CN109483045A - Applied robot picks and places the automatic turning device of material - Google Patents
Applied robot picks and places the automatic turning device of material Download PDFInfo
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- CN109483045A CN109483045A CN201910065864.4A CN201910065864A CN109483045A CN 109483045 A CN109483045 A CN 109483045A CN 201910065864 A CN201910065864 A CN 201910065864A CN 109483045 A CN109483045 A CN 109483045A
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- 239000000463 material Substances 0.000 title claims abstract description 28
- 230000033001 locomotion Effects 0.000 claims abstract description 20
- 238000009434 installation Methods 0.000 claims description 8
- 239000000758 substrate Substances 0.000 claims description 8
- 230000003447 ipsilateral effect Effects 0.000 claims description 4
- 230000005611 electricity Effects 0.000 claims description 2
- 230000000930 thermomechanical effect Effects 0.000 claims description 2
- 238000004519 manufacturing process Methods 0.000 abstract description 15
- 230000000694 effects Effects 0.000 abstract description 7
- 238000003466 welding Methods 0.000 description 44
- 238000003756 stirring Methods 0.000 description 9
- 238000010586 diagram Methods 0.000 description 8
- 238000000034 method Methods 0.000 description 7
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 6
- 238000005516 engineering process Methods 0.000 description 5
- 238000002156 mixing Methods 0.000 description 5
- 238000005476 soldering Methods 0.000 description 5
- 230000006835 compression Effects 0.000 description 3
- 238000007906 compression Methods 0.000 description 3
- 238000006073 displacement reaction Methods 0.000 description 3
- 230000003028 elevating effect Effects 0.000 description 3
- 230000001360 synchronised effect Effects 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 230000006641 stabilisation Effects 0.000 description 2
- 238000011105 stabilization Methods 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 230000004888 barrier function Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000002146 bilateral effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000007664 blowing Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 238000007667 floating Methods 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 238000005272 metallurgy Methods 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 239000012071 phase Substances 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 238000004826 seaming Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 239000007790 solid phase Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K20/00—Non-electric welding by applying impact or other pressure, with or without the application of heat, e.g. cladding or plating
- B23K20/12—Non-electric welding by applying impact or other pressure, with or without the application of heat, e.g. cladding or plating the heat being generated by friction; Friction welding
- B23K20/122—Non-electric welding by applying impact or other pressure, with or without the application of heat, e.g. cladding or plating the heat being generated by friction; Friction welding using a non-consumable tool, e.g. friction stir welding
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K20/00—Non-electric welding by applying impact or other pressure, with or without the application of heat, e.g. cladding or plating
- B23K20/26—Auxiliary equipment
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Specific Conveyance Elements (AREA)
Abstract
The invention discloses the automatic turning devices that applied robot picks and places material, belong to agitating friction weldering field.The present invention includes the overturning platform for placing workpiece, the two sides of overturning platform are provided with active vertical plate and driven vertical plate for clamping workpiece, the bottom of active vertical plate and driven vertical plate is connected with movable component respectively, movable component for drive active vertical plate and driven vertical plate it is relatively close or far from movement, jacking component is provided with below active vertical plate and driven vertical plate, jacking component is for driving workpiece lifting, and the side of active vertical plate is provided with rotary components, and rotary components are for driving workpiece turning.The present invention overcomes the shortcomings of that agitating friction weldering production system labour demand is big in the prior art, it is combined using automatic mechanical hand with agitating friction weldering, realizes high-efficient automatic loading and unloading, help to reduce operating personnel's quantity, enterprise's production cost is reduced, productivity effect is improved.
Description
Technical field
The present invention relates to agitating friction welding technology fields, and the automatic turning of material is picked and placed more specifically to applied robot
Rotary device.
Background technique
Friction Stir Welding is the advanced friction welding technology of an innovation.With conventional friction welding, agitating friction weldering
It connects also with frictional heat and plastic deformation heat as welding heat source, the difference is that stir friction welding process is by one
Cylindrical body or the mixing needle of other shapes protrude into the seam crossing of workpiece, by the high speed rotation of soldering tip, make itself and welding workpiece material
Material friction completes the purpose of material welding so that the material temperature of connecting portion be made to increase softening.The advantage of Friction Stir Welding
It is that the connection manufacture of solid phase material may be implemented, has the characteristics that efficient, low consumption, low cost, in Aeronautics and Astronautics, automobile, ship
The industry fields such as oceangoing ship, rail traffic, civil aviation, electric power, electronics, metallurgy are with a wide range of applications.Robot has height
The characteristics of flexibility, multiple degrees of freedom, the high-precision motion of space curve track may be implemented, by robot technology and agitating friction
Welding technique combines, and the degree of automation of Friction Stir Welding can be improved, and is conducive to promote welding quality and reduces welding
Production cost.There is still a need for manually carry out operation of feeding and discharging, labour in multistation for conventional agitating friction weldering production system at present
Demand is big and production efficiency is affected, how by robot technology with agitating friction welding technology in conjunction with, collection of the realization to product
The operation of accepted way of doing sth automatic loading/unloading is very important.
