CN117001682A - Multi-axis mechanical arm bead dropping machine and working method thereof - Google Patents
Multi-axis mechanical arm bead dropping machine and working method thereof Download PDFInfo
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- CN117001682A CN117001682A CN202310922239.3A CN202310922239A CN117001682A CN 117001682 A CN117001682 A CN 117001682A CN 202310922239 A CN202310922239 A CN 202310922239A CN 117001682 A CN117001682 A CN 117001682A
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- 239000011324 bead Substances 0.000 title claims abstract description 79
- 238000000034 method Methods 0.000 title claims abstract description 16
- 238000007599 discharging Methods 0.000 claims abstract description 29
- 239000000463 material Substances 0.000 claims description 33
- 239000002994 raw material Substances 0.000 claims description 33
- 230000001360 synchronised effect Effects 0.000 claims description 12
- 239000003292 glue Substances 0.000 claims description 11
- 238000002347 injection Methods 0.000 claims description 10
- 239000007924 injection Substances 0.000 claims description 10
- 206010040007 Sense of oppression Diseases 0.000 claims description 5
- 238000006073 displacement reaction Methods 0.000 abstract description 10
- 230000009471 action Effects 0.000 description 13
- 238000003754 machining Methods 0.000 description 4
- 230000008859 change Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000002360 preparation method Methods 0.000 description 2
- 244000025254 Cannabis sativa Species 0.000 description 1
- 235000012766 Cannabis sativa ssp. sativa var. sativa Nutrition 0.000 description 1
- 235000012765 Cannabis sativa ssp. sativa var. spontanea Nutrition 0.000 description 1
- 229920000742 Cotton Polymers 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 235000009120 camo Nutrition 0.000 description 1
- 235000005607 chanvre indien Nutrition 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 239000011487 hemp Substances 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 230000002688 persistence Effects 0.000 description 1
Classifications
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Tyre Moulding (AREA)
Abstract
The application discloses a multi-axis mechanical arm bead pointing machine, which comprises: the output end of the feeding conveying table is provided with a feeding and discharging mechanical arm; the workbench is arranged on one side of the feeding conveying table, a spot bead mechanical assembly is arranged on the workbench, and the feeding mechanical arm and the discharging mechanical arm are matched with the workbench; the feeding belt is arranged at one end of the workbench, and the feeding and discharging mechanical arm is matched with the feeding belt; the method also comprises a working method of the multi-axis mechanical arm bead pointing machine; the degree of freedom of the execution tail end of the bead pointing machine is increased, the bead pointing machine can freely move on a workbench to adapt to different products, meanwhile, the brake device of equipment is improved, the inertial displacement of the bead pointing machine is compensated, the bead pointing machine is always stopped at a theoretical position, and the processing precision of the bead pointing machine is improved.
Description
Technical Field
The application belongs to the technical field of robots, and particularly relates to a multi-axis mechanical arm bead pointing machine and a working method thereof.
Background
The bead machine is a processing device for fixing tiny parts on the surface of a product, can well replace manual work, has the advantages of bead action blocks and strong persistence, and is mainly applied to the assembly processing of products such as paper products, cotton and hemp products, plastic products and the like.
The traditional bead machine is fixed in executing action though finishing the bead action through a mechanical mechanism, and only one product position can be machined, so that the working head is required to be continuously replaced for different products, the operation is inconvenient, meanwhile, most of the existing bead machines have the problem of machining deviation, and the machining precision is not high. Therefore, the application innovates and improves the beading machine.
The prior bead dropping machine mainly has the following problems:
1. most of the existing bead spotting machines have the problem of inconvenient operation, and because the working heads are inflexible, only one product can be processed, and aiming at different products, the types, the numbers and the positions of the working heads need to be continuously replaced, so that the operation is complicated, and the production is not facilitated.
2. Most of the existing bead spotting machines have the problem of machining deviation, because the working head has inertia when moving and stopping, the actual bead spotting positions and the theoretical positions of the working head deviate, most of the bead spotting machines adopt timing zero correction, but new deviation can be generated when each moving, and the machining precision is not high.
Disclosure of Invention
The application aims to: in order to overcome the defects, the application aims to provide the multi-axis mechanical arm bead machine and the working method thereof, which increase the degree of freedom of the execution tail end of the bead machine, enable the bead machine to freely move on a workbench, adapt to different products, improve a braking device of equipment, compensate the inertial displacement of the bead machine, enable the bead machine to always stop at a theoretical position and improve the processing precision of the bead machine.
The technical scheme is as follows: in order to achieve the above object, the present application provides a multi-axis robot arm beading machine, comprising:
the output end of the feeding conveying table is provided with a feeding and discharging mechanical arm;
the workbench is arranged on one side of the feeding conveying table, a spot bead mechanical assembly is arranged on the workbench, and the feeding mechanical arm and the discharging mechanical arm are matched with the workbench;
and the feeding belt is arranged at one end of the workbench, and the feeding and discharging mechanical arm is matched with the feeding belt.
According to the arrangement of the bead pointing machine, the freedom degree of the bead pointing machine is improved by adopting a multi-shaft structure, so that the bead pointing machine can meet the processing positions of different products, a working head is not required to be replaced, the processing efficiency is improved, meanwhile, a mechanical arm is added, quick and accurate feeding and discharging are realized, and manual operation is reduced.
