CN207431669U - A kind of rubber ring automatic assembling apparatus - Google Patents

Abstract

The utility model discloses an automatic rubber ring assembly device, which comprises a workbench, a clamping mechanism, a material pushing mechanism, a material storage mechanism and a control system. The three-layer cylinder structure design of the clamper in the clamping mechanism can solve the problem that the special-shaped rubber ring is difficult to clamp by changing its outline and matching the outline of the rubber ring; the movement mode of the air claw in the pushing mechanism is simple and flexible High precision; the design of the synchronous belt in the storage mechanism to carry the movement of the rack realizes the function of continuous feeding. Under the action of the PLC control system, the whole device automatically controls the coordination of the three processes of material storage mechanism feeding, pushing mechanism feeding, and clamping mechanism taking and loading materials, so as to realize the function of automatic and continuous assembly of rubber rings. The beneficial effect of the utility model is that the structure is simple, the degree of automation is high, and the automatic assembly of rubber rings of various shapes and sizes can be adapted.

Description

A rubber ring automatic assembly device

technical field

The utility model relates to the technical field of automatic machinery, in particular to an automatic rubber ring assembly device.

Background technique

With the progress of society and the development of science and technology, the trend of industrial automation is becoming more and more obvious. During the production process of products, it is usually necessary to assemble parts together. The assembly of parts mainly includes actions such as grabbing, moving, and loading. Due to the characteristics of large elasticity and easy deformation of rubber rings, it is not conducive to grasping, so that the rubber rings in many products are assembled manually, and the production efficiency is low; and most of the existing rubber ring assembly devices cannot meet the automatic Assembly, structure and control complex issues. For example, Chinese Patent Publication No. CN106217023A discloses a robot-based rubber ring grabbing and assembly mechanism, which uses a six-axis robot to detect the shape and position of the rubber ring in the rubber ring positioning mechanism through an intelligent camera mechanism, and then grabs and assembles the rubber ring. Assembling, the structure of the device is more complicated and the cost is higher. Therefore, it is necessary to invent a device with simple structure, convenient control and continuous automatic assembly of special-shaped rubber rings.

Contents of the invention

In order to improve production efficiency, reduce costs, and solve the problems that special-shaped rubber rings are difficult to clamp for automatic assembly, an automatic assembly device for rubber rings is invented.

The technical scheme adopted by the utility model to solve the technical problem is: an automatic rubber ring assembly device, which includes a workbench, a clamping mechanism, a material pushing mechanism, a material storage mechanism, and a control system. The supporting frame of the clamping mechanism is fixed on the working On the platform, the A fixed plate is fixed on the support frame, the cylinder body of the A cylinder is fixed on the A fixed plate, the end of the piston rod of the A cylinder is fixedly connected with the B fixed plate, and there is a moving pair between the B fixed plate and the A fixed plate. And the moving direction is consistent with the moving direction of the piston rod of the A cylinder, the B cylinder is fixed on the B fixed plate, the end of the piston rod of the B cylinder is fixedly connected with the C fixed plate, and there is a moving pair between the C fixed plate and the B fixed plate. The direction is the same as the moving direction of the piston rod of cylinder B, cylinder C is fixed on the fixed plate of C, the cylinder body of cylinder C is fixedly connected with the outer cylinder of the holder, the outer cylinder of the holder is fixedly connected with the inner cylinder, and the cylinder of C The end of the piston rod is fixedly connected with the cross bar. The cross bar is fixed on the middle cylinder of the holder. The cross bar can slide in the chute of the outer cylinder and the inner cylinder and the sliding direction is consistent with the moving direction of the piston rod of the C cylinder. The outer cylinder, middle cylinder and inner cylinder of the container are coaxial; the servo motor fixing frame in the storage mechanism is fixed on the workbench, the servo motor is fixed on the servo motor fixing frame, and the motor shaft of the driving pulley and the servo motor passes through the key The axial position of the driving pulley is fixed, the driven pulley and the pulley shaft are connected by a key and the axial position is fixed, the pulley shaft can rotate in the bearing seat, the bearing seat is fixed on the workbench, and the synchronous belt is fixed with A number of evenly spaced racks, each rack is covered with several closely connected rubber rings, the outer profile of the cross section of the rack coincides with the inner profile of the cross section of the rubber ring, and the surface of the rubber ring at the top is consistent with the inner profile of the rack. The top surface of the A cylinder is flush with the top surface, and the placement rack is divided into the active placement rack and the ready-to-use placement rack. The active placement rack is located under the holder. The placement frame is concentric, when the piston rod of cylinder A is retracted and the piston rod of cylinder B is extended, the distance between the bottom surface of the inner cylinder of the holder and the top surface of the placement frame is 0.2-0.4mm; the pushing mechanism The servo motor screw fixing frame is fixed on the workbench, the servo motor screw is fixed on the servo motor screw fixing frame, the cylinder body of the finger cylinder is fixed on the slider of the servo motor screw, and the air claw is fixed on the finger cylinder On the finger, when the finger of the finger cylinder is closed, the upper surface of the air gripper is in contact with the rubber ring at the bottom.

