CN212886009U

CN212886009U - Servo clamping machine

Info

Publication number: CN212886009U
Application number: CN202021263310.XU
Authority: CN
Inventors: 张鼎
Original assignee: Wuxi Ido Technology Co ltd
Current assignee: Wuxi Ido Technology Co ltd
Priority date: 2020-07-01
Filing date: 2020-07-01
Publication date: 2021-04-06
Anticipated expiration: 2030-07-01

Abstract

The utility model relates to a servo clamping machine, which comprises a transverse moving base, wherein a transverse moving sliding table is slidably arranged on the transverse moving base, a lifting base is slidably arranged at each of the two ends of the transverse moving sliding table respectively, the two lifting bases are symmetrically arranged and horizontally move along a first longitudinal guide rail at each of the two ends of the transverse moving sliding table respectively, a clamping mechanism which vertically ascends and descends is arranged on each lifting base, the clamping mechanism comprises a group of clamping finger assemblies which are symmetrically arranged and are mutually matched, and the structure of each clamping finger assembly comprises a pre-clamping finger and a clamping finger; a material supporting assembly is fixedly arranged on the transverse sliding table between the two lifting bases; the material supporting assembly positions the material sheet, the two ends of the material sheet are clamped and positioned from two sides by the clamping finger assemblies of the two clamping mechanisms respectively, then servo clamping is carried out, and the flat material sheet is rolled into a cylinder shape. The accumulated error of the equipment in the processing and assembling process is eliminated, even if the short sides at the two ends are not in a completely parallel state when being clamped, the material sheet can be completely attached in the process of completing positioning by rounding.

Description

Servo clamping machine

Technical Field

The utility model belongs to the technical field of washing machine inner tube processing equipment technique and specifically relates to a servo armful presss from both sides machine.

Background

The washing machine product has the characteristics of health, durability, environmental protection, safety and the like. At present, the traditional flanging and seaming process is mainly adopted for manufacturing the inner barrel of the washing machine in China: the stainless steel inner barrel is used in drum washing machine and impeller washing machine, and is made up by using a flat punching material sheet through several procedures. The buckling-riveting connection of the cylinder body is taken as a key process, and various defects of low connection strength, poor size control, much dirt residue after washing and the like exist for a long time.

At present, the internal washing machine inner barrel welding machine in China is in a rolling welding form, and the equipment action flow is as follows: the material sheet enters a rolling machine for rolling, then is moved by a manipulator and enters a positioning station, the short edges at two ends of the material sheet are positioned and clamped, and then enters a welding station for welding the abutted seams. The disadvantages are: due to the existence of the rolling process, the rolling machine in the equipment is inconvenient to adjust and difficult to control, so that the whole compatibility of the equipment is not high, and the flexibility is poor; the closed type circle holding welding integrated structure has a narrow internal space, is not easy to assemble, debug and maintain, and has complicated internal model changing; models with large size differences are completely incompatible; the structure can not reach the positioning requirement of laser welding, and the laser welding requires that the seam gap does not exceed 10% of the material thickness. Therefore, the traditional automatic inner cylinder processing equipment can only meet the automatic production requirements, but makes great concessions to compatibility. The compatibility is poor, and the production requirements of products with different diameters cannot be met simultaneously.

The inner cylinder processing equipment cannot make great progress and leap in three aspects of product quality, production efficiency and flexible compatibility, so that a process mode with excellent performance, more flexible operation and more advanced technology needs to be searched for related equipment for industrial upgrading.

SUMMERY OF THE UTILITY MODEL

The applicant aims at the defects in the prior art, and provides a servo clamping machine with a reasonable structure, which is used for welding inner cylinders of various washing machines and has the characteristics of excellent welding quality, low manufacturing cost, high flexibility in automatic operation and the like.

The utility model discloses the technical scheme who adopts as follows:

a servo clamping machine comprises a transverse moving base, wherein a transverse moving sliding table is slidably mounted on the transverse moving base through a group of first transverse guide rails, two ends of the transverse moving sliding table are respectively slidably mounted with a lifting base, the two lifting bases are symmetrically arranged and respectively horizontally move along first longitudinal guide rails at two ends of the transverse moving sliding table, each lifting base is provided with a clamping mechanism which vertically lifts along the lifting base, each clamping mechanism comprises a group of clamping finger assemblies which are symmetrically arranged and mutually matched, and the clamping finger assemblies structurally comprise pre-clamping fingers and clamping fingers; a material supporting assembly is fixedly arranged on the transverse sliding table between the two lifting bases; the material supporting assembly positions the material sheet, the two ends of the material sheet are clamped and positioned from two sides by the clamping finger assemblies of the two clamping mechanisms respectively, then servo clamping is carried out, and the flat material sheet is rolled into a cylinder shape.

As a further improvement of the above technical solution:

the specific structure of the holding and clamping mechanism is as follows: including the base plate, its rear surface is equipped with along the gliding sliding block set spare of vertical guide rail on the lift base, and a support plate is installed through rotatory balance cylinder in the middle part of the front surface, and second transverse guide is installed to its front surface bilateral symmetry, and slidable mounting has the clamp to indicate the slip table on every second transverse guide, two it indicates the subassembly to press from both sides respectively through an installation shell slidable mounting two press from both sides and indicate on the slip table.

The mounting structure of the clamping finger assembly is as follows: the clamping device comprises a first motor, a gear shaft arranged in parallel with an output shaft of the first motor is arranged beside the first motor, a driving gear is arranged on the output shaft of the first motor, the driving gear is meshed with a driven gear on the gear shaft, and the end part of the driven gear is provided with a clamping finger through a clamping cylinder; and the clamping finger sliding table positioned beside the clamping cylinder is provided with the pre-clamping finger through a pre-clamping cylinder.