The feeding conveying table provided by the application comprises:
a frame, two sides of the top of which are provided with fixed side plates;
the material stacking device, it sets up in the frame top, the material stacking device includes: the first motor is arranged at the bottom of the frame, the output end of the first motor is provided with a driving wheel, the driving wheel is connected to the inner side of the fixed side plate through a shaft, a synchronous wheel is fixedly arranged on the shaft, a driven wheel is arranged on one side of the synchronous wheel, the driven wheel is arranged on the inner side of the fixed side plate through a shaft, and a feeding belt is circumferentially arranged between the synchronous wheel and the outer edge of the driven wheel; the top of the synchronous wheel is provided with a limiting block, the limiting block is fixed on the fixed side plate, one side of the limiting block is provided with a limiting push plate, the limiting push plate is arranged on the inner side of the fixed side plate in a sliding manner, and the limiting push plate is matched with the limiting block;
the extracting device, it sets up in the material device output that stacks, extracting device includes: the rotary shaft is arranged on the fixed side plate through a bearing, one end of the rotary shaft is connected with a second motor through a belt, the second motor is arranged at the bottom of the frame, an air cylinder is fixed in the middle section of the rotary shaft, a fixed plate is arranged at the output end of the air cylinder, a plurality of material taking suction cups are fixed on the fixed plate, and one end of each material taking suction cup is connected with a negative pressure air path;
the positioner, it sets up in extracting device output, positioner includes: the feeding belt is arranged at the top of the frame through a roller, and one end of the feeding belt is connected with a third motor through the roller; the bottom of the feeding belt is provided with a screw rod, the screw rod is provided with an adjusting plate, the adjusting plates are arranged on two sides of the feeding belt, one end of the screw rod is connected with a fourth motor, and the fourth motor is fixed on the frame; one end of the feeding belt, which is far away from the material taking device, is provided with a stop plate.
According to the application, the feeding conveying table is arranged, and stacking and fixing of products are realized through the stacking device; the material taking device is used for taking materials rapidly, the material taking device is used for completing two actions of displacement and steering of a product through one rotating shaft, the structure is simplified, meanwhile, the material taking sucker is telescopic while the product is adsorbed, the material taking action and the telescopic action are combined, the product cannot collide in the rotating action, and the product is protected; the product is limited at a fixed position through the positioning device, so that the grabbing and positioning of the feeding and discharging mechanical arm are facilitated, the installation of a sensing and identifying structure on the mechanical arm is avoided, and the cost of the mechanical arm is reduced.
A bottom plate is arranged between the synchronous wheel and the driven wheel, and is fixed on the inner side of the fixed side plate, and the bottom plate supports the feeding belt.
The bottom plate is arranged for supporting the feeding belt, so that the feeding belt is prevented from slipping due to insufficient tension.
The bottom of the frame is provided with the load block, and the load block is connected with the limit push plate through a rope.
According to the application, the weight block applies pressure to the limiting plate by the weight block, so that a product is kept between the limiting plate and the limiting block.
The inner side of the adjusting plate is provided with a proximity switch, and the stopping plate is provided with a proximity switch.
The proximity switch provided by the application can be used for avoiding product damage caused by excessive compression of the equipment.
The top of the workbench is slidably provided with a first working plane and a second working plane through a guide rail, one side of the first working plane is provided with a first driving belt, the top of the first driving belt is fixedly connected with the first working plane through a block, and the first driving belt is driven by a motor; and one side of the second working plane is provided with a second driving belt, and the top of the second driving belt is fixedly connected with the second working plane through a block.
According to the arrangement of the workbench, the two working planes work alternately, so that the bead dropping efficiency is improved, and meanwhile, the two working planes are staggered with the fixed position of the transmission belt, so that the structure is more compact.
The point bead mechanical assembly comprises:
the first screw rod shaft assembly is arranged on one side of the workbench, a second screw rod shaft assembly is arranged on the first screw rod shaft assembly in a sliding mode, the moving direction of the second screw rod shaft assembly is perpendicular to that of the first screw rod shaft assembly, and a machine head is arranged at one end of the second screw rod shaft assembly;
the cam connecting rod is arranged inside the machine head, the cam connecting rod is driven by a motor, one end of the cam connecting rod is connected with a mounting frame, the mounting frame is arranged outside the machine head and linearly slides with the machine head, a plurality of lifting cylinders are arranged on the mounting frame and are arranged on the same horizontal plane, a point bead gun head is arranged at the output end of the lifting cylinder, and the point bead gun head is connected with a negative pressure air circuit.
The bead box is arranged on one side of the workbench, is embedded on the workbench and is matched with the bead gun head.
According to the application, the ball-pointing mechanical assembly is arranged, the self-coupling movement on the horizontal plane is realized through the screw rod shaft assembly, the free movement in the vertical direction is realized through the cam connecting rod, and the gun head needing to finish the ball-pointing action is determined through the lifting of the lifting cylinder; the cam connecting rod converts rotation into linear displacement, and the sequential rotation can finish two bead-pointing or bead-grabbing actions, so that the bead-pointing efficiency is improved; the arrangement of the multiple gun heads can grasp the beads for multiple times in sequence, so that the processing stroke is shortened, and the programming difficulty is simplified.
