CN212502842U

CN212502842U - Magnetic attraction type workpiece grabbing accurate positioning device

Info

Publication number: CN212502842U
Application number: CN202021536600.7U
Authority: CN
Inventors: 谢良华; 王启东
Original assignee: Fuzhou Hongji Automation Equipment Co ltd
Current assignee: Fuzhou Hongji Automation Equipment Co ltd
Priority date: 2020-07-29
Filing date: 2020-07-29
Publication date: 2021-02-09
Anticipated expiration: 2030-07-29

Abstract

The utility model relates to a magnetic suction type workpiece grabbing accurate positioning device, which comprises a workpiece feeding mechanism, a workpiece moving mechanism, a correcting mechanism and an accurate positioning mechanism; the workpiece feeding mechanism comprises a workpiece feeding frame for stacking workpieces; the workpiece moving mechanism comprises an electromagnetic suction assembly and a moving assembly for driving the electromagnetic suction assembly to move back and forth between the workpiece feeding frame and the correcting mechanism. An object of the utility model is to provide an it snatchs accurate positioner to apply to disc work piece automatic feeding's magnetism to inhale formula work piece, its transferable work piece of stacking wantonly to realize the accurate positioning. The utility model has the advantages that: the utility model discloses a feed a mechanism, move a mechanism, correctional agency and smart positioning mechanism, move a mechanism and can absorb the work piece of stacking wantonly in the mechanism of advancing to carry out the correction of positive and negative orientation through correctional agency, finally carry out the accurate positioning through smart positioning mechanism, so that subsequent processing operation or arm accuracy snatch, thereby realize automatic material loading.

Description

Magnetic attraction type workpiece grabbing accurate positioning device

Technical Field

The utility model relates to an automation equipment field, especially a formula work piece snatchs accurate positioner is inhaled to magnetism.

Background

With the rapid development of intelligent processing equipment, the processing of workpieces is gradually changed from manual operation to mechanical operation. The manipulator is widely applied to intelligent processing equipment, can grab workpieces to complete processing operation by matching with a processing mechanism, and can transfer the processed workpieces to the next procedure.

However, when the existing manipulator grabs a workpiece, due to the limitation of the automation degree, the manipulator cannot grab the workpiece placed or stacked randomly, and the workpiece needs to be placed in a specific area and positioned accurately by a worker, so that the workpiece can be grabbed correctly by the manipulator.

Disclosure of Invention

An object of the utility model is to provide an it snatchs accurate positioner to apply to disc work piece automatic feeding's magnetism to inhale formula work piece, its transferable work piece of stacking wantonly to realize the accurate positioning.

The purpose of the utility model is realized through the following technical scheme: a magnetic suction type workpiece grabbing accurate positioning device comprises a workpiece feeding mechanism, a workpiece moving mechanism, a correcting mechanism and an accurate positioning mechanism; the workpiece feeding mechanism comprises a workpiece feeding frame for stacking workpieces; the workpiece moving mechanism comprises an electromagnetic suction assembly and a moving assembly for driving the electromagnetic suction assembly to perform reciprocating displacement between the workpiece feeding frame and the correcting mechanism; the correcting mechanism comprises a workpiece connecting box for primarily correcting the workpiece, a detection group for judging the working direction in the workpiece connecting box and a turnover assembly for correcting the direction of the workpiece according to a detection group signal; the fine positioning mechanism is arranged on the outlet side of the turnover assembly.

Compare prior art, the utility model has the advantages of:

1. the utility model discloses a feed a mechanism, move a mechanism, correctional agency and smart positioning mechanism, move a mechanism and can absorb the work piece of stacking wantonly in the mechanism of advancing to carry out the correction of positive and negative orientation through correctional agency, finally carry out the accurate positioning through smart positioning mechanism, so that subsequent processing operation or arm accuracy snatch, thereby realize automatic material loading.

2. The electromagnetic suction assembly comprises a lifting sliding arm, a suspension and an electromagnet connected to the suspension in a sliding manner; the suspension is provided with a load sensor and a height sensor, whether the electromagnet in the descending process contacts the workpiece and is lifted can be judged through the height sensor, whether the electromagnet adsorbs the workpiece can be determined through the load sensor, and therefore automatic transfer of the workpiece is achieved.

3. The correcting mechanism comprises a turnover assembly, a connecting piece box and a pushing assembly which are sequentially arranged from front to back; the positive and negative orientation of work piece in the splice box is judged through setting up a plurality of correlation shooting A to the splice box lateral wall, and the propelling movement subassembly is according to orientation information with work piece propelling movement to upset subassembly or smart positioning mechanism in the splice box to realize the intellectual detection system and the correction operation of work piece.

