CN114212500B - Warehouse entry handling device - Google Patents
Warehouse entry handling device Download PDFInfo
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- CN114212500B CN114212500B CN202111482262.2A CN202111482262A CN114212500B CN 114212500 B CN114212500 B CN 114212500B CN 202111482262 A CN202111482262 A CN 202111482262A CN 114212500 B CN114212500 B CN 114212500B
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- 230000001360 synchronised effect Effects 0.000 claims abstract description 75
- 230000007246 mechanism Effects 0.000 claims description 66
- 238000012546 transfer Methods 0.000 claims description 38
- 238000007599 discharging Methods 0.000 claims description 21
- 238000003825 pressing Methods 0.000 claims description 15
- 230000000087 stabilizing effect Effects 0.000 claims description 13
- 230000005540 biological transmission Effects 0.000 claims description 12
- 238000000034 method Methods 0.000 claims description 10
- 230000008569 process Effects 0.000 claims description 10
- 238000003860 storage Methods 0.000 claims description 10
- 238000011144 upstream manufacturing Methods 0.000 claims description 4
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- 238000004519 manufacturing process Methods 0.000 description 6
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- 238000010586 diagram Methods 0.000 description 4
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Classifications
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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
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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
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
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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
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/02—Control or detection
- B65G2203/0208—Control or detection relating to the transported articles
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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
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/04—Detection means
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automobile Manufacture Line, Endless Track Vehicle, Trailer (AREA)
Abstract
The invention discloses a warehouse-in carrying device, which comprises two synchronous carrying devices, a workpiece transferring device and a carrying manipulator, wherein the workpiece transferring device is used for transferring workpieces to a warehouse; the synchronous handling device is used for enabling workpieces on the device to synchronously move and be handled to the blanking station of the device one by one, a workpiece placement table is arranged on the periphery of the workpiece transferring device, the workpiece transferring device is used for clamping the workpieces on the blanking station of the synchronous handling device and transferring the workpieces to the workpiece placement table, and the handling manipulator is used for handling the workpieces on the workpiece placement table, wherein the workpieces on the blanking station of one synchronous handling device are handled to the blanking station of the other synchronous handling device through the workpiece transferring device. The warehouse-in carrying device provided by the invention is adaptively designed according to the characteristics of the automobile crankshaft, and compared with a manual carrying mode, the carrying mode is high in automation degree, labor cost is saved, carrying efficiency is high, and productivity is better improved.
Description
The present application is a divisional application of patent application No. 202010461172.4, application date of "2020, 05, 27", and name of "a warehouse-in and conveying device for automobile crankshafts".
Technical Field
The invention relates to the field of automobile crankshaft quality inspection equipment, in particular to a warehouse-in conveying device for automobile crankshafts.
Background
The automobile crankshaft is an important part of an automobile engine, and the automobile crankshaft finished product just produced cannot be directly loaded because the quality inspection is not carried out yet. The automobile crankshaft finished products are generally carried on a workpiece storage rack for storage in a manual carrying mode, and then the automobile crankshaft finished products of the required model are clamped on a quality inspection line through a mechanical arm for appearance quality inspection, and are conveyed to a loading position after being inspected to be qualified.
The manual conveying and warehousing mode has the problems of low conveying efficiency, high labor cost, high labor intensity of manual conveying and the like; in order to better improve productivity and save labor force, automobile production lines are gradually transformed towards an intelligent production direction, and a warehouse-in conveying device with high automation degree and high conveying efficiency is needed.
Disclosure of Invention
In view of the above-mentioned shortcomings of the prior art, an object of the present invention is to provide a warehouse-in conveying device for conveying automobile crankshafts, which aims to improve the automation degree of automobile crankshaft conveying equipment and improve conveying efficiency.
In order to achieve the above purpose, the invention adopts the following technical scheme:
a warehouse-in conveying device of an automobile crankshaft comprises a synchronous conveying device, a workpiece transferring device and a conveying manipulator; the synchronous handling device is used for enabling workpieces on the device to synchronously move and be handled to a blanking station of the device one by one, a workpiece placement table is arranged on the periphery of the workpiece transferring device, the workpiece transferring device is used for clamping the workpieces on the blanking station of the synchronous handling device and transferring the workpieces to the workpiece placement table, the handling manipulator is used for handling the workpieces on the workpiece placement table, and the synchronous handling device, the workpiece transferring device and the handling manipulator are electrically connected with the controller and controlled by the controller to work.
The synchronous carrying device comprises a first rack, a carrying rack arranged on the first rack, a conveying mechanism and a first motor; the conveying mechanism comprises a driving sprocket, a driven sprocket and a chain wound on the driving sprocket and the driven sprocket; the conveying frame is provided with a rotating shaft, the head part of the rotating shaft is in transmission connection with a chain through a connecting piece, and the output end of the first motor is in transmission connection with a driving sprocket; the first motor is used for driving the driving chain wheel so as to drive the connecting piece on the chain to move in a waist-shaped track, two or more groups of supporting parts are arranged on the carrying frame, and a bearing seat matched with each group of supporting parts is arranged at the top of the first frame.
The synchronous handling device further comprises a guiding mechanism, the guiding mechanism comprises a transverse guiding mechanism and a vertical guiding mechanism, the transverse guiding mechanism comprises a first installation frame, a first sliding rail transversely arranged on the first installation frame and a first sliding seat slidably arranged on the first sliding rail, the vertical guiding mechanism comprises a support plate arranged on the first sliding seat, a second sliding rail vertically arranged on the support plate and a second sliding seat slidably arranged on the second sliding rail, and the second sliding seat is fixedly connected with the handling frame.
