WO2018058782A1 - 一种油漆刷自动化装柄系统 - Google Patents

一种油漆刷自动化装柄系统 Download PDF

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Publication number
WO2018058782A1
WO2018058782A1 PCT/CN2016/108783 CN2016108783W WO2018058782A1 WO 2018058782 A1 WO2018058782 A1 WO 2018058782A1 CN 2016108783 W CN2016108783 W CN 2016108783W WO 2018058782 A1 WO2018058782 A1 WO 2018058782A1
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WO
WIPO (PCT)
Prior art keywords
handle
rod
cylinder
push
plate
Prior art date
Application number
PCT/CN2016/108783
Other languages
English (en)
French (fr)
Inventor
胡宁宁
周坪
何贞志
周公博
唐超权
吴金河
张翔
Original Assignee
江苏师范大学
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 江苏师范大学 filed Critical 江苏师范大学
Priority to US16/091,109 priority Critical patent/US10426257B2/en
Priority to AU2016413606A priority patent/AU2016413606B2/en
Priority to JP2018565027A priority patent/JP6581319B2/ja
Publication of WO2018058782A1 publication Critical patent/WO2018058782A1/zh

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    • A—HUMAN NECESSITIES
    • A46—BRUSHWARE
    • A46D—MANUFACTURE OF BRUSHES
    • A46D3/00—Preparing, i.e. Manufacturing brush bodies
    • A46D3/08—Parts of brush-making machines
    • A46D3/087—Holders or supports for brush bodies
    • A—HUMAN NECESSITIES
    • A46—BRUSHWARE
    • A46D—MANUFACTURE OF BRUSHES
    • A46D3/00—Preparing, i.e. Manufacturing brush bodies
    • A46D3/04—Machines for inserting or fixing bristles in bodies
    • A46D3/045—Machines for inserting or fixing bristles in bodies for fixing bristles by fusing or gluing to a body
    • A—HUMAN NECESSITIES
    • A46—BRUSHWARE
    • A46D—MANUFACTURE OF BRUSHES
    • A46D3/00—Preparing, i.e. Manufacturing brush bodies
    • A46D3/08—Parts of brush-making machines
    • A—HUMAN NECESSITIES
    • A46—BRUSHWARE
    • A46D—MANUFACTURE OF BRUSHES
    • A46D3/00—Preparing, i.e. Manufacturing brush bodies
    • A46D3/08—Parts of brush-making machines
    • A46D3/085—Magazines for brush bodies; Feeding bodies

Definitions

  • the invention relates to a paint brush automatic handle system, belonging to the technical field of brushing equipment.
  • the handle handling process relies heavily on manual handles, and its production efficiency is low and the degree of automation is low.
  • the problem is very prominent. Therefore, designing an automatic handle system that can be applied to various types of paint brushes has certain practical significance for improving the production efficiency of paint brushes, improving product quality and reducing product cost.
  • the present invention provides a paint brush automatic handle system, which can be applied to various types of paint brush handles, which has high automation degree and convenient operation, and can improve the production of paint brushes. Efficiency and product quality, effectively reducing production costs.
  • a paint brush automatic handle system comprising a feeding device, a conveying device and a push handle device, wherein the loading device is disposed on the right side of the conveying device, and the pushing handle device is disposed on the rear side of the conveying device;
  • the feeding device is used for conveying the glue brush head after pouring the glue to the feeding port of the conveying device
  • the conveying device is used for conveying, pressing and accurately positioning the paint brush head
  • the push handle device is used to push the paint brush handle into the paint brush head accurately and complete the paint brush handle.
  • the loading device comprises a base, a mounting plate, a guiding mechanism, a traverse cylinder, a lifting cylinder, an electromagnetic chuck and a threaded connection;
  • the mounting plate is horizontally fixed on the base, and the traverse cylinder is disposed on the mounting plate;
  • the guiding mechanism comprises a first gantry, a second gantry, a guiding rod, a linear bearing and a connecting member, wherein the first gantry and the first The two gantry is fixed on the mounting plate, and the guiding rod is horizontally fixed on the first gantry and the second gantry; one end of the guiding rod extends through the first gantry to the second gantry, and the other end of the guiding rod extends Up to the feeding port of the conveying device; the linear bearing is set on the guiding rod, and the connecting member is integrated with the linear bearing; the lifting cylinder is fixed at the bottom of the connecting member, and the piston rod of the traverse cylinder is connected with the connecting member;
  • the suction cup is disposed on the piston rod of the lifting cylinder through a threaded connection.
  • the electromagnetic chuck sucks the brush head with the iron shell and can be lifted and lowered by the lifting cylinder, and the lifting cylinder can be traversed under the action of the traverse cylinder, thereby conveying the glued paint brush head to the feeding port of the conveying device.
  • the electromagnetic chuck sucks the brush head with the iron shell and can be lifted and lowered by the lifting cylinder, and the lifting cylinder can be traversed under the action of the traverse cylinder, thereby conveying the glued paint brush head to the feeding port of the conveying device.
  • the conveying device comprises a frame, a conveying platform, a brush head guiding mechanism, a brush head pre-compression mechanism, a pressing positioning mechanism and a connecting rod transportation mechanism;
  • the conveying platform has a long strip shape, the horizontally fixed on the frame, and the right end of the conveying platform is a feeding port;
  • the connecting rod transportation mechanism is arranged under the conveying platform, and the brush head guiding mechanism is arranged from right to left on the conveying platform.
  • the brush head pre-compression mechanism and the pressing positioning mechanism, and the pressing positioning mechanism on the conveying platform is the handle position station;
  • the connecting rod transporting mechanism comprises a transmission mechanism, two sets of planar link mechanisms, a push claw and a push claw mounting rod, and the transmission mechanism comprises a rotating electric machine, a coupling, a belted turbine, a support platform, a rotating electric machine and a turbine mounted on the supporting platform
  • the motor includes a driving shaft, a driving wheel, a driven shaft, a driven wheel, a transmission belt and an adjusting bolt, and the driving belt is tensioned by the driving wheel, the driven wheel and the adjusting bolt; the rotating motor drives the driving shaft and the driving wheel through the coupling, Then driving the driven wheel and the driven shaft through the transmission belt;
  • the two sets of planar link mechanisms have the same shape and size.
  • the two sets of planar link mechanisms include a first link mechanism and a second link mechanism.
  • the first link mechanism includes a first crank, a first link, and a first rocker. a first support rod and a first fixed rod, the second link mechanism comprising a second crank, a second link, a second rocker, a second support bar and a second fixed rod;
  • the opening of the first crank is hinged with the driving shaft, and the first crank rotates synchronously with the driving shaft; the end of the first crank is hinged with the opening end of the first connecting rod, and the end of the first connecting rod is hinged with the opening end of the first rocker, The end of a rocker is hinged with the free end of the first fixed rod; the open end of the second crank is hinged with the driven shaft, the second crank rotates synchronously with the driven shaft; the second crank is coincident with the initial position of the first crank, The connection relationship between the second crank, the second link, the second rocker and the second fixed rod is consistent with the connection relationship between the first crank, the first link, the first rocker and the first fixed rod; The fixing rod and the second fixing rod are vertically fixed to the bottom of the conveying platform, and the lower ends of the first supporting rod and the second supporting rod are respectively hinged at the middle of the first connecting rod and the second connecting rod;
  • the push claw mounting rod is horizontally disposed on the upper ends of the first support rod and the second support rod, the claw mounting rods are provided with equally spaced slots, and the push claws are installed in the slots; the conveying platform is provided with the claws along the length direction Long slot through.
  • the pusher claw is used to push the brush head from the brush head guiding mechanism to the brush head pre-pressing mechanism and the pressing positioning mechanism, and push the paint brush with the inserted handle to the next process.
  • the brush head guiding mechanism includes a first guiding plate and a second guiding plate.
  • the first guiding plate and the second guiding plate are oppositely disposed on the front and rear side edges of the conveying platform, and the first guiding plate and the second guiding plate The distance between them is adjustable.
  • the brush head guiding mechanism can guide the brush head to prevent the brush head from being displaced when being transported to affect the handle quality, and can be adapted to different types of brush heads by adjusting the distance between the second guide plate and the first guide plate.
  • the brush head pre-compression mechanism includes a first mounting frame, an upper pressing plate, a lower pressing plate and a first spring assembly, and the first mounting frame is disposed on a front side of the conveying platform; the upper pressing plate is horizontally fixed on the first mounting frame, The lower platen is disposed below the upper platen by the first spring assembly.
