WO2021197201A1 - 一种输送装置及生产线 - Google Patents

一种输送装置及生产线 Download PDF

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Publication number
WO2021197201A1
WO2021197201A1 PCT/CN2021/082999 CN2021082999W WO2021197201A1 WO 2021197201 A1 WO2021197201 A1 WO 2021197201A1 CN 2021082999 W CN2021082999 W CN 2021082999W WO 2021197201 A1 WO2021197201 A1 WO 2021197201A1
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WO
WIPO (PCT)
Prior art keywords
conveying
workpiece
positioning
width
conveying mechanism
Prior art date
Application number
PCT/CN2021/082999
Other languages
English (en)
French (fr)
Inventor
梁冰
孟西陵
张伟
邓南建
黄敬伟
Original Assignee
上海精智实业股份有限公司
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 上海精智实业股份有限公司 filed Critical 上海精智实业股份有限公司
Publication of WO2021197201A1 publication Critical patent/WO2021197201A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/22—Devices influencing the relative position or the attitude of articles during transit by conveyors
    • B65G47/24—Devices influencing the relative position or the attitude of articles during transit by conveyors orientating the articles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G17/00—Conveyors having an endless traction element, e.g. a chain, transmitting movement to a continuous or substantially-continuous load-carrying surface or to a series of individual load-carriers; Endless-chain conveyors in which the chains form the load-carrying surface
    • B65G17/30—Details; Auxiliary devices
    • B65G17/38—Chains or like traction elements; Connections between traction elements and load-carriers
    • B65G17/40—Chains acting as load-carriers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G21/00—Supporting or protective framework or housings for endless load-carriers or traction elements of belt or chain conveyors
    • B65G21/10—Supporting or protective framework or housings for endless load-carriers or traction elements of belt or chain conveyors movable, or having interchangeable or relatively movable parts; Devices for moving framework or parts thereof
    • B65G21/14—Supporting or protective framework or housings for endless load-carriers or traction elements of belt or chain conveyors movable, or having interchangeable or relatively movable parts; Devices for moving framework or parts thereof to allow adjustment of length or configuration of load-carrier or traction element
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G23/00—Driving gear for endless conveyors; Belt- or chain-tensioning arrangements
    • B65G23/02—Belt- or chain-engaging elements
    • B65G23/04—Drums, rollers, or wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90—Devices for picking-up and depositing articles or materials

Definitions

  • the present disclosure relates to the technical field of automobile parts production and manufacturing, for example, to a conveying device and a production line.
  • the suspension stiffness is usually designed to be relatively low, but this will affect the driving stability of the car. For this reason, a stabilizer bar structure is used in the suspension system to increase the stiffness of the suspension's roll angle and reduce the body's inclination angle.
  • the stabilizer bars are placed on the conveyor line, and each station robot grabs the stabilizer bars from the conveyor line for processing. This requires accurate positioning of the stabilizer bar before the robot grabs the stabilizer bar to ensure the consistency of the stabilizer bar posture during grasping.
  • a conveyor line is often compatible with several or even dozens of types of stabilizer bars, and it is difficult to switch and change the stabilizer bars of different lengths and shapes.
  • the operator adjusts the tooling to position the stabilizer bar. It is difficult to ensure the stability after adjustment, which affects the quality of the finished product, and the manual adjustment time is long, which will affect the production efficiency.
  • the purpose of the present disclosure is to provide a conveying device and a production line, which can adjust the width according to different sizes of workpieces, has high production efficiency and high positioning accuracy, so as to ensure the consistency of the workpiece posture.
  • a conveying device includes:
  • a conveying mechanism which can carry and convey the workpiece
  • the width adjustment mechanism is connected to the conveying mechanism in transmission. According to different sizes of the workpieces, the width adjustment mechanism can drive the conveying mechanism to move in the width direction of the conveying mechanism for adjusting the conveying mechanism. width;
  • a positioning mechanism configured to abut against the workpiece to move the workpiece along the conveying direction of the conveying mechanism, along the width of the conveying mechanism, and along the width of the conveying mechanism The direction of the swing is used for positioning.
  • An embodiment provides a production line including the above-mentioned conveying device.
  • the width can be adjusted according to different sizes of the workpieces, the production efficiency is high, and the positioning accuracy is high, thereby improving the quality of the finished workpieces.
  • Fig. 1 is a schematic diagram of the structure of the conveying device of the present disclosure
  • FIG. 2 is a schematic diagram showing the structure of the first active seat and the second active seat in the conveying device of the present disclosure
  • FIG. 3 is a schematic diagram showing the structure of the first chain and the first chain in the conveying device of the present disclosure
  • FIG. 4 is a schematic diagram showing the structure of the first driven seat and the second driven seat in the conveying device of the present disclosure
  • Fig. 5 is a schematic structural view showing a perspective of the positioning mechanism in the conveying device of the present disclosure
  • FIG. 6 is a schematic diagram of the structure of the first driving source and the first positioning block in the conveying device of the present disclosure
  • Fig. 7 is a schematic structural diagram showing another view of the positioning mechanism in the conveying device of the present disclosure.
  • Fig. 8 is a schematic diagram of the structure of the manipulator and the second positioning block in the conveying device of the present disclosure.
  • the first conveying component 12. The second conveying component; 13. The conveying drive source; 14. The conveying transmission rod; 15. The first converter; 16. The drive shaft;
  • First driving seat 112, first driving sprocket; 113, second driving sprocket; 114, first driven seat; 115, first driven sprocket; 116, second driven sprocket; 117 , The first chain; 118, the first limit block;
  • Width adjustment drive source 22. Width adjustment drive assembly;
  • Synchronizer 222, the first transmission rod; 223, the first commutator; 224, the first two-way screw; 225, the second transmission rod; 226, the second commutator; 227, the second two-way screw ;
  • the first driving source 32.
