CN104139290A - Mechanical hand device and method for achieving automatic arrangement and assembly - Google Patents
Mechanical hand device and method for achieving automatic arrangement and assembly Download PDFInfo
- Publication number
- CN104139290A CN104139290A CN201410356149.3A CN201410356149A CN104139290A CN 104139290 A CN104139290 A CN 104139290A CN 201410356149 A CN201410356149 A CN 201410356149A CN 104139290 A CN104139290 A CN 104139290A
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- conveyer belt
- suction nozzle
- parts
- mold
- vibrating disk
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/001—Article feeders for assembling machines
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/001—Article feeders for assembling machines
- B23P19/004—Feeding the articles from hoppers to machines or dispensers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
- B25J15/0625—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum provided with a valve
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The invention relates to the technical field of automatic arrangement and assembly, in particular to a mechanical hand device and method for achieving automatic arrangement and assembly. The mechanical hand device comprises a vibration disk, a mold conveyer belt, a mechanical hand, a connecting piece box and a connecting piece box rotating disk. A forward and reverse arrangement component is arranged between the vibration disk and the mold conveyer belt. A photoelectric device is arranged in the front of the mechanical hand. The vibration disk selects parts in two directions from four directions according to asymmetry of the parts to be automatically sent out. A mold with the shape matched with the shape of teeth of the parts is arranged on the mold conveyer belt, the parts with the shape matched with the shape of the teeth of the mold will fall into the mold, and the parts with the shape not matched with the shape of the teeth of the mold in the reverse direction will not be embedded into the mold. The forward and reverse arrangement component can sweep off the parts with the shape not matched with the shape of the teeth of the mold in the reverse direction from the mold conveyer belt, and it is ensured that the parts in the rear of the mold conveyer belt are all in the same direction. The mechanical hand is arranged on the conveyer belt. A pneumatic vacuum suction nozzle is adopted in the mechanical hand for picking up the parts. The photoelectric device can find that the parts arrive and control the mechanical hand to move and grab the parts. The connecting piece box is installed on the connecting piece box rotating disk and is in an inclined open shape, and a floating partition plate is arranged below the connecting piece box. According to the mechanical hand device and method for achieving automatic arrangement and assembly, various thin and small sheet parts are automatically arranged and assembled in a mechanical mode, the cost is low, and efficiency is high.
Description
Technical field
The present invention relates to the robot device of a kind of automatic arranging, assembling, particularly relate to multiple small size, the flat parts robot device of automatic Composition according to the order of sequence, adopt mechanical method can arrange part orientation, self-feeding, do not pick up part recovery, the separation of fine or not part, imperfect part select the several functions such as unified recovery separated, imperfect part, enhance productivity, reduce production costs.
Background technology
Manipulator is in industry-by-industry popularization and applications such as agricultural, automobile, transportation, medical treatment, military affairs.But pick and place tiny, laminar part and various parts is assembled automatically, also there is no at present effective mechanical means, mainly containing difficulty is: (1) is difficult to from 4 directions of part, select needed unique direction by mechanical method, the common employing of vibration feeding can be selected the direction of one large one small taper part, but does not process flat parts; (2) the three lobe chucks that often adopt in manipulator are difficult to capture tiny laminar part; (3) no matter tiny laminar part picks and places, and all needs higher positioning precision; (4) in electron trade, conventionally adopt camera imaging, with the intelligent method of image recognition, finish the work, cost is high.
The three lobe chucks that often adopt in manipulator are not also suitable for tiny laminar part, because three lobe chucks are difficult for clamping, and also wayward in dynamics, excessive tiny flat parts can be crossed finding and be difficult for stepping up because of the stressed excessive waste product that becomes, and easily comes off; Want the small part of taking down clamping nut counter-rotating need to be discharged three lobe chucks of described clamping, be unfavorable for automation processing in enormous quantities, cumbersome and consuming time.If employing magnetic suction disc, can magnetize part, affect the performance in later stage.If employing vacuum cup, because part comparison is tiny, needs higher positioning precision, otherwise cannot hold part.
