CN210547256U - Switching device based on two-station operation - Google Patents
Switching device based on two-station operation Download PDFInfo
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- CN210547256U CN210547256U CN201921001847.6U CN201921001847U CN210547256U CN 210547256 U CN210547256 U CN 210547256U CN 201921001847 U CN201921001847 U CN 201921001847U CN 210547256 U CN210547256 U CN 210547256U
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Abstract
A switching device based on two-station operation is used for moving a robot between two stations, the robot comprises a robot main body and a robot fixing seat connected with the robot main body, the switching device comprises a controller and a driving device, and the driving device comprises: the base is arranged between the two stations; the two guide rails are respectively fixed on two sides of the base and are respectively connected with two sides of the robot fixing seat in a sliding manner; the driving cylinder is fixed on the base, a piston rod of the driving cylinder is connected with the robot fixing seat, and the driving cylinder is used for driving the robot fixing seat to move between two stations; the locking device is used for locking the robot fixing seat when the robot reaches a station, and at least one locking device is arranged at each of two ends of the base; a displacement sensor for detecting a position of the robot; the controller is electrically connected with the driving cylinder, the locking device and the displacement sensor. The utility model discloses can realize the automatic switching of robot position, improve work efficiency.
Description
Technical Field
The utility model relates to the field of automotive technology, especially, relate to a auto-change over device based on two operations.
Background
With the rapid development of the automobile industry and the continuous improvement of living conditions of people, automobiles become one of indispensable transportation tools for people to go out. The production of automobiles involves a number of processes and a variety of parts, wherein automobile opening and closing members (opening and closing members including doors, trunk lids, back doors, engine covers, side doors, etc.) are important components of automobiles.
The existing opening and closing piece is usually rolled by a robot, and the advantages of convenience, quickness and the like are increasingly favored by automobile manufacturers. Because its switching piece border of motorcycle type of difference requires differently, the border of switching piece is all carried out at a station to current robot, when needs are carried out the border to another motorcycle type, needs artificial move the robot to another station, its complex operation, and work load is big, and work efficiency is low.
SUMMERY OF THE UTILITY MODEL
In view of the above, it is necessary to provide a switching device based on two-station operation, so that the robot can switch between two stations.
A switching apparatus based on a two-station operation, for movement of a robot between two stations, the robot including a robot main body and a robot holder connected to the robot main body, the switching apparatus including a controller and a driving apparatus, the driving apparatus comprising:
the base is arranged between the two stations;
the two guide rails are respectively fixed on two sides of the base and are respectively connected with two sides of the robot fixing seat in a sliding manner;
the driving cylinder is fixed on the base, a piston rod of the driving cylinder is connected with the robot fixing seat, and the driving cylinder is used for driving the robot fixing seat to move between the two stations;
the locking device is used for locking the robot fixing seat when the robot reaches the station, and at least one locking device is arranged at each of two ends of the base;
a displacement sensor for detecting a position of the robot;
the controller is electrically connected with the driving cylinder, the locking device and the displacement sensor, and the controller is used for controlling the driving cylinder and the locking device to work according to the position information detected by the displacement sensor.
Further, above-mentioned auto-change over device, wherein, locking device includes, be fixed in locking cylinder and baffle on the base, and with the swinging boom that locking cylinder connects, swinging boom one end with locking cylinder's output shaft fixed connection, a dog is connected to the other end, the baffle is located one side of locking cylinder, the baffle orientation one side of swinging boom sets firmly a stopper, works as when locking cylinder closes, the swinging boom rotates and drives the dog is close to the stopper is with the locking the robot fixing base, works as when locking cylinder opens, the swinging boom rotates and drives the dog is kept away from the stopper is in order to loosen the robot fixing base.
Further, in the above switching device, the locking device further includes an electromagnetic valve connected to the driving cylinder, the electromagnetic valve is electrically connected to the controller, and the electromagnetic valve is configured to receive the control signal and control the locking cylinder to open and close.
Further, according to the switching device, when the driving cylinder is in a closed state, a gap is formed between the stop block and the limiting block, a clamping plate is fixedly arranged at the bottom of the robot fixing seat, and the clamping plate is matched with the gap.
Further, above-mentioned auto-change over device, wherein, the swinging boom include fixed part and one end with the connecting portion that the fixed part is connected, the other end of connecting portion with the stopper is connected, the fixed part through a pivot with the output shaft of locking cylinder.
Further, in the above switching device, the fixing portion is vertically connected to the connecting portion.
