CN113895955A - Loading equipment compatible with DTRO flow guide disc and CDRO flow guide disc - Google Patents
Loading equipment compatible with DTRO flow guide disc and CDRO flow guide disc Download PDFInfo
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- CN113895955A CN113895955A CN202111218529.7A CN202111218529A CN113895955A CN 113895955 A CN113895955 A CN 113895955A CN 202111218529 A CN202111218529 A CN 202111218529A CN 113895955 A CN113895955 A CN 113895955A
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- plate
- fixing plate
- sucker
- sucker fixing
- sucking disc
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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
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
- B65G47/918—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers with at least two picking-up heads
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
- B25J15/0683—Details of suction cup structure, e.g. grooves or ridges
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
- B25J9/041—Cylindrical coordinate type
- B25J9/042—Cylindrical coordinate type comprising an articulated arm
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Abstract
The technical scheme of the invention discloses a feeding device compatible with a DTRO flow guide disc and a CDRO flow guide disc, which comprises an SCARA robot, a robot base, a variable-pitch mechanism assembly and a stripping robot electromagnetic valve assembly; the SCARA robot is arranged on a robot base, the variable-pitch mechanism assembly is arranged at the front end of the SCARA robot, and the piece-removing robot electromagnetic valve assembly is arranged on the side surface of the robot base; the variable pitch mechanism component comprises a variable pitch plate, an adjusting plate, a sucker fixing plate I, a sucker fixing plate II, a linear slide rail, a linear slide block, a slide block connecting plate, a sucker connecting plate, a mirror slide block fixing plate, a thin pneumatic finger, a sucker fixing plate III, a sucker component, a cam bearing follower, a cam follower fixing shaft and a cam follower sleeve; the sucker fixing plate I is driven to move by the thin pneumatic finger variable distance, and meanwhile, the sucker fixing plate II is driven to move, so that the compatible feeding of the CDRO flow deflector and the DTRO flow deflector is realized.
Description
Technical Field
The invention belongs to the technical field of automatic assembly equipment of a flow guide disc, and particularly relates to feeding equipment compatible with a DTRO flow guide disc and a CDRO flow guide disc.
Background
DTRO is a disc tube type reverse osmosis membrane, CDRO is a low pressure flat reverse osmosis membrane, and the two are mainly applied to the field of wastewater or sewage concentration treatment. The flow guide disc is an important part of the DTRO assembly and the CDRO assembly, and when the DTRO assembly and the CDRO assembly are assembled, the flow guide disc needs to be transferred to an assembling device to complete feeding of the flow guide disc, so that subsequent assembly of the flow guide disc is performed. But the material loading of present guiding disk adopts the form of artifical transport to go on, wastes time and energy, and inefficiency.
The existing material transfer is mainly realized by clamping or transferring materials by a sucker suction mode, the sucker assembly is usually moved by a complex mechanical arm or moved by a sliding rail, but the sucker assembly can only be moved along the direction of a track when moved by the sliding rail, namely, the moving direction of the sucker is the same as the direction of the sliding rail, and the distance between the suckers is unchanged. Patent CN 110480167B discloses a feeding system of panel laser welding, when snatching to treat welded plate, the interval between the sucking disc is bigger, and later when snatching finished product panel, need reduce the interval between the sucking disc, through setting up the distance between slide mechanism with the adjustment sucking disc. The sliding mechanism comprises a sliding rail, a sliding seat and a third telescopic cylinder, the sliding seat is connected to the sliding rail in a sliding manner, and part of suckers are arranged on the sliding seat; but the direction that the sucking disc removed is the same with the gliding direction of slide on the slide rail, and only install the sucking disc on the slide and can remove to adjust and fixed distance between the sucking disc, in order to realize the change of distance between the sucking disc, the regulation of the position of sucking disc has certain restriction, and the material shape that is suitable for has certain restriction.
Because the radius of DTRO guiding plate and CDRO guiding plate exists the difference, can't use same kind of charging equipment to carry out the guiding plate material loading, and adopt the mode of artifical transport to carry out the guiding plate material loading more. Therefore, there is a need to develop a loading device compatible with the DTRO diaphragm and the CDRO diaphragm to realize automatic detection and loading of the DTRO diaphragm and the CDRO diaphragm.
Disclosure of Invention
In order to solve the technical problem, the invention provides a feeding device compatible with a DTRO (draft gear) deflector and a CDRO (compact disc-read only output) deflector, wherein a sucker fixing plate I is moved while a sucker fixing plate II is driven to move by thin pneumatic finger variable distance, the deflectors are sucked by sucker components on the sucker fixing plate II and the sucker fixing plate I, the compatible CDRO deflector and the DTRO deflector are fed, the operation is simple, and 6 deflectors can be sucked at one time for feeding.