The gripper is composed of outer cylinder, middle cylinder, inner cylinder and cross bar. The outer cylinder, middle cylinder and inner cylinder are concentric. The inner surface of the outer cylinder coincides with the outer surface of the middle cylinder, and the inner surface of the middle cylinder and the inner cylinder The outer surface of the outer cylinder coincides, the middle cylinder, the outer cylinder, and the inner cylinder are clearance fit, the bottom surface of the outer cylinder and the bottom surface of the inner cylinder are in the same plane, the bottom surface of the middle cylinder is located above the bottom surface of the outer cylinder and the gap between the two bottom surfaces The distance is the thickness of a rubber ring along the axial direction. The wall thickness of the middle cylinder is the same as the thickness of a rubber ring along the radial direction. The cross-sectional inner contour of the rubber ring coincides with the cross-sectional outer contour of the inner cylinder. The cross-sectional outer contour coincides with the cross-sectional inner contour of the outer cylinder.

The beneficial effect of the utility model is that the structure is simple, the degree of automation is high, and the automatic assembly of rubber rings of various shapes and sizes can be adapted.

Description of drawings

Below in conjunction with accompanying drawing and specific embodiment, the utility model is described in further detail:

Fig. 1 is a structural representation of the utility model;

Fig. 2 is a schematic diagram of the mechanism of the clamping mechanism in Fig. 1;

Fig. 3 is a schematic structural view of the holder in Fig. 2;

Fig. 4 is a schematic structural view of the pushing mechanism in Fig. 1;

Fig. 5 is a schematic structural view of the storage mechanism in Fig. 1;

In the figure, 1. Workbench, 2. Clamping mechanism, 3. Pushing mechanism, 4. Storage mechanism, 5. Support frame, 6. A fixed plate, 7. A cylinder, 8. B fixed plate, 9. B cylinder, 10, C fixed plate, 11, C cylinder, 12, holder, 13, outer cylinder, 14, middle cylinder, 15, inner cylinder, 16, cross bar, 17, servo motor screw fixing frame, 18 , Servo motor lead screw, 19, finger cylinder, 20, air claw, 21, servo motor fixing frame, 22, servo motor, 23, driving pulley, 24, driven pulley, 25, synchronous belt, 26, pulley shaft , 27, bearing seat, 28, is using the placement frame, 29, pending use placement frame, 30, rubber ring.

Detailed ways

As shown in Figure 1, the clamping structure 2, the pushing structure 3 and the storage mechanism 4 are placed on the workbench 1 according to a certain positional relationship, and the support frame 5 is to match the clamping mechanism 2, the pushing mechanism 3 and the storage mechanism 4, the corresponding positions of the piston rod of A cylinder 7 after retraction and extension are respectively marked as a and b, and the corresponding positions of the piston rod of B cylinder 9 after retraction and extension are respectively marked as c and d , the corresponding positions of the piston rod of cylinder C 11 after retraction and extension are denoted as e and f respectively. Corresponding positions a, c, e, the fingers of the finger cylinder 19 are in a loosened state.

