CN207548070U - Technique blocks up press-loading device - Google Patents
Technique blocks up press-loading device Download PDFInfo
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- CN207548070U CN207548070U CN201721615134.XU CN201721615134U CN207548070U CN 207548070 U CN207548070 U CN 207548070U CN 201721615134 U CN201721615134 U CN 201721615134U CN 207548070 U CN207548070 U CN 207548070U
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Abstract
The utility model embodiment discloses a kind of technique and blocks up press-loading device, including the first grabbing device, position acquisition device, controller and forcing press, the position acquisition device is used to obtain the location information of the fabrication hole of workpiece, and location information is sent to first grabbing device；First grabbing device blocks up, and receive the location information of fabrication hole for capturing technique, blocks up technique according to location information and is placed on fabrication hole；When technique, which is blocked up, to be placed on fabrication hole, technique is blocked up and is pressed into fabrication hole by controller control pressure machine work, forcing press.Technique can be improved using the utility model embodiment and blocks up press fitting efficiency, reduced labor intensity, increased safety coefficient；And blocked up by the technique that controller control pressure machine is pressed, technique can be controlled to get lodged in the press fitting depth of the fabrication hole of workpiece well, ensure that the sealing effect that technique is blocked up, improve the quality stability that technique is blocked up.
Description
Technical field
The utility model is related to techniques to block up mounting technology field, and in particular to a kind of technique blocks up press-loading device.
Background technology
It is that a kind of apply is risen in hydraulic valve, pump, motor, aero-engine, automobile truss, brake system etc. that technique, which is blocked up,
To the product of sealing function.As shown in Figure 1, technique blocking package includes sleeve 1 ' and steel ball 2 ', steel ball 2 ' is nested in the nozzle of sleeve 1 '
On.The operation principle that technique is blocked up is：Steel ball 2 ' is pressed into sleeve 1 ', and by 1 ' spreading of sleeve, it is tight with workpiece to realize that technique is blocked up
Sealing.
Prior art blocks up pressing method：Operating personnel first fix workpiece, then technique is blocked up to the work for being placed on workpiece
On skill hole, finally operating pressure machine blocks up technique in press-in workpiece again.Pressing method assembly technology is blocked up using prior art to block up, labor
Fatigue resistance is big, and working efficiency is low；The quality that same people is pressed every time is different, and the quality of different people press fitting is also different, leads to technique
Stifled sealing effect is different, and quality is unstable；And manual operation, easily weigh staff wounded, there are some potential safety problemss.
Utility model content
In view of this, the utility model embodiment proposes that a kind of technique blocks up press-loading device, to solve above-mentioned technical problem.
The utility model embodiment proposes that a kind of technique blocks up press-loading device, including：First grabbing device, position acquisition dress
It puts, controller and forcing press, the position acquisition device is used to obtain the location information of the fabrication hole of workpiece, and by location information
It is sent to first grabbing device；First grabbing device blocks up, and receive the position of the fabrication hole for capturing technique
The technique according to the location information is blocked up and is placed on the fabrication hole by information；It is blocked up when the technique and is placed on the work
When on skill hole, the controller controls the forcing press work, and the technique is blocked up and is pressed into the fabrication hole by the forcing press
It is interior.
Optionally, it further includes：Second grabbing device, second grabbing device is used for grabbing workpiece, and workpiece is placed
To precalculated position.
Optionally, first grabbing device is four axis robots, has on the 4th axis of the four axis robot and is used for
The first hand claw that crawl technique is blocked up.
Optionally, second grabbing device is six-joint robot, has on the 6th axis of the six-joint robot and is used for
Second hand claw of grabbing workpiece.
Optionally, second hand claw includes fixed reference plate, cylinder open-and-close mechanism, bottom plate benchmark fixing groove and connection
Plate, the fixed reference plate, the cylinder open-and-close mechanism, the bottom plate benchmark fixing groove are separately mounted on the connecting plate,
Wherein, the bottom plate benchmark fixing groove is between the fixed reference plate and the cylinder open-and-close mechanism, the bottom plate benchmark
One side wall of fixing groove is abutted with the fixed reference plate, and the connecting plate is mounted on the 6th axis.
Optionally, also there is press mechanism, the press mechanism is used for the technique on the 4th axis of four axis robots
Stifled to be completely forced into below workpiece surface or flushed with workpiece surface, the press mechanism passes through bending plate with first hand claw
On the 4th axis.
