CN109230389A - Multichannel combined type straight-line oscillation Transmission system - Google Patents
Multichannel combined type straight-line oscillation Transmission system Download PDFInfo
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- CN109230389A CN109230389A CN201810744087.1A CN201810744087A CN109230389A CN 109230389 A CN109230389 A CN 109230389A CN 201810744087 A CN201810744087 A CN 201810744087A CN 109230389 A CN109230389 A CN 109230389A
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- Prior art keywords
- manipulator
- multichannel
- charging tray
- transmission system
- combined type
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Classifications
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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
- B65G47/02—Devices for feeding articles or materials to conveyors
- B65G47/16—Devices for feeding articles or materials to conveyors for feeding materials in bulk
- B65G47/18—Arrangements or applications of hoppers or chutes
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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
- 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
- B65G17/12—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 comprising a series of individual load-carriers fixed, or normally fixed, relative to traction element
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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
- B65G27/00—Jigging conveyors
- B65G27/04—Load carriers other than helical or spiral channels or conduits
-
- 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
- B65G47/248—Devices influencing the relative position or the attitude of articles during transit by conveyors orientating the articles by turning over or inverting them
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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
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
- B65G47/912—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers provided with drive systems with rectilinear movements only
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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
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
- B65G47/915—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers provided with drive systems with rotary movements only
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of multichannel combined type straight-line oscillation Transmission systems, are related to pose adjustment and feeding device based on round pie part.The Transmission system develops the device of a set of automation pose adjustment and feeding for round pie part based on existing manipulator and round pie part machining production line.Round pie part may include nut, the bushing of retarder and spring base etc., and this kind of part needs all to be sent into a correct posture to process before feeding.The system includes elevating mechanism, feed bin, oscillating feeder, optoelectronic switch assembly, overturning peace shifting manipulator, research and development to manipulator and ancillary equipment co-operating control system, the synchronization action for realizing manipulator and ancillary equipment, facilitates manipulator to the adjustment of part and puts.Compared with prior art, the parallel quick arrangement that the present invention can reduce production cost, realize round pie part solves the problems, such as that Job Scheduling is difficult in process, replaces the working method of manual alignment.
Description
Technical field
The present invention relates to the pose adjustment of industrial production automation round pie part and feeding device technical fields, especially
It is related to multichannel combined type straight-line oscillation Transmission system.
Background technique
With the rapid development and production-scale expansion of industry, the degree of industrial automation is also higher and higher.It is producing
On assembly line, the arrangement of round pie part and feeding are a crucial rings therein, it be responsible for part according to specific posture and
Scale is placed in required region, to complete the carrying of part.
The prior art is broadly divided into artificial and two kinds of automation, numerous using the bad environments of manual alignment mode, task amount
Weight, work repeat dull.Presently, there are some automation alignment apparatus can realize and pass large quantities of unordered parts using vibration
Row is input into arrange and send out in an orderly manner.But these equipment can not carry out some features detection of part simultaneously, or can
It detects part feature, such as the detection of part defect and front and back sides, pose adjustment cannot be carried out according to processing request；These
Equipment generally requires to be adjusted and process again to next station.In this way sub-station carry out needing to design two sets it is different plus
Construction equipment and fixture, high production cost, while transmission between station and clamping may cause the accumulative of error, in addition divide
Station is also led to inefficiency.
A kind of Transmission system for being combined into one round pie arrangements of components and pose adjustment is needed at present, the system energy
Unordered part is arranged, and is sent out according to specific process requirements, the processing after being is prepared；For example it is processing
Before some certain surface, by all parts with the face-up submitting, to process.Require equipment mechanical by control simultaneously
Hand and ancillary equipment can carry out the operation of a collection of part simultaneously, and mode of operation simultaneously and concurrently is greatly improved Transmission system
Working efficiency.
Summary of the invention
Goal of the invention: aiming at the deficiencies in the prior art, the object of the present invention is to provide a kind of multichannel combined types
Straight-line oscillation Transmission system facilitates adjustment and pendulum of the manipulator to part to realize the synchronization action of manipulator and ancillary equipment
It puts.
