CN109230389B - Multichannel combined type straight-line oscillation Transmission system - Google Patents
Multichannel combined type straight-line oscillation Transmission system Download PDFInfo
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- CN109230389B CN109230389B CN201810744087.1A CN201810744087A CN109230389B CN 109230389 B CN109230389 B CN 109230389B CN 201810744087 A CN201810744087 A CN 201810744087A CN 109230389 B CN109230389 B CN 109230389B
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- Prior art keywords
- manipulator
- round pie
- charging tray
- multichannel
- glide path
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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
-
- 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
-
- 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 relate to
And 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 set
It is standby to generally require to be adjusted and process again to next station.Sub-station, which carries out needing to design two sets of different processing, in this way sets
Standby and fixture, high production cost, while transmission between station and clamping may cause the accumulative of error, in addition sub-station into
Row also leads to inefficiency.
A kind of Transmission system for being combined into one round pie arrangements of components and pose adjustment is needed at present, which can incite somebody to action
Unordered part is arranged, and is sent out according to specific process requirements, and the processing after being is prepared；For example processing some
Before certain surface, by all parts with the face-up submitting, to process.Equipment is required to pass through control manipulator and auxiliary simultaneously
Help equipment that can carry out the operation of a collection of part simultaneously, mode of operation simultaneously and concurrently is greatly improved the work effect of Transmission system
Rate.
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；Vibrate to
Material machine includes shock-absorbing footing, support flat spring, pedestal, electromagnet, charging tray, armature；Charging tray is mounted on the base, and shock-absorbing footing is equal
Even four endpoint locations for being distributed in pedestal, support flat spring and pedestal inclination connect, and the top half of electromagnet and pedestal is solid
Connect, the lower half portion of armature and pedestal is affixed, it is opposite with the outer surface of armature to make electromagnet, and between electromagnet and armature there are
Gap is for being attracted；
Turning manipulator, number are consistent with charging tray port number, including double-rod cylinder, connecting plate, rotation pneumatic clamper, folder
Hold component；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 and stretch with connecting plate
Contracting movement, 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 material
Multiple channels of disk are corresponding, including clamping jaw, pneumatic-finger, double-rod cylinder, piston and rodless cylinder, and clamping jaw and pneumatic-finger connect
It connecing, double-rod cylinder provides lifting and landing for translation manipulator vertical direction, and piston makees straight line back and forth movement on rodless cylinder,
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 photoelectricity
Sensor, arrester, arrester are mounted below photoelectric sensor；
Control system, including programmable controller PLC；The vibrating controller of oscillating feeder；Arrester, turning mechanical
The cylinder and solenoid valve of hand peace shifting manipulator behavior；The signal output end of photoelectric sensor；Wherein vibrating controller, PLC with
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, the electricity of solenoid valve
It is signally attached 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 reach optoelectronic switch assembly when into
The front and back sides of row part are detected, and 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 flat
After shifting 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, and the part exported from oscillating feeder is made to enter cunning with horizontality
Road.
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 the problem of leading to kinetic energy forfeiture and card resistance.
Turning manipulator hold assembly is that two panels material is stainless steel rectangular piece, and increase friction is posted on the inside of rectangular sheet
Power, the sand paper for preventing 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 and is
120 degree of three points, to guarantee the stability of clamping.
Working principle: the present invention provides a set of multichannel high-efficient rate automation pose adjustment and feeding for round pie part
Device, round pie part includes the bushing and spring base of nut, retarder.Manipulator and ancillary equipment co-operating are controlled
The research and development of system develop an orientation ordering system for production and processing demand, realize that manipulator is synchronous dynamic with ancillary equipment
Make, facilitates manipulator to the adjustment of part and put.