The synchronous handling device further comprises a pressure dividing mechanism, the pressure dividing mechanism comprises a pulley arranged at the tail of the rotating shaft, a second mounting frame arranged on the first frame and two pressure dividing strips transversely arranged on the second mounting frame, the two pressure dividing strips are oppositely arranged up and down, and the pulley can be supported by the pressure dividing strips in the transverse movement process.
The loading seat at the most upstream is set as a loading station, the most downstream position which can be reached by the supporting part at the most downstream is set as a discharging station, and a first detector for detecting whether a workpiece is placed in the loading station is arranged on the first rack; a second detector for detecting whether a workpiece is placed in the blanking station or not is arranged on the first rack; the first rack is provided with a mounting bracket, the mounting bracket is provided with a third detector, the carrying rack is provided with a trigger piece, and the trigger piece can trigger the third detector.
The synchronous conveying devices are arranged in parallel, the workpiece transfer devices are arranged at the discharging ends of the synchronous conveying devices, and the workpiece transfer devices are used for transferring workpieces on the discharging station of one synchronous conveying device to the discharging station of the other synchronous conveying device.
An aisle is arranged between the two synchronous carrying devices, and the workpiece carrying device comprises a second rack crossing the aisle, a guide rail arranged at the top of the second rack and extending along the length direction of the second rack, a carrying frame slidably arranged on the guide rail, a tray arranged on the carrying frame and a driving device for driving the carrying frame to move; the driving device comprises a second motor, a torque limiter arranged at the output end of the second motor, a driving belt pulley arranged on the torque limiter, a driven belt pulley rotatably arranged on the second frame and a synchronous belt wound on the driving belt pulley and the driven belt pulley; the synchronous belt is fixedly connected with the transfer frame.
The workpiece transfer device comprises a bottom frame, a turntable rotatably arranged on the bottom frame, a third motor for driving the turntable to rotate, a linear driving mechanism arranged on the turntable, a connecting frame connected with the output end of the linear driving mechanism, and a gripper arranged on the connecting frame; the gripper comprises a mounting plate, a clamping mechanism and a workpiece stabilizing mechanism, wherein the clamping mechanism and the workpiece stabilizing mechanism are arranged on the mounting plate; the linear driving mechanism is used for driving the connecting frame and the components on the connecting frame to move along the vertical direction.
The clamping mechanism comprises a driving clamping finger fixedly arranged on the mounting plate, a pair of clamping jaws arranged on the driving clamping finger, and the driving clamping finger can drive the two clamping jaws to clamp or open relatively.
The workpiece stabilizing mechanisms are provided with two groups, and each group of workpiece stabilizing mechanism comprises a sleeve vertically arranged on the mounting plate, a first through hole formed in the mounting plate, a sliding rod penetrating through the first through hole and the sleeve from top to bottom and a pressing block arranged at the bottom end of the sliding rod; the sliding rod is in sliding connection with the sleeve, a spring is sleeved on the sliding rod, the top end of the spring abuts against the lower surface of the sleeve, the bottom end of the spring abuts against the upper surface of the pressing block, and a bayonet is formed in the pressing block.
The beneficial effects are that:
the invention provides a warehousing and conveying device of an automobile crankshaft, wherein an automobile crankshaft finished product is placed on a feeding station of a synchronous conveying device through hoisting equipment, if no workpiece is arranged on a discharging station of the synchronous conveying device, the synchronous conveying device synchronously conveys all the workpieces placed on the device forwards in a mode of a plurality of conveying cyclic actions, and each conveying cyclic action enables the workpiece to move forwards for a preset distance until the workpiece exists on the discharging station of the device; and then the workpiece transfer device clamps the workpiece on the unloading station, transfers the workpiece to the workpiece placing table, and finally the carrying manipulator clamps the workpiece on the workpiece placing table, and carries the workpiece to the corresponding workpiece storage rack according to the type of the workpiece to realize warehouse entry storage. Therefore, the warehousing and conveying device for the automobile crankshafts is adaptively designed according to the characteristics of the automobile crankshafts, and compared with a manual conveying mode, the conveying mode is high in automation degree, labor cost is saved, conveying efficiency is high, productivity is better improved, and the automobile manufacturing industry is promoted to reform and develop in the direction of 4.0.
Drawings
Fig. 1 is a plan view of a warehouse-in conveying device provided by the invention.
Fig. 2 is a front view of the warehouse-in conveying device provided by the invention.
Fig. 3 is a perspective view of a synchronous conveying device in the warehouse conveying device provided by the invention.
Fig. 4 is a partial enlarged view of the M region in fig. 3.
Fig. 5 is a perspective view of a synchronous conveying device in the warehouse conveying device provided by the invention.
Fig. 6 is a partial enlarged view of the P region in fig. 3.
Fig. 7 is a schematic structural diagram 1 of the warehouse-in conveying device according to the present invention, in which the carrier is omitted from the synchronous conveying device.
Fig. 8 is a schematic diagram 2 of a synchronous conveying device with a carrier omitted in the warehouse-in conveying device according to the present invention.
Fig. 9 is a perspective view of a work transfer apparatus in the warehouse-in conveying apparatus according to the present invention.
Fig. 10 is a perspective view of a work transfer apparatus in the warehouse-in transporting apparatus according to the present invention.
Fig. 11 is a partial enlarged view of the area L in fig. 10.