Technical solution: multichannel combined type straight-line oscillation Transmission system, comprising:
Feed bin, including feed bin ontology, direct current generator and perturbation mechanism, this body sidewall of feed bin are provided with discharge port, direct current generator
It is connected with perturbation mechanism；
Elevating mechanism is magazine feed when round pie parts count is less than setting value in feed bin；Including storage tank, lead
Rail, the chain being mounted in guide rail, guide rail are hung on feed bin, and storage tank is connect with chain；
Multichannel charging tray, including sliding way, changeover portion and glide path；The interchannel of charging tray is parallel to each other；Sliding way is under
Slideway is parallel, and changeover portion is between sliding way and glide path；
The feed end of oscillating feeder, oscillating feeder is connect with feed bin, and feeding side is connected with multichannel charging tray；Vibration
Batcher includes shock-absorbing footing, support flat spring, pedestal, electromagnet, charging tray, armature；Charging tray is mounted on the base, vibration damping bottom
Foot is evenly distributed on four endpoint locations of pedestal, and support flat spring and pedestal inclination connect, the upper half of electromagnet and pedestal
Point affixed, the lower half portion of armature and pedestal is affixed, keeps electromagnet opposite with the outer surface of armature, and electromagnet and armature it
Between there are gaps for being attracted；
Turning manipulator, number are consistent with charging tray port number, including double-rod cylinder, connecting plate, rotation pneumatic clamper,
Hold assembly；One end of double-rod cylinder is fixed on the end of Transmission system, and the other end is connect to drive connecting plate to do with connecting plate
Stretching motion, rotation pneumatic clamper are fixed on connecting plate side by side, and hold assembly is connected to the end of rotation pneumatic clamper；
Translate manipulator, number is identical with charging tray port number, be mounted on multichannel charging tray glide path top, respectively with
Multiple channels of charging tray are corresponding, including clamping jaw, pneumatic-finger, double-rod cylinder, piston and rodless cylinder, clamping jaw and pneumatic-finger
Connection, double-rod cylinder provide lifting and landing for translation manipulator vertical direction, and piston is made straight line on rodless cylinder and transported back and forth
It is dynamic, round pie part is transferred on the conveyer belt by slideway from slideway and is sent out；
Optoelectronic switch assembly is mounted on the front end of translation manipulator, carries out the front and back sides detection of part, including multiple groups light
Electric transducer, arrester, arrester are mounted below photoelectric sensor；
Control system, including programmable controller PLC；The vibrating controller of oscillating feeder；Arrester, tipper
The cylinder and solenoid valve of tool hand peace shifting manipulator behavior；The signal output end of photoelectric sensor；Wherein vibrating controller, PLC
And each solenoid valve is installed in control cabinet, the gas path pipe of solenoid valve is connected with the outlet, inlet mouth of each cylinder, solenoid valve
Electric signal be connected to the output port of PLC, photoelectric sensor is connected to the input port of PLC as input signal.
Round pie part is divided into multichannel after multichannel charging tray and moves on, when part reaches optoelectronic switch assembly
The front and back sides detection of part is carried out, multichannel can be detected and be operated simultaneously.
Arrester is mounted on the lower section of photoelectric sensor, including double-rod cylinder and stop screw.When turning manipulator or
When person's translation manipulator operates part, arrester is effective, and the part and the part on slideway below are separated；When
After translation manipulator clamping part is lifted out slideway submitting, arrester is lifted, and next part is allowed to pass through.
The sliding way of multichannel charging tray is a horizontal plane, enters the part exported from oscillating feeder with horizontality
Slideway.
Glide path be a horizontal plane, the end of the glide path in each channel between be all provided with rectangular slot, in order to
Turning manipulator moves up across slideway and clamps part.
Changeover portion is an arc section, can occur overturning to avoid workpiece, collide and lead to asking for kinetic energy forfeiture and card resistance
Topic.
Turning manipulator hold assembly is that two panels material is stainless steel rectangular piece, posts increase on the inside of rectangular sheet and rubs
The sand paper wiped power, prevent part from falling off.
Optoelectronic switch assembly utilizes the difference of part front and back sides bumps, to detect the front and back sides of part.By photoelectric sensor
To switching signal of the distance as photoelectric sensor of part upper surface, the positive and negative surface state of part is identified with this difference.
The clamping jaw for translating manipulator is triangle clamping jaw, clamps the circumferentially spaced about of cake object by three contact surfaces
For 120 degree of three points, the stability clamped with guarantee.
Working principle: the present invention provides a set of multichannel high-efficient rate automation pose adjustment and upper for round pie part
The device of material, round pie part include the bushing and spring base of nut, retarder.To manipulator and ancillary equipment co-operating
The research and development of control system, for production and processing demand develop an orientation ordering system, realization manipulator and ancillary equipment it is same
Step movement, facilitates manipulator to the adjustment of part and puts.
Transmission system is first magazine feed by elevating mechanism, is driven in feed bin and is disturbed by control motor rotation after feed
The rotation of motivation structure, part are flowed out from discharge port in the case where constantly stirring, are sent into oscillating feeder, when number of parts in charging tray
When enough, motor stops working, and feed bin is no longer fed.Part is divided into after multichannel charging tray more after oscillating feeder
Road moves on, and the front and back sides detection of part is carried out when part reaches optoelectronic switch assembly, multiple channels can be examined simultaneously
It surveys and operates to save the time, detection, which finishes, will test result and be transmitted to PLC, and PLC assigns instruction to turning manipulator, for court
To incorrect part, the hold assembly of turning manipulator advances, so that the upper surface of the lower rectangular sheet of hold assembly touch zero
Clamp blocks behind part lower surface drive part to be pulled away from slideway completely, and part is detached from the ramp surface of multichannel charging tray, and carries out
180 degree overturning, advances after overturning and sends part back to, and turning manipulator resets；Move down will be on channel for translation manipulator later
Part pick up simultaneously after lift and sent out from the conveyer belt that slideway is transferred to by slideway, and so on.The present invention can reduce
Production cost, the parallel quick arrangement for realizing round pie part, solve the problems, such as that placing part is bothersome laborious in process,
Replace the working method of manual alignment.