Summary of the invention
The object of the invention is, the robot device of a kind of automatic arranging, assembling is provided, can rely on hopper to come to feed in raw material for vibrating disk, adopt notched vibrating disk from four direction, to select the part of two directions, adopt the transport tape of belt shape mould from two directions, to select the part of a direction, employing has the vacuum slot of a plurality of suckers to pick and place part, utilizes Pneumatic manipulator to realize and transports complete part to specifying fitting box, automatically damaged part is collected in to scrap heap.
For solving the problems of the technologies described above, the technical scheme that the present invention takes is: involving vibrations dish, mould conveyer belt, manipulator, fitting box and fitting box rotating disk, between vibrating disk and mould conveyer belt, be provided with positive and negative arrangement parts, and before manipulator, be provided with photoelectric device; Described vibrating disk can select the part of 2 directions automatically to send according to the asymmetry of part from 4 directions; Described mould conveyer belt is provided with the mould agreeing with mutually with part profile of tooth, and the part identical with mould profile of tooth can fall into mould, and in the other direction, misfit part with profile of tooth and can not embed mould; Described positive and negative arrangement parts can be by the other direction, misfit part with profile of tooth sweeps from mould conveyer belt, guarantees that mould conveyer belt part is below all in same direction; Described manipulator is provided with on conveyer belt, and manipulator adopts Pneumatic vacuum suction nozzle to pick up part; Described photoelectric device can find that part arrives, and controls robot movement, captures part; Described fitting box is installed on fitting box rotating disk, adopts tiltedly uncovered shape, and divides into float partition.
Described vibrating disk comprises spiral transmission track part, spine's breach rail portion and Linear transmission rail portion.When the breach rail portion of described vibrating disk is placed according to part positive and negative, position of centre of gravity is different, selects the outside feeding of part of both direction from four direction, and the part of another both direction falls back vibrating disk.
The transport tape of described belt shape mould is selected the part of a direction from two directions, and the part of another direction can be swept recovery bin by positive and negative arrangement parts;
Described employing has the vacuum slot of a plurality of suckers to pick and place part, and minimum needs a hole just to be blocked and can pick up part by part, not high to the positioning accuracy request of part;
Described Pneumatic vacuum suction nozzle is provided with on conveyer belt, conveyer belt is by the second support and the first support mounting support, extreme position in the activity of Pneumatic vacuum suction nozzle is provided with fitting box, fitting box is arranged on fitting box rotating disk, and Pneumatic vacuum suction nozzle completes laying of another tiny flat parts when picking up.
Described mould conveyer belt is driven and is rotated by buncher and conveyer belt, below the end of mould conveyer belt, is provided with waste outlet.
Described various parts is by a plurality of vibrating disk feedings, and the collocation of the output of each vibrating disk has this direction rectifying machine structure, Pneumatic vacuum suction nozzle and manipulator, and under the control of computer program, automatic sequential is assembled multiple small size, flat parts;
Each described vibrating disk can multichannel be exported, and mixes corresponding Pneumatic vacuum suction nozzle on Ge road, raises the efficiency;
Described Pneumatic vacuum suction nozzle is directed to single hole position check and correction problem inaccurate and that do not pick up part and is partly provided with a plurality of holes at suction nozzle, as long as having a suction nozzle can hold part just can pick up, less demanding to the position accuracy of Pneumatic vacuum suction nozzle;
According to the gear piece part of described mould conveyer belt screening, control Pneumatic vacuum suction nozzle sequentially stacking a plurality of parts;
According to the breach rail portion of described vibrating disk, according to the position of centre of gravity of part, determine the shape size of breach;
According to described mould conveyer belt material therefor, be transparent, light source generator is arranged on manipulator the place ahead No. one, by photoelectric device, whether receives light source, judges whether part arrives assigned address, controls the motion of a manipulator;
According to described photoelectric device, be placed in conveyer belt end, can find that part arrives, control robot movement, capture part, can not cause the leakage of part grab and cause part to lay upsetting of order;
Compared with prior art, beneficial effect of the present invention is: mould conveyer belt of the present invention can screen positive qualified part, prevents that the part of substandard products and offset from entering next procedure, saves labor; The vacuum slot of Pneumatic vacuum suction nozzle adopts porous setting, and the take-off location of Pneumatic vacuum suction nozzle is not needed to high-precision requirement; Pneumatic vacuum suction nozzle can be inhaled and be put part by vacuum slot, can not have impact to part; The ingenious setting of vibrating disk, can realize 4 of direction and select 2, carries out the Preliminary screening of part; With the transport tape collocation hairbrush of belt shape mould, can from two directions, select one, and can arrange overlapping parts; Solved and be difficult in the past automatically to realize the problem that multiple small size, flat parts are assembled according to the order of sequence, can continuous operation, can enhance productivity and reduce production costs.Present device can be used pure frame for movement, can continuous operation, and can enhance productivity and reduce production costs.
