectors are used to detect the contact pressure between the first clamping plates 3-7 and the clamping seat 3-1, and can be used to determine whether the position of the workpiece 1 is correct (when the difference between the pressure values detected by the two pressure detectors on the same first clamping plate 3-7 is smaller than the allowable range, the workpiece 1 is adjusted to be undeflected, and when the detected pressures of the two first clamping plates 3-7 are the same, the workpiece 1 is at the correct position), and to determine whether the clamping operation is completed (when the detected pressures of the two first clamping plates 3-7 are the same as the required clamping pressure, the clamping operation of the first clamping plate 3-7 and the workpiece 1 is completed).
The structure of the second clamping plate 3-8 is the same as that of the first clamping plate 3-7, and the working principle is the same.
In the L1 and L5, the step of limiting the hook 5 by the hook follow-up limiting device comprises the following steps,
the T1 hook position detector 3 detects whether the hook 5 reaches a set position before a workpiece loading station or before a workpiece unloading station, if so, the information that the hook has reached is sent to the controller; if not, then T1 is re-entered.
After receiving the information that the hook has arrived, the T2 controller controls the second travelling mechanism to start so as to push the hook fixing piece into contact with the hook 5, and controls the hook fixing piece to start so as to enable the hook fixing piece to be fixedly connected with the hook 5.
The T3 controller controls the first travelling mechanism to start so as to push the second travelling mechanism, the hook fixing piece and the hook 5 to the workpiece feeding station/the workpiece discharging station together.
And T4, after the hooks 5 finish the corresponding workpiece loading and unloading operation, the controller controls the hook fixing piece to be separated from the hooks 5, and sequentially controls the second travelling mechanism and the first travelling mechanism to reset.
In this embodiment, the specific structure of the hook following limiting device is shown in fig. 9, and the hook following limiting device comprises a base, a first travelling mechanism arranged on the base, a second travelling mechanism connected with the first travelling mechanism, a hook fixing piece connected with the second travelling mechanism, and a hook position detector 3 arranged on the base.
As shown in fig. 9 and 10, the first traveling mechanism includes a traveling driving motor 4-1, a screw rod 4-2 connected to an output end of the traveling driving motor 4-1, a driving nut 4-3 connected to the screw rod 4-2, a guide rail 4-4 provided on the base in the same direction as the screw rod 4-2, a guide block 4-5 connected to the guide rail 4-4, and a support body 4-6 connecting the driving nut 4-3 and the guide block 4-5. The screw 4-2 adopts a ball screw for converting rotational motion into linear motion. When the walking driving motor 4-1 is started, the screw rod 4-2 can be driven to rotate, when the screw rod 4-2 rotates, the transmission nut 4-3 can linearly move on the screw rod 4-2, and the support body 4-6 and the guide block 4-5 can be driven to move in the process of linearly moving the transmission nut 4-3. The number of the guide rails 4-4 is two, and the guide rails are symmetrically arranged on two sides of the screw rod 4-2. The arrangement of the guide rail 4-4 and the guide block 4-5 ensures that the stability of the support body 4-6 in the straight reciprocating operation process is better.
As shown in fig. 10, the second traveling mechanism includes a support base plate 5-1 connected to the support body 4-6, and a traveling driving cylinder 5-2 provided on the support base plate 5-1, and an output end of the traveling driving cylinder 5-2 is connected to the hanger fixing member. In the present embodiment, the support substrate 5-1 is connected to the support body 4-6, and can perform linear reciprocating movement together with the support body 4-6. The supporting body 4-6 is a right-angle trapezoid body, the top surface of the supporting body 4-6 is in contact connection with the supporting plate 5-1, the bottom surface of the supporting body 4-6 is fixedly connected with the guide block 4-5, and the right-angle side surface of the supporting body 4-6 is fixedly connected with the transmission nut 4-3. The bottom of the supporting substrate 5-1 is provided with a connecting plate pair 5-4 in contact connection with two opposite vertical side surfaces of the supporting body 4-6, a connecting hole is formed in a connecting plate of the connecting plate pair 5-4, and a butt joint through hole which is connected with the connecting hole in a matched mode through a connecting piece is formed in the supporting body 4-6. The connection may be a bolt and a nut. When the second travelling mechanism is assembled with the first travelling mechanism, the supporting substrate 5-1 is only required to be placed at the top of the supporting body 4-6, and then the connecting holes of the connecting plate pairs 5-4 and the butt joint through holes of the supporting body 4-6 are connected and fixed through bolts and nuts, so that the assembling operation is very simple and convenient.