The utility model has the advantages that compared with prior art, the invention has the following advantages that (1) structure is simple, low in cost, environment
It is adaptable；(2) device of a set of automation of multichannel high-efficient rate pose adjustment and feeding is developed for round pie part,
An orientation ordering system is developed for production and processing demand, the synchronization action of manipulator and ancillary equipment is realized, facilitates machinery
Hand is to the adjustment of part and puts；It can be realized parallel quick arrangement and the automatic orientation of workpiece of round pie part, no
Need transmission device, without fretting wear between component, without lubrication, feeding is steady, replaces the working method of manual alignment；(3)
Efficiency and machining accuracy are high, instead of the working method of the manual alignment of current domestic mainstream, improve oneself in entire production process
Dynamicization degree reduces the labor intensity of staff during this.
Detailed description of the invention
Fig. 1 is vibration Transmission system structure total figure；
Fig. 2 is mechanism schematic view of the mounting position；
Fig. 3 is elevating mechanism schematic diagram；
Fig. 4 is feed bin schematic diagram；
Fig. 5 is oscillating feeder schematic diagram；
Fig. 6 is turning manipulator schematic diagram；
Fig. 7 is translation manipulator schematic diagram；
Fig. 8 is optoelectronic switch assembly schematic diagram；
Fig. 8-1 is the arrester schematic diagram of optoelectronic switch assembly；
Fig. 9 is four-way charging tray schematic diagram；
Figure 10 is PLC circuit elementary diagram；
Figure 11 is the action flow chart of Transmission system；
Figure 12 is pneumatic system loop diagram.
Specific embodiment
The present invention is multichannel combined type straight-line oscillation Transmission system, below by taking four-way pipe transmission system as an example, to specific
Embodiment is described in detail, and invention is not limited to four-way pipe transmission system.
As shown in Figure 1 and Figure 2, straight-line oscillation Transmission system of the present invention includes: turning manipulator 1, translates manipulator 2, light
Electric switch unit 3, four-way charging tray 4, oscillating feeder 5, control cabinet 6, feed bin 7 and elevating mechanism 8.Oscillating feeder 5 passes through
Screw is mounted in horizontal aluminium profiles frame as shown in Figure 1, and aluminum profile uses the standard component of 30mm*30mm, horizontal aluminum section frame
Frame is having a size of 1600mm*300mm.The feeding side of oscillating feeder 5 is welded with three pieces of stainless Steel vertical plates, to separate material path.Vibration
Batcher 5 and four-way charging tray 4 are welded to connect.Four translation manipulators 2 are corresponding with four channels of charging tray respectively, are mounted on
On vertical aluminium profiles frame above the glide path of four-way charging tray 4, turn for being lifted after picking up the part overturn from slideway
It moves on on the conveyer belt by slideway and sends out, vertical aluminium profiles frame size is 200mm*600mm*450mm, and translation manipulator 2 includes
Two linear motion freedom degrees.Optoelectronic switch assembly 3 is mounted on the truss of translation 2 front end of manipulator, to detect part
Front and back sides.Four turning manipulators 1 are mounted on the end of horizontal aluminum profile, respectively with four corresponding, turning mechanicals of channel holding
The hold assembly of hand is carried out to 1.25 times that charging tray ways-end distance is diameter of part part is pulled out ramp surface
Overturning.Turning manipulator 1 includes a linear motion freedom degree and a rotary freedom.
Control system is integrated in control cabinet 6, control system includes the vibration of programmable controller PLC, oscillating feeder
Controller, arrester, photoelectric sensor, turning manipulator peace move the cylinder and solenoid valve of manipulator behavior.Wherein vibrate
Controller controls the amplitude of oscillating feeder, frequency to meet the orientation ordering requirements of workpiece；The gas path pipe of solenoid valve and each
The outlet, inlet mouth of cylinder is connected, and the electric signal end of solenoid valve is connected to the output port of PLC, and photoelectric sensor is as input letter
Number it is connected to the input port of PLC.The perturbation mechanism rotation in feed bin is driven by control motor rotation after powering on, makes part
It flows out, is sent into oscillating feeder from discharge port.Photoelectric sensor will test signal by 4 input oral instructions when positive and negative detection
To programmable controller PLC, PLC is issued at operational order to turning manipulator after being differentiated, handled according to detection signal,
Turning manipulator is not moved work according to instruction area.The movement of each cylinder is complete with its preamble association cylinder movement in working cycles
It is enabling signal at signal, the commencing signal of circulation is only determined by manual switch and photo-sensor signal.The control of each cylinder
14 delivery outlets of signal wire and PLC processed connect, and by controlling solenoid valve control cylinder, are required with meeting commutation, speed regulation etc..
Strong antijamming capability, high reliablity, failure rate are low by the way of PLC control, and hardware configuration workload is small.
Before 5 station of oscillating feeder, elevating mechanism 8 and feed bin 7 be installed, elevating mechanism 8 is by large quantities of parts to be processed
It is transported in feed bin 7 from ground, when parts count is less than setting value in feed bin 7, is fed by elevating mechanism 8, reaches setting
Stop feed after value, it can be achieved that primary high-volume feed meets process requirements, if manually directly to the material of oscillating feeder 5
Disk charging then takes time and effort.
