CN215200545U - Cylinder body transfer robot - Google Patents
Cylinder body transfer robot Download PDFInfo
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- CN215200545U CN215200545U CN202120885800.1U CN202120885800U CN215200545U CN 215200545 U CN215200545 U CN 215200545U CN 202120885800 U CN202120885800 U CN 202120885800U CN 215200545 U CN215200545 U CN 215200545U
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Abstract
A cylinder body carrying robot comprises a carrying robot hand and a cylinder body clamping mechanism arranged at the end part of the carrying robot hand, wherein the cylinder body clamping mechanism comprises a seat plate fixed with the end part of the carrying robot hand, a cylinder body supporting table arranged on the front surface of the seat plate, a cylinder body limiting pin arranged on the seat plate and a hook claw assembly arranged on the seat plate; the hook component comprises a second cylinder and a hook unit, the back face of the seat plate is provided with a cylinder mounting seat, the second cylinder is arranged on the back face of the seat plate, the cylinder body of the second cylinder is rotatably connected with the cylinder mounting seat, the end part of the output shaft of the second cylinder is rotatably connected with one end of the hook unit, the other end of the hook unit penetrates through the seat plate and extends out of the front face of the seat plate, and the middle part of the hook unit is rotatably connected with the rotary seat on the seat plate through a shaft. Adopt the technical scheme of the utility model, can realize the reliable accurate transport of cylinder body.
Description
Technical Field
The utility model belongs to the technical field of the bush pressure equipment technique and specifically relates to a full-automatic pressure equipment production line of bush.
Background
In a cylinder pressing and bushing production line, a cylinder needs to be conveyed to a bushing pressing device for pressing and mounting a bushing, the cylinder is conveyed manually, time and labor are wasted, and a robot is used for conveying the cylinder, so that a reliable clamping mechanism is needed.
SUMMERY OF THE UTILITY MODEL
The utility model aims at providing a cylinder body transfer robot uses in the full-automatic pressure equipment production line of bush, can realize the reliable accurate transport of cylinder body, for reaching above-mentioned purpose, the utility model discloses a following technical scheme:
a cylinder body carrying robot comprises a carrying robot hand and a cylinder body clamping mechanism arranged at the end part of the carrying robot hand, wherein the cylinder body clamping mechanism comprises a seat plate fixed with the end part of the carrying robot hand, a cylinder body supporting table arranged on the front surface of the seat plate, a cylinder body limiting pin arranged on the seat plate and a hook claw assembly arranged on the seat plate; the hook component comprises a second cylinder and a hook unit, the back face of the seat plate is provided with a cylinder mounting seat, the second cylinder is arranged on the back face of the seat plate, the cylinder body of the second cylinder is rotatably connected with the cylinder mounting seat, the end part of the output shaft of the second cylinder is rotatably connected with one end of the hook unit, the other end of the hook unit penetrates through the seat plate and extends out of the front face of the seat plate, and the middle part of the hook unit is rotatably connected with the rotary seat on the seat plate through a shaft.
Furthermore, the hook unit comprises a linkage rod and a hook, the end of the output shaft of the second cylinder is rotatably connected with one end of the linkage rod, the other end of the linkage rod penetrates through the seat plate and extends out of the front face of the seat plate, and the hook is detachably mounted at the end of the linkage rod extending out of the front face of the seat plate.
Furthermore, three groups of hook components are arranged on the seat plate.
Furthermore, a proximity sensor is arranged on the front surface of the seat plate.
Further, the carrying robot comprises a base, a first rotary table arranged on the base, a robot arm arranged on the first rotary table, and a second rotary table arranged at the end of the robot arm.
By adopting the technical scheme, when the cylinder body clamping mechanism grabs the cylinder body, the cylinder body supporting table supports the finish machining face at the top of the cylinder body, the cylinder body limiting pin is inserted into the positioning hole in the finish machining face of the cylinder body, then the second cylinder drives the hook claw assembly to rotate and presses the cylinder body on the cylinder body supporting table from the lower part, so that the cylinder body can be accurately and reliably grabbed, and the cylinder body can be accurately placed on a target device through the movement of the carrying robot.
Drawings
Fig. 1 is a schematic structural diagram of a full-automatic bushing press-fitting production line.
Fig. 2 is a schematic view of a bushing press-fitting device.
Fig. 3 is an enlarged schematic view of a portion a in fig. 2.
Fig. 4 is a schematic view of the cylinder transfer robot.
Fig. 5 is an enlarged view of B in fig. 4.
Fig. 6 is a schematic view of a cylinder clamp mechanism.
Fig. 7 is a schematic view of a liner loading robot.
Detailed Description
The present invention will be described with reference to the accompanying drawings and specific embodiments.
