CN109352295A - A kind of automatic closing device of fin - Google Patents
A kind of automatic closing device of fin Download PDFInfo
- Publication number
- CN109352295A CN109352295A CN201811266624.2A CN201811266624A CN109352295A CN 109352295 A CN109352295 A CN 109352295A CN 201811266624 A CN201811266624 A CN 201811266624A CN 109352295 A CN109352295 A CN 109352295A
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- China
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- fin
- unit
- close
- fastening device
- servo motor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/001—Article feeders for assembling machines
- B23P19/006—Holding or positioning the article in front of the applying tool
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/001—Article feeders for assembling machines
- B23P19/007—Picking-up and placing mechanisms
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Folding Of Thin Sheet-Like Materials, Special Discharging Devices, And Others (AREA)
Abstract
The present invention relates to closing up fastening system automatically, specifically a kind of automatic closing device of fin.Close up driving unit, fastening device picking unit with moving cell, fin including installation pedestal, wing angle positioning unit, fin stripping, close up fin anti-distortion mechanism and external axis, wherein wing angle positioning unit, fin stripping close up driving unit with moving cell and fin and are set in installation pedestal, wing angle positioning unit is used to position the angle of body upper panel, fin stripping is for positioning tabs and servo-actuated with fin with moving cell, and fin closes up driving unit for driving fin to close up；Fastening device picking unit and close up fin anti-distortion mechanism and be set on external axis, closes up fin anti-distortion mechanism and be used to grab fastening device for holding the fin after closing up, fastening device picking unit.Present invention can ensure that the angle precision that fin closes up, guarantees the uniform force of fin during closing up, will not cause to damage to the skin of paint of fin during closing up.
Description
Technical field
The present invention relates to closing up fastening system automatically, specifically a kind of automatic closing device of fin.
Background technique
Currently, the assembly of closing up of domestic guided missile stabilitization device fin is mostly semi-automation, needs human assistance to participate in, especially close
Two work steps of extracting for holding together rear fin anti-distortion mechanism and fastening device use manual operation completely.This kind, which closes up assembly method, to be had
Following drawback: first, the angle positioning of fin uses manual operation when product is placed, and increases the labor intensity of operator；The
Two, close up driving mechanism and driven using threephase asynchronous machine, it cannot be guaranteed that the angle precision closed up, cannot guarantee that and close up process
The uniform force of middle fin is easy to cause to damage to fin；Third closes up extracting for rear fin anti-distortion mechanism and fastening device
Using more people's compounding practices, it cannot be guaranteed that be easy to causeing the paint of fin when fastening device is extracted and the relative positional relationship of fin
Layer falls off.
The device that the country not yet closes up stabilizer fin in guided missile production assembly field automatically, behaviour at this stage
Make the requirement that mode is not able to satisfy body assembly automation and safety.
Summary of the invention
In view of the above-mentioned problems, the purpose of the present invention is to provide a kind of automatic closing devices of fin.This fin closes up dress
The angle precision that can guarantee that fin closes up is set, guarantees the uniform force of fin during closing up, it will not be right during closing up
The skin of paint of fin causes to damage.And the relative positional relationship item of fin anti-distortion mechanism and fastening device after guaranteeing to close up
Under part, extracting automatically for automatic fastening tooling can be also completed.
To achieve the goals above, the invention adopts the following technical scheme:
A kind of automatic closing device of fin, including installation pedestal, wing angle positioning unit, fin stripping with moving cell,
Fin closes up driving unit, fastening device picking unit, closes up fin anti-distortion mechanism and external axis, and wherein wing angle positions
Unit, fin stripping close up driving unit with moving cell and fin and are set in installation pedestal, the wing angle positioning unit
For positioning the angle of body upper panel, the fin stripping is with moving cell for positioning tabs and servo-actuated, the wing with fin
Piece closes up driving unit for driving fin to close up；The fastening device picking unit and closes up fin anti-distortion mechanism and be set to
On external axis, for holding the fin after closing up tightly, the fastening device picking unit is used for the fin anti-distortion mechanism that closes up
Fastening device is grabbed, the fin after closing up by the way that fastening device is fixed.