As shown in figure 3, elevating mechanism 8 includes storage tank 8-1, guide rail 8-2, chain 8-3.Guide rail 8-2 hangs over feed bin 7
The vertical segment length of side wall, guide rail 8-2 is consistent with the height of feed bin 7.Storage tank 8-1 and chain 8-3 is solid using mechanical connection
It is fixed, do not occur to slide relatively, chain 8-3 is mounted in the medial launder of guide rail 8-2.When part deficiency in feed bin, by being manually
Storage tank 8-1 feed, issues then to PLC and instructs, and drives chain 8-3 rotation by direct current generator, while storage tank 8-1 rises,
When rising to vertex, part is poured into feed bin 7 downwards by the outlet storage tank 8-1, and direct current generator drives chain 8-3 again will storage
Batch can 8-1 is down to bottom, realizes feed repeatedly.
As shown in figure 4, feed bin 7 includes feed bin ontology 7-1, discharge port 7-2, direct current generator 7-3 and perturbation mechanism 7-4.Material
Storehouse ontology 7-1 is having a size of 200mm*200mm*400mm, and inside is designed to that inverted conical shape, conical sidewall are provided with discharge port 7-2, out
The size of material mouth is 1.2 times of part dimension, and the channel of discharge port is connected to oscillating feeder 5 in sliding board-type.Feed bin ontology 7-
1 bottom is provided with through-hole, and direct current generator 7-3 is joined with bolts by a stabilizer blade of connecting plate and feed bin ontology 7-1,
So that motor shaft is stretched out through-hole, and perturbation mechanism 7-4 is installed in the upper end of axis, disturbance machine is driven by control motor 7-3 rotation
Structure 7-4 rotation, part are flowed out from discharge port 7-2 in the case where constantly stirring, are sent to oscillating feeder 5, when in oscillating feeder 5
When number of parts is enough, motor stops working, and feed bin 7 is no longer fed.
As shown in figure 5, oscillating feeder 5 includes shock-absorbing footing 5-1, support flat spring 5-2, pedestal 5-3, electromagnet 5-
4, charging tray 5-5, armature 5-6.Whole height 320mm, wherein charging tray 5-5 is having a size of 600mm*200mm*14mm, using stainless steel
Material is welded.Charging tray 5-5 is mounted on pedestal 5-3 by two pieces of support flat spring 5-2, two pieces of support flat spring 5-2 rulers
It is very little consistent with material, having a size of 130mm*20mm*100mm, base dimensions 500mm*150mm*80mm.Shock-absorbing footing 5-1
For rubber material, for absorbing the useless vibration generated in work, to reduce the vibration of 5 ontology of oscillating feeder to system
The influence of other parts, four pillar shock-absorbing footing diameter 28mm, the height 30mm that this system uses.Charging tray is relied on after energization
Interaction between the actuation of electromagnet 5-4 and armature 5-6 below 5-5, and support flat spring 5-2 generates vibration, makes
Part parabolically bounds forward in charging tray 5-5.The parameter of oscillating feeder is set as weight 45kg in this system, work
The inclination angle voltage 220V, vibration frequency 3000 times/min, amplitude 1.5mm, available power 60w, rated current 0.4A, charging tray 5-5 is
2 degree.Part is divided into multichannel after being sent by oscillating feeder 5 to multichannel charging tray 4 and moves on.
As shown in fig. 6, the structure of turning manipulator 1 includes double-rod cylinder 1-1, connecting plate 1-2, pneumatic clamper 1-3, folder are rotated
Hold component 1-4.One end of double-rod cylinder 1-1 is fixed on the end of Transmission system, and the other end is connect with connecting plate 1-2 to drive
Connecting plate does stretching motion, and rotation pneumatic clamper 1-3 is fixed on side by side on connecting plate 1-2, and hold assembly 1-4 is connected to rotation pneumatic clamper
End, hold assembly dehisce distance be slightly larger than part thickness.Wherein double-rod cylinder and the mounting height of connecting plate one
It causes.
Four channels respectively correspond four rotation pneumatic clamper 1-3, and each rotation pneumatic clamper can be controlled separately, the model of use
MRHQ16D-180S, two refer to spacing 20.9mm when expansion, and two refer to spacing 14.9mm when clamping.Every rotation pneumatic clamper uses two
Two five-way electromagnetic valves control the clamping and rotation of pneumatic clamper respectively.The end of manipulator is hold assembly 1-4, and hold assembly is
Two panels material posts sand paper having a size of 50mm*16mm*1.5mm for stainless steel rectangular piece on the inside of rectangular sheet, in clamping zero
Part upper and lower end face prevents part from falling off with increasing friction force when being overturn.When installation under hold assembly 1-4 rectangular sheet it is upper
Surface should be slightly below the glide path horizontal plane of four-way charging tray 4.Rotation pneumatic clamper 1-3, rotation is bolted in hold assembly 1-4
Turning pneumatic clamper may be reversed 180 degree.Four rotation pneumatic clampers are uniformly separately fixed on connecting plate 1-2, are located at they and four channels
Accurately to clamp on same center line.Double-rod cylinder 1-1 model TDA TN20-50, cylinder stroke 50mm provides overturning
The horizontal direction of manipulator 1 moves forward and backward.After PLC sends overturning instruction, double-rod cylinder 1-1 ventilation, for towards not
The hold assembly 1-4 of correct part, turning manipulator 1 advances, so that the upper surface of the lower rectangular sheet of hold assembly 1-4 is pasted
Firmly Clamp blocks behind part lower surface drive part to be pulled away from slideway completely, and part is detached from the ramp surface of four-way charging tray 4, and
180 degree overturning is carried out, advances after overturning and sends part back to, turning manipulator resets.
