CN204369302U - A kind of automatic disk discharging machinery hand - Google Patents

Abstract

The utility model discloses a kind of automatic disk discharging for the production of enamel wire machinery hand, comprise lock shaft block handgrip and drum handgrip, between lock shaft block handgrip and drum handgrip, angle is install handgrip rotary cylinder between 90 ° of described mechanical grippers and rising arm, and the motion of handgrip rotary cylinder makes lock shaft block handgrip and drum handgrip to make handgrip rotating shaft half-twist.Above drum, install lock shaft block, wire coiling machine center is pumped through drum and lock shaft block center.The utility model achieves basic without the need to artificial participation, and the automatic disk discharging machinery hand of automated production, completely eliminates potential safety hazard, substantially increase production efficiency, reduce enterprise cost.Integral layout does not take ground location substantially, and agent structure is aerial arrangement, and less demanding to original production equipment, mill construction, applicability is high.

Description

A kind of automatic disk discharging machinery hand

Technical field

The utility model belongs to automation field, particularly relates to a kind of automatic disk discharging machinery hand.

Background technology

The producer of current production enamel wire achieves the automation Production line at unwrapping wire → anneal → paint → cure → cool → wire-drawing process substantially, but in wire-drawing process on, unload drum or manual work.During operation, ceases to be busy dish is put into admission machine by workman, and on center shaft, drum High Rotation Speed under the drive of admission machine completes take-up operation to cover.For preventing drum bob when High Rotation Speed, workman installs lock shaft block on drum, and use instrument by fixing for lock shaft block on center shaft.After take-up terminates, lock shaft block first unloads by workman, is more centrally taken out by the drum being wrapped over enamel wire and bring out, and is carried to appointed place, and so forth.Because drum to be wrapped over after line according to its weight of different size at several kilograms to up to a hundred kilograms not etc., manually unload dish labour intensity large and have potential safety hazard, injuring accident by a crashing object occurs often; Upper dish and unloading in dish process all needs install or unload lock shaft block, wastes time and energy, greatly reduces production efficiency, because this increasing enterprise cost.And after changing dish, have buttock line and be clipped in inside chuck, need manually buttock line to be taken out from crack, just can unload dish, add the operating time of unloading dish.

Utility model content

For solving the problems of the technologies described above, the automatic disk discharging machinery hand that the utility model provides a kind of degree of automation high, simple and reasonable for structure.

For achieving the above object, the utility model is realized by following technical scheme.

A kind of automatic disk discharging machinery hand, comprise lock shaft block handgrip and drum handgrip, between lock shaft block handgrip and drum handgrip, angle is 90 °; Described mechanical gripper is connected with bottom rising arm by handgrip rotating shaft; Install handgrip rotary cylinder between described mechanical gripper and rising arm, the motion of handgrip rotary cylinder makes lock shaft block handgrip and drum handgrip along handgrip rotating shaft half-twist.

Described mechanical gripper comprises cylinder permanent seat, grapple, rotating shaft, connecting rod, pushing disk, platen and cylinder; Platen is connected with cylinder permanent seat by guide pillar, and cylinder is arranged on cylinder permanent seat, and pushing disk is arranged on cylinder rod and moves between platen and cylinder permanent seat, and the edge of pushing disk is flexibly connected with connecting rod, at least 3, connecting rod; Grapple is identical with connecting rod quantity, and grapple top is hook-shaped, and bottom is flexibly connected with connecting rod, and postmedian is connected with platen by rotating shaft.