The working method of the point bead mechanical assembly comprises the following steps: the part of lifting cylinder descends to enable the bead-dispensing gun head needing to dispense beads to sink, meanwhile, the first screw rod shaft assembly and the second screw rod shaft assembly move to enable the machine head to move to the position above the bead box, the cam connecting rod presses down the mounting frame, the bead-dispensing gun head grabs beads, and the cam connecting rod lifts the mounting frame; the machine head moves to the upper part of the product, the cam connecting rod presses the mounting frame downwards, the bead gun head loosens the beads, and the bead dropping action is completed.
The mounting frame is provided with a dispensing gun head through the lifting cylinder, the dispensing gun head is connected with a glue injection bin through a guide pipe, and the glue injection bin is arranged on the machine head.
The dispensing gun head provided by the application combines the dispensing and bead dispensing actions, simplifies the structure, shortens the interval between dispensing and bead dispensing, and keeps the viscosity of the glue.
The working method of the dispensing gun head comprises the following steps: the lifting cylinder on the dispensing gun head descends, the first screw rod shaft assembly and the second screw rod shaft assembly move simultaneously, the machine head is moved to the upper portion of the product, the cam connecting rod presses the mounting frame downwards, and the glue is pressed out of the glue injection bin simultaneously, so that the dispensing action is completed.
The first screw rod shaft assembly is internally provided with a screw rod shaft, one end of the screw rod shaft is provided with a brake disc, and the brake disc comprises:
a drum fixedly arranged at one end of the screw shaft
The brake shoe, it sets up in first lead screw axle subassembly, be provided with first solenoid valve on the brake shoe, first solenoid valve cooperation is provided with first brake block, first brake block slides and arranges on the brake shoe, first solenoid valve one side is provided with the side balladeur train side by side, the frame that sideslips slide and arranges on the brake shoe, be provided with the second solenoid valve on the side balladeur train, the slip is provided with the second brake block on the side balladeur train, second brake block slip direction and sideslip frame slip direction mutually perpendicular, second brake block cooperates with the second solenoid valve, through the mutual oppression of spring between frame and the brake shoe sideslip.
The roller sensor is arranged on the brake seat and synchronously moves with the first brake pad.
A brake disc is also arranged in the second screw shaft assembly.
According to the arrangement of the brake disc, two groups of brake blocks are arranged, one group of brake blocks is used for braking, so that the quick braking of a screw rod shaft is ensured, the other group of brake blocks is fixed and reset, the inertial displacement is eliminated, the actual displacement and the theoretical displacement are always achieved, and the bead dropping precision is improved; meanwhile, the first brake pad is used for braking, the second brake pad is not worn, friction coefficient change generated by each time of braking does not need to be calculated, and the preparation cost is reduced.
The working method of the brake disc comprises the following steps: when braking, first solenoid valve and second solenoid valve propelling movement brake block, wherein first brake block rubs with the dish drum, and the second brake block is driven by the dish drum after oppressing the dish drum, moves along sideslip frame, and the first solenoid valve returns after the brake finishes, and only remaining second brake block oppression dish drum, the second brake block receives the spring influence to reset this moment, makes the lead screw axle get back to the position that the braking action starts to make, both theoretical braking position.
The application discloses a working method of a multi-axis mechanical arm bead spotting machine, which specifically comprises the following steps:
step one: putting raw materials into an interval between a limiting push plate and a limiting block, wherein the limiting push plate compresses the raw materials;
step two: the rotary shaft rotates to enable the material taking sucker to be perpendicular to the raw materials, the air cylinder extends to enable the material taking sucker to press and adsorb the raw materials, then the air cylinder contracts, the rotary shaft rotates, and then the material taking sucker loosens the raw materials;
step three: the feeding belt conveys the raw materials until the raw materials contact the stop plate, and the fourth motor drives the adjusting plate to retract inwards until the adjusting plate contacts two sides of the raw materials;
step four: the feeding and discharging mechanical arm adsorbs the raw materials and is placed on a workbench;
step five: the point bead mechanical assembly moves to finish point beads;
step six: and the feeding and discharging mechanical arm adsorbs the raw materials after the point beads and feeds the raw materials into the feeding belt.
The technical scheme can be seen that the application has the following beneficial effects:
1. according to the multi-axis mechanical arm bead pointing machine and the working method thereof, the multi-axis structure is adopted to improve the degree of freedom of the bead pointing machine, so that the bead pointing machine can meet the processing positions of different products, a working head does not need to be replaced, the processing efficiency is improved, meanwhile, one mechanical arm is added, quick and accurate feeding and discharging are realized, and manual operation is reduced.
2. According to the multi-axis mechanical arm bead pointing machine and the working method thereof, two groups of brake blocks are arranged, one group of brake blocks is used for braking, so that the quick braking of a screw shaft is ensured, the other group of brake blocks is fixed and reset, the inertial displacement is eliminated, the actual displacement is always equal to the theoretical displacement, and the bead pointing precision is improved; meanwhile, the first brake pad is used for braking, the second brake pad is not worn, friction coefficient change generated by each time of braking does not need to be calculated, and the preparation cost is reduced.
