CN114955502B - Slewing device for manual loading station and loading station system - Google Patents
Slewing device for manual loading station and loading station system Download PDFInfo
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- CN114955502B CN114955502B CN202210919929.9A CN202210919929A CN114955502B CN 114955502 B CN114955502 B CN 114955502B CN 202210919929 A CN202210919929 A CN 202210919929A CN 114955502 B CN114955502 B CN 114955502B
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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
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q41/00—Combinations or associations of metal-working machines not directed to a particular result according to classes B21, B23, or B24
- B23Q41/02—Features relating to transfer of work between machines
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
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Abstract
The invention discloses a slewing device for a manual loading station and a loading station system, and relates to the field of loading stations, wherein the slewing device comprises a quick-change mother plate, a connecting plate, a slewing bearing, a mounting plate, a positioning assembly, a pneumatic box and a frame body, the quick-change mother plate comprises a mounting mother plate and a plurality of quick clamping modules arranged on the upper surface of the mounting mother plate, and a mother plate air passage connected with the quick clamping modules is arranged in the mounting mother plate; the upper surface of the connecting plate is connected with the quick-change mother disc, and the lower surface of the connecting plate is connected with the upper surface of the rotary bearing; the connecting plate rotates on the mounting plate by utilizing a rotating bearing; the locating component comprises a foot valve, a locking device and a cylinder, the cylinder is arranged below the mounting plate, the locking device is fixed above the cylinder, the foot valve controls the piston of the cylinder through a pneumatic valve, the locking device is locked with the connecting plate when the piston is located, and the locking device is unlocked with the connecting plate when the piston is located at the lower position. The invention is convenient for workers to operate, greatly improves the working efficiency and can reduce the accident rate.
Description
Technical Field
The invention relates to the field of loading stations, in particular to a slewing device for a manual loading station and a loading station system.
Background
The zero point positioning system is a unique positioning and locking device, and can keep a workpiece from one station to another station, from one process to another process, or from one machine tool to another machine tool, and the zero point is always kept unchanged. Therefore, the auxiliary time for re-aligning the zero point can be saved, the working continuity is ensured, and the working efficiency is improved.
The loading station can position and lock the parts by utilizing the zero point positioning system, so that the operation of workers or robots is facilitated. The working efficiency and the part machining precision are improved.
The existing loading station usually comprises a rotating device, and the existing rotating device has the defects of low operation efficiency and easy failure.
Disclosure of Invention
The invention aims to overcome the defects of low operation efficiency and easy failure of a slewing device in the prior art, and provides a slewing device for a manual loading station and a loading station system which are convenient for workers to operate, greatly improve the working efficiency, have a reasonable structure, can ensure that air passages are more regular in wiring and have longer service life.
The invention solves the technical problems through the following technical scheme:
a rotary device for a manual loading station comprises a quick-change mother disc, a connecting plate, a rotary bearing, a mounting plate, a positioning component, a pneumatic box and a frame body,
the quick-change mother disc comprises a mounting mother plate and a plurality of quick clamping modules arranged on the upper surface of the mounting mother plate, and a mother plate air channel connected with the quick clamping modules is arranged in the mounting mother plate;
the upper surface of the connecting plate is connected with the quick-change mother disc, and the lower surface of the connecting plate is connected with the upper surface of the slewing bearing;
the lower surface of the rotary bearing is connected with the mounting plate, the connecting plate rotates on the mounting plate by using the rotary bearing, and mounting plate through holes and connecting plate through holes are respectively formed in the mounting plate and the connecting plate;
the frame body comprises a support frame and a collecting box, the collecting box is arranged at the top of the support frame, the mounting plate is fixed with the collecting box, and a collecting box through hole is formed in the collecting box;
the pneumatic box is fixed on one side of the support frame, an air source assembly and a pneumatic valve are arranged in the pneumatic box, the air source assembly is in air connection with the pneumatic valve, and a vent pipe of the pneumatic valve sequentially penetrates through a collecting box through hole, a mounting plate through hole, a rotary bearing inner ring and a connecting plate through hole to be connected with the motherboard air passage;
the positioning assembly comprises a foot valve, a locking device and a cylinder, the cylinder is arranged below the mounting plate, the locking device is fixed above the cylinder, the locking device penetrates through the mounting plate, the foot valve is controlled by a pneumatic valve to control a piston of the cylinder, when the piston is on the upper position, the locking device is locked with the connecting plate, and when the piston is at the lower position, the locking device is unlocked with the connecting plate.
