CN113386163A - Transfer device and transfer method for end cover of speed reducer - Google Patents
Transfer device and transfer method for end cover of speed reducer Download PDFInfo
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- CN113386163A CN113386163A CN202110822155.3A CN202110822155A CN113386163A CN 113386163 A CN113386163 A CN 113386163A CN 202110822155 A CN202110822155 A CN 202110822155A CN 113386163 A CN113386163 A CN 113386163A
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- inner cylinder
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
- B25J15/0683—Details of suction cup structure, e.g. grooves or ridges
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0058—Means for cleaning manipulators, e.g. dust removing means
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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
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- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The invention relates to the technical field of speed reducers, in particular to a transfer device and a transfer method for an end cover of a speed reducer. The invention relates to a transfer device for a speed reducer end cover and a transfer method using the device, wherein the transfer device comprises: the device comprises a conveyor, a six-shaft manipulator fixedly connected to one side of the conveyor, a suction part arranged at the movable end of the six-shaft manipulator and a pressing part arranged at the suction end of the suction part; when the suction part stops, the six-axis manipulator can drive the pressing part to abut against the spherical surface of the workpiece and then stretch out and draw back, so that the pressing part intermittently blows air to the workpiece; the pressing part is compressed to the position where the air outlet is blocked, and the suction part can suck the straight surface of the workpiece through the pressing part. Through the setting of portion and pressing the splenium of absorbing, can realize blowing the dust removal to the work piece surface and absorb dual-purpose effect to the work piece.
Description
Technical Field
The invention relates to the technical field of speed reducers, in particular to a transfer device and a transfer method for an end cover of a speed reducer.
Background
The manipulator is an automatic operation device which can imitate certain action functions of human hands and arms and is used for grabbing and carrying objects or operating tools according to a fixed program, mainly comprises an execution mechanism, a driving mechanism and a control system, can replace heavy labor of people to realize mechanization and automation of production, can operate under harmful environment to protect personal safety, and is widely applied to departments of mechanical manufacturing, metallurgy, electronics, light industry, atomic energy and the like to transfer or unload some objects and the like. The transferring is a process of conveying the workpiece to a working position and realizing positioning and clamping. It is very common in current machining to use a robot to place a workpiece to be machined at a specified position. But the manipulator lacks the function to the work piece surface dust removal among the prior art transporting, generally removes dust the back rethread manipulator and transports the work piece alone to the work piece, and such mode need additionally provide a power supply that removes dust, has increased a process to the transportation of work piece, has greatly increased the work piece and has transported required time, has reduced transportation efficiency.
Therefore, a transfer device for a speed reducer end cover needs to be designed to solve the above problems.
Disclosure of Invention
The invention aims to provide a transfer device for an end cover of a speed reducer, which has the dual-purpose effects of blowing air to remove dust on the surface of a workpiece and sucking the workpiece.
In order to solve the technical problem, the invention provides a transfer device for a speed reducer end cover, which comprises: the device comprises a conveyor, a six-shaft manipulator fixedly connected to one side of the conveyor, a suction part arranged at the movable end of the six-shaft manipulator and a pressing part arranged at the suction end of the suction part; the six-axis manipulator is suitable for transferring workpieces; the middle part of the pressing part is hollow and is communicated with the suction part, and the pressing part can be folded; the pressing part is provided with an air outlet; when the suction part stops, the six-axis manipulator can drive the pressing part to abut against the spherical surface of the workpiece and then stretch out and draw back, so that the pressing part intermittently blows air to the workpiece; the pressing part is compressed to the position where the air outlet is blocked, and the suction part can suck the straight surface of the workpiece through the pressing part.
Furthermore, the pressing part comprises a pressing outer cylinder fixedly connected with the suction part and a pressing inner cylinder connected in the pressing outer cylinder in a sliding manner, and the outer side wall of the pressing inner cylinder is attached to the inner side wall of the pressing outer cylinder; the upper end surface of the pressing inner cylinder is lower than the upper end surface of the pressing outer cylinder; the bottom end surface of the pressing inner cylinder is lower than that of the pressing outer cylinder, and the air outlet is positioned at the part of the pressing inner cylinder lower than the pressing inner cylinder; when the pressing outer cylinder is pressed to abut against the spherical surface of the workpiece, the pressing inner cylinder can stretch relative to the pressing outer cylinder so as to intermittently blow air to the workpiece; when the pressing outer cylinder is pressed to block the air outlet, the suction part can suck the straight surface of the workpiece through the pressing inner cylinder.