Optionally, the position acquisition device includes camera and mounting bracket, and the camera is mounted on the mounting bracket.
Optionally, the both sides of the camera are symmetrically arranged with headlamp, and the headlamp is mounted on mounting bracket.
Optionally, the technique blocks up press-loading device and further includes electric lifting platform for placing workpiece, the electric up-down
Camera described in the center face of platform.
Optionally, the first supporting plate for placing workpiece is provided on the electric lifting platform, on first supporting plate
It sets fluted.
Optionally, the technique blocks up press-loading device and further includes to block up technique into the straight-line oscillation for being transported to feeding position
Device.
Optionally, the technique is blocked up press-loading device and further included is output to the linear vibrator for technique to be blocked up rule
Disk vibration device.
Optionally, it further includes technique and blocks up separator, technique blocks up separator and includes electric cylinders and for holding the straight line
The rectangular channel that the technique of vibrator output is blocked up, the rectangular channel block up supporting plate, fixed plate and adjusting plate including technique；The fixation
Plate and the adjusting plate are separately mounted to the technique and block up on supporting plate, and the technique blocks up supporting plate and is located at the fixed plate and described
Between adjusting plate, the spacing of the adjusting plate and fixed plate is adjustable, and the technique blocks up supporting plate mounted on the scalable of electric cylinders
On arm.
Optionally, technique blocks up separator and further includes regulating mechanism, and the regulating mechanism includes loading plate, fastener and bottom
Seat, the telescopic arms of the electric cylinders are mounted on the loading plate, are provided with slot in the bottom bearing plate, on the pedestal
Plate is provided with, there is mounting hole on the plate, the first strip hole is both provided on two cell walls of the slot, it is described to insert
Plate is inserted into slot, and fastener connects the loading plate with the pedestal with the mounting hole across first strip hole,
And by fastener position different in first strip hole, adjust the spacing of the loading plate and the pedestal.
Optionally, technique block up separator further include for characterization processes block up whether fibre optical sensor in place.
The technique that the utility model embodiment provides blocks up press-loading device by the way that the first grabbing device, position acquisition is set to fill
It puts, controller and forcing press, is placed on when the first grabbing device blocks up technique according to the location information that position acquisition device acquires
When on the fabrication hole of workpiece, the work of controller control pressure machine can improve technique and block up press fitting efficiency, reduce labor intensity,
Increase safety coefficient；And blocked up by the technique that controller control pressure machine is pressed, technique can be controlled to get lodged in workpiece well
Fabrication hole press fitting depth, ensure that the sealing effect that technique is blocked up, improve the quality stability that technique is blocked up.
Description of the drawings
Fig. 1 is the structure diagram that technique is blocked up in the prior art.
Fig. 2 is that the technique of the utility model embodiment blocks up the structure diagram of press-loading device.
Fig. 3 is that the technique of the utility model embodiment blocks up four axis robots of press-loading device and the structure of position acquisition device
Schematic diagram.
Fig. 4 is the first hand claw and press mechanism that the technique of the utility model embodiment blocks up four axis robots of press-loading device
Connection diagram.
Fig. 5 is the structural representation for the second hand claw that the technique of the utility model embodiment blocks up the six-joint robot of press-loading device
Figure.
Fig. 6 is the structure diagram that the technique of the utility model embodiment blocks up the electric cylinders lifting platform of press-loading device.
Fig. 7 is that the technique of the utility model embodiment blocks up the technique of press-loading device and blocks up the structure diagram of separator.
Fig. 8 be the utility model embodiment technique block up press-loading device technique block up separator regulating mechanism structure
Schematic diagram.
Fig. 9 is the structure diagram that the technique of the utility model embodiment blocks up the workpiece feeding device of press-loading device.
Figure 10 is that the technique of the utility model one embodiment blocks up the flow chart of pressing method.
Figure 11 is that the technique of the utility model another embodiment blocks up the flow chart of pressing method.
Specific embodiment
Below in conjunction with attached drawing and specific embodiment, the technical solution of the utility model is described in detail.Wherein phase
Same parts are presented with like reference characters.It should be noted that word "front", "rear" used in the following description,
"left", "right", "up" and "down" refer to the direction in attached drawing, and word " interior " and " outer " are referred respectively to towards or away from specific
The direction at component geometry center.