Drawings
FIG. 1 is a schematic diagram of the overall structure of the present application;
FIG. 2 is a schematic top view of the loading conveyor table of the present application;
FIG. 3 is a schematic diagram of a rear view of a loading conveyor table according to the present application;
FIG. 4 is a schematic perspective view of a loading conveyor of the present application;
FIG. 5 is a schematic view of the structure of the workbench of the application;
FIG. 6 is a schematic view of the construction of the beading machine assembly of the present application;
FIG. 7 is a schematic cross-sectional side view of the beading machine assembly of the present application;
FIG. 8 is a schematic structural view of a brake disc of the present application;
in the figure: the automatic feeding and conveying device comprises a feeding conveying table 1, a frame 11, a fixed side plate 111, a stacking device 12, a first motor 121, a driving wheel 122, a synchronous wheel 123, a driven wheel 124, a feeding belt 125, a limiting block 126, a limiting push plate 127, a bottom plate 128, a loading block 129, a material taking device 13, a rotating shaft 131, a second motor 132, a cylinder 133, a fixed plate 134, a material taking sucker 135, a positioning device 14, a feeding belt 141, a third motor 142, a screw rod 143, an adjusting plate 144, a fourth motor 145, a stopping plate 146, an upper and lower mechanical arm 2, a working table 3, a first working plane 31, a second working plane 32, a first driving belt 33, a second driving belt 34, a bead machine assembly 4, a feeding belt 5, a first screw rod shaft assembly 41, a second screw rod shaft assembly 42, a machine head 43, a cam connecting rod 44, a mounting frame 45, a lifting cylinder 46, a bead gun head 47, a bead gun head 48, a bead injection cabin 49, a screw rod 66, a second side-slip brake disc 64, a second electromagnetic valve seat 64, a brake disc 66, a first electromagnetic valve seat 65 and a second electromagnetic valve seat 65.
Detailed Description
The application is further elucidated below in connection with the drawings and the specific embodiments.
Embodiments of the present application are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative and intended to explain the present application and should not be construed as limiting the application.
Example 1
A multi-axis robotic arm beading machine as shown in fig. 1-8, comprising:
the feeding and conveying table 1 is provided with a feeding and discharging mechanical arm 2 at the output end;
the workbench 3 is arranged on one side of the feeding conveying table 1, a spot bead mechanical assembly 4 is arranged on the workbench 3, and the feeding and discharging mechanical arm 2 is matched with the workbench 3;
and the feeding belt 5 is arranged at one end of the workbench 3, and the feeding and discharging mechanical arm 2 is matched with the feeding belt 5.
The feeding conveying table 1 in this embodiment includes:
a frame 11, the top of which is provided with fixed side plates 111 on both sides;
the stacking device 12 is arranged at the top of the frame 11, and the stacking device 12 comprises: the first motor 121 is arranged at the bottom of the frame 11, a driving wheel 122 is arranged at the output end of the first motor 121, the driving wheel 122 is connected to the inner side of the fixed side plate 111 through a shaft, a synchronizing wheel 123 is fixedly arranged on the shaft, a driven wheel 124 is arranged on one side of the synchronizing wheel 123, the driven wheel 124 is arranged on the inner side of the fixed side plate 111 through a shaft, and a feeding belt 125 is circumferentially arranged between the synchronizing wheel 123 and the outer edge of the driven wheel 124; a limiting block 126 is arranged at the top of the synchronizing wheel 123, the limiting block 126 is fixed on the fixed side plate 111, a limiting push plate 127 is arranged on one side of the limiting block 126, the limiting push plate 127 is arranged on the inner side of the fixed side plate 111 in a sliding manner, and the limiting push plate 127 is matched with the limiting block 126;
the extracting device 13, it sets up in the output of folding material device 12, extracting device 13 includes: the rotary shaft 131 is arranged on the fixed side plate 111 through a bearing, one end of the rotary shaft 131 is connected with the second motor 132 through a belt, the second motor 132 is arranged at the bottom of the frame 11, an air cylinder 133 is fixed at the middle section of the rotary shaft 131, a fixed plate 134 is arranged at the output end of the air cylinder 133, a plurality of material taking suction cups 135 are fixed on the fixed plate 134, and one end of each material taking suction cup 135 is connected with a negative pressure air passage;
the positioner 14, it sets up in extracting device 13 output, positioner 14 includes: a feeding belt 141 disposed on the top of the frame 11 through a roller, one end of the feeding belt 141 being connected to a third motor 142 through the roller; a screw rod 143 is arranged at the bottom of the feeding belt 141, an adjusting plate 144 is arranged on the screw rod 143, the adjusting plates 144 are arranged on two sides of the feeding belt 141, one end of the screw rod 143 is connected with a fourth motor 145, and the fourth motor 145 is fixed on the frame 11; the end of the feeding belt 141 remote from the take-off device 13 is provided with a stop plate 146.
A bottom plate 128 is provided between the synchronizing wheel 123 and the driven wheel 124 in the present embodiment, the bottom plate 128 is fixed inside the fixed side plate 111, and the bottom plate 128 supports the feeding belt 125.
The bottom of the frame 11 in this embodiment is provided with a weight 129, and the weight 129 is connected to the limit push plate 127 through a rope.
The inside of the adjusting plate 144 in this embodiment is provided with a proximity switch, and the stop plate 146 is provided with a proximity switch.