  • the brush head When the brush head enters the brush head pre-pressing mechanism, the brush head moves the lower pressing plate, and the spring is pressed to generate a certain pressing force, thereby restricting the deviation of the brush head during the movement, and improving the accuracy of the conveying. .
  • the pressing positioning mechanism includes a second mounting bracket, a pressing cylinder, an upper plate, a lower plate and a second spring assembly, and the second mounting frame is disposed on a front side of the conveying platform; the upper plate is horizontally fixed to the second mounting On the shelf, the lower plate is disposed under the upper plate by the second spring assembly; the pressing cylinder is fixed on the second mounting frame, and the piston rod is provided with a pressing block; the upper plate is provided with an opening through which the pressing block passes. The plate is pressed down through the compact.
  • the pressing cylinder is pressed down to press the lower plate to press the brush head to ensure that the brush head does not move when the handle enters.
  • the push handle device comprises a bracket, a mounting platform, a push handle mechanism, a handle mechanism, a handle pressing mechanism and a brace mechanism;
  • the mounting platform is horizontally fixed on the bracket; the front end of the mounting platform is a handle port, and is connected with the discharge port of the conveying device; the mounting platform is provided with a push handle mechanism, a storage handle mechanism and a brace mechanism from the back to the front.
  • the handle pressing mechanism is disposed on the handle mechanism;
  • the push handle mechanism comprises a push handle cylinder, an L-shaped connecting plate, a first push rod, a second push rod, a guide rail and a slide seat, the push handle cylinder and the guide rail are all disposed on the installation platform; the slide seat is matched with the guide rail, The L-shaped connecting plate is fixed on the sliding seat, and the L-shaped connecting plate is connected with the piston rod of the push handle cylinder; the first push rod and the second push rod are detachably mounted on the L-shaped connecting plate, and the first push rod and The front end of the second push rod has an arc shape to fit the handle.
  • the first push rod and the second push rod push the handle in the shank mechanism into the brush head of the hold positioning mechanism under the thrust of the push shank cylinder.
  • the shank mechanism comprises a mounting bracket, a cross bar, a left hopper, a right hopper and a rear hopper.
  • the mounting bracket is fixed on the mounting platform, and the rear hopper is detachably disposed on the mounting platform;
  • a slider is fixed on the storage tank and the right storage tank, and the sliders at the lower end of the left storage tank and the right storage tank are set on the mounting bracket, and the cross rod passes through the middle of the left storage tank and the right storage tank. Slider.
  • the spacing between the left and right hoppers and the position of the rear hopper can be adjusted to accommodate different types of handle storage.
  • the handle pressing mechanism comprises a connecting beam, a telescopic guiding rod, a pressing block and a tapered rod, wherein one end of the connecting beam is fixed to the middle of the mounting frame, and the pressing block is disposed at the other end of the connecting beam through the telescopic guiding rod and the tapered rod.
  • the telescopic guide bar is sleeved with a return spring.
  • the handle pressing mechanism can ensure that the handle is in good contact with the mounting platform, and the return spring serves as an auxiliary compression and reset. Function, the tapered rod can ensure that the pressing block does not fall off under the action of gravity.
  • the brace mechanism comprises a brace cylinder, a U-shaped connecting frame, an upper spring piece and a lower spring piece, the brace cylinder is arranged on the mounting platform; the U-shaped connecting frame opening is directed to the right, and the middle part and the piston rod of the brace cylinder
  • the upper spring piece and the lower spring piece are respectively fixed on the upper and lower sides of the U-shaped connecting frame, and the free ends of the two form an angle, and the top end of the angle is opposite to the handle position.
  • the brace mechanism guides the handle and supports the iron shell opening of the brush head before the handle is inserted into the brush head.
  • the utility model further comprises a pneumatic system, wherein the loading device, the conveying device and the push handle device are all connected with the pneumatic system;
  • the pneumatic system comprises an air compressor, a check valve, a gas storage tank, a secondary pressure regulating circuit, and a two-position three-way electromagnetic system.
  • Valve two-position five-way electromagnetic reversing valve and adjustable one-way throttle valve; air compressor, one-way valve, gas storage tank and secondary pressure regulating circuit are connected in sequence to form a main gas path, and the gas storage tank is arranged There are pressure relays, pressure reducing valves and pressure gauges; the outlet ports of the secondary pressure regulating circuit are connected with five branches, and the five branches are respectively connected with the lifting cylinder, the traverse cylinder, the push shank cylinder, the retaining cylinder, and the pressing cylinder; The lifting cylinder, the traverse cylinder, the push shank cylinder and the secondary pressure regulating circuit are respectively connected by a two-position five-way electromagnetic reversing valve and an adjustable one-way throttle valve, and the hull cylinder, the pressing cylinder and the secondary pressure regulating The circuits are connected by a two-position three-way solenoid valve and an adjustable one-way throttle valve.
  • the working principle of the pneumatic system is: firstly, the air compressor is used to generate the pressure, the air compressor is controlled by the electric signal of the pressure relay to keep the pressure in the gas storage tank constant; and the secondary pressure regulating circuit is used to make the output air pressure within the set range. Inside; the gas is introduced into the cylinder through a solenoid valve, and the speed of the cylinder is adjusted by an adjustable one-way throttle valve.
  • control system further comprises a control system, a feeding device, a conveying device, a push handle device and a pneumatic system are all connected with the control system;
  • control system comprises a controller and a ULN2003 chip (the chip has a photoelectric coupling function and can be directly connected to the single chip output port) ) and stepper motor driver, the controller adopts AT89S52 single chip microcomputer;
  • the lifting cylinder, the traverse cylinder and the push handle cylinder are provided with a magnetic switch, the position switch is arranged at the handle station on the conveying platform, and the magnetic switch and the position switch are both with the AT89S52
  • the signal input end of the single-chip microcomputer is connected;
  • the signal output end of the AT89S52 single-chip microcomputer is connected with the two-position five-way electromagnetic reversing valve, the two-position three-way electromagnetic valve and the electromagnetic suction cup through the ULN2003 chip, and the signal output end of the AT89S52 single-chip microcomputer passes the stepping motor driver and Rot
  • the working principle of the control system is: when the start or stop switch is pressed, the system starts or stops working; when the operation is performed, the movement of the cylinder is detected by the magnetic switch on the lifting cylinder, the traverse cylinder, and the push handle cylinder, and the handle position is passed.
  • the position switch detects whether the brush head movement is in place, and the magnetic switch and the position switch transmit the detection result to the signal input end of the controller; after receiving the detection signal, the controller outputs an operation instruction according to the setting program; the control signal output by the controller passes
  • the ULN2003 chip is amplified and transmitted to the two-position three-way solenoid valve, the two-position five-way electromagnetic reversing valve and the electromagnetic chuck, and the power loss of the two-position three-way solenoid valve, the two-position five-way electromagnetic reversing valve and the electromagnetic chuck are controlled. Control phase The cylinder should complete the action; in addition, the controller controls the rotational speed of the rotating motor through the stepper motor driver.
  • the spacing between the first push rod and the second push rod is adjustable, and can be adapted to different types of handles.
  • the bottom of the lower plate is provided with a groove corresponding to the shape of the brush head, and the lower part of the lower plate is placed in the groove to improve the precision of the handle; the handle position on the conveying platform is set There is a gap to prevent interference with the spring piece of the brace mechanism.
  • the paint brush automatic handle system provided by the present invention has the following advantages over the prior art: (1) The invention has the advantages of compact structure, simple operation, high production efficiency, safety and reliability, and can replace the manpower to realize the paint brush. Automated handles; (2) can adjust the handles of various types of paint brushes by adjusting related parts, saving costs; (3) high automation, accurate assembly positioning, improving the production efficiency and product quality of paint brushes, Effectively reduce production costs.
  • Figure 1 is a schematic view of the overall structure of the present invention
  • Figure 2 is a front elevational view of the loading device of the present invention.
  • Figure 3 is a schematic structural view of a conveying device in the present invention.
  • Figure 4 is a rear elevational view of the delivery device of the present invention.
  • Figure 5 is a motion trajectory diagram of the push claw of the present invention.
  • Figure 6 is a schematic structural view of a conveying platform in the present invention.
  • Figure 7 is a schematic structural view of a brush head pre-compression mechanism according to the present invention.
  • Figure 8 is a schematic structural view of a pressing positioning mechanism in the present invention.
  • Figure 9 is a schematic structural view of the push handle mechanism of the present invention.
  • Figure 10 is a schematic structural view of a shank mechanism of the present invention.
  • Figure 11 is a schematic view showing the structure of the handle pressing mechanism of the present invention.