Transmission system is first magazine feed by elevating mechanism, passes through disturbance in control motor rotation drive feed bin after feed
Mechanism rotation, part are flowed out from discharge port in the case where constantly stirring, are sent into oscillating feeder, when number of parts is enough in charging tray
When, motor stops working, and feed bin is no longer fed.Part is divided into multichannel continuation after oscillating feeder after multichannel charging tray
Advance, the front and back sides detection of part is carried out when part reaches optoelectronic switch assembly, multiple channels can be detected and be grasped simultaneously
Make to save the time, detection, which finishes, will test result and be transmitted to PLC, and PLC assigns instruction to turning manipulator, for towards incorrect
Part, the hold assembly of turning manipulator advances, so that the upper surface of the lower rectangular sheet of hold assembly touch part lower surface
Clamp blocks afterwards 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,
Advance after overturning and send part back to, turning manipulator resets；Translation manipulator is moved down the part on channel simultaneously later
It lifts after picking up and is sent out from the conveyer belt that slideway is transferred to by slideway, and so on.The present invention can reduce production cost, realize
The parallel quick arrangement of round pie part solves the problems, such as that placing part is bothersome laborious in process, replaces manual alignment
Working method.
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, needle are developed for round pie part
One orientation ordering system is developed to production and processing demand, the synchronization action of manipulator and ancillary equipment is realized, facilitates manipulator
It adjustment to part and puts；Parallel quick arrangement and the automatic orientation of workpiece that can be realized round pie part, do not need
Transmission device, without fretting wear between component, without lubrication, feeding is steady, replaces the working method of manual alignment；(3) efficiency
The automation in entire production process is improved instead of the working method of the manual alignment of current domestic mainstream with machining accuracy height
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, photoelectricity
Switch block 3, four-way charging tray 4, oscillating feeder 5, control cabinet 6, feed bin 7 and elevating mechanism 8.Oscillating feeder 5 passes through spiral shell
Nail 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 bar frame
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.Vibrate to
Material machine 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 four-way
On vertical aluminium profiles frame above the glide path of road charging tray 4, it is transferred to for lifting after picking up the part overturn from slideway
It is sent out on conveyer belt by slideway, vertical aluminium profiles frame size is 200mm*600mm*450mm, and translation manipulator 2 includes two
Move along a straight line freedom degree.Optoelectronic switch assembly 3 is mounted on the truss of translation 2 front end of manipulator, to detect the positive and negative of part
Face.Four turning manipulators 1 are mounted on the end of horizontal aluminum profile, corresponding with four channel holdings respectively, turning manipulator
Hold assembly is to 1.25 times that charging tray ways-end distance is diameter of part, to overturn part pull-out ramp surface.
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.After powering on by control motor rotation drive feed bin in perturbation mechanism rotation, make part from
Discharge port outflow, send into oscillating feeder.When positive and negative detection photoelectric sensor will test that signal is transmitted to by 4 input ports can
Programmable controller PLC, PLC are issued at operational order to turning manipulator after being differentiated, handled according to detection signal, tipper
Tool hand is not moved work according to instruction area.The movement of each cylinder is to complete signal with its preamble association cylinder movement to be in working cycles
Enabling signal, the commencing signal of circulation is only determined by manual switch and photo-sensor signal.The control signal wire of each cylinder
It connect with 14 delivery outlets of PLC, by controlling solenoid valve control cylinder, is required with meeting commutation, speed regulation etc..It is controlled using PLC
Mode strong antijamming capability, high reliablity, the failure rate of system are low, 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 charging tray of oscillating feeder 5
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 the side of feed bin 7
The vertical segment length of wall, guide rail 8-2 is consistent with the height of feed bin 7.Storage tank 8-1 and chain 8-3 is fixed using mechanical connection, no
Opposite sliding occurs, 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, and works as rising
When 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 by storage tank 8-1
It 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 be provided with through-hole, direct current generator 7-3 is joined with bolts by a stabilizer blade of connecting plate and feed bin ontology 7-1, is made
Motor shaft stretches out through-hole, and is equipped with perturbation mechanism 7-4 in the upper end of axis, drives perturbation mechanism by control motor 7-3 rotation
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 part in oscillating feeder 5
When quantity is enough, motor stops working, and feed bin 7 is no longer fed.