  • the first positioning block 33.
  • the manipulator 34.
  • the second positioning block
  • This embodiment provides a conveying device, which is used in the production and manufacture of stabilizer bars for automobile parts.
  • the following workpieces specifically refer to stabilizer bars.
  • Different types of stabilizer bars have different lengths and shapes.
  • Use the chain to carry out the step-by-step transportation of the workpiece. When the robot grabs the current workpiece, it is used for subsequent processing of the workpiece. As the chain steps forward a preset distance, the chain transports the next workpiece to the robot's grasping position for waiting.
  • the conveying device includes: a base 4, a conveying mechanism 1, a width adjustment mechanism 2 and a positioning mechanism 3.
  • a conveying mechanism 1, a width adjusting mechanism 2 and a positioning mechanism 3 are respectively provided on the base 4, and the base 4 plays a supporting role.
  • the conveying mechanism 1 can carry and convey the workpiece.
  • the conveying direction of the conveying mechanism 1 is the moving direction of the workpiece, and the conveying direction of the conveying mechanism 1 and the width direction of the conveying mechanism 1 are arranged perpendicular to each other.
  • the conveying mechanism 1 is drivingly connected to the width adjusting mechanism 2.
  • the width adjusting mechanism 2 can drive the conveying mechanism 1 to move in the width direction of the conveying mechanism 1 according to different sizes of the workpieces, and is used to adjust the width of the conveying mechanism 1.
  • the positioning mechanism 3 is arranged to abut against the workpiece to position the workpiece in the conveying direction of the conveying mechanism 1, the movement in the width direction of the conveying mechanism 1, and the swing in the width direction of the conveying mechanism 1.
  • the conveying device utilizes the conveying mechanism 1 to carry and convey the workpiece, which plays a role in conveying the workpiece.
  • the width adjusting mechanism 2 can drive the conveying mechanism 1 to move along the width direction of the conveying mechanism 1 to adjust the width of the conveying mechanism 1 to adapt to the length of different types of workpieces.
  • the positioning mechanism 3 By setting the positioning mechanism 3 configured to abut against the workpiece, the positioning mechanism 3 can be adjusted by positioning the workpiece along the conveying direction of the conveying mechanism 1, movement along the width direction of the conveying mechanism 1, and swinging along the width direction of the conveying mechanism 1.
  • the posture is used to position the workpiece with three degrees of freedom to ensure the consistency of the posture of the workpiece, the positioning accuracy is good, and the quality of the finished product is high.
  • the width adjustment mechanism 2 and the positioning mechanism 3 compared with the related manual manual technology, it saves time and effort, saves the adjustment and change time, improves the production efficiency, and reduces the interference of the operator's subjective factors to ensure the adjustment Stability and accuracy of positioning.
  • the conveying mechanism 1 includes: a first conveying component 11, a second conveying component 12, and a conveying driving source 13, the first conveying component 11 and the second conveying component 12 are arranged in parallel and spaced apart, The first conveying assembly 11 and the second conveying assembly 12 are respectively carried on two ends of the workpiece.
  • the conveying drive source 13 is specifically a conveying drive motor.
  • the conveying drive source 13 is drive-connected to the first conveying assembly 11 and the second conveying assembly 12, respectively.
  • the conveying drive source 13 can drive the first conveying assembly 11 and the second conveying assembly 12 to move. Realize the movement of the workpiece along the conveying direction.
  • the conveying drive source 13 is arranged along the conveying direction of the conveying mechanism 1, and a conveying drive rod 14 is connected to the output end of the conveying drive source 13.
  • the conveying drive rod 14 is connected to the drive shaft 16 through a first converter 15 and the first converter 15 It is used for the conversion of the transmission direction to convert the rotation of the conveying drive source 13 around the conveying direction into the rotation of the drive shaft 16 around the width direction of the conveying mechanism 1.
  • the drive shaft 16 may be a spline shaft. 16 is inserted into the first conveying component 11 and the second conveying component 12 at the same time, so that the first conveying component 11 and the second conveying component 12 can move synchronously, the synchronization is good, and the stability of the workpiece transmission is ensured.
  • the first conveying assembly 11 includes a first driving seat 111, a first driving sprocket 112, a second driving sprocket 113, a first driven seat 114, and a first driven sprocket. 115.
  • the second driven sprocket 116 and the first chain 117, the first driving seat 111 plays a supporting role, and the first driving sprocket 112 and the second driving sprocket 113 are rotatably arranged on the first driving seat 111,
  • the first driving sprocket 112 is located below the second driving sprocket 113, and the driving shaft 16 passes through the first driving sprocket 112 to drive the first driving sprocket 112 to rotate.
  • the first driven seat 114 plays a supporting role.
  • a first driven sprocket 115 and a second driven sprocket 116 are rotatably arranged on the first driven seat 114.
  • the first driven sprocket 115 is located at the second driven sprocket.
  • Below the driving sprocket 116, the first chain 117 is respectively wound around the first driving sprocket 112, the second driving sprocket 113, the first driven sprocket 115, and the second driven sprocket 116. As shown in FIG.
  • first limit blocks 118 are arranged at intervals along the conveying direction on the outer side of the first chain 117, and first limit slots are provided on the first limit blocks 118, and the first limit slots are used for carrying One end of the workpiece and limit it.
  • the cross section of the first limiting groove is a V-shaped structure.
  • the second conveying assembly 12 includes a second driving seat 121, a third driving sprocket 122, a fourth driving sprocket 123, a second driven seat 124, a third driven sprocket 125, and a second driving sprocket.
  • the second driving seat 121 plays a supporting role.
  • the second driving seat 121 is rotatably provided with a third driving sprocket 122, a fourth driving sprocket 123, and a third driving sprocket.
  • the sprocket 122 is located below the fourth driving sprocket 123, and the driving shaft 16 passes through the third driving sprocket 122 for driving the third driving sprocket 122 to rotate.