Embodiment one
Technique Fig. 2 shows the utility model embodiment blocks up the structure diagram of press-loading device, as shown in Fig. 2, this reality
The technique provided with new embodiment blocks up press-loading device and includes the first grabbing device 5, position acquisition device 6, controller 11 and pressure
Power machine 9, position acquisition device 6 are used to obtain the location information of the fabrication hole of workpiece, and location information is sent to the first crawl
Device 5.First grabbing device 5 blocks up, and receive the location information of fabrication hole for capturing technique, is blocked up technique according to location information
It is placed on fabrication hole, when technique, which is blocked up, to be placed on fabrication hole, 11 control pressure machine 9 of controller works, and forcing press is by technique
It is stifled to be pressed into fabrication hole.In the present embodiment, stroke detection and pressure detecting module are provided on forcing press 9, for detecting
The pressure and stroke of the floating constrictor of forcing press, and the trip and pressure are sent to controller, controller 11 is according to the row
The start and stop of journey and pressure command pressure machine 9 act to complete press fitting.
When technique blocks up press-loading device work, workpiece is placed into precalculated position, position acquisition device 6 obtains the position of fabrication hole
Confidence ceases (such as hole heart position coordinates of fabrication hole), and is sent to the first grabbing device 5 according to location information.First grabbing device
5 crawl techniques are blocked up, and are blocked up technique according to the location information received and be placed on fabrication hole.First grabbing device 5 sends letter
Number to controller 11,11 control pressure machine 9 of controller works, and the floating constrictor of forcing press 9, which blocks up technique, is pressed into fabrication hole
At interior prescribed depth.Wherein, floating constrictor is coaxial with fabrication hole, technique to be facilitated to block up stress equalization everywhere, avoids sleeve
There is cut in barrel, improves press fitting quality.
The technique that the utility model embodiment provides blocks up press-loading device by the way that the first grabbing device, position acquisition is set to fill
It puts, controller and forcing press, is placed on when the first grabbing device blocks up technique according to the location information that position acquisition device acquires
When on the fabrication hole of workpiece, the work of controller control pressure machine can improve technique and block up press fitting efficiency, reduce labor intensity,
Increase safety coefficient；And blocked up by the technique that controller control pressure machine is pressed, technique can be controlled to get lodged in workpiece well
Fabrication hole press fitting depth, ensure that the sealing effect that technique is blocked up, improve the quality stability that technique is blocked up.
Embodiment two
On the basis of above-described embodiment one, optionally, as shown in Fig. 2, the technique that the utility model embodiment provides is blocked up
Press-loading device further includes the second grabbing device 8, and the second grabbing device 8 is used for grabbing workpiece, and workpiece is placed into precalculated position.
By setting the second grabbing device 8, the participation of operating personnel is further reduced, reduces labor intensity, press fitting efficiency is improved, increases
The safety of pressurization dress.
In a preferred embodiment of the utility model, as shown in Figure 3 and Figure 4, the first grabbing device 5 is four axis machines
People, has the first hand claw 51 on the 4th axis of four axis robots, and the first hand claw 51, which is used for capturing technique, blocks up.First hand claw 51 is three
Cleft hand pawl is blocked up with holding technique.
Second grabbing device 8 is six-joint robot, has the second hand claw, second hand claw on the 6th axis of six-joint robot
For grabbing workpiece.Four axis robots and six-joint robot operation precision are high, and after one-time positioning, each action later can essence
The position of the prelocalization of true arrival, can improve press fitting efficiency.
As shown in figure 5, the second hand claw includes fixed reference plate 81, cylinder open-and-close mechanism 82,83 and of bottom plate benchmark fixing groove
Connecting plate 84, fixed reference plate 81, cylinder open-and-close mechanism 82, bottom plate benchmark fixing groove 83 are separately mounted on connecting plate, wherein,
Bottom plate benchmark fixing groove 83 is between fixed reference plate 81 and cylinder open-and-close mechanism 82, a side of bottom plate benchmark fixing groove 83
Wall is abutted with fixed reference plate 81.Connecting plate 84 is mounted on the flange of the 6th shaft end.By setting fixed reference plate 81, gas
Cylinder open-and-close mechanism 82, bottom plate benchmark fixing groove 83 and connecting plate 84 can realize the zero error crawl of the second hand claw, improve six axis machines
The crawl accuracy rate of device people.