Above drum, install lock shaft block, wire coiling machine center is pumped through drum and lock shaft block center, and described lock shaft block comprises centrifugal globe, pivoted arm, push rod and lock shaft block main body; Lock shaft block main body is cylindrical, opens hole vertically, and through-hole diameter is slightly larger than wire coiling machine root diameter, and a boss is respectively arranged at lock shaft block top and bottom, and top boss leading portion has inclination angle, and bottom boss inside is the exit skirt that outer imperial palace is little; Centrifugal globe, pivoted arm, push rod are arranged on same plane of rotation; On lock shaft block, diametrically symmetry installs 2 push rods and reset attachment, does not contact with wire coiling machine center shaft without External Force Acting lower push rod head; Pivoted arm, for cranking arm, is arranged in rotating shaft, and push rod afterbody is withstood in pivoted arm one end, and the other end is connected with centrifugal globe, and when centrifugal globe is away from wire coiling machine center shaft, pivoted arm compressing push rod afterbody, makes push rod head compress wire coiling machine center shaft.It is inner that described centrifugal globe, pivoted arm, push rod are arranged on lock shaft block, and push rod head and wire coiling machine center shaft contact site are the semi-cylindrical caved in, and depression size coordinates with wire coiling machine center shaft; Centrifugal globe maximum displacement is no more than lock shaft block outer, and installs baffle plate in lock shaft block relevant position.

The platen center of described lock shaft block handgrip has circular hole, lock shaft block has corresponding boss corresponding with hole, and when lock shaft block is clamped at inside grapple, the force direction of the stress point of grapple is just by grapple shaft fulcrum.

Described synchronizing shaft and drive motor, between synchronizing shaft and synchronizer gear, universal coupling is installed.

beneficial effect:compared with prior art, the utility model has the advantage of: simple and reasonable for structure, degree of automation is high; And without the need to artificial participation after adopting the utility model, realize full-automatic production, completely eliminate potential safety hazard, substantially increase production efficiency, reduce enterprise cost.

Accompanying drawing explanation

Fig. 1 is the automatic disk discharging overall system architecture schematic diagram after installing the utility model;

Fig. 2 is automatic disk discharging overall system architecture schematic diagram;

Fig. 3 is automatic disk discharging system front view;

Fig. 4 is automatic disk discharging system left view;

Fig. 5 is actuating device schematic diagram on automatic disk discharging system center member;

Fig. 6 is the arm motor cabinet schematic diagram that rises in automatic disk discharging system;

Fig. 7 is the arm schematic diagram that rises in the utility model;

Fig. 8 is mechanical gripper schematic diagram in the utility model;

Fig. 9 is lock shaft block handgrip schematic diagram in the utility model;

Figure 10 is drum handgrip schematic diagram in the utility model;

Figure 11 is lock shaft block structural diagram in automatic disk discharging system;

Figure 12 is the line mechanism that truncates in automatic disk discharging system;

Figure 13 is knock-pin installation site figure in automatic disk discharging system;

Diagram:

1. robot body

11. crossbeams

1102. synchronizing shaft 1104 drive motor 1106. synchronizer gear 1108. universal coupling 1110. bearing seats

12. rising arms

121. arm body 122. motor cabinets

1221. straight-line guide rail slide block 1222. horizontal motion motor 1223. horizontal motion gears

1224. perpendicular movement motor 1225. perpendicular movement gears

13. manipulators

131. drum handgrip 132. lock shaft block handgrip 133. handgrip rotating shaft 134. handgrip rotary cylinders

1301. cylinder permanent seat 1302. grapple 1303. rotating shaft 1304. connecting rod 1305. pushing disk 1306. platen 1307. cylinder 1308. cylinder rod 1309. guide pillars

14. longerons

15. columns

2. electrical control cubicles 3. drum

4. lock shaft block

401. lock shaft block main body 402. push rod 403. pivoted arm 404. centrifugal globe 405. retracing spring 406. baffle plate 407. turning cylinders

5. wire coiling machine center shaft F. stress point

6. wire coiling machine rotating disk

61. 90 ° of ratchet device 62. briquetting 63. driving head 64. retracting springs 65. eject cylinder

66. knock-pin 67. axle sleeves.

Detailed description of the invention

Below in conjunction with accompanying drawing, the utility model is described in further detail.

The guide tracked conveying robot device of 3DOF, shown in integral arrangement Fig. 1, single unit system is made up of robot body 1 and electrical control cubicles 2, electrical control cubicles 2 is placed in the right front of equipment, integral layout does not take ground location substantially, agent structure is air position, less demanding to original production equipment, mill construction, substantially just can install and use without the need to changing original equipment.

Haulage equipment main body forms primarily of column 15, two longeron 14, crossbeam 11, rising arm 12 and manipulator 13, as shown in Figure 2.