  • the second driven seat 124 plays a supporting role.
  • a third driven sprocket 125 and a fourth driven sprocket 126 are rotatably arranged on the second driven seat 124.
  • the third driven sprocket 125 is located on the fourth driven sprocket.
  • the second chain 127 is respectively wound around the third driving sprocket 122, the fourth driving sprocket 123, the third driven sprocket 125, and the fourth driven sprocket 126.
  • second limit blocks 128 are arranged at intervals along the conveying direction.
  • a second limit slot is provided on the second limit block 128.
  • the second limit slot is used to carry the other end of the workpiece and It is limited.
  • the cross section of the second limiting groove is a V-shaped structure.
  • the two ends of the workpiece are respectively supported by the first chain 117 and the second chain 127 and are transported step by step.
  • the first chain 117 and the second chain 127 step forward a preset distance at the same time, and the next workpiece is transported to the robot grab position for waiting.
  • the width adjustment mechanism 2 includes a width adjustment drive source 21 and a width adjustment transmission assembly 22.
  • the width adjustment drive source 21 is specifically an adjustment motor.
  • the width adjustment drive source 21 is arranged along the width direction of the conveying mechanism 1, and the width adjustment drive One end of the assembly 22 is connected to the output end of the width adjustment driving source 21, and the other end is drivingly connected to the first conveying assembly 11 and the second conveying assembly 12 respectively.
  • the width adjustment driving source 21 drives the first conveying assembly 11 through the width adjustment driving assembly 22 And the second conveying assembly 12 move toward or away from each other, so as to realize the position adjustment of the conveying mechanism 1 in the width direction.
  • the width adjustment transmission assembly 22 includes a synchronizer 221, a first transmission rod 222, a first commutator 223, a first bidirectional screw 224, a second transmission rod 225, a second commutator 226, and a second bidirectional screw 227,
  • the output end of the width adjustment driving source 21 is respectively connected to the first transmission rod 222 and the second transmission rod 225 through the synchronizer 221.
  • the synchronizer 221 plays the role of transmission synchronization and direction conversion.
  • the first transmission rod 222 passes through the first reversing
  • the actuator 223 is drivingly connected to the first two-way screw 224.
  • the first commutator 223 is used for rotation in the transmission direction.
  • the first two-way screw 224 penetrates the first and second driving seats 111 and 121 respectively.
  • the direction of rotation of the mating thread between the screw 224 and the first driving seat 111 is opposite to that of the mating thread between the first two-way screw 224 and the second driving seat 121, so that the first driving seat 111 and the second driving seat 121 It can be close or far away at the same time to realize the adjustment of the distance between the two in the width direction.
  • the second transmission rod 225 is connected to the second two-way screw 227 through the second commutator 226.
  • the second commutator 226 is used to rotate in the transmission direction.
  • the second two-way screw 227 is respectively inserted through the first driven seat. 114 and the second driven seat 124, the rotation direction of the matching thread between the second two-way screw 227 and the first driven seat 114 and the rotation direction of the matching thread between the second two-way screw 227 and the second driven seat 124
  • the first driven seat 114 and the second driven seat 124 can be approached or moved away at the same time, so that the distance between the two in the width direction can be adjusted.
  • a first active slider is provided at the bottom of the first active seat 111, and at the bottom of the second active seat 121
  • a second active sliding block is provided, and a first active sliding rail is arranged on the base 4. Both the first active sliding block and the second active sliding block are slidably matched with the first active sliding rail to play a guiding role to ensure The smoothness of the movement of the first active seat 111 and the second active seat 121 in the width direction.
  • a first driven slider is provided at the bottom of the first driven base 114, and the second driven base 114
  • the bottom of the movable seat 124 is provided with a second driven slide
  • a first driven slide is provided on the base 4, and both the first driven slide and the second driven slide slide with the first driven slide
  • the cooperation acts as a guide to ensure the smoothness of the movement of the first driven seat 114 and the second driven seat 124 in the width direction.
  • the conveying device further includes a length adjustment mechanism 5, which is respectively connected to the conveying mechanism 1.
  • the length adjustment mechanism 5 is configured to adjust the length of the conveying mechanism 1 along its conveying direction, thereby realizing the first chain 117 and The tension of the second chain 127.
  • the length adjustment mechanism 5 includes: a connecting rod 51, a connecting block 52, a transmission screw 53 and a length adjustment drive source 54.
  • the length adjustment drive source 54 is specifically a motor or a hand wheel. In this embodiment, the length adjustment drive source 54 is a hand wheel.
  • the output end of the length adjustment drive source 54 is connected to the drive screw 53, which penetrates through the connecting block 52.
  • the connecting block 52 serves as the intermediate connection and the screw nut.
  • the upper part of the connecting block 52 is provided with a clamping slot, which is clamped to the connecting rod 51, and the two ends of the connecting rod 51 are respectively connected to the first driven seat 114 and the second driven seat 124.
  • the length adjustment drive source 54 is a hand wheel.
  • the operator turns the hand wheel to drive the transmission screw 53 to rotate.
  • the connecting block 52 moves along the transmission screw 53 while rotating relative to the transmission screw 53 and passes through the connecting rod 51.
  • the first driven seat 114 and the second driven seat 124 are driven to move, which is used to adjust the length of the first chain 117 and the second chain 127 in the conveying direction, so as to realize the tension of the first chain 117 and the second chain 127 .
  • the chain conveying of the first chain 117 and the second chain 127 is a low-precision conveying method, that is, every time the conveying mechanism 1 performs step-by-step conveying, it theoretically travels a standard preset distance. , And there will be millimeter-level conveying deviations in actual production. Therefore, in order to achieve accurate positioning of the workpiece, the positioning mechanism 3 needs to restrict the three degrees of freedom of the workpiece, that is, the workpiece moves along the conveying direction of the conveying mechanism 1, along the width direction of the conveying mechanism 1, and along the width direction of the conveying mechanism 1. Swing.