The top of the workbench 3 in the embodiment is slidably provided with a first working plane 31 and a second working plane 32 through a guide rail, one side of the first working plane 31 is provided with a first driving belt 33, the top of the first driving belt 33 is fixedly connected with the first working plane 31 through a block, and the first driving belt 33 is driven by a motor; a second driving belt 34 is arranged on one side of the second working plane 32, and the top of the second driving belt 34 is fixedly connected with the second working plane 32 through a block.
The spot bead mechanical assembly 4 described in this embodiment includes:
the first screw rod shaft assembly 41 is arranged on one side of the workbench 3, a second screw rod shaft assembly 42 is slidably arranged on the first screw rod shaft assembly 41, the movement direction of the second screw rod shaft assembly 42 is perpendicular to the movement direction of the first screw rod shaft assembly 41, and a machine head 43 is arranged at one end of the second screw rod shaft assembly 42;
the cam connecting rod 44 is arranged inside the machine head 43, the cam connecting rod 44 is driven by a motor, one end of the cam connecting rod 44 is connected with the mounting frame 45, the mounting frame 45 is arranged outside the machine head 43, the mounting frame 45 and the machine head 43 slide linearly, a plurality of lifting cylinders 46 are arranged on the mounting frame 45, the lifting cylinders 46 are arranged on the same horizontal plane, a bead gun head 47 is arranged at the output end of the lifting cylinders 46, and the bead gun head 47 is connected with a negative pressure air circuit.
The mounting frame 45 in this embodiment is provided with a dispensing gun head 48 through a lifting cylinder 46, the dispensing gun head 48 is provided with a glue injection bin 49 through a conduit connection, and the glue injection bin 49 is arranged on the machine head 43.
The first screw shaft assembly 41 in this embodiment is provided with a screw shaft 411, one end of the screw shaft 411 is provided with a brake disc 6, and the brake disc 6 includes:
a drum 61 fixedly provided at one end of the screw shaft
The brake block 62, it sets up in first lead screw axle subassembly 41, be provided with first solenoid valve 63 on the brake block 62, first solenoid valve 63 cooperation is provided with first brake block 64, first brake block 64 sliding arrangement is on the brake block 62, first solenoid valve 63 one side is provided with side carriage 66 side by side, sideslip frame 66 sliding arrangement is on the brake block 62, be provided with second solenoid valve 65 on the sideslip frame 66, the last sliding of sideslip frame 66 is provided with second brake block 67, second brake block 67 sliding direction and sideslip frame 66 sliding direction mutually perpendicular, second brake block 67 cooperates with second solenoid valve 65, through the mutual oppression of spring between sideslip frame 66 and the brake block 62.
The working method of the multi-axis mechanical arm bead pointing machine in the embodiment specifically comprises the following steps:
step one: placing raw materials into the interval between the limiting push plate 127 and the limiting block 126, wherein the limiting push plate 127 compresses the raw materials;
step two: the rotation of the rotation shaft 131 makes the material taking sucker 135 perpendicular to the raw material, the air cylinder 133 extends, so that the material taking sucker 135 presses and adsorbs the raw material, then the air cylinder 133 contracts, the rotation shaft 131 rotates, and then the material taking sucker 135 loosens the raw material;
step three: the feeding belt 141 conveys the raw materials until contacting the stop plate 146, and the fourth motor 145 drives the adjusting plate 144 to retract inwards until contacting both sides of the raw materials;
step four: the feeding and discharging mechanical arm 2 adsorbs the raw materials and is placed on the workbench 3;
step five: the bead-pointing mechanical assembly 4 moves to finish bead-pointing;
step six: the feeding and discharging mechanical arm 2 adsorbs the raw materials after the point beads and sends the raw materials into the sending-out belt 5.
Example 2
A multi-axis robotic arm beading machine as shown in fig. 1-4, comprising:
the feeding and conveying table 1 is provided with a feeding and discharging mechanical arm 2 at the output end;
the workbench 3 is arranged on one side of the feeding conveying table 1, a spot bead mechanical assembly 4 is arranged on the workbench 3, and the feeding and discharging mechanical arm 2 is matched with the workbench 3;
and the feeding belt 5 is arranged at one end of the workbench 3, and the feeding and discharging mechanical arm 2 is matched with the feeding belt 5.