Furthermore, the outer side wall of the pressing inner cylinder is provided with a rotating groove, and the inner side wall of the pressing outer cylinder is provided with a limiting groove; a pressing guide ball is matched in the rotating groove and the limiting groove; the limiting groove is internally provided with a plurality of clamping groups which are uniformly distributed in the circumferential direction, and when the pressing guide ball rolls along the rotating groove, the pressing guide ball can be clamped into each clamping group.
Furthermore, the clamping position group comprises a first clamping position and a second clamping position located on the clockwise side of the first clamping position, and the first clamping position is higher than the second clamping position; a first inflection point is formed between the first clamping position and the second clamping position of the same group, and a second inflection point is formed between the first clamping position and the second clamping position of different groups; the pressing guide ball is clamped into the second clamping position after the first clamping position crosses the first inflection point, and the air outlet is blocked by the pressing outer barrel.
Furthermore, the clamping group further comprises a third inflection point corresponding to the first clamping position, a third clamping position corresponding to the first inflection point, a fourth inflection point corresponding to the second clamping position and a fourth clamping position corresponding to the second inflection point; the first clamping position is positioned on the clockwise side of the third inflection point; the third inflection point is positioned on the counterclockwise direction side of the third clamping position; the second clamping position is positioned on the clockwise side of the fourth inflection point; the fourth inflection point is located on a counterclockwise direction side of the second inflection point.
Furthermore, the bottom of the inner side wall of the pressing inner cylinder is provided with an air guide groove so as to disperse the compressed air in the pressing inner cylinder.
Further, the air outlet is obliquely arranged, and the outer side of the air outlet faces the workpiece; the diameter of the longitudinal section of the air outlet is gradually reduced from the inner side wall to the outer side wall of the pressing inner cylinder; when the air in the pressing inner cylinder is compressed, the air can be sprayed out from the air outlet.
Furthermore, the suction part comprises a suction support fixedly connected to the movable end of the six-axis manipulator and a plurality of suction sleeves fixedly connected to the suction support; the pressing outer cylinder is fixedly connected with the corresponding suction sleeve; the suction sleeve is provided with an adsorption inlet pipe, and the adsorption inlet pipe is connected to the air suction pump; when the air outlet is blocked, the air suction pump works to enable the pressing inner cylinder to form negative pressure.
Furthermore, one side of the conveyor is rotatably connected with a turnover support, and one side of the conveyor is also fixedly connected with a turnover motor; the overturning bracket is fixedly connected to an output shaft of the overturning motor; when a workpiece with an upward spherical surface is placed on the overturning bracket, the pressing inner cylinder is abutted against the workpiece and blows air to the workpiece; and after the workpiece is driven by the turnover motor to be turned over to the conveyor so that the straight surface of the workpiece faces upwards, the conveyor is contacted with the spherical surface.
A transfer method of a transfer device for a speed reducer end cover comprises the above transfer device for the speed reducer end cover; manually placing the spherical surface orientation of the workpiece on the overturning bracket; the pressing inner cylinder is controlled by a six-axis manipulator to move to be in contact with the spherical surface of the workpiece; the pressing outer cylinder is controlled to repeatedly lift through the six-axis manipulator, so that the volume in the pressing inner cylinder is intermittently compressed, the pressing guide ball is sequentially abutted against the first clamping position and the second clamping position, and the pressing inner cylinder intermittently blows and removes dust to the workpiece; after the dust removal is finished, the six-shaft mechanical arm stops lifting and is far away from the conveyor; the turnover motor drives the turnover support to rotate so that the workpiece is turned over to the conveyor and the straight surface of the workpiece faces upwards; then the pressing inner cylinder is controlled by a six-axis manipulator to contact with the straight surface of the workpiece; after the six-axis manipulator is lifted until the guide ball is clamped in the second clamping position, negative pressure is formed inside the pressing inner cylinder through the air suction pump, so that the pressing inner cylinder is adsorbed on the straight surface of the workpiece; and then the workpiece is transferred by a six-axis manipulator.
The transfer device for the end cover of the speed reducer comprises a suction part and a pressing part, wherein the suction part is matched with the pressing part, so that the surface of a workpiece is firstly subjected to dust removal before the workpiece is carried by the transfer device for the end cover of the speed reducer, namely, the interior of the speed reducer is subjected to dust removal, the working stability of the speed reducer after the end cover is installed on the speed reducer is ensured, then the workpiece is carried by driving the pressing part through the suction part, the transfer and dust removal of the workpiece share one driving source, the two processes of dust removal and transfer are combined into one process, and the transfer efficiency of the workpiece is greatly improved.