As shown in figure 5, oscillating feeder 5 include 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 sizes
It is consistent with material, having a size of 130mm*20mm*100mm, base dimensions 500mm*150mm*80mm.Shock-absorbing footing 5-1 is
Rubber material, for absorbing the useless vibration generated in work, so that the vibration for reducing by 5 ontology of oscillating feeder is other to system
Partial influence, four pillar shock-absorbing footing diameter 28mm, the height 30mm that this system uses.By under charging tray 5-5 after energization
Interaction between the actuation of the electromagnet 5-4 and armature 5-6 of side, and support flat spring 5-2 generates vibration, and part is made to exist
It parabolically bounds forward in charging tray 5-5.The parameter of oscillating feeder is set as weight 45kg, operating voltage in this system
220V, vibration frequency 3000 times/min, amplitude 1.5mm, available power 60w, rated current 0.4A, the inclination angle 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, clamping are rotated
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 to drive connection with connecting plate 1-2
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 the end of rotation pneumatic clamper
Portion, the distance of dehiscing of hold assembly are slightly larger than the thickness of part.Wherein double-rod cylinder is consistent with the mounting height of connecting plate.
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
Position five-way electromagnetic valve controls 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, on holding parts
Lower end surface prevents part from falling off with increasing friction force when being overturn.When installation under hold assembly 1-4 rectangular sheet upper surface
The glide path horizontal plane of four-way charging tray 4 should be slightly below.Rotation pneumatic clamper 1-3 is bolted in hold assembly 1-4, rotates pneumatic clamper
180 degree may be reversed.Four rotation pneumatic clampers are uniformly separately fixed on connecting plate 1-2, are located at they and four channels in same
Accurately to clamp on heart line.Double-rod cylinder 1-1 model TDA TN20-50, cylinder stroke 50mm provides turning manipulator 1
Horizontal direction move forward and backward.After PLC sends overturning instruction, double-rod cylinder 1-1 ventilation, for towards incorrect zero
The hold assembly 1-4 of part, turning manipulator 1 advances, so that the upper surface of the lower rectangular sheet of hold assembly 1-4 touch part following table
Clamp blocks behind face drive part to be pulled away from slideway completely, and part is detached from the ramp surface of four-way charging tray 4, and carries out 180 degree and turn over
Turn, advance after overturning and send 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 is square
Shape, having a size of 50mm*16mm*1.5mm, another is fork-shaped, clamps the circumferentially spaced about of cake object by three contact surfaces
For 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.Its clamping is controlled using two five-way electromagnetic valves
Or expansion.Double-rod cylinder 2-3 model TDA TN20-50, cylinder stroke 50mm, provide translation 2 vertical direction of manipulator lift
It rises and lands.Piston 2-4 makees straight line back and forth movement on rodless cylinder 2-5, transmission part being transferred to from slideway by slideway
It takes, the model CY1S20H-300 of rodless cylinder, stroke 300mm is determined according to channel width and relative dimensions.Pass through electricity
Magnet valve controls the commutation of air inlet 2-6 and gas outlet 2-7 to realize back and forth movement.When translation, translation manipulator move down first by
Four parts are lifted after picking up simultaneously and are sent out from the conveyer belt that slideway is transferred to by slideway, are resetted after submitting.