As shown in fig. 1, a full-automatic bushing press-fitting production line comprises a cylinder body on-line conveying device 1, a cylinder body off-line conveying device 2, a cylinder body carrying robot 3, a bushing conveying device 4, a bushing loading robot 5, a bushing press-fitting device 6, an NG conveying device 7 and a sampling inspection platform 8.
As shown in fig. 2 and 3, the bushing press-fitting device 6 includes a press-fitting table 9, a cylinder conveying mechanism 10 provided on the press-fitting table 9, a bushing conveying mechanism 11 provided on the press-fitting table 9, a mounting frame 12 provided on the press-fitting table 9, a pressing mechanism 13 provided on the mounting frame 12, a first guide rail (not shown in the figure) provided on the mounting frame 12, a press-fitting mechanism slidably connected to the first guide rail, and a first driving mechanism 15 for driving the press-fitting mechanism to move on the first guide rail, where the first driving mechanism 15 is a third cylinder.
The press-fitting mechanism comprises a portal frame 16, a press-fitting assembly arranged at one end of the bottom of the portal frame 16 and a lateral supporting assembly arranged at the other end of the bottom of the portal frame 16, two balance shaft holes are formed in one cylinder body, therefore, the press-fitting assemblies are provided with two groups, a bushing press-fitting area 18 is formed between each press-fitting assembly and the lateral supporting assembly, each press-fitting assembly comprises an electric cylinder 19 and a pressing shaft 20 arranged at the output end of the electric cylinder 19, a displacement sensor used for sensing the displacement of the pressing shaft 20 and a pressure sensor used for sensing the press-fitting force of the pressing shaft 20 are arranged in the electric cylinder 19, and a bushing mounting portion 21 is formed at the end of the pressing shaft 20.
The cylinder conveying mechanism 10 comprises two second guide rails 22 arranged in parallel, a supporting plate 23 slidably mounted on the two second guide rails 22, and a screw nut assembly 24 driving the supporting plate 23 to move on the second guide rails 22, wherein a bottom supporting platform 25 and a lateral limiting plate 26 are arranged on the supporting plate 23.
The bush conveying mechanism 11 is provided on one side of the cylinder conveying mechanism 10, and the bush conveying mechanism 11 includes a third guide rail 27 extending in the direction of the bush press-fitting region 18, a bush mounting bracket 28 slidably mounted on the third guide rail 27, two sets of bush mounting assemblies 29 provided on the side surfaces of the bush mounting bracket 28, and a first cylinder 30 driving the bush mounting assemblies 29 to move along the third guide rail 27. The bushing mounting assembly 29 comprises a fixing seat 31, a compression spring 32 and a bushing clamping jaw, the fixing seat 31 is fixed on the side face of the bushing mounting bracket 28, a mounting hole is formed in the end face of the fixing seat 31, a guide hole is formed in the bottom of the mounting hole, the compression spring 32 is arranged in the mounting hole, the bushing clamping jaw comprises a clamping jaw part 33 and a guide rod, the guide rod penetrates through an inner hole of the compression spring 32 and extends into the guide hole, the clamping jaw part 33 extends out of the outer side of the end face of the fixing seat 31 and is matched with the inner hole of the bushing, two ends of the compression spring 32 respectively abut against the bottom of the mounting hole and one end of the clamping jaw part 33 close to one end of the guide rod, and the diameter of the mounting hole is larger than the outer diameter of the clamping jaw part 33 but smaller than the outer diameter of the bushing; the bush mounting part 21 is a bush mounting section, the outer diameter of the bush mounting section is matched with the inner diameter of the bush, after the bush mounting assembly 29 moves to the bush press-fitting area 18, the electric cylinder 19 drives the bush mounting section to move and presses the clamping claw part 33 into the mounting hole, and the bush on the bush clamping claw is sleeved on the bush mounting section.
The lateral supporting component comprises a lateral mounting plate 36 and a plurality of lateral supporting tables 37 arranged on the side wall of the lateral mounting plate 36, the pushing mechanism 13 comprises a pushing cylinder 38 fixedly arranged at the top of the mounting frame 12, a connecting rod 39 arranged above the pushing cylinder 38, two pressing rods 40 respectively arranged at two ends of the connecting rod 39 and vertically extending downwards and a pressing plate 41 respectively connected with the bottom ends of the two pressing rods 40, the cylinder body of the pushing cylinder 38 is fixedly arranged on the mounting frame 12, the output end of the pushing cylinder 38 extends out of the upper part of the cylinder body and is fixedly connected with the connecting rod 39, and the pressing plate 41 is arranged above the bushing pressing area 18.