Further, in the above switching device, two ends of the base are respectively provided with one displacement sensor, and the displacement sensors are fixed on the baffle.
Further, in the above switching device, two ends of the guide rail are respectively and fixedly provided with a buffer.
Further, above-mentioned auto-change over device, wherein, auto-change over device still includes a track, drive arrangement with the robot fixing base corresponds respectively and is provided with two, two drive arrangement and two the robot fixing base is equallyd divide and is set up respectively orbital both sides, the robot main part with track sliding connection.
The embodiment of the utility model provides an in, utilize to drive the removal of actuating cylinder drive robot between two stations, adopt the guide rail to guarantee the repeatability of robot. And the locking devices are correspondingly arranged on the two stations, the robot is loosened and locked by opening and closing the locking cylinders, the repeatability precision of the moving direction and the reliability of the equipment are ensured, and the risk caused by gas cut-off or unstable air pressure is avoided. Meanwhile, in order to prevent the failure of mechanical limiting and locking, a displacement sensor is added for detection, the repeated precision of the robot is effectively tracked and detected in real time, and the reliability of the equipment is further ensured. The utility model discloses can realize the automatic switching of robot position, improve work efficiency.
Drawings
Fig. 1 is a schematic structural view of a switching device according to a first embodiment of the present invention;
fig. 2 is a schematic structural view of a driving device according to a first embodiment of the present invention;
fig. 3 is a schematic structural view of the locking device in a closed state according to the first embodiment of the present invention;
fig. 4 is an exploded view of the locking device according to the first embodiment of the present invention;
fig. 5 is a block diagram of a switching device according to a first embodiment of the present invention;
fig. 6 is an enlarged structural diagram of the area a in fig. 2.
Description of the main elements
Detailed Description
In order to facilitate understanding of the present invention, the present invention will be described more fully hereinafter with reference to the accompanying drawings. The embodiment of the invention is given in the attached drawings. The invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, this embodiment is provided so that this disclosure will be thorough and complete.
It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for illustrative purposes only.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
Please refer to fig. 1, which is the switching device based on two-station operation in the first embodiment of the present invention, the switching device is used for the robot to move between two stations 1, so that the robot moves to another station to operate after one station has been operated, thereby realizing the automatic switching between two stations 1, and improving the working efficiency.
As shown in fig. 1, the robot includes a robot main body 10 and two robot holders 11 connected to both sides of the robot main body 10. The two robot holders 11 are symmetrically disposed at both sides of the robot main body 10 to support the robot main body 10. The switching device comprises a controller, a rail 20 and two driving devices 40 respectively arranged at both sides of the rail 20. The two robot holders 11 are distributed on two sides of the track and are respectively connected with the two driving devices 40 correspondingly, and the robot main body 10 is connected on the track 20 in a sliding manner. The two ends of the rail 20 are respectively connected to the two stations 1, and the two robot fixing seats are driven by the two driving devices 40 to slide, so that the robot main body moves on the rail, and the robot moves from one station to the other station.
As shown in fig. 2, the driving device 40 includes: a base 41 arranged between the two stations 1, a guide rail 42 fixed on the base 41, a driving cylinder 43 and a locking device 44, and a position displacement sensor 45 for detecting the robot.
The base 41 is fixed on the ground and is used for bearing the robot fixing base 11. The two guide rails 42 are respectively fixed on two sides of the base 41, and the guide rails can be linear sliding guide rails. Two sides of the robot fixing seat 11 are respectively connected with the two guide rails 42 in a sliding manner.
The driving cylinder 43 is fixed at one end of the base 41, a piston rod of the driving cylinder 43 is connected with the robot fixing seat 11, and when the driving cylinder 43 works, the robot fixing seat 11 is pushed to the other end from one end of the base 41, so that the driving robot moves between two stations.
At least one locking device 44 is disposed at each of two ends of the base 41, for example, in the present embodiment, four locking devices 44 are disposed on each base, and are uniformly distributed at four corners of the base 41. The locking device 44 is used for locking the robot fixing base 11 when the robot reaches the station.