As shown in fig. 7, translation manipulator 2 includes triangle clamping jaw 2-1, pneumatic-finger 2-2, double-rod cylinder 2-3, piston
2-4, rodless cylinder 2-5, air inlet 2-6, gas outlet 2-7.Triangle clamping jaw 2-1 shares two panels stainless steel substrates, wherein a piece of be
Rectangle, having a size of 50mm*16mm*1.5mm, another is fork-shaped, between being clamped on the circumference of cake object by three contact surfaces
It is divided into 120 degree of three points.Pneumatic-finger 2-2 is bolted in triangle clamping jaw 2-1, and pneumatic-finger 2-2 uses MHZ2-
32D type finger cylinder, two refer to spacing 48mm when expansion, and clamping is two finger spacing 26mm.It is controlled using two five-way electromagnetic valves
It clamps or is unfolded.Double-rod cylinder 2-3 model TDA TN20-50, cylinder stroke 50mm, provide translation 2 Vertical Square of manipulator
To lift and land.Piston 2-4 makees straight line back and forth movement on rodless cylinder 2-5, and part is transferred to by slideway from slideway
Conveyer belt on, determine that the model CY1S20H-300 of rodless cylinder, stroke are according to channel width and relative dimensions
300mm.By the commutation of solenoid valve control air inlet 2-6 and gas outlet 2-7 to realize back and forth movement.When translation, translation is mechanical
Hand is moved down first by four parts while being lifted after picking up and sends out from the conveyer belt that slideway is transferred to by slideway, multiple after submitting
Position.
As shown in Fig. 8, Fig. 8-1, optoelectronic switch assembly 3 is mounted on the truss of the front end of translation manipulator 2, to examine
Survey the front and back sides of part.Optoelectronic switch assembly 3 includes multiple groups photoelectric sensor 3-1, arrester 3-2, arrester 3-2 peace
Below photoelectric sensor 3-1, every group of photoelectric sensor is fixed by U-shaped hole with aluminum profile, and the end of arrester is lower than
The upper surface of part.Wherein arrester includes double-rod cylinder 3-2-1 and stop screw 3-2-2.Every group of photoelectric sensor passes through
U-shaped hole is fixed with aluminum profile, and sensor connecting piece, which is bolted, to be fixed on gantry.Photoelectric sensor is in parallel channels
Position on direction can be finely adjusted by U-shaped hole, the position on vertical channel direction can be adjusted by connector with
Alignment channel center, height and position can be finely adjusted by itself screw thread.It, will using the difference of part front and back sides bumps degree
Photoelectric sensor to part upper surface switching signal of the distance as photoelectric sensor, when part faces up, photoelectric transfer
Sensor has been detected as part；It is more than photoelectric transfer at a distance from photoelectric sensor since reverse side is recessed when part reverse side is upward
The detection range of sensor, therefore detect without part；Knowledge of the photoelectric sensor to the positive and negative surface state of part may be implemented with this difference
Not.Arrester 3-2 realizes the obstruction to part on slideway, since gravity factor assembles part in multichannel charging tray end,
It needs to realize the ordered movement of part by the cooperation of arrester and translation manipulator 2, turning manipulator 1.Specifically, when
When operating to part, arrester 3-2 is effective for turning manipulator 1 or translation manipulator 2, by the part with slide below
Part on road separates；After translation manipulator 1, which clamps the part, is lifted out slideway submitting, arrester 3-2 is lifted, and is permitted
Perhaps next part passes through, and so on.Photoelectric sensor selects model E3F-DS30C4, working power range 6-36V,
Detecting distance is farthest up to 300mm.Arrester executes movement by double-rod cylinder 3-2-1.According to part thickness 18mm, and adopt
Part generally adopted principle is purchased, determines that cylinder stroke is 30mm.For convenience of processing and installing, stop screw 3-2-2 uses M4*40mm
Button-headed bolt.It altogether include four groups of stop screws, every group contains two stop screws, and the distance between two screws are part
The 2/3 of diameter, to ensure to block part.
As shown in figure 9, four-way charging tray 4 includes sliding way 4-1, changeover portion 4-2 and glide path 4-3, the interchannel of charging tray
It is parallel to each other, sliding way 4-1 is parallel with glide path 4-3, and wherein sliding way 4-1, changeover portion 4-2 and glide path 4-3 are welding
Connection, and ensure weld smooth and seamless gap.It is provided with a rectangular slot in the end middle position in each channel, in order to
Turning manipulator passes through slideway to clamp part.When part reaches end, although intermediate fluting, two sides still can be by slot two
The slideway of side supports, and guarantees that part is not fallen off.