The feeding conveying table 1 in this embodiment includes:
a frame 11, the top of which is provided with fixed side plates 111 on both sides;
the stacking device 12 is arranged at the top of the frame 11, and the stacking device 12 comprises: the first motor 121 is arranged at the bottom of the frame 11, a driving wheel 122 is arranged at the output end of the first motor 121, the driving wheel 122 is connected to the inner side of the fixed side plate 111 through a shaft, a synchronizing wheel 123 is fixedly arranged on the shaft, a driven wheel 124 is arranged on one side of the synchronizing wheel 123, the driven wheel 124 is arranged on the inner side of the fixed side plate 111 through a shaft, and a feeding belt 125 is circumferentially arranged between the synchronizing wheel 123 and the outer edge of the driven wheel 124; a limiting block 126 is arranged at the top of the synchronizing wheel 123, the limiting block 126 is fixed on the fixed side plate 111, a limiting push plate 127 is arranged on one side of the limiting block 126, the limiting push plate 127 is arranged on the inner side of the fixed side plate 111 in a sliding manner, and the limiting push plate 127 is matched with the limiting block 126;
the extracting device 13, it sets up in the output of folding material device 12, extracting device 13 includes: the rotary shaft 131 is arranged on the fixed side plate 111 through a bearing, one end of the rotary shaft 131 is connected with the second motor 132 through a belt, the second motor 132 is arranged at the bottom of the frame 11, an air cylinder 133 is fixed at the middle section of the rotary shaft 131, a fixed plate 134 is arranged at the output end of the air cylinder 133, a plurality of material taking suction cups 135 are fixed on the fixed plate 134, and one end of each material taking suction cup 135 is connected with a negative pressure air passage;
the positioner 14, it sets up in extracting device 13 output, positioner 14 includes: a feeding belt 141 disposed on the top of the frame 11 through a roller, one end of the feeding belt 141 being connected to a third motor 142 through the roller; a screw rod 143 is arranged at the bottom of the feeding belt 141, an adjusting plate 144 is arranged on the screw rod 143, the adjusting plates 144 are arranged on two sides of the feeding belt 141, one end of the screw rod 143 is connected with a fourth motor 145, and the fourth motor 145 is fixed on the frame 11; the end of the feeding belt 141 remote from the take-off device 13 is provided with a stop plate 146.
A bottom plate 128 is provided between the synchronizing wheel 123 and the driven wheel 124 in the present embodiment, the bottom plate 128 is fixed inside the fixed side plate 111, and the bottom plate 128 supports the feeding belt 125.
The bottom of the frame 11 in this embodiment is provided with a weight 129, and the weight 129 is connected to the limit push plate 127 through a rope.
The inside of the adjusting plate 144 in this embodiment is provided with a proximity switch, and the stop plate 146 is provided with a proximity switch.
Example 3
A multi-axis robot beading machine as shown in fig. 1 and 5, comprising:
the feeding and conveying table 1 is provided with a feeding and discharging mechanical arm 2 at the output end;
the workbench 3 is arranged on one side of the feeding conveying table 1, a spot bead mechanical assembly 4 is arranged on the workbench 3, and the feeding and discharging mechanical arm 2 is matched with the workbench 3;
and the feeding belt 5 is arranged at one end of the workbench 3, and the feeding and discharging mechanical arm 2 is matched with the feeding belt 5.
The top of the workbench 3 in the embodiment is slidably provided with a first working plane 31 and a second working plane 32 through a guide rail, one side of the first working plane 31 is provided with a first driving belt 33, the top of the first driving belt 33 is fixedly connected with the first working plane 31 through a block, and the first driving belt 33 is driven by a motor; a second driving belt 34 is arranged on one side of the second working plane 32, and the top of the second driving belt 34 is fixedly connected with the second working plane 32 through a block.
Example 4
A multi-axis mechanical arm beading machine as shown in fig. 1, 6-8, comprising:
the feeding and conveying table 1 is provided with a feeding and discharging mechanical arm 2 at the output end;
the workbench 3 is arranged on one side of the feeding conveying table 1, a spot bead mechanical assembly 4 is arranged on the workbench 3, and the feeding and discharging mechanical arm 2 is matched with the workbench 3;
and the feeding belt 5 is arranged at one end of the workbench 3, and the feeding and discharging mechanical arm 2 is matched with the feeding belt 5.
The spot bead mechanical assembly 4 described in this embodiment includes:
the first screw rod shaft assembly 41 is arranged on one side of the workbench 3, a second screw rod shaft assembly 42 is slidably arranged on the first screw rod shaft assembly 41, the movement direction of the second screw rod shaft assembly 42 is perpendicular to the movement direction of the first screw rod shaft assembly 41, and a machine head 43 is arranged at one end of the second screw rod shaft assembly 42;
the cam connecting rod 44 is arranged inside the machine head 43, the cam connecting rod 44 is driven by a motor, one end of the cam connecting rod 44 is connected with the mounting frame 45, the mounting frame 45 is arranged outside the machine head 43, the mounting frame 45 and the machine head 43 slide linearly, a plurality of lifting cylinders 46 are arranged on the mounting frame 45, the lifting cylinders 46 are arranged on the same horizontal plane, a bead gun head 47 is arranged at the output end of the lifting cylinders 46, and the bead gun head 47 is connected with a negative pressure air circuit.
The mounting frame 45 in this embodiment is provided with a dispensing gun head 48 through a lifting cylinder 46, the dispensing gun head 48 is provided with a glue injection bin 49 through a conduit connection, and the glue injection bin 49 is arranged on the machine head 43.
The first screw shaft assembly 41 in this embodiment is provided with a screw shaft 411, one end of the screw shaft 411 is provided with a brake disc 6, and the brake disc 6 includes:
a drum 61 fixedly provided at one end of the screw shaft
The brake block 62, it sets up in first lead screw axle subassembly 41, be provided with first solenoid valve 63 on the brake block 62, first solenoid valve 63 cooperation is provided with first brake block 64, first brake block 64 sliding arrangement is on the brake block 62, first solenoid valve 63 one side is provided with side carriage 66 side by side, sideslip frame 66 sliding arrangement is on the brake block 62, be provided with second solenoid valve 65 on the sideslip frame 66, the last sliding of sideslip frame 66 is provided with second brake block 67, second brake block 67 sliding direction and sideslip frame 66 sliding direction mutually perpendicular, second brake block 67 cooperates with second solenoid valve 65, through the mutual oppression of spring between sideslip frame 66 and the brake block 62.