Preferably, the lower surface of the connecting plate comprises fixing holes and locking holes which are uniformly formed in the circumference, the fixing holes are used for being fixed with a rotary bearing, the locking device comprises a cylindrical guide sleeve, a locking pin, an elastic part and an anti-rotation pin, the locking pin is fixed with the anti-rotation pin, the axis of the locking pin is perpendicular to that of the anti-rotation pin, the top of the locking pin penetrates through a main body through hole in the top of the guide sleeve, two ends of the anti-rotation pin respectively penetrate through strip-shaped through holes in the side wall of the cylindrical guide sleeve, the locking pin is used for moving up and down in the strip-shaped through holes along with the anti-rotation pin, the piston is used for driving the guide sleeve to move up and down, the bottom of the locking pin is fixed with a base of the guide sleeve through the elastic part, and the elastic part applies upward elastic force to the locking pin so that the anti-rotation pin is arranged at the top of the strip-shaped through holes;
the locking hole is used for accommodating the locking pin, when the piston is located at an upper position, the distance from the upper end face of the guide sleeve to the lower surface of the rotary device is smaller than the maximum length of the locking pin penetrating out of the main body through hole, and when the piston is located at a lower position, the distance from the upper end face of the guide sleeve to the lower surface of the rotary device is larger than or equal to the maximum length of the locking pin penetrating out of the main body through hole.
Preferably, the locking device further comprises a floating joint, the base is a main body connecting piece, the main body connecting piece is fixed on the end face of the bottom of the guide sleeve through a bolt, the elastic piece is arranged above the main body connecting piece, a connecting hole is formed in the center of the main body connecting piece, a connecting portion at the front end of the floating joint is fixed with the connecting hole, a mounting seat of the floating joint is fixed with the piston, and the axis of the piston is overlapped with the axis of the locking pin.
Preferably, a bracket is arranged below the mounting plate, a guide block is arranged above the mounting plate, the bracket is used for supporting the air cylinder, the guide block is arranged in the inner ring of the rotary bearing, the guide block comprises a guide curved surface which is radially positioned by the guide sleeve, the guide curved surface wraps the outer surface of the guide sleeve, the angle of the outer surface of the guide sleeve is larger than 180 degrees and smaller than 360 degrees, and the bottom of the support frame is provided with an adjusting ground foot for adjusting the height.
Preferably, the locking device is characterized in that the locking pin and the guide sleeve are both subjected to quenching treatment, the outer ring of the slewing bearing is fixed with the mounting plate, the upper end face of the inner ring of the slewing bearing is higher than that of the outer ring, the inner ring of the slewing bearing is provided with a mounting hole, the position of the fixing hole corresponds to that of the mounting hole, and the fixing hole is a counter bore.
Preferably, quick centre gripping module divide into M group, and quick centre gripping module of every group is in arrange according to the row on the installation mother board, the mother board air flue includes control air flue and transmission air flue, and each quick centre gripping module of group corresponds N control air flue, and the bottom that corresponds quick centre gripping module is located to the control air flue, the installation mother board include N transmission air flue and N locate under the installation mother board terminal surface with the inlet port of transmission air flue one-to-one, each transmission air flue divide into M transfer air flue through dividing the gas node, each transfer air flue corresponds a set of quick centre gripping module and a control air flue that the quick centre gripping module of group bottom of transfer air flue connection corresponds.
Preferably, the bottom surface of the collecting box is provided with a discharge hole, the discharge hole is connected with a ball valve, the pneumatic box is a dustproof and waterproof pneumatic box and comprises a transparent cover plate, a terminal box is further arranged in the pneumatic box, the bottom surface of the collecting box is further provided with a supporting block, a circular tray is arranged on the supporting block, the edge of the circular tray is provided with a cylindrical guide rail, the mounting plate is fixed on the cylindrical guide rail, the rotating device further comprises an isolating door, the bottom of the isolating door is installed on the guide rail, two sides of the collecting box are respectively provided with a support column, and the support columns are used for fixing the top of the isolating door.
Preferably, the connecting board is further provided with an electrical box, the electrical box is arranged on one side of the quick-change mother disc, the connecting board is provided with an installation groove, the installation groove is used for accommodating electric wires of the electrical box, the electrical box is provided with a detection device,
the detection device is used for detecting the working state of the quick-change mother disc and transmitting the working state data to the upper computer;
and the upper computer is used for generating a control instruction according to the working state data and sending the control instruction to the robot for operating the slewing device.