Through retrieving, the technical optimization about agitating friction weldering has a large amount of patent disclosures, such as Chinese Patent Application No.:
201420795676X, invention and created name are as follows: robot Friction Stir Welding device, including the weldering of robot body, agitating friction
Pick head, mixing needle, fixed platform, displacement sensor and visual sensor；Friction Stir Welding head is arranged in robot sheet
Below body, Friction Stir Welding head is fixedly connected with the manipulator of robot body, and robot body controls agitating friction weldering
Head motion is connect, Friction Stir Welding head is arranged with mixing needle, and mixing needle follows Friction Stir Welding head motion；Displacement
On the stationary platform, fixed platform is for placing welded workpiece for sensor and visual sensor setting；This application, which focuses on, to be made
Mixing needle is moved according to ideal welding track, is related to for realizing that automatic loading/unloading has no.
For another example Chinese Patent Application No.: 2014100019385, invention and created name are as follows: the clamping device of agitating friction weldering,
This application includes bottom plate, floating support plate, sensor, pressure head and control unit, movable supporting plate be mounted on bottom plate and with
The piston rod of cylinder or supporting cylinder is supported to be connected, pressure head is connected with the piston rod of fixed cylinder or fixer cylinder pressure, senses
For device for detecting the support force being subject to by weldering exemplar or displacement, this application increases adjustable movement support structures, in conjunction with
Sensor and control unit adjustment reduce the requirement welded to exemplar supporting surface by the bearing height of weldering exemplar；It uses simultaneously
The structure of double pressure heads and fixation clip guarantees that exemplar is reliably fixed in the welding process, also adds connecing for pressure head and exemplar
Contacting surface product, reduces the deformation of exemplar, improves welding quality.But this application only relates to reinforce the fixed effect to exemplar, right
How to realize that the automation loading and unloading of exemplar, raising production efficiency have no and benefit.
Summary of the invention
1. technical problems to be solved by the inivention
It is an object of the invention to overcome the shortcomings of that agitating friction weldering production system labour demand is big in the prior art, mentions
It has supplied applied robot to pick and place the automatic turning device of material, has been combined, realized high with agitating friction weldering using automatic mechanical hand
Effect automation loading and unloading, help to reduce operating personnel's quantity, reduce enterprise's production cost, improve productivity effect.
2. technical solution
In order to achieve the above objectives, technical solution provided by the invention are as follows:
The automatic turning device that applied robot of the invention picks and places material is turned over including the overturning platform for placing workpiece
The two sides for turning platform are provided with active vertical plate and driven vertical plate for clamping workpiece, the bottom point of active vertical plate and driven vertical plate
It is not connected with movable component, movable component is relatively close or far from movement for driving active vertical plate and driven vertical plate, actively vertical
Jacking component is provided with below plate and driven vertical plate, for driving workpiece lifting, the side of active vertical plate is provided with jacking component
Rotary components, rotary components are for driving workpiece turning.
Further, movable component includes the movable base plate for being set to active vertical plate and driven vertical plate bottom, movable base
The powered turntable being rotatably assorted with it is provided on plate, the two sides of powered turntable are movably set with active seat board and driven seat respectively
Plate, active toggle one end and active seat board are hinged, and the active toggle other end and powered turntable are hinged, driven toggle one end with it is driven
Seat board is hinged, and the driven toggle other end and powered turntable are hinged, and active toggle and driven toggle are located at powered turntable not
Ipsilateral, active seat board side is connected with driving cylinder and is driven by it movement, and active vertical plate is set on active seat board, driven vertical
Plate is set on driven seat board.
Further, sliding rail is provided on movable base plate, active seat board and driven seat board bottom are equipped with and the sliding rail
The slide track seat matched, active seat board and driven seat board can be along sliding rail extending direction translational motions.
Further, active seat board and driven seat board bottom offer installation cavity, active toggle and driven toggle
One end is hingedly connected in corresponding installation cavity, circumferentially offers a circle groove in the middle part of powered turntable, active toggle and driven
The other end of toggle is hingedly connected in the groove.