The wing angle positioning unit includes rotary drive mechanism, lifting sliding table, fin gear stop mechanism and lifting body,
Wherein lifting body is set to the bottom of the installation pedestal, for positioning and jacking body, the lifting sliding table and the peace
The pedestal upright slide rail that dress pedestal is equipped with is slidably connected, and the rotary drive mechanism is mounted in the lifting sliding table, is used for
The body on the lifting body is driven to rotate, the fin gear stop mechanism is set in the installation pedestal, for completion pair
The angle of fin positions.
The rotary drive mechanism include rotary drive mechanism servo motor, zigzag tread patterns cylinder, upper mounting plate, optical axis,
Transmission shaft, pressure ring and the plate that is slidably installed, wherein upper mounting plate is arranged the top of the lifting sliding table and by multiple optical axises and institute
Lifting sliding table connection is stated, the zigzag tread patterns cylinder is set on the upper mounting plate and output end is connect with the plate that is slidably installed,
The plate that is slidably installed is set between the upper mounting plate and lifting sliding table and is slidably connected with optical axis, the rotation driving
Mechanism servo motor is set to described be slidably installed on plate and output end is connect by transmission shaft with pressure ring.
The fin stripping is set to the bottom of the lifting sliding table, including briquetting, guide pad and limited block with moving cell,
The briquetting is multiple and circumferentially lays that each briquetting can be rotated, and each briquetting is respectively corresponded for rotation-limited angle
Limited block, each briquetting are connect by tension spring with the lifting sliding table, and the tension spring connects the briquetting with corresponding limited block
Touching, the guide pad connect and are located at the inside of the briquetting with the bottom of the lifting sliding table.
The fin gear stop mechanism includes that gear stops piece, guide cylinder and photoelectric sensor, wherein guide cylinder and photoelectric transfer
Sensor is set in the installation pedestal, and the gear stops the output end that piece is set to the guide cylinder, the photoelectric sensor
For detecting the angle change of fin, the guide cylinder stretches out gear according to the detection signal of the photoelectric sensor and stops piece, real
Now the angle of fin is positioned.
It includes that fin closes up servo motor, worm gear mechanism, cam mechanism, fixed circle that the fin, which closes up driving unit,
Platform, rotary round table and guide and limit mechanism, wherein fixed rotary table is set in the installation pedestal, the rotary round table and fixation
Rotary table rotation connection, the fin close up servo motor and are set in the installation pedestal, and pass through worm gear mechanism and rotation
Turning rotary table connection, the cam mechanism is set in the rotary round table, for driving fin to close up, the guide and limit mechanism
It is set between the cam mechanism and fixed rotary table.
The cam mechanism includes circumferentially arranged multiple crankshafts in the rotary round table and each crankshaft can be rotated, respectively
The upper end of the crankshaft is rotatably connected to idler wheel, and the guide and limit mechanism includes guiding axis and shift fork, wherein shift fork and song
Axis connection, the shift fork are equipped with strip-shaped hole, and the guiding axis is set on fixed rotary table, and is placed in the bar shaped of the shift fork
In hole.
The external axis includes external axis pedestal, transverse moving mechanism, column and outer shaft upright guide rail, central post and outer
Portion's axis pedestal is slidably connected, and the transverse moving mechanism is set on external axis pedestal and connect with the column, for driving
Column level sliding, is equipped with outer shaft upright guide rail on the column along the vertical direction, the fastening device picking unit and
Close up fin anti-distortion mechanism be slidably connected with the outer shaft upright guide rail and the fastening device picking unit be located at close up
The top of fin anti-distortion mechanism.
The fastening device picking unit includes picking unit servo motor, crawl slide unit and crawl pneumatic clamper, wherein grabbing
Slide unit is slidably connected with the outer shaft upright guide rail and connect with picking unit servo motor, the picking unit servo motor
For driving the crawl slide unit to slide along the outer shaft upright guide rail, the crawl pneumatic clamper is set on the crawl slide unit,
For grabbing fastening device.