Preferably, the detection device comprises a laser radar, the cylindrical guide rail is provided with a trigger, the rotating device comprises an isolation door,
the laser radar is used for scanning an area above the quick-change mother disc to obtain three-dimensional point cloud data and transmitting the three-dimensional point cloud data to an upper computer;
the upper computer is used for acquiring the opening direction of the isolation door according to the trigger signal sent by the trigger, and acquiring the attribute of the three-dimensional point cloud data according to the opening direction, wherein the attribute comprises part point cloud data and operation point cloud data;
the upper computer is also used for acquiring human body point cloud data according to the difference between the part point cloud data and the human body point cloud data;
the upper computer is further used for receiving the three-dimensional model after the part machining is finished, judging whether the three-dimensional model is matched with the part point cloud data or not according to the feature point identification, judging whether the operation recorded by the human body point cloud data meets a preset position and a preset angle or not according to the space position of the rapid clamping module and the three-dimensional model if the three-dimensional model is matched with the part point cloud data, and sending an activation instruction to the robot if the three-dimensional model is matched with the part point cloud data.
The invention also provides a loading station system which comprises the slewing device, a robot and a processing module.
On the basis of the common knowledge in the field, the above preferred conditions can be combined randomly to obtain the preferred embodiments of the invention.
The positive progress effects of the invention are as follows:
the slewing device and the loading station system for the manual loading station are convenient for workers to operate, greatly improve the working efficiency, have reasonable structures, and can ensure that air passage wiring is more regular, so that the fault rate is reduced, and further, the working condition of the loading station can be judged through the detection device so as to prevent accidents.
Drawings
Fig. 1 is an exploded view of a swing apparatus according to embodiment 1 of the present invention.
Fig. 2 is a schematic cross-sectional view of a rotating apparatus according to embodiment 1 of the present invention.
Fig. 3 is a schematic structural diagram of a rotating device according to embodiment 1 of the present invention.
Fig. 4 is a schematic structural view of a connection plate according to embodiment 1 of the present invention.
Fig. 5 is a schematic sectional view of a locking device according to embodiment 1 of the present invention.
Fig. 6 is another schematic cross-sectional view of a rotating apparatus according to embodiment 1 of the present invention.
Fig. 7 is another schematic cross-sectional view of a rotating apparatus according to embodiment 1 of the present invention.
Fig. 8 is another schematic cross-sectional view of a rotating apparatus according to embodiment 1 of the present invention.
Fig. 9 is a schematic structural diagram of a quick-change master disc according to embodiment 1 of the present invention.
Detailed Description
The invention is further illustrated by the following examples, which are not intended to limit the scope of the invention.
Example 1
Referring to fig. 1-9, the present embodiment provides a loading station system including a carousel for a manual loading station, a robot, and a processing module. The processing module can be an upper computer and can also be a processing device integrated in the slewing device.
The embodiment also provides the slewing device.
The rotating device comprises a quick-change mother disc 11, a connecting plate 21, a rotating bearing 31, a mounting plate 41, a positioning assembly 51, a pneumatic box 71 and a frame body 61.
The quick-change mother board 11 includes an installation mother board 111 and a plurality of quick clamping modules 112 disposed on an upper surface of the installation mother board, a mother board air passage 12 connected to the quick clamping modules is disposed in the installation mother board 111, and the number of the quick clamping modules is 6 in this embodiment.
The upper surface of the connecting plate is connected with the quick-change mother disc, and the lower surface of the connecting plate is connected with the upper surface of the slewing bearing.
The lower surface of the slewing bearing is connected with the mounting plate, the connecting plate 21 utilizes the slewing bearing to rotate on the mounting plate 41, and the mounting plate through hole 411 and the connecting plate through hole 211 are respectively arranged at the centers of the mounting plate 41 and the connecting plate 21.
The frame body 61 comprises a support frame 611 and a collecting box 612, the collecting box is arranged at the top of the support frame, the mounting plate is fixed with the collecting box, and a collecting box through hole is formed in the collecting box;
the pneumatic box 71 is fixed on one side of the support frame 611, an air source assembly 711 and a pneumatic valve 712 are arranged in the pneumatic box, the air source assembly 711 is in air connection with the pneumatic valve, and a vent pipe of the pneumatic valve sequentially penetrates through a collecting box through hole, a mounting plate through hole, a rotary bearing inner ring and the connecting plate through hole to be connected with the motherboard air passage 12;
the positioning assembly 51 comprises a foot valve 511, a locking device 512 and a cylinder 513, wherein the cylinder 513 is arranged below the mounting plate, the locking device 512 is fixed above the cylinder 513, and the locking device 512 penetrates through the mounting plate.