Drawings
The invention is further illustrated with reference to the following figures and examples.
Fig. 1 is a perspective view of a transfer device for a reducer end cover according to a preferred embodiment of the present invention;
fig. 2 is a perspective view of a preferred embodiment of the present invention in which a sucking part and a pressing part are installed;
FIG. 3 is a perspective view of a preferred embodiment of the pressing portion of the present invention;
fig. 4 is a partially enlarged view of a portion a of fig. 3;
FIG. 5 is an expanded view of the trajectory of the preferred embodiment of the pressing guide ball of the present invention moving along the turning groove;
FIG. 6 is a cross-sectional view of a preferred embodiment of the present invention with the pressing portion in a vented condition;
fig. 7 is a sectional view of a preferred embodiment of the pressing part of the present invention in a pressure maintaining state;
FIG. 8 is a perspective view of a preferred embodiment of a spherical surface of a workpiece of the present invention;
fig. 9 is a perspective view of a preferred embodiment of the straight face of the workpiece of the present invention.
In the figure: 1. a conveyor; 11. turning over the bracket; 12. turning over a motor; 2. a six-axis manipulator; 3. a suction part; 31. sucking the bracket; 32. sucking the sleeve; 33. adsorbing the pipe; 4. a pressing part; 41. an air outlet; 42. pressing the outer cylinder; 421. a limiting groove; 422. a first clamping position; 423. a second card position; 424. a first inflection point; 425. a second inflection point; 426. a third inflection point; 427. a third position; 428. a fourth inflection point; 429. a fourth position; 43. pressing the inner cylinder; 431. a rotating groove; 432. a wind guide groove; 44. pressing the guide ball; 5. a workpiece; 51. spherical surface; 52. straight surface.
Detailed Description
The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic views illustrating only the basic structure of the present invention in a schematic manner, and thus show only the constitution related to the present invention.
It should be noted that the workpiece 5 is a circular speed reducer end cover, the spherical surface 51 of the workpiece 5 is a spiral surface of the speed reducer end cover, i.e., one side of the inside of the speed reducer, and the straight surface 52 of the workpiece 5 is a smooth end surface of the speed reducer end cover, i.e., an outer surface of the speed reducer.
Example one
As shown in fig. 1 to 9, the present embodiment provides a transfer device for a reducer end cover, which includes a conveyor 1, wherein a workpiece 5 is conveyed backwards by the conveyor 1, a six-axis manipulator 2 is installed on one side of the conveyor 1, the workpiece 5 is conveyed onto the conveyor 1 by the six-axis manipulator 2, a suction part 3 is installed at a movable end of the six-axis manipulator 2, and the suction part 3 is used for sucking a straight surface 52 of the workpiece 5; after the workpiece 5 is adsorbed on the adsorption portion 3, the workpiece 5 is conveyed above the conveyor 1 by the six-axis robot 2, and the workpiece 5 is released by the adsorption portion 3 so that the workpiece 5 falls onto the conveyor 1. With respect to the above components, detailed description thereof is given below.
Conveyor
The conveyor 1 is used for conveying the workpieces 5 with the straight surfaces 52 facing upwards backwards to realize automatic processing of the workpieces 5, and the conveyor 1 ensures the conveying linearity of the workpieces 5 so as to position the workpieces 5. Concrete conveyer 1 comprises two conveying drum and the conveyer belt that encircles two conveying drum, and one of them conveying drum is connected with conveying motor, and the conveying drum who corresponds through conveying motor drive rotates to drive the conveyer belt and carry out the gyration and carry work piece 5, adopt above-mentioned structure to carry work piece 5, the vibration that work piece 5 received is less, and the transport stability of work piece 5 is higher.
Six-shaft mechanical arm
Six manipulators 2 are used for transporting the work piece, and six of six manipulators 2 are respectively, one is: the first shaft is a part connected with the base and mainly bears the weight of the upper shaft and the left-right rotation of the base. Two axes: controlling the back and forth swing of the manipulator and the up and down movement of the whole arm. Three-axis: three axes are also used to control the back and forth swing of the robot, but the swing arm has a smaller range than the second axis. Four-axis: the four axes are circular tube parts which can rotate freely on the manipulator. The range of motion is equivalent to a human arm, but not 360 degrees. There are some wires in the same range as the person's arm. Five shafts: five-axis control and the rotation of the manipulator arm up and down fine adjustment. Six-axis: the sixth shaft functions as a rotation of the end clamp portion, being rotatable 360 degrees. The six-axis robot 2 is mounted on one side of the conveyor 1, the six-axis robot 2 being fixed on the ground, and the six-axis robot 2 being adapted to transfer the workpieces 5 on said conveyor 1, in such a way that the degree of automation is increased.