As shown in fig. 11, the hook fixing member includes a housing 6-1, an adsorption plate 6-2 embedded in the housing 6-1 facing the hook 5 side, an iron core 6-3 provided inside the housing 6-1 and connected to the adsorption plate 6-2, a coil 6-4 wound on the iron core 6-3, a switch 6-5 connected to the coil 6-4, and a power supply 6-6 connected to the switch 6-5.
In this embodiment, when the hook fixing member needs to be connected with the hook 5, the controller controls the switch 6-5 to be closed, the power supply 6-6 supplies power to the coil 6-4, and the coil 6-4 is matched with the iron core 6-3 after being electrified to enable the adsorption plate 6-2 to generate magnetic attraction, so that the adsorption plate 6-2 can be connected and fixed with the metal hook 5. When the hook fixing piece needs to be separated from the hook 5, the controller controls the switch 6-5 to be disconnected, the power supply 6-6 stops supplying power to the coil 6-4, and the adsorption plate 6-2 loses magnetic attraction after the coil 6-4 is powered off, so that the adsorption plate 6-2 can be separated from the metal hook 5.
According to the method, the hook 5 on the hoisting and conveying line can be limited and fixed through the hook follow limiting device, so that the phenomenon of shaking is avoided, and further, the mechanical arm can more quickly and effectively take and put workpieces.
In addition, the supporting base plate 5-1 is also provided with a second guide rail 5-3 which has the same moving direction as the hook fixing piece, and the bottom of the shell 6-1 is provided with a guide groove which is connected with the second guide rail 5-3 in a matching way. Through the arrangement of the second guide rail 5-3 and the guide groove, the stability of the hook fixing piece in the linear reciprocating operation process is better.
In the L3, the step of carrying out the pose detection and correction operation on the workpiece 1 by the workpiece pose detection and correction device comprises the steps of,
the K1 hook position detection mechanism 7 detects whether the hook 5 enters a workpiece pose correction station, if yes, a workpiece positioning signal is sent to the controller, the controller receives the workpiece positioning signal and then controls the hook 5 to stop running and sends a workpiece waiting correction signal to the first workpiece pose correction mechanism 8; if not, L1 is re-entered.
And the K2 first workpiece pose correcting mechanism 8 receives a workpiece pose correcting signal and then carries out the hook pose correcting operation on the hook 5, the hook pose correcting operation is completed to send a hook pose correcting operation completion signal to the controller, and the controller receives the hook pose correcting operation completion signal and then sends a workpiece position detecting signal to be detected to the workpiece position detecting mechanism 9.
The K3 workpiece position detection mechanism 9 detects the position of the workpiece after receiving the workpiece position signal to be detected, judges whether the workpiece has a left-right offset phenomenon, if so, sends a workpiece offset signal to the controller, and sends a workpiece position adjustment signal to the second workpiece pose correction mechanism 10 after receiving the workpiece offset signal; if not, L5 is entered.
And K4, after receiving the workpiece signal to be adjusted, the second workpiece pose correcting mechanism 10 carries out workpiece offset correcting operation on the workpiece, and after the workpiece offset correcting operation is finished, a workpiece offset correcting operation finishing signal is sent to the controller.
The K5 controller controls the first workpiece pose correcting mechanism 8 and the second workpiece pose correcting mechanism 10 to reset, and the hook 5 continues to operate.
In this embodiment, the specific structure of the workpiece pose detection and correction device is as shown in fig. 12 and 13, and the workpiece pose detection and correction device comprises a hook position detection mechanism 7, a first workpiece pose correction mechanism 8, a workpiece position detection mechanism 9 and a second workpiece pose correction mechanism 10.
As shown in fig. 16, the hook position detecting mechanism 7 includes a first hanger bracket 7-1 disposed on a first side of the hanging and transporting line, a second hanger bracket 7-2 disposed on a second side of the hanging and transporting line, an infrared transmitter 7-3 disposed on the first hanger bracket 7-1, and an infrared receiver 7-4 disposed on the second hanger bracket 7-2 and interfacing with the infrared transmitter 7-3.