  • the positioning mechanism 3 includes a first driving source 31 and a first positioning block 32.
  • the first driving source 31 is specifically a lifting cylinder. 31 is arranged inside the first driven seat 114, and the first driving source 31 can drive the first positioning block 32 to move vertically so that the first positioning block 32 abuts and pushes the workpiece away from the first chain 117 and the first chain 117 of the conveying mechanism 1
  • Two chains 127 are used for positioning the workpiece along the conveying direction of the conveying mechanism 1.
  • the number of the first driving source 31 and the first positioning block 32 are both two, one of the first driving source 31 is arranged on the inner side of the first driven base 114, and the other first driving source 31 is arranged on the inner side of the first driven base 114 The inner side of the second driven seat 124.
  • the output terminal of each first driving source 31 is connected to a first positioning block 32. Under the joint action of the two first positioning blocks 32, it plays a role of stably supporting the workpiece to ensure the accuracy of positioning.
  • the top of the first positioning block 32 is provided with a groove
  • the cross-section of the groove is a V-shaped structure
  • the groove is used for accommodating and supporting the workpiece, ensuring the accuracy of positioning along the conveying direction.
  • the workpiece is transported to the gripping position of the robot with the first limit block 118 on the first chain 117 and the second limit block 128 on the second chain 127 and stops.
  • the first drive source 31 works, and the first drive source 31
  • the first positioning block 32 is driven to rise and the workpiece is separated from the first chain 117 and the second chain 127.
  • the position of the positioning mechanism 3 is fixed in the conveying direction, and in the width direction, it can move with the adjustment of the width of the conveying mechanism 1, so the positioning mechanism 3 can adapt to different types of workpieces while being very good.
  • the degree of freedom of the limit workpiece along the conveying direction because the position of the positioning mechanism 3 is fixed in the conveying direction, and in the width direction, it can move with the adjustment of the width of the conveying mechanism 1, so the positioning mechanism 3 can adapt to different types of workpieces while being very good.
  • the degree of freedom of the limit workpiece along the conveying direction is fixed in the conveying direction, and in the width direction, it can move with the adjustment of the
  • the positioning mechanism 3 further includes a manipulator 33 and a second positioning block 34.
  • the manipulator 33 is specifically a six-axis industrial robot to ensure the flexibility of the manipulator 33 to move and rotate in the spatial direction.
  • the manipulator 33 can drive the second positioning block 34 to move in the direction close to the conveying mechanism 1, so that the second positioning block 34 abuts on the workpiece, and is used to move the workpiece along the width direction of the conveying mechanism 1 and along the width direction of the conveying mechanism 1.
  • the swing is positioned.
  • the second positioning block 34 has an L-shaped structure, one end of the second positioning block 34 can abut against the bottom of the workpiece, and the other end of the second positioning block 34 can abut against the end of the workpiece.
  • the manipulator 33 drives the second positioning block 34 to move toward the end of the workpiece, and one end of the second positioning block 34 abuts against the bottom of the workpiece to lift the workpiece to limit the swing of the workpiece in the conveying width direction.
  • the inner side of the other end of the block 34 abuts against the end of the workpiece, and is used to restrict the movement of the workpiece in the conveying width direction.
  • the positioning mechanism 3 the workpieces are accurately positioned in terms of their respective degrees of freedom.
  • the first driving sprocket 112 is directly driven to rotate through the driving shaft 16, respectively driving the rotation of the second driving sprocket 113, the first driven sprocket 115, and the second driven sprocket 116
  • the third driving sprocket 122 is directly driven to rotate through the drive shaft 16, respectively driving the fourth driving sprocket 123, the third driven sprocket 125, and the fourth driven sprocket 126 to rotate and the first The movement of the two chains 127 to convey the workpiece along the conveying direction;
  • the width adjustment drive source 21 works. Under the transmission action of the width adjustment transmission assembly 22, the first driving seat 111 and the second driving seat 121 can approach or move away at the same time, the first driven seat 114 and The second driven seat 124 can be close to or far away at the same time to realize the synchronous adjustment of the first chain 117 and the second chain 127 in the width direction to adapt to different types of workpieces.
  • the first driving source 31 works, and the first driving source 31 drives the first A positioning block 32 lifts and separates the workpiece from the first chain 117 and the second chain 127 for positioning the workpiece along the conveying direction of the conveying mechanism 1;
  • the manipulator 33 drives the second positioning block 34 to move toward the end of the workpiece through
  • One end of the second positioning block 34 abuts against the bottom of the workpiece to lift the workpiece to limit the swing of the workpiece in the conveying width direction.
  • the inner side of the other end of the second positioning block 34 abuts against the end of the workpiece.
  • This embodiment also provides a production line, including a robot and the above-mentioned conveying device.
  • the conveying device is used for conveying and positioning the workpiece.
  • the robot grabs the conveyed and positioned workpiece from the conveying device and places it in the next process equipment. .
  • the width can be adjusted according to the different sizes of the workpieces by setting the conveying device, the production efficiency is high, and the positioning accuracy is high, thereby improving the quality of the finished workpieces.