4. The lateral wall slant of union piece box sets up, and it from top to bottom is acceptd to the middle part gradually, and the hopper-shaped union piece box can lead the work piece that gets into, makes it to the gliding in-process of union piece box bottom surface pendulum, forms positive and negative state of placeeing to avoid the inclined condition.

5. The fine positioning mechanism comprises a roller type conveying line, a positioning blocking frame and a jacking assembly, wherein the rear side of the positioning blocking frame is provided with positioning correction blocks which are distributed at two left and right sides at intervals, a chamfer structure is arranged at a contact area of the positioning correction blocks and a workpiece, the center line of the two positioning correction blocks passes through the circle center of the workpiece, the workpiece can be continuously finely adjusted at the positioning correction blocks through conveying of the conveying roller, and finally the workpiece is supported through the jacking assembly so that the mechanical arm can be grabbed.

6. The middle section of the roller type conveying line is provided with a material blocking assembly, the material blocking assembly comprises an opposite jetting detection part B for detecting the passing of a workpiece and a material blocking part which is arranged at the lower side of the roller type conveying line and is driven by a power part to lift up and down, and when the opposite jetting detection part B senses that the workpiece passes through, the material blocking part is controlled to lift up to block the subsequent workpiece, so that the workpiece is prevented from entering a workpiece retention area of the positioning blocking frame and interfering the accurate positioning of the workpiece at the front side; and the material blocking part can also pre-position the intercepted workpiece.

Drawings

Fig. 1 is the utility model relates to a formula work piece is inhaled to magnetism and is snatched accurate positioner's spatial structure schematic diagram.

Fig. 2 is a top view of fig. 1.

Fig. 3 is a schematic perspective view of the connection relationship between the straightening mechanism and the fine positioning mechanism.

Fig. 4 is a side view of fig. 3.

Fig. 5 is a top view of fig. 3.

FIG. 6 is a schematic illustration of the mating principle of the splice cassette and the pusher assembly.

Fig. 7 is a functional schematic diagram of the flip assembly.

Fig. 8 is a schematic perspective view of the electromagnetic absorption assembly.

Fig. 9 is a partially enlarged schematic view of the electromagnetic extracting assembly.

Description of reference numerals: 1 feeding mechanism, 11 feeding frame, 2 moving mechanism, 21 electromagnetic suction assembly, 211 lifting slide arm, 212 suspension, 213 load fixing plate, 214 load sensor, 215 electromagnet, 216 sliding suspension rod, 217 pressing plate, 218 height sensor, 219 limit chain, 22 transferring assembly, 3 correcting mechanism, 31 receiving box, 311 placing port, 312 conveying port, 32 detection group, 321 correlation detection A, 33 overturning assembly, 331 overturning frame, 332 rotating cylinder, 333 overturning positioning piece, 34 pushing assembly, 341 pushing block, 342 servo electric cylinder, 4 fine positioning mechanism, 41 roller type conveying line, 42 positioning blocking frame, 421 positioning correcting block, 43 lifting assembly, 44 blocking assembly, 441 correlation detection B, 442 blocking part, 5 demagnetizing machine and 6 workpieces.

Detailed Description

The invention is described in detail below with reference to the drawings and examples of the specification:

fig. 1 to 9 show that the utility model provides a magnetic attraction type workpiece grabbing precise positioning device.

The utility model provides a formula work piece is inhaled to magnetism snatchs accurate positioner, it includes into a mechanism 1, moves a mechanism 2, correction mechanism 3 and smart positioning mechanism 4.

The utility model is suitable for a snatch disc work piece, like the brake disc.

The feeding mechanism 1 comprises a feeding frame 11 for stacking workpieces. Two workpiece feeding frames 11 can be arranged for alternately feeding workpieces so as to ensure the continuous operation of the device.

The workpiece moving mechanism 2 comprises an electromagnetic suction assembly 21 and a workpiece moving assembly 22 for driving the electromagnetic suction assembly 21 to reciprocate between the workpiece feeding frame 11 and the correcting mechanism 3;

the transfer component 22 comprises an X-axis transfer which moves along the left-right direction and a Y-axis transfer which is arranged on the X-axis transfer and moves along the front-back direction; the X-axis transfer and the Y-axis transfer constitute a transfer area covering the workpiece feeding frame 11 and the correcting mechanism 3.