The technical scheme of the invention is as follows: a loading device compatible with a DTRO flow guide disc and a CDRO flow guide disc comprises an SCARA robot, a robot base, a variable pitch mechanism assembly and a stripping robot electromagnetic valve assembly; the SCARA robot is arranged on a robot base, the variable-pitch mechanism assembly is arranged at the front end of the SCARA robot, and the piece-removing robot electromagnetic valve assembly is arranged on the side surface of the robot base;
the variable pitch mechanism component comprises a variable pitch plate, an adjusting plate, a sucker fixing plate I, a sucker fixing plate II, a linear slide rail, a linear slide block, a slide block connecting plate, a sucker connecting plate, a mirror slide block fixing plate, a thin pneumatic finger, a sucker fixing plate III, a sucker component, a cam bearing follower, a cam follower fixing shaft and a cam follower sleeve; the variable-pitch plate is fixedly connected with the SCARA robot, the linear slide rail and the thin pneumatic finger are fixed at the lower end of the variable-pitch plate, the linear slide block is connected onto the linear slide rail in a sliding manner, two clamping jaws of the thin pneumatic finger are fixedly connected with the sucker fixing plate III, and the sucker fixing plate III is connected with the sucker fixing plate II through the sucker connecting plate; the mirror image sliding block fixing plate is fixed at the lower end of the linear sliding block and is connected with the sucker fixing plate I through a sliding block connecting plate, and the sucker component is fixed on the sucker fixing plate II and the sucker fixing plate I; the adjusting plate is arranged between the sucker fixing plate III and the sucker fixing plate II and between the mirror image sliding block fixing plate and the sucker fixing plate I, the adjusting plate is fixed with the sucker fixing plate III, and a guide groove is formed in the position, corresponding to the mirror image sliding block fixing plate, of the adjusting plate; the cam bearing follower and the cam follower sleeve are respectively arranged at two ends of a cam follower fixing shaft, the upper end of the sucker fixing plate I is fixed with the cam follower sleeve, and the upper end of the cam bearing follower is connected in a guide groove of the adjusting plate in a sliding manner.
Furthermore, the variable pitch plate is of a similar rectangular structure, 4 linear slide rails are arranged at 4 corners of the variable pitch plate and arranged along the diagonal of the rectangle, and the thin pneumatic finger is arranged at the center of the variable pitch plate.
Furthermore, the number of the sucker fixing plates III is 2, the number of the mirror image slide block fixing plates is 4, and the mirror image slide block fixing plates, the sucker fixing plates III and the mirror image slide block fixing plates are sequentially arranged along the length direction of the variable pitch plate; the mirror image sliding block fixing plate and the sucker fixing plate III are symmetrically arranged along the width direction of the variable pitch plate; two clamping jaws of the thin pneumatic finger are respectively and fixedly connected with different sucker fixing plates III.
Further, the regulating plate is total 2, extends along the length direction of displacement board, and the guide slot extends along the length direction of displacement board.
Further, set up 2 sucking disc connecting plates between sucking disc fixed plate III and the sucking disc fixed plate II, set up 2 slider connecting plates between mirror image slider fixed plate and the sucking disc fixed plate I, sucking disc connecting plate and slider connecting plate set up the both sides at the regulating plate.
Further, the sucking disc subassembly includes sucking disc, spring and guiding axle, and the sucking disc setting is in the downside, and the both ends of spring are fixed connection sucking disc and guiding axle respectively, and the upper portion fixed mounting of guiding axle is on sucking disc fixed plate II or sucking disc fixed plate I.
Further, the sucking disc subassembly is equilateral triangle distribution on sucking disc fixed plate II and sucking disc fixed plate I, and sucking disc fixed plate II is type square structure, and sucking disc fixed plate I is type trapezium structure. The sucker fixing plate II is of a square-like structure, so that the stability and the bearing of the structure are improved, and the sucker fixing plate I is of a trapezoid-like structure, so that the self weight of the structure is reduced while the structural stability is guaranteed.
Furthermore, the feeding device compatible with the DTRO flow guide disc and the CDRO flow guide disc also comprises a speed regulating valve, a hydraulic buffer assembly and a buffer limiting block; the speed regulating valve is arranged on the thin pneumatic finger and is used for controlling the moving speed of the thin pneumatic finger; the hydraulic buffer assembly and the buffer limiting block are fixedly arranged on the sucker fixing plate III, and the hydraulic buffer assembly is used for buffering a cylinder of the thin pneumatic finger so as to prevent the thin pneumatic finger from shaking too much when starting or closing to enable the flow guide disc adsorbed on the sucker assembly to shake off; the buffer limiting block is used for buffering the clamping jaw of the thin pneumatic finger, absorbing the moving energy of the clamping jaw of the thin pneumatic finger and limiting the clamping jaw of the thin pneumatic finger.