  • Figure 12 is a schematic structural view of a brace mechanism of the present invention.
  • Figure 13 is a schematic diagram of a pneumatic system of the present invention.
  • Figure 14 is a schematic diagram of the control system of the present invention.
  • the figure includes: 1, feeding device, 11, base, 12, mounting plate, 13, guiding mechanism, 14, traverse cylinder, 15, lifting cylinder, 16, electromagnetic chuck, 17, threaded connector, 131, the first a gantry, 132, second gantry, 133, guide rod, 134, linear bearing, 135, connecting piece;
  • push handle device 31, bracket, 32, mounting platform, 33, push handle mechanism, 34, handle mechanism, 35, handle pressing mechanism, 36, shell mechanism, 331, push handle cylinder, 332, L type Connecting plate, 333, first push rod, 334, second push rod, 335, slide seat, 336, guide rail, 341, mounting bracket, 342, slider, 343, crossbar, 344, left storage trough, 345, Right hopper, 346, rear hopper, 351, connecting beam, 352, telescopic guide rod, 353, tapered rod, 354, compression block, 361, cage cylinder, 362, U-shaped connection frame, 363, Lower spring piece, 364, upper spring piece;
  • a paint brush automatic handle system including a loading device 1, a conveying device 2 and a push handle device 3, and the loading device 1 is disposed on the right side of the conveying device 2, and the push handle device 3 is disposed on The rear side of the conveying device 2;
  • the loading device 1 is used for conveying the glued brush head to the feeding port of the conveying device 2;
  • the conveying device 2 is used for conveying, pressing and accurately positioning the paint brush head
  • the push handle device 3 is used to push the paint brush handle accurately into the paint brush head to complete the paint brush handle.
  • the loading device 1 includes a base 11, a mounting plate 12, a guiding mechanism 13, a traverse cylinder 14, a lifting cylinder 15, an electromagnetic chuck 16 and a threaded connector 17;
  • the mounting plate 12 is horizontally fixed on the base 11, and the traverse cylinder 14 is disposed on the mounting plate 12.
  • the guiding mechanism 13 includes a first gantry 131, a second gantry 132, a guiding rod 133, a linear bearing 134 and a connecting piece.
  • the first gantry 131 and the second gantry 132 are fixed on the mounting plate 12, and the guiding rod 133 is horizontally fixed on the first gantry 131 and the second gantry 132; one end of the guiding rod 133 passes through A gantry 131 extends to the second gantry 132, the other end of the guide rod 133 extends above the feed opening of the conveyor 2; the linear bearing 134 is fitted over the guide rod 133, and the connecting member 135 is connected to the linear bearing 134 Integrated; the lifting cylinder 15 is fixed to the bottom of the connecting member 135, and the piston rod of the traverse cylinder 14 is connected with the connecting member 135; the electromagnetic chuck 16 is disposed on the lifting cylinder through the threaded connecting member 17. 15 on the piston rod.
  • the conveying device 2 comprises a frame 21, a conveying platform 22, a brush head guiding mechanism 23, a brush head pre-compression mechanism 24, a pressing positioning mechanism 25 and a connecting rod transporting mechanism 26;
  • the conveying platform 22 has a long strip shape, and is horizontally fixed on the frame 21, and the right end of the conveying platform 22 is a feeding port; the connecting rod transportation mechanism 26 is disposed under the conveying platform 22, and the conveying platform 22 is from right to left.
  • the brush head guiding mechanism 23, the brush head pre-compression mechanism 24 and the pressing positioning mechanism 25 are disposed, and the pressing and positioning mechanism 25 on the conveying platform 22 is at the handle station;
  • the link transport mechanism 26 includes a transmission mechanism 261, two sets of planar link mechanisms, a pawl 263, and a pawl mounting rod 264.
  • the transmission mechanism 261 includes a rotary electric machine 261-1 and a coupling. 261-2.
  • a support platform 261-9, a rotary electric machine 261-1 and a belt turbine are disposed on the support platform 261-9; the belt turbine includes a drive shaft 261-3, a drive wheel 261-4, and a driven shaft 261- 6.
  • the driven wheel 261-7, the transmission belt 261-5 and the adjusting bolt 261-8, and the transmission belt 261-5 is tensioned by the driving wheel 261-4, the driven wheel 261-7 and the adjusting bolt 261-8; the rotating electric machine 261-1 passes The coupling 261-2 drives the driving shaft 261-3 and the driving wheel 261-4 to rotate, and then drives the driven wheel 261-7 and the driven shaft 261-6 to rotate through the driving belt 261-5;
  • the two sets of planar link mechanisms have the same shape and size.
  • the two sets of planar link mechanisms include a first link mechanism 262 and a second link mechanism.
  • the first link mechanism 262 includes a first crank 262-1 and a first link. 262-2, a first rocker 262-3, a first support bar 262-4 and a first fixed bar 262-5
  • the second link mechanism includes a second crank, a second link, a second rocker, and a second a support rod and a second fixed rod;
  • the open end of the first crank 262-1 is hinged with the drive shaft 261-3, and the first crank 262-1 rotates synchronously with the drive shaft 261-3; the end of the first crank 262-1 and the beginning of the first link 262-2 Hinged, the end of the first link 262-2 is hinged to the open end of the first rocker 262-3, the end of the first rocker 262-3 is hinged to the free end of the first fixed rod 262-5; the second crank The start end is hinged with the driven shaft 261-6, the second crank rotates synchronously with the driven shaft 261-6; the second crank coincides with the initial position of the first crank 262-1, the second crank, the second link, and the second shake
  • the connection relationship between the rod and the second fixing rod is consistent with the connection relationship between the first crank 262-1, the first link 262-2, the first rocker 262-3 and the first fixing rod 262-5;
  • a fixing rod 262-5 and a second fixing rod are vertically fixed to the bottom of the conveying platform 22, and the lower ends of the first supporting rod 262-4 and the second
  • the claw mounting rod 264 is horizontally disposed on the upper ends of the first support rod 262-4 and the second support rod, and the claw mounting rod 264 is provided with equally spaced slots, and the claws 263 are installed in the slots, and FIG. 5 is a claw. 263 The motion trajectory under the action of the link transport mechanism 26.
  • the conveying platform 22 is provided with a long groove 221 for passing the claw 263 in the longitudinal direction, and the conveying platform There is a gap 222 at the upper handle station.
  • the brush head guiding mechanism 23 includes a first guiding plate 231 and a second guiding plate 232.
  • the first guiding plate 231 and the second guiding plate 232 are oppositely disposed on the front and rear sides of the conveying platform 22. Upper, and the distance between the first guiding plate 231 and the second guiding plate 232 is adjustable.
  • the brush head pre-compression mechanism 24 includes a first mounting bracket 241, an upper pressing plate 242, a lower pressing plate 243, and a first spring assembly 244, and the first mounting bracket 241 is disposed on the front side of the conveying platform 22.
  • the upper pressing plate 242 is horizontally fixed to the first mounting bracket 241, and the lower pressing plate 243 is disposed below the upper pressing plate 242 by the first spring assembly 244.
  • the pressing and positioning mechanism 25 includes a second mounting bracket 251 , a pressing cylinder 252 , an upper plate 253 , a lower plate 254 , and a second spring assembly 255 , and the second mounting bracket 251 is disposed on the conveying platform 22 .
  • the upper plate 253 is horizontally fixed to the second mounting frame 251, and the lower plate 254 is disposed under the upper plate 253 by the second spring assembly 255; the pressing cylinder 252 is fixed to the second mounting frame 251, and The piston rod is provided with a pressing block 256; the upper plate 253 is provided with an opening through which the pressing block 256 passes, and the plate 254 is pressed down by the pressing block 256; the bottom of the lower plate 254 is provided with a groove corresponding to the shape of the brush head. When the lower plate 254 is pressed down, the brush head is placed in the groove.
  • the push handle device 3 includes a bracket 31, a mounting platform 32, a push handle mechanism 33, a handle mechanism 34, a handle pressing mechanism 35 and a brace mechanism 36;
  • the mounting platform 32 is horizontally fixed to the bracket 31; the mounting platform 32 is provided with a push handle mechanism 33, a handle mechanism 34 and a brace mechanism 36 from the back to the front, and the handle pressing mechanism 35 is disposed on the handle mechanism 34. ;
  • the push handle mechanism 33 includes a push handle cylinder 331, an L-shaped connecting plate 332, a first push rod 333, a second push rod 334, a guide rail 336, and a slide 335, a push handle cylinder 331 and a guide rail 336.