The foot valve 511 controls the piston 5131 of the cylinder through the pneumatic valve, and the locking device is locked with the connecting plate when the piston 5131 is in the up position, see fig. 6, and unlocked with the connecting plate when the piston 5131 is in the down position, see fig. 8.
In this embodiment, the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on orientations or positional relationships shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed in a specific orientation, and operate, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
The lower surface of the connecting plate 21 comprises fixing holes 212 and locking holes 213 which are uniformly arranged on the circumference, and the number of the locking holes is 4, and the locking holes are sequentially arranged at intervals of 90 degrees.
Referring to fig. 5, the fixing hole is used to fix the slewing bearing, and the locking device 512 includes a cylindrical guide sleeve 5121, a locking pin 5122, an elastic member 5123, and an anti-rotation pin 5124.
The locking pin is fixed with the anti-rotation pin, the axis of the locking pin is perpendicular to that of the anti-rotation pin, and the top of the locking pin penetrates through the main body through hole in the top of the guide sleeve.
The two ends of the anti-rotation pin respectively penetrate through the strip-shaped through holes in the side wall of the cylindrical guide sleeve, and the length direction of each strip-shaped through hole is perpendicular to the horizontal plane, so that the anti-rotation pin can move up and down along the strip-shaped through holes after penetrating through the strip-shaped through holes.
The locking pin is used for moving up and down in the strip-shaped through hole along with the anti-rotation pin, and the piston is used for driving the guide sleeve to move up and down. The top of the locking pin is a spherical surface, so that the locking pin can be conveniently inserted into the locking hole.
The bottom of the locking pin is fixed with the base 5125 of the guide sleeve through an elastic piece, and the elastic piece applies upward elasticity to the locking pin so that the anti-rotation pin is arranged at the top of the strip-shaped through hole.
In this embodiment, the elastic member is a spring, the spring is used to ensure that the locking pin is ejected, and the final insertion force is a spring force.
The locking hole is used for accommodating the locking pin, and when the piston is on the upper position, the distance from the upper end surface of the guide sleeve to the lower surface of the rotary device is smaller than the maximum length of the locking pin penetrating out of the main body through hole.
When the piston is in the lower position, the distance from the upper end surface of the guide sleeve to the lower surface of the rotary device is larger than or equal to the maximum length of the locking pin penetrating through the main body through hole.
The locking pin and the guide sleeve are quenched, so that the wear resistance of parts is improved, and the head of the locking pin is spherical and is convenient to guide into the locking hole of the connecting plate.
The guide sleeve mainly plays a role in guiding and bearing the radial force of the locking pin. The anti-rotation pin can effectively prevent the locking pin from rotating in the guide sleeve. And the base connecting piece of the guide sleeve is used for connecting the floating joint of the air cylinder and sealing the spring in the guide sleeve.
Referring to fig. 6, the initial state of the cylinder 513 is the extended state of the piston rod, i.e. the piston rod is up, the locking pin is inserted into the locking hole, and the rotating device is in the locking state and cannot rotate.
Referring to fig. 8, when the operator steps on the foot valve, the piston rod of the cylinder retracts (piston down position), which drives the guide sleeve and the locking pin to move downwards, and the locking pin is separated from the locking hole, at which time the rotating device allows rotation.
Referring to fig. 7, at this time, an operator slightly rotates the quick-change master disc until the locking pin is completely staggered with the locking hole of the connecting plate, the foot-operated valve can be released, the piston rod extends out under the action of the one-way reversing valve, and at this time, the connecting plate can compress the spring to enable the locking pin to be kept in contact with the connecting plate.
An operator continues to rotate the quick-change mother disc until the locking pin is aligned with the locking hole of the connecting plate, the spring force pushes the locking pin to enter the locking hole of the connecting plate for positioning, and the assembling device cannot rotate at the moment.
Further, the locking device 512 further includes a floating joint 5126, and the base (the base of the guide sleeve) is a main body connector, and the main body connector is fixed on the end face of the bottom of the guide sleeve through a bolt.