Furthermore, the electromagnetic valve assembly of the piece-removing robot comprises a two-position three-way single-electric control electromagnetic valve, a valve plate, a two-position five-way single-electric control electromagnetic valve, a vacuum generator, an electronic digital display pressure switch and a fixed panel; the vacuum generator is respectively connected with the electronic digital display pressure switch and the sucker assembly, and is used for generating vacuum so as to enable the sucker to generate suction force, and the electronic digital display pressure switch is used for displaying the vacuum degree of the sucker; the two-position five-way single electric control electromagnetic valve is respectively connected with the air circuit and the thin pneumatic finger and is used for controlling the variable distance of the thin pneumatic finger; the two-position five-way single electric control electromagnetic valve and the two-position three-way single electric control electromagnetic valve are both controlled by the SCARA robot.
The invention relates to a working method of a loading device compatible with a DTRO flow guide disc and a CDRO flow guide disc, which comprises the following steps: the SCARA robot controls a thin pneumatic finger to change the distance through a two-position five-way single-electric control solenoid valve, when two clamping jaws of the thin pneumatic finger are opened, a sucker fixing plate III is driven to move outwards along the width direction of a variable distance plate, the sucker fixing plate III drives a sucker fixing plate II to move through a sucker connecting plate, a sucker component on the sucker fixing plate II moves outwards along the width direction of the variable distance plate, meanwhile, the sucker fixing plate III drives an adjusting plate to move, the adjusting plate drives a cam bearing follower to slide outwards in a guide groove, the cam bearing follower moves outwards along the width direction of the variable distance plate while moving outwards along the length direction of the variable distance plate, the cam bearing follower drives a sucker fixing plate I to move through a cam follower fixing shaft and a cam follower sleeve, the sucker fixing plate I drives a linear slide block to move outwards along a linear slide rail through a slide block connecting plate and a mirror slide block fixing plate, therefore, the sucker fixing plate I moves outwards along the direction of the linear slide rail, and the sucker fixing plate I drives the sucker component to move outwards along the direction of the linear slide rail and is matched with the model of the CDRO flow deflector; when two clamping jaws of a thin pneumatic finger are closed, a sucker fixing plate III is driven to move inwards along the width direction of the variable pitch plate, a sucker connecting plate drives a sucker fixing plate II to move, a sucker component on the sucker fixing plate II moves inwards along the width direction of the variable pitch plate, meanwhile, the sucker fixing plate III drives an adjusting plate to move, the adjusting plate drives a cam bearing follower to slide inwards in a guide groove, the cam bearing follower moves inwards along the width direction of the variable pitch plate while moving inwards along the length direction of the variable pitch plate, the cam bearing follower drives a sucker fixing plate I to move through a cam follower fixing shaft and a cam follower sleeve, the sucker fixing plate I drives a linear slide block to move inwards along a linear slide rail through a slide block connecting plate and a mirror slide block fixing plate, so that the sucker fixing plate I moves inwards along the direction of the linear slide rail, and the sucker fixing plate I drives the sucker component to move inwards along the direction of the linear slide rail, the model of the DTRO flow guide disc is matched; SCARA robot produces the vacuum through two tee bend single electric control solenoid valve control vacuum generator, thereby make the sucking disc produce suction, absorb CDRO guiding disc or DTRO guiding disc, 6 guiding discs are once only absorbed to displacement mechanism subassembly, 1 guiding disc is absorbed respectively to the sucking disc subassembly on every sucking disc fixed plate II and the sucking disc fixed plate I, SCARA robot removes displacement mechanism subassembly to belt line top, control vacuum generator cancel vacuum, put down 6 guiding discs, accomplish the material loading of guiding disc.
When the adjusting plate moves outwards along the length direction of the variable pitch plate, force which is outwards along the length direction of the variable pitch plate is generated for the cam bearing follower, the cam bearing follower sequentially transmits the force to the sucker fixing plate I, the slider connecting plate, the mirror image slider fixing plate and the linear slider, so that the linear slider moves outwards along the linear slide rail, meanwhile, the linear slider sequentially transmits the force to the mirror image slider fixing plate, the slider connecting plate, the sucker fixing plate I, the cam follower sleeve, the cam follower fixing shaft and the cam bearing follower, so that the cam bearing follower slides outwards in the guide groove, the cam bearing follower moves outwards along the width direction of the variable pitch plate while moving outwards along the length direction of the variable pitch plate, namely the cam bearing follower moves outwards in the guide groove while moving outwards along the width direction of the variable pitch plate, and meanwhile, the sucker fixing plate I, The slide block connecting plate, the mirror image slide block fixing plate and the linear slide block move outwards along the direction of the linear slide rail.
By adopting the technical scheme, the invention has the following beneficial effects:
(1) according to the invention, the sucker fixing plate II is driven to move by thin pneumatic finger pitch changing, the sucker fixing plate I is moved, the guide discs are sucked by the sucker components on the sucker fixing plate II and the sucker fixing plate I, the compatible loading of the CDRO guide discs and the DTRO guide discs is realized, the operation is simple, 6 guide discs can be sucked at one time for loading, the loading efficiency is high, and the occupied space is small.