According to working area, two longerons 14 are arranged by some root post 15 supports parallel respectively, longeron 14 is provided with line slideway and rack mechanism, at crossbeam 11 end face, line slideway and rack mechanism are also installed, 4 straight-line guide rail slide blocks 1221 are installed bottom crossbeam 11 and coordinate with line slideway on longeron 14; Install drive motor 1104 in the middle part of crossbeam 11, the other end that two synchronizing shafts, 1102, two synchronizing shafts 1102 are installed at drive motor 1104 two ends installs synchronizer gear 1106, and synchronizer gear 1106 engages each other with the tooth bar on longeron 14; Because crossbeam 11 span is large, if adopt single-ended drive, crossbeam 11 is easily distorted and stuck on guide rail, therefore, needs two ends to drive simultaneously, keeps the smooth motion of crossbeam 11.Two ends adopt Dual-motors Driving, have difficulties on motor in synchrony controls, therefore design synchronizing shaft 1102 transmission, at synchronizing shaft 1102 medium design drive motor 1104, by synchronizing shaft 1102 by the driven wheel of transmission of power to two ends, ensure that crossbeam 11 two ends synchronous walking.Because synchronizing shaft 1102 is all installed at drive motor 1104 two ends, two synchronizing shaft 1102 out-of-alignment problems may be there are in making or installation process, therefore synchronizing shaft 1102 interface installs universal coupling 1108, as shown in Figure 5, solves synchronizing shaft 1102 and installs out-of-alignment error problem.

Crossbeam 11 is the frame-type that two short beams and two long beams surround, and two short beams lay respectively on two longerons 14, and line slideway and rack mechanism are installed by long back portion.

Rising arm 12 comprises motor cabinet 122 and arm body 121, as shown in Figure 7; Arm body 121 vertically installs line slideway and rack mechanism; As shown in Figure 6, bottom motor cabinet 122,2 straight-line guide rail slide blocks 1221 are installed, coordinate with two long back portion line slideways of crossbeam 11; On motor cabinet 122, installation shaft is to vertical horizontal motion motor 1222, and motor output end installs horizontal motion gear 1223, coordinates with the long back portion side rack mechanism of crossbeam 11; Straight-line guide rail slide block 1221 is installed in motor cabinet 122 side, coordinates with rising arm 12 sidepiece line slideway; On motor cabinet 122, installation shaft is to the perpendicular movement motor 1224 of level, and motor output end installs perpendicular movement gear 1225, coordinates with the rack mechanism of rising arm 12.

Rising arm 12 is moved in the frame-type of crossbeam 11 by motor cabinet 122, and when rising arm 12 catching weight, gravity is evenly born by two long beams of crossbeam 11, can not produce torsion to crossbeam 11.

By rotating shaft 1303 installation manipulator 13 bottom rising arm 12, and between manipulator 13 and rising arm 12, rotation cylinder 1307 is installed, manipulator 13 has two cover handgrips, be respectively lock shaft block handgrip 132, drum handgrip 131, between lock shaft block handgrip 132 and drum handgrip 131, angle is 90 °, as shown in Figure 8.Cylinder 1307 stretches out or retracts, and lock shaft block handgrip 132 and drum handgrip 131 can be made along handgrip rotating shaft 133 half-twist.

Manipulator 13 comprises cylinder permanent seat 1301, grapple 1302, rotating shaft 1303, connecting rod 1304, pushing disk 1305, platen 1306 and cylinder 1307.Platen 1306 is connected with cylinder permanent seat 1301 by guide pillar 1309, cylinder 1307 is arranged on cylinder permanent seat 1301, pushing disk 1305 is arranged on cylinder rod 1308 and moves between platen 1306 and cylinder permanent seat 1301, the edge of pushing disk 1305 is flexibly connected with connecting rod 1304,1304 at least 3, connecting rod; Grapple 1302 is identical with connecting rod 1304 quantity, and grapple 1302 top is hook-shaped, and bottom is flexibly connected with connecting rod 1304, and postmedian is connected with platen 1306 by rotating shaft 1303.The grasping movement of grapple 1302 drives pushing disk 1305 by cylinder 1307, and pushing disk 1305 is acted on grapple 1302 by connecting rod 1304, makes grapple 1302 complete crawl, unclamp action.

