CN108161910B

CN108161910B - Large-scale clutch dish assembly manipulator

Info

Publication number: CN108161910B
Application number: CN201711425203.5A
Authority: CN
Inventors: 李华
Original assignee: Chongqing Houpu Kaiwu Technology Co ltd
Current assignee: Chongqing Houpu Kaiwu Technology Co ltd
Priority date: 2017-12-25
Filing date: 2017-12-25
Publication date: 2020-04-14
Anticipated expiration: 2037-12-25
Also published as: CN108161910A

Abstract

The invention belongs to the field of manipulators, and particularly discloses a large-scale clutch disc assembly assembling manipulator which comprises a vibrating disc, a moving mechanism, a rotating mechanism, a feeding mechanism, a rivet positioning part and a control mechanism, wherein the control mechanism is electrically connected with the moving mechanism, the rotating mechanism and the feeding mechanism. The manipulator can improve the assembly efficiency of the rivet.

Description

Large-scale clutch dish assembly manipulator

Technical Field

The invention relates to the technical field of manipulators, in particular to a large clutch disc assembly assembling manipulator.

Background

Clutches are common components in mechanical transmissions, which allow the transmission system to be disengaged or engaged at any time, and are commonly used in automotive production. The clutch is arranged in a flywheel casing between an engine and a gearbox of the automobile, and a driver can press or release a clutch pedal according to requirements during the running process of the automobile, so that the engine and the gearbox are temporarily separated and gradually jointed to cut off or transmit the power input by the engine to the gearbox. The disc assembly of the clutch needs to be assembled when the automobile clutch is produced, the traditional disc assembly of the clutch is assembled by manually putting dozens of wave-shaped sheets and dozens of small rivets with the diameter of 3-8mm into an assembly of the clutch for riveting, and the speed is slow and dangerous because of a plurality of parts to be assembled and small shapes.

Disclosure of Invention

The invention aims to provide a large-scale clutch disc assembly assembling manipulator which can improve the assembling efficiency of rivets.

In order to achieve the above purpose, the basic scheme of the invention is as follows: the large-scale clutch disc assembly assembling manipulator comprises a vibrating disc, a moving mechanism, a rotating mechanism, a feeding mechanism, a rivet positioning part and a control mechanism, wherein the control mechanism is electrically connected with the moving mechanism, the rotating mechanism and the feeding mechanism; the discharging end of the vibrating disc is communicated with the rivet positioning part, and the moving mechanism comprises an installation support, a ball screw structure and a sliding block; the rivet fixing device is characterized in that a first stepping motor is mounted at the upper end of the mounting support, an output shaft of the first stepping motor is connected with a ball screw structure, the ball screw structure is connected with a sliding block, the sliding block can slide along the ball screw structure, a sliding table cylinder is arranged on the sliding block, a mounting frame is arranged at the output end of the sliding table cylinder, a stripping cylinder is arranged on the mounting frame, the output end of the stripping cylinder is connected with a sucking disc, and the sucking disc can adsorb rivets on the rivet positioning part; the rotary mechanism comprises a dividing head, a signal disc, a positioning disc, a second stepping motor and a die for fixing a workpiece, wherein an output shaft of the second stepping motor is connected with the dividing head, the positioning disc and the signal disc are fixed at the upper end of the dividing head, and the positioning disc can drive the die to rotate; the sucker can move above the positioning plate; feeding mechanism includes workstation, bracket, sliding block, spring and corner cylinder, be equipped with the guide rail on the workstation and impel the cylinder, sliding block and guide rail sliding connection, impel cylinder piston rod and sliding block fixed connection, bracket and sliding block fixed connection, the mould is located the bracket upper end and rotates with the bracket to be connected, be equipped with the spring between bracket and the sliding block, the corner cylinder is fixed on the workstation and the output of corner cylinder is located the bracket upper end.