(2) Through regulating plate, cam bearing follower, guide slot, linear slide rail and linear slide block interact, when realizing that the regulating plate removes along the variable pitch board width direction, sucking disc fixed plate I removes along linear slide rail's direction to through slim pneumatic finger displacement, realize sucking disc fixed plate II and sucking disc fixed plate I and remove simultaneously, stable in structure, the energy consumption is low, and the fault rate is low.
(3) Through the electromagnetic valve component of the piece removing robot and the SCARA robot control guided flow disc, the automatic feeding is realized, the accuracy is high, and the beat can reach 1 s/piece.
(4) Speed adjustment and buffering are carried out to the action of slim pneumatic finger through speed governing valve, hydraulic buffer subassembly and buffering stopper, cushions the sucking disc through the spring, prevents that the guiding disc from dropping from the sucking disc, guarantees the stability of material loading.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic structural view of a pitch change mechanism assembly;
FIG. 3 is a front view of a pitch mechanism assembly;
FIG. 4 is a bottom view of the pitch mechanism assembly;
FIG. 5 is a side view of a pitch mechanism assembly;
FIG. 6 is a schematic structural view of a linear slide rail, a linear slider and a mirror slider fixing plate in a pitch change mechanism assembly;
FIG. 7 is a schematic structural diagram of a pitch plate and a linear slide rail;
FIG. 8 is a schematic view of a cam bearing follower;
FIG. 9 is a schematic structural view of a speed regulating valve, a hydraulic damper assembly and a damping stop;
fig. 10 is a schematic structural diagram of a solenoid valve assembly of the detaching robot.
In the figure, a distance-changing plate 1, an adjusting plate 2, a sucker fixing plate I3, a sucker fixing plate II 4, a linear slide rail 5, a linear slider 6, a slider connecting plate 7, a sucker connecting plate 8, a mirror image slider fixing plate 9, a thin pneumatic finger 10, a sucker fixing plate III 11, a sucker assembly 12, a cam bearing follower 13, a cam follower fixing shaft 14, a cam follower sleeve 15, a guide groove 16, a speed regulating valve 17, a hydraulic buffer assembly 18, a buffer limiting block 19, a SCARA robot 20, a robot base 21, a distance-changing mechanism assembly 22, a piece-removing robot solenoid valve assembly 23, a sucker 121, a spring 122, a guide shaft 123, a two-position three-way single electric control solenoid valve 231, a valve plate 232, a two-position five-way single electric control solenoid valve 233, a vacuum generator 234, a digital display pressure switch 235 and a fixing panel 236.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
Example 1
Referring to fig. 1-10, a loading apparatus compatible with DTRO and CDRO flow guide discs includes a SCARA robot 20, a robot base 21, a pitch change mechanism assembly 22, and a stripping robot solenoid valve assembly 23; the SCARA robot 20 is arranged on a robot base 21, the variable-pitch mechanism assembly 22 is arranged at the front end of the SCARA robot 20, and the piece-removing robot electromagnetic valve assembly 23 is arranged on the side surface of the robot base 21;
the variable pitch mechanism component 22 comprises a variable pitch plate 1, an adjusting plate 2, a sucker fixing plate I3, a sucker fixing plate II 4, a linear slide rail 5, a linear slide block 6, a slide block connecting plate 7, a sucker connecting plate 8, a mirror image slide block fixing plate 9, a thin pneumatic finger 10, a sucker fixing plate III 11, a sucker component 12, a cam bearing follower 13, a cam follower fixing shaft 14 and a cam follower sleeve 15; the variable pitch plate 1 is fixedly connected with the SCARA robot 20, the linear slide rail 5 and the thin pneumatic finger 10 are fixed at the lower end of the variable pitch plate 1, the linear slide block 6 is connected to the linear slide rail 5 in a sliding manner, two clamping jaws of the thin pneumatic finger 10 are fixedly connected with the sucker fixing plate III 11, and the sucker fixing plate III 11 is connected with the sucker fixing plate II 4 through the sucker connecting plate 8; the mirror image sliding block fixing plate 9 is fixed at the lower end of the linear sliding block 6, the mirror image sliding block fixing plate 9 is connected with the sucker fixing plate I3 through the sliding block connecting plate 7, and the sucker component 12 is fixed on the sucker fixing plate II 4 and the sucker fixing plate I3; the adjusting plate 2 is arranged between the sucker fixing plate III 11 and the sucker fixing plate II 4 and between the mirror image sliding block fixing plate 9 and the sucker fixing plate I3, the adjusting plate 2 is fixed with the sucker fixing plate III 11, and a guide groove 16 is arranged at the position, corresponding to the mirror image sliding block fixing plate 9, of the adjusting plate 2; the cam bearing follower 13 and the cam follower sleeve 15 are respectively arranged at two ends of the cam follower fixing shaft 14, the upper end of the sucker fixing plate I3 is fixed with the cam follower sleeve 15, and the upper end of the cam bearing follower 13 is connected in a sliding way in a guide groove 16 of the adjusting plate 2.