Further, also there is press mechanism 53, press mechanism 53 is used to block up technique on the 4th axis of four axis robots
It is completely forced into below workpiece surface or is flushed with workpiece surface, moved together so that workpiece is facilitated to be blocked up with technique, prevent mistake
The accuracy that technique blocks up press fitting is improved in position.As shown in figure 4, press mechanism 53 is mounted on the first hand claw 51 by bending plate 52
On 4th axis of four axis robots, so that 53 and first hand claw 51 of press mechanism realizes rotation switching,
In a preferred embodiment of the utility model, position acquisition device 6 includes camera 61, camera model Aca-
2500-14gm, camera 61 analyze and process photo, obtain the location information of fabrication hole by shooting the fabrication hole of workpiece,
Such as obtain the hole heart position coordinates of fabrication hole.
Preferably, as shown in figure 3, position acquisition device 6 further includes mounting bracket 62, camera 61 is mounted on mounting bracket 62,
To facilitate the shooting of different height workpiece image, improve Work position information and obtain efficiency.In the present embodiment, mounting bracket 62 is big
It causes in " gate ", including left frame, correct frame and top frame, top frame is fixedly connected respectively with left frame, correct frame, and is pushed up
For frame between left frame and correct frame, three frames are rectangular frame.Four axis robots are located at the lower section of top frame, phase
Machine 61 is mounted on the centre position of top frame.
Further, the both sides of camera 61 are symmetrically arranged with headlamp 63, and headlamp 63 is installed on mounting bracket.Pass through
Headlamp is symmetrical arranged, can not only ensure the light requirement that camera 61 is taken pictures, shade is also reduced and occurs, improve image quality, from
And be conducive to the identification of fabrication hole.As shown in figure 3, two headlamps 63 are separately mounted in left frame and correct frame.
Preferably, as shown in fig. 6, technique, which blocks up press-loading device, further includes electric lifting platform 7, electric lifting platform 7 is used to place
Workpiece so that the surface of the workpiece of different height towards position acquisition device is in the same plane, improves the identification of fabrication hole
Ability.In the present embodiment, electric lifting platform 7 is mounted on by four optical axises on rack, can control electronic liter by controller 11
The lifting of platform 7 is dropped.
Preferably, the center straight-on camera 61 of electric lifting platform 7 reduces the data processing amount of camera 7, further
Improve the recognition capability of fabrication hole in ground.
Further, the first supporting plate 71 for placing workpiece is provided on electric lifting platform 7, is set on the first supporting plate 71
Groove 72 is equipped with, the second hand claw of six-joint robot can be avoided to be interfered with supporting plate, improves the placement accuracy of workpiece.Such as figure
Shown in 6, there are two grooves 72, and two grooves 72 are located on two edges of the first supporting plate 71 along its length respectively.
Preferably, technique, which blocks up press-loading device, further includes linear vibrator 3, linear vibrator 3 is transported to for technique to be blocked up
The automation that technique blocks up press-loading device to realize automatic transportation that technique is blocked up, is improved in feeding position.
Further, technique blocks up press-loading device and further includes disk vibration device 2, and disk vibration device 2 is used to technique blocking up rule
It is output on linear vibrator 3.Disk vibration device 2 utilizes vibration principle, and mixed and disorderly technique is blocked up according to a certain direction and shape
State enters in linear vibrator, the transport that technique is facilitated to block up.
Optionally, as shown in fig. 7, technique blocks up press-loading device and further includes technique and blocks up separator 4, technique blocks up separator 4
Including electric cylinders 41 and for holding the rectangular channel that the technique of the linear vibrator output is blocked up, which blocks up supporting plate including technique
42nd, fixed plate 43 and adjusting plate 44.Fixed plate 43 and adjusting plate 44 are separately mounted to technique and block up on supporting plate 42, adjusting plate
44 is adjustable with the spacing of fixed plate 43, and technique blocks up supporting plate 42 in the telescopic arms of electric cylinders 41, linear vibrator output
Technique is blocked up into rectangular channel, is detached one by one, and four axis robot crawl techniques is facilitated to block up, and improves efficiency of assembling.When technique is blocked up
During for different-diameter, technique blocks up separator 4 only need to be by adjusting the width of rectangular between adjusting plate 44 and fixed plate 43
.