Specifically, as shown in fig. 3 and 4, the locking device 44 includes a locking cylinder 441 and a blocking plate 442 fixed to the base 41, and a rotating arm 443 connected to the locking cylinder 442. The locking cylinder 441 is fixed to the base 41 by a fixing plate 90. The upper end of the locking cylinder 441 is provided with a first protection cover 50, the circumference of the first protection cover 50 is provided with fixing feet extending downwards, and the fixing feet are screwed on the base 41. The locking cylinder 441 has a rotating arm 443 fixed to the upper end thereof, the rotating arm 443 is substantially L-shaped and includes a fixed portion 4431 and a connecting portion 4432 having one end connected to the fixed portion, the fixed portion 4431 is connected to the output shaft of the locking cylinder 441 through a rotating shaft, and a stopper 46 is fixed to the other end of the connecting portion 4431. The baffle 442 is disposed at one side of the locking cylinder 441, and a limit block 47 is fixedly disposed at one side of the locking cylinder facing the rotating arm 443. When the locking cylinder 441 is in an open state, the connecting portion 4431 is parallel to the length direction of the locking cylinder 441, and the stopper 46 and the stopper 47 are not on the same straight line. When the locking cylinder 441 is closed, the rotating arm is driven to rotate 90 degrees, at the moment, the stop block 46 and the limiting block 47 are arranged on the same straight line and are opposite to each other, and a distance is reserved between the stop block 46 and the limiting block 47. This interval and the last cardboard adaptation of fixing of robot fixing base 11, when the robot moved this station, the cardboard was located the purpose that realizes locking robot fixing base between dog 46 and stopper 47.
The locking cylinder 441 is opened and closed by a solenoid valve 60 connected to the locking cylinder. The solenoid valve 60 is electrically connected to the controller 30, and controls the locking cylinder 443 to open and close according to a signal sent by the controller 30.
Two displacement sensors 45 are correspondingly arranged on each base 41 and respectively fixed on the locking devices at the two ends of the base 41. In one embodiment, the displacement sensor 45 is bolted to the retainer 442 of the locking mechanism. The upper end of the displacement sensor 45 is further provided with a second protective cover 70, and the second protective cover 70 is fixed on the baffle 442 through a screw connection manner.
The controller 30 is a Programmable Logic Controller (PLC), and the installation position thereof can be set according to the actual situation, for example, it can be installed at the bottom of the base 41. As shown in fig. 5, the controller 30 is electrically connected to the driving cylinder 43, the solenoid valve 60, and the displacement sensor 45. When the displacement sensor 45 detects that the robot reaches a station, a position signal is sent to the controller 30, and the controller 30 controls the locking cylinder 441 corresponding to the station to be closed so as to lock the robot fixing seat 11; when the robot completes the operation of the station, the controller 30 sends a signal to the solenoid valve 60 to control the locking cylinder 441 to be opened, and simultaneously controls the driving cylinder 43 to work, so that the robot moves from the station to another station and is locked on the other station.
Further, as shown in fig. 6, the buffer 80 is respectively disposed at both ends of the guide rail 42, and the buffer 80 is disposed to buffer the robot fixing base 11 when sliding to the end of the guide rail 42.
The operation flow of the embodiment of the utility model is described below by taking the opening and closing part border of different vehicle types as an example:
step 2, the controller confirms whether the robot is in the working position of the vehicle type through the displacement sensor, and if the robot is not in the working position of the vehicle type, the controller gives a command to the electromagnetic valve to open the locking cylinder and then allow the driving cylinder to work, so that the robot is moved to the required working position;
and 3, after the displacement sensor detects that the robot reaches the working position, the controller sends a command to the electromagnetic valve to close the locking cylinder, so that the robot is fixed at the working position, and the robot performs normal production.
In the embodiment, the driving cylinder is used for driving the robot to move between two stations, and the linear sliding guide rail is used for ensuring the repeatability precision of the robot. And the locking devices are correspondingly arranged on the two stations, the robot is loosened and locked by opening and closing the locking cylinders, the repeatability precision of the moving direction and the reliability of the equipment are ensured, and the risk caused by gas cut-off or unstable air pressure is avoided. Meanwhile, in order to prevent the failure of mechanical limiting and locking, a displacement sensor is added for detection, the repeated precision of the robot is effectively tracked and detected in real time, and the reliability of the equipment is further ensured.
It is understood that in another example of the present invention, the robot may be supported by a robot holder. Accordingly, in this embodiment, only one driving device needs to be provided to drive the robot to move between the two stations, and the technical implementation principle is substantially the same as that in the first embodiment, and details are not described here.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The above-mentioned embodiments only express the embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present invention. It should be noted that, for those skilled in the art, without departing from the spirit of the present invention, several variations and modifications can be made, which are within the scope of the present invention. Therefore, the protection scope of the present invention should be subject to the appended claims.