Furthermore, the variable pitch plate 1 is of a similar rectangular structure, 4 linear slide rails 5 are arranged at 4 corners of the variable pitch plate 1 and are arranged along a diagonal of the rectangle, and the thin pneumatic finger 10 is arranged at the center of the variable pitch plate 1.
Furthermore, the number of the sucker fixing plates III 11 is 2, the number of the mirror image slide block fixing plates 9 is 4, and the mirror image slide block fixing plates 9, the sucker fixing plates III 11 and the mirror image slide block fixing plates 9 are sequentially arranged along the length direction of the pitch-variable plate 1; the mirror image slide block fixing plate 9 and the sucker fixing plate III 11 are symmetrically arranged along the width direction of the variable pitch plate 1; two clamping jaws of the thin pneumatic finger 10 are fixedly connected with different sucker fixing plates III 11 respectively.
Further, the adjusting plates 2 are 2 in number and extend along the length direction of the variable pitch plate 1, and the guide grooves 16 extend along the length direction of the variable pitch plate 1.
Further, set up 2 sucking disc connecting plates 8 between sucking disc fixed plate III 11 and the sucking disc fixed plate II 4, set up 2 slider connecting plates 7 between mirror image slider fixed plate 9 and the sucking disc fixed plate I3, sucking disc connecting plate 8 and slider connecting plate 7 set up the both sides at regulating plate 2.
Further, the sucking disc assembly 12 comprises a sucking disc 121, a spring 122 and a guide shaft 123, the sucking disc 121 is arranged on the lower side, two ends of the spring 122 are respectively and fixedly connected with the sucking disc 121 and the guide shaft 123, and the upper portion of the guide shaft 123 is fixedly installed on the sucking disc fixing plate II 4 or the sucking disc fixing plate I3.
Further, sucking disc subassembly 12 is equilateral triangle distribution on sucking disc fixed plate II 4 and sucking disc fixed plate I3, and sucking disc fixed plate II 4 is type square structure, and sucking disc fixed plate I3 is type trapezium structure.
Further, the loading device compatible with the DTRO flow guide disc and the CDRO flow guide disc further comprises a speed regulating valve 17, a hydraulic buffer assembly 18 and a buffer limiting block 19; the speed regulating valve 17 is arranged on the thin pneumatic finger 10 and is used for controlling the moving speed of the thin pneumatic finger 10; the hydraulic buffer assembly 18 and the buffer limiting block 19 are fixedly arranged on the sucker fixing plate III 11, and the hydraulic buffer assembly 18 is used for buffering a cylinder of the thin pneumatic finger 10 to prevent the thin pneumatic finger 10 from shaking too much when starting or closing so as to prevent the flow guide disc adsorbed on the sucker assembly 12 from shaking off; the buffer limiting block 19 is used for buffering the clamping jaw of the thin pneumatic finger 10, absorbing the energy of the movement of the clamping jaw of the thin pneumatic finger 10 and limiting the clamping jaw of the thin pneumatic finger 10.
Further, the electromagnetic valve assembly 23 of the piece-removing robot comprises a two-position three-way single-electric-control electromagnetic valve 231, a valve plate 232, a two-position five-way single-electric-control electromagnetic valve 233, a vacuum generator 234, an electronic digital display pressure switch 235 and a fixed panel 236; the fixed panel 236 is fixedly connected with the robot base 21, the valve plate 232 is fixedly installed on the fixed panel 236, one end of the valve plate 232 is connected with an air circuit, the other end of the valve plate 232 is connected with the vacuum generator 234 through the two-position three-way single-electric-control electromagnetic valve 231, the vacuum generator 234 is respectively connected with the electronic digital display pressure switch 235 and the sucker component 12, the vacuum generator 234 is used for generating vacuum, so that the sucker 121 generates suction force, and the electronic digital display pressure switch 235 is used for displaying the vacuum degree of the sucker 121; the two-position five-way single electric control solenoid valve 233 is respectively connected with the air circuit and the thin pneumatic finger 10 and is used for controlling the variable distance of the thin pneumatic finger 10; the two-position five-way single electric control solenoid valve 233 and the two-position three-way single electric control solenoid valve 231 are both controlled by the SCARA robot 20.
Further, the cam bearing follower 13 is of a urethane coating type.
Further, the sucker fixing plate III 11 and the mirror image sliding block fixing plate 9 are located at the same height, the sucker fixing plate II 4 and the sucker fixing plate I3 are located at the same height, and the sucker component 12 is located at the same height.