As shown in fig. 4 to 6, the cylinder transfer robot 3 includes a transfer robot hand and a cylinder clamping mechanism 42 provided at an end of the transfer robot hand, the cylinder clamping mechanism 42 includes a seat plate 43 fixed to the end of the transfer robot hand, a cylinder support table 44 mounted on a front surface of the seat plate 43, a cylinder stopper pin 45 mounted on the seat plate 43, and a hook assembly mounted on the seat plate 43; the hook claw assembly comprises a second air cylinder 46, a linkage rod 47 and a hook claw 48, an air cylinder mounting seat 49 is arranged on the back face of the seat plate 43, the second air cylinder 46 is arranged on the back face of the seat plate 43, a cylinder body of the second air cylinder 46 is rotatably connected with the air cylinder mounting seat 49, the end portion of an output shaft of the second air cylinder 46 is rotatably connected with one end of the linkage rod 47, the other end of the linkage rod 47 penetrates through the seat plate 43 and extends out of the front face of the seat plate 43, the middle portion of the linkage rod 47 is rotatably connected with a rotating seat 50 on the seat plate 43 through a shaft, and the hook claw 48 is detachably mounted on the end portion of the linkage rod 47 extending out of the front face of the seat plate 43. Three groups of claw assemblies are arranged on the seat plate 43, and the front surface of the seat plate 43 is provided with a proximity sensor 35 for sensing the position of the cylinder body.
The transfer robot includes a base 51, a first turn table 52 provided on the base 51, a robot arm 53 provided on the first turn table 52, and a second turn table 54 provided at an end of the robot arm 53. When the cylinder body clamping mechanism 42 grabs the cylinder body, the cylinder body supporting table 44 supports the finish machining surface at the top of the cylinder body, the cylinder body limiting pin 45 is inserted into the positioning hole in the finish machining surface of the cylinder body, and then the second air cylinder 46 drives the hook component to rotate and presses the cylinder body on the cylinder body supporting table 44 from the lower part.
As shown in fig. 7, the bush feeding robot 5 includes a feeding robot hand 55, a parallel cylinder 56 disposed at an output end of the feeding robot hand 55, and two gripping hands 58 disposed at an output end of the parallel cylinder 56, and an arc-shaped groove 59 matched with an outer diameter of the bush is disposed inside the two gripping hands 58.
By adopting the scheme, the cylinder body on the cylinder body online conveying device 1 is conveyed to the cylinder body conveying mechanism 10 through the cylinder body conveying robot 3, the cylinder body conveying mechanism 10 conveys the cylinder body to the lining pressing area 18 for pressing and assembling the lining, and the cylinder body after being pressed and assembled is moved out of the lining pressing area 18 through the cylinder body conveying mechanism 10 and conveyed to the cylinder body offline conveying device 2 through the cylinder body conveying robot 3; the lining on the lining conveying device 4 is transferred to the lining conveying mechanism 11 through the lining feeding robot 5, and the lining is conveyed to the lining press-mounting area 18 through the lining conveying mechanism 11 for press-mounting. In addition, the cylinder body after being pressed and assembled is transferred to the spot inspection platform 8 for spot inspection through the cylinder body carrying robot 3.
Because two bushings, an inner bushing and an outer bushing, are required to be pressed in each balance shaft hole of the cylinder body, and the inner diameters of the inner bushing and the outer bushing are consistent, the bushing conveying devices 4 are provided with two sets, wherein one set of the bushing conveying device 4 is the inner bushing conveying device 4, and the other set of the bushing conveying device 4 is the outer bushing conveying device 4.