The elastic piece is arranged above the main body connecting piece, a connecting hole is formed in the center of the main body connecting piece, the front end connecting portion of the floating joint is fixed to the connecting hole, the mounting seat of the floating joint is fixed to the piston, and the axis of the piston is overlapped with the axis of the locking pin.
The floating joint is used for solving the problem that the axis of the piston and the axis of the locking pin cannot be completely overlapped, so that the locking device is prevented from being used by radial force caused by the fact that the piston and the locking pin cannot be overlapped, and the service life is prolonged.
Further, referring to fig. 6, a bracket 412 is disposed below the mounting plate 41, and a guide block 413 is disposed above the mounting plate.
The bracket 412 is used for supporting the cylinder, the guide block is arranged in the inner ring of the slewing bearing, the guide block comprises a guide curved surface which is radially positioned with the guide sleeve, and the angle of the outer surface of the guide sleeve wrapped by the guide curved surface is larger than 180 degrees and smaller than 360 degrees.
The bottom of the support frame is provided with an adjusting anchor 82 for adjusting the height.
The locking pin and the guide sleeve are both subjected to quenching treatment, the outer ring of the slewing bearing is fixed with the mounting plate, and the upper end face of the inner ring of the slewing bearing is higher than that of the outer ring.
The inner ring of the slewing bearing is provided with a mounting hole, the position of the fixing hole corresponds to that of the mounting hole, and the fixing hole is a counter bore.
Specifically, the quick clamping modules are divided into 2 groups, and the number of each group of quick clamping modules is 3.
Each group of quick clamping modules is arranged on the installation mother board in a row, and 6 quick clamping modules are arranged on the installation mother board in two groups.
The motherboard air flue comprises a control air flue and a transmission air flue, and each group of the quick clamping modules corresponds to 5 control air flues.
The control air flue is located the bottom that corresponds quick clamping module, and quick clamping module of every group is equipped with 5 control air flues promptly.
The installation mother board includes 5 transmission air flues and 5 locates the inlet port that the terminal surface corresponds with transmission air flue one-to-one under the installation mother board.
Each transmission air flue is divided into 2 transfer air flues through dividing the gas node, and each transfer air flue corresponds a set of quick clamping module and transfer air flue connection corresponds a control air flue of quick clamping module group bottom.
The first air inlet 1211 communicates with the first transfer air passage 1221, the second air inlet 1212 communicates with the second transfer air passage 1222, the third air inlet 1213 communicates with the third transfer air passage 1223, the fourth air inlet 1214 communicates with the fourth transfer air passage 1224, and the fifth air inlet 1215 communicates with the fifth transfer air passage 1225.
Each quick-change clamping module needs to be communicated with 5 paths of air, and each quick-change mother disc consists of 6 quick-change clamping modules, and the total number of the quick-change mother discs is 30 paths of air.
If the tubes are arranged outside, the number of the tubes is very large, the tubes are easy to damage and inconvenient to maintain, the attractiveness is influenced, 15 air passages are drilled on the bottom plate of the quick-change mother disc, the air passages with the same function are connected in series, and the number of the tubes is reduced.
The eighth control air passage 1228, the thirteenth control air passage 12213 and the third delivery air passage 1223 are connected in series and are ventilated by a third air inlet;
the seventh control air passage 1227, the twelfth control air passage 12212 and the second transmission air passage 1222 are connected in series and are ventilated by a second air inlet;
the sixth control air passage 1226, the eleventh control air passage 12211 and the first transmission air passage 1221 are connected in series and are ventilated by a first air inlet;
the tenth control air passage 12210, the fifteenth control air passage 12215 and the fifth delivery air passage 1225 are connected in series and are ventilated by a fifth air inlet;
the ninth control air passage 1229, the fourteenth control air passage 12214 and the fourth delivery air passage 1224 are connected in series and are ventilated by a fourth air inlet.
One end of each control air passage is connected with the air inlet, and the other end of each control air passage is plugged.
Further, a discharge hole is formed in the bottom surface of the collecting box and connected with a ball valve.
The pneumatic box is a dustproof and waterproof pneumatic box and comprises a transparent cover plate, and a terminal box is further arranged in the pneumatic box.
The bottom surface of the collecting box 612 is also provided with a supporting block 6122, the supporting block is provided with a circular tray 6121, the edge of the circular tray is provided with a cylindrical guide rail, the mounting plate is fixed on the cylindrical guide rail, and the rotating device further comprises an isolation door.
The bottom of the isolation door is installed on the guide rail, support columns are respectively arranged on two sides of the collecting box, and the support columns are used for fixing the top of the isolation door.