The workpiece 1 is hung with a hook 5 on the hoisting and transporting line through a hook body of the workpiece 1, and a hook position detection mechanism 7 is used for determining the position of the hook 5 on the hoisting and transporting line. The detection mechanism 1 for detecting the position of the hook in the K1 specifically comprises that an infrared transmitter 7-3 transmits an infrared signal, an infrared receiver 7-4 receives the corresponding infrared signal, and when the infrared receiver 7-4 receives the infrared signal, the hook 5 is judged not to enter the workpiece position correcting station; when the infrared receiver 7-4 does not receive the infrared signal, it is determined that the hook 5 has entered the work posture correcting station.
As shown in fig. 14, the first workpiece pose correcting mechanism 8 includes a base plate 8-1, a first cylinder 8-2 provided on the base plate 8-1, a sliding support 8-3 connected to an output end of the first cylinder 8-2, a first driving motor 8-4 mounted on the sliding support 8-3, and a hook correcting clamp 8-5 connected to an output end of the first driving motor 8-4. The hook correcting clamp 8-5 comprises a straight clamping plate and guide plates which are bent and connected with the first length direction end of the straight clamping plate, the second length direction end of the straight clamping plate is connected with the output end of the first driving motor 8-4, a limiting space for correcting the hook 5 is formed between the two straight clamping plates, and a guide space for guiding the hook 5 into the limiting space is formed between the two guide plates.
When the hook position detection mechanism 7 detects that the hooks 5 just pass through the position between the first hanging bracket 7-1 and the second hanging bracket 7-2, the controller immediately controls the hanging transportation line to stop running, and then the positions of the hooks 5 are determined. There are two main cases of workpiece deflection: first, the hanger 5 rotates relative to the hoisting line, and the workpiece 1 and the hanger 5 are in the same plane, so that the workpiece 1 is also deflected in rotation. Second, the workpiece 1 is deviated left and right relative to the hook 5. The first workpiece pose correcting mechanism 8 is mainly used for correcting the first deflection condition of the workpiece 1. The first workpiece pose correcting mechanism 2 in the K2 carries out the hanger pose correcting operation on the hanger 5, and specifically comprises the steps that the K21 first air cylinder 8-2 is started to enable the output end of the first air cylinder to extend, and the supporting frame 8-3 moves to the hanger correcting clamp 8-5 to be in butt joint with the hanger 5 through the output end of the first air cylinder 8-2. The K22 first driving motor 8-4 is started to enable the hook correcting clamp 8-5 to rotate, and the hook correcting clamp 8-5 guides the hook 5 into the limiting space in the rotating process. When the hook 5 enters the limiting space, the rotation deflection of the hook 5 is corrected, and the rotation deflection of the workpiece 1 is corrected. When the hook correcting clamp 8-5 is required to be separated from the hook 5, only the first driving motor 8-4 is required to reversely rotate. In addition, the sliding support frame 8-3 performs guiding movement through the vertical plate and the guiding chute 8-6 in the moving process, so that the moving effect of the sliding support frame 8-3 is better.
As shown in fig. 16, the workpiece position detecting mechanism 9 includes a first main frame 9-1 and a second main frame disposed at a first side of the lifting line, a first sub-frame 9-2 and a second sub-frame disposed at a second side of the lifting line, an infrared transmitter 9-3 disposed on the first main frame 9-1, an infrared transmitter second disposed on the second main frame, an infrared receiver 9-4 disposed on the second sub-frame 9-2 and abutting against the infrared transmitter 9-3, and an infrared receiver second disposed on the second sub-frame and abutting against the infrared transmitter second.
The workpiece position detecting mechanism 9 is mainly used for detecting whether the workpiece 1 is deflected left and right relative to the hook 5. After the deflection correcting operation of the first workpiece position correcting mechanism 8 on the hook 5 is completed, the controller controls the workpiece position detecting mechanism 9 to start. The workpiece position detection mechanism 9 in the K3 detects whether a left-right offset phenomenon occurs on a workpiece or not, wherein the detection mechanism specifically comprises an infrared emitter I9-3 and an infrared emitter II which emit infrared signals, an infrared receiver I9-4 receives the infrared signals emitted by the infrared emitter I9-3, an infrared receiver II receives the infrared signals emitted by the infrared emitter II, and when the infrared receiver I9-4 or the infrared receiver II does not receive the infrared signals, the left-right offset phenomenon occurs on the workpiece; otherwise, judging that the left-right offset phenomenon of the workpiece does not occur.