As shown in Figure 9, cylinder 1307 is arranged on cylinder permanent seat 1301 lock shaft block handgrip 132, and cylinder rod 1308 is connected with pushing disk 1305, can drive pushing disk 1305 up-and-down movement.Self-lubricating bearing is installed between pushing disk 1305 and cylinder permanent seat 1301 rise and lubricate and directional tagging.Driving disk drives by connecting rod 1304 that grapple 1302 opens, closing action, can clamp lock shaft block 4.Platen 1306 is by guide pillar 1309 and cylinder permanent seat 1301 consolidation, and grapple rotating shaft is fixed on platen 1306.Have hole at platen 1306 center, lock dog has corresponding boss corresponding with hole, realize the location of lock shaft block 4.When lock shaft block 4 is clamped at inside grapple 1302, the force direction of the stress point F of grapple 1302, just by grapple shaft fulcrum, makes grapple 1302 have auto-lock function.As long as cylinder 1307 does not initiatively open, lock shaft block 4 can not oneself unclamp.Lock shaft block 4 boss leading portion is designed with inclination angle, can be used as the directional tagging that grapple 1302 decline captures lock shaft block 4.

As shown in Figure 10, according to grabbed material difference, grapple 1302 configuration design is different for drum handgrip 131.After the full line of each drum 3 receipts, off-line dish 3 edge leaves apart from limited, and in order to grapple 1302 does not damage enamel wire, as shown in Figure 10, grapple 1302 length of bench is less than the distance that drum 3 edge leaves.According to cylinder 1307 stroke, the scope that adjustable grapple 1302 captures.

Existing lock shaft block 4, takes manually to install or remove, and instrument need be used to assist; be not suitable for manipulator 13 automatic disk discharging, the lock shaft block 4 that the utility model adopts, when guaranteeing that machine at high speeds operates; tightly pinning center axle, after machine shuts down, automatically loosens and holds axle tightly.

As shown in figure 11, lock shaft mechanism is symmetrical structure.Due to lock shaft mechanism in take-up process with drum 3 high speed rotating, in order to eliminate centrifugal inertial force, be therefore designed to symmetrical structure.Lock shaft mechanism forms primarily of centrifugal globe 404, pivoted arm 403, push rod 402 and lock shaft block main body 401.When take-up works, lock shaft block 4 is with take-up reel 3 High Rotation Speed.When lock shaft mechanism around center shaft High Rotation Speed time, centrifugal globe 404 produces huge centnifugal force, makes centrifugal globe 404 away from center shaft.Under centrifugal action, centrifugal globe 404 drives pivoted arm 403 moving axis 407 that rotates to rotate, and the other end of pivoted arm 403 then compresses push rod 402, makes two push rods 402 toward central pressing center shaft, thus reaches the object of locking.After drum 3 take-up terminates, lock shaft block 4 stops the rotation, and centnifugal force disappears, and push rod 402, under the effect of retracing spring 405, is returned to original position, and center shaft unlocks.Because lock shaft block 4 during work is with take-up reel 3 High Rotation Speed, any loose-parts flies out all can cause serious safety misadventure, for reducing potential safety hazard, centrifugal globe 404, pivoted arm 403, push rod 402 etc. are installed in lock shaft block 4 inner, centrifugal globe 404 maximum displacement is no more than lock shaft block 4 outer, and installs baffle plate 406 in lock shaft block 4 relevant position.For increasing the friction force of push rod 402 and center shaft, push rod 402 head and center shaft contact site are the semi-cylindrical caved in, and depression size coordinates with center shaft.

During work after certain take-up reel 3 changes dish, by taking out signal to control system, control system output command drives three servomotor controller tool hands 13 to corresponding drum 3 position, first stretches out lock shaft block handgrip 132, takes out lock shaft block 4, cylinder 1307 stretches out, lock shaft block handgrip 132 and drum handgrip 131 are with rotating shaft 1303 half-twist, and drum handgrip 131 stretches out, and take out drum 3, according to the piling position of prearranging, drum 3 is transported to assigned address; Then move to ceases to be busy dish 3 storeroom, drum handgrip 131 captures a ceases to be busy dish 3 and puts back to original take-up reel 3 position, and cylinder 1307 is retracted, and lock shaft block handgrip 132 and drum handgrip 131 are with rotating shaft 1303 half-twist, put down lock shaft block 4, rising arm 12 lifts waits for take-up next time.