Abstract

一种输送装置及生产线，输送装置包括：输送机构（1），输送机构能够承载工件并将其进行输送；宽度调节机构（2），其传动连接于输送机构，根据工件的不同尺寸，宽度调节机构能够驱动输送机构沿输送机构的宽度方向移动，用于调节输送机构的宽度；定位机构（3），定位机构被配置为抵接于工件，以对工件沿输送机构的输送方向移动、沿输送机构的宽度方向的移动及沿输送机构的宽度方向的摆动进行定位。该输送装置通过输送机构、宽度调节机构及定位机构的相互配合，省时省力，节约调节换型时间，提高生产效率，且减少操作人员主观因素的干扰，保证调整定位的稳定性和准确性。

Description

一种输送装置及生产线
本申请要求在2020年3月30日提交中国专利局、申请号为CN202010238559.3的中国专利申请的优先权，该申请的全部内容通过引用结合在本申请中。
技术领域
本公开涉及汽车零件生产制造技术领域，例如涉及一种输送装置及生产线。
背景技术
为改善汽车行驶平顺性，通常把悬架刚度设计得比较低，但这会影响了车行驶稳定性。为此，在悬架系统中采用了稳定杆结构，用来提高悬架侧倾角刚度，减少车身倾角。
在汽车稳定杆的自动化加工线，稳定杆是放在输送线上，各工位机器人从输送线上抓取稳定杆进行加工。这就需要在机器人抓取稳定杆前，对稳定杆进行准确定位，以保证抓取时稳定杆姿态的一致性。在实际生产中，往往一条输送线要兼容几种甚至几十种型号的稳定杆，难以对这些长度、形状不一的稳定杆进行切换和换型。一般在需要换型生产时，通过操作人员去调整工装对稳定杆进行定位，难以保证调整后的稳定性，影响成品质量，且手动调节时间长，会影响生产效率。
发明内容
本公开的目的在于提供一种输送装置及生产线，可以根据工件的不同尺寸调整宽度，生产效率高，且定位精度高，以确保工件姿态的一致性。
为达此目的，本公开采用以下技术方案：
一种实施例，一种输送装置，包括：
输送机构，所述输送机构能够承载工件并将其进行输送；
宽度调节机构，其传动连接于所述输送机构，根据所述工件的不同尺寸，所述宽度调节机构能够驱动所述输送机构沿所述输送机构的宽度方向移动，用于调节所述输送机构的宽度；
定位机构，所述定位机构被配置为抵接于所述工件，以对所述工件沿所述输送机构的输送方向移动、沿所述输送机构的宽度方向的移动及沿所述输送机构的宽度方向的摆动进行定位。
一种实施例提供了一种生产线，包括上述输送装置，通过设置输送装置，可以根据工件的不同尺寸调整宽度，生产效率高，且定位精度高，从而提高成品工件的质量。
附图说明
图1是本公开输送装置的结构示意图；
图2是本公开输送装置中显示第一主动座和第二主动座的结构示意图；
图3是本公开输送装置中显示第一链条和第一链条的结构示意图；
图4是本公开输送装置中显示第一从动座和第二从动座的结构示意图；
图5是本公开输送装置中显示定位机构一个视角的结构示意图；
图6是本公开输送装置中第一驱动源和第一定位块的结构示意图；
图7是本公开输送装置中显示定位机构另一个视角的结构示意图；
图8是本公开输送装置中机械手和第二定位块的结构示意图。
图中：
1、输送机构；2、宽度调节机构；3、定位机构；4、基座；5、长度调节机构；
11、第一输送组件；12、第二输送组件；13、输送驱动源；14、输送传动杆；15、第一转换器；16、驱动轴；
111、第一主动座；112、第一主动链轮；113、第二主动链轮；114、第一从动座；115、第一从动链轮；116、第二从动链轮；117、第一链条；118、第一限位块；
121、第二主动座；122、第三主动链轮；123、第四主动链轮；124、第二从动座；125、第三从动链轮；126、第四从动链轮；127、第二链条；128、第二限位块；
21、宽度调节驱动源；22、宽度调节传动组件；
221、同步器；222、第一传动杆；223、第一换向器；224、第一双向丝杠；225、第二传动杆；226、第二换向器；227、第二双向丝杠；
31、第一驱动源；32、第一定位块；33、机械手；34、第二定位块；
51、连杆；52、连接块；53、传动丝杠；54、长度调节驱动源。
具体实施方式
本实施例提供了一种输送装置，用于汽车零部件稳定杆的生产制造。其中以下工件具体是指稳定杆，不同型号的稳定杆，其长度和形状各不相同。利用链条对工件进行步进输送，当机器人抓取当前一个工件，用于后续对工件的工序处理。随着链条向前步进一个预设距离，链条将下一个工件输送至机器人的抓取位置进行等待。
为了保证能够对不同型号的工件进行输送及精确定位，以供机器人进行精准抓取，如图1所示，该输送装置包括：基座4、输送机构1、宽度调节机构2及定位机构3，在基座4上分别设置有输送机构1、宽度调节机构2及定位机构3，基座4起到了支撑的作用。输送机构1能够承载工件并将其进行输送，输送 机构1的输送方向即为工件的移动方向，输送机构1的输送方向和输送机构1的宽度方向相互垂直设置。输送机构1传动连接于宽度调节机构2，根据工件的不同尺寸，宽度调节机构2能够驱动输送机构1沿输送机构1的宽度方向移动，用于调节输送机构1的宽度。定位机构3被配置为抵接于工件，以对工件沿输送机构1的输送方向移动、沿输送机构1的宽度方向的移动及沿输送机构1的宽度方向的摆动进行定位。
本实施例提供的输送装置，利用输送机构1承载工件并将其进行输送，起到了工件的传输作用。当需要换型生产时，宽度调节机构2能够驱动输送机构1沿输送机构1的宽度方向移动，用于调节输送机构1的宽度，以适应不同型号工件的长度。通过设置定位机构3被配置为抵接于工件，以对工件沿输送机构1的输送方向移动、沿输送机构1的宽度方向的移动及沿输送机构1的宽度方向的摆动定位，定位机构3调整姿态去对工件进行三个自由度的定位，保证工件姿态的一致性，定位准确性好，成品质量高。