The fin anti-distortion mechanism that closes up includes closing up fin anti-deformation servo motor, parallel air gripper, holding clamping jaw, folder tightly
Block and idler wheel, wherein parallel air gripper and the outer shaft upright guide rail are slidably connected and connect with fin anti-deformation servo motor is closed up
It connects, the fin anti-deformation servo motor that closes up is described for driving the parallel air gripper to slide along the outer shaft upright guide rail
The two sides of parallel air gripper, which are equipped with, holds clamping jaw tightly, and the end for holding clamping jaw tightly is equipped with fixture block, and the fixture block is equipped with idler wheel.
Advantages of the present invention and good effect are as follows:
1. wing angle positioning unit of the invention can be realized the rotary motion of fin and the angle of real-time detection fin
Change and fed back, the limiting block by keeping off stop mechanism stops the restriction of the achievable fin designated position of piece, to complete fin
Angle positioning.
2. fin of the invention, which closes up driving unit, closes up operation automatically to fin progress, each fin is respectively by nylon material
Operation is closed up in the cam mechanism execution of material, guarantees fin uniform force, and do not damage flap surface paint layer.
3. fastening device picking unit of the invention and closing up fin anti-distortion mechanism and being mounted on external axis, using longitudinal direction
The assembly of fastening device is completed with the mode of transverse combination movement, while closing up fin anti-distortion mechanism during closing up to the wing
Piece carries out secondary fastening, guarantees the reliability of assembly.
Detailed description of the invention
Fig. 1 is the structural diagram of the present invention；
Fig. 2 is the left view of Fig. 1；
Fig. 3 is one of axonometric drawing of the invention；
Fig. 4 is enlarged drawing at I in Fig. 3；
Fig. 5 is enlarged drawing at II in Fig. 3；
Fig. 6 is enlarged drawing at III in Fig. 3；
Fig. 7 be in the present invention rotary drive mechanism and fin stripping with the structural schematic diagram of moving cell；
Fig. 8 is the structural schematic diagram that lifting body and fin close up driving unit in the present invention；
Fig. 9 is the two of axonometric drawing of the invention；
Figure 10 is enlarged drawing at IV in Fig. 9；
Figure 11 is enlarged drawing at V in Fig. 9.
Wherein: 1 is lifting sliding table servo motor, and 2 be rotary drive mechanism servo motor, and 3 be zigzag tread patterns cylinder, and 4 are
Fastening device, 5 be machine frame, and 6 be external axis, and 7 be transverse moving mechanism, and 8 be rotary drive mechanism, and 9 be lifting sliding table, and 10 are
Fin stripping is with moving cell, and 11 be fastening device picking unit, and 12 keep off stop mechanism for fin, and 13 be to close up fin anti-deformation machine
Structure, 14 be fin, and 15 close up driving unit for fin, and 16 close up servo motor for fin, and 17 be installation pedestal, and 18 be jack
Structure, 19 be upper mounting plate, and 20 be optical axis, and 21 be transmission shaft, and 22 be pressure ring, and 23 be briquetting, and 24 be guide pad, and 25 stop piece for gear,
26 be guide cylinder, and 27 be photoelectric sensor, and 28 be cam mechanism, and 29 be worm screw, and 30 be the plate that is slidably installed, and 31 be fixed circle
Platform, 32 be picking unit servo motor, and 33 is close up fin anti-deformation servo motor, and 34 is vertical for outer shaft for crawl slide unit, 35
Guide rail, 36 be crawl pneumatic clamper, and 37 be parallel air gripper, and 38 is hold clamping jaw tightly, and 39 be fixture block, and 40 be idler wheel, and 41 slide vertically for pedestal
Rail 42 is limited block, and 43 be rotary round table, and 44 be worm gear, and 45 be crankshaft, and 46 be shift fork, and 47 be guiding axis, and 48 be tooling pallet,
49 be jacking post, and 50 be jacking cylinder, and 51 be idler wheel.
Specific embodiment
To make the objectives, technical solutions, and advantages of the present invention clearer, right in the following with reference to the drawings and specific embodiments
The present invention is described in detail.