By adopting the basic scheme, when the manipulator is assembled, the waveform sheet is fixed in the mold. The rivets are placed into a vibratory pan. The vibratory pan vibrates to convey the rivets to the rivet locating portions. At the moment, the control mechanism controls the sliding table cylinder to move, and drives the mounting plate to move downwards to the position above the rivet positioning portion. After the control mechanism controls the stripping air cylinder to drive the sucking disc to move downwards to adsorb the rivet on the sucking disc, the control mechanism controls the first stepping motor to rotate, the first stepping motor rotates to drive the ball screw mechanism to start, the sliding block slides along the ball screw mechanism to drive the mounting bracket to slide, namely, the sliding table air cylinder and the stripping air cylinder which are positioned on the mounting bracket drive the sucking disc to move, and then the rivet is moved to the top of the positioning disc. The control mechanism controls the stripping air cylinder to move downwards, rivets are placed in one hole of the corrugated sheet, then the control mechanism continuously controls the second stepping motor to drive the dividing head to rotate for a certain angle, and the positioning disc is arranged on the dividing head and can rotate along with the rotation of the dividing head, so that the next hole to be machined is rotated below the sucking disc. After the signal panel rotates to a certain angle along with the rotation of the dividing head, the tooth part of the signal panel enables the sensor to sense and rotate in place, signals are transmitted to the control mechanism, the control mechanism controls the sucking disc to continue to place the rivets into the holes to be treated, and the steps are repeated until all the holes of the waveform sheet are placed into the rivets. Then control mechanism control corner cylinder, the corner cylinder output can rotate certain angle when stretching out, makes corner cylinder output shaft no longer with the bracket contact, and the bracket risees and raises the mould under the effect of spring this moment, makes the mould break away from rotary mechanism, and the propulsion cylinder promotes the sliding block and slides along the guide rail, and the sliding block drives the bracket promptly mould and the work piece on the bracket and advances next process and process promptly. The rivet is automatically installed through the manipulator, and compared with the traditional manual installation, the efficiency is improved by 3-5 times.

Further, rivet location portion includes the rivet case, the rivet incasement is equipped with the spout, rivet case upper end is equipped with the slotted hole, slotted hole and spout intercommunication, the slotted hole is located vibration dish discharge end below, the slotted hole is including falling district and two spacing districts, and the width that two spacing districts are located respectively and fall district both ends and spacing district is less than the width in falling district. When the rivets are discharged from the vibrating disk, the rivets fall into the sliding groove through the slotted holes. Because the slotted hole includes the district that falls and two spacing districts, two spacing districts are located the district both ends that fall respectively and the width in spacing district is less than the width in the district that falls, so when the nut one end of rivet was located spacing district, can not be through spacing district, only the shaft-shaped end of rivet can fall earlier promptly, can guarantee like this that the rivet is shaft-shaped end orientation down all the time, makes things convenient for the processing of epilogue.

Further, the vibration dish discharge end is equipped with the blown down tank, the blown down tank discharge end is located the slotted hole top, the blown down tank top is equipped with the pin. The rivet moves to the slotted hole through the blown down tank after the vibration dish ejection of compact. The stop lever can prevent the screw from vertically entering the slotted hole, ensures that the screw can only horizontally enter the slotted hole, and is matched with the slotted hole to ensure that the rivet always has a rod-shaped end facing downwards, thereby facilitating subsequent processing.

Further, the device also comprises a slide bar and an inclined block; two cell walls that the spout is relative articulate respectively has the baffle, keep off the downward sloping setting, the baffle is equipped with the torsional spring with cell wall articulated department, the slide bar stretches into in the cell wall and with cell wall sliding connection, the sloping block is connected with the cell wall free end, the sloping block is located the baffle below, the slide bar lateral part is equipped with the arch, the free end of baffle is located between arch and sloping block. If the rivet is downward in rod-shaped end, the rivet is in the falling process, the rod-shaped end of the rivet is firstly contacted with the inclined block, so that the inclined block slides towards the inner wall direction of the sliding groove, the baffle is driven to rotate, and the rivet can smoothly pass through the sliding groove. If the rivet is arranged with one end of the rivet cap downward, one end of the rivet cap of the rivet can be clamped by the baffle plate in the falling process of the rivet, so that the rivet can not fall and enter the next procedure, the condition that the rod-shaped end faces downward all the time can be ensured, and the subsequent processing is facilitated.