Further, overturning platform two sides offer the escape groove through its thickness respectively, active vertical plate and driven vertical
Plate passes through from corresponding escape groove upwardly extend respectively, and can be translated or be gone up and down in escape groove；Overturn platform two sides also
Be provided with for detect workpiece whether there is or not inductor.
Further, jacking component includes the lifting cylinder being set to below movable base plate, and lifting cylinder end is fixed
In fixed substrate, the telescopic rod of lifting cylinder is upwardly extended and is connected with the movable base plate of top.
Further, guide post is provided in fixed substrate, correspondence offers the guiding passed through for guide post on movable base plate
Through-hole, guide post pass through guide through hole and upwardly extend, and the lower part of guide post is equipped with limit section, and the diameter of the limit section is greater than guiding
The diameter of through-hole.
Further, rotary components include the electric machine assembly for being set to active vertical plate side, active vertical plate and driven vertical
Plate top is equipped with the rotary shaft being rotatably assorted respectively with it, and wherein the rotary shaft on active vertical plate is connected with electric machine assembly, electricity
Thermomechanical components are for driving the rotary shaft on active vertical plate to rotate.
Further, active vertical plate and driven vertical plate top are equipped with the overturning clamping for the cooperation that fits with workpiece surface
Block.
It further, further include manipulator, the free end of manipulator is provided with the pickup unit for grabbing workpiece, machine
Tool hand is for picking and placing workpiece.
3. beneficial effect
Using technical solution provided by the invention, compared with prior art, there is following remarkable result:
(1) applied robot of the invention picks and places the automatic turning device of material, realizes overturning work using automatic mechanical hand
Labor intensity is effectively reduced in the automatic loading/unloading of position, improves production and processing efficiency, and helps to reduce operating personnel's number
Amount reduces enterprise's production cost, improves productivity effect.
(2) applied robot of the invention picks and places the automatic turning device of material, is provided on station turning for clamping work
The vertical plate of part, and movable component is equipped with for driving vertical plate relatively close or far from movement, equipped with jacking component for driving work
Part lifting combines the clamping, jacking and flip-flop movement of workpiece, equipped with rotary components for driving workpiece turning by each
Ingenious cooperation between function can be realized the overturning to workpiece, and the automatic clamping and placing part of cooperative mechanical hand, processing efficiency obviously mention
It is high.
(3) applied robot of the invention picks and places the automatic turning device of material, jacks the quadrangle position of fixed substrate in component
It sets and is respectively arranged with guide post, correspondence offers the guide through hole passed through for guide post on movable base plate, and guide post can be to movable base plate
Lifting be effectively oriented to, ensure that lifting is steady, and the lower part of guide post is equipped with limit section, the diameter of the limit section is greater than guiding
The diameter of through-hole makes it possible to limit the lifting position of movable base plate, ensures elevating safety.
Detailed description of the invention
Fig. 1 is the structural schematic diagram that agitating friction welds system of processing in the present invention；
Fig. 2 is the partial enlargement structural representation of piece uploading station in the present invention；
Fig. 3 is the partial enlargement structural representation of welding post in the present invention；
Fig. 4 is that pickup unit looks up viewing angle constructions schematic diagram in the present invention；
Fig. 5 is the overlooking structure diagram of Fig. 4；
Fig. 6 is the structural schematic diagram for the automatic turning device that applied robot of the invention picks and places material；
Fig. 7 is the schematic view of the front view of Fig. 6；
Fig. 8 is the schematic diagram of internal structure of station turning；
Fig. 9 is the schematic view of the front view of Fig. 8；
Figure 10 is the structural schematic diagram of active toggle in the present invention；
Figure 11 is the overlooking structure diagram that platform is overturn in the present invention.
Label declaration in schematic diagram:
100, piece uploading station；200, manipulator；300, pickup unit；400, welding post；500, station turning；
110, rack；120, piece uploading platform；130, piece uploading locating piece；
410, welding platform；420, soldering tip；430, locating piece is welded；440, compression cylinder；450, compact heap；
310, attachment base；311, pedestal；320, fixed station；321, track；330, actuating cylinder；331, fixed plate；332,
Active clamping plate；333, contact block；334, mounting plate；335, drive connecting rod；336, pickup turntable；337, slide；338, fixing seat；
339, driven clamping plate；340, follower link；
510, platform is overturn；511, locating piece is overturn；512, escape groove；513, inductor；520, lifting cylinder；521, solid
Determine substrate；522, guide post；523, cooperate frame；530, movable base plate；531, sliding rail；532, cylinder is driven；533, active seat board；
534, active toggle；535, powered turntable；536, driven toggle；537, driven seat board；538, driven vertical plate；539, actively vertical
Plate；540, electric machine assembly；541, gripping block is overturn.