Further, as shown in figure 8, technique, which blocks up separator 4, further includes regulating mechanism, regulating mechanism includes loading plate
45th, fastener and pedestal 46, the telescopic arms of electric cylinders 41 are mounted on loading plate 45, and loading plate is provided with slot on 45 bottom,
Plate is provided on pedestal, on plate there is mounting hole, the first strip hole 47, inserting board are both provided on two cell walls of slot
Enter in slot, fastener passes through the first strip hole 47 and mounting hole to connect loading plate 45 and pedestal 46, and exist by fastener
Different position in first strip hole, to realize the adjusting of loading plate and pedestal distance.There are two the second length for setting on pedestal 46
Hole 48, two the second strip holes 48 are located at the both sides of plate, pass through fastener position different in the second strip hole 48, real
The adjusting of existing regulating mechanism front-rear direction position.By setting regulating mechanism, technique can be made to block up the electric cylinders 41 of separator upper
Under, front-rear direction is adjusted so that the slot bottom of rectangle trench bottom and linear vibrator 3 in the same plane, facilitates rectangular channel
Entrance is aligned with the outlet of linear vibrator 3, ensures that technique blocks up smoothly smooth input technique and blocks up separator 4.Wherein, " preceding ",
" rear " direction refers in attached drawing 6 perpendicular to the direction of paper.
Optionally, in place whether technique blocks up separator 4 and further includes fibre optical sensor, blocked up for characterization processes, and will letter
Controller 11 number is fed back to, controller 11 controls electric cylinders 41 to move, technique in place is blocked up and is separated according to signal, and by work
Skill blocks up the position sent to four axis robot feedings, to improve the degree of automation that technique blocks up press-loading device, improves press fitting efficiency.
In the present embodiment, light sensor is mounted at centre and the end outlet of linear vibrator track.
Preferably, forcing press 8 includes ontology and punching press platform, punching press platform is located at the lower section of forcing press floating constrictor,
Punching press platform is used to place workpiece to be punched.Two the linear guides are provided on ontology, linear block is led mounted on two straight lines
On rail, punching press stage+module is in linear block, and linear block drives punching press lifting platform, to realize the change of punching press podium level
Change so that the workpiece of different height can be pressed in same level, improve the stability of press fitting quality.According to workpiece
The corresponding height of different surfaces, the stringent height for designing punching press platform, linear module drive punching press by the linear motion of itself
Platform moves in the linear guide, the distance that linear module moves every time is controlled by controller, to ensure that punching press platform is being pressed
The height when technique of dress different surfaces is stifled.
Further, as shown in figure 9, technique, which blocks up press-loading device, further includes workpiece feeding device 1, workpiece feeding device 1 wraps
Rack 11, charging tray 12, connecting rod and rodless cylinder 13 are included, charging tray 12 is placed on rack 11, and charging tray 12 is used to store workpiece.Work
Part is arranged according to array way in charging tray 12, and the lateral distance and fore-and-aft distance between adjacent workpieces are equal, six axis machines
People can remove grabbing workpiece according to equidistant dot matrix, improve the crawl accuracy of workpiece.Sliding block on rodless cylinder 13 passes through company
Extension bar is connect with charging tray so that charging tray is with the slide block movement on rodless cylinder.By setting workpiece feeding device, it can be achieved that worker
Feeding outside the safe fence of press-loading device is blocked up in technique, improves safety guarantee.In the present embodiment, workpiece feeding device is at least
There are two, tool is there are two charging tray on each rack, to ensure the continuity of feeding.
Preferably, floating junction is installed, floating junction is connect by link block with connecting rod, so that on workpiece on sliding block
Expect device even running.In the present embodiment, connecting rod is also to be connect by link block with charging tray, to increase connective stability.
In a preferred embodiment of the utility model, technique blocks up press-loading device and further includes rack for place apparatus
10, equipment to be facilitated to move.Wherein, disk vibration device 2, linear vibrator 3, four axis robots, position acquisition device 6, technique
Stifled separator 4 and electric lifting platform 7 are mounted on same rack 10, and six-joint robot is mounted on a rack 10,
Forcing press 8 is mounted on a rack 10.