Fig. 12 is a schematic structural diagram of a 2.0L engine crankshaft gripped by a gripper in the warehouse-in handling device provided by the invention.
Fig. 13 is a schematic structural diagram of a 2.5L engine crankshaft grasped by a gripper in the warehouse-in carrying device provided by the invention.
Detailed Description
The invention provides a warehouse-in conveying device for an automobile crankshaft, which aims to make the purposes, technical schemes and effects of the invention clearer and more definite, and further describes the invention in detail below by referring to the attached drawings and examples. It should be understood that the detailed description and specific examples are intended for purposes of illustration only and are not intended to limit the scope of the invention.
Herein, front refers to the direction in which the workpiece is carried, i.e., the direction of the arrow in fig. 1, and the front and rear are reversed.
Referring to fig. 1-13, the invention provides a warehouse-in conveying device of an automobile crankshaft, which comprises a synchronous conveying device 1, a workpiece transferring device 2 and a conveying manipulator 41, wherein the synchronous conveying device 1 is used for synchronously moving workpieces on the device and conveying the workpieces to a blanking station B of the device one by one, a workpiece placing table 20 is arranged on the periphery of the workpiece transferring device 2, the workpiece transferring device 2 is used for clamping the workpieces on the blanking station B of the synchronous conveying device 1 and transferring the workpieces to the workpiece placing table 20, the conveying manipulator 41 is used for conveying the workpieces on the workpiece placing table 20, and the synchronous conveying device 1, the workpiece transferring device 2 and the conveying manipulator 41 are electrically connected with a controller and controlled by the controller to work. Here, the controller is a PLC controller.
When the synchronous conveying device works, as shown in figures 1, 2 and 5, a finished automobile crankshaft product is placed on a feeding station A of the synchronous conveying device 1 through hoisting equipment, if no workpiece is arranged on a discharging station B of the synchronous conveying device 1, the synchronous conveying device 1 synchronously conveys all the workpieces placed on the synchronous conveying device forward in a mode of a plurality of conveying circulation actions, and each conveying circulation action enables the workpiece to move forward for a preset distance until the workpiece exists on the discharging station B of the synchronous conveying device; the workpiece transfer device 2 then clamps the workpiece on the unloading station B and transfers the workpiece to the workpiece placement table 20, and finally the handling manipulator 41 clamps the workpiece on the workpiece placement table 20 and carries the workpiece to the corresponding workpiece storage rack 42 according to the type of the workpiece to realize warehouse entry and storage. Therefore, the warehousing and conveying device for the automobile crankshafts is adaptively designed according to the characteristics of the automobile crankshafts, and compared with a manual conveying mode, the conveying mode is high in automation degree, labor cost is saved, conveying efficiency is high, productivity is better improved, and the automobile manufacturing industry is promoted to reform and develop in the direction of 4.0.
In one embodiment, as shown in fig. 3, the synchronous carrying device 1 includes a first rack 11, a carrying rack 12 disposed on the first rack 11, a conveying mechanism 13, and a first motor 131; the conveying mechanism 13 comprises a driving sprocket 132, a driven sprocket 133 and a chain 134 wound around the driving sprocket 132 and the driven sprocket 133; a rotating shaft 135 is arranged on the carrying frame 12, the head of the rotating shaft 135 is in transmission connection with a chain through a connecting piece 136, and the output end of the first motor 131 is in transmission connection with a driving sprocket 132; the first motor 131 is configured to drive the driving sprocket 132 to drive the connecting piece 136 on the chain to move along a kidney-shaped track, two or more groups of supporting portions 14 are disposed on the carrying frame 12, and a bearing seat 15 adapted to each group of supporting portions 14 is disposed on the top of the first frame 11.
For convenience of explanation, as shown in fig. 4, the chain 134 is composed of two upper and lower chain segments 1341 and 1342 disposed horizontally up and down, and first and second arc-shaped chain segments 1343 and 1344 connecting the ends of the upper and lower chain segments 1341 and 1342, respectively. The first arcuate strand 1343 is closer to the loading station a and the second arcuate strand 1344 is closer to the unloading station B. In order to avoid interference between the supporting portion 14 and the crankshaft, in the initial state, the connecting member 136 is located on the lower chain segment 1342, and the supporting portion 14 is lower than the bearing seat 15. The two ends of the frame are provided with a loading station A (namely the position of the bearing seat 15 positioned at the most upstream) and a unloading station B (namely the most downstream position which can be reached by the supporting part 14 positioned at the most downstream), if the workpiece F on the unloading station B does not need to be transferred, the unloading station B is provided with the bearing seat 15, and the supporting part 14 carries the workpiece F onto the bearing seat 15; if the workpiece on the blanking station B needs to be transferred, the blanking station B is not provided with the bearing seat 15, and the holding part 14 carries the workpiece to the tray 34 of the workpiece F transfer device 3 to realize transfer. A plurality of buffer stations E are arranged between the feeding station A and the discharging station B, and the buffer stations E (namely the positions of the bearing seats 15 between the feeding station A and the discharging station B) are arranged.