Suction part
The suction part 3 is used for sucking the straight surface 52 of the workpiece 5, the suction part 3 is installed at the movable end of the six-axis manipulator 2, and specifically comprises a suction support 31 fixedly connected to the movable end of the six-axis manipulator 2 and a plurality of suction sleeves 32 fixedly connected to the suction support 31, in this embodiment, the number of the suction sleeves 32 is preferably four, the suction support 31 is "C" shaped and comprises a cross rod and longitudinal rods fixed at two ends of the cross rod, the middle part of the cross rod is installed at the movable end of the six-axis manipulator 2, each end of the suction support 31 is provided with two suction sleeves 32, namely each longitudinal rod is provided with two suction sleeves 32, the suction sleeves 32 are provided with a suction inlet pipe 33, the suction inlet pipe 33 is connected to a suction pump (not shown in the figure), when the suction pump (not shown in the figure) works, the suction sleeves 32 can be sucked on the straight surface 52 of the workpiece 5, specifically, air in the suction sleeve 32 is sucked by a suction pump (not shown in the figure), so that a negative pressure is formed inside the suction sleeve 32, and the suction sleeve 32 is adsorbed on the straight surface 52 of the workpiece 5, so that the workpiece 5 can be transported along with the six-axis robot 2.
However, when the workpiece 5 is installed in the speed reducer, the spherical surface 51 is located inside the speed reducer, and if metal chips remain on the spherical surface 51, the stability of the operation of the speed reducer is affected, in the prior art, the spherical surface 51 of the workpiece 5 is generally subjected to air blowing and dust removal separately and then the workpiece 5 is transported, so that a process is added for transporting the workpiece 5, the transport time of a single workpiece 5 is increased, the transport efficiency of the workpiece 5 is reduced, and the processing efficiency of the workpiece 5 is reduced; or an additional inflating pump can be adopted, the inflating pump also needs to be communicated with the adsorption inlet pipe 33, the suction sleeve 32 blows air to the spherical surface 51 of the workpiece 5 through the inflating pump to remove dust, two power sources are needed in the mode, equipment cost is increased undoubtedly, and meanwhile the air suction pump and the inflating pump need to be used alternately, and the cost of alternate control is also increased.
In order to solve the above problems, the dual-purpose effects of blowing air to remove dust from the spherical surface 51 of the workpiece 5 and sucking the straight surface 52 of the workpiece 5 need to be realized only by the presence of the air suction pump, a pressing part 4 is installed at the air suction end of the sucking part 3, namely, the pressing part 4 is fixedly connected to the bottom of the sucking sleeve 32, the middle part of the pressing part 4 is hollow and is communicated with the sucking part 3, namely, the inside of the pressing part 4 is communicated with the inside of the sucking sleeve 32, when negative pressure is formed inside the sucking sleeve 32, negative pressure is also formed inside the pressing part 4, and at the moment, the pressing part 4 abuts against the straight surface 52 of the workpiece 5, so that the straight surface 52 of the workpiece 5 is sucked; in order to realize the blowing and dust removal of the spherical surface 51 of the workpiece 5 by the pressing part 4, an air outlet 41 is arranged on the pressing part 4, the pressing part 4 is arranged to be foldable, and the volume inside the pressing part 4 is compressed by the folding of the pressing part 4, so that the air inside the pressing part 4 is sprayed out. When the air suction pump in the suction part 3 stops, the six-axis manipulator 2 drives the suction sleeve 32 in the suction part 3 to move, the suction sleeve 32 moves to drive the pressing part 4 to move to abut against the spherical surface 51 of the workpiece 5, the six-axis manipulator 2 presses the pressing part 4 to contract, so that the pressing part 4 sprays air to the spherical surface 51 of the workpiece 5, the pressing part 4 stretches to an initial state when the six-axis manipulator 2 lifts the pressing part 4, and the six-axis manipulator 2 repeatedly presses and lifts the pressing part 4, so that the pressing part 4 intermittently blows air to remove dust from the spherical surface 51 of the workpiece 5, and the working stability of the speed reducer is further ensured; when the pressing portion 4 is compressed, the air outlet 41 on the pressing portion 4 is blocked, at this time, the pressing portion 4 is in a pressure maintaining state, at this time, the air pump works, the negative pressure inside the suction sleeve 32 presses the negative pressure inside the pressing portion 4, at this time, the pressing portion 4 can be adsorbed on the straight surface 52 of the workpiece 5, when the pressing portion 4 is stretched, the air outlet 41 on the pressing portion 4 is exposed, and at this time, the pressing portion 4 is in an exhaust state. In this way, in the case where only the suction pump is present and only the suction pump needs to be controlled, the pressing portion 4 can achieve both the effects of air-blowing dust removal on the spherical surface 51 of the workpiece 5 and suction of the straight surface 52 of the workpiece 5.