Oscillating feeder 5 and four-way charging tray 4 are welded to connect, the equivalent width of four-way charging tray, and every channel width is big
It in diameter of part, while need to prevent from leading to part Caton because self-locking again, it is diameter of part that charging tray width is chosen after experiment
1.125 times, as 45mm, interchannel is parallel to each other the charging tray width that this system is set.For entrance and the vibration for making four-way charging tray 4
The height of the feeding side outlet of dynamic batcher 5 is consistent, and charging tray is propped with aluminum profile, liftoff 250mm.Part and stainless steel
Coefficient of friction between plate is between 0.18-0.36, and to guarantee that part can smoothly slide slideway, feeding disk gradient inclination angle is
30 degree.Wherein sliding way 4-1 is a horizontal plane, it is ensured that the part exported from oscillating feeder 5 enters cunning with horizontality
Road, horizontal length 86.5mm is two part size length, and too short will lead to of the length passes because of part from oscillating feeder 5
Ramp is directly entered after out, cause it is possible that part the problem of overturning or being tumbled from slideway；It can be because if too long
The problem of frictional force causes the forfeiture of workpiece kinetic energy excessive and is trapped in plane on slideway.Changeover portion 4-2 is sliding way 4-1 under
The coupling part of slideway 4-3 uses radius of curvature to design for the changeover portion of 50mm, in this way it is possible to prevente effectively from workpiece turns over
It covers, collide the problem of leading to kinetic energy forfeiture and card resistance.Glide path 4-3 is also a horizontal plane, in order to optoelectronic switch assembly 3
Detection to workpiece front and back sides, horizontal length 84mm, about two part size length.Such design length both can be appropriate
The relative position of kind arrangement photoelectric sensor 3-1, arrester 3-2, translation manipulator 2 and turning manipulator 1；It again can be with
It avoids the problem that manipulator crawl position can not be arrived at because workpiece kinetic energy is caused to be lost excessively for frictional force.The end of glide path
Length 42mm, the slot 4-4 of width 18mm are provided between in each channel, all in order to which turning manipulator 1 is moved up across slideway
To clamp part.When part reaches end, although intermediate fluting, two sides can still be supported by the slideway of through slot two sides, guarantee
Part is not fallen off.
As shown in figs. 10,11 and 12, this system uses Omron CH1H series of PLC, has 18 output ports,
24 input ports can be realized the communication and debugging function of Windows System Programming using USB and RS232C serial ports.This
Invention uses direct-acting electromagnetic valve, and the commutation of change-over valve core progress gas circuit is pushed using electromagnetic force.Using two-position five-way direct acting
The solenoid electric valve of formula spring reset.Concrete model 4V210-08DC24V controls its connecting and disconnecting of the circuit using PLC.
The job order of Transmission system are as follows:
Provide that all devices are in default original state when 0 moment, in the initial dress state of default, the cylinder of arrester 3-2
3-2-1 piston is in stretching state, claims arrester effective at this time；The rodless cylinder 2-5 of translation manipulator 2 is located at right side, i.e.,
The top of charging tray glide path 4-3, double-rod cylinder 2-3 piston are in stretching state, and pneumatic-finger 2-2 is in clamped condition；Overturning
The double-rod cylinder 1-1 piston of manipulator 1 is in contraction state, and rotation pneumatic clamper 1-3 is in 0 ° of state of default, and clamping jaw is loose state.Zero
Part comes out from oscillating feeder charging tray 5-5, and glide path 4-3 plane is moved under gravity, is blocked device 3-2 obstruction.
At 0 moment, system boot.First translate manipulator double-rod cylinder 2-3 piston rod shrink, pneumatic-finger 2-2 with
Rising；The piston of the double-rod cylinder 1-1 of turning manipulator stretches out simultaneously, rotation pneumatic clamper 1-3 insertion charging tray glide path 4-3's
Position.
At 1 moment, the cylinder 3-2-1 piston of arrester 3-2 is withdrawn, and arrester is invalid, and part enters charging tray downslide
Road 4-3 plane, until at rotation pneumatic clamper 1-3 claw；The rodless cylinder 2-5 of translation manipulator is moved to left to conveyer belt.At this
In the process, part can pass through the detection zone of photoelectric sensor 3-1, and part status signal is inputted PLC by photoelectric sensor 3-1.
At 2 moment, arrester 3-2 is again switched off, while rotating pneumatic clamper 1-3 according to PLC output signal to reversed part
It is clamped, positive part is not operated.Translate manipulator double-rod cylinder 2-3 piston rod stretch out, pneumatic-finger 2-2 with
Decline.
At 3 moment, rotation pneumatic clamper 1-3 is pulled away from charging tray slideway by the piston retraction of the double-rod cylinder 1-1 of turning manipulator
Surface；The finger cylinder 2-2 of translation manipulator loosens, and on a moving belt by part release, first circulation can be unloaded.
At 4 moment, the rotation pneumatic clamper 1-3 of turning manipulator rotates 180 degree；Translate the double-rod cylinder 2-3 piston of manipulator
Bar is shunk, and pneumatic-finger 2-2 rises with it again.
At 5 moment, the double-rod cylinder 1-1 of turning manipulator stretches out, the position of rotation pneumatic clamper 1-3 insertion charging tray glide path 4-3
It sets；The rodless cylinder 2-5 of translation manipulator is moved to right to glide path 4-3.
At 6 moment, the rotation pneumatic clamper 1-3 of turning manipulator discharges part, and part falls on the surface glide path 4-3.