Specific embodiment
To further appreciate that the contents of the present invention, in conjunction with attached drawing, the present invention is described in detail.
In the description of the present invention, it should be noted that term " center ", "upper", "lower", "left", "right", "vertical",
The orientation or positional relationship of the instructions such as "horizontal", "inner", "outside" be based on the orientation or positional relationship shown in the drawings, merely to
Convenient for description the present invention and simplify description, rather than the device or element of indication or suggestion meaning must have a particular orientation,
It is constructed and operated in a specific orientation, therefore is not considered as limiting the invention.In addition, term " first ", " second ",
" third " is used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance.
The present invention will be further described with reference to the examples below.
Embodiment 1
As shown in Figure 1-Figure 11, the applied robot of the present embodiment picks and places the automatic turning device of material, is agitating friction weldering
Important processing unit (plant) in system of processing belongs to the station turning 500 in agitating friction weldering system of processing, wherein the agitating friction
Weldering processing system includes manipulator 200 and the piece uploading station 100, welding post 400, the station turning 500 that set gradually, piece uploading station
100 for carrying out initial feeding to multiple workpiece, and welding post 400 is for being stirred friction welding (FW), station turning 500 to workpiece
For overturning to the workpiece after welding, the workpiece after overturning collects and places, and is correspondingly arranged on each station
There is the locating piece for regular worker's part, the free end of manipulator 200 is provided with the pickup unit 300 for grabbing workpiece, mechanical
Hand 200 is for successively picking and placing workpiece to each station.
Piece uploading station 100 includes rack 110 in the present embodiment, is provided with multilayer piece uploading platform 120 in rack 110, and every layer
The removable disengaging of piece uploading platform 120, and the piece uploading locating piece 130 for positioning workpiece is provided on every layer of piece uploading platform 120,
As shown in Fig. 2, rail type sliding cooperation can be used in 120 two sides of piece uploading platform and rack 110, so that every layer of piece uploading platform 120
It can be translated along 110 length direction of rack, multiple groups piece uploading locating piece 130 can be set on piece uploading platform 120, for placing simultaneously
Multiple workpiece, piece uploading locating piece 130 are designed according to Workpiece structure shape, can be supported limit to the marginal position of workpiece with true
Determine the location of workpiece, multiple positioning modes in industry specifically can be used；The setting of multilayer piece uploading platform 120 may be implemented it is continuous not between
Disconnected formula feeding, effectively improves processing efficiency, by first piece uploading platform 120 on workpiece it is full after, the piece uploading platform 120 is to Forward
It moves to pickup position, carries out crawl material for manipulator 200, piece uploading can be continued on another piece uploading platform 120 at this time, when first
After workpiece on a piece uploading platform 120 is all grabbed, which exits outward, second piece uploading platform 120
It moves forward to pickup position to continue to grab for manipulator 200, first piece uploading platform 120 then returns to piece uploading again, thus real
Existing continous way piece uploading processing.
Welding post 400 includes welding platform 410 in the present embodiment, as shown in figure 3, the soldering tip 420 of agitating friction weldering is set
It is placed in the top of welding platform 410, multiple welding locating pieces 430 for positioning workpiece and multiple are provided in welding platform 410
For clamping the compact heap 450 of workpiece, compact heap 450 is connected with the telescopic rod of compression cylinder 440, the driving pressure of compression cylinder 440
Tight block 450 carries out elevating movement, and compact heap 450 declines workpiece pressing after workpiece is correspondingly placed at welding locating piece 430, with into
The accurate welding of row.
The agitating friction weldering system of processing of the present embodiment welds agitating friction to be combined with automatic mechanical hand 200, can
Realize the automatic loading/unloading of workpiece welding, when production only need to be in the 100 scheduling job personnel successively piece uploading of piece uploading station, other stations
Without human intervention, manipulation manipulator 200 is first from 100 grabbing workpiece of piece uploading station using pickup unit 300, then by workpiece
Mobile to be placed on welding post 400, after the soldering tip 420 of agitating friction weldering welds, its feeding is transferred to automatically and turns over by manipulator 200
Switching stations 500, workpiece are grabbed by manipulator 200 to discharge position again after being reversed.By piece uploading, weldering in entire production process
It connects, overturn with 200 phase set of manipulator, labor intensity, raising production and processing efficiency can be effectively reduced, and help to reduce
Operating personnel's quantity reduces enterprise's production cost, improves productivity effect.The integrated system periphery is additionally provided with anti-in the present embodiment
Protect grid, be additionally provided on pickup unit 300 and each station for detect judge workpiece whether there is or not inductor 513, to protect
Barrier manipulator 200 can carry out grasping manipulation to safety and precise.