When the synchronous conveying device 1 starts to work, the first motor 131 drives the driving sprocket 132 to rotate, the connecting piece 136 on the lower chain section 1342 moves towards the first arc-shaped chain section 1343, then the connecting piece 136 gradually climbs to the top end of the first arc-shaped chain section 1343 after reaching the bottom end of the first arc-shaped chain section 1343, the uppermost supporting part 14 ascends towards the automobile crankshaft on the feeding station A, when the supporting part 14 is consistent with the height of the supporting seat 15 on the feeding station A, the supporting part 14 supports the workpiece, then the supporting part 14 continues to ascend to enable the workpiece to break away from the support of the supporting seat 15, and then the connecting piece 136 on the top end of the first arc-shaped chain section 1343 moves towards the second arc-shaped chain section 1344 along the upper chain section 1341, so that the workpiece moves towards the buffer station E, and the connecting piece 136 gradually descends to the bottom end of the second arc-shaped chain section 1344 after reaching the top end of the second arc-shaped chain section 1344; correspondingly, the supporting part 14 supports the workpiece, so that the workpiece is positioned above the bearing seat 15 of the buffer station E, and then the supporting part 14 gradually descends, so that the automobile crankshaft is stably placed on the bearing seat 15. Finally, the link 136 at the bottom end of the second arcuate strand 1344 is reset onto the lower strand 1342. During the movement of the connecting member 136, the rotating shaft 135 rotates along with the movement of the connecting member 136 because the connecting member 136 is fixedly connected with the rotating shaft 135.
The crankshaft carrying process is a carrying cycle, and it can be understood that, when the synchronous carrying device 1 completes a carrying cycle, the workpiece located on the buffer station or the workpiece located on the feeding station a will be carried to the next station until the workpiece located on the discharging station B is carried. When crankshafts are arranged in the feeding station A and the buffering station, the supporting part 14 on the carrying frame 12 can drive the workpieces on the feeding station A and the buffering station to synchronously move, the workpieces in the feeding station A can be carried to the bearing seat 15 of the buffering station E, and the crankshafts in the buffering station E can be carried to the bearing seat 15 of the discharging station B. As can be seen, the synchronous carrying device 1 has smart structural design, and the first motor 131 drives the conveying mechanism 13 to enable the supporting portion 14 on the carrying frame 12 to synchronously convey all the workpieces placed on the feeding station a and the buffer station E, so that the carrying process is smooth and stable; the workpiece placed in the feeding station A or the buffer station can be conveyed to the bearing seat 15 in the discharging station B through a plurality of conveying cycles, so that the conveying efficiency is greatly improved, and the automatic conveying is realized; in addition, through setting up a plurality of buffer memory station E not only can prolong the transport length of synchronous handling device 1, can also provide the buffer memory space, accelerate unloading speed.
In one embodiment, as shown in fig. 7, the synchronous carrying device 1 further includes a guiding mechanism, the guiding mechanism includes a lateral guiding mechanism 16 and a vertical guiding mechanism 17, the lateral guiding mechanism 16 includes a first mounting frame 161, a first sliding rail 162 transversely disposed on the first mounting frame 161, and a first sliding seat 163 slidably disposed on the first sliding rail 162, the vertical guiding mechanism 17 includes a support plate 171 disposed on the first sliding seat 163, a second sliding rail 172 vertically disposed on the support plate 171, and a second sliding seat 173 slidably disposed on the second sliding rail 172, and the second sliding seat 173 is fixedly connected with the carrying frame 12. By providing the guide mechanism, the carrying frame 12 is ensured to be always in a vertical state and not to be inclined due to the transmission of the rotating shaft 135; the holding part 14 on the carrying frame 12 can be accurately positioned in the carrying process, and the stability and reliability of the crankshaft carrying are ensured.
In one embodiment, as shown in fig. 8, the synchronous carrying device 1 further includes a voltage dividing mechanism 18, where the voltage dividing mechanism 18 includes a pulley 181 disposed at the tail of the rotating shaft 135, a second mounting frame 182 disposed on the first frame 11, and two voltage dividing bars 183 laterally disposed on the second mounting frame 182, where the two voltage dividing bars 183 are disposed vertically opposite to each other, and the pulley 181 can be supported by the voltage dividing bars 183 during the lateral movement, so that gravity of the carrying frame 12 and the supporting portion 14 and gravity of the crankshaft are conducted onto the voltage dividing bars 183, and on one hand, excessive gravity is concentrated on the chain to cause increase of transmission load of the chain, and affect the service life of the chain; on the other hand, the connecting piece 136 and the pulley 181 are respectively arranged at the end part of the rotating shaft 135, and the pulley 181 is rolled on the smooth pressure dividing strip 183, so that jolt brought by chain transmission can be reduced, and the transmission stability and accuracy are improved.
In one embodiment, as shown in fig. 5, the carrier 15 located at the most upstream is set as a feeding station a, the most downstream position that the supporting portion 14 located at the most downstream can reach is set as a discharging station B, and the first frame 11 is provided with a first detector 191 for detecting whether a workpiece is placed in the feeding station a; a second detector 192 for detecting whether a workpiece is placed in the blanking station B is arranged on the first frame 11; the first detector 191 and the second detector 192 are two opposite-emission switches, each opposite-emission switch comprises an emitter and a receiver, and detection light emitted by the emitter is represented by a dotted line. In order to be able to detect the workpiece better, the emitter and the receiver are arranged offset. When the first detector 191 detects a workpiece, it indicates that the crankshaft in the feeding station a is in place and can be carried. When the second detector 192 detects the presence of the workpiece in the blanking station B, the synchronous conveying device 1 does not perform the conveying operation any more, so that interference does not occur.