  • the slider 335 is adapted to the guide rail 336
  • the L-shaped connecting plate 332 is fixed on the sliding seat 335
  • the L-shaped connecting plate 332 is connected to the piston rod of the push handle cylinder 331
  • the rod 333 and the second push rod 334 are detachably mounted on the L-shaped connecting plate 332, and the front ends of the first push rod 333 and the second push rod 334 are arcuate to fit the handle.
  • the spacing between the first push rod 333 and the second push rod 334 is adjustable to accommodate different types of handles.
  • the shank mechanism 34 includes a mounting bracket 341, a cross bar 343, a left hopper 344, a right hopper 345, and a rear hopper 346.
  • the mounting bracket 341 is fixed to the mounting platform 32, and
  • the rear hopper 346 is detachably disposed on the mounting platform 32; the left hopper 344 and the right hopper 345 are respectively fixed with two sliders 342, and the left hopper 344 and the lower hopper 345 are at the lower end.
  • the slider 342 is fitted over the mounting bracket 341, and the crossbar 343 passes through the slider 342 in the middle of the left hopper 344 and the right hopper 345.
  • the storage of different types of handles is accommodated by adjusting the spacing of the left hopper 344 and the right hopper 345 and changing the position of the hopper 346.
  • the handle pressing mechanism 35 includes a connecting beam 351, a telescopic guiding rod 352, and a pressing block 354.
  • the tapered rod 353, one end of the connecting beam 351 is fixed to the middle of the mounting frame 341, and the pressing block 354 is disposed at the bottom of the other end of the connecting beam 351 through the telescopic guiding rod 352 and the tapered rod 353, and the telescopic guiding rod 352 is sleeved Reset spring.
  • the brace mechanism 36 includes a brace cylinder 361, a U-shaped connecting frame 362, an upper spring piece 364 and a lower spring piece 363.
  • the brace cylinder 361 is disposed on the mounting platform 32; the U-shaped connecting frame 362 The opening is directed to the right, and the middle portion thereof is connected to the piston rod of the bracket cylinder 361; the upper spring piece 364 and the lower spring piece 363 are respectively fixed on the upper and lower sides of the U-shaped connecting frame 362, and the free ends of the two are formed.
  • the angle is the top of the angle facing the handle station.
  • a pneumatic system is further included, and the loading device 1, the conveying device 2 and the push handle device 3 are all connected to the pneumatic system;
  • the pneumatic system includes an air compressor 41, a check valve 42, a gas storage tank 43, a secondary pressure regulating circuit 44, a two-position three-way electromagnetic valve 45, and a two-position five-way electromagnetic reversing valve 46.
  • an adjustable one-way throttle valve 47; the air compressor 41, the check valve 42, the gas storage tank 43, and the secondary pressure regulating circuit 44 are sequentially connected to form a main gas path, and the gas storage tank 43 is provided with a pressure relay,
  • the pressure reducing valve and the pressure gauge; the outlet of the secondary pressure regulating circuit 44 is connected with five branches, and the five branches are respectively associated with the lifting cylinder 15, the traverse cylinder 14, the push cylinder 331, the cage cylinder 361, and the pressing cylinder 252.
  • the lifting cylinder 15, the traverse cylinder 14, the push shank 331 and the secondary pressure regulating circuit 44 are respectively connected by a two-position five-way electromagnetic reversing valve 46 and an adjustable one-way throttle valve 47, and the hull cylinder 361
  • the compression cylinder 252 and the secondary pressure regulation circuit 44 are respectively connected by a two-position three-way solenoid valve 45 and an adjustable one-way throttle valve 47.
  • control system is further included, and the loading device 1, the conveying device 2, the push handle device 3, and the pneumatic system are all connected to the control system;
  • the control system includes a controller, a ULN2003 chip, and a stepping motor driver, and the controller adopts an AT89S52 single chip microcomputer;
  • the lifting cylinder 15, the traverse cylinder 14, and the push handle cylinder 331 are all provided with a magnetic switch, and the conveying platform 22 position handle switch is set at the upper handle position, and the magnetic switch and position switch are connected with the signal input end of AT89S52 single chip microcomputer;
  • the signal output end of AT89S52 single chip computer passes ULN2003 chip and two-position five-way electromagnetic reversing valve 46, two three-way
  • the solenoid valve 45 is connected to the electromagnetic chuck 16, and the signal output end of the AT89S52 single chip microcomputer is connected to the rotary motor 261-1 through a stepping motor driver.
  • the spacing between the 344 and the right hopper 345 and the position of the hopper 346 are changed to accommodate different types of handle storage; the handle of the bottom layer of the shank mechanism 34 is driven by the first push rod 333 and the second push The rod 334 is pushed into the compressed brush head, and the brace mechanism 36 can guide and hold the iron shell opening of the brush head before the handle is inserted into the brush head; after the handle is finished, the pressing cylinder 252 is reset, after the handle is removed The brush head is pushed to the next step by the pawl 263.
  • the aerodynamic force of each cylinder in the process is generated and controlled by a pneumatic system.
  • the air compressor 41 compresses the air
  • the air pressure is adjusted by the air tank 43 and the secondary pressure regulating circuit 44, and then the gas is introduced into the cylinder through the solenoid valve and passed through
  • the adjustable one-way throttle valve 47 adjusts the running speed of the cylinder; each solenoid valve, electromagnetic chuck 16 and rotating electric machine 261-1 are controlled by the control system, and the magnetic switch on the lift cylinder 15, the traverse cylinder 14, and the push handle cylinder 331 Detect whether the movement of the cylinder is in place, detect whether the movement of the brush head is in place through the position switch at the handle position, and the magnetic switch and the position switch transmit the detection result to the signal input end of the controller; the controller (ie, the AT89S52 single-chip microcomputer) receives the detection.
  • the operation command is output according to the setting program; the control signal output by the controller is amplified by the ULN2003 chip and transmitted to the two-position three-way solenoid valve 45, the two-position five-way electromagnetic reversing valve 46 and the electromagnetic chuck 16, and the two positions are controlled.
  • the three-way solenoid valve 45, the two-position five-way electromagnetic reversing valve 46 and the electromagnetic chuck 16 lose power to control the corresponding cylinder to complete the action; in addition, the controller passes the stepping power Drive implementations control of the rotary electric machine speed 261-1.