Embodiment 2
The agitating friction of the present embodiment welds system of processing, and basic structure is with embodiment 1, further, such as Fig. 4 and Fig. 5 institute
Show, pickup unit 300 includes pedestal 311 in the present embodiment, is provided with above pedestal 311 for matching with 200 free end of manipulator
The attachment base 310 for closing connection is provided at least one fixed station 320 below pedestal 311, be provided on each fixed station 320 with
Its pickup turntable 336 being rotatably assorted, specifically, pickup turntable 336 are installed on fixed station 320 by fixing seat 338, and are taken
Part turntable 336 and fixing seat 338 can be rotatably assorted by bearing or fixing seat 338 and fixed station 320 between be rotatably assorted,
Only pickup turntable 336 need to be enable around circumferential flexible rotating.The two sides of pickup turntable 336 are movably set with respectively actively to press from both sides
Plate 332 and driven clamping plate 339 are specifically provided with track 321 on fixed station 320, active clamping plate 332 and driven clamping plate 339
Bottom is provided with the slide 337 matched with the track 321, and track 321 and slide 337 may be configured as bilateral, 337 energy of slide
It is enough to be translated along 321 extending direction of track, and track groove can be opened up on fixed station 320, track 321 is located in the track groove, and rail
The two side walls in road 321 and the two side walls of track groove fit closely, so that track groove be enable to carry out the position of track 321
Positioning, prevents track 321 from deviating in the long-term use.
335 one end of drive connecting rod and 332 bottom of active clamping plate are hinged in the present embodiment, 335 other end of drive connecting rod with take
Part turntable 336 is hinged, and 340 one end of follower link and driven 339 bottom of clamping plate are hinged, and 340 other end of follower link and pickup turn
Disk 336 is hinged, and drive connecting rod 335 is located at the not ipsilateral of pickup turntable 336, active clamping plate 332 1 with follower link 340
Side is connected with actuating cylinder 330 and is driven by it movement.Specifically, 320 one end of fixed station is equipped with pedestal 311, actuating cylinder 330
It is set on the pedestal 311, and its telescopic rod is connected with active clamping plate 332.Active clamping plate 332 and 339 bottom of driven clamping plate are equal
It is provided with mounting plate 334, installation cavity, two connecting rods (drive connecting rod 335 and follower link 340) are offered in the mounting plate 334
It is to be hinged in the installation cavity, its position active level can be limited.Active clamping plate 332 and driven clamping plate 339 push up
Portion is then provided with the contact block 333 matched with workpiece surface, can accurately be bonded with workpiece, ensures the stabilization clamp to workpiece
It holds, similarly, the shape of two clamping plates (active clamping plate 332 and driven clamping plate 339) is also designed according to Workpiece structure, is ensured to workpiece
Stable holding.
The middle part of pickup turntable 336, which circumferentially surrounds, in the present embodiment offers a circle groove, and two connecting rods are hinged on
In the groove, the articulated position of two connecting rods and pickup turntable 336 is located at the two of a certain diametrical direction position of pickup turntable 336
Side, when actuating cylinder 330 drives active clamping plate 332 to be translated along track 321, drive connecting rod 335 pushes pickup turntable 336 to revolve
Turn, and the rotation of pickup turntable 336 is that the driven clamping plate 339 of synchronous drive carries out relative motion, is leaned on to realize that two sides clamping plate is opposite
Close or remote from move synchronously, complete to facilitate guarantee when picking and placing part to workpiece to the synchronous clamping or expansion action of workpiece
Stable holding effect.