The foregoing is merely a preferred embodiment of the application, and it should be noted that modifications could be made by those skilled in the art without departing from the principles of the application, which modifications would also be considered to be within the scope of the application.
Claims (10)
1. A multiaxis arm point pearl machine, its characterized in that: comprising the following steps:
the feeding and conveying table (1) is provided with a feeding and discharging mechanical arm (2) at the output end;
the workbench (3) is arranged on one side of the feeding conveying table (1), a spot bead mechanical assembly (4) is arranged on the workbench (3), and the feeding mechanical arm (2) is matched with the workbench (3);
and the feeding belt (5) is arranged at one end of the workbench (3), and the feeding and discharging mechanical arm (2) is matched with the feeding belt (5).
2. The multi-axis mechanical arm beading machine according to claim 1, wherein: the material loading transport platform (1) include:
a frame (11) with fixed side plates (111) arranged on two sides of the top;
the stacking device (12) is arranged at the top of the frame (11), and the stacking device (12) comprises: the device comprises a frame (11), a first motor (121), a driving wheel (122) and a synchronous wheel (123), wherein the first motor (121) is arranged at the bottom of the frame (11), the output end of the first motor (121) is provided with the driving wheel (122), the driving wheel (122) is connected to the inner side of a fixed side plate (111) through a shaft, the synchronous wheel (123) is fixedly arranged on the shaft, a driven wheel (124) is arranged on one side of the synchronous wheel (123), the driven wheel (124) is arranged on the inner side of the fixed side plate (111) through a shaft, and a feeding belt (125) is circumferentially arranged at the outer edges of the synchronous wheel (123) and the driven wheel (124); a limiting block (126) is arranged at the top of the synchronous wheel (123), the limiting block (126) is fixed on the fixed side plate (111), a limiting push plate (127) is arranged on one side of the limiting block (126), the limiting push plate (127) is arranged on the inner side of the fixed side plate (111) in a sliding mode, and the limiting push plate (127) is matched with the limiting block (126);
the extracting device (13), it sets up in the output of folding material device (12), extracting device (13) include: the rotary shaft (131) is arranged on the fixed side plate (111) through a bearing, one end of the rotary shaft (131) is connected with a second motor (132) through a belt, the second motor (132) is arranged at the bottom of the frame (11), an air cylinder (133) is fixed in the middle section of the rotary shaft (131), a fixed plate (134) is arranged at the output end of the air cylinder (133), a plurality of material taking sucking discs (135) are fixed on the fixed plate (134), and one end of each material taking sucking disc (135) is connected with a negative pressure air path;
positioning device (14), it sets up in extracting device (13) output, positioning device (14) include: the feeding belt (141) is arranged at the top of the frame (11) through a roller, and one end of the feeding belt (141) is connected with the third motor (142) through the roller; a screw rod (143) is arranged at the bottom of the feeding belt (141), an adjusting plate (144) is arranged on the screw rod (143), the adjusting plate (144) is arranged at two sides of the feeding belt (141), one end of the screw rod (143) is connected with a fourth motor (145), and the fourth motor (145) is fixed on the frame (11); one end of the feeding belt (141) far away from the material taking device (13) is provided with a stop plate (146).
3. The multi-axis mechanical arm beading machine according to claim 2, wherein: a bottom plate (128) is arranged between the synchronous wheel (123) and the driven wheel (124), the bottom plate (128) is fixed on the inner side of the fixed side plate (111), and the bottom plate (128) supports the feeding belt (125).
4. The multi-axis mechanical arm beading machine according to claim 2, wherein: the bottom of the frame (11) is provided with a load block (129), and the load block (129) is connected with a limit push plate (127) through a rope.
5. The multi-axis mechanical arm beading machine according to claim 2, wherein: the inner side of the adjusting plate (144) is provided with a proximity switch, and the stopping plate (146) is provided with a proximity switch.
6. The multi-axis mechanical arm beading machine according to claim 1, wherein: the top of the workbench (3) is provided with a first working plane (31) and a second working plane (32) in a sliding manner through a guide rail, one side of the first working plane (31) is provided with a first driving belt (33), the top of the first driving belt (33) is fixedly connected with the first working plane (31) through a block, and the first driving belt (33) is driven by a motor; and a second driving belt (34) is arranged on one side of the second working plane (32), and the top of the second driving belt (34) is fixedly connected with the second working plane (32) through a block.
7. The multi-axis mechanical arm beading machine according to claim 1, wherein: the point bead mechanical assembly (4) comprises:
the first screw rod shaft assembly (41) is arranged on one side of the workbench (3), a second screw rod shaft assembly (42) is arranged on the first screw rod shaft assembly (41) in a sliding mode, the movement direction of the second screw rod shaft assembly (42) is perpendicular to the movement direction of the first screw rod shaft assembly (41), and a machine head (43) is arranged at one end of the second screw rod shaft assembly (42);
cam connecting rod (44), it sets up inside aircraft nose (43), cam connecting rod (44) pass through motor drive, cam connecting rod (44) one end is connected with mounting bracket (45), mounting bracket (45) are arranged in aircraft nose (43) outside, mounting bracket (45) and aircraft nose (43) linear slip, be provided with a plurality of lift cylinders (46) on mounting bracket (45), lift cylinder (46) are arranged in same horizontal plane, lift cylinder (46) output is provided with some pearl rifle heads (47), some pearl rifle heads (47) are connected negative pressure gas circuit.