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Abstract

一种油漆刷自动化装柄系统，包括上料装置（1）、输送装置（2）、推柄装置（3）、气动系统和控制系统，上料装置（1）用于将灌胶后的油漆刷刷头搬运到输送装置（2）的进料口处；输送装置（2）用于实现油漆刷刷头的运送、压紧及精准定位，输送装置（2）包括机架（21）、输送平台（22）、刷头导向机构（23）、刷头预压机构（24）、压紧定位机构（25）和连杆运输机构（26）；推柄装置（3）用于推动油漆刷手柄准确插入油漆刷刷头中，推柄装置（3）包括支架（31）、安装平台（32）、推柄机构（33）、储柄机构（34）、手柄压紧机构（35）和撑壳机构（36）；上料装置（1）、输送装置（2）、推柄装置（3）均与气动系统、控制系统相连。该系统可适用于多种型号油漆刷装柄，其自动化程度高，操作方便，装配精准，有效提高了油漆刷的生产效率和产品质量，降低了生产成本。

Description

一种油漆刷自动化装柄系统 技术领域
本发明涉及一种油漆刷自动化装柄系统，属于制刷设备技术领域。
背景技术
在制刷行业的油漆刷生产工艺流程中，对油漆刷刷头进行装柄是一项必不可少的工序，即将手柄插入灌好胶的刷头。目前我国制刷行业的机械设备还处于有待发展和提高的阶段，大部分的制刷机械都是由各企业自行设计制造，技术参差不齐，而且很多工序需要纯手工操作。
特别是装柄工序，严重依赖人工装柄，其生产效率不高、自动化程度低，问题十分突出。因此，设计一种可适用于多种型号油漆刷的自动化装柄系统，对于提高油漆刷的生产效率、提高产品质量和降低产品成本等具有一定的实际意义。
发明内容
发明目的：为了克服现有技术中存在的不足，本发明提供一种油漆刷自动化装柄系统，可适用于多种型号油漆刷装柄，其自动化程度高，操作方便，能够提高油漆刷的生产效率和产品质量，有效降低生产成本。
技术方案：为实现上述目的，本发明采用的技术方案为：
一种油漆刷自动化装柄系统，包括上料装置、输送装置和推柄装置，且上料装置设置于输送装置的右侧，推柄装置设置于输送装置的后侧；
其中，上料装置用于将灌胶后的油漆刷刷头搬运到输送装置的进料口处；
输送装置用于实现油漆刷刷头的运送、压紧及精准定位；
推柄装置用于推动油漆刷手柄准确插入油漆刷刷头中，完成油漆刷装柄。
优选的，所述上料装置包括基座、安装板、导向机构、横移气缸、升降气缸、电磁吸盘和螺纹连接件；
所述安装板水平固定于基座上，横移气缸设置于安装板上；导向机构包括第一门架、第二门架、导向杆、直线轴承和连接件，其中，第一门架及第二门架固定于安装板上，且导向杆水平固定于第一门架和第二门架上；导向杆的一端穿过第一门架延伸至第二门架上，导向杆的另一端延伸至输送装置的进料口上方；所述直线轴承套装在导向杆上，且连接件与直线轴承连为一体；升降气缸固定于连接件底部，且横移气缸的活塞杆与连接件相连；电磁吸盘通过螺纹连接件设置于升降气缸的活塞杆上。
电磁吸盘吸附带铁壳的刷头后可在升降气缸的作用下升降，升降气缸可在横移气缸的作用下横移，从而将灌胶后的油漆刷刷头搬运到输送装置的进料口处。
优选的，所述输送装置包括机架、输送平台、刷头导向机构、刷头预压机构、压紧定位机构和连杆运输机构；
其中，输送平台呈长条状，其水平固定于机架上，且输送平台右端为进料口；连杆运输机构设置于输送平台下方，输送平台上从右往左依次设置有刷头导向机构、刷头预压机构和压紧定位机构，且输送平台上压紧定位机构处为装柄工位处；
所述连杆运输机构包括传动机构、两组平面连杆机构、推爪和推爪安装杆，传动机构包括旋转电机、联轴器、带轮机、支撑平台，旋转电机和带轮机设置于支撑平台上；带轮机包括主动轴、主动轮、从动轴、从动轮、传动带和调节螺栓，通过主动轮、从动轮和调节螺栓张紧传动带；旋转电机通过联轴器驱动主动轴和主动轮转动，继而通过传动带带动从动轮和从动轴转动；
两组平面连杆机构的形状、大小一致，两组平面连杆机构包括第一连杆机构和第二连杆机构，第一连杆机构包括第一曲柄、第一连杆、第一摇杆、第一支撑杆和第一固定杆，第二连杆机构包括第二曲柄、第二连杆、第二摇杆、第二支撑杆和第二固定杆；
第一曲柄的开端与主动轴铰接，且第一曲柄与主动轴同步转动；第一曲柄的末端与第一连杆的开端铰接，第一连杆的末端与第一摇杆的开端铰接，第一摇杆的末端与和第一固定杆的自由端铰接；第二曲柄的开端与从动轴铰接，第二曲柄与从动轴同步转动；第二曲柄与第一曲柄的初始位置一致，第二曲柄、第二连杆、第二摇杆和第二固定杆之间的连接关系与第一曲柄、第一连杆、第一摇杆和第一固定杆之间的连接关系一致；第一固定杆和第二固定杆均竖直固定于输送平台底部，第一支撑杆和第二支撑杆的下端分别铰接于第一连杆和第二连杆的中部；
推爪安装杆水平设置于第一支撑杆和第二支撑杆的上端，推爪安装杆上设置有等间距的槽口，推爪安装在槽口中；输送平台沿长度方向设有可供推爪通过的长槽。
推爪用于将刷头从刷头导向机构推向刷头预压机构和压紧定位机构，并将已插好柄的油漆刷推向下一工序。
所述刷头导向机构包括第一导向板和第二导向板，第一导向板和第二导向板相对设置于输送平台的前、后两侧边上，且第一导向板和第二导向板之间的距离可调。
刷头导向机构可对刷头进行导向，以防止刷头在被运输时产生偏移而影响装柄质量，并且可通过调节第二导向板与第一导向板的距离以适应不同型号刷头。
所述刷头预压机构包括第一安装架、上压板、下压板和第一弹簧组件，且第一安装架设置于输送平台的前侧边上；上压板水平固定于第一安装架上，下压板通过第一弹簧组件设置于上压板下方。
当刷头进入刷头预压机构时，刷头使下压板上移，此时弹簧受压，产生一定的压紧力，从而限制刷头在运动的过程中产生偏移，提高传送的精准度。
所述压紧定位机构包括第二安装架、压紧气缸、上板、下板和第二弹簧组件，且第二安装架设置于输送平台的前侧边上；上板水平固定于第二安装架上，下板通过第二弹簧组件设置于上板下方；压紧气缸固定于第二安装架上，且其活塞杆上设置有压块；上板上设置有供压块穿过的开口，通过压块下压下板。
当开始装柄时，压紧气缸下压使下板压紧刷头，保证手柄进入时刷头不移动。
优选的，所述推柄装置包括支架、安装平台、推柄机构、储柄机构、手柄压紧机构和撑壳机构；
所述安装平台水平固定于支架上；安装平台的前端为装柄口，与输送装置的出料口对接；安装平台上从后到前依次设有推柄机构、储柄机构和撑壳机构，手柄压紧机构设置在储柄机构上；
所述推柄机构包括推柄气缸、L型连接板、第一推杆、第二推杆、导轨和滑座，推柄气缸和导轨均设置在安装平台上；滑座与导轨相适配，L型连接板固定于滑座上，且L型连接板与推柄气缸的活塞杆相连；第一推杆和第二推杆可拆卸地安装在L型连接板上，且第一推杆和第二推杆的前端呈圆弧状以贴合手柄。
第一推杆和第二推杆在推柄气缸的推力下将储柄机构中的手柄推入压紧定位机构的刷头中。
所述储柄机构包括安装架、横杆、左储料槽、右储料槽和后储料槽，安装架固定于安装平台上，且后储料槽可拆卸地设置于安装平台上；左储料槽和右储料槽上均固接有滑块，左储料槽和右储料槽下端的滑块套装在安装架上，横杆穿过左储料槽和右储料槽中部的滑块。
可调整左储料槽和右储料槽的间距及后储料槽的位置来适应不同型号的手柄存放。
所述手柄压紧机构包括连接梁、伸缩导向杆、压紧块和锥形杆，连接梁的一端固定于安装架中部，压紧块通过伸缩导向杆和锥形杆设置在连接梁另一端的底部，伸缩导向杆上套设有复位弹簧。
手柄压紧机构能够保证手柄与安装平台接触良好，复位弹簧起到辅助压紧和复位的 作用，锥形杆可以保证压紧块在重力作用下不脱落。
所述撑壳机构包括撑壳气缸、U型连接框、上弹簧片和下弹簧片，撑壳气缸设置在安装平台上；U型连接框开口朝右，且其中部与撑壳气缸的活塞杆相连；上弹簧片及下弹簧片分别固定于U型连接框的上、下两侧边上，且两者的自由端形成一夹角，该夹角的顶端正对装柄工位处。
撑壳机构可在手柄插入刷头之前为手柄导向并撑起刷头的铁壳口。
优选的，还包括气动系统，上料装置、输送装置和推柄装置均与气动系统相连；气动系统包括空气压缩机、单向阀、储气罐、二次调压回路、二位三通电磁阀、二位五通电磁换向阀及可调单向节流阀；空气压缩机、单向阀、储气罐、二次调压回路依次连通，构成主气路，且储气罐上设置有压力继电器、减压阀及压力表；二次调压回路的出气口连接有五条支路，五条支路分别与升降气缸、横移气缸、推柄气缸、撑壳气缸、压紧气缸相连；升降气缸、横移气缸、推柄气缸与二次调压回路之间各自通过二位五通电磁换向阀及可调单向节流阀相连，撑壳气缸、压紧气缸与二次调压回路之间各自通过二位三通电磁阀及可调单向节流阀相连。