The isolating door is similar to a cylindrical surface, is a sliding door which is opened leftwards and rightwards, isolates one side of the sliding door when the sliding door is opened towards the other side, and isolates the other side when the sliding door is opened towards the other side. Therefore, the isolation function is realized when the operator operates the robot in a face-to-face mode, and only one side is ensured to operate.
The connecting plate is also provided with an electrical box which is arranged on one side of the quick-change mother disc, the connecting plate is provided with a mounting groove 214 for accommodating the electric wire of the electrical box, the electrical box is provided with a detection device,
the detection device is used for detecting the working state of the quick-change mother disc and transmitting the working state data to the upper computer;
and the upper computer is used for generating a control instruction according to the working state data and sending the control instruction to the robot for operating the slewing device.
By utilizing the electric appliance box and the detection device, the robot can acquire the part processing state on the rotating device, so that the robot is more intelligent, and accidents caused by the fact that the robot enters into processing when parts are not prepared sufficiently are avoided.
The detection device comprises a laser radar, the cylindrical guide rail is provided with a trigger, the rotating device comprises an isolation door,
the laser radar is used for scanning an area above the quick-change mother disc to obtain three-dimensional point cloud data and transmitting the three-dimensional point cloud data to an upper computer;
the upper computer is used for acquiring the opening direction of the isolation door according to the trigger signal sent by the trigger, and acquiring the attribute of the three-dimensional point cloud data according to the opening direction, wherein the attribute comprises part point cloud data and operation point cloud data;
the above steps can give meaning to the three-dimensional point cloud data, so that the upper computer can further analyze and calculate the acquired three-dimensional data.
The upper computer is also used for acquiring human body point cloud data according to the difference of the part point cloud data and the human body point cloud data;
the upper computer is also used for receiving the three-dimensional model after the part processing is finished, and judging whether the three-dimensional model is matched with the part point cloud data according to the feature point identification:
if so, judging that the part is machined, judging whether the operation recorded by the human body point cloud data meets a preset position and a preset angle according to the spatial position of the rapid clamping module and the three-dimensional model, and if so, sending an activation instruction to the robot.
The upper computer can respectively output a pure part model, a model after part processing and a human body model through the steps.
In this embodiment the spatial position is 4, rotates respectively 4 angles on, through adding the identification mark on the quick change mother disc, the spatial position of the quick centre gripping module of acquisition that can be easy, according to spatial position and three-dimensional model, can acquire the position and the direction of part, and then can record angle and the position of operation through laser radar, whether the operation that can acquire operating personnel through the host computer is normal or is accomplished, and then can guarantee the security of production operation.
The slewing device for the manual loading station and the loading station system of the embodiment facilitate the operation of workers, greatly improve the working efficiency, are reasonable in structure, and enable air passages to be more regular in wiring, so that the failure rate is reduced, and further, the working condition of the loading station can be judged through the detection device, and further, accidents are prevented.
While specific embodiments of the invention have been described above, it will be appreciated by those skilled in the art that these are by way of example only, and that the scope of the invention is defined by the appended claims. Various changes and modifications to these embodiments may be made by those skilled in the art without departing from the spirit and scope of the invention, and these changes and modifications are within the scope of the invention.