Accompanying drawing explanation
Fig. 1 is the overall structure schematic diagram of apparatus of the present invention embodiment;
Fig. 2 is the structural representation of the vibrating disk of apparatus of the present invention embodiment;
Fig. 3 is the structural representation of the mould conveyer belt of apparatus of the present invention embodiment;
Fig. 4 is the partition feed status schematic diagram of apparatus of the present invention embodiment;
Fig. 5 is the gear piece feed status schematic diagram of apparatus of the present invention embodiment;
Fig. 6 is the structural representation of the first manipulator of apparatus of the present invention embodiment;
Fig. 7 is the structural representation of the second manipulator of apparatus of the present invention embodiment;
Fig. 8 is the partition of apparatus of the present invention embodiment view that drops;
Fig. 9 is the normal feed status schematic diagram of the partition of apparatus of the present invention embodiment;
Figure 10 is the gear piece of apparatus of the present invention embodiment view that drops;
Figure 11 is the normal feed status schematic diagram of the gear piece of apparatus of the present invention embodiment;
Figure 12 is a manipulator workflow schematic diagram of apparatus of the present invention embodiment;
Figure 13 is No. two manipulator workflow schematic diagrames of apparatus of the present invention embodiment;
In the drawings,
1, vibrating disk; 2, positive and negative arrangement parts; 3, overlapping arrangement parts; 4, Pneumatic vacuum suction nozzle; 5, a manipulator; 6, mould conveyer belt; 7, conveyer belt; 8, the second support; 9, fitting box; 10, fitting box rotating disk; 11, waste outlet; 12, the first support; 13, buncher; 14, conveyer belt; 15, partition; 16, gear piece; 17, side plate; 18, flow control member; 19, position adjustment block; 20, No. two manipulators; 21, light source generator; 22, photoelectric device.
The specific embodiment
For two kinds of small sizes, flat parts, as gear piece, partition, by a slice gear piece a slice partition fixed-direction, automatically take dress multiple small size, the flat parts robot device of automatic Composition is according to the order of sequence described.In conjunction with Fig. 1-Figure 11, for enforcement structural representation of the present invention, described robot device comprises the vibrating disk of automatic material taking, screen the mould conveyer belt 6 of arranging tiny flat parts and the Pneumatic vacuum suction nozzle 4 that picks up part, between vibrating disk 1 and mould conveyer belt 6, be provided with positive and negative arrangement parts 2, on mould conveyer belt 6, be provided with overlapping arrangement parts 3; Described vibrating disk comprises spine's breach rail portion; Described mould conveyer belt 6 is provided with the mould of the specific profile of tooth of part, can be according to selecting the part of 1 direction, the screening again of travel direction in 2 directions of asymmetry of part; At described Pneumatic vacuum suction nozzle 4, be provided with on conveyer belt 7, conveyer belt 7 is by the second support 8 and the first support 12 mounting supports, extreme position in 4 activities of Pneumatic vacuum suction nozzle is provided with fitting box 9, fitting box 9 is arranged on fitting box rotating disk 10, and Pneumatic vacuum suction nozzle 4 completes laying of another tiny flat parts when picking up; Described vibrating disk 1 can be selected the part of 2 directions from 4 directions according to the asymmetry of part, carry out the Preliminary screening of part, and the part that does not meet direction requirement can fall back vibrating disk automatically; In the situation of 2 described vibrating disks 1, can multichannel export, on Ge road, mix corresponding Pneumatic vacuum suction nozzle 4, raise the efficiency; Described Pneumatic vacuum suction nozzle 4 is provided with a plurality of suckers, only need to have a hole just to be blocked and can pick up part by part, not high to the positioning accuracy request of part, controls the operation range of Pneumatic manipulator.