At 7 moment, the piston rod of the double-rod cylinder 1-1 of turning manipulator is shunk again；Unloaded rotation pneumatic clamper 1-3 quilt
It is pulled away from slipway location.
At 8 moment, the double-rod cylinder 2-3 piston rod for translating manipulator stretches out, and pneumatic-finger 2-2 declines therewith；Just turn over
180 ° of rotation pneumatic clamper 1-3 is turned over to reset.
At 9 moment, pneumatic-finger 2-2 four parts good to inverted arrangement for translating manipulator are grabbed.So far one
A complete job circulation is over, i.e., will enter next working cycles.
It as shown in figure 11, is the action flow chart of Transmission system, label therein is consistent with the label in Figure 10.
As shown in figure 12, pneumatic system circuit is mainly concerned with the direction control circuit using single control valve, is changed by automatically controlled
To controlling the direction of motion of cylinder.
Claims (9)
1. a kind of multichannel combined type straight-line oscillation Transmission system, it is characterised in that: include:
Feed bin (7), including feed bin ontology (7-1), direct current generator (7-3) and perturbation mechanism (7-4), described this body sidewall of feed bin are opened
Have discharge port (7-2), the direct current generator (7-3) is connected with perturbation mechanism (7-4)；
Elevating mechanism (8) is fed when the interior round pie parts count of feed bin (7) is less than setting value for feed bin (7)；Including storing
Tank (8-1), guide rail (8-2), the chain (8-3) being mounted in guide rail (8-2), the guide rail (8-2) hang on feed bin (7), institute
Storage tank (8-1) is stated to connect with chain (8-3)；
Multichannel charging tray (4), including sliding way (4-1), changeover portion (4-2) and glide path (4-3)；The interchannel phase of the charging tray
It is mutually parallel；The sliding way (4-1) is parallel with glide path (4-3), and the changeover portion (4-2) is located at sliding way (4-1) and glides
Between road (4-3).
The feed end of oscillating feeder (5), the oscillating feeder (5) is connect with feed bin (7), feeding side and multichannel charging tray
(4) it is connected；The oscillating feeder (5) includes shock-absorbing footing (5-1), support flat spring (5-2), pedestal (5-3), electromagnet
(5-4), charging tray (5-5), armature (5-6)；The charging tray (5-5) is mounted on pedestal (5-3), and shock-absorbing footing (5-1) uniformly divides
Cloth pedestal (5-3) four endpoint locations, support flat spring (5-2) and pedestal (5-3) inclination connect, electromagnet (5-4) with
The top half of pedestal (5-3) is affixed, and armature (5-6) and the lower half portion of pedestal (5-3) are affixed, makes the outer of electromagnet and armature
Surface is opposite, and there are gaps for being attracted between electromagnet and armature；
Turning manipulator (1), number is consistent with charging tray port number, including double-rod cylinder (1-1), connecting plate (1-2), rotation
Turn pneumatic clamper (1-3), hold assembly (1-4)；One end of double-rod cylinder (1-1) is fixed on the end of Transmission system, the other end and company
To drive connecting plate to do stretching motion, rotation pneumatic clamper (1-3) is fixed on side by side on connecting plate (1-2) for fishplate bar (1-2) connection, is clamped
Component (1-4) is connected to the end of rotation pneumatic clamper；
Translate manipulator (2), number is identical with charging tray port number, be mounted on multichannel charging tray (4) glide path top, respectively with
Multiple channels of charging tray are corresponding, including clamping jaw (2-1), pneumatic-finger (2-2), double-rod cylinder (2-3), piston (2-4) and without bar
Cylinder (2-5), clamping jaw (2-1) are connect with pneumatic-finger (2-2), and double-rod cylinder (2-3) provides translation manipulator vertical direction
It lifts and lands, piston (2-4) makees straight line back and forth movement on rodless cylinder (2-3), and round pie part is transferred to from slideway
It is sent out on conveyer belt by slideway；
Optoelectronic switch assembly (3) is mounted on the front end of translation manipulator (2), carries out the front and back sides detection of part, including multiple groups light
Electric transducer (3-1), arrester (3-2), the arrester (3-2) are mounted below photoelectric sensor (3-1)；
Control system, including programmable controller PLC；The vibrating controller of oscillating feeder；Arrester, turning manipulator and
Translate the cylinder and solenoid valve of manipulator behavior；The signal output end of photoelectric sensor；Wherein vibrating controller, PLC and each
Solenoid valve is installed in control cabinet, and the gas path pipe of solenoid valve is connected with the outlet, inlet mouth of each cylinder, the electric signal of solenoid valve
End is connected to the output port of PLC, and photoelectric sensor is connected to the input port of PLC as input signal.
2. multichannel combined type straight-line oscillation Transmission system according to claim 1, it is characterised in that: the round pie zero
Part is divided into multichannel after multichannel charging tray (4) and moves on, and the positive and negative of part is carried out when part reaches optoelectronic switch assembly
Face detection, multiple channels can be detected and be operated simultaneously.
3. multichannel combined type straight-line oscillation Transmission system according to claim 1, it is characterised in that: the arrester
It is mounted on the lower section of photoelectric sensor, including double-rod cylinder and stop screw.