Further, as shown in fig. 7, a mounting bracket 194 is provided on the first rack 11, a third detector 193 is provided on the mounting bracket 194, and a trigger piece 195 is provided on the carrier 12, where the trigger piece 195 can trigger the third detector 193. The third detector 193 is a proximity switch. When the trigger piece 195 is facing the third detector 193, the trigger piece 195 is able to trigger the third detector 193, the link 136 is in the middle of the lower strand of chain, which can be considered an initial or reset position. Each time a transfer cycle is completed, the trigger piece 195 passes the third detector 193 once to ensure that the carrier rack 12 and the tray 14 are reset. When the one-time conveying cycle is completed, the synchronous conveying device 1 determines whether to stop the conveying operation or continue the next conveying based on the feedback information from the other detectors.
In one embodiment, as shown in fig. 1 and 2, two synchronous conveying devices 1 are arranged in parallel, a workpiece transferring device 3 is arranged at the discharging end of one synchronous conveying device 1, and the workpiece transferring device 3 is used for transferring workpieces on the discharging station B of one synchronous conveying device 1 to the discharging station B of the other synchronous conveying device 1. Through the arrangement, 1, two synchronous carrying devices 1 can carry automobile crankshaft finished products of the same model at the same time, so that carrying efficiency of the automobile crankshaft finished products of the model is greatly improved, and more automobile crankshafts can be cached; 2. the two synchronous carrying devices 1 can also respectively carry automobile crankshafts of two different types to realize mixed carrying, so that the applicability is improved. In the present embodiment, one of the synchronous conveying devices 1 directly connected to the workpiece transfer device 2 is a first synchronous conveying device 1a, and the other synchronous conveying device 1 is a second synchronous conveying device 1b; the station transfer device can directly transfer the workpiece on the blanking station B of the first synchronous conveying device 1a, so that the workpiece transfer device 3 only needs to convey the workpiece on the blanking station B of the second synchronous conveying device 1B, and the production efficiency cannot be delayed. It will be appreciated that in the case where the carrying pressure is small, only the first synchronous carrying device 1a is operated, the operation transfer device forms a single line with the first synchronous carrying device 1a, and the second synchronous carrying device 1b and the operation transfer device do not operate. Therefore, the embodiment can provide various workpiece conveying modes, and a proper conveying mode can be selected according to production requirements.
In one embodiment, as shown in fig. 9, a aisle D is provided between the two synchronous handling devices 1, and the workpiece transferring device 3 includes a second frame 31 crossing the aisle D, a guide rail 32 provided on the top of the second frame 31 and extending along the length direction of the second frame 31, a transferring rack 33 slidably provided on the guide rail 32, a tray 34 provided on the transferring rack 33, and a driving device for driving the transferring rack 33 to move; the driving device comprises a second motor 35, a torque limiter 36 arranged at the output end of the second motor 35, a driving pulley 37 arranged on the torque limiter 36, a driven pulley 38 rotatably arranged on the second frame 31 and a synchronous belt 39 wound on the driving pulley 37 and the driven pulley 38; the timing belt 39 is fixedly connected to the transfer frame 33. It should be understood that the loading seats 15 are not provided on the blanking stations B of the two synchronous conveying devices 1, and the holding portions 14 on the conveying frame 12 convey the workpieces to the tray 34.
When the first carrying device 1a carries the workpiece onto the tray 34, the workpiece transfer device 2 can directly transfer the workpiece, and the position of the tray 34 in the state is a transfer loading point; when the workpiece on the second conveying device 1B needs to be conveyed, the tray 34 on the workpiece conveying device 3 moves to the blanking station B of the second conveying device 1B, the controller controls the first motor 131 to start, the first motor 131 drives the torsion limiter 36 to rotate, and the torsion limiter 36 drives the driving belt pulley 37, the driven belt pulley 38 and the synchronous belt 39 to move, so that the conveying frame 33 transversely moves towards the direction of the first conveying device 1a, and the tray 34 moves to the feeding point. Since the output end of the first motor 131 is connected to the driving pulley 37 through the torque limiter 36, when the transfer frame 33 collides with a pedestrian, the transmission torque of the driving pulley 37 and the torque limiter 36 will increase instantaneously and exceed the preset sliding torque value of the torque limiter 36, so that the sliding occurs between the driving pulley 37 and the torque limiter 36, the transfer frame 33 stops moving immediately, no injury is caused to the pedestrian, and secondary injury is avoided to the pedestrian by the transfer frame 33. When the pedestrian leaves the transfer rack 33, the transmission torque of the driving pulley 37 and the torque limiter 36 is lower than the preset sliding torque value of the torque limiter 36, and the driving pulley 37 automatically resumes normal operation, so that the loss caused by shutdown is avoided.
Here, in order to ensure that the transfer rack does not hurt the human body even after the collision of the human body, the second motor is preferably a gear motor, and the momentum of the transfer rack 33 during movement is reduced by reducing the moving speed of the transfer rack 33.
The torque limiter 36 mainly comprises a coupling body, a driving friction plate, a driven friction plate, a disc spring (not visible in the figure) and a locking end cover, wherein the driving friction plate, the driven friction plate, the disc spring, the locking end cover and the driving pulley 37 are arranged between the driving friction plate and the driven friction plate, and the disc spring is used for pressing the driven friction plate so that the driving pulley 37 rotates under the friction force provided by the driving friction plate and the driven friction plate. The compression of the belleville springs can be adjusted by locking the end cap, thereby acting to adjust the torque preset of the torque limiter 36.