As shown in fig. 15, the second workpiece pose correcting mechanism 10 includes a base plate 10-1, a second driving motor a10-2a and a second driving motor B10-2B disposed on the base plate 10-1, a driving screw 10-3 connected to the output ends of the second driving motor a10-2a and the second driving motor B10-2B, a driving nut a10-4a connected to a first threaded section on the driving screw 10-3, a driving nut B10-4B connected to a second threaded section on the driving screw 10-3, a second cylinder a10-5a connected to the driving nut a10-4a, a second cylinder B10-5B connected to the driving nut B10-4B, and a correcting rod a10-6a connected to the output end of the second cylinder a10-5a and a correcting rod B10-6B connected to the output end of the second cylinder B10-5B, wherein the first threaded section and the second threaded section are disposed in a reverse symmetry.
If the workpiece position detection mechanism 9 detects that the workpiece 1 is shifted left and right relative to the hook 5, the controller controls the second workpiece pose correction mechanism 10 to be started so as to correct the second deflection condition of the workpiece 1. The second workpiece pose correcting mechanism 10 in K4 specifically includes that the second cylinder a10-5a in K41 is activated to extend the correcting rod a10-6a to be located at the first side of the workpiece hook, and the second cylinder B10-5B is activated to extend the correcting rod B10-6B to be located at the second side of the workpiece hook. K42 second drive motor A10-2a and second drive motor B10-2B are activated to rotate lead screw 10-3. The K43 transmission nut A10-4a and the transmission nut B10-4B move in opposite directions through the first thread section and the second thread section which are symmetrically arranged on the screw rod 10-3 until the correcting rod A10-6a and the correcting rod B10-6B clamp the hook body of the workpiece, and at the moment, the left-right deflection of the workpiece is corrected.
According to the workpiece pose detection and correction method, whether the workpiece 1 enters a workpiece pose correction station or not can be determined through the hook position detection mechanism 7, the rotation deflection of the workpiece 1 can be corrected through the first workpiece pose correction mechanism 8, whether the workpiece 1 deflects left and right or not can be determined through the workpiece position detection mechanism 9, the left and right deflection of the workpiece 1 can be corrected through the second workpiece pose correction mechanism 10, and therefore the purpose of automatically and efficiently detecting and correcting the pose of the workpiece to be sprayed is achieved.
The above examples are only illustrative of the preferred embodiments of the present invention and do not limit the spirit and scope of the present invention. Various modifications and improvements of the technical scheme of the present invention will fall within the protection scope of the present invention without departing from the design concept of the present invention, and the technical content of the present invention is fully described in the claims.
Claims (6)
1. A fitting access control method suitable for spraying large-scale workpieces is characterized in that: the method comprises the following steps:
before the L1 hook (5) advances to the workpiece feeding station on the hoisting and conveying line, the hook follow-up limiting device limits the hook (5) and moves to the workpiece feeding station along with the hook (5);
The L2 mechanical arm puts the workpiece (1) on a hook (5) of a hoisting and conveying line through an automatic workpiece taking and putting device at a workpiece feeding station;
the L3 workpiece (1) moves to a workpiece pose detection and correction station along with the hook (5) on a hoisting and conveying line, and the workpiece pose detection and correction device performs pose detection and correction operation on the workpiece (1);
the L4 workpiece (1) moves to a workpiece paint spraying station along with the hook (5) on the hoisting and conveying line, and paint spraying equipment performs paint spraying operation on the workpiece (1);
the L5 workpiece (1) is moved to a workpiece blanking station along with the hook (5) by the hook following limiting device after the hook (5) advances to the workpiece blanking station on the hoisting and conveying line;
the L6 mechanical arm takes down the workpiece (1) from the hook (5) of the hoisting and conveying line through the automatic workpiece taking-down device at the workpiece blanking station;
in L2 and L6, the step that the arm is connected with work piece (1) through automatic pick-and-place device of work piece includes:
the method comprises the steps that S1, a controller controls a mechanical arm to move a workpiece automatic picking and placing device to the back surface of a workpiece (1) and enables a first clamping plate (3-7) to be aligned with a first clamping surface (3-1 a) and a second clamping plate (3-8) to be aligned with a second clamping surface (3-1 b);
S2, the controller controls the first clamping plate driving part (3-5) to start so that the first clamping plate (3-7) pushes the first clamping surface (3-1 a) to adjust the position of the clamping seat (3-1) in the first direction and reset; the controller controls the second clamping plate driving component (3-6) to start so that the second clamping plate (3-8) pushes the second clamping surface (3-1 b) to adjust the position of the clamping seat (3-1) in the second direction and reset; wherein the first direction is the width direction of the workpiece (1), and the second direction is the length direction of the workpiece (1);