The robot device of automatic arranging of the present invention, assembling, relates to multiple small size, the flat parts robot device of automatic Composition according to the order of sequence.It comprises: two hoppers, two vibrating disks, two mould conveyer belts, two suction nozzle main bodies, a plurality of small cylinder, a plurality of air extractor, a plurality of rolling hairbrush etc.
Wherein, vibrating disk includes vibrating device, track, flow control member 17 and position adjustment block 18, track is divided into circular-arc, linearity, tiny spine breach, three sections of tracks are connected, the 3rd section of track---tiny spine indentation, there is provided with specific breach, this breach draws this given shape and size by practice many times, when the positive conveying of part (gear piece or dividing plate), part does not drop by tiny indentation, there, otherwise in falling back vibrating disk, tiny indentation, there again carries, according to the asymmetry of part, from the part of 4 directions, select the part of 2 directions, carry out the Preliminary screening of part, be used for carrying out positive and negative arrangement, be arranged on the flow control member 17 on the first circular-arc track, can in time outside delivery track, move, make the narrowed width of this section of delivery track, even only can be for single material by position adjustment block 18, while adjustable position adjustment block 18, change the spacing of track, make the part seam with track edge by position adjustment block 18 abreast.By flow control member 17, position adjustment block 18 two procedures, can make part single and be parallel to track and pass through, be convenient to the arrangement of tiny carinate breach track place, rear positive and negative.
Each manipulator adopts 1 small cylinder, 2 suction nozzle disc main bodies, small cylinder horizontal positioned.
Manipulator is arranged on whole device sidewall 16, original state: No. 1 suction nozzle disc main body is positioned at partition dress and send and be with, and No. 2 suction nozzle disc main body is on conveyer belt.
The piston of selected two bar cylinders is all with and is magnetic, and can use supporting magnetic switch as checkout gear.According to the operation principle of this class magnetic switch, when cylinder piston moves, piston turnover magnetic switch position, magnetic switch will be exported different switching value signals, realizes manipulator control.
Arm-and-hand system has 4 magnetic switch and produces position signalling, amounts to 4 Position input output signals.2 switches are set, for starting and anxious stopping; 2 output ports, the break-make of 2 magnetic valves of control.
Vacuum slot 4 comprises the sucker mouth of holder, vacuum tube, soft rubber, and vacuum tube, through holder, is positioned at holder below, and vacuum tube is fixedly connected with the sucker mouth of below again.Pneumatic vacuum suction nozzle is provided with a plurality of suckers, only need to have a hole just to be blocked and can pick up part by part, not high to the positioning accuracy request of part;
Vacuum slot 4 is connected with the support on two telescopic cylinders of vertically placing by the screwed hole on holder.Suction nozzle disc main body is connected with air extractor by vacuum tube, when picking up tiny flat parts, air extractor is bled and is made the inner negative pressure that forms of suction nozzle disc main body, is close to the suction nozzle dish of soft rubber comprehensively, and then is adsorbed on the sucker mouth of soft rubber by the tiny flat parts of air pressure official post; When arriving appointment fitting box, air extractor changes bleeds as blowing, and tiny flat parts is separated with sucker mouth under little wind-force, is placed in fitting box.It is flat work pieces, small part that this device has solved tiny flat parts, is difficult for the rear difficult point that is difficult for disengaging of gripping and absorption.
Fitting box 9 is placed on suction nozzle disc main body extreme position, for realizing when a tiny platy part picks up, completes laying of another tiny flat parts, the minimizing time, enhances productivity.
Fitting box 9 adopts tiltedly uncovered shape, and divides into float partition, is set to the internal diameter hollow pipeline more bigger than part, but not solid column.Often put into can automatically the sink thickness of corresponding part of part, while making to place part, can not dance in the air and wave, also do not need the core bar that adopts positioning precision high, reduce required precision;
Described vibrating disk comprises spiral transmission track part, spine's breach rail portion and Linear transmission rail portion.When the breach rail portion of described vibrating disk is placed according to part positive and negative, position of centre of gravity A is different, selects the outside feeding of part of both direction from four direction, and the part of another both direction falls back vibrating disk.
Manipulator control system has gets back to two kinds of former dot pattern, automatic operational modes.
Getting back to initial point mode capabilities is: press initial point button next time, telescopic cylinder is got back to retraction extreme position, and small cylinder turns back to retraction extreme position, and air extractor decommissions;
Automatic mode function is: get back to after former point operation completing, press automatic button and can realize continuous operation cycle, after pressing stop button, manipulator will just stop after 1 operation cycle, get back to reset position.