The working method of the loading apparatus compatible with the DTRO diaphragm and the CDRO diaphragm in this embodiment 1 includes the following specific steps: the SCARA robot 20 controls the thin pneumatic finger 10 to change the distance through a two-position five-way single-electric control solenoid valve 233, when two clamping jaws of the thin pneumatic finger 10 are opened, the sucking disc fixing plate III 11 is driven to move outwards along the width direction of a distance changing plate 1, the sucking disc fixing plate III 11 drives a sucking disc fixing plate II 4 to move through a sucking disc connecting plate 8, the sucking disc fixing plate III 11 drives an adjusting plate 2 to move, the adjusting plate 2 drives a cam bearing follower 13 to slide outwards in a guide groove 16, the cam bearing follower 13 moves outwards along the length direction of the distance changing plate 1 and simultaneously moves outwards along the width direction of the distance changing plate 1, the cam bearing follower 13 drives a sucking disc fixing plate I3 to move through a cam follower fixing shaft 14 and a cam follower sleeve 15, the sucking disc fixing plate I3 drives a linear slide block 6 to move outwards along a linear slide rail 5 through a slide block connecting plate 7 and a mirror slide block fixing plate 9, therefore, the sucker fixing plate I3 moves outwards along the direction of the linear slide rail 5, and the sucker fixing plate I3 drives the sucker component 12 to move outwards along the direction of the linear slide rail 5 and is matched with the model of the CDRO flow deflector; when two clamping jaws of the thin pneumatic finger 10 are closed, the suction cup fixing plate III 11 is driven to move inwards along the width direction of the variable pitch plate 1, the suction cup fixing plate II 4 is driven to move through the suction cup connecting plate 8, meanwhile, the suction cup fixing plate III 11 drives the adjusting plate 2 to move, the adjusting plate 2 drives the cam bearing follower 13 to slide inwards in the guide groove 16, the cam bearing follower 13 moves inwards along the width direction of the variable pitch plate 1 while moving inwards along the length direction of the variable pitch plate 1, the cam bearing follower 13 drives the suction cup fixing plate I3 to move through the cam follower fixing shaft 14 and the cam follower sleeve 15, the suction cup fixing plate I3 drives the linear slider 6 to move inwards along the linear slide rail 5 through the slider connecting plate 7 and the mirror slider fixing plate 9, so that the suction cup fixing plate I3 moves inwards along the direction of the linear slide rail 5, and the suction cup component 12 is driven by the suction cup fixing plate I3 to move inwards along the direction of the linear slide rail 5, the model of the DTRO flow guide disc is matched; SCARA robot 20 controls vacuum generator 234 through two tee bend list electric control solenoid valves 231 and produces the vacuum, thereby make sucking disc 121 produce the suction, absorb CDRO guiding disc or DTRO guiding disc, distance-changing mechanism subassembly 22 once only absorbs 6 guiding discs, sucking disc subassembly 12 on every sucking disc fixed plate II 4 and the sucking disc fixed plate I3 absorbs 1 guiding disc respectively, SCARA robot 20 removes distance-changing mechanism subassembly 22 to belt line top, control vacuum generator 234 and cancel the vacuum, put down 6 guiding discs, accomplish the material loading of guiding disc.
After the flow guide disc box body is conveyed to a flow guide disc feeding station through the box body conveying line, the box body is positioned below the variable pitch mechanism assembly 22 through the box body positioning device, and then the flow guide disc is fed through feeding equipment compatible with a DTRO flow guide disc and a CDRO flow guide disc, wherein the box body conveying line and the box body positioning device are in the prior art. The SCARA robot 20 moves the variable pitch mechanism assembly 22 to the position above the belt line, and after the diversion disc is put down and the feeding is completed, the belt line conveys the diversion disc for subsequent treatment.
Claims (10)
1. The utility model provides a loading equipment of compatible DTRO guiding disc and CDRO guiding disc which characterized in that: comprises an SCARA robot (20), a robot base (21), a variable pitch mechanism component (22) and a stripping robot electromagnetic valve component (23); the SCARA robot (20) is arranged on a robot base (21), the variable-pitch mechanism assembly (22) is arranged at the front end of the SCARA robot (20), and the electromagnetic valve assembly (23) of the piece-removing robot is arranged on the side surface of the robot base (21);
the variable pitch mechanism component (22) comprises a variable pitch plate (1), an adjusting plate (2), a sucker fixing plate I (3), a sucker fixing plate II (4), a linear slide rail (5), a linear slider (6), a slider connecting plate (7), a sucker connecting plate (8), a mirror image slider fixing plate (9), a thin pneumatic finger (10), a sucker fixing plate III (11), a sucker component (12), a cam bearing follower (13), a cam follower fixing shaft (14) and a cam follower sleeve (15); the variable-pitch plate (1) is fixedly connected with the SCARA robot (20), the linear slide rail (5) and the thin pneumatic finger (10) are fixed at the lower end of the variable-pitch plate (1), the linear slide block (6) is connected onto the linear slide rail (5) in a sliding manner, two clamping jaws of the thin pneumatic finger (10) are fixedly connected with the sucker fixing plate III (11), and the sucker fixing plate III (11) is connected with the sucker fixing plate II (4) through the sucker connecting plate (8); the mirror image sliding block fixing plate (9) is fixed at the lower end of the linear sliding block (6), the mirror image sliding block fixing plate (9) is connected with the sucker fixing plate I (3) through a sliding block connecting plate (7), and the sucker component (12) is fixed on the sucker fixing plate II (4) and the sucker fixing plate I (3); the adjusting plate (2) is arranged between the sucker fixing plate III (11) and the sucker fixing plate II (4) and between the mirror image sliding block fixing plate (9) and the sucker fixing plate I (3), the adjusting plate (2) is fixed with the sucker fixing plate III (11), and a guide groove (16) is arranged at the position, corresponding to the mirror image sliding block fixing plate (9), of the adjusting plate (2); the cam bearing follower (13) and the cam follower sleeve (15) are respectively arranged at two ends of a cam follower fixing shaft (14), the upper end of the sucker fixing plate I (3) is fixed with the cam follower sleeve (15), and the upper end of the cam bearing follower (13) is connected in a sliding way in a guide groove (16) of the adjusting plate (2).