通过输送机构1、宽度调节机构2及定位机构3的相互配合，与相关技术人工手动相比，省时省力，节约调节换型时间，提高生产效率，且减少操作人员主观因素的干扰，保证调整定位的稳定性和准确性。
在一种实施例中，如图1所示，输送机构1包括：第一输送组件11、第二输送组件12及输送驱动源13，第一输送组件11、第二输送组件12平行间隔设置，第一输送组件11和第二输送组件12分别承载于工件的两端。输送驱动源13具体为输送驱动电机，输送驱动源13分别传动连接于第一输送组件11和第二输送组件12，输送驱动源13能够驱动第一输送组件11和第二输送组件12移动，以实现将工件沿输送方向进行移动。
输送驱动源13沿输送机构1的输送方向设置，在输送驱动源13的输出端 连接有输送传动杆14，输送传动杆14通过第一转换器15传动连接于驱动轴16，第一转换器15用于传动方向的转换，以将输送驱动源13绕输送方向的转动转换为驱动轴16绕输送机构1宽度方向的转动，在一种实施例中，驱动轴16可为花键轴，驱动轴16同时穿设于第一输送组件11和第二输送组件12，使得第一输送组件11和第二输送组件12能够同步移动，同步性好，保证工件传输的稳定性。
具体地，如图2-4所示，第一输送组件11包括第一主动座111、第一主动链轮112、第二主动链轮113、第一从动座114、第一从动链轮115、第二从动链轮116及第一链条117，第一主动座111起到了支撑的作用，在第一主动座111上转动设置有第一主动链轮112、第二主动链轮113，第一主动链轮112位于第二主动链轮113的下方，驱动轴16穿设于第一主动链轮112，用于驱动第一主动链轮112转动。
第一从动座114起到了支撑的作用，在第一从动座114上转动设置有第一从动链轮115、第二从动链轮116，第一从动链轮115位于第二从动链轮116的下方，第一链条117分别绕设于第一主动链轮112、第二主动链轮113、第一从动链轮115及第二从动链轮116上。如图3所示，在第一链条117的外侧沿输送方向间隔设置有第一限位块118，在第一限位块118上设置有第一限位槽，第一限位槽用于承载工件的一端并对其进行限位。在一种实施例中，第一限位槽的横截面为V形结构。在输送驱动源13的驱动作用下，通过驱动轴16直接驱动第一主动链轮112转动，分别带动第二主动链轮113、第一从动链轮115及第二从动链轮116的转动和第一链条117的移动，以对工件沿输送方向进行输送。
如图2-4所示，第二输送组件12包括第二主动座121、第三主动链轮122、第四主动链轮123、第二从动座124、第三从动链轮125、第四从动链轮126及 第二链条127，第二主动座121起到了支撑的作用，在第二主动座121上转动设置有第三主动链轮122、第四主动链轮123，第三主动链轮122位于第四主动链轮123的下方，驱动轴16穿设于第三主动链轮122，用于驱动第三主动链轮122转动。
第二从动座124起到了支撑的作用，在第二从动座124上转动设置有第三从动链轮125、第四从动链轮126，第三从动链轮125位于第四从动链轮126的下方，第二链条127分别绕设于第三主动链轮122、第四主动链轮123、第三从动链轮125及第四从动链轮126上。在第二链条127的外侧沿输送方向间隔设置有第二限位块128，在第二限位块128上设置有第二限位槽，第二限位槽用于承载工件的另一端并对其进行限位。在一种实施例中，第二限位槽的横截面为V形结构。在输送驱动源13的驱动作用下，通过驱动轴16直接驱动第三主动链轮122转动，分别带动第四主动链轮123、第三从动链轮125及第四从动链轮126的转动和第二链条127的移动，以对工件沿输送方向进行输送。
可以理解的是，在工件的自动化生产线上，工件的两端分别由第一链条117和第二链条127支撑并进行步进输送。当机器人抓取当前工件后，第一链条117和第二链条127同时向前步进一个预设距离，下一个工件被输送至机器人抓取位置进行等待。
当工件需要换型生产时，需要调节输送机构1的宽度以适应不同工件的型号。如图1所示，宽度调节机构2包括宽度调节驱动源21和宽度调节传动组件22，宽度调节驱动源21具体为调节电机，宽度调节驱动源21沿输送机构1的宽度方向设置，宽度调节传动组件22的一端连接于宽度调节驱动源21的输出端，另一端分别传动连接于第一输送组件11和第二输送组件12，宽度调节驱动源21通过宽度调节传动组件22驱动第一输送组件11和第二输送组件12向彼 此靠近或远离的方向移动，从而实现输送机构1在宽度方向上位置调节。
宽度调节传动组件22包括同步器221、第一传动杆222、第一换向器223、第一双向丝杠224、第二传动杆225、第二换向器226、第二双向丝杠227，宽度调节驱动源21的输出端通过同步器221分别连接于第一传动杆222和第二传动杆225，同步器221起到了传动同步和方向转换的作用，第一传动杆222通过第一换向器223传动连接于第一双向丝杠224，第一换向器223用于传动方向的转动，第一双向丝杠224分别穿设于第一主动座111和第二主动座121，第一双向丝杠224和第一主动座111之间配合螺纹的旋向和第一双向丝杠224和第二主动座121之间配合螺纹的旋向相反，使得第一主动座111和第二主动座121可以同时靠近或远离，实现两者之间沿宽度方向的距离调整。
第二传动杆225通过第二换向器226传动连接于第二双向丝杠227，第二换向器226用于传动方向的转动，第二双向丝杠227分别穿设于第一从动座114和第二从动座124，第二双向丝杠227和第一从动座114之间配合螺纹的旋向和第二双向丝杠227和第二从动座124之间配合螺纹的旋向相反，使得第一从动座114和第二从动座124可以同时靠近或远离，实现两者之间沿宽度方向的距离调整。