After starting to work, under the control of the control system, the finger of the finger cylinder 19 becomes closed, so that the air claw 20 is close to the placement frame 28 in use, triggering the piston rod of the B cylinder 9 fixed on the B fixed plate 8 Stretch out to reach the position d, then trigger the movement of the servo motor screw 18 fixed on the servo motor screw fixing frame 17, the slider on the servo motor screw 18 drives the finger cylinder 19 and the air claw 20 to move upward for a distance x, x is The thickness of a rubber ring 30 along the axial direction, because the upper surface of the air gripper 20 is in contact with the bottom rubber ring 30 on the placement frame 28, so all the rubber rings 30 on the placement frame 28 will be used simultaneously. Move up the distance x, and because the top surface of the placement frame 28 is flush with the surface of the topmost rubber ring 30, the topmost rubber ring 30 will break away from the use of the placement frame 28 and move to the holder 12 at the same time At this time, the rubber ring 30 will be placed on the inner cylinder 15 and remain still. After the servo motor screw 18 finishes moving, trigger the piston rod of the B cylinder 9 to retract to the position c, and then trigger and fix it on the A fixed plate 6 The piston rod of the A cylinder 7 on the top stretches out to the position b, and then triggers the piston rod of the B cylinder 9 to stretch out to the position d, at this time the gripper 12 reaches the assembly point, triggering the C cylinder 11 fixed on the C fixed plate 10 The piston rod stretches out to the position f, and the piston rod drives the cross bar 16 to move downward in the chute on the outer cylinder 13 and the inner cylinder 15, and the cross rod 16 drives the middle cylinder 14 to move downward at the same time, and the bottom surface of the middle cylinder 14 The rubber ring 30 is ejected, the rubber ring 30 is separated from the holder 12 and moved to the predetermined position of the parts to be assembled to complete the assembly of the rubber ring 30, and then the piston rod of the C cylinder 11 is retracted to the position e, and then the B cylinder is triggered The piston rod of 9 retracts to reach position c, and finally triggers the piston rod of A cylinder 7 to retract to reach position a, so as to return to the initial state and start the assembly work of the next rubber ring 30.

Every time a rubber ring 30 is assembled, the counter in the control system adds 1. When several rubber rings 30 on the rack 28 are used up, the counter reaches the set value, the counter is cleared and the servo motor lead screw 18 is triggered to move upward. , so that the lower surface of the air gripper 20 is higher than the top surface of the rack 28 in use, and then triggers the movement of the servo motor 22 fixed on the servo motor fixing frame 21, and the motor shaft of the servo motor 22 drives the driving pulley 23 to rotate, and the driving belt The wheel 23 drives the driven pulley 24 and the pulley shaft 26 to rotate in the bearing seat 27 through the synchronous belt 25. At this time, the original placing frame 28 will arrive at the place of the placing frame 29 to be used along with the movement of the synchronous belt 25. At the same time, the shelf 29 to be used next to the shelf 28 in use will move to the original position of the shelf 28 in use and become the new shelf 28 in use. After the servo motor 22 moves, the servo motor will be triggered. Leading screw 18 moves down to initial position, prepares to start the assembling of several rubber rings 30 on the placement frame 28 of new just use.