8. The multi-axis mechanical arm beading machine according to claim 7, wherein: the mounting frame (45) is provided with a dispensing gun head (48) through a lifting cylinder (46), the dispensing gun head (48) is provided with a glue injection bin (49) through conduit connection, and the glue injection bin (49) is arranged on the machine head (43).
9. The multi-axis mechanical arm beading machine according to claim 7, wherein: the first screw shaft assembly (41) in be provided with screw shaft (411), screw shaft (411) one end is provided with brake disc (6), brake disc (6) include:
a drum (61) fixedly arranged at one end of the screw shaft
Brake block (62), it sets up in first lead screw axle subassembly (41), be provided with first solenoid valve (63) on brake block (62), first solenoid valve (63) cooperation is provided with first brake block (64), first brake block (64) sliding arrangement is on brake block (62), first solenoid valve (63) one side is provided with side balladeur train (66) side by side, sideslip frame (66) sliding arrangement is on brake block (62), be provided with second solenoid valve (65) on sideslip frame (66), the last slip of sideslip frame (66) is provided with second brake block (67), second brake block (67) slip direction and sideslip frame (66) slip direction mutually perpendicular, second brake block (67) cooperate with second solenoid valve (65), through the mutual oppression of spring between sideslip frame (66) and brake block (62).
10. The working method of the multi-axis mechanical arm bead spotting machine according to claim 2, wherein the working method comprises the following steps of: the method specifically comprises the following steps:
step one: placing raw materials into a space between a limiting push plate (127) and a limiting block (126), wherein the limiting push plate (127) compresses the raw materials;
step two: the rotary shaft (131) rotates to enable the material taking sucker (135) to be perpendicular to the raw materials, the air cylinder (133) stretches to enable the material taking sucker (135) to press and adsorb the raw materials, then the air cylinder (133) contracts, the rotary shaft (131) rotates, and then the material taking sucker (135) loosens the raw materials;
step three: the feeding belt (141) conveys the raw materials until the raw materials contact the stop plate (146), and the fourth motor (145) drives the adjusting plate (144) to retract inwards until the raw materials contact two sides of the raw materials;
step four: the feeding and discharging mechanical arm (2) adsorbs the raw materials and is placed on the workbench (3);
step five: the point bead mechanical assembly (4) moves to finish point beads;
step six: the feeding and discharging mechanical arm (2) adsorbs the raw materials with the beads and sends the raw materials into the sending-out belt (5).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310922239.3A CN117001682B (en) | 2023-07-26 | 2023-07-26 | Multi-axis mechanical arm bead dropping machine and working method thereof |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310922239.3A CN117001682B (en) | 2023-07-26 | 2023-07-26 | Multi-axis mechanical arm bead dropping machine and working method thereof |
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| CN117001682A true CN117001682A (en) | 2023-11-07 |
| CN117001682B CN117001682B (en) | 2024-04-23 |
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| Application Number | Title | Priority Date | Filing Date |
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| JP2016010978A (en) * | 2015-09-09 | 2016-01-21 | 大森機械工業株式会社 | Box-making apparatus |
| CN107082311A (en) * | 2017-06-15 | 2017-08-22 | 深圳市罗博威视科技有限公司 | A kind of automatic laminating machine utilizing |
| CN111359841A (en) * | 2020-03-23 | 2020-07-03 | 苏州朗坤自动化设备股份有限公司 | Automatic dispensing and assembling equipment for positive and negative pole concave pads of lithium battery |
| CN112157918A (en) * | 2020-10-12 | 2021-01-01 | 深圳市固诺泰科技有限公司 | Slow-fixing type gluing process and gluing equipment for panel and frame |
| CN213914611U (en) * | 2020-12-08 | 2021-08-10 | 梅州市劳立可智能科技有限公司 | Perforating bullet dispensing device |
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2023
- 2023-07-26 CN CN202310922239.3A patent/CN117001682B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2016010978A (en) * | 2015-09-09 | 2016-01-21 | 大森機械工業株式会社 | Box-making apparatus |
| CN107082311A (en) * | 2017-06-15 | 2017-08-22 | 深圳市罗博威视科技有限公司 | A kind of automatic laminating machine utilizing |
| CN111359841A (en) * | 2020-03-23 | 2020-07-03 | 苏州朗坤自动化设备股份有限公司 | Automatic dispensing and assembling equipment for positive and negative pole concave pads of lithium battery |
| CN112157918A (en) * | 2020-10-12 | 2021-01-01 | 深圳市固诺泰科技有限公司 | Slow-fixing type gluing process and gluing equipment for panel and frame |
| CN213914611U (en) * | 2020-12-08 | 2021-08-10 | 梅州市劳立可智能科技有限公司 | Perforating bullet dispensing device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN117001682B (en) | 2024-04-23 |
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