2. The DTRO diaphragm and CDRO diaphragm compatible loading apparatus of claim 1, wherein: the variable pitch plate (1) is of a similar rectangular structure, 4 linear slide rails (5) are distributed at 4 corner positions of the variable pitch plate (1) and are arranged along a rectangular diagonal, and the thin pneumatic fingers (10) are arranged at the center of the variable pitch plate (1).
3. The DTRO diaphragm and CDRO diaphragm compatible loading apparatus of claim 1, wherein: the number of the sucker fixing plates III (11) is 2, the number of the mirror image sliding block fixing plates (9) is 4, and the mirror image sliding block fixing plates (9), the sucker fixing plates III (11) and the mirror image sliding block fixing plates (9) are sequentially arranged along the length direction of the variable pitch plate (1); the mirror image sliding block fixing plate (9) and the sucker fixing plate III (11) are symmetrically arranged along the width direction of the variable pitch plate (1); two clamping jaws of the thin pneumatic finger (10) are respectively and fixedly connected with different sucker fixing plates III (11).
4. The DTRO diaphragm and CDRO diaphragm compatible loading apparatus of claim 1, wherein: the adjusting plates (2) are 2 in number and extend along the length direction of the variable-pitch plate (1), and the guide grooves (16) extend along the length direction of the variable-pitch plate (1).
5. The DTRO diaphragm and CDRO diaphragm compatible loading apparatus of claim 1, wherein: set up 2 sucking disc connecting plates (8) between sucking disc fixed plate III (11) and sucking disc fixed plate II (4), set up 2 slider connecting plates (7) between mirror image slider fixed plate (9) and sucking disc fixed plate I (3), sucking disc connecting plate (8) and slider connecting plate (7) set up the both sides in regulating plate (2).
6. The DTRO diaphragm and CDRO diaphragm compatible loading apparatus of claim 1, wherein: sucking disc subassembly (12) include sucking disc (121), spring (122) and guiding axle (123), and sucking disc (121) set up in the downside, and fixed connection sucking disc (121) and guiding axle (123) are distinguished at the both ends of spring (122), and the upper portion fixed mounting of guiding axle (123) is on sucking disc fixed plate II (4) or sucking disc fixed plate I (3).
7. The DTRO diaphragm and CDRO diaphragm compatible loading apparatus as claimed in claim 1 or 6, wherein: sucking disc subassembly (12) are equilateral triangle distribution on sucking disc fixed plate II (4) and sucking disc fixed plate I (3), and sucking disc fixed plate II (4) are type square structure, and sucking disc fixed plate I (3) are type trapezium structure.
8. The DTRO diaphragm and CDRO diaphragm compatible loading apparatus of claim 1, wherein: the feeding equipment compatible with the DTRO flow guide disc and the CDRO flow guide disc also comprises a speed regulating valve (17), a hydraulic buffer assembly (18) and a buffer limiting block (19); the speed regulating valve (17) is arranged on the thin pneumatic finger (10) and is used for controlling the moving speed of the thin pneumatic finger (10); the hydraulic buffer component (18) and the buffer limiting block (19) are fixedly arranged on the sucker fixing plate III (11), the hydraulic buffer component (18) is used for buffering a cylinder of the thin pneumatic finger (10), and the phenomenon that the thin pneumatic finger (10) shakes too much when being started or closed to enable a flow guide plate adsorbed on the sucker component (12) to shake off is prevented; the buffer limiting block (19) is used for buffering the clamping jaw of the thin pneumatic finger (10), absorbing the moving energy of the clamping jaw of the thin pneumatic finger (10) and limiting the clamping jaw of the thin pneumatic finger (10).