Claims (8)
1. A rotary device for a manual loading station is characterized by comprising a quick-change mother disc, a connecting plate, a rotary bearing, a mounting plate, a positioning assembly, a pneumatic box and a frame body,
the quick-change mother disc comprises a mounting mother plate and a plurality of quick clamping modules arranged on the upper surface of the mounting mother plate, and a mother plate air channel connected with the quick clamping modules is arranged in the mounting mother plate;
the upper surface of the connecting plate is connected with the quick-change mother disc, and the lower surface of the connecting plate is connected with the upper surface of the slewing bearing;
the lower surface of the slewing bearing is connected with the mounting plate, the connecting plate rotates on the mounting plate by using the slewing bearing, and the mounting plate and the connecting plate are respectively provided with a mounting plate through hole and a connecting plate through hole;
the frame body comprises a support frame and a collecting box, the collecting box is arranged at the top of the support frame, the mounting plate is fixed with the collecting box, and a collecting box through hole is formed in the collecting box;
the pneumatic box is fixed on one side of the support frame, an air source assembly and a pneumatic valve are arranged in the pneumatic box, the air source assembly is in air connection with the pneumatic valve, and an air pipe of the pneumatic valve sequentially penetrates through a collecting box through hole, a mounting plate through hole, a rotary bearing inner ring and a connecting plate through hole to be connected with the motherboard air passage;
the positioning assembly comprises a foot valve, a locking device and an air cylinder, the air cylinder is arranged below the mounting plate, the locking device is fixed above the air cylinder, the locking device penetrates through the mounting plate, the foot valve controls a piston of the air cylinder through the pneumatic valve, the locking device is locked with the connecting plate when the piston is positioned upwards, and the locking device is unlocked with the connecting plate when the piston is positioned downwards;
the lower surface of the connecting plate comprises fixing holes and locking holes which are uniformly formed in the circumference, the fixing holes are used for being fixed with a rotary bearing, the locking device comprises a cylindrical guide sleeve, a locking pin, an elastic part and an anti-rotating pin, the locking pin is fixed with the anti-rotating pin, the axis of the locking pin is perpendicular to that of the anti-rotating pin, the top of the locking pin penetrates through a main body through hole in the top of the guide sleeve, two ends of the anti-rotating pin respectively penetrate through strip-shaped through holes in the side wall of the cylindrical guide sleeve, the locking pin is used for moving up and down in the strip-shaped through holes along with the anti-rotating pin, the piston is used for driving the guide sleeve to move up and down, the bottom of the locking pin is fixed with a base of the guide sleeve through the elastic part, and the elastic part applies upward elastic force to the locking pin so that the anti-rotating pin is arranged at the top of the strip-shaped through holes;
the locking hole is used for accommodating the locking pin, when the piston is in an upper position, the distance from the upper end surface of the guide sleeve to the lower surface of the rotary device is less than the maximum length of the locking pin penetrating out of the main body through hole, and when the piston is in a lower position, the distance from the upper end surface of the guide sleeve to the lower surface of the rotary device is greater than or equal to the maximum length of the locking pin penetrating out of the main body through hole;
the locking device further comprises a floating joint, the base is a main body connecting piece, the main body connecting piece is fixed on the end face of the bottom of the guide sleeve through a bolt, the elastic piece is arranged above the main body connecting piece, a connecting hole is formed in the center of the main body connecting piece, a front end connecting portion of the floating joint is fixed with the connecting hole, a mounting seat of the floating joint is fixed with the piston, and the axis of the piston is overlapped with the axis of the locking pin.
2. The slewing device according to claim 1, wherein a bracket is arranged below the mounting plate, a guide block is arranged above the mounting plate, the bracket is used for supporting the air cylinder, the guide block is arranged inside the inner ring of the slewing bearing, the guide block comprises a guide curved surface which is radially positioned with the guide sleeve, the angle of the guide curved surface wrapping the outer surface of the guide sleeve is more than 180 degrees and less than 360 degrees, and an adjusting anchor for adjusting the height is arranged at the bottom of the supporting frame.
3. The slewing device according to claim 1, wherein the locking pin and the guide sleeve are both subjected to quenching treatment, the outer ring of the slewing bearing is fixed to the mounting plate, the upper end face of the inner ring of the slewing bearing is higher than that of the outer ring, the inner ring of the slewing bearing is provided with a mounting hole, the position of the fixing hole corresponds to that of the mounting hole, and the fixing hole is a counter bore.
4. The rotation device according to claim 1, wherein the fast clamping modules are divided into M groups, each group of fast clamping modules are arranged on the installation mother board in a row, the mother board air passages comprise control air passages and transmission air passages, each group of fast clamping modules corresponds to N control air passages, the control air passages are arranged at the bottoms of the corresponding fast clamping modules, the installation mother board comprises N transmission air passages and N air inlets which are arranged at the lower end surface of the installation mother board and correspond to the transmission air passages one by one, each transmission air passage is divided into M transfer air passages through air distribution nodes, and each transfer air passage corresponds to one group of fast clamping modules and is connected with one control air passage at the bottom of the corresponding group of fast clamping modules.
5. The rotating device as claimed in claim 1, wherein the bottom surface of the collecting box is provided with a discharge hole, the discharge hole is connected with a ball valve, the pneumatic box is a dustproof and waterproof pneumatic box and comprises a transparent cover plate, the pneumatic box is further provided with a terminal box, the bottom surface of the collecting box is further provided with a supporting block, a circular tray is arranged on the supporting block, the edge of the circular tray is provided with a cylindrical guide rail, the mounting plate is fixed on the cylindrical guide rail, the rotating device further comprises an isolation door, the bottom of the isolation door is mounted on the guide rail, two sides of the collecting box are respectively provided with a supporting column, and the supporting columns are used for fixing the top of the isolation door.