In order to enable the pressing part 4 to respectively remove dust and adsorb the workpieces 5 from front to back, the conveyor 1 is provided with a turnover support 11 which is rotatably connected with one side of the conveyor 1, a turnover motor 12 which is fixedly connected with the same side of the turnover support 11, the turnover support 11 is fixedly connected onto an output shaft of the turnover motor 12, the workpieces 5 can be placed on the turnover support 11, the workpieces 5 need to keep a state that the round surfaces 51 face up, when the turnover motor 12 works, the turnover support 11 can turn over along with the turnover motor 12 and drive the workpieces 5 to turn over, so that the straight surfaces 52 of the workpieces 5 face up, and the spherical surfaces 51 are contacted with the conveyor belt.
The folding structure of the pressing part 4 is specifically divided into a pressing outer cylinder 42 fixedly connected with the suction sleeve 32 and a pressing inner cylinder 43 slidably connected in the pressing outer cylinder 42, wherein the outer side wall of the pressing inner cylinder 43 is attached to the inner side wall of the pressing outer cylinder 42, and the upper end surface of the pressing inner cylinder 43 is lower than that of the pressing outer cylinder 42; the bottom end surface of the pressing inner cylinder 43 is lower than the bottom end surface of the pressing outer cylinder 42. The air outlet 41 is opened in the lower end side wall of the pressing inner cylinder 43, penetrates through the pressing inner cylinder 43 and keeps inclined downwards with the side wall of the pressing inner cylinder 43, and the opening of the air outlet 41 faces the workpiece 5. When the six-axis manipulator 2 drives the suction sleeve 32 in the suction part 3 to move, and then the suction sleeve 32 moves to drive the pressing part 4 to move to abut against the spherical surface 51 of the workpiece 5, and then the six-axis manipulator 2 presses the pressing part 4 to contract, and further the pressing outer cylinder 42 slides opposite to the suction sleeve 32, so that the pressing inner cylinder 43 blocks the air outlet 41, at this time, the pressing inner cylinder 43, the pressing outer cylinder 42, the suction sleeve 32 and the straight surface 52 of the workpiece 5 can form a closed space, and when the closed space is formed, that is, the pressing part 4 is in a pressure maintaining state; when the pressing inner cylinder 43 does not block the air outlet 41, the pressing inner cylinder 43, the pressing outer cylinder 42, the suction sleeve 32 and the straight surface 52 of the workpiece 5 do not form a closed space, and at this time, the space in the pressing part 4 is compressed, so that air is blown out from the air outlet 41, and the effect of intermittently blowing air to remove dust from the workpiece 5 by the pressing part 4 is achieved.
In order to enhance the effect of the air outlet 41 in intermittently blowing dust on the spherical surface 51 of the workpiece 5, the longitudinal section diameter of the air outlet 41 is gradually reduced from the inner side wall to the outer side wall of the pressing inner cylinder 43, and when air is squeezed and blown out from the air outlet 41, the air flow rate is increased along the direction in which the air outlet 41 is gradually reduced, so that the dust removal effect of the air outlet 41 on the part with more dust on the spherical surface 51 of the workpiece 5 from the oblique direction is better.
In order to control the relative movement between the pressing outer cylinder 42 and the pressing inner cylinder 43 and control the stroke of the relative movement, the outer side wall of the pressing inner cylinder 43 is provided with a rotating groove 431, the inner side wall of the pressing outer cylinder 42 is provided with a limiting groove 421 corresponding to the shape of the rotating groove 431, a pressing guide ball 44 is matched in the rotating groove 431 and the limiting groove 421, a plurality of clamping groups are uniformly distributed in the circumferential direction in the limiting groove 421, the pressing guide ball 44 can roll in the rotating groove 431 and is limited by the clamping groups to distinguish different working processes, and when the pressing guide ball 44 rolls along the rotating groove 431, the pressing guide ball 44 can be clamped in each clamping group.