After making to change dish, buttock line can be removed automatically, and ad hoc meter truncates line mechanism automatically, as shown in figure 12.Truncate line mechanism mainly one 90 ° of ratchet devices 61 and a briquetting 62 form, sleeve mechanism is arranged on wire coiling machine rotating disk 6.The geometric centre of briquetting 62 is the centre of gration of ratchet device 61, and the rotary actuation of ratchet device 61 then has driving head 63 to complete.Namely when driving head 63 rotates around centre of gration, ratchet device 61 drives briquetting 62 half-twist together, and when ratchet device 61 returns time, briquetting 62 keeps original position, does not return with ratchet device 61.The driving of ratchet device 61 has outside push rod 402 mechanism to drive, and the backhaul of ratchet device 61 has retracting spring 64 to complete, and retracting spring 64 one end is fixed on the top of ratchet device 61, and the other end is then fixed on rotating disk.

As shown in figure 12, when the end of a thread is clamped between briquetting 62 and rotating disk time, only have briquetting 62 half-twist position, the end of a thread has unclamped automatically, and when needs clamp next root the end of a thread, briquetting 62 turns 90 ° again and then gets back to initial position, waits for the clamping of next root the end of a thread.

In order to the driving head 63 of energy driving pawl mechanism 61, coiling frame installs ejecting mechanism.As shown in figure 13, ejecting mechanism mainly contains knock-pin 66, axle sleeve 67, ejects cylinder 65 and form.When needs make buttock line briquetting 62 half-twist, gas is given by cylinder 1307, knock-pin 66 is ejected, knock-pin 66 is near disk edge, along with the rotation of rotating disk, knock-pin 66 runs into ratchet driving head 63, and driving head 63 is rotated around ratchet center shaft, until driving head 63 rotates into inside rotating disk, thus buttock line briquetting 62 is with ratchet device 61 half-twist.After knock-pin 66 is regained, in dial rotation process, knock-pin 66 can not touch ratchet driving head 63, and under the effect of retracting spring 64, driving head 63 gets back to initial position, waits for and collides knock-pin 66 next time.

The utility model is illustrated according to above-described embodiment, should be appreciated that above-described embodiment does not limit the utility model in any form, and all employings are equal to replacement or the technical scheme that obtains of equivalent transformation mode, all drop within protection domain of the present utility model.

Claims (3)

1. an automatic disk discharging machinery hand, it is characterized in that, comprise lock shaft block handgrip and drum handgrip, between lock shaft block handgrip and drum handgrip, angle is 90 °; Described mechanical gripper is connected with bottom rising arm by handgrip rotating shaft; Install handgrip rotary cylinder between described mechanical gripper and rising arm, the motion of handgrip rotary cylinder makes lock shaft block handgrip and drum handgrip along handgrip rotating shaft half-twist.

2. a kind of automatic disk discharging machinery hand according to claim 1, it is characterized in that, described mechanical gripper comprises cylinder permanent seat, grapple, rotating shaft, connecting rod, pushing disk, platen and cylinder; Platen is connected with cylinder permanent seat by guide pillar, and cylinder is arranged on cylinder permanent seat, and pushing disk is arranged on cylinder rod and moves between platen and cylinder permanent seat, and the edge of pushing disk is flexibly connected with connecting rod, at least 3, connecting rod; Grapple is identical with connecting rod quantity, and grapple top is hook-shaped, and bottom is flexibly connected with connecting rod, and postmedian is connected with platen by rotating shaft.

3. a kind of automatic disk discharging machinery hand according to claim 1, it is characterized in that, the platen center of described lock shaft block handgrip has circular hole, and during lock shaft block handgrip grip objects, the force direction of the stress point of grapple is just by grapple shaft fulcrum.