Embodiment 3
The automatic turning device of applied robot's pick-and-place material of the present embodiment, the same above-described embodiment of basic structure, further
Ground, as shown in Fig. 6-Figure 11, station turning 500 includes the overturning platform 510 for placing workpiece, overturns the two sides of platform 510
It is provided with the active vertical plate 539 and driven vertical plate 538 for clamping workpiece, the bottom point of active vertical plate 539 and driven vertical plate 538
Be not connected with movable component, movable component for drive active vertical plate 539 and driven vertical plate 538 it is relatively close or far from movement,
Jacking component is provided with below active vertical plate 539 and driven vertical plate 538, jacking component is for driving workpiece lifting, active vertical plate
539 side is provided with rotary components, and rotary components are for driving workpiece turning.Overturning 510 two sides of platform offer respectively to be passed through
The escape groove 512 of its thickness is worn, active vertical plate 539 and driven vertical plate 538 are passed through from corresponding escape groove 512 respectively to be prolonged upwards
It stretches, and can be translated or be gone up and down in escape groove 512；Overturning 510 two sides of platform be additionally provided with for detect workpiece whether there is or not
Inductor 513.In use, movable component first drives active vertical plate 539 and driven after workpiece is placed on overturning platform 510
The relatively close clamping workpiece of vertical plate 538, then jacks Component driver active vertical plate 539 and driven vertical plate 538 drives workpiece together
Certain altitude is risen to, then rotary components driving carries out certain angle overturning to workpiece, then jacks Component driver and moves down, opens
Seaming element driving active vertical plate 539 and driven vertical plate 538 are relatively distant from relieving workpiece, and overturning process is completed.
The structure of movable component is similar to pickup unit 300 to principle in the present embodiment, including is set to active vertical plate
539 and 538 bottom of driven vertical plate movable base plate 530, be provided with the powered turntable being rotatably assorted with it on movable base plate 530
535, similarly powered turntable 535 can also be rotatably assorted by fixing seat and movable base plate 530, can be around circumferential flexibly rotation
Turn；The two sides of powered turntable 535 are movably set with active seat board 533 and driven seat board 537 respectively, similarly, on movable base plate 530
Track groove is offered, sliding rail 531 is provided in the track groove, two seat board (active seat board 533 and driven seat board 537) bottoms are equal
Equipped with the slide track seat matched with the sliding rail 531, enable two seat boards along 531 extending direction translational motion of sliding rail.Actively cut with scissors
534 one end of bar and active seat board 533 are hinged, and 534 other end of active toggle and powered turntable 535 are hinged, driven 536 one end of toggle
Hinged with driven seat board 537, driven 536 other end of toggle and powered turntable 535 are hinged, active toggle 534 and driven toggle 536
It is located at the not ipsilateral of powered turntable 535,533 side of active seat board is connected with driving cylinder 532 and is driven by it movement, together
Sample, active seat board 533 and 537 bottom of driven seat board offer installation cavity, and two toggles are to be hinged in the installation cavity, can
To limit to its active level, 535 middle part of powered turntable circumferentially offers a circle groove, two toggle (active toggles
534 and driven toggle 536) can be articulated in the groove.The articulated position of two toggles and powered turntable 535 is located at powered turntable
The two sides of 535 a certain diametrical direction positions drive active seat board 533 mobile, to drive powered turntable by driving cylinder 532
535 rotations, keep two seat boards relatively close or separate, and active vertical plate 539 is set on active seat board 533, driven vertical plate 538
It is set on driven seat board 537, thus make two vertical plates (active vertical plate 539 and driven vertical plate 538) opposite tightening or open, it is real
Now to the clamping of workpiece or opening.
It includes the lifting cylinder 520 for being set to 530 lower section of movable base plate, lifting cylinder 520 that component is jacked in the present embodiment
End is fixed in fixed substrate 521, and the telescopic rod of lifting cylinder 520 is upwardly extended and is connected with the movable base plate of top 530.
By the flexible realization of lifting cylinder 520 to the height adjustment of entire movable base plate 530, and the corner location of fixed substrate 521
It is respectively arranged with guide post 522, correspondence offers the guide through hole passed through for guide post 522 on movable base plate 530, and guide post 522 passes through
Guide through hole simultaneously extend upwardly to overturning 510 position of platform, can the lifting to movable base plate 530 be effectively oriented to, guarantee
Lifting is steady, and the lower part of guide post 522 is equipped with limit section, and the diameter of the limit section is greater than the diameter of guide through hole, makes it possible to
The lifting position of movable base plate 530 is limited, ensures elevating safety.The telescopic rod of lifting cylinder 520 in the present embodiment
Cooperation frame 523 is additionally provided on the outside of end, which is surrounded on outside telescopic rod and top and movable base plate 530 are connected,
Cooperating is clearance fit between frame 523 and telescopic rod, facilitates the steady progress for further ensureing lifting action, prevents gas
Cylinder stuck phenomenon.