气动系统的工作原理为：首先采用空气压缩机产生压力，通过压力继电器的电信号控制空气压缩机从而使储气罐中的压力保持恒定；再经过二次调压回路使输出气压在设定范围内；通过电磁阀将气体通入气缸，并通过可调节单向节流阀调节气缸的运行快慢。
优选的，还包括控制系统，上料装置、输送装置、推柄装置、气动系统均与控制系统相连；控制系统包括控制器、ULN2003芯片(该芯片自带光电耦合功能，可直接连接单片机输出口)及步进电机驱动器，控制器采用AT89S52单片机；升降气缸、横移气缸、推柄气缸上设置有磁性开关，输送平台上装柄工位处设置有位置开关，且磁性开关和位置开关均与AT89S52单片机的信号输入端相连；AT89S52单片机的信号输出端通过ULN2003芯片与二位五通电磁换向阀、二位三通电磁阀和电磁吸盘相连，且AT89S52单片机的信号输出端通过步进电机驱动器与旋转电机相连。
控制系统的工作原理为：当按下启动或停止开关，系统开始或者停止工作；运行时通过升降气缸、横移气缸、推柄气缸上的磁性开关检测该气缸运动是否到位，通过装柄工位处的位置开关检测刷头运动是否到位，磁性开关及位置开关将检测结果传递给控制器的信号输入端；控制器收到检测信号后按照设定程序输出操作指令；控制器输出的控制信号通过ULN2003芯片进行放大后传递给二位三通电磁阀、二位五通电磁换向阀及电磁吸盘，通过控制二位三通电磁阀、二位五通电磁换向阀及电磁吸盘的得失电来控制相 应气缸完成动作；另外，控制器通过步进电机驱动器实现对旋转电机转速的控制。
优选的，所述第一推杆和第二推杆的间距可调，可以适应不同型号的刷柄。
优选的，所述下板底部设置有与刷头形状相适配的凹槽，下板下压时使刷头处于凹槽内，以提高装柄的精准度；输送平台上装柄工位处设有缺口，以防止与撑壳机构的弹簧片发生干涉。
有益效果：本发明提供的一种油漆刷自动化装柄系统，相对于现有技术，具有以下优点：(1)本发明结构紧凑，操作简单，生产高效，安全可靠，可取代人力实现油漆刷的自动化装柄；(2)可通过调节相关零部件来适应多种型号油漆刷的装柄，节省成本；(3)其自动化程度高，装配定位精准，提高了油漆刷的生产效率和产品质量，有效降低了生产成本。
附图说明
图1为本发明的整体结构示意图；
图2为本发明中上料装置的主视图；
图3为本发明中输送装置的结构示意图；
图4为本发明中输送装置的后视图；
图5为本发明中推爪的运动轨迹图；
图6为本发明中输送平台的结构示意图；
图7为本发明中刷头预压机构的结构示意图；
图8为本发明中压紧定位机构的结构示意图；
图9为本发明中推柄机构的结构示意图；
图10为本发明中储柄机构的结构示意图；
图11为本发明中手柄压紧机构的结构示意图；
图12为本发明中撑壳机构的结构示意图；
图13为本发明的气动系统原理图；
图14为本发明的控制系统原理图。
图中包括：1、上料装置，11、基座，12、安装板，13、导向机构，14、横移气缸，15、升降气缸，16、电磁吸盘，17、螺纹连接件，131、第一门架，132、第二门架，133、导向杆，134、直线轴承，135、连接件；
2、输送装置，21、机架，22、输送平台，23、刷头导向机构，24、刷头预压机构，25、压紧定位机构，26、连杆运输机构，261、传动机构，262、第一连杆机构，263、推 爪，264、推爪安装杆，261-1、旋转电机，261-2、联轴器，261-3、主动轴，261-4、主动轮，261-5、传动带，261-6、从动轴，261-7、从动轮，261-8、调节螺栓，261-9、支撑平台，262-1、第一曲柄，262-2、第一连杆，262-3、第一摇杆，262-4、第一支撑杆，262-5、第一固定杆，221、长槽，222、缺口，231、第一导向板，232、第二导向板，241、第一安装架，242、上压板，243、下压板，244、第一弹簧组件，251、第二安装架，252、压紧气缸，253、上板，254、下板，255、第二弹簧组件，256、压块；
3、推柄装置，31、支架，32、安装平台，33、推柄机构，34、储柄机构，35、手柄压紧机构，36、撑壳机构，331、推柄气缸，332、L型连接板，333、第一推杆，334、第二推杆，335、滑座，336、导轨，341、安装架，342、滑块，343、横杆，344、左储料槽，345、右储料槽，346、后储料槽，351、连接梁，352、伸缩导向杆，353、锥形杆，354、压紧块，361、撑壳气缸，362、U型连接框，363、下弹簧片，364、上弹簧片；
41、空气压缩机；42、单向阀；43、储气罐；44、二次调压回路；45、二位三通电磁阀；46、二位五通电磁换向阀；47、可调单向节流阀。
具体实施方式
下面结合附图和实施例对本发明作更进一步的说明。
如图1所示为一种油漆刷自动化装柄系统，包括上料装置1、输送装置2和推柄装置3，且上料装置1设置于输送装置2的右侧，推柄装置3设置于输送装置2的后侧；
其中，上料装置1用于将灌胶后的油漆刷刷头搬运到输送装置2的进料口处；
输送装置2用于实现油漆刷刷头的运送、压紧及精准定位；
推柄装置3用于推动油漆刷手柄准确插入油漆刷刷头中，完成油漆刷装柄。
本实施例中，如图2所示，所述上料装置1包括基座11、安装板12、导向机构13、横移气缸14、升降气缸15、电磁吸盘16和螺纹连接件17；
所述安装板12水平固定于基座11上，横移气缸14设置于安装板12上；导向机构13包括第一门架131、第二门架132、导向杆133、直线轴承134和连接件135，其中，第一门架131及第二门架132固定于安装板12上，且导向杆133水平固定于第一门架131和第二门架132上；导向杆133的一端穿过第一门架131延伸至第二门架132上，导向杆133的另一端延伸至输送装置2的进料口上方；直线轴承134套装在导向杆133上，且连接件135与直线轴承134连为一体；升降气缸15固定于连接件135底部，且横移气缸14的活塞杆与连接件135相连；电磁吸盘16通过螺纹连接件17设置于升降气缸 15的活塞杆上。
本实施例中，所述输送装置2包括机架21、输送平台22、刷头导向机构23、刷头预压机构24、压紧定位机构25和连杆运输机构26；
其中，输送平台22呈长条状，其水平固定于机架21上，且输送平台22右端为进料口；连杆运输机构26设置于输送平台22下方，输送平台22上从右往左依次设置有刷头导向机构23、刷头预压机构24和压紧定位机构25，且输送平台22上压紧定位机构25处为装柄工位处；
如图3、4所示，所述连杆运输机构26包括传动机构261、两组平面连杆机构、推爪263和推爪安装杆264，传动机构261包括旋转电机261-1、联轴器261-2、带轮机、支撑平台261-9，旋转电机261-1和带轮机设置于支撑平台261-9上；带轮机包括主动轴261-3、主动轮261-4、从动轴261-6、从动轮261-7、传动带261-5和调节螺栓261-8，通过主动轮261-4、从动轮261-7和调节螺栓261-8张紧传动带261-5；旋转电机261-1通过联轴器261-2驱动主动轴261-3和主动轮261-4转动，继而通过传动带261-5带动从动轮261-7和从动轴261-6转动；
两组平面连杆机构的形状、大小一致，两组平面连杆机构包括第一连杆机构262和第二连杆机构，第一连杆机构262包括第一曲柄262-1、第一连杆262-2、第一摇杆262-3、第一支撑杆262-4和第一固定杆262-5，第二连杆机构包括第二曲柄、第二连杆、第二摇杆、第二支撑杆和第二固定杆；
第一曲柄262-1的开端与主动轴261-3铰接，且第一曲柄262-1与主动轴261-3同步转动；第一曲柄262-1的末端与第一连杆262-2的开端铰接，第一连杆262-2的末端与第一摇杆262-3的开端铰接，第一摇杆262-3的末端与和第一固定杆262-5的自由端铰接；第二曲柄的开端与从动轴261-6铰接，第二曲柄与从动轴261-6同步转动；第二曲柄与第一曲柄262-1的初始位置一致，第二曲柄、第二连杆、第二摇杆和第二固定杆之间的连接关系与第一曲柄262-1、第一连杆262-2、第一摇杆262-3和第一固定杆262-5之间的连接关系一致；第一固定杆262-5和第二固定杆均竖直固定于输送平台22底部，第一支撑杆262-4和第二支撑杆的下端分别铰接于第一连杆262-2和第二连杆的中部；
推爪安装杆264水平设置于第一支撑杆262-4和第二支撑杆的上端，推爪安装杆264上设置有等间距的槽口，推爪263安装在槽口中，图5为推爪263在连杆运输机构26作用下的运动轨迹。