采用这种方式，可以实现第一链条117和第二链条127沿宽度方向上的同步调整，同步一致性好。当换型生产时，只需要预先设置好相应工件的支撑位置，第一链条117和第二链条127在宽度调节机构2的作用下运动至相应位置即可快速实现生产换型需求。
为了保证第一主动座111和第二主动座121的移动的顺畅性，在一种实施例中，在第一主动座111的底部设置有第一主动滑块，在第二主动座121的底部设置有第二主动滑块，在基座4上设置有第一主动滑轨，第一主动滑块和第 二主动滑块均与第一主动滑轨滑动配合，起到了导向的作用，以保证第一主动座111和第二主动座121沿宽度方向移动的顺滑性。
为了保证第一从动座114和第二从动座124的移动的顺畅性，在一种实施例中，在第一从动座114的底部设置有第一从动滑块，在第二从动座124的底部设置有第二从动滑块，在基座4上设置有第一从动滑轨，第一从动滑块和第二从动滑块均与第一从动滑轨滑动配合，起到了导向的作用，以保证第一从动座114和第二从动座124沿宽度方向移动的顺滑性。
由于在第一链条117和第二链条127的传动过程中，随着输送时间的延长，第一链条117和第二链条127容易出现松动下垂的情况而影响传动效果，为了解决这个问题，如图4所示，输送装置还包括长度调节机构5，长度调节机构5分别连接于输送机构1，长度调节机构5被配置为调节输送机构1沿其输送方向上的长度，从而实现第一链条117和第二链条127的张紧。
具体地，长度调节机构5包括：连杆51、连接块52、传动丝杠53及长度调节驱动源54，长度调节驱动源54具体为电机或手轮等。本实施例长度调节驱动源54为手轮，长度调节驱动源54的输出端连接于传动丝杠53，传动丝杠53穿设于连接块52，连接块52起到了中间连接和丝杠螺母的传动作用，连接块52的上部设置有卡槽，卡槽卡接于连杆51，连杆51的两端分别连接于第一从动座114和第二从动座124。
本实施例长度调节驱动源54为手轮，操作人员转动手轮，驱动传动丝杠53转动，连接块52在相对于传动丝杠53转动的同时沿传动丝杠53移动，并通过连杆51同时带动第一从动座114和第二从动座124移动，用于第一链条117和第二链条127沿输送方向上的长度调节，从而实现第一链条117和第二链条127的张紧。
为实现工件的准确定位，需要对工件的六个自由度都进行限制。如图5所示，首先对工件在输送机构1上实际输送情况进行分析，来判断需要限制其哪几个自由度。工件利用输送机构1的第一限位块118和第二限位块128进行传输。通过第一限位槽和第二限位槽的限制，工件只剩下沿输送宽度方向的移动和摆动，即这两个自由度还没有得到限制。然而在实际生产中，由于第一链条117和第二链条127的链条输送是一种精度不高的输送方式，即每次输送机构1进行步进输送时，理论上是走一个标准预设距离，而实际生产上会有毫米级的输送偏差。因此，为了实现工件准确定位，定位机构3需要对工件的三个自由度进行限制，即工件沿输送机构1的输送方向移动、沿输送机构1的宽度方向的移动及沿输送机构1的宽度方向的摆动。
对于工件沿输送机构1的输送方向移动，如图5-6所示，定位机构3包括第一驱动源31及第一定位块32，第一驱动源31具体为举升气缸，第一驱动源31设置在第一从动座114的内侧，第一驱动源31能够驱动第一定位块32竖直移动，使第一定位块32抵接并推动工件脱离输送机构1的第一链条117和第二链条127，用于对工件沿输送机构1的输送方向的定位。可以理解的是，第一驱动源31和第一定位块32的数量均为两个，其中一个第一驱动源31设置于第一从动座114的内侧，另一个第一驱动源31设置于第二从动座124的内侧。每个第一驱动源31的输出端连接于一个第一定位块32。在两个第一定位块32的共同作用下，起到了对工件的稳定支撑的作用，以保证定位的准确性。
其中，第一定位块32的顶部开设有凹槽，凹槽的截面为V形结构，凹槽用于容纳和支撑工件，保证了沿输送方向定位的准确性。
工件随第一链条117上的第一限位块118和第二链条127上的第二限位块128，传送至机器人抓取位置时停下，第一驱动源31工作，第一驱动源31驱动 第一定位块32升起并将工件脱离第一链条117和第二链条127。然而由于定位机构3的位置在输送方向上是固定的，而在宽度方向上，又能随着输送机构1的宽度的调节而移动，因而定位机构3能在适应不同型号工件的同时，很好的限位工件沿输送方向的自由度。
对于工件另外两个自由度的限制，即沿输送机构1的宽度方向的移动及沿输送机构1的宽度方向的摆动，由于需要适用的工件的型号大约有数十种，不同型号工件的长度及工件末端方向角度都有差异。为此，如图7-8所示，定位机构3还包括机械手33和第二定位块34，机械手33具体为六轴工业机器人，保证机械手33可以在空间方向上移动和转动的灵活性。机械手33能够驱动第二定位块34向靠近输送机构1的方向移动，使得第二定位块34抵接于工件，用于对工件沿输送机构1的宽度方向的移动及沿输送机构1的宽度方向的摆动进行定位。具体地，第二定位块34为L形结构，第二定位块34的一端能够抵接于工件的底部，第二定位块34的另一端能够抵接于工件的端部。
机械手33驱动第二定位块34向工件端部方向移动，通过第二定位块34的一端抵接于工件的底部，以将工件提升，用于限制工件沿输送宽度方向的摆动，通过第二定位块34的另一端的内侧抵接于工件的端部，用于限制工件沿输送宽度方向的移动。在定位机构3的作用下，使得工件在各自由度方面都得到了准确定位。
需要特别说明的是，只需要预先设置好相应工件的末端姿态，调整好机械手33的动作轨迹，当换型生产时即可快速定位好工件，避免传统需要去人工调整定位工装的工作，而且由于机械手33重复定位精度很高，机械手33的精度普遍优于0.1mm，使得这种定位方式很稳定可靠，保证了定位精度，从而提高了成品质量。