Optionally, controller 11 uses programmable logic controller (PLC), and control is realized by existing program and logic circuit
Function processed.Controller can be mounted in electric cabinet.Controller 11 controls disk vibration device 2, linear vibrator 3, technique to block up separation
The equipment such as device 4, position acquisition device 6, surrounding robot, electric lifting platform 7, rodless cylinder, six-joint robot and forcing press 8
Work to realize automatic press mounting that technique is blocked up, improves the degree of automation.Controller acquire each moving component start and stop information and
Location information regulates and controls sequence of movement and the actuation time of all parts comprehensively.For example, when fibre optical sensor detects that technique is blocked up
Behind position, generate on-off model and feed back to programmable logic controller (PLC), programmable logic controller (PLC) receives the on-off model
Afterwards, it is moved to and set according to the position set in own controller to 41 1 on-off models of electric cylinders and input signal, electric cylinders
Positioning is put, and realizes the separation that technique is blocked up.
Embodiment three
Press-loading device is blocked up based on the technique described in embodiment one or embodiment two, the utility model embodiment additionally provides
A kind of technique blocks up pressing method, and as shown in Figure 10, this method includes：
S101, the first grabbing device crawl technique are blocked up；
S102, position acquisition device obtain the location information of the fabrication hole of workpiece, and location information is sent to first and is grabbed
Take device；
S103, the first grabbing device receive the location information of fabrication hole, and block up technique according to location information and be placed on work
On skill hole；
S104, when technique, which is blocked up, to be placed on fabrication hole, technique is blocked up the work for being pressed into workpiece by controller control pressure machine
In skill hole.
The technique that the utility model embodiment provides blocks up pressing method by the way that the first grabbing device crawl technique is blocked up, position is obtained
Device is taken to obtain the location information of the fabrication hole of workpiece, workpiece is placed on when the first grabbing device blocks up technique according to location information
Fabrication hole on when, controller control pressure machine, which blocks up technique, to be pressed into the fabrication hole of workpiece, can improve technique block up press fitting effect
Rate reduces labor intensity, increases safety coefficient；And blocked up by the technique that controller control pressure machine is pressed, it can be very
Technique is controlled to get lodged in the press fitting depth of the fabrication hole of workpiece well, the sealing effect that technique is blocked up is ensure that, improves what technique was blocked up
Quality stability.
Press fitting is now blocked up to illustrate that the technique of the utility model embodiment blocks up press fitting flow with a certain technique, can refer to Figure 11,
Specifically：
S201, disk vibration device feeding；
Technique is blocked up raw material and is entered in disk vibration device, and using vibration feeding principle, mixed and disorderly technique is blocked up according to certain requirement：
Individual layer, state single, parallel with direction of advance, sequence are fitly sent in linear vibrator.
S202, linear vibrator feeding；
The technique that disk vibration device is sent is blocked up into linear vibrator, according to individual layer, single mode, is fitly delivered to
Technique blocks up separator.
S203, technique block up into technique and block up separator；
It is blocked up by the technique that linear vibrator is sent into technique and blocks up separator, technique blocks up separator and blocks up technique one by one
It send to the position of four axis robot feedings.
S204, six-joint robot grabbing workpiece；
Six-joint robot drives the second hand claw grabbing workpiece out of workpiece feeding device charging tray, and workpiece is put to electricity
Cylinder lifting platform, electric cylinders lifting platform is by workpiece lifting to predetermined altitude.Electric cylinders lifting platform is set according in the controller of itself
Several fixed positions, each programmable logic controller (PLC) presses stifled sequence to send unlike signal to electric cylinders according to workpiece different surfaces
The controller of lifting platform so that electric cylinders lifting platform can move to proper height every time so that workpiece different surfaces are all same
Highly, so that camera preferably obtains the hole heart position of fabrication hole.
S205, position acquisition device obtain the process hole position information of workpiece；
Position acquisition device photographic analysis goes out the exact position of fabrication hole, is transferred to four axis robots.
S206, four axis robots capture and place technique and block up；
The first hand claw in four axis robots is turned back to after crawl technique in feeding position is blocked up and places the position that technique is blocked up,
According to the location information of the fabrication hole received, technique is blocked up and is accurately placed into fabrication hole.
S207 blocks up technique in the fabrication hole of press-in workpiece；
4th axis of four axis robots is rotated to press mechanism, and press mechanism Alignment Process is blocked up, and technique is blocked up completely
It is flushed below press-in workpiece surface or with workpiece surface.By the control of four axis robot own controllers, four axis robots
4th axis can rotate equal angular and change to press mechanism by first-hand nail-press every time, ensure that press mechanism can be accurately aimed at technique
It is stifled, and technique blocked up be completely forced into it is below workpiece surface or concordant with workpiece surface, without shifting.