The structure of each clamping group consisting of the limiting groove 421 and the rotating groove 431 is specifically described below, the clamping group includes a first clamping position 422 and a second clamping position 423 located on the clockwise side of the first clamping position 422, and the first clamping position 422 is higher than the second clamping position 423; the angles of the two side walls of the first detent 422 and the second detent 423 are the same, so as to ensure that the pressing guide ball 44 can be locked in the first detent 422 without sliding to the two sides. A first inflection point 424 is formed between the first clamping position 422 and the second clamping position 423 in the same group, and a second inflection point 425 is formed between the first clamping position 422 and the second clamping position 423 in different groups; after the pressing guide ball 44 is snapped into the second detent 423 from the first detent 422 over the first inflection point 424, the outer cylinder 42 is pressed to block the air outlet 41. When the air outlet 41 is blocked, the air pump is operated to form a negative pressure by pressing the inner cylinder 43. After the negative pressure is formed, the workpiece 5 can be sucked by the straight surface 52 in the closed space formed by the pressing inner cylinder 43, the pressing inner cylinder 4, the suction sleeve 32 and the straight surface 52 of the workpiece 5. In addition, in order to ensure that the pressing inner cylinder 43 is tightly attached to the straight surface 52, a door of the pressing inner cylinder 43 below the air outlet 41 should be made of a flexible material so as to be convenient for attaching the straight surface 52 and prevent air leakage after the attachment is complete; the upper part of the air outlet 41 should be made of rigid material to prevent the friction between the pressing inner cylinder 43 and the pressing outer cylinder 42 from being too large to hinder the relative sliding.
In order to further control the stroke of the pressing guide ball 44, the blocking group further comprises a third inflection point 426 corresponding to the first blocking point 422, a third blocking point 427 corresponding to the first inflection point 424, a fourth inflection point 428 corresponding to the second blocking point 423 and a fourth blocking point 429 corresponding to the second inflection point 425; the first detent 422 is located on the clockwise side of the third inflection point 426; the third inflection point 426 is located on the counterclockwise direction side of the third stuck position 427; the second stopper 423 is located on the clockwise side of the fourth inflection point 428; fourth inflection point 428 is located on a counterclockwise side of second inflection point 425. The arrangement of the clamping group divides the stroke of the pressing guide ball 44 into four sections to complete two different functions, wherein when the pressing guide ball 44 is clamped in the first clamping position 422, the pressing part removes dust from the spherical surface 51 of the workpiece 5; when the pressing guide ball 44 is caught in the second catching portion 423, the pressing portion sucks the spherical surface 52 of the workpiece 5. And the air outlet 41 can rotate along with the rotation of the pressing guide ball 44, when the pressing part 4 removes dust from the spherical surface 51 of the workpiece 5, the compressed air can be blown out from the air outlet 41, and the compressed air can be blown on the surface of the workpiece 5 within a certain angle range along with the rotation of the air outlet 41, namely, the area where the dust removal is strengthened by the air outlet 41.
In order to enhance the effect of removing dust from the surface of the workpiece 5, an air guiding groove 432 is formed at the bottom of the inner sidewall of the pressing inner cylinder 43 to disperse the compressed air in the pressing inner cylinder 43. After the air in the pressing inner cylinder 43 is compressed, the air can be blown out along the pressing inner cylinder 43, and the air guide groove 432 is arranged at the lower end of the side wall of the pressing inner cylinder 43, so that the space occupied by the side wall of the pressing inner cylinder 43 can be effectively removed during dust removal. It should be noted that the dust removal effect of the pressing portion 4 on the spherical surface 51 of the workpiece 5 is enhanced by the arrangement of the air guide groove 432, but the pressing inner cylinder 43 and the spherical surface 51 have a part which is still attached to each other and cannot remove dust, so that when the workpiece 5 is placed on the conveyor belt in a turned manner after the dust removal of the workpiece 5, friction exists between the workpiece 5 and the conveyor belt during the movement of the conveyor belt, and the part which is not removed with dust is wiped off by the conveyor belt.
Example two
On the basis of the first embodiment, the present embodiment further provides a method for using the transfer device for a cover end of a speed reducer, including the above-mentioned transfer device for a cover end of a speed reducer, and the specific structure of the transfer device for a cover end of a speed reducer is as shown in the first embodiment, and is not described herein again.