As shown in Figure 1-3, the automatic closing device of a kind of fin provided by the invention, including installation pedestal 17, wing angle
Positioning unit, fin stripping close up that driving unit 15, fastening device picking unit 11, to close up fin anti-with moving cell 10, fin
Deformation mechanism 13 and external axis 6, wherein wing angle positioning unit, fin stripping close up driving unit with moving cell 10 and fin
15 are set in installation pedestal 17, and wing angle positioning unit is used to position the angle of body upper panel 14, and fin stripping is servo-actuated
Unit 10 is for positioning tabs 14 and servo-actuated with fin 14, and fin closes up driving unit 15 for driving fin 14 to close up；Fastening
Tooling picking unit 11 and close up fin anti-distortion mechanism 13 and be set on external axis 6, closes up fin anti-distortion mechanism 13 and be used for
Hold the fin 14 after closing up tightly, fastening device picking unit 11 is closed up for grabbing fastening device 4 by the fixation of fastening device 4
Fin 14 afterwards.
Wing angle positioning unit includes rotary drive mechanism 8, lifting sliding table 9, fin gear stop mechanism 12 and lifting body
18, wherein lifting body 18 is set to the bottom of installation pedestal 17, for positioning and jacking body, lifting sliding table 9 and installation base
The pedestal upright slide rail 41 that seat 17 is equipped with is slidably connected, and rotary drive mechanism 8 is mounted in lifting sliding table 9, for driving top
The body rotation in mechanism 18 is risen, fin gear stop mechanism 12 is set in installation pedestal 17, for completing the angle to fin 14
Positioning.
As shown in Figure 5, Figure 7, rotary drive mechanism 8 include rotary drive mechanism servo motor 2, zigzag tread patterns cylinder 3, on
Mounting plate 19, optical axis 20, transmission shaft 21, pressure ring 22 and the plate 30 that is slidably installed, wherein the upper of lifting sliding table 9 is arranged in upper mounting plate 19
Side and connect by multiple optical axises 20 with lifting sliding table 9, zigzag tread patterns cylinder 3 be set on upper mounting plate 19 and output end and
The plate 30 that is slidably installed connection, the plate 30 that is slidably installed, which is set between upper mounting plate 19 and lifting sliding table 9 and slides with optical axis 20, to be connected
It connects, rotary drive mechanism servo motor 2, which is set to, to be slidably installed on plate 30 and output end is connected by transmission shaft 21 and pressure ring 22
It connects.
Fin stripping is set to the bottom of lifting sliding table 9, including briquetting 23, guide pad 24 and limited block with moving cell 10
42, briquetting 23 is multiple and circumferentially lays, and each briquetting 23 can be rotated and respectively correspond the limit for rotation-limited angle
Block 42, each briquetting 23 are connect by tension spring with lifting sliding table 9, and tension spring contacts briquetting 23 with corresponding limited block 42, guiding
Block 24 connect and is located at the inside of briquetting 23 with the bottom of lifting sliding table 9.Guide pad 24 is for fin stripping under moving cell 10
The appearance face contact of drop process and body, plays the role of guiding.
Rotary drive mechanism 8 is by the driving lifting of zigzag tread patterns cylinder 3, equipped with optical axis 20 as guiding, when rotation drives
Mechanism 8 is in decline state and realizes the connection with product fin 14 by the guide pad 24 of its end, to realize that rotation is driven
Motivation structure 8 drives product fin 14 to be rotated.
It is driven by lifting sliding table servo motor 1, equipped with pedestal upright slide rail 41 as guiding, passes through lifting sliding table 9
Decline, the fin stripping up and down motion whole with moving cell 10 is realized, so that completes fin 14 and product automatically strips behaviour
Make.Fin stripping be designed to the rotation center of briquetting 23 in moving cell 10 it is concentric with 14 rotation center of fin, and by servo-actuated
The guide pad 24 of cell end realizes the fixation with product fin 14, and the mechanical position limitation for closing up angle is realized by limited block 42,
And then complete the servo rotary after fin 14 is removed.
As shown in fig. 6, fin gear stop mechanism 12 includes that gear stops piece 25, guide cylinder 26 and photoelectric sensor 27, wherein leading
It is set in installation pedestal 17 to cylinder 26 and photoelectric sensor 27, gear stops the output end that piece 25 is set to guide cylinder 26, light
Electric transducer 27 is used to detect the angle change of fin 14, and guide cylinder 26 is stretched out according to the detection signal of photoelectric sensor 27 to be kept off
Stop piece 25, realizes and the angle of fin 14 is positioned.