In one embodiment, as shown in fig. 7, each synchronous conveying device 1 can convey two types of automobile crankshaft products. The handling frame 12 comprises an L-shaped plate consisting of a horizontal mounting plate and a vertical mounting plate, a plurality of cross bars are arranged at the top of the horizontal mounting plate, the supporting parts 14 are transversely arranged on the cross bars, each group of supporting parts 14 at least comprises at least two first supporting plates 141 and first supporting components 142 which are vertically arranged on the cross bars, each first supporting plate 141 and each first supporting component 142 are correspondingly arranged on one cross bar, and a V-shaped positioning groove 143 is formed in the top of each first supporting plate 141. The V-shaped positioning groove 143 of the first supporting plate 141 is used for radially positioning the connecting rod curved neck of the crankshaft.
In order that the first support assembly may be capable of supporting 2 different types of crankshafts, such as a 2.0L engine crankshaft and a 2.5L engine crankshaft finish, the two types of crankshaft finish differ in terms of axial length, the first support assembly includes a first 2.0L support plate and a first 2.5L support plate, the first 2.0L support plate and the first 2.5L support plate primarily being used to support and circumferentially position the crankshafts. Under the combined action of the first supporting plate and the first supporting component, the finished crankshaft product is ensured not to automatically move in the carrying process. As shown in fig. 6, the carrying seat 15 includes a front axle positioning seat 151, a rear axle positioning seat 152, a limiting block 153, and two sets of second supporting components 154. The front end shaft positioning seat 151 is also provided with a V-shaped positioning groove 156, the rear end shaft positioning seat 152 is provided with a semicircular positioning groove 155, and the crankshaft is placed on the front end shaft positioning seat and the rear end shaft positioning seat, and the axial positioning is realized through the limitation of the limiting block, so that the left and right shaking of the crankshaft is prevented. Likewise, each set of second support assemblies 154 includes a second 2.0L support plate and a second 2.5L support plate, with the second 2.0L support plate and the second 2.5L support plate being primarily used to support and circumferentially position the crank of the crankshaft, and under the combined action of the front end shaft positioning seat, the rear end shaft positioning seat, and the second support assemblies, it is ensured that the workpiece is placed without radial movement. Furthermore, the workpiece is axially positioned by the limitation of the limiting block, so that the crankshaft is prevented from axially shaking.
In one embodiment, as shown in fig. 10, the workpiece transferring device 2 includes a chassis 21, a turntable 22 rotatably disposed on the chassis 21, a third motor 23 for driving the turntable 22 to rotate, and a linear driving mechanism 24 disposed on the turntable 22, where the linear driving mechanism 24 may be a hydraulic push rod, a pneumatic push rod, or an electric push rod, etc., a connection frame 25 connected to an output end of the linear driving mechanism 24, and a grip 26 disposed on the connection frame 25; the gripper 26 comprises a mounting plate 27, a clamping mechanism 28 and a workpiece stabilizing mechanism 29 which are arranged on the mounting plate 27; the linear driving mechanism 24 is used for driving the connecting frame 25 and the components on the connecting frame 25 to move along the vertical direction. Referring to fig. 1, the periphery of the first chassis 21 is provided with three stations consisting of a transfer feeding point C, a mechanical feeding station G and a backup operation feeding station H, wherein the mechanical feeding station G and the backup operation feeding station H are respectively provided with a workpiece placement table 20 correspondingly, and the mechanical feeding station G is used for feeding a crankshaft on the station by a feeding robot. The backup operation feeding station H is used for manually feeding the workpiece of the station when the feeding robot is stopped. Transfer loading point C, manipulator loading station G, backup operation loading station H circumference are arranged and are set up, manipulator loading station G and transfer loading point C circumference contained angle be 90 degrees, manipulator loading station G and backup operation loading station H circumference contained angle also be 90 degrees.
During operation, the workpiece transferring device 2 grabs a workpiece on a transferring and feeding point, the linear driving mechanism 24 drives the connecting frame 25 and the gripper 26 on the connecting frame 25 to descend so that the clamping mechanism 28 on the gripper 26 clamps the workpiece, then the third motor 23 drives the turntable 22 to rotate so as to horizontally convey the workpiece to the position above the feeding station A of the manipulator, and the workpiece stabilizing mechanism 29 stabilizes the gravity center of the workpiece during the conveying process and improves the stability of workpiece transferring; finally, the linear driving mechanism 24 drives the connecting frame 25 and the gripper 26 on the connecting frame 25 to descend, and the workpiece is placed on the workpiece placing table 20 corresponding to the manipulator feeding station A or the workpiece is placed on the workpiece placing table 20 of the backup operation feeding station A, so that the transfer of the workpiece is completed. It can be seen that the workpiece transferring device 2 in this embodiment can reliably grasp and move the crankshaft of the automobile, and the placing position of the workpiece is adjusted by the position transferring manner, so that the carrying manipulator 41 is convenient to clamp the crankshaft. In addition, the grippers 26 can clamp automobile crankshafts of two different types, so that the applicability is good and the carrying efficiency is high.
In one embodiment, as shown in fig. 11, the clamping mechanism 28 includes a driving finger 281 fixedly disposed on the mounting plate 27, and a pair of clamping jaws 282 disposed on the driving finger 281, where the driving finger 281 can drive the two clamping jaws 282 to clamp or open relative to each other. In this embodiment, the clamping jaw 282 includes two clamping plates that are disposed opposite to each other, each clamping plate is connected with a clamping finger screw that drives the clamping finger 281, and V-shaped clamping openings are formed on both clamping plates. When the clamping jaw 282 clamps, the two clamping plates clamp the shaft neck in the middle of the crankshaft, and as the two clamping plates are combined to form a sealed diamond clamping opening, the clamping jaw is well adapted to the shape of the shaft neck, and the clamping and fixing effects are good. Preferably, the driving clamping finger 281 is preferably a toggle type air claw, and due to the adoption of a toggle mechanism, a strong and stable clamping force can be obtained, two clamping fingers of the toggle type air claw are vertically downward (i.e. are positioned at a dead point) in a clamping state, and even if an air source is cut off, the workpiece can be continuously maintained to be in a clamping state and cannot be loosened, so that the clamping jaw 282 is prevented from being opened by itself to cause the crankshaft to fall, and the safety of crankshaft transfer is ensured.