本实施例提供的输送装置的工作过程如下：
在输送驱动源13的驱动作用下，通过驱动轴16直接驱动第一主动链轮112转动，分别带动第二主动链轮113、第一从动链轮115及第二从动链轮116的转动和第一链条117的移动，通过驱动轴16直接驱动第三主动链轮122转动，分别带动第四主动链轮123、第三从动链轮125及第四从动链轮126的转动和第二链条127的移动，以对工件沿输送方向进行输送；
当工件需要换型生产时，宽度调节驱动源21工作，在宽度调节传动组件22的传动作用下，第一主动座111和第二主动座121可以同时靠近或远离，第一从动座114和第二从动座124可以同时靠近或远离，实现第一链条117和第二链条127沿宽度方向上的同步调整，以适应不同工件的型号。
工件随第一链条117和第二链条127上的第一限位块118和第二限位块128传送至机器人抓取位置时停下，第一驱动源31工作，第一驱动源31驱动第一定位块32升起并将工件脱离第一链条117和第二链条127，用于工件沿输送机构1的输送方向移动的定位；机械手33驱动第二定位块34向工件端部方向移动，通过第二定位块34的一端抵接于工件的底部，以将工件提升，用于限制工件沿输送宽度方向的摆动，通过第二定位块34的另一端的内侧抵接于工件的端部，用于限制工件沿输送宽度方向的移动。
本实施例还提供了一种生产线，包括机器人和上述输送装置，输送装置用于工件的输送和定位，机器人从输送装置上抓取完成输送和定位的工件并将其放置于下一个工序设备内。本实施例提供的生产线，通过设置输送装置，可以根据工件的不同尺寸调整宽度，生产效率高，且定位精度高，从而提高成品工件的质量。

Claims (10)

  1. 一种输送装置，其中，包括：
    输送机构(1)，所述输送机构(1)能够承载工件并将其进行输送；
    宽度调节机构(2)，其传动连接于所述输送机构(1)，根据所述工件的不同尺寸，所述宽度调节机构(2)能够驱动所述输送机构(1)沿所述输送机构(1)的宽度方向移动，用于调节所述输送机构(1)的宽度；
    定位机构(3)，所述定位机构(3)被配置为抵接于所述工件，以对所述工件沿所述输送机构(1)的输送方向移动、沿所述输送机构(1)的宽度方向的移动及沿所述输送机构(1)的宽度方向的摆动进行定位。
  2. 根据权利要求1所述的输送装置，其中，所述输送机构(1)包括：
    第一输送组件(11)；
    第二输送组件(12)，其与所述第一输送组件(11)平行间隔设置，所述第一输送组件(11)和所述第二输送组件(12)分别承载于所述工件的两端；
    输送驱动源(13)，所述输送驱动源(13)分别传动连接于所述第一输送组件(11)和所述第二输送组件(12)，用于驱动所述第一输送组件(11)和所述第二输送组件(12)的移动。
  3. 根据权利要求2所述的输送装置，其中，所述宽度调节机构(2)包括宽度调节驱动源(21)和宽度调节传动组件(22)，所述宽度调 节传动组件(22)的一端连接于所述宽度调节驱动源(21)的输出端，另一端分别传动连接于所述第一输送组件(11)和所述第二输送组件(12)，所述宽度调节驱动源(21)通过所述宽度调节传动组件(22)驱动所述第一输送组件(11)和所述第二输送组件(12)向彼此靠近或远离的方向移动。
  4. 根据权利要求1所述的输送装置，其中，所述定位机构(3)包括第一驱动源(31)及第一定位块(32)，所述第一驱动源(31)设置于所述宽度调节机构(2)上，所述第一驱动源(31)能够驱动所述第一定位块(32)竖直移动，使所述第一定位块(32)抵接并推动所述工件脱离所述输送机构(1)，用于对所述工件沿所述输送机构(1)的输送方向的定位。
  5. 根据权利要求4所述的输送装置，其中，所述第一定位块(32)的顶部开设有凹槽，所述凹槽的截面为V形结构，所述凹槽用于容纳和支撑所述工件。
  6. 根据权利要求4所述的输送装置，其中，所述定位机构(3)还包括机械手(33)和第二定位块(34)，所述机械手(33)能够驱动所述第二定位块(34)向靠近所述输送机构(1)的方向移动，使得所述第二定位块(34)抵接于所述工件，用于对所述工件沿输送机构(1)的宽度方向的移动及沿输送机构(1)的宽度方向的摆动进行定位。
  7. 根据权利要求6所述的输送装置，其中，所述第二定位块(34)为L形结构，所述第二定位块(34)的一端能够抵接于所述工件的底 部，所述第二定位块(34)的另一端能够抵接于所述工件的端部。
  8. 根据权利要求1所述的输送装置，其中，所述输送装置还包括长度调节机构(5)，所述长度调节机构(5)分别连接于所述输送机构(1)，所述长度调节机构(5)被配置为调节所述输送机构(1)沿其输送方向上的长度。
  9. 根据权利要求8所述的输送装置，其中，所述长度调节机构(5)包括：
    连杆(51)和连接块(52)，所述连杆(51)分别连接于所述输送机构(1)和连接块(52)；
    传动丝杠(53)，其穿设于所述连接块(52)；
    长度调节驱动源(54)，其输出端连接于所述传动丝杠(53)，所述长度调节驱动源(54)能够驱动所述传动丝杠(53)转动，并带动所述连接块(52)和所述连杆(51)移动。
  10. 一种生产线，其中，包括权利要求1-9任一项所述的输送装置。
PCT/CN2021/082999 2020-03-30 2021-03-25 一种输送装置及生产线 WO2021197201A1 (zh)

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