s3, the controller controls the first clamping plate driving component (3-5) to be started again so as to clamp the two first clamping plates (3-7) with the first clamping surfaces (3-1 a) of the clamping seat (3-1), and simultaneously controls the second clamping plate driving component (3-6) to be started again so as to clamp the two second clamping plates (3-8) with the second clamping surfaces (3-1 b) of the clamping seat (3-1);
s4, the controller controls the telescopic driving component (3-3) to start so that the mechanical arm and the supporting component approach to the second supporting plate (3-4) along with the first supporting plate (3-2) until the adsorbing piece (2-1) on the supporting component contacts with the back surface of the workpiece (1);
S5, the controller controls the vacuum adsorption component to start so as to enable the adsorption component (2-1) to be in vacuum adsorption with the back surface of the workpiece (1);
the automatic workpiece picking and placing device comprises a supporting component, a vacuum adsorption component and a clamping mechanism;
the support assembly comprises a first support rod (1-1), a second support rod (1-2) vertically connected with the first support rod (1-1) and used for installing the vacuum adsorption assembly, and a third support rod (1-3) vertically connected with the first support rod (1-1) and used for installing a mechanical arm connecting seat (1-4);
the clamping mechanism comprises a clamping seat (3-1) connected with the workpiece (1) and a clamping assembly connected with the first supporting rod (1-1); the clamping assembly comprises a first supporting plate (3-2) connected with the first supporting rod (1-1), a telescopic driving component (3-3) connected with the first supporting plate (3-2), a second supporting plate (3-4) connected with the movable end of the telescopic driving component (3-3), a first clamping plate driving component (3-5) and a second clamping plate driving component (3-6) connected with the second supporting plate (3-4), a first clamping plate (3-7) connected with the movable end of the first clamping plate driving component (3-5) and used for being in matched connection with the clamping seat (3-1), and a second clamping plate (3-8) connected with the movable end of the second clamping plate driving component (3-6) and used for being in matched connection with the clamping seat (3-1);
In the L3, the step of performing pose detection and correction operation on the workpiece (1) by the workpiece pose detection and correction device comprises the following steps:
the method comprises the steps that a K1 hook position detection mechanism (7) detects whether a hook (5) enters a workpiece pose correction station, if yes, a workpiece positioning signal is sent to a controller, the controller receives the workpiece positioning signal and then controls the hook (5) to stop running and sends a workpiece waiting correction signal to a first workpiece pose correction mechanism (8); if not, re-entering L1;
the method comprises the steps that after a K2 first workpiece pose correcting mechanism (8) receives a workpiece pose correcting signal, hooking pose correcting operation is carried out on a hook (5), a hook pose correcting operation completion signal is sent to a controller, and after the controller receives the hook pose correcting operation completion signal, a workpiece position detecting mechanism (9) is sent with a workpiece position detecting signal;
the method comprises the steps that after a workpiece position detection mechanism (9) receives a workpiece position signal to be detected, the position of a workpiece is detected, whether the workpiece is offset left and right is judged, if yes, a workpiece offset signal is sent to a controller, and after the controller receives the workpiece offset signal, a workpiece position correcting mechanism (10) is sent with a workpiece position signal to be adjusted; if not, entering L5;
The K4 second workpiece pose correcting mechanism (10) receives a workpiece signal to be adjusted and then carries out workpiece offset correcting operation on the workpiece, and a workpiece offset correcting operation completion signal is sent to the controller after the workpiece offset correcting operation is completed;
the K5 controller controls the first workpiece pose correcting mechanism (8) and the second workpiece pose correcting mechanism (10) to reset, and the hook (5) continues to operate;
the first workpiece pose correcting mechanism (8) in the K2 carries out the hook pose correcting operation on the hook (5) specifically comprises the following steps:
the K21 first air cylinder (8-2) is started to extend the output end of the first air cylinder, and the supporting frame (8-3) moves to the hook correcting clamp (8-5) to be in butt joint with the hook (5) through the output end of the first air cylinder (8-2);
the K22 first driving motor (8-4) is started to enable the hook correcting clamp (8-5) to rotate, and the hook correcting clamp (8-5) guides the hook (5) into the limiting space in the rotating process;
the workpiece offset correction operation of the second workpiece pose correction mechanism (10) in the K4 specifically comprises the following steps:
k41 second cylinder A (10-5 a) is activated to extend the correction rod A (10-6 a) to be located on the first side of the workpiece hook body, while second cylinder B (10-5B) is activated to extend the correction rod B (10-6B) to be located on the second side of the workpiece hook body;
K42 second driving motor A (10-2 a) and second driving motor B (10-2B) are started to rotate the screw rod (10-3);
the K43 transmission nut A (10-4 a) and the transmission nut B (10-4B) move in opposite directions through a first thread section and a second thread section which are oppositely and symmetrically arranged on the screw rod (10-3) until the correction rod A (10-6 a) and the correction rod B (10-6B) clamp the workpiece hook body.