The angle change of fin 14 is judged by the photoelectric sensor 27 that fin is kept off on stop mechanism 12, fin keeps off stop mechanism 12
The gear of front end stops piece 25 and is driven by guide cylinder 26, it can be achieved that tandem moves, to complete the angle to fin 14
Positioning, gear stop piece 25 and carry out angle positioning to the fin that any angle is placed, and guarantee going on smoothly for subsequent fin stripping.
As shown in Fig. 4, Fig. 8, fin close up driving unit 15 include fin close up servo motor 16, worm gear mechanism,
Cam mechanism 28, fixed rotary table 31, rotary round table 43 and guide and limit mechanism, wherein fixed rotary table 31 is set to installation pedestal 17
On, rotary round table 43 and fixed rotary table 31 are rotatablely connected, and fin closes up servo motor 16 and is set in installation pedestal 17, and passes through
Worm gear mechanism is connect with rotary round table 43, and cam mechanism 28 is set in rotary round table 43, for driving fin 14 to close up,
Guide and limit mechanism is set between cam mechanism 28 and fixed rotary table 31.
Cam mechanism 28 can be rotated including circumferentially arranged multiple crankshafts 45 and each crankshaft 45 in rotary round table 43, respectively
The upper end of crankshaft 45 is rotatably connected to idler wheel 51, and idler wheel 51 uses nylon material.Guide and limit mechanism includes 47 He of guiding axis
Shift fork 46, wherein shift fork 46 is connect with crankshaft 45, and shift fork 46 is equipped with strip-shaped hole, and guiding axis 47 is set on fixed rotary table 31,
And it is placed in the strip-shaped hole of shift fork 46.Rotary round table 43 rotates, and idler wheel 51 pushes fin 14 to rotate, and crankshaft 45 is by turn at this time
Dynamic, guiding axis 47 slides in the strip-shaped hole of shift fork 46, passes through the rotational angle model of the length limitation rotary round table 43 of strip-shaped hole
It encloses.
Worm gear mechanism includes worm screw 29 and worm gear 44, and worm gear 44 is set to the outside of rotary round table 43, worm screw 29 with
Fin closes up the output axis connection of servo motor 16 and engages with worm gear 44.Close up servo motor 16 by fin to be driven, simultaneously
It is driven by worm gear mechanism, so that the rotation pressing movement for being installed on top jaw mechanism 28 is realized, to complete to the wing
The automatic closing action of piece 14.
Lifting body 18 includes jacking cylinder 50, jacking post 49 and tooling pallet 48, and wherein jacking cylinder 50 is mounted on
Fill the bottom of pedestal 17 and output power along the vertical direction, jacking post 49 is inserted in fixed rotary table 31 and lower end and jacking gas
Cylinder 50 connects, and tooling pallet 48 is installed in rotation on the upper end of jacking post 49, the installation for workpiece.Pass through jacking cylinder 50
Tooling pallet 48 is pushed to move up and down along fixed rotary table 31, to complete the positioning and complete decline state of raised configuration fin 14
Lower panel 14 closes up.
As shown in figure 9, external axis 6 includes external axis pedestal, transverse moving mechanism 7, column and outer shaft upright guide rail 35,
Central post is slidably connected with external axis pedestal, and transverse moving mechanism 7 is set on external axis pedestal and connect with column, is used for
The sliding of column level is driven, leadscrew-nut mechanism can be used in transverse moving mechanism 7.It is vertical that outer shaft is equipped on column along the vertical direction
Guide rail 35, fastening device picking unit 11 and close up fin anti-distortion mechanism 13 be slidably connected with outer shaft upright guide rail 35 and
Fastening device picking unit 11 is located at the top for closing up fin anti-distortion mechanism 13, realizes the straight line fortune in horizontal and vertical direction
It is dynamic.