A transfer method of a transfer device for a speed reducer end cover comprises the above transfer device for the speed reducer end cover; manually placing the spherical surface 51 of the workpiece 5 on the overturning bracket 11 in an oriented manner; the six-axis manipulator 2 controls the pressing inner cylinder 43 to move to contact with the spherical surface 51 of the workpiece 5; the pressing outer cylinder 42 is controlled by the six-axis manipulator 2 to repeatedly lift, so that the pressing guide ball 44 rolls in the rotating groove 431, the volume in the pressing inner cylinder 43 is intermittently compressed, the pressing guide ball 44 is sequentially abutted against the first blocking position 422 and the second blocking position 423, and the pressing inner cylinder 43 intermittently blows air to remove dust on the workpiece 5; after the dust removal is finished, the six-shaft mechanical arm 2 stops lifting and is far away from the conveyor 1; the overturning bracket 11 is driven to rotate by the overturning motor 12, so that the workpiece 5 is overturned onto the conveyor 1, and the straight surface 52 of the workpiece 5 faces upwards; then the pressing inner cylinder 43 is controlled by the six-axis manipulator 2 to contact with the straight surface 52 of the workpiece 5; after the six-axis manipulator 2 is lifted to the position where the guide balls are clamped in the second clamping position 423, negative pressure is formed inside the pressing inner cylinder 43 through the air suction pump, so that the pressing inner cylinder 43 is adsorbed on the straight surface 52 of the workpiece 5; and then the workpiece 5 is transferred by the six-axis manipulator 2. By the method, the effects of blowing air to remove dust on the surface of the workpiece 5 and sucking the workpiece 5 by the manipulator can be achieved.
In light of the foregoing description of the preferred embodiment of the present invention, it is to be understood that various changes and modifications may be made by one skilled in the art without departing from the spirit and scope of the invention. The technical scope of the present invention is not limited to the content of the specification, and must be determined according to the scope of the claims.
Claims (10)
1. The utility model provides a transfer device for speed reducer end cover which characterized in that includes:
the device comprises a conveyor (1), a six-shaft mechanical arm (2) fixedly connected to one side of the conveyor (1), a suction part (3) arranged at the movable end of the six-shaft mechanical arm (2) and a pressing part (4) arranged at the suction end of the suction part (3);
the six-axis manipulator (2) is suitable for transferring a workpiece (5);
the middle part of the pressing part (4) is hollow and is communicated with the suction part (3), and the pressing part (4) can be folded;
the pressing part (4) is provided with an air outlet (41); wherein
When the suction part (3) stops, the six-axis manipulator (2) can drive the pressing part (4) to abut against the spherical surface (51) of the workpiece (5) and then stretch out and draw back, so that the pressing part (4) intermittently blows air to the workpiece (5);
the pressing part (4) is compressed until the air outlet (41) is blocked, and the suction part (3) can suck the straight surface (52) of the workpiece (5) through the pressing part (4).
2. The transfer device for end covers of speed reducers according to claim 1, wherein the transfer device comprises a plurality of transfer rollers,
the pressing part (4) comprises a pressing outer cylinder (42) fixedly connected with the suction part (3) and a pressing inner cylinder (43) connected in the pressing outer cylinder (42) in a sliding manner, and the outer side wall of the pressing inner cylinder (43) is attached to the inner side wall of the pressing outer cylinder (42);
the upper end surface of the pressing inner cylinder (43) is lower than the upper end surface of the pressing outer cylinder (42);
the bottom end surface of the pressing inner cylinder (43) is lower than that of the pressing outer cylinder (42), and the air outlet (41) is positioned at the part of the pressing inner cylinder (43) lower than the pressing inner cylinder (43); wherein
When the pressing outer cylinder (42) is pressed to be in contact with a spherical surface (51) of a workpiece (5), the pressing inner cylinder (43) can extend and contract relative to the pressing outer cylinder (42) so as to intermittently blow air to the workpiece (5);
when the pressing outer cylinder (42) is pressed to block the air outlet (41), the suction part (3) can suck the straight surface (52) of the workpiece (5) through the pressing inner cylinder (43).
3. The transfer device for reducer end caps according to claim 2,
the outer side wall of the pressing inner cylinder (43) is provided with a rotating groove (431), and the inner side wall of the pressing outer cylinder (42) is provided with a limiting groove (421); and
a pressing guide ball (44) is matched in the rotating groove (431) and the limiting groove (421);
a plurality of clamping groups are circumferentially and uniformly distributed in the limiting groove (421), wherein
When the pressing guide ball (44) rolls along the rotating groove (431), the pressing guide ball (44) can be clamped into each clamping group.