2. The fitting access control method suitable for large-scale workpiece spraying according to claim 1, wherein: before the S1, also comprises
S0, installing a guide support piece on the telescopic rod of the first clamping plate driving component (5-4) and the second clamping plate driving component (5-5).
3. The fitting access control method suitable for large-scale workpiece spraying according to claim 1, wherein: in L1 and L5, couple accompanying stop device carries out spacing accompanying step to couple (5) and includes:
the T1 hook position detector (3) detects whether the hook (5) reaches a set position before a workpiece feeding station or a workpiece discharging station, if so, the information that the hook has reached is sent to the controller; if not, re-entering T1;
after receiving the information that the hook arrives, the T2 controller controls the second travelling mechanism to start so as to push the hook fixing piece to be in contact with the hook (5), and controls the hook fixing piece to start so as to enable the hook fixing piece to be fixedly connected with the hook (5);
The T3 controller controls the first travelling mechanism to start so as to push the second travelling mechanism, the hook fixing piece and the hook (5) to the workpiece feeding station/the workpiece discharging station together;
and T4, after the corresponding workpiece loading and unloading operation is completed by the hook (5), the controller controls the hook fixing piece to be separated from the hook (5), and sequentially controls the second travelling mechanism and the first travelling mechanism to reset.
4. A fitting access control method suitable for large-scale workpiece spraying according to claim 3, wherein: the step of connecting the hook fixing piece and the hook (5) in the T2 comprises the following steps: the controller controls the switch (6-5) to be closed, the power supply (6-6) supplies power to the coil (6-4), and the coil (6-4) is matched with the iron core (6-3) after being electrified so that the adsorption plate (6-2) generates magnetic attraction force connected with the hook (5).
5. The fitting access control method suitable for large-scale workpiece spraying according to claim 1, wherein: the detection mechanism (7) for detecting the position of the hook in the K1 detects whether the hook (5) enters the workpiece pose correction station or not, and the detection mechanism specifically comprises: an infrared transmitter (7-3) transmits an infrared signal, an infrared receiver (7-4) receives the corresponding infrared signal, and when the infrared receiver (7-4) receives the infrared signal, the hook (5) is judged not to enter a workpiece pose correction station; when the infrared receiver (7-4) does not receive the infrared signal, the hook (5) is judged to enter the workpiece pose correcting station.
6. The fitting access control method suitable for large-scale workpiece spraying according to claim 1, wherein: the workpiece position detection mechanism (9) in the K3 detects whether the workpiece is offset left and right or not specifically comprises: an infrared transmitter I (9-3) and an infrared transmitter II emit infrared signals, an infrared receiver I (9-4) receives the infrared signals emitted by the infrared transmitter I (9-3), an infrared receiver II receives the infrared signals emitted by the infrared transmitter II, and when the infrared receiver I (9-4) or the infrared receiver II does not receive the infrared signals, the workpiece is judged to have a left-right deviation phenomenon; otherwise, judging that the left-right offset phenomenon of the workpiece does not occur.
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| CN205978823U (en) * | 2016-08-10 | 2017-02-22 | 中国建筑第八工程局有限公司 | Pump line fixing device |
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| CN207226275U (en) * | 2017-08-28 | 2018-04-13 | 武汉奋进智能机器有限公司 | Wheel paint line stretched wire fills extension system automatically |
| CN207451408U (en) * | 2017-11-24 | 2018-06-05 | 河南恒泰起重设备有限公司 | A kind of special lifting magnechuck of shaped steel |
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| CN112047068A (en) * | 2020-09-23 | 2020-12-08 | 华兴源创(成都)科技有限公司 | Positioning device |
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