如图6所示，输送平台22沿长度方向设有可供推爪263通过的长槽221，输送平台 22上装柄工位处设有缺口222。
如图3所示，所述刷头导向机构23包括第一导向板231和第二导向板232，第一导向板231和第二导向板232相对设置于输送平台22的前、后两侧边上，且第一导向板231和第二导向板232之间的距离可调。
如图7所示，所述刷头预压机构24包括第一安装架241、上压板242、下压板243和第一弹簧组件244，且第一安装架241设置于输送平台22的前侧边上；上压板242水平固定于第一安装架241上，下压板243通过第一弹簧组件244设置于上压板242下方。
如图8所示，所述压紧定位机构25包括第二安装架251、压紧气缸252、上板253、下板254和第二弹簧组件255，且第二安装架251设置于输送平台22的前侧边上；上板253水平固定于第二安装架251上，下板254通过第二弹簧组件255设置于上板253下方；压紧气缸252固定于第二安装架251上，且其活塞杆上设置有压块256；上板253上设置有供压块256穿过的开口，通过压块256下压下板254；下板254底部设置有与刷头形状相适配的凹槽，下板254下压时使刷头处于凹槽内。
本实施例中，所述推柄装置3包括支架31、安装平台32、推柄机构33、储柄机构34、手柄压紧机构35和撑壳机构36；
所述安装平台32水平固定于支架31上；安装平台32上从后到前依次设有推柄机构33、储柄机构34和撑壳机构36，手柄压紧机构35设置在储柄机构34上；
如图9所示，所述推柄机构33包括推柄气缸331、L型连接板332、第一推杆333、第二推杆334、导轨336和滑座335，推柄气缸331和导轨336成列设置在安装平台32上；滑座335与导轨336相适配，L型连接板332固定于滑座335上，且L型连接板332与推柄气缸331的活塞杆相连；第一推杆333和第二推杆334可拆卸地安装在L型连接板332上，且第一推杆333和第二推杆334的前端呈圆弧状以贴合手柄。第一推杆333和第二推杆334的间距可调，以适应不同型号刷柄。
如图10所示，所述储柄机构34包括安装架341、横杆343、左储料槽344、右储料槽345和后储料槽346，安装架341固定于安装平台32上，且后储料槽346可拆卸地设置于安装平台32上；左储料槽344和右储料槽345上各自固接有两个滑块342，左储料槽344和右储料槽345下端的滑块342套装在安装架341上，横杆343穿过左储料槽344和右储料槽345中部的滑块342。通过调整左储料槽344和右储料槽345的间距及改变后储料槽346的位置来适应不同型号的刷柄存放。
如图11所示，所述手柄压紧机构35包括连接梁351、伸缩导向杆352、压紧块354 和锥形杆353，连接梁351的一端固定于安装架341中部，压紧块354通过伸缩导向杆352和锥形杆353设置在连接梁351另一端的底部，伸缩导向杆352上套设有复位弹簧。
如图12所示，所述撑壳机构36包括撑壳气缸361、U型连接框362、上弹簧片364和下弹簧片363，撑壳气缸361设置在安装平台32上；U型连接框362开口朝右，且其中部与撑壳气缸361的活塞杆相连；上弹簧片364及下弹簧片363分别固定于U型连接框362的上、下两侧边上，且两者的自由端形成夹角，该夹角的顶端正对装柄工位处。
本实施例中，还包括气动系统，上料装置1、输送装置2和推柄装置3均与气动系统相连；
如图13所示，所述气动系统包括空气压缩机41、单向阀42、储气罐43、二次调压回路44、二位三通电磁阀45、二位五通电磁换向阀46及可调单向节流阀47；空气压缩机41、单向阀42、储气罐43、二次调压回路44依次连通，构成主气路，且储气罐43上设置有压力继电器、减压阀及压力表；二次调压回路44的出气口连接有五条支路，五条支路分别与升降气缸15、横移气缸14、推柄气缸331、撑壳气缸361、压紧气缸252相连；升降气缸15、横移气缸14、推柄气缸331与二次调压回路44之间各自通过二位五通电磁换向阀46及可调单向节流阀47相连，撑壳气缸361、压紧气缸252与二次调压回路44之间各自通过二位三通电磁阀45及可调单向节流阀47相连。
本实施例中，还包括控制系统，上料装置1、输送装置2、推柄装置3、气动系统均与控制系统相连；
如图14所示，所述控制系统包括控制器、ULN2003芯片及步进电机驱动器，控制器采用AT89S52单片机；升降气缸15、横移气缸14、推柄气缸331上均设置有磁性开关，输送平台22上装柄工位处设置有位置开关，且磁性开关和位置开关与AT89S52单片机的信号输入端相连；AT89S52单片机的信号输出端通过ULN2003芯片与二位五通电磁换向阀46、二位三通电磁阀45和电磁吸盘16相连，且AT89S52单片机的信号输出端通过步进电机驱动器与旋转电机261-1相连。
本发明的具体实施方式如下：
灌胶后的油漆刷刷头被电磁吸盘16吸附，并在升降气缸15、横移气缸14的作用下移动至输送装置2的进料口处；刷头经刷头导向机构23导向后被推爪263推至刷头预压机构24和压紧定位机构25，压紧气缸252下压使下板254压紧刷头后开始装柄；储柄机构34中存放手柄，通过调整左储料槽344和右储料槽345的间距及改变后储料槽346的位置来适应不同型号的手柄存放；储柄机构34中底层的手柄由第一推杆333和第二推 杆334推动插入至压紧的刷头中，撑壳机构36可在手柄插入刷头之前为手柄导向并撑起刷头的铁壳口；完成装柄后压紧气缸252复位，装柄后的刷头被推爪263推至下一工序。
该过程中各气缸的气动力由气动系统产生与控制，空气压缩机41压缩空气后经储气罐43、二次调压回路44调整输出气压，而后通过电磁阀将气体通入气缸，并通过可调单向节流阀47调节气缸的运行快慢；各电磁阀、电磁吸盘16及旋转电机261-1由控制系统控制，通过升降气缸15、横移气缸14、推柄气缸331上的磁性开关检测该气缸运动是否到位，通过装柄工位处的位置开关检测刷头运动是否到位，磁性开关及位置开关将检测结果传递给控制器的信号输入端；控制器(即AT89S52单片机)收到检测信号后按照设定程序输出操作指令；控制器输出的控制信号通过ULN2003芯片进行放大后传递给二位三通电磁阀45、二位五通电磁换向阀46及电磁吸盘16，通过控制二位三通电磁阀45、二位五通电磁换向阀46及电磁吸盘16的得失电来控制相应气缸完成动作；另外，控制器通过步进电机驱动器实现对旋转电机261-1转速的控制。
以上所述仅是本发明的优选实施方式，应当指出：对于本技术领域的普通技术人员来说，在不脱离本发明原理的前提下，还可以做出若干改进和润饰，这些改进和润饰也应视为本发明的保护范围。

Claims (8)

  1. 一种油漆刷自动化装柄系统，其特征在于，包括上料装置(1)、输送装置(2)和推柄装置(3)，且上料装置(1)设置于输送装置(2)的右侧，推柄装置(3)设置于输送装置(2)的后侧；
    其中，上料装置(1)用于将灌胶后的油漆刷刷头搬运到输送装置(2)的进料口处；
    输送装置(2)用于实现油漆刷刷头的运送、压紧及精准定位；
    推柄装置(3)用于推动油漆刷手柄准确插入油漆刷刷头中，完成油漆刷装柄。
  2. 根据权利要求1所述的一种油漆刷自动化装柄系统，其特征在于，所述上料装置(1)包括基座(11)、安装板(12)、导向机构(13)、横移气缸(14)、升降气缸(15)、电磁吸盘(16)和螺纹连接件(17)；
    所述安装板(12)水平固定于基座(11)上，横移气缸(14)设置于安装板(12)上；导向机构(13)包括第一门架(131)、第二门架(132)、导向杆(133)、直线轴承(134)和连接件(135)，其中，第一门架(131)及第二门架(132)固定于安装板(12)上，且导向杆(133)水平固定于第一门架(131)和第二门架(132)上；导向杆(133)的一端穿过第一门架(131)延伸至第二门架(132)上，导向杆(133)的另一端延伸至输送装置(2)的进料口上方；直线轴承(134)套装在导向杆(133)上，且连接件(135)与直线轴承(134)连为一体；所述升降气缸(15)固定于连接件(135)底部，且横移气缸(14)的活塞杆与连接件(135)相连；电磁吸盘(16)通过螺纹连接件(17)设置于升降气缸(15)的活塞杆上。
  3. 根据权利要求2所述的一种油漆刷自动化装柄系统，其特征在于，所述输送装置(2)包括机架(21)、输送平台(22)、刷头导向机构(23)、刷头预压机构(24)、压紧定位机构(25)和连杆运输机构(26)；