Rotary components include the electric machine assembly 540 for being set to 539 side of active vertical plate, active vertical plate 539 in the present embodiment
It is equipped with the rotary shaft being rotatably assorted respectively with it with driven 538 top of vertical plate, such as is cooperated using rolling bearing, wherein actively
Rotary shaft on vertical plate 539 is connected with electric machine assembly 540, and electric machine assembly 540 is for driving the rotary shaft on active vertical plate 539 to revolve
Turn.A variety of conventional designs such as common motor, transmission gear and conveyer belt in industry can be used in the electric machine assembly 540, herein not
It repeats again.The rotary shaft being arranged in the middle part of two vertical plates can be rotated in vertical plate around circumferential, when workpiece is pressed from both sides by two vertical plates
When tight, electric machine assembly 540 drives the rotary shaft rotation on active vertical plate 539 that can drive workpiece synchronous rotary, to realize work
Part overturning.
Two vertical plate tops are provided with the overturning gripping block 541 for matching and being bonded with workpiece surface in the present embodiment, i.e., and two
The end of a rotary shaft is provided with overturning gripping block 541, can be bonded with workpiece surface stabilization, ensure the fastening to piece-holder
Property and stability, ensure overturning safety.The structure type of overturning gripping block 541 is designed according to Workpiece structure.Overturn platform
The overturning locating piece 511 for positioning to workpiece is also equipped on 510.
The present embodiment combines clamping, jacking and the flip-flop movement to workpiece, passes through the ingenious cooperation between each function, energy
Enough overturnings realized to workpiece, and the automatic clamping and placing part of cooperative mechanical hand 200, processing efficiency significantly improve.
The method for being stirred friction welding (FW) using the system of processing of the present embodiment, comprising the following steps:
S1, it utilizes piece uploading locating piece 130 to position workpiece feeding on piece uploading station 100, starts manipulator 200, utilize
Pickup unit 300 is by workpiece grabbing and is transferred to welding post 400；
S2, on welding post 400 using welding locating piece 430 and compact heap 450 work piece positioning is held, soldering tip 420
Friction welding (FW) is stirred to workpiece；After welding, compact heap 450 opens workpiece；
S3, manipulator 200 by workpiece grabbing and transfer to station turning 500 again, and movable component first drives active vertical plate
539 and the relatively close clamping workpiece of driven vertical plate 538, it then jacks Component driver active vertical plate 539 and driven vertical plate 538 drives
Workpiece rises to certain altitude together, and then rotary components driving carries out certain angle overturning to workpiece, then jacks component and drives
Dynamic to move down, movable component driving active vertical plate 539 and driven vertical plate 538 are relatively distant from relieving workpiece, and overturning process is completed, mechanical
Hand 200 by workpiece grabbing and transfers at blowing again.
Schematically the present invention and embodiments thereof are described above, description is not limiting, institute in attached drawing
What is shown is also one of embodiments of the present invention, and actual structure is not limited to this.So if the common skill of this field
Art personnel are enlightened by it, without departing from the spirit of the invention, are not inventively designed and the technical solution
Similar frame mode and embodiment, are within the scope of protection of the invention.
Claims (10)
1. the automatic turning device that applied robot picks and places material, it is characterised in that: including the overturning platform for placing workpiece
(510), the two sides for overturning platform (510) are provided with active vertical plate (539) and driven vertical plate (538) for clamping workpiece, main
Dynamic vertical plate (539) and the bottom of driven vertical plate (538) are connected with movable component respectively, and movable component is for driving active vertical plate
(539) and driven vertical plate (538) it is relatively close or far from movement, active vertical plate (539) and driven vertical plate (538) lower section be provided with
Component is jacked, for jacking component for driving workpiece lifting, the side of active vertical plate (539) is provided with rotary components, rotary components
For driving workpiece turning.
2. the automatic turning device that applied robot according to claim 1 picks and places material, it is characterised in that: movable component packet
The movable base plate (530) for being set to active vertical plate (539) and driven vertical plate (538) bottom is included, movable base plate is provided on (530)
The powered turntable (535) being rotatably assorted with it, the two sides of powered turntable (535) be movably set with respectively active seat board (533) and
Driven seat board (537), active toggle (534) one end and active seat board (533) hingedly, active toggle (534) other end and power
Turntable (535) hingedly, driven toggle (536) one end and driven seat board (537) hingedly, driven toggle (536) other end and power
Hingedly, active toggle (534) and driven toggle (536) are located at the not ipsilateral of powered turntable (535) to turntable (535), actively
Seat board (533) side is connected with driving cylinder (532) and is driven by it movement, and active vertical plate (539) is set to active seat board
(533) on, driven vertical plate (538) is set on driven seat board (537).