4. multichannel combined type straight-line oscillation Transmission system according to claim 1, it is characterised in that: the multichannel material
The sliding way of disk (4) is a horizontal plane, and the part exported from oscillating feeder is made to enter slideway with horizontality.
5. multichannel combined type straight-line oscillation Transmission system according to claim 1, it is characterised in that: the glide path is
One horizontal plane, the end of the glide path in each channel between be all provided with rectangular slot, worn in order to which turning manipulator moves up
Slideway is crossed to clamp part.
6. multichannel combined type straight-line oscillation Transmission system according to claim 1, it is characterised in that: the changeover portion
(4-2) is an arc section, can occur overturning to avoid workpiece, collide the problem of leading to kinetic energy forfeiture and card resistance.
7. multichannel combined type straight-line oscillation Transmission system according to claim 1, it is characterised in that: the turning mechanical
Hand hold assembly is that two panels material is stainless steel rectangular piece, and increasing friction force is posted on the inside of rectangular sheet, prevents part from falling off
Sand paper.
8. multichannel combined type straight-line oscillation Transmission system according to claim 1, it is characterised in that: the optoelectronic switch
Component utilizes the difference of part front and back sides bumps, using distance the opening as photoelectric sensor of photoelectric sensor to part upper surface
OFF signal identifies the positive and negative surface state of part with this difference.
9. multichannel combined type straight-line oscillation Transmission system according to claim 1, it is characterised in that: the translation is mechanical
The clamping jaw of hand is triangle clamping jaw, and circumferentially spaced about three points for being 120 degree of cake object are clamped by three contact surfaces, with
Guarantee the stability of clamping.
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| CN201810744087.1A CN109230389B (en) | 2018-07-09 | 2018-07-09 | Multichannel combined type straight-line oscillation Transmission system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810744087.1A CN109230389B (en) | 2018-07-09 | 2018-07-09 | Multichannel combined type straight-line oscillation Transmission system |
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| CN109230389B CN109230389B (en) | 2019-11-12 |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110270424A (en) * | 2019-06-20 | 2019-09-24 | 浙江双金机械集团股份有限公司 | A kind of vibrating screen for sand processed |
| CN111776683A (en) * | 2020-07-31 | 2020-10-16 | 河北力准机械制造有限公司 | Feeding mechanism of compressor piston |
| CN111872627A (en) * | 2020-07-20 | 2020-11-03 | 常州市常蒸制冷科技有限公司 | Full-automatic copper aluminum pipe apparatus for producing |
| CN112607378A (en) * | 2020-11-20 | 2021-04-06 | 珠海格力智能装备有限公司 | Incoming material positioning and overturning mechanism for large handle on right side of air conditioner outdoor unit |
| CN112877556A (en) * | 2021-01-12 | 2021-06-01 | 南通鑫祥锌业有限公司 | Zinc alloy flat belt with radian and processing technology thereof |
| EP4023573A1 (en) | 2020-12-30 | 2022-07-06 | VÚTS, a.s. | Feeder of oval parts and a method of feeding oval parts performed by this feeder |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111872627A (en) * | 2020-07-20 | 2020-11-03 | 常州市常蒸制冷科技有限公司 | Full-automatic copper aluminum pipe apparatus for producing |
| CN111776683B (en) * | 2020-07-31 | 2021-06-22 | 河北力准机械制造有限公司 | Feeding mechanism of compressor piston |
| CN111776683A (en) * | 2020-07-31 | 2020-10-16 | 河北力准机械制造有限公司 | Feeding mechanism of compressor piston |
| CN112607378A (en) * | 2020-11-20 | 2021-04-06 | 珠海格力智能装备有限公司 | Incoming material positioning and overturning mechanism for large handle on right side of air conditioner outdoor unit |
| EP4023573A1 (en) | 2020-12-30 | 2022-07-06 | VÚTS, a.s. | Feeder of oval parts and a method of feeding oval parts performed by this feeder |
| CZ309965B6 (en) * | 2020-12-30 | 2024-03-13 | VÚTS, a.s. | A feeder of oval parts and a method of feeding oval parts performed by this feeder |
| CN112877556A (en) * | 2021-01-12 | 2021-06-01 | 南通鑫祥锌业有限公司 | Zinc alloy flat belt with radian and processing technology thereof |
| CN115159038A (en) * | 2022-08-13 | 2022-10-11 | 上海射磁探伤机制造有限公司 | Bolt conveying mechanism |
| CN115159038B (en) * | 2022-08-13 | 2024-04-05 | 上海射磁探伤机制造有限公司 | Bolt conveying mechanism |
| CN115367396A (en) * | 2022-09-01 | 2022-11-22 | 苏州襄行智能科技有限公司 | Medical needle head sheath loading equipment |
| CN115367396B (en) * | 2022-09-01 | 2023-12-05 | 苏州襄行智能科技有限公司 | Medical needle sheath feeding equipment |
| CN117142126A (en) * | 2023-11-01 | 2023-12-01 | 河南氢璞创能科技有限公司 | Bipolar plate bonding feeding mechanism for hydrogen fuel cell production |
| CN117142126B (en) * | 2023-11-01 | 2024-01-26 | 河南氢璞创能科技有限公司 | Bipolar plate bonding feeding mechanism for hydrogen fuel cell production |
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| CN109230389B (en) | 2019-11-12 |
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