    其中，输送平台(22)呈长条状，其水平固定于机架(21)上，且输送平台(22)右端为进料口；连杆运输机构(26)设置于输送平台(22)下方，输送平台(22)上从右往左依次设置有刷头导向机构(23)、刷头预压机构(24)和压紧定位机构(25)，且输送平台(22)上压紧定位机构(25)处为装柄工位处；
    所述连杆运输机构(26)包括传动机构(261)、两组平面连杆机构、推爪(263)和推爪安装杆(264)，传动机构(261)包括旋转电机(261-1)、联轴器(261-2)、带轮机、支撑平台(261-9)，旋转电机(261-1)和带轮机设置于支撑平台(261-9)上；带轮机包括主动轴(261-3)、主动轮(261-4)、从动轴(261-6)、从动轮(261-7)、传动带 (261-5)和调节螺栓(261-8)，通过主动轮(261-4)、从动轮(261-7)和调节螺栓(261-8)张紧传动带(261-5)；旋转电机(261-1)通过联轴器(261-2)驱动主动轴(261-3)和主动轮(261-4)转动，继而通过传动带(261-5)带动从动轮(261-7)和从动轴(261-6)转动；
    两组平面连杆机构的结构、大小一致，两组平面连杆机构包括第一连杆机构(262)和第二连杆机构，第一连杆机构(262)包括第一曲柄(262-1)、第一连杆(262-2)、第一摇杆(262-3)、第一支撑杆(262-4)和第一固定杆(262-5)，第二连杆机构包括第二曲柄、第二连杆、第二摇杆、第二支撑杆和第二固定杆；
    第一曲柄(262-1)的开端与主动轴(261-3)铰接，且第一曲柄(262-1)与主动轴(261-3)同步转动；第一曲柄(262-1)的末端与第一连杆(262-2)的开端铰接，第一连杆(262-2)的末端与第一摇杆(262-3)的开端铰接，第一摇杆(262-3)的末端与和第一固定杆(262-5)的自由端铰接；第二曲柄的开端与从动轴(261-6)铰接，第二曲柄与从动轴(261-6)同步转动；第二曲柄与第一曲柄(262-1)的初始位置一致，第二曲柄、第二连杆、第二摇杆和第二固定杆之间的连接关系与第一曲柄(262-1)、第一连杆(262-2)、第一摇杆(262-3)和第一固定杆(262-5)之间的连接关系一致；第一固定杆(262-5)和第二固定杆均竖直固定于输送平台(22)底部，第一支撑杆(262-4)和第二支撑杆的下端分别铰接于第一连杆(262-2)和第二连杆的中部；
    推爪安装杆(264)水平设置于第一支撑杆(262-4)和第二支撑杆的上端，推爪安装杆(264)上设置有等间距的槽口，推爪(263)安装在槽口中；输送平台(22)沿长度方向设有可供推爪(263)通过的长槽(221)；
    所述刷头导向机构(23)包括第一导向板(231)和第二导向板(232)，第一导向板(231)和第二导向板(232)相对设置于输送平台(22)的前、后两侧边上，且第一导向板(231)与第二导向板(232)之间的距离可调；
    所述刷头预压机构(24)包括第一安装架(241)、上压板(242)、下压板(243)和第一弹簧组件(244)，且第一安装架(241)设置于输送平台(22)的前侧边上；上压板(242)水平固定于第一安装架(241)上，下压板(243)通过第一弹簧组件(244)设置于上压板(242)下方；
    所述压紧定位机构(25)包括第二安装架(251)、压紧气缸(252)、上板(253)、下板(254)和第二弹簧组件(255)，且第二安装架(251)设置于输送平台(22)的前侧边上；上板(253)水平固定于第二安装架(251)上，下板(254)通过第二弹簧组件(255)设置于上板(253)下方；压紧气缸(252)固定于第二安装架(251)上，且其活 塞杆上设置有压块(256)；上板(253)上设置有供压块(256)穿过的开口，通过压块(256)下压下板(254)。
  4. 根据权利要求3所述的一种油漆刷自动化装柄系统，其特征在于，所述推柄装置(3)包括支架(31)、安装平台(32)、推柄机构(33)、储柄机构(34)、手柄压紧机构(35)和撑壳机构(36)；
    所述安装平台(32)水平固定于支架(31)上；安装平台(32)上从后到前依次设有推柄机构(33)、储柄机构(34)和撑壳机构(36)，手柄压紧机构(35)设置在储柄机构(34)上；
    所述推柄机构(33)包括推柄气缸(331)、L型连接板(332)、第一推杆(333)、第二推杆(334)、导轨(336)和滑座(335)，推柄气缸(331)和导轨(336)均设置在安装平台(32)上；滑座(335)与导轨(336)相适配，L型连接板(332)固定于滑座(335)上，且L型连接板(332)与推柄气缸(331)的活塞杆相连；第一推杆(333)和第二推杆(334)可拆卸地安装在L型连接板(332)上，且第一推杆(333)和第二推杆(334)的前端呈圆弧状以贴合手柄；
    所述储柄机构(34)包括安装架(341)、横杆(343)、左储料槽(344)、右储料槽(345)和后储料槽(346)，安装架(341)固定于安装平台(32)上，且后储料槽(346)可拆卸地设置于安装平台(32)上；左储料槽(344)和右储料槽(345)上均固接有滑块(342)，左储料槽(344)和右储料槽(345)下端的滑块(342)套装在安装架(341)上，横杆(343)穿过左储料槽(344)和右储料槽(345)中部的滑块(342)；
    所述手柄压紧机构(35)包括连接梁(351)、伸缩导向杆(352)、压紧块(354)和锥形杆(353)，连接梁(351)的一端固定于安装架(341)中部，压紧块(354)通过伸缩导向杆(352)和锥形杆(353)设置在连接梁(351)另一端的底部，伸缩导向杆(133)上套设有复位弹簧；
    所述撑壳机构(36)包括撑壳气缸(361)、U型连接框(362)、上弹簧片(364)和下弹簧片(363)，撑壳气缸(361)设置在安装平台(32)上；U型连接框(362)开口朝右，且其中部与撑壳气缸(361)的活塞杆相连；上弹簧片(364)及下弹簧片(363)分别固定于U型连接框(362)的上、下两侧边上，且两者的自由端形成一夹角，该夹角的顶端正对装柄工位处。
  5. 根据权利要求4所述的一种油漆刷自动化装柄系统，其特征在于，还包括气动系统，上料装置(1)、输送装置(2)和推柄装置(3)均与气动系统相连；
    所述气动系统包括空气压缩机(41)、单向阀(42)、储气罐(43)、二次调压回路 (44)、二位三通电磁阀(45)、二位五通电磁换向阀(46)及可调单向节流阀(47)；空气压缩机(41)、单向阀(42)、储气罐(43)、二次调压回路(44)依次连通，构成主气路，且储气罐(43)上设置有压力继电器、减压阀及压力表；二次调压回路(44)的出气口连接有五条支路，五条支路分别与升降气缸(15)、横移气缸(14)、推柄气缸(331)、撑壳气缸(361)、压紧气缸(252)相连；升降气缸(15)、横移气缸(14)、推柄气缸(331)与二次调压回路(44)之间各自通过二位五通电磁换向阀(46)及可调单向节流阀(47)相连，撑壳气缸(361)、压紧气缸(252)与二次调压回路(44)之间各自通过二位三通电磁阀(45)及可调单向节流阀(47)相连。
  6. 根据权利要求5所述的一种油漆刷自动化装柄系统，其特征在于，还包括控制系统，上料装置(1)、输送装置(2)、推柄装置(3)、气动系统均与控制系统相连；
    所述控制系统包括控制器、ULN2003芯片及步进电机驱动器，控制器采用AT89S52单片机；升降气缸(15)、横移气缸(14)、推柄气缸(331)上均设置有磁性开关，输送平台(22)上装柄工位处设置有位置开关，且磁性开关和位置开关均与AT89S52单片机的信号输入端相连；AT89S52单片机的信号输出端通过ULN2003芯片与二位五通电磁换向阀(46)、二位三通电磁阀(45)和电磁吸盘(16)相连，且AT89S52单片机的信号输出端还通过步进电机驱动器与旋转电机(261-1)相连。
  7. 根据权利要求4所述的一种油漆刷自动化装柄系统，其特征在于，所述第一推杆(333)和第二推杆(334)的间距可调。
  8. 根据权利要求3所述的一种油漆刷自动化装柄系统，其特征在于，所述下板(254)底部设置有与刷头形状相适配的凹槽，且输送平台(22)上装柄工位处设有缺口(222)。
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