4. The transfer device for reducer end caps according to claim 3,
the clamping position group comprises a first clamping position (422) and a second clamping position (423) located on the clockwise side of the first clamping position (422), and the first clamping position (422) is higher than the second clamping position (423); and
a first inflection point (424) is formed between the first clamping position (422) and the second clamping position (423) of the same group, and a second inflection point (425) is formed between the first clamping position (422) and the second clamping position (423) of different groups; wherein
After the pressing guide ball (44) is clamped into the second clamping position (423) by the first clamping position (422) beyond the first inflection point (424), the pressing outer cylinder (42) blocks the air outlet (41).
5. The transfer device for reducer end caps according to claim 4,
the jamming group further comprises a third inflection point (426) corresponding to the first jamming (422), a third jamming (427) corresponding to the first inflection point (424), a fourth inflection point (428) corresponding to the second jamming (423), and a fourth jamming (429) corresponding to the second inflection point (425);
the first detent (422) is located on a clockwise side of the third inflection point (426);
the third inflection point (426) is located on a counterclockwise direction side of the third stuck location (427);
the second detent (423) is located on the clockwise side of the fourth inflection point (428);
the fourth inflection point (428) is located on a counterclockwise direction side of the second inflection point (425).
6. The transfer device for reducer end caps according to claim 5,
an air guide groove (432) is formed in the bottom of the inner side wall of the pressing inner cylinder (43) to disperse air compressed in the pressing inner cylinder (43).
7. The transfer device for reducer end caps according to claim 6,
the air outlet (41) is obliquely arranged, and the outer side of the air outlet (41) faces the workpiece (5); and
the diameter of the longitudinal section of the air outlet (41) is gradually reduced from the inner side wall to the outer side wall of the pressing inner cylinder (43); wherein
When the air in the pressing inner cylinder (43) is compressed, the air can be ejected from the air outlet (41).
8. The transfer device for reducer end caps according to claim 7,
the suction part (3) comprises a suction support (31) fixedly connected to the movable end of the six-axis manipulator (2) and a plurality of suction sleeves (32) fixedly connected to the suction support (31);
the pressing outer cylinder (42) is fixedly connected with the corresponding suction sleeve (32);
the suction sleeve (32) is provided with a suction inlet pipe (33), and the suction inlet pipe (33) is connected to the suction pump; wherein
When the air outlet (41) is blocked, the air suction pump works to enable the pressing inner cylinder (43) to form negative pressure.
9. The transfer device for reducer end caps according to claim 8,
one side of the conveyor (1) is rotatably connected with a turnover support (11), and one side of the conveyor (1) is also fixedly connected with a turnover motor (12);
the overturning bracket (11) is fixedly connected to an output shaft of the overturning motor (12); wherein
When the workpiece (5) with the upward spherical surface (51) is placed on the overturning bracket (11), the pressing inner cylinder (43) is abutted against the workpiece (5) and blows air to the workpiece (5);
after the turnover motor (12) drives the workpiece (5) to turn over onto the conveyor (1) so that the straight surface (52) of the workpiece (5) faces upwards, the conveyor (1) is in contact with the spherical surface (51).
10. A transfer method of a transfer device for a reducer end cover, characterized by comprising the transfer device for a reducer end cover according to claim 8;
manually placing the spherical surface (51) of the workpiece (5) on the overturning bracket (11) in an oriented manner;
the six-axis manipulator (2) controls the pressing inner cylinder (43) to move to be in contact with the spherical surface (51) of the workpiece (5);
the pressing outer cylinder (42) is controlled to repeatedly lift through the six-axis manipulator (2), so that the volume in the pressing inner cylinder (43) is intermittently compressed, the pressing guide ball (44) is sequentially abutted against the first clamping position (422) and the second clamping position (423), and the pressing inner cylinder (43) intermittently blows air to remove dust on the workpiece (5);
after the dust removal is finished, the six-shaft mechanical arm (2) stops lifting and is far away from the conveyor (1);
the overturning bracket (11) is driven to rotate by an overturning motor (12), so that the workpiece (5) is overturned onto the conveyor (1) and the straight surface (52) of the workpiece (5) faces upwards;
then the pressing inner cylinder (43) is controlled to be in contact with the straight surface (52) of the workpiece (5) through the six-axis manipulator (2);
after the six-axis manipulator (2) is lifted to the position that the guide ball is clamped in the second clamping position (423), negative pressure is formed inside the pressing inner cylinder (43) through the air suction pump, so that the pressing inner cylinder (43) is adsorbed on the straight surface (52) of the workpiece (5);
and then the workpiece (5) is transferred by the six-axis manipulator (2).
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