As shown in Figure 10, fastening device picking unit 11 includes picking unit servo motor 32, crawl slide unit 34 and crawl
Pneumatic clamper 36 grabs wherein crawl slide unit 34 is slidably connected with outer shaft upright guide rail 35 and connect with picking unit servo motor 32
For unit servo motor 32 for driving crawl slide unit 34 to slide along outer shaft upright guide rail 35, crawl pneumatic clamper 36 is set to crawl slide unit
On 34, for grabbing fastening device 4.
As shown in figure 11, closing up fin anti-distortion mechanism 13 includes closing up fin anti-deformation servo motor 33, parallel air gripper
37, clamping jaw 38, fixture block 39 and idler wheel 40 are held tightly, wherein parallel air gripper 37 be slidably connected with outer shaft upright guide rail 35 and with close up
Fin anti-deformation servo motor 33 connects, and closes up fin anti-deformation servo motor 33 for driving parallel air gripper 37 vertical along outer shaft
Guide rail 35 slides, and the two sides of parallel air gripper 37, which are equipped with, holds clamping jaw 38 tightly, and the end for holding clamping jaw 38 tightly is equipped with fixture block 39, on fixture block 39
Equipped with idler wheel 40.Fixture block 39 and idler wheel 40 close up the corresponding position that angle is placed in holding clamping jaw 38 according to fin.By fastening work
It fills picking unit 13 and grabs fastening device 4, close up fin anti-distortion mechanism 11 and secondary fastening is carried out to fin 14, thus complete
At the assembly of the fastening device 4 of fin 14.
Fastening device picking unit 11 and close up fin anti-distortion mechanism 13 and be mounted on external axis 6, it is possible to provide is bigger
Motion range, convenient for the movement between two stations；Fastening device 4 is placed on machine frame 5.With closing up fin anti-distortion mechanism 13
The fin 14 closed up is subjected to secondary fastening, fastening device picking unit 11 by 4 sets of fastening device on the fin 14 closed up, from
And complete the fastener cycle of fin 14.
The operation principle of the present invention is that:
Fin gear stop mechanism 12 of the invention keeps off the photoelectric sensor 27 on stop mechanism by fin, judges the angle of fin 14
Degree variation guarantees the angle that fin closes up to stop the angle positioning that piece 25 completes fin by the limiting block on gear stop mechanism
Precision is to realize going on smoothly for subsequent fin stripping.
The present invention carries out fin using cam mechanism to close up operation automatically, and cam mechanism uses nylon material, closing up
In the process fin paint layer will not be caused to damage, guarantee the uniform force of fin during closing up.
Fin stripping of the invention is mounted in lifting sliding table 9 with moving cell 10, by the decline of lifting sliding table 9, is realized
The fin stripping up and down motion whole with moving cell 10, so that completes fin 14 and product automatically strips operation.Fin stripping
Be designed to the rotation center of briquetting 23 in moving cell 10 it is concentric with fin rotation center, to realize servo-actuated after fin stripping
Rotation.
Fastening device picking unit of the invention uses vertical and horizontal aggregate motion with fin anti-distortion mechanism is closed up
Mode carries out the crawl of crawl fastening device and the secondary fastening of fin, to guarantee to close up rear fin anti-distortion mechanism and fastening
Under the conditions of the relative positional relationship of tooling, extracting automatically for automatic fastening tooling is completed.
The fin that the automatic closing device of a kind of fin provided by the invention can be completed under free state closes up automatically, automatically
The function of fastening.
Mode the above is only the implementation of the present invention is not intended to limit the scope of the present invention.It is all in the present invention
Spirit and principle within any modification, equivalent replacement, improvement, extension etc., be all contained in protection scope of the present invention
It is interior.