The correcting mechanism 3 comprises a connecting box 31 for primarily correcting the workpiece, a detection group 32 for judging the working direction in the connecting box 31 and an overturning component 33 for correcting the direction of the workpiece according to the signal of the detection group 32; the fine positioning mechanism 4 is arranged at the outlet side of the overturning assembly 33.

A placing opening 311 is formed in the upper side of the connecting piece box 31, and conveying openings 312 are formed in the front side wall and the rear side wall of the connecting piece box 31 respectively;

the overturning component 33 is opposite to the front side conveying opening 312 of the connecting box 31, and the rear side of the connecting box 31 is further provided with a pushing component 34 for pushing the workpiece in the connecting box 31 to the overturning component 33 or the fine positioning mechanism 4.

The detection group 32 comprises a plurality of correlation detections A321 distributed on the left side wall and the right side wall of the connector box 31, and the detection group 32 judges the orientation of the workpiece through correlation detection A321 signals at different positions.

In this embodiment, three groups of the correlation checks a321 are provided, and the correlation checks a321 are at the same horizontal height and are distributed at intervals from front to back.

Taking a brake disc as an example, when the brake disc is in a right position, the three groups of correlation detectors A321 simultaneously sense the disc body at the bottom of the brake disc; when the brake disc is inverted, only the middle correlation check a321 of the three sets of correlation checks a321 senses the brake mounting shaft facing downwards. The signal collection end automatically judges the orientation of the brake disc according to the signals fed back by the three groups of correlation detectors A321.

The sidewall of the connecting piece box 31 is obliquely arranged and is gradually accommodated from top to bottom towards the middle.

The bucket-shaped connecting piece box 31 can guide the entering brake disc to be aligned in the process of sliding towards the bottom surface of the connecting piece box 31, and a forward and backward placement state is formed to avoid the oblique condition.

The pushing assembly 34 comprises a pushing block 341 and a servo electric cylinder 342 for driving the pushing block 341 to move back and forth; the front side surface of the pushing block 341 is provided with a V-shaped guide groove.

The servo cylinder 342 has three strokes: pushing the workpiece from the workpiece box 31 into the turnover assembly 33; after the turning operation is finished, the workpiece is pushed into the fine positioning mechanism 4 by the turning assembly 33; the workpiece is pushed into the fine positioning mechanism 4 from the cassette 31.

The position of the workpiece falling into the receiving box 31 by the electromagnetic suction assembly 21 is deviated at the bottom of the receiving box 31, and the V-shaped guide groove can play a role in primarily adjusting the position of the workpiece in the pushing process.

The overturning assembly 33 comprises an overturning frame 331 which is through from front to back, the left side and the right side of the overturning frame 331 are rotatably connected to the rack, and the overturning assembly is driven by a rotary cylinder 332 to overturn; the upper side surface of the turning frame 331 is provided with a turning positioning piece 333 for pressing and fixing the workpiece on the bottom surface of the turning frame 331.

The turning positioning part 333 comprises a pressing plate and a pressing cylinder for driving the pressing plate to stretch up and down.

The fine positioning mechanism 4 comprises a roller type conveying line 41 arranged on the front side of the overturning assembly 33, a positioning blocking frame 42 is arranged at the tail end of the roller type conveying line 41, two positioning correcting blocks 421 which are distributed at left and right intervals are arranged on the rear side of the positioning blocking frame 42, a chamfering structure is arranged at the contact area of the positioning correcting blocks 421 and the workpiece, and the center lines of the two positioning correcting blocks 421 pass through the circle center of the workpiece.

The lower side of the roller type conveying line 41 is provided with a jacking assembly 43, and the jacking assembly 43 is positioned at the lower side of a workpiece retention area formed by the positioning straightening block 421.

The roller type conveying line 41 is further provided with a grating for monitoring a workpiece retention area, and when the grating senses the workpiece, the jacking assembly 43 is controlled to ascend.

The jacking assembly 43 comprises a jacking plate and a lifting cylinder for driving the jacking plate to move up and down.

The middle section of the roller type conveying line 41 is provided with a material blocking assembly 44, the material blocking assembly 44 comprises a correlation test B441 used for detecting the passing of a workpiece and a material blocking part 442 which is arranged on the lower side of the roller type conveying line 41 and driven by a power piece to lift up and down, and the material blocking part 442 comprises two stop rods which are distributed at intervals left and right.

When the opposite-type radio frequency identification device B441 senses that a workpiece passes through, the material blocking portion 442 is controlled to ascend to block a subsequent workpiece, and the material blocking portion 442 can also pre-position the blocked workpiece.