S208, the workpiece that six-joint robot movement is blocked up with technique；
Six-joint robot is put into the workpiece that technique blocks up has been placed on the punching press platform of forcing press, will by six-joint robot
Fabrication hole and the floating constrictor co-axially align on forcing press.
S209, forcing press press-loading process block up；
When technique block up floating constrictor apart from forcing press it is closer to the distance when, by the linear module and the linear guide of forcing press
Punching press platform is controlled to decline；When technique block up floating constrictor apart from forcing press it is in larger distance when, control punching press platform rises, with
Complete the conversion of punching press platform different height.Technique is blocked up the prescribed depth being pressed into fabrication hole by forcing press.
The technique that the utility model embodiment provides, which blocks up press-loading device, can realize different-diameter size, the work of unlike material
The press fitting function that skill is blocked up, so as to fulfill a tractor serves several purposes.When Replacement procedure blocks up type, entire press-loading process and operating principle are kept
It is constant, it is only necessary to adjust track size, the first hand claw, the folding size of the second hand claw and the compression of floating of linear vibrator
Diameter dimension of bar etc..
More than, the technical solution of the utility model is described in detail in conjunction with specific embodiments, it is described specific
Embodiment is used to help understand the thought of the utility model.Those skilled in the art are on the basis of the utility model specific embodiment
On the derivation made and modification also belong within scope of protection of the utility model.
Claims (15)
1. a kind of technique blocks up press-loading device, which is characterized in that including：First grabbing device, position acquisition device, controller and pressure
Power machine, the position acquisition device is used to obtain the location information of the fabrication hole of workpiece, and location information is sent to described the
One grabbing device；First grabbing device blocks up, and receive the location information of the fabrication hole for capturing technique, according to described
The technique is blocked up and is placed on the fabrication hole by location information；It is described when the technique, which is blocked up, to be placed on the fabrication hole
Controller controls the forcing press work, and the technique is blocked up and is pressed into the fabrication hole by the forcing press.
2. technique as described in claim 1 blocks up press-loading device, which is characterized in that further includes：Second grabbing device, described second
Grabbing device is used for grabbing workpiece, and workpiece is placed into precalculated position.
3. technique as claimed in claim 2 blocks up press-loading device, which is characterized in that first grabbing device is four axis machines
People has on the 4th axis of the four axis robot to capture the first hand claw that technique is blocked up.
4. technique as claimed in claim 3 blocks up press-loading device, which is characterized in that second grabbing device is six axis machines
People has the second hand claw for grabbing workpiece on the 6th axis of the six-joint robot.
5. technique as claimed in claim 4 blocks up press-loading device, which is characterized in that second hand claw include fixed reference plate,
Cylinder open-and-close mechanism, bottom plate benchmark fixing groove and connecting plate, the fixed reference plate, the cylinder open-and-close mechanism, the bottom plate
Benchmark fixing groove is separately mounted on the connecting plate, wherein, the bottom plate benchmark fixing groove be located at the fixed reference plate and
Between the cylinder open-and-close mechanism, a side wall and the fixed reference plate of the bottom plate benchmark fixing groove abut, the company
Fishplate bar is mounted on the 6th axis.
6. technique as claimed in claim 3 blocks up press-loading device, which is characterized in that under also having on the 4th axis of four axis robots
Press mechanism, the press mechanism are completely forced into below workpiece surface or are flushed with workpiece surface for the technique to be blocked up, institute
Press mechanism is stated to be mounted on the 4th axis by bending plate with first hand claw.
7. the technique as described in claim 1-6 is any blocks up press-loading device, which is characterized in that the position acquisition device includes phase
Machine and mounting bracket, the camera are mounted on the mounting bracket.
8. technique as claimed in claim 7 blocks up press-loading device, which is characterized in that the both sides of the camera are symmetrically arranged with illumination
Lamp, the headlamp are mounted on mounting bracket.
9. technique as claimed in claim 7 blocks up press-loading device, which is characterized in that the technique, which is blocked up press-loading device and further included, to be used for
Place the electric lifting platform of workpiece, camera described in the center face of the electric lifting platform.
10. technique as claimed in claim 9 blocks up press-loading device, which is characterized in that is set on the electric lifting platform useful
It is fluted in being set on the first supporting plate for placing workpiece, first supporting plate.