Claims (10)
1. a kind of automatic closing device of fin, which is characterized in that including installation pedestal (17), wing angle positioning unit, fin
Removing closes up driving unit (15) with moving cell (10), fin, fastening device picking unit (11), closes up fin anti-distortion mechanism
(13) and external axis (6), wherein wing angle positioning unit, fin stripping close up driving unit with moving cell (10) and fin
(15) it is set on installation pedestal (17), the wing angle positioning unit is used to position the angle of body upper panel (14), institute
It is for positioning tabs (14) and servo-actuated with fin (14) with moving cell (10) to state fin stripping, the fin closes up driving unit
(15) for driving fin (14) to close up；The fastening device picking unit (11) and close up fin anti-distortion mechanism (13) setting
In on external axis (6), described close up fin anti-distortion mechanism (13) are for holding the fin (14) after closing up, the fastening device tightly
Fin (14) of the picking unit (11) for grabbing fastening device (4), after closing up by the way that fastening device (4) are fixed.
2. the automatic closing device of fin according to claim 1, which is characterized in that the wing angle positioning unit includes
Rotary drive mechanism (8), lifting sliding table (9), fin gear stop mechanism (12) and lifting body (18), wherein lifting body (18) is set
It is placed in the bottom of the installation pedestal (17), for positioning and jacking body, the lifting sliding table (9) and the installation pedestal
(17) the pedestal upright slide rail (41) being equipped with is slidably connected, and the rotary drive mechanism (8) is mounted on the lifting sliding table (9)
Above, for driving the body on the lifting body (18) to rotate, fin gear stop mechanism (12) is set to the installation base
On seat (17), for completing the angle positioning to fin (14).
3. the automatic closing device of fin according to claim 2, which is characterized in that the rotary drive mechanism (8) includes
Rotary drive mechanism servo motor (2), zigzag tread patterns cylinder (3), upper mounting plate (19), optical axis (20), transmission shaft (21), pressure ring
(22) and the plate that is slidably installed (30), wherein upper mounting plate (19) is arranged the top of the lifting sliding table (9) and passes through multiple optical axises
(20) it is connect with the lifting sliding table (9), the zigzag tread patterns cylinder (3) is set on the upper mounting plate (19) and exports
It holds and is slidably installed plate (30) connection, the plate that is slidably installed (30) is set to the upper mounting plate (19) and lifting sliding table (9)
Between and be slidably connected with optical axis (20), the rotary drive mechanism servo motor (2), which is set to, described is slidably installed plate (30)
Upper and output end is connect by transmission shaft (21) with pressure ring (22).
4. the automatic closing device of fin according to claim 2, which is characterized in that the fin stripping is with moving cell (10)
It is set to the bottom of the lifting sliding table (9), including briquetting (23), guide pad (24) and limited block (42), the briquetting (23)
Be it is multiple and circumferentially lay, each briquetting (23) can be rotated, and each briquetting (23) respectively corresponds for rotation-limited angle
Limited block (42), each briquetting (23) are connect by tension spring with the lifting sliding table (9), and the tension spring makes the briquetting (23) and phase
Corresponding limited block (42) contact, the guide pad (24) connect with the bottom of the lifting sliding table (9) and are located at the briquetting
(23) inside.
5. the automatic closing device of fin according to claim 2, which is characterized in that the fin keeps off stop mechanism (12) and includes
Gear stops piece (25), guide cylinder (26) and photoelectric sensor (27), wherein guide cylinder (26) and photoelectric sensor (27) setting
In on the installation pedestal (17), the gear stops the output end that piece (25) is set to the guide cylinder (26), the photoelectric transfer
Sensor (27) is used to detect the angle changes of fin (14), and the guide cylinder (26) is according to the inspections of the photoelectric sensor (27)
It surveys signal and stretches out to keep off and stop piece (25), realize and the angle of fin (14) is positioned.
6. the automatic closing device of fin according to claim 1, which is characterized in that the fin closes up driving unit (15)
Close up servo motor (16), worm gear mechanism, cam mechanism (28), fixed rotary table (31), rotary round table (43) including fin
And guide and limit mechanism, wherein fixed rotary table (31) are set on the installation pedestal (17), the rotary round table (43) and solid
Determine rotary table (31) rotation connection, the fin closes up servo motor (16) and is set on the installation pedestal (17), and passes through snail
Worm and gear mechanism is connect with rotary round table (43), and the cam mechanism (28) is set on the rotary round table (43), for driving
Dynamic fin (14) close up, and the guide and limit mechanism is set between the cam mechanism (28) and fixed rotary table (31).