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 detect
The front and back sides of part.Optoelectronic switch assembly 3 includes multiple groups photoelectric sensor 3-1, and arrester 3-2, arrester 3-2 are mounted on
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 part
Upper surface.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
It is fixed with aluminum profile, sensor connecting piece, which is bolted, to be fixed on gantry.Photoelectric sensor is on parallel channels direction
Position can be finely adjusted by U-shaped hole, the position on vertical channel direction can be adjusted logical to be aligned by connector
Road center, height and position can be finely adjusted by itself screw thread.Using the difference of part front and back sides bumps degree, by photoelectric sensing
Device to part upper surface switching signal of the distance as photoelectric sensor, when part faces up, photoelectric sensor detection
To there is part；When part reverse side is upward, since reverse side is recessed, more than the detection of photoelectric sensor at a distance from photoelectric sensor
Range, therefore detect without part；Identification of the photoelectric sensor to the positive and negative surface state of part may be implemented with this difference.Arrester 3-
2 realize the obstruction to part on slideway, since gravity factor assembles part in multichannel charging tray end, need to fill by stopping
The cooperation with translation manipulator 2, turning manipulator 1 is set, realizes the ordered movement of part.Specifically, when turning manipulator 1 or
When translation manipulator 2 operates part, arrester 3-2 is effective, and the part and the part on slideway below are separated；When
After the translation clamping of manipulator 1 part is lifted out slideway submitting, arrester 3-2 is lifted, and allows next part to pass through, so
Back and forth.Photoelectric sensor selects model E3F-DS30C4, working power range 6-36V, and detecting distance is farthest reachable
300mm.Arrester executes movement by double-rod cylinder 3-2-1.According to part thickness 18mm and Purchased Item generally adopted principle, really
Determining 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
Group stop screw, every group contains two stop screws, and the distance between two screws are the 2/3 of diameter of part, 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 turn over
Turn manipulator across slideway to clamp part.When part reaches end, although intermediate fluting, two sides still can be by slot two sides
Slideway support, 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 the 1.125 of diameter of part that charging tray width is chosen after experiment
Times, as 45mm, interchannel is parallel to each other the charging tray width that this system is set.For the entrance and vibrating feed for making four-way charging tray 4
The height of the feeding side outlet of machine 5 is consistent, and charging tray is propped with aluminum profile, liftoff 250mm.Between part and stainless steel plate
Coefficient of friction 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 slideway, horizontal length with horizontality
It is two part size length for 86.5mm, too short will lead to of the length is directly entered after the outflow of oscillating feeder 5 because of part
Ramp, cause it is possible that part the problem of overturning or being tumbled from slideway；If too long can lead to workpiece because of frictional force
The problem of kinetic energy forfeiture is excessively trapped in plane on slideway.Changeover portion 4-2 is the interconnecting piece of sliding way 4-1 and glide path 4-3
Point, the changeover portion design that radius of curvature is 50mm is used, in this way it is possible to prevente effectively from workpiece occurs overturning, collides kinetic energy is caused to lose
The problem of mistake and card resistance.Glide path 4-3 is also a horizontal plane, the detection in order to optoelectronic switch assembly 3 to workpiece front and back sides,
Horizontal length is 84mm, about two part size length.Such design length both can properly arrange photoelectric sensor 3-1,
The relative position of arrester 3-2, translation manipulator 2 and turning manipulator 1；Workpiece can be caused dynamic to avoid because of frictional force again
The problem of energy forfeiture excessively can not arrive at manipulator crawl position.The end of glide path in each channel between be all provided with length
The slot 4-4 of 42mm, width 18mm clamp part in order to which turning manipulator 1 is moved up across slideway.When part reaches end,
Although centre fluting, two sides can still be supported by the slideway of through slot two sides, guarantee that 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 hair
It is bright to use direct-acting electromagnetic valve, the commutation of change-over valve core progress gas circuit is pushed using electromagnetic force.Using two-position five-way Direct Action Type
The solenoid electric valve of 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, the position of rotation pneumatic clamper 1-3 insertion charging tray glide path 4-3
It sets.
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.The double-rod cylinder 2-3 piston rod for translating manipulator stretches out, and pneumatic-finger 2-2 is therewith
Decline.