Claims (9)
1. A switching apparatus based on a two-station operation, for a robot to move between two stations, the robot including a robot main body and a robot holder connected to the robot main body, wherein the switching apparatus includes a controller and a driving apparatus, the driving apparatus includes:
the base is arranged between the two stations;
the two guide rails are respectively fixed on two sides of the base and are respectively connected with two sides of the robot fixing seat in a sliding manner;
the driving cylinder is fixed on the base, a piston rod of the driving cylinder is connected with the robot fixing seat, and the driving cylinder is used for driving the robot fixing seat to move between the two stations;
the locking device is used for locking the robot fixing seat when the robot reaches the station, and at least one locking device is arranged at each of two ends of the base;
a displacement sensor for detecting a position of the robot;
the controller is electrically connected with the driving cylinder, the locking device and the displacement sensor, and the controller is used for controlling the driving cylinder and the locking device to work according to the position information detected by the displacement sensor.
2. The switching device according to claim 1, wherein the locking device comprises a locking cylinder and a baffle fixed on the base, and a rotating arm connected with the locking cylinder, one end of the rotating arm is fixedly connected with an output shaft of the locking cylinder, the other end of the rotating arm is connected with a stop block, the baffle is located on one side of the locking cylinder, the baffle faces one side of the rotating arm and is fixedly provided with a stop block, when the locking cylinder is closed, the rotating arm rotates and drives the stop block to be close to the stop block to lock the robot fixing seat, and when the locking cylinder is opened, the rotating arm rotates and drives the stop block to be away from the stop block to loosen the robot fixing seat.
3. The switching device according to claim 2, wherein the locking device further comprises a solenoid valve connected to the driving cylinder, the solenoid valve being electrically connected to the controller, the solenoid valve being configured to receive the control signal and control the locking cylinder to open and close.
4. The switching device according to claim 2, wherein when the driving cylinder is in a closed state, a gap is formed between the stopper and the limiting block, and a clamping plate is fixedly arranged at the bottom of the robot fixing seat and is matched with the gap.
5. The switching device according to claim 2, wherein the rotating arm includes a fixing portion and a connecting portion having one end connected to the fixing portion, the other end of the connecting portion is connected to the limiting block, and the fixing portion is connected to the output shaft of the locking cylinder through a rotating shaft.
6. The switching device of claim 5, wherein the fixed portion is perpendicularly connected to the connecting portion.
7. The switching device according to claim 2, wherein one of said displacement sensors is provided at each of both ends of said base, and said displacement sensor is fixed to said baffle.
8. The switching apparatus according to claim 1, wherein buffers are respectively fixed to both ends of the guide rail.
9. The switching device according to claim 1, wherein the switching device further comprises a rail, two driving devices and two robot holders are disposed respectively on two sides of the rail, and the robot main body is slidably coupled to the rail.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921001847.6U CN210547256U (en) | 2019-06-28 | 2019-06-28 | Switching device based on two-station operation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921001847.6U CN210547256U (en) | 2019-06-28 | 2019-06-28 | Switching device based on two-station operation |
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| Publication Number | Publication Date |
|---|---|
| CN210547256U true CN210547256U (en) | 2020-05-19 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201921001847.6U Active CN210547256U (en) | 2019-06-28 | 2019-06-28 | Switching device based on two-station operation |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112578152A (en) * | 2020-12-08 | 2021-03-30 | 创维集团智能装备有限公司 | Method, system and assembly for improving wire plugging and unplugging efficiency of signal wire |
| CN113814955A (en) * | 2020-06-18 | 2021-12-21 | 四川工程职业技术学院 | Base with locking function and industrial robot thereof |
| CN114812298A (en) * | 2022-05-26 | 2022-07-29 | 佛山科学技术学院 | Clamping equipment |
-
2019
- 2019-06-28 CN CN201921001847.6U patent/CN210547256U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113814955A (en) * | 2020-06-18 | 2021-12-21 | 四川工程职业技术学院 | Base with locking function and industrial robot thereof |
| CN112578152A (en) * | 2020-12-08 | 2021-03-30 | 创维集团智能装备有限公司 | Method, system and assembly for improving wire plugging and unplugging efficiency of signal wire |
| CN114812298A (en) * | 2022-05-26 | 2022-07-29 | 佛山科学技术学院 | Clamping equipment |
| CN114812298B (en) * | 2022-05-26 | 2024-05-07 | 佛山科学技术学院 | Clamping equipment |
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