3. the automatic turning device that applied robot according to claim 2 picks and places material, it is characterised in that: movable base plate
(530) it is provided on sliding rail (531), active seat board (533) and driven seat board (537) bottom are equipped with and the sliding rail (531) phase
The slide track seat of cooperation, active seat board (533) and driven seat board (537) can be along sliding rail (531) extending direction translational motions.
4. the automatic turning device that applied robot according to claim 2 picks and places material, it is characterised in that: active seat board
(533) and driven seat board (537) bottom offers installation cavity, one end difference of active toggle (534) and driven toggle (536)
Be articulated in corresponding installation cavity, circumferentially offer a circle groove in the middle part of powered turntable (535), active toggle (534) and from
The other end of dynamic toggle (536) is hingedly connected in the groove.
5. the automatic turning device that applied robot according to claim 1 picks and places material, it is characterised in that: overturning platform
(510) two sides offer the escape groove (512) through its thickness respectively, active vertical plate (539) and driven vertical plate (538) respectively from
Corresponding escape groove (512) passes through and upwardly extends, and can be translated or be gone up and down in escape groove (512)；It overturns platform (510)
Two sides be additionally provided with for detect workpiece whether there is or not inductor (513).
6. the automatic turning device that applied robot according to claim 2 picks and places material, it is characterised in that: jacking component packet
The lifting cylinder (520) being set to below movable base plate (530) is included, lifting cylinder (520) end is fixed on fixed substrate (521)
On, the telescopic rod of lifting cylinder (520) is upwardly extended and is connected with the movable base plate of top (530).
7. the automatic turning device that applied robot according to claim 6 picks and places material, it is characterised in that: fixed substrate
(521) it is provided on guide post (522), correspondence offers the guide through hole passed through for guide post (522) on movable base plate (530), leads
Column (522) passes through guide through hole and upwardly extends, and the lower part of guide post (522) is equipped with limit section, and the diameter of the limit section is greater than
The diameter of guide through hole.
8. the automatic turning device that applied robot according to claim 1 picks and places material, it is characterised in that: rotary components packet
The electric machine assembly (540) for being set to active vertical plate (539) side is included, active vertical plate (539) and driven vertical plate (538) top are all provided with
There is the rotary shaft being rotatably assorted respectively with it, wherein the rotary shaft on active vertical plate (539) is connected with electric machine assembly (540), electricity
Thermomechanical components (540) are for driving the rotary shaft on active vertical plate (539) to rotate.
9. the automatic turning device that applied robot according to claim 1 picks and places material, it is characterised in that: active vertical plate
(539) and driven vertical plate (538) top is equipped with the overturning gripping block (541) of the cooperation that fits with workpiece surface.
10. -9 described in any item applied robots pick and place the automatic turning device of material according to claim 1, it is characterised in that:
It further include manipulator (200), the free end of manipulator (200) is provided with the pickup unit (300) for grabbing workpiece, manipulator
(200) for being picked and placed to workpiece.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910065864.4A CN109483045B (en) | 2019-01-23 | 2019-01-23 | Automatic turning device for taking and discharging materials by using robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910065864.4A CN109483045B (en) | 2019-01-23 | 2019-01-23 | Automatic turning device for taking and discharging materials by using robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109483045A true CN109483045A (en) | 2019-03-19 |
| CN109483045B CN109483045B (en) | 2024-04-12 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910065864.4A Active CN109483045B (en) | 2019-01-23 | 2019-01-23 | Automatic turning device for taking and discharging materials by using robot |
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| CN207942139U (en) * | 2018-03-19 | 2018-10-09 | 快克智能装备股份有限公司 | Jig lifting turning device |
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| CN209407654U (en) * | 2019-01-23 | 2019-09-20 | 安徽佩吉智能科技有限公司 | Unit is processed in the overturning that automation picks and places material |
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Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000158135A (en) * | 1998-11-26 | 2000-06-13 | Honda Motor Co Ltd | Automatic welding system |
| CN201685069U (en) * | 2010-04-02 | 2010-12-29 | 徐州华恒焊接有限公司 | Auxiliary bracket |
| CN102269600A (en) * | 2010-12-20 | 2011-12-07 | 吴江市博众精工科技有限公司 | Turnover mechanism |
| CN207806936U (en) * | 2017-12-19 | 2018-09-04 | 惠州恒立信科技有限公司 | Weld upset feed mechanism and its lithium battery welding equipment |
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| Publication number | Publication date |
|---|---|
| CN109483045B (en) | 2024-04-12 |
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