The roller type conveying line 41 is also provided with a demagnetizer 5. The demagnetizer 5 is used for eliminating magnetism generated by the attraction of the electromagnet on the workpiece.

The electromagnetic absorption assembly 21 comprises a lifting slide arm 211, a suspension 212 fixed at the lower end of the lifting slide arm 211 and an electromagnet 215 connected to the suspension 212 in a sliding manner;

a load fixing plate 213 is arranged at the bottom of the suspension 212, a load sensor 214 is arranged on the upper side surface of the load fixing plate 213, and a pressure testing interval is reserved between the load sensor 214 and the lower end of the lifting slide arm 211;

a sliding suspender 216 is fixedly arranged at the upper end of the electromagnet 215, and the sliding suspender 216 vertically penetrates through the load fixing plate 213 and is connected to the load fixing plate 213 in a sliding manner; the upper end of the sliding suspender 216 is provided with a pressing sheet 217 which is displaced at the pressure test interval and is in limit fit with the load sensor 214; the suspension 212 is also provided with a height sensor 218 for monitoring the position of the sheeting 217.

The lifting slider 211 is provided on the Y-axis transfer unit and moves in the vertical direction by the Z-axis transfer drive.

Two corresponding sides of the suspension 212 are respectively provided with a limiting chain 219; the upper end of the limiting chain 219 is fixed on the suspension 212, and the lower end is fixed on the electromagnet 215.

The lower end of the electromagnet 215 is provided with a stainless steel seal head.

The working principle of the utility model is as follows:

1. an operator pushes the workpiece feeding frame 11 filled with workpieces to a workpiece feeding position, and after the operator detects that the workpiece feeding frame 11 is in place, the transferring component 22 drives the electromagnetic suction component 21 to move to the position above the workpiece feeding frame 11.

2. The lifting slide arm drives the electromagnet 215 to descend, and the electromagnet 215 stops when contacting the workpiece in the workpiece inlet frame 11; when the lifting slide arm continuously moves downwards, the slide suspender 216 on the upper side of the electromagnet 215 lifts upwards relative to the suspension 212, when the pressing sheet 217 on the slide suspender 216 rises to the position of the height sensor 218, the lifting slide arm drives the electromagnet 215 to lift, the pressing sheet 217 on the slide suspender 216 slides downwards relative to the suspension 212 and presses on the load sensor 214, and the load sensor 214 generates a pressure value which indicates that the electromagnet 215 is adsorbed to the workpiece.

3. The transferring component 22 drives the electromagnetic suction component 21 to move to the position above the receiving box 31, the electromagnet 215 is powered off, the workpiece falls into the receiving box 31, and the sliding workpiece is aligned through the guiding of the side wall of the receiving box 31 to form a positive and negative placement state.

4. The detection group 32 judges the positive and negative orientations of the workpiece, and when the workpiece is placed in the positive direction, the servo electric cylinder 342 directly pushes the workpiece into the fine positioning mechanism 4 from the workpiece box 31; when the workpiece is placed reversely, the servo electric cylinder 342 pushes the workpiece into the turnover component 33 from the connecting box 31, the pressing plate on the turnover component 33 descends to press and fix the workpiece on the turnover frame 331, the rotary cylinder 332 drives the turnover frame 331 to turn over for 180 degrees, then the pressing plate descends, and the orientation of the workpiece is converted; finally, the servo cylinder 342 pushes the workpiece from the turnover unit 33 into the fine positioning mechanism 4.

5. After entering the fine positioning mechanism 4, the workpiece is conveyed forwards by the roller type conveying line 41, demagnetized by the demagnetizer 5, and then subjected to the opposite-type inspection B441, and when the opposite-type inspection B441 senses the workpiece, the material blocking part 442 is controlled to ascend to block the subsequent workpiece; the workpiece on the front side continuously moves to the positioning blocking frame 42, the positioning correction block 421 on the rear side of the positioning blocking frame 42 can perform final accurate positioning on the workpiece, and when the grating senses the workpiece, the jacking assembly 43 is controlled to ascend, so that the workpiece is separated from the roller type conveying line 41, and the mechanical arm of the next process can directly grab the accurately placed workpiece.

Claims

1. The utility model provides a formula work piece is inhaled to magnetism snatchs accurate positioner which characterized in that: the device comprises a feeding mechanism (1), a moving mechanism (2), a correcting mechanism (3) and a fine positioning mechanism (4); the feeding mechanism (1) comprises a feeding frame (11) used for stacking workpieces;

the piece moving mechanism (2) comprises an electromagnetic suction assembly (21) and a piece moving assembly (22) for driving the electromagnetic suction assembly (21) to perform reciprocating displacement between the piece feeding frame (11) and the correcting mechanism (3);

the correcting mechanism (3) comprises a connecting piece box (31) used for preliminarily correcting the workpiece, a detection group (32) used for judging the working direction in the connecting piece box (31), and a turnover assembly (33) used for correcting the direction of the workpiece according to the signal of the detection group (32); and the fine positioning mechanism (4) is arranged on the outlet side of the overturning assembly (33).