In one embodiment, as shown in fig. 11, the workpiece stabilizing mechanisms 29 are provided with two groups, each group of workpiece stabilizing mechanism 29 comprises a sleeve 291 vertically arranged on the mounting plate 27, a first through hole 292 formed on the mounting plate 27, a sliding rod 293 penetrating through the first through hole 292 and the sleeve 291 from top to bottom, and a pressing block 294 arranged at the bottom end of the sliding rod 293; the sliding rod 293 is slidably connected with the sleeve 291, a spring 295 is sleeved on the sliding rod 293, the top end of the spring 295 abuts against the lower surface of the sleeve 291, the bottom end of the spring 295 abuts against the upper surface of the pressing block 294, and a bayonet 296 is formed in the pressing block 294. Because the weight of the workpiece is large and the shaft body is long, the gravity center of the crankshaft is easy to change in the carrying process, and the workpiece inclination is caused to influence the precision of the placement of the gripper 26. When the workpiece is transferred, the two groups of workpiece stabilizing mechanisms 29 respectively press the front part and the rear part of the crankshaft, so that the stress is balanced, and the crankshaft can be ensured to be always kept horizontal in the carrying process. When the crankshaft gripper 26 grips a piece, the bayonet 296 of the pressing block 294 is aligned with a corresponding journal on the crankshaft, after the pressing block 294 presses the journal, the spring 295 is stressed and compressed, on one hand, the spring 295 provides a downward pressure for the journal of the crankshaft, on the other hand, the spring 295 can buffer vibration generated in the carrying process, and the transfer stability of the crankshaft is improved. Here, the bayonet of the pressing block 294 has a V-shape, and the bayonet can better restrict the journal from moving radially.
Further, as shown in fig. 11, the mounting plate 27 is provided with a second through hole 297, the side portion of the pressing block 294 is provided with an inverted T-shaped block 298, the top end of the inverted T-shaped block is provided with a threaded hole, the second through hole passes through a screw 299 from top to bottom, and the bottom end of the screw is screwed into the threaded hole of the inverted T-shaped block. Through the arrangement, the screw rod has a vertical guiding function, so that the pressing block 294 and the inverted T-shaped block 298 are ensured to move along the vertical direction all the time, and no deflection occurs due to stress.
In this embodiment, as shown in fig. 11-13, the mounting plate 27 is provided with a fourth detector 231 for detecting whether the automobile crankshaft is in place or not and a fifth detector 232 for detecting the balance state of the automobile crankshaft during the transportation. The fourth detector 231 and the fifth detector 232 are respectively electrically connected with the controller, the fourth detector is preferably a proximity switch, when the gripper 26 grips a workpiece, the linear driving mechanism 24 drives the connecting frame 25 and the components on the connecting frame 25 to gradually approach the crankshaft, and when the fourth detector 231 detects the crankshaft (detects the front end shaft of the crankshaft), a feedback signal is sent to the controller to control the clamping mechanism 28 to clamp the workpiece. The fifth detector 232 is also a proximity switch, the fifth detector 232 detects the rear end shaft of the crankshaft, the fourth detector 231 and the fifth detector 232 detect the two ends of the crankshaft respectively, the balance state of the crankshaft during the transportation is monitored in a matched manner, and if any one of the fourth detector 231 and the fifth detector 232 can not detect the crankshaft, the control module considers that the crankshaft is inclined and stops processing. In the present embodiment, since two kinds of crankshafts of 2.0L engines and 2.5L engines are required to be detected, two fifth detectors 232 are provided, one of the fifth detectors 232 corresponds to detecting a crankshaft of a 2.0L engine having a shorter shaft length, and the other second detector 192 corresponds to detecting a crankshaft of a 2.5L engine having a longer shaft length, it is possible to discriminate the state and type of the workpiece based on whether or not the two fifth detectors 232 are capable of detecting the workpiece.
In one embodiment, as shown in fig. 1 and 2, the handling robot 41 is a six-axis robot, and the mounting end of the handling robot 41 is provided with a crank handle 26 identical to the crank handle 26, so that the crank handle 26 can identify the model of the workpiece according to the detection principle of the fifth detector, the crank handle 26 feeds back detection information to the controller, and carries the workpiece to the corresponding workpiece storage rack 42 according to the type of the workpiece for storage.
It will be understood that equivalents and modifications will occur to those skilled in the art based on the present invention and its spirit, and all such modifications and substitutions are intended to be included within the scope of the present invention.