Claims (2)

1. a kind of rubber ring automatic assembling apparatus, it is by workbench（1）, clamping device（2）, pusher（3）, material storage mechanism （4）, control system composition, which is characterized in that clamping device（2）Supporting rack（5）It is fixed on workbench（1）On, A fixed plates （6）It is fixed on supporting rack（5）On, A cylinders（7）Cylinder body be fixed on A fixed plates（6）On, A cylinders（7）Piston rod end and B Fixed plate（8）It is fixedly connected, B fixed plates（8）With A fixed plates（6）Between there is prismatic pair and moving direction and A cylinders（7）'s Piston rod moving direction is consistent, B cylinders（9）It is fixed on B fixed plates（8）On, B cylinders（9）Piston rod end and C fixed plates （10）It is fixedly connected, C fixed plates（10）With B fixed plates（8）Between there is prismatic pair and moving direction and B cylinders（9）Piston Bar moving direction is consistent, C cylinders（11）It is fixed on C fixed plates（10）On, C cylinders（11）Cylinder body and clamper（12）Outer barrel （13）It is fixedly connected, clamper（12）Outer barrel（13）With inner cylinder（15）It is fixedly connected, C cylinders（11）Piston rod end with it is horizontal Bar（16）It is fixedly connected, cross bar（16）It is fixed on clamper（12）Middle cylinder（14）On, cross bar（16）It can be in outer barrel（13）With it is interior Cylinder（15）Sliding slot in slide and glide direction and C cylinders（11）Piston rod moving direction it is consistent, clamper（12）Outer barrel （13）, middle cylinder（14）, inner cylinder（15）It is concentric；Material storage mechanism（4）In servomotor fixed frame（21）It is fixed on workbench（1） On, servomotor（22）It is fixed on servomotor fixed frame（21）On, driving pulley（23）With servomotor（22）Motor shaft Pass through key connection and driving pulley（23）Axial position fix, driven pulley（24）With pulley shaft（26）Pass through key connection and axis It is fixed to position, pulley shaft（26）It can be in bearing block（27）Interior rotation, bearing block（27）It is fixed on workbench（1）On, in synchronization Band（25）On be fixed with several evenly spaced racks, several rubber rings being close to are cased on each rack （30）, the cross section outer profile and rubber ring of rack（30）Cross section Internal periphery overlap, the rubber ring of top（30）Table Face is flushed with the top surface of rack, and rack, which is divided into, just uses rack（28）With rack to be used（29）, it is positive to use placement Frame（28）Positioned at clamper（12）Lower section, A cylinders（7）Piston rod clamper when being in retracted mode（12）Inner cylinder（15） With just using rack（28）It is concentric, A cylinders（7）Piston rod be in retracted mode and B cylinders（9）Piston rod be in stretch Clamper when doing well（12）Inner cylinder（15）Bottom surface is with just using rack（28）Top surface at a distance of 0.2-0.4mm；Pusher Structure（3）Servomotor leading screw fixed frame（17）It is fixed on workbench（1）On, servomotor leading screw（18）It is fixed on servomotor Leading screw fixed frame（17）On, finger cylinder（19）Cylinder body be fixed on servomotor leading screw（18）Sliding block on, pneumatic clamper（20）Gu It is scheduled on finger cylinder（19）Finger on, finger cylinder（19）Finger be closed when pneumatic clamper（20）Upper surface and lowermost end rubber Cushion rubber（30）Contact.

A kind of 2. rubber ring automatic assembling apparatus according to claim 1, which is characterized in that clamper（12）By outer barrel （13）, middle cylinder（14）, inner cylinder（15）And cross bar（16）Composition, outer barrel（13）, middle cylinder（14）And inner cylinder（15）It is concentric, outer barrel （13）Inner surface and middle cylinder（14）Outer surface overlap, middle cylinder（14）Inner surface and inner cylinder（15）Outer surface overlap, in Cylinder（14）With outer barrel（13）, inner cylinder（15）Between be clearance fit, outer barrel（13）Bottom surface and inner cylinder（15）Bottom surface same In one plane, middle cylinder（14）Bottom surface be located at outer barrel（13）Bottom surface above and the distance between two bottom surfaces be a rubber ring （30）Thickness in axial direction, middle cylinder（14）Wall thickness and a rubber ring（30）Thickness radially is identical, rubber Circle（30）Cross section Internal periphery and inner cylinder（15）Cross section outer profile overlap, rubber ring（30）Cross section outer profile with it is outer Cylinder（13）Cross section Internal periphery overlap.