The press fitting method adopting the full-automatic press fitting production line for the bushing comprises the following steps:
(1) the cylinder body conveying robot 3 conveys the cylinder bodies on the cylinder body on-line conveying device 1 to the cylinder body conveying mechanism 10 and positions the cylinder bodies through a supporting plate 23 on the cylinder body conveying mechanism 10, and the inner linings are transferred to a lining mounting assembly 29 of the lining conveying mechanism 11 through the lining feeding robot 5;
(2) the cylinder body is moved to a bush press-mounting area 18 through a cylinder body conveying device, the inner bushing is moved to the bush press-mounting area 18 through a bushing conveying mechanism 11, an electric cylinder 19 drives a pressing shaft 20 to penetrate through the inner bushing and transfers the inner bushing to a bushing mounting portion 21 at the end of the pressing shaft 20, and a bushing mounting assembly 29 returns;
(3) the pressure plate 41 of the pressing mechanism 13 presses the cylinder body on the supporting plate 23 from the upper part of the cylinder body, and the position of the press-mounting mechanism is adjusted along the first guide rail, so that the lateral support assembly is abutted against the side surface of the cylinder body;
(4) the electric cylinder 19 drives the pressure shaft 20 to press the inner lining on the pressure shaft into the lining mounting hole of the cylinder body;
(5) the pressing shaft 20 returns, then the lateral support assembly and the pressing plate 41 of the pressing mechanism 13 return, and the press mounting of the inner bushing is completed;
(6) transferring the outer liner onto the liner mounting assembly 29 of the liner transport mechanism 11 by the liner feeding robot 5;
(7) the cylinder body is moved to a lining press-fitting area 18 through a cylinder body conveying device, the outer lining is moved to the lining press-fitting area 18 through a lining conveying mechanism 11, an electric cylinder 19 drives a pressing shaft 20 to penetrate through the outer lining and transfers the outer lining to a lining mounting portion 21 at the end portion of the pressing shaft 20, and a lining mounting assembly 29 returns;
(8) the pressure plate 41 of the pressing mechanism 13 presses the cylinder body on the supporting plate 23 from the upper part of the cylinder body, and the position of the press-mounting mechanism is adjusted along the first guide rail, so that the lateral support assembly is abutted against the side surface of the cylinder body;
(9) the electric cylinder 19 drives the pressure shaft 20 to press the outer bushing on the pressure shaft into a bushing mounting hole of the cylinder body;
(10) and the pressing shaft 20 returns, then the lateral support assembly and the pressing plate 41 of the pressing mechanism 13 return, and the press mounting of the outer bushing is completed. The pressing plate 41 returns after the pressing shaft 20 returns, so that the cylinder body can be prevented from moving during the process that the pressing shaft 20 is drawn out from the balance shaft hole.
(11) The cylinder body after press mounting is moved out of the lining press mounting area 18 through the cylinder body conveying mechanism 10 and is conveyed to the cylinder body lower line conveying device 2 through the cylinder body conveying robot 3.
Adopt above-mentioned technical scheme, through setting up cylinder body conveyor 1 that reaches the standard grade, cylinder body conveyor 2 that rolls off the production line, cylinder body transfer robot 3, bush conveyor 4, bush loading robot 5 and bush pressure equipment device 6, realize the full-automatic pressure equipment of bush, in addition, be provided with the displacement sensor who is used for responding to the pressure axle 20 displacement and be used for responding to the pressure sensor of the pressure equipment power of pressure axle 20 on electronic jar 19, can monitor the pressure equipment process, through the curve of pressure equipment displacement and pressure equipment power, whether equipment automatic judgement pressure equipment is qualified.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not intended to limit the present invention, which may be modified, combined, and varied by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the claims of the present invention.
Claims (5)
1. The utility model provides a cylinder body transfer robot which characterized in that: the cylinder clamping mechanism comprises a seat plate fixed with the end part of the carrying robot hand, a cylinder supporting table arranged on the front surface of the seat plate, a cylinder limiting pin arranged on the seat plate and a claw assembly arranged on the seat plate;
the hook component comprises a second cylinder and a hook unit, the back face of the seat plate is provided with a cylinder mounting seat, the second cylinder is arranged on the back face of the seat plate, the cylinder body of the second cylinder is rotatably connected with the cylinder mounting seat, the end part of the output shaft of the second cylinder is rotatably connected with one end of the hook unit, the other end of the hook unit penetrates through the seat plate and extends out of the front face of the seat plate, and the middle part of the hook unit is rotatably connected with the rotary seat on the seat plate through a shaft.
2. The cylinder transfer robot according to claim 1, characterized in that: the hook claw unit comprises a linkage rod and a hook claw, the end part of the output shaft of the second cylinder is rotatably connected with one end of the linkage rod, the other end of the linkage rod penetrates through the seat plate and extends out of the front face of the seat plate, and the hook claw is detachably mounted at the end part of the linkage rod extending out of the front face of the seat plate.
3. The cylinder transfer robot according to claim 1, characterized in that: the seat board is provided with three groups of hook components.
4. The cylinder transfer robot according to claim 1, characterized in that: the front of the seat board is provided with a proximity sensor.
5. The cylinder transfer robot according to claim 1, characterized in that: the carrying robot comprises a base, a first rotary table arranged on the base, a robot arm arranged on the first rotary table and a second rotary table arranged at the end part of the robot arm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120885800.1U CN215200545U (en) | 2021-04-27 | 2021-04-27 | Cylinder body transfer robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120885800.1U CN215200545U (en) | 2021-04-27 | 2021-04-27 | Cylinder body transfer robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN215200545U true CN215200545U (en) | 2021-12-17 |
Family
ID=79451084
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202120885800.1U Active CN215200545U (en) | 2021-04-27 | 2021-04-27 | Cylinder body transfer robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN215200545U (en) |
-
2021
- 2021-04-27 CN CN202120885800.1U patent/CN215200545U/en active Active
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