Claims (7)
1. The warehousing and conveying device is characterized by comprising a synchronous conveying device, a workpiece transferring device and a conveying manipulator; the synchronous conveying device is used for enabling workpieces on the device to synchronously move and be conveyed to a blanking station of the device one by one, a workpiece placing table is arranged on the periphery of the workpiece transferring device, the workpiece transferring device is used for clamping the workpieces on the blanking station of the synchronous conveying device and transferring the workpieces to the workpiece placing table, the conveying manipulator is used for conveying the workpieces on the workpiece placing table and conveying the workpieces to corresponding workpiece storage racks according to the types of the workpieces to realize warehouse storage, and the synchronous conveying device, the workpiece transferring device and the conveying manipulator are electrically connected with the controller; the two synchronous conveying devices are arranged in parallel, a workpiece transfer device is arranged at the discharging end of one synchronous conveying device, and the workpiece transfer device is used for conveying workpieces on the discharging station of one synchronous conveying device to the discharging station of the other synchronous conveying device; an aisle is arranged between the two synchronous carrying devices; the synchronous carrying device comprises a first rack, a carrying rack arranged on the first rack, a conveying mechanism and a first motor; the conveying mechanism comprises a driving sprocket, a driven sprocket and a chain wound on the driving sprocket and the driven sprocket; the conveying frame is provided with a rotating shaft, the head part of the rotating shaft is in transmission connection with a chain through a connecting piece, and the output end of the first motor is in transmission connection with a driving sprocket; the first motor is used for driving the driving chain wheel so as to drive the connecting piece on the chain to move in a waist-shaped track, two or more groups of supporting parts are arranged on the carrying frame, and a bearing seat matched with each group of supporting parts is arranged at the top of the first frame.
2. The warehouse entry handling device of claim 1, further comprising a guide mechanism comprising a lateral guide mechanism comprising a first mount, a first rail disposed laterally on the first mount, and a first slide slidably disposed on the first rail, and a vertical guide mechanism comprising a support plate disposed on the first slide, a second rail disposed vertically on the support plate, and a second slide slidably disposed on the second rail, the second slide being fixedly connected to the carrier.
3. The warehouse entry handling device of claim 1, further comprising a pressure dividing mechanism, wherein the pressure dividing mechanism comprises a pulley arranged at the tail of the rotating shaft, a second mounting frame arranged on the first frame, and two pressure dividing strips transversely arranged on the second mounting frame, the two pressure dividing strips are arranged up and down oppositely, and the pulley can be supported by the pressure dividing strips in the transverse movement process.
4. The warehouse entry and handling device as claimed in claim 1, wherein the carrier at the most upstream is a loading station, the most downstream position that the holder at the most downstream can reach is a discharging station, and the first frame is provided with a first detector for detecting whether a workpiece is placed in the loading station; a second detector for detecting whether a workpiece is placed in the blanking station or not is arranged on the first rack; the first rack is provided with a mounting bracket, the mounting bracket is provided with a third detector, the carrying rack is provided with a trigger piece, and the trigger piece can trigger the third detector.
5. The warehouse-in and conveying device according to claim 1, wherein the workpiece transferring device comprises a bottom frame, a turntable rotatably arranged on the bottom frame, a third motor for driving the turntable to rotate, a linear driving mechanism arranged on the turntable, a connecting frame connected with an output end of the linear driving mechanism, and a gripper arranged on the connecting frame; the gripper comprises a mounting plate, a clamping mechanism and a workpiece stabilizing mechanism, wherein the clamping mechanism and the workpiece stabilizing mechanism are arranged on the mounting plate; the linear driving mechanism is used for driving the connecting frame and the components on the connecting frame to move along the vertical direction.
6. The warehouse entry handling device as claimed in claim 5, wherein the clamping mechanism comprises a drive finger fixedly mounted on the mounting plate, a pair of jaws mounted on the drive finger, the drive finger being operable to drive the two jaws to clamp or open relative to each other.
7. The warehouse entry and handling device as claimed in claim 5, wherein the workpiece stabilizing mechanism comprises two groups, each group of workpiece stabilizing mechanism comprising a sleeve vertically arranged on the mounting plate, a first through hole formed on the mounting plate, a sliding rod passing through the first through hole and the sleeve from top to bottom, and a pressing block arranged at the bottom end of the sliding rod; the sliding rod is in sliding connection with the sleeve, a spring is sleeved on the sliding rod, the top end of the spring abuts against the lower surface of the sleeve, the bottom end of the spring abuts against the upper surface of the pressing block, and a bayonet is formed in the pressing block.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111482262.2A CN114212500B (en) | 2020-05-27 | 2020-05-27 | Warehouse entry handling device |
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010461172.4A CN111674893B (en) | 2020-05-27 | 2020-05-27 | Warehouse-in carrying device for automobile crankshafts |
| CN202111482262.2A CN114212500B (en) | 2020-05-27 | 2020-05-27 | Warehouse entry handling device |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010461172.4A Division CN111674893B (en) | 2020-05-27 | 2020-05-27 | Warehouse-in carrying device for automobile crankshafts |
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| CN114212500A CN114212500A (en) | 2022-03-22 |
| CN114212500B true CN114212500B (en) | 2024-02-02 |
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| CN202111482262.2A Active CN114212500B (en) | 2020-05-27 | 2020-05-27 | Warehouse entry handling device |
| CN202010461172.4A Active CN111674893B (en) | 2020-05-27 | 2020-05-27 | Warehouse-in carrying device for automobile crankshafts |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202010461172.4A Active CN111674893B (en) | 2020-05-27 | 2020-05-27 | Warehouse-in carrying device for automobile crankshafts |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117140070B (en) * | 2023-09-19 | 2025-09-16 | 长江智能科技(广东)股份有限公司 | Automatic assembly production line for automobile tailstock |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN111674893B (en) | 2022-02-01 |
| CN111674893A (en) | 2020-09-18 |
| CN114212500A (en) | 2022-03-22 |
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