Further, the control mechanism is a PLC controller. The PLC controller is easy to obtain and convenient to operate.

Drawings

FIG. 1 is a schematic structural diagram of a moving mechanism of a manipulator for assembling a large clutch disc assembly according to the invention;

fig. 2 is a schematic structural diagram of a large clutch disc assembly manipulator rotating mechanism of the invention;

FIG. 3 is a schematic structural diagram of a feeding mechanism of a manipulator for assembling a large clutch disc assembly according to the present invention;

FIG. 4 is a schematic structural view of a rivet box of a large clutch disc assembly assembling manipulator of the present invention;

FIG. 5 is a cross-sectional view of the rivet box.

Detailed Description

The present invention will be described in further detail below by way of specific embodiments:

reference numerals in the drawings of the specification include: the device comprises a first stepping motor 11, a ball screw structure 12, a mounting bracket 13, a sliding block 14, a sliding table cylinder 15, a stripping cylinder 16, a suction cup 17, a second stepping motor 21, a positioning disc 22, a signal disc 23, a dividing head 24, a spring 31, a propelling cylinder 32, a guide rail 33, a corrugated sheet 34, a bracket 35, a die 36, a corner cylinder 37, a sliding block 38, a rivet box 51, a falling area 52, a limiting area 53, an inclined block 54, a baffle 55, a protrusion 56 and a sliding rod 57.

The embodiment is substantially as shown in the accompanying figures 1 to 5: the large-scale clutch disc assembly manipulator comprises a vibrating disc, a moving mechanism, a rotating mechanism, a feeding mechanism, a rivet positioning part and a control mechanism, wherein the control mechanism is electrically connected with the moving mechanism, the rotating mechanism and the feeding mechanism; the discharge end of the vibrating disc is communicated with the rivet positioning part, and the moving mechanism comprises a mounting bracket 13, a ball screw structure 12 and a slide block 14; the first step motor 11 is installed at the upper end of the mounting bracket 13, and an output shaft of the first step motor 11 is connected with the ball screw structure 12. The ball screw structure 12 is connected with the sliding block 14, the sliding block 14 can slide along the ball screw structure 12, the sliding block 14 is provided with a sliding table air cylinder 15, the output end of the sliding table air cylinder 15 is provided with a mounting frame, a stripping air cylinder 16 is arranged on the mounting frame, the output end of the stripping air cylinder 16 is connected with a sucking disc 17, and the sucking disc 17 can adsorb rivets on the rivet positioning part; the rotating mechanism comprises an index head 24, a signal disc 23, a positioning disc 22, a second stepping motor 21 and a die 36 for fixing a workpiece, an output shaft of the second stepping motor 21 is connected with the index head 24, the positioning disc 22 and the signal disc 23 are both fixed at the upper end of the index head 24, and the positioning disc 22 can drive the die 36 to rotate; the suction cup 17 can be moved over the puck 22; the feeding mechanism comprises a workbench, a bracket 35, a sliding block 38, a spring 31 and an angle cylinder 37, wherein a guide rail 33 and a propelling cylinder 32 are arranged on the workbench, the sliding block 38 is connected with the guide rail 33 in a sliding manner, a piston rod of the propelling cylinder 32 is fixedly connected with the sliding block 38, the bracket 35 is fixedly connected with the sliding block 38, a die 36 is positioned at the end of the bracket 35 and is rotatably connected with the bracket 35, the spring 31 is arranged between the bracket 35 and the sliding block 38, the angle cylinder 37 is fixed on the workbench, and the output end of the angle cylinder 37 is positioned at the upper end of the bracket 35. The control mechanism is an FX3U-16 MT/DSSS PLC controller.