9. The DTRO diaphragm and CDRO diaphragm compatible loading apparatus of claim 1, wherein: the electromagnetic valve component (23) of the piece-removing robot comprises a two-position three-way single-electric-control electromagnetic valve (231), a valve plate (232), a two-position five-way single-electric-control electromagnetic valve (233), a vacuum generator (234), an electronic digital display pressure switch (235) and a fixed panel (236); the robot comprises a fixed panel (236), a robot base (21), a valve plate (232), a suction cup assembly (12), a vacuum generator (234), a two-position three-way single-electric control solenoid valve (231), a two-position three-way single-electric control solenoid valve (235), a vacuum generator (234), a vacuum display pressure switch (235), a vacuum degree display pressure switch (235) and a vacuum controller (2), wherein the fixed panel (236) is fixedly connected with the robot base (21), the valve plate (232) is fixedly arranged on the fixed panel (236), one end of the valve plate (232) is connected with an air circuit, the other end of the valve plate (232) is connected with the vacuum generator (234) through the two-position three-way single-electric control solenoid valve (231), the vacuum generator (234) is respectively connected with the electronic digital display pressure switch (235), the vacuum degree display pressure switch (235) is used for generating vacuum, so that the suction cup (121) generates suction force, and the electronic digital display pressure switch (235) is used for displaying the vacuum degree of the suction cup (121); the two-position five-way single-electric control electromagnetic valve (233) is respectively connected with the air circuit and the thin pneumatic finger (10) and is used for controlling the variable distance of the thin pneumatic finger (10); the two-position five-way single electric control electromagnetic valve (233) and the two-position three-way single electric control electromagnetic valve (231) are controlled by the SCARA robot (20).
10. The DTRO diaphragm and CDRO diaphragm compatible loading apparatus of claim 1, wherein: the working method of the loading equipment compatible with the DTRO flow guide disc and the CDRO flow guide disc comprises the following specific steps: the SCARA robot (20) controls a thin pneumatic finger (10) to change the distance through a two-position five-way single-electric control electromagnetic valve (233), when two clamping jaws of the thin pneumatic finger (10) are opened, a sucker fixing plate III (11) is driven to move outwards along the width direction of a variable distance plate (1), the sucker fixing plate III (11) drives a sucker fixing plate II (4) to move through a sucker connecting plate (8), meanwhile, the sucker fixing plate III (11) drives an adjusting plate (2) to move, the adjusting plate (2) drives a cam bearing follower (13) to slide outwards in a guide groove (16), the cam bearing follower (13) moves outwards along the width direction of the variable distance plate (1) while moving outwards along the length direction of the variable distance plate (1), the cam bearing follower (13) drives a sucker fixing plate I (3) to move through a cam follower fixing shaft (14) and a cam follower sleeve (15), the sucker fixing plate I (3) drives the linear slider (6) to move outwards along the linear slide rail (5) through the slider connecting plate (7) and the mirror image slider fixing plate (9), so that the sucker fixing plate I (3) moves outwards along the direction of the linear slide rail (5), and the sucker fixing plate I (3) drives the sucker component (12) to move outwards along the direction of the linear slide rail (5) and is matched with the model of the CDRO flow guide disc; when two clamping jaws of a thin pneumatic finger (10) are closed, a sucker fixing plate III (11) is driven to move inwards along the width direction of a variable pitch plate (1), a sucker connecting plate (8) drives a sucker fixing plate II (4) to move, meanwhile, the sucker fixing plate III (11) drives an adjusting plate (2) to move, the adjusting plate (2) drives a cam bearing follower (13) to slide inwards in a guide groove (16), the cam bearing follower (13) moves inwards along the length direction of the variable pitch plate (1) and simultaneously moves inwards along the width direction of the variable pitch plate (1), the cam bearing follower (13) drives a sucker fixing plate I (3) to move through a cam follower fixing shaft (14) and a cam follower sleeve (15), the sucker fixing plate I (3) drives a linear sliding block (6) to move inwards along a linear sliding rail (5) through a sliding block connecting plate (7) and a mirror image sliding block fixing plate (9), therefore, the sucker fixing plate I (3) moves inwards along the direction of the linear slide rail (5), and the sucker fixing plate I (3) drives the sucker component (12) to move inwards along the direction of the linear slide rail (5) and is matched with the model of the DTRO flow deflector; SCARA robot (20) are through two tee bend single electric control solenoid valve (231) control vacuum generator (234) production vacuum, thereby make sucking disc (121) produce suction, absorb CDRO guiding disc or DTRO guiding disc, distance-changing mechanism subassembly (22) once only absorb 6 guiding discs, sucking disc subassembly (12) on every sucking disc fixed plate II (4) and sucking disc fixed plate I (3) absorb 1 guiding disc respectively, SCARA robot (20) move distance-changing mechanism subassembly (22) to belt line top, control vacuum generator (234) cancel the vacuum, put down 6 guiding discs, accomplish the material loading of guiding disc.
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| CN202111218529.7A CN113895955B (en) | 2021-10-20 | 2021-10-20 | Feeding equipment compatible with DTRO flow guide disc and CDRO flow guide disc |
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| CN202111218529.7A CN113895955B (en) | 2021-10-20 | 2021-10-20 | Feeding equipment compatible with DTRO flow guide disc and CDRO flow guide disc |
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| CN113895955B (en) | 2023-10-20 |
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