At 3 moment, rotation pneumatic clamper 1-3 is pulled away from charging tray slideway table by the piston retraction of the double-rod cylinder 1-1 of turning manipulator
Face；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 is drawn
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 (4)
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
There is discharge port (7-2), the discharge port is connected with oscillating feeder, the direct current generator (7-3) and perturbation mechanism (7-4) phase
Even；
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 multichannel charging tray leads to
It is parallel to each other between road；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)
Between glide path (4-3)；The sliding way of the multichannel charging tray (4) is a horizontal plane, the sliding way of the multichannel charging tray
The round pie part exported from oscillating feeder is set to enter sliding way with horizontality；The glide path is a horizontal plane, described
The end of glide path in each channel between be all provided with rectangular slot, the glide path rectangular slot in order to turning mechanical on hand
It moves across glide path and clamps round pie part；The changeover portion (4-2) is an arc section, occurs overturning to avoid workpiece, touch
Hit the problem of leading to kinetic energy forfeiture and card resistance；
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), oscillating feeder charging tray (5-5), armature (5-6)；The oscillating feeder charging tray (5-5) is mounted on pedestal (5-3),
Shock-absorbing footing (5-1) is evenly distributed on four endpoint locations of pedestal (5-3), and support flat spring (5-2) and pedestal (5-3) are tilted
Connection, electromagnet (5-4) and the top half of pedestal (5-3) are affixed, and armature (5-6) and the lower half portion of pedestal (5-3) are affixed,
It is opposite with the outer surface of armature to make electromagnet, and there are gaps for being attracted between electromagnet and armature；Round pie part is by shaking
Dynamic batcher is divided into multichannel by single channel after sending to multichannel charging tray and moves on；
Turning manipulator (1), the turning manipulator number are consistent with charging tray port number, including the first double-rod cylinder (1-
1), connecting plate (1-2), rotation pneumatic clamper (1-3), hold assembly (1-4)；One end of double-rod cylinder (1-1) is fixed on Transmission system
End, the other end connect to drive connecting plate to do stretching motion with connecting plate (1-2), and rotation pneumatic clamper (1-3) is fixed on side by side
On connecting plate (1-2), hold assembly (1-4) is connected to the end of rotation pneumatic clamper；
It translates manipulator (2), the translation manipulator number is identical as charging tray port number, is mounted on multichannel charging tray (4) downslide
Above road, the translation manipulator is corresponding with multiple channels of charging tray, including clamping jaw (2-1), pneumatic-finger (2-2), second pair
Bar cylinder (2-3), piston (2-4) and rodless cylinder (2-5), clamping jaw (2-1) are connect with pneumatic-finger (2-2), the second double rod gas
Cylinder (2-3) provides lifting and landing for translation manipulator vertical direction, and piston (2-4) is made directly on the second double-rod cylinder (2-3)
Line back and forth movement, round pie part is transferred on the conveyer belt by glide path by the translation manipulator from glide path to be sent out；Institute
The clamping jaw for stating translation manipulator is triangle clamping jaw, and clamping the circumferentially spaced about of cake object by three contact surfaces is 120 degree
Three points, with guarantee clamping stability；
Optoelectronic switch assembly (3) is mounted on the front end of translation manipulator (2), carries out the front and back sides detection of round pie part, including
Multiple groups photoelectric sensor (3-1), arrester (3-2), the arrester (3-2) are mounted below photoelectric sensor (3-1),
When turning manipulator or translation manipulator operate round pie part, arrester stops round pie part, when flat
After moving manipulator clamping part disengaging glide path, arrester is lifted；The round pie part is after multichannel charging tray (4)
It is divided into multichannel to move on, the front and back sides detection of round pie part is carried out when round pie part reaches optoelectronic switch assembly, it is more
A channel can be detected and be operated simultaneously；
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 arrester
It is mounted on the lower section of photoelectric sensor, including third double-rod cylinder and stop screw.
3. 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 round pie zero
The sand paper that part falls off.
4. 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 round pie part front and back sides bumps, using the distance of photoelectric sensor to round pie part upper surface as light
The switching signal of electric transducer identifies the positive and negative surface state of round pie part with this difference.
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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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| CN109230389B true CN109230389B (en) | 2019-11-12 |
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