In conjunction with Figure 12, it is the concrete implementing procedure of apparatus of the present invention
Step 1: adjust the position of running water part, position adjustment block, reduce and change track, make part be delivered to elongated carinate gap segments rail portion by the single track that is parallel to successively;
Step 2: vibrating disk is through the processing in early stage, realizing workpiece (gear piece or partition) monolithic slowly carries, when workpiece (gear piece or partition) passes through elongated carinate breach track with front, workpiece is normally carried, when workpiece (gear piece or partition) passes through elongated carinate breach track with reverse side, workpiece (gear piece or partition), under the effect of vibrating disk vibrating device, falls in vibrating disk from elongated carinate breach, again carries; Heads workpiece (gear piece or partition) enters conveyer belt by the positive and negative arrangement of elongated carinate breach;
Step: 3: workpiece (gear piece or partition) is carried after certain distance on conveyer belt, the overlapping arrangement section that enters rolling hairbrush, realizes workpiece (gear piece or partition) monolithic on conveyer belt and carries.
Step 4: partition arrives assigned address, photoelectric device is responded to and is sent signal, and a suction nozzle disc main body changes blows as air-breathing, picks up partition;
Step 5: No. one manipulator is received instruction, magnetic valve is opened, and small cylinder extends to the limit, touches magnetic switch, small cylinder stop motion;
Step 6: it is air blowing that a suction nozzle disc main body changes air-breathing, and placement partition is on conveyer belt; Meanwhile, gear piece arrives assigned address, and photoelectric device is responded to and sent signal, and No. two suction nozzle disc main bodies change blows as air-breathing, picks up gear piece;
Step 7: magnetic valve disconnects, and small cylinder is contracted to original state, touching is positioned over the magnetic switch of original state, a manipulator stop motion;
Step 8: No. two suction nozzle disc main bodies change and air-breathingly for blowing, gear piece are positioned on conveyer belt, and a suction nozzle disc main body changes blows as air-breathing, picks up partition; Skip to step 5, so circulation;
Step 9: conveyer belt moves to conveyer belt afterbody by workpiece (partition 15, gear piece 16) simultaneously, No. two magnetic valve is opened, and small cylinder extends to the limit, touches magnetic switch, closed electromagnetic valve, No. two manipulator stop motions are to extension limit; Suction nozzle disc main body changes blows as air-breathing, picks up part:
Step 10: magnetic valve is opened, and small cylinder is contracted to the limit, touches magnetic switch, closed electromagnetic valve, No. two manipulator stops at original state; Suction nozzle disc main body changes air-breathing for blowing, and places partition or gear piece in fitting box 10;
Step 11: repeatedly circulation step 9,10.
Claims (10)
1. an automatic arranging, assembling device, it is characterized in that: involving vibrations dish (1), mould conveyer belt (6), manipulator (5), fitting box (9) and fitting box rotating disk (10), between vibrating disk (1) and mould conveyer belt (6), be provided with positive and negative arrangement parts (2), before manipulator, be provided with photoelectric device (22).
2. automatic arranging according to claim 1, assembling device, is characterized in that: described vibrating disk (1) comprises the track with spine's breach.
3. automatic arranging according to claim 1, assembling device, is characterized in that: described mould conveyer belt (6) is provided with the mould of part profile of tooth, according to the asymmetric performance of part, from both direction, selects a direction.
4. automatic arranging according to claim 1, assembling device, it is characterized in that: described Pneumatic vacuum suction nozzle (4) is provided with on conveyer belt (7), conveyer belt (7) is by the second support (8) and the first support (12) mounting support, the extreme position movable at Pneumatic vacuum suction nozzle (4) is provided with fitting box (9), it is upper that fitting box (9) is arranged on fitting box rotating disk (10), and Pneumatic vacuum suction nozzle (4) completes laying of another tiny flat parts when picking up.
5. automatic arranging according to claim 1, assembling device, it is characterized in that: described vibrating disk (1) can be selected according to the asymmetry of part the part of 2 directions from 4 directions, carry out the Preliminary screening of part, the part that does not meet direction requirement can fall back vibrating disk (1) automatically, each vibrating disk (1) is provided with multichannel output, mixes corresponding Pneumatic vacuum suction nozzle (4) on Ge road.