6. The rotation device as claimed in claim 5, wherein an electrical box is further disposed on the connection board, the electrical box is disposed on one side of the quick-change stamper, a mounting groove is disposed on the connection board, the mounting groove is used for receiving the electrical wires of the electrical box, a detection device is disposed on the electrical box,
the detection device is used for detecting the working state of the quick-change mother disc and transmitting the working state data to the upper computer;
and the upper computer is used for generating a control instruction according to the working state data and sending the control instruction to the robot for operating the slewing device.
7. The slewing device of claim 6, wherein the detection device comprises a laser radar, the cylindrical guide rail is provided with a trigger, the slewing device comprises an isolation door,
the laser radar is used for scanning an area above the quick-change mother disc to obtain three-dimensional point cloud data and transmitting the three-dimensional point cloud data to an upper computer;
the upper computer is used for acquiring the opening direction of the isolation door according to the trigger signal sent by the trigger, and acquiring the attribute of the three-dimensional point cloud data according to the opening direction, wherein the attribute comprises part point cloud data and operation point cloud data;
the upper computer is also used for acquiring human body point cloud data according to the difference between the part point cloud data and the human body point cloud data;
the upper computer is further used for receiving the three-dimensional model after the part machining is finished, judging whether the three-dimensional model is matched with the part point cloud data or not according to the feature point identification, judging whether the operation recorded by the human body point cloud data meets a preset position and a preset angle or not according to the space position of the rapid clamping module and the three-dimensional model if the three-dimensional model is matched with the part point cloud data, and sending an activation instruction to the robot if the three-dimensional model is matched with the part point cloud data.
8. A loading station system, characterized in that it comprises a slewing device according to any of claims 1-7, a robot and a handling module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210919929.9A CN114955502B (en) | 2022-08-02 | 2022-08-02 | Slewing device for manual loading station and loading station system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210919929.9A CN114955502B (en) | 2022-08-02 | 2022-08-02 | Slewing device for manual loading station and loading station system |
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| Publication Number | Publication Date |
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| CN114955502A CN114955502A (en) | 2022-08-30 |
| CN114955502B true CN114955502B (en) | 2022-12-27 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210919929.9A Active CN114955502B (en) | 2022-08-02 | 2022-08-02 | Slewing device for manual loading station and loading station system |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4678077A (en) * | 1984-12-07 | 1987-07-07 | Rotomors S.P.A | System for controlling the jaws of a self-centering platform (pallet) which can be moved between fittings (pallet supports) carried by the loading and unloading station and the working station of a machine tool |
| CN207900666U (en) * | 2017-12-15 | 2018-09-25 | 刘宁 | Adaptive locking turntable of machine tool |
| CN211759842U (en) * | 2020-03-16 | 2020-10-27 | 泉州市井贺精密设备有限公司 | Servo multi-tooth rotary table |
| CN113245884A (en) * | 2021-02-09 | 2021-08-13 | 北京卫星制造厂有限公司 | Quick reloading system and method based on zero point positioning |
| CN114770147A (en) * | 2022-05-26 | 2022-07-22 | 沈阳机床(集团)有限责任公司 | Rotary table based on zero positioning and application thereof |
-
2022
- 2022-08-02 CN CN202210919929.9A patent/CN114955502B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4678077A (en) * | 1984-12-07 | 1987-07-07 | Rotomors S.P.A | System for controlling the jaws of a self-centering platform (pallet) which can be moved between fittings (pallet supports) carried by the loading and unloading station and the working station of a machine tool |
| CN207900666U (en) * | 2017-12-15 | 2018-09-25 | 刘宁 | Adaptive locking turntable of machine tool |
| CN211759842U (en) * | 2020-03-16 | 2020-10-27 | 泉州市井贺精密设备有限公司 | Servo multi-tooth rotary table |
| CN113245884A (en) * | 2021-02-09 | 2021-08-13 | 北京卫星制造厂有限公司 | Quick reloading system and method based on zero point positioning |
| CN114770147A (en) * | 2022-05-26 | 2022-07-22 | 沈阳机床(集团)有限责任公司 | Rotary table based on zero positioning and application thereof |
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| Publication number | Publication date |
|---|---|
| CN114955502A (en) | 2022-08-30 |
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