When the robot is assembled, the corrugated sheet 34 is fixed to the mold 36. The rivets are placed into a vibratory pan. The vibratory pan vibrates to convey the rivets to the rivet locating portions. At this time, the control mechanism controls the sliding table cylinder 15 to move, and drives the mounting plate to move downwards to the upper part of the rivet positioning part. After the control mechanism controls the stripping air cylinder 16 to drive the sucking disc 17 to move downwards to adsorb the rivet on the sucking disc 17, the control mechanism controls the first stepping motor 11 to rotate, the first stepping motor 11 rotates to drive the ball screw mechanism to start, the slide block 14 slides along the ball screw mechanism to drive the mounting bracket 13 to slide, namely, the sliding table air cylinder 15 and the stripping air cylinder 16 on the mounting bracket 13 drive the sucking disc 17 to move, and the rivet is moved to the position above the positioning disc 22. The control mechanism controls the stripping air cylinder 16 to move downwards, rivets are placed in one hole of the corrugated sheet 34, then the control mechanism continuously controls the second stepping motor 21 to drive the dividing head 24 to rotate for a certain angle, and because the positioning disc 22 is arranged on the dividing head 24, the positioning disc 22 can rotate along with the rotation of the dividing head 24, so that the next hole to be machined is rotated below the suction disc 17. After the signal panel 23 rotates to a certain angle along with the rotation of the dividing head 24, the tooth part of the signal panel 23 enables the sensor to sense and rotate in place, and transmits a signal to the control mechanism, the control mechanism controls the suction cup 17 to continuously place the rivet into the hole to be drilled, and the steps are repeated until the rivets are placed into all the holes of the wave-shaped sheet 34. Then the control mechanism controls the corner cylinder 37, the output end of the corner cylinder 37 rotates a certain angle when extending out, so that the output shaft of the corner cylinder 37 is no longer in contact with the bracket 35, at this time, the bracket 35 is lifted up and the die 36 is lifted under the action of the spring 31, so that the die is separated from the rotating mechanism, the propulsion cylinder 32 pushes the sliding block to slide along the guide rail, namely, the sliding block 38 drives the bracket 35, namely the die 36 on the bracket 35, and the workpiece to enter the next process for processing.

In this embodiment, the rivet positioning portion includes a rivet box 51, a chute is provided in the rivet box 51, a slot is provided at an upper end of the rivet box 51, the slot is communicated with the chute, the slot is located below a discharge end of the vibration plate, the slot includes a falling area 52 and two limiting areas 53, the two limiting areas 53 are respectively located at two ends of the falling area 52, and a width of the limiting areas is smaller than a width of the falling area 52. When the rivets are discharged from the vibrating disk, the rivets fall into the sliding groove through the slotted holes. Because the slotted hole includes the district 52 and two spacing districts 53 that fall, two spacing districts 53 are located respectively and fall the district 52 both ends and the width in spacing district is less than the width in the district 52 that falls, so when the nut one end of rivet was located spacing district, can not be through spacing district 53, only the shaft-shaped end of rivet can fall down earlier promptly, can guarantee like this that the rivet is shaft-shaped end orientation down all the time, makes things convenient for the processing of follow-up.