6. automatic arranging according to claim 1, assembling device, is characterized in that: Pneumatic vacuum suction nozzle (4) is provided with a plurality of suckers, only need to have part hole just to be blocked and can pick up part by part, not high to the positioning accuracy request of part.
7. automatic arranging according to claim 1, assembling device, is characterized in that: by the part of mould conveyer belt (6) screening, control manipulator (5) various parts is sequentially stacked.
8. automatic arranging according to claim 1, assembling device, is characterized in that: the breach rail portion of described vibrating disk (1), according to the position of centre of gravity of part (partition, gear piece), is determined the shape size of breach.
9. automatic arranging according to claim 1, assembling device, it is characterized in that: fitting box has float partition under (9), often put into the part thickness of the corresponding part of sinking automatically, while making to place part, can not dance in the air and wave, do not need the core bar that adopts positioning precision high, reduce required precision yet.
10. automatic arranging, assembly method, is characterized in that,
Step 1: adjust the position of running water part, position adjustment block, reduce and change track, make part be delivered to elongated carinate gap segments rail portion by the single track that is parallel to successively;
Step 2: vibrating disk is through the processing in early stage, realizing workpiece monolithic slowly carries, when workpiece passes through elongated carinate breach track with front, workpiece is normally carried, when workpiece passes through elongated carinate breach track with reverse side, workpiece, under the effect of vibrating disk vibrating device, falls in vibrating disk from elongated carinate breach, again carries; Heads workpiece enters conveyer belt by the positive and negative arrangement of elongated carinate breach;
Step: 3: workpiece is carried after certain distance on conveyer belt, the overlapping arrangement section that enters rolling hairbrush, realizes workpiece (gear piece or partition) monolithic on conveyer belt and carries;
Step 4: partition arrives assigned address, photoelectric device is responded to and is sent signal, and a suction nozzle disc main body changes blows as air-breathing, picks up partition;
Step 5: No. one manipulator is received instruction, magnetic valve is opened, and small cylinder extends to the limit, touches magnetic switch, small cylinder stop motion;
Step 6: it is air blowing that a suction nozzle disc main body changes air-breathing, and placement partition is on conveyer belt; Meanwhile, gear piece arrives assigned address, and photoelectric device is responded to and sent signal, and No. two suction nozzle disc main bodies change blows as air-breathing, picks up gear piece;
Step 7: magnetic valve disconnects, and small cylinder is contracted to original state, touching is positioned over the magnetic switch of original state, a manipulator stop motion;
Step 8: No. two suction nozzle disc main bodies change and air-breathingly for blowing, gear piece are positioned on conveyer belt, and a suction nozzle disc main body changes blows as air-breathing, picks up partition; Skip to step 5, so circulation;
Step 9: conveyer belt is by workpiece motion s to conveyer belt afterbody simultaneously, and No. two magnetic valve is opened, and small cylinder extends to the limit, touches magnetic switch, closed electromagnetic valve, No. two manipulator stop motions are to extension limit; Suction nozzle disc main body changes blows as air-breathing, picks up part;
Step 10: magnetic valve is opened, and small cylinder is contracted to the limit, touches magnetic switch, closed electromagnetic valve, No. two manipulator stops at original state; Suction nozzle disc main body changes air-breathing for blowing, and places partition or gear piece in fitting box 10;
Step 11: repeatedly circulation step 9,10.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410356149.3A CN104139290B (en) | 2014-07-18 | 2014-07-18 | A kind of automatic arranging, the method for assembling |
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| CN106425471A (en) * | 2016-12-06 | 2017-02-22 | 江苏理工学院 | Automatic assembly production line of screws, plastic sheets and fan heat pipe assemblies |
| CN109352293A (en) * | 2018-08-13 | 2019-02-19 | 厦门强力巨彩光电科技有限公司 | The manipulator automatic production line of LED display mould group |
| CN109516133A (en) * | 2019-01-08 | 2019-03-26 | 慈溪宏康汽车零部件有限公司 | Pneumatic device and processing workpiece method for the partition of conveyer belt workpiece |
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| CN104139290B (en) | 2017-08-29 |
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