11. the technique as described in claim 8 either 9 or 10 blocks up press-loading device, which is characterized in that the technique is blocked up press fitting and set
It is standby to further include to block up technique into the linear vibrator for being transported to feeding position.
12. technique as claimed in claim 11 blocks up press-loading device, which is characterized in that the technique blocks up press-loading device and further includes use
Disk vibration device on the linear vibrator is output in technique to be blocked up to rule.
13. technique as claimed in claim 11 blocks up press-loading device, which is characterized in that further includes technique and blocks up separator, technique
Stifled separator includes electric cylinders and for holding the rectangular channel that the technique of the linear vibrator output is blocked up, and the rectangular channel includes
Technique blocks up supporting plate, fixed plate and adjusting plate；The fixed plate and the adjusting plate are separately mounted to the technique and block up supporting plate
On, the technique blocks up supporting plate between the fixed plate and the adjusting plate, the spacing of the adjusting plate and fixed plate
Adjustable, the technique blocks up supporting plate in the telescopic arms of electric cylinders.
14. technique as claimed in claim 13 blocks up press-loading device, which is characterized in that technique blocks up separator and further includes adjusting machine
Structure, the regulating mechanism include loading plate, fastener and pedestal, and the telescopic arms of the electric cylinders are mounted on the loading plate,
Slot is provided in the bottom bearing plate, plate is provided on the pedestal, there is mounting hole, the slot on the plate
Two cell walls on be both provided with the first strip hole, the plate is inserted into slot, fastener pass through first strip hole and
The mounting hole connects the loading plate with the pedestal, and different in first strip hole by the fastener
Position adjusts the spacing of the loading plate and the pedestal.
15. technique as claimed in claim 13 blocks up press-loading device, which is characterized in that technique blocks up separator and further includes to examine
Survey technique block up whether fibre optical sensor in place.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721615134.XU CN207548070U (en) | 2017-11-28 | 2017-11-28 | Technique blocks up press-loading device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721615134.XU CN207548070U (en) | 2017-11-28 | 2017-11-28 | Technique blocks up press-loading device |
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| Publication Number | Publication Date |
|---|---|
| CN207548070U true CN207548070U (en) | 2018-06-29 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721615134.XU Active CN207548070U (en) | 2017-11-28 | 2017-11-28 | Technique blocks up press-loading device |
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| Country | Link |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107803642A (en) * | 2017-11-28 | 2018-03-16 | 北京天地玛珂电液控制***有限公司 | Technique blocks up press-loading device and method |
| CN108857351A (en) * | 2018-09-12 | 2018-11-23 | 北京好运达智创科技有限公司 | Sleeper sleeve intelligence lock pays system |
| CN114406669A (en) * | 2022-02-09 | 2022-04-29 | 苏州天准科技股份有限公司 | Method for assembling a desiccant in a heat exchanger of a motor vehicle |
-
2017
- 2017-11-28 CN CN201721615134.XU patent/CN207548070U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107803642A (en) * | 2017-11-28 | 2018-03-16 | 北京天地玛珂电液控制***有限公司 | Technique blocks up press-loading device and method |
| CN108857351A (en) * | 2018-09-12 | 2018-11-23 | 北京好运达智创科技有限公司 | Sleeper sleeve intelligence lock pays system |
| CN108857351B (en) * | 2018-09-12 | 2023-10-13 | 北京好运达智创科技有限公司 | Intelligent locking system for sleeper sleeve |
| CN114406669A (en) * | 2022-02-09 | 2022-04-29 | 苏州天准科技股份有限公司 | Method for assembling a desiccant in a heat exchanger of a motor vehicle |
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Address after: 101399 No.27, Linhe Development Zone, Shunyi District, Beijing Patentee after: CCTEG Beijing Tianma Intelligent Control Technology Co.,Ltd. Patentee after: BEIJING CCRI-TIANMA AUTOMATION TECHNOLOGY Co.,Ltd. Address before: No.131, ground floor, Tiandi building, No.5, qingniangou East Road, Hepingli, Chaoyang District, Beijing 100013 Patentee before: BEIJING TIANDI-MARCO ELECTRO-HYDRAULIC CONTROL SYSTEM Co.,Ltd. Patentee before: BEIJING CCRI-TIANMA AUTOMATION TECHNOLOGY Co.,Ltd. |
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