The vibration dish discharge end is equipped with the blown down tank, and the blown down tank discharge end is located the slotted hole top, and the blown down tank top is equipped with the pin. The rivet moves to the slotted hole through the blown down tank after the vibration dish ejection of compact. The stop lever can prevent the screw from vertically entering the slotted hole, so that the screw can only horizontally enter the slotted hole, and the rivet is ensured to be always in a state that the rod-shaped end faces downwards by matching with the slotted hole, thereby facilitating subsequent processing. Also comprises a slide bar 57 and a sloping block 54; two opposite groove walls of the sliding groove are respectively hinged with a baffle 55, the baffle 55 is obliquely arranged downwards, a torsional spring is arranged at the hinged position of the baffle 55 and the groove walls, a sliding rod 57 extends into the groove walls and is in sliding connection with the groove walls, an oblique block 54 is connected with the free end of the groove walls, the oblique block 54 is positioned below the baffle 55, a bulge 56 is arranged at the side part of the sliding rod 57, and the free end of the baffle 55 is positioned between the bulge 56 and the oblique block 54. If the rivet is downward, the rod-shaped end of the rivet contacts the inclined block 54 first during the falling process of the rivet, so that the inclined block 54 slides towards the inner wall of the chute, and the baffle 55 is driven to rotate, so that the rivet can pass through the chute smoothly. If the rivet is arranged with one end of the rivet cap downward, one end of the rivet cap of the rivet can be clamped by the baffle 55 in the falling process of the rivet, so that the rivet can not fall and enter the next working procedure, the condition that the rod-shaped end faces downward all the time can be ensured, and the subsequent processing is convenient.

The foregoing is merely an example of the present invention and common general knowledge of known specific structures and features of the embodiments is not described herein in any greater detail. It should be noted that, for those skilled in the art, without departing from the structure of the present invention, several changes and modifications can be made, which should also be regarded as the protection scope of the present invention, and these will not affect the effect of the implementation of the present invention and the practicability of the patent. The scope of the claims of the present application shall be determined by the contents of the claims, and the description of the embodiments and the like in the specification shall be used to explain the contents of the claims.

Claims

1. Large-scale clutch disk assembly assembles manipulator, its characterized in that: the rivet positioning device comprises a vibrating disc, a moving mechanism, a rotating mechanism, a feeding mechanism, a rivet positioning part and a control mechanism, wherein the control mechanism is electrically connected with the moving mechanism, the rotating mechanism and the feeding mechanism; the discharging end of the vibrating disc is communicated with the rivet positioning part, and the moving mechanism comprises an installation support, a ball screw structure and a sliding block; the rivet fixing device is characterized in that a first stepping motor is mounted at the upper end of the mounting support, an output shaft of the first stepping motor is connected with a ball screw structure, the ball screw structure is connected with a sliding block, the sliding block can slide along the ball screw structure, a sliding table cylinder is arranged on the sliding block, a mounting frame is arranged at the output end of the sliding table cylinder, a stripping cylinder is arranged on the mounting frame, the output end of the stripping cylinder is connected with a sucking disc, and the sucking disc can adsorb rivets on the rivet positioning part; the rotary mechanism comprises a dividing head, a signal disc, a positioning disc, a second stepping motor and a die for fixing a workpiece, wherein an output shaft of the second stepping motor is connected with the dividing head, the positioning disc and the signal disc are fixed at the upper end of the dividing head, and the positioning disc can drive the die to rotate; the sucker can move above the positioning plate; feeding mechanism includes workstation, bracket, sliding block, spring and corner cylinder, be equipped with the guide rail on the workstation and impel the cylinder, sliding block and guide rail sliding connection, impel cylinder piston rod and sliding block fixed connection, bracket and sliding block fixed connection, the mould is located the bracket upper end and rotates with the bracket to be connected, be equipped with the spring between bracket and the sliding block, the corner cylinder is fixed on the workstation and the output of corner cylinder is located the bracket upper end.

2. The large clutch disc assembly assembling robot of claim 1, wherein: rivet location portion includes the rivet case, the rivet incasement is equipped with the spout, rivet case upper end is equipped with the slotted hole, slotted hole and spout intercommunication, the slotted hole is located vibration dish discharge end below, the slotted hole includes the district that falls and two spacing districts, and two spacing districts are located the width that falls district both ends and spacing district respectively and are less than the width in the district that falls.

3. The large clutch disc assembly assembling robot of claim 2, wherein: the vibration dish discharge end is equipped with the blown down tank, the blown down tank discharge end is located the slotted hole top, the blown down tank top is equipped with the pin.

4. The large clutch disc assembly assembling robot of claim 3, wherein: the control mechanism is a PLC controller.