2. The magnetic type workpiece grabbing accurate positioning device as claimed in claim 1, wherein: a placing opening (311) is formed in the upper side of the connecting piece box (31), and conveying openings (312) are formed in the front side wall and the rear side wall of the connecting piece box (31) respectively;

the turnover component (33) is right opposite to a front side conveying opening (312) of the connecting piece box (31), and a pushing component (34) used for pushing a workpiece in the connecting piece box (31) to the turnover component (33) or the fine positioning mechanism (4) is further arranged on the rear side of the connecting piece box (31).

3. The magnetic type workpiece grabbing accurate positioning device as claimed in claim 2, wherein: the detection group (32) comprises a plurality of correlation detectors A (321) distributed on the left side wall and the right side wall of the connecting box (31), and the detection group (32) judges the orientation of the workpiece through correlation detector A (321) signals at different positions.

4. The magnetic type workpiece grabbing accurate positioning device as claimed in claim 2, wherein: the side wall of the connecting piece box (31) is obliquely arranged and is accommodated from top to bottom gradually towards the middle.

5. The magnetic type workpiece grabbing accurate positioning device as claimed in claim 2, wherein: the pushing assembly (34) comprises a pushing block (341) and a servo electric cylinder (342) for driving the pushing block (341) to move back and forth; the front side surface of the push block (341) is provided with a V-shaped guide groove.

6. The magnetic type workpiece grabbing accurate positioning device as claimed in claim 2, wherein: the overturning assembly (33) comprises an overturning frame (331) which is through from front to back, the left side and the right side of the overturning frame (331) are rotatably connected to the rack and are driven by a rotary cylinder (332) to overturn; and the upper side surface of the turning frame (331) is provided with a turning positioning piece (333) for pressing and fixing the workpiece on the bottom surface of the turning frame (331).

7. The magnetic type workpiece grabbing accurate positioning device as claimed in claim 2, wherein: the fine positioning mechanism (4) comprises a roller type conveying line (41) arranged on the front side of the overturning assembly (33), the tail end of the roller type conveying line (41) is provided with a positioning blocking frame (42), the rear side of the positioning blocking frame (42) is provided with two positioning correcting blocks (421) distributed at left and right sides at intervals, a chamfering structure is arranged at a contact region of the positioning correcting blocks (421) and a workpiece, and the center line of the two positioning correcting blocks (421) passes through the circle center of the workpiece.

8. The magnetic type workpiece grabbing accurate positioning device as claimed in claim 7, wherein: the lower side of the roller type conveying line (41) is provided with a jacking assembly (43), and the jacking assembly (43) is positioned on the lower side of a workpiece retention area formed by the positioning correcting block (421).

9. The magnetic type workpiece grabbing accurate positioning device as claimed in claim 7, wherein: the middle section of roller conveyor line (41) is equipped with blocks material subassembly (44), blocks material subassembly (44) including being used for detecting the correlation of work piece passing and examining B (441) and locate roller conveyor line (41) downside and by the material portion (442) that blocks of power piece drive oscilaltion, block material portion (442) including two fender poles of controlling interval distribution.

10. The magnetic workpiece grabbing accurate positioning device according to any one of claims 1 to 9, wherein: the electromagnetic suction assembly (21) comprises a lifting sliding arm (211), a suspension (212) fixed at the lower end of the lifting sliding arm (211) and an electromagnet (215) connected to the suspension (212) in a sliding mode;

a load fixing plate (213) is arranged at the bottom of the suspension (212), a load sensor (214) is arranged on the upper side surface of the load fixing plate (213), and a pressure testing interval is reserved between the load sensor (214) and the lower end of the lifting slide arm (211);

a sliding suspender (216) is fixedly arranged at the upper end of the electromagnet (215), and the sliding suspender (216) vertically penetrates through the load fixing plate (213) and is connected to the load fixing plate (213) in a sliding manner; the upper end of the sliding suspender (216) is provided with a pressing sheet (217) which is displaced at the pressure test interval and is in limit fit with the load sensor (214); and a height sensor (218) for monitoring the position of the pressing sheet (217) is also arranged on the suspension (212).