7. the automatic closing device of fin according to claim 6, which is characterized in that the cam mechanism (28) includes along week
Rotatably to the multiple crankshafts (45) and each crankshaft (45) for being set to the rotary round table (43), each crankshaft (45) is upper
End is rotatably connected to idler wheel (51), and the guide and limit mechanism includes guiding axis (47) and shift fork (46), wherein shift fork (46)
It being connect with crankshaft (45), the shift fork (46) is equipped with strip-shaped hole, and the guiding axis (47) is set on fixed rotary table (31), and
It is placed in the strip-shaped hole of the shift fork (46).
8. the automatic closing device of fin according to claim 1, which is characterized in that the external axis (6) includes external axis
Pedestal, transverse moving mechanism (7), column and outer shaft upright guide rail (35), central post is slidably connected with external axis pedestal, described
Transverse moving mechanism (7) is set on external axis pedestal and connect with the column, for driving the column level to slide,
On the column along the vertical direction be equipped with outer shaft upright guide rail (35), the fastening device picking unit (11) and close up fin prevent
Deformation mechanism (13) is slidably connected with the outer shaft upright guide rail (35) and the fastening device picking unit (11) is located at conjunction
Hold together the top of fin anti-distortion mechanism (13).
9. the automatic closing device of fin according to claim 8, which is characterized in that the fastening device picking unit (11)
Including picking unit servo motor (32), crawl slide unit (34) and crawl pneumatic clamper (36), wherein grabbing slide unit (34) and described outer
Axis upright guide rail (35) is slidably connected and connect with picking unit servo motor (32), the picking unit servo motor (32)
For driving the crawl slide unit (34) to slide along the outer shaft upright guide rail (35), the crawl pneumatic clamper (36) is set to described
It grabs on slide unit (34), for grabbing fastening device (4).
10. the automatic closing device of fin according to claim 8, which is characterized in that described to close up fin anti-distortion mechanism
It (13) include closing up fin anti-deformation servo motor (33), parallel air gripper (37), holding clamping jaw (38), fixture block (39) and idler wheel tightly
(40), wherein parallel air gripper (37) and the outer shaft upright guide rail (35) be slidably connected and with close up fin anti-deformation servo electricity
Machine (33) connection, the fin anti-deformation servo motor (33) that closes up is for driving the parallel air gripper (37) perpendicular along the outer shaft
Straight guide (35) sliding, the two sides of the parallel air gripper (37), which are equipped with, holds clamping jaw (38) tightly, the end for holding clamping jaw (38) tightly
Equipped with fixture block (39), the fixture block (39) is equipped with idler wheel (40).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811266624.2A CN109352295B (en) | 2018-10-29 | 2018-10-29 | Automatic closing device for wing pieces |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811266624.2A CN109352295B (en) | 2018-10-29 | 2018-10-29 | Automatic closing device for wing pieces |
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| Publication Number | Publication Date |
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| CN109352295A true CN109352295A (en) | 2019-02-19 |
| CN109352295B CN109352295B (en) | 2019-12-31 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811266624.2A Active CN109352295B (en) | 2018-10-29 | 2018-10-29 | Automatic closing device for wing pieces |
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| Country | Link |
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| CN (1) | CN109352295B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111673447A (en) * | 2020-07-28 | 2020-09-18 | 杭州研卓智能科技有限公司 | Nut screwing equipment used in assembling process of water pump impeller |
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| CN107328318A (en) * | 2017-07-28 | 2017-11-07 | 中国科学院沈阳自动化研究所 | Missile Body caudal lobe piece closes up machine |
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| CN203843784U (en) * | 2014-05-28 | 2014-09-24 | 晋西工业集团有限责任公司 | Closing device with foldable empennage |
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| CN111673447A (en) * | 2020-07-28 | 2020-09-18 | 杭州研卓智能科技有限公司 | Nut screwing equipment used in assembling process of water pump impeller |
| CN111673447B (en) * | 2020-07-28 | 2024-06-04 | 杭州研卓智能科技有限公司 | Nut screwing equipment in water pump impeller assembly process |
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| Publication number | Publication date |
|---|---|
| CN109352295B (en) | 2019-12-31 |
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