The clamping finger sliding table is further provided with an elastic buffer cylinder, the end part of a piston rod of the elastic buffer cylinder is connected with the mounting shell through a connecting piece, and the mounting shell is driven to drive the clamping finger assembly to integrally slide along a second longitudinal guide rail on the clamping finger sliding table.

And two ends of the rear surface of the support plate are respectively provided with a second motor, and each second motor drives the corresponding finger clamping sliding table to slide along the second transverse guide rail through a transmission mechanism.

The structure of holding in the palm the material subassembly does: the four-shaft stretching device comprises a bottom frame and a top plate, wherein a fourth motor is arranged in the bottom frame, an output shaft of the fourth motor is connected with the output shaft through a belt transmission assembly, the top surface of the output shaft, which extends out of the bottom frame, is connected with the bottom surface of the top plate, a guide sleeve is arranged in the bottom frame, a guide pillar which slides in the guide sleeve is arranged on the bottom surface of the top plate, a material supporting plate is arranged on the top surface of the top plate through a supporting section bar, two ends of the bottom surface of the material supporting plate are respectively.

The extension plate is as the extension part of the two ends of the material supporting plate, the width of the extension plate is smaller than that of the material supporting plate, so that the two sides of the part of the two ends of the material sheet positioned on the extension plate are suspended to facilitate the clamping of the clamping finger assembly.

The structure of the lifting base is as follows: the clamping device comprises a vertical base, wherein a vertical guide rail is arranged on the front surface of the vertical base, a third motor is installed at the top of the vertical base, an output shaft of the third motor is connected with a clamping mechanism through a lead screw sliding block, and the clamping mechanism is driven to slide along the vertical guide rail.

The utility model has the advantages as follows:

the utility model has compact and reasonable structure and convenient operation, and the two groups of holding and clamping mechanisms can respectively clamp the two ends of the material sheet from the two side edges to form a four-point clamping structure, thereby ensuring the stability of clamping and the self-structure stability of the equipment; the clamping mechanisms are respectively clamped at two sides, so that the rotary positioning can be realized in the whole clamping process.

The utility model discloses a rotatory balance cylinder plays the effect of adjustment support plate angle in vertical plane, keeps two of every end to embrace and presss from both sides mechanism levelness location unanimously, and during the location, the one end of location earlier is the stiff end, and as the benchmark limit of location, the opposite side of back location is as rotatory limit of floating, can adjust piece clearance and wrong limit, and during actual operation at present, actual wrong limit value is 0.1-0.4mm, and holistic wrong limit size is no longer than 0.5 mm. The size of this misalignment is well below the standard within the industry of misalignment below 1 mm.

The utility model discloses a springing cushion cylinder and a rotary balance cylinder can make the abutted seam of the material sheet more compact and have smaller clearance under the action of the air spring mechanism through the stroke adjustment of the springing cushion cylinder in the abutted seam process of the material sheet; the existence of the rotary balance cylinder eliminates the accumulated error of equipment in the processing and assembling processes, even if the short edges at two ends are not in a completely parallel state when clamped, the material sheet can be completely attached in the process of completing positioning by rounding, and the seam clearance of the flat material sheet with the actually measured data of 0.6mm thickness is not more than 0.03 mm.

Drawings

Fig. 1 is a schematic perspective view of the present invention.

Fig. 2 is a schematic structural view of the traverse base of the present invention.

Fig. 3 is a schematic structural view of the clasping mechanism of the present invention.

Fig. 4 is an enlarged view of a portion a in fig. 1.

Fig. 5 is a schematic structural view of the material supporting assembly of the present invention.

Fig. 6 is a schematic structural view of the lifting base of the present invention.

Wherein: 1. transversely moving the base; 2. transversely moving the sliding table; 3. a lifting base; 4. a clamping mechanism; 5. a material supporting component; 6. a web; 101. a first transverse guide rail; 201. a first longitudinal rail; 301. a vertical guide rail; 401. a first motor; 402. a driving gear; 403. pre-clamping the clamping fingers; 404. a driven gear; 405. clamping fingers; 406. a springing buffer cylinder; 407. a second transverse guide rail; 408. a carrier plate; 409. rotating the balance cylinder; 410. a substrate; 411. a finger clamping sliding table; 412. mounting a shell; 413. a second longitudinal rail; 414. a second motor; 501. a chassis; 502. a top plate; 503. a fourth motor; 504. a material supporting plate; 505. stretching the cylinder; 506. an extension plate; 301. a vertical guide rail; 302. a third motor; 303. a vertical base.

Detailed Description

The following describes embodiments of the present invention with reference to the drawings.

As shown in fig. 1-3, the servo clamping device of the present embodiment includes a traverse base 1, on which a traverse sliding table 2 is slidably mounted through a set of first traverse guide rails 101, two ends of which are respectively slidably mounted with a lifting base 3, the two lifting bases 3 are symmetrically arranged, and respectively horizontally move along first longitudinal guide rails 201 at two ends of the traverse sliding table 2, a clamping mechanism 4 vertically lifting along each lifting base 3 is mounted on each lifting base 3, the clamping mechanism 4 includes a set of clamping finger assemblies symmetrically arranged and mutually matched, and the structure of the clamping finger assembly includes pre-clamping fingers 403 and clamping fingers 405; a material supporting assembly 5 is fixedly arranged on the transverse sliding table 2 between the two lifting bases 3; the material supporting assembly 5 positions the material sheet 6, the material sheet 6 is clamped and positioned at two ends of the material sheet 6 from two sides by the clamping finger assemblies of the two clamping mechanisms 4 respectively, then the material sheet 6 is subjected to servo clamping, and the flat material sheet 6 is rolled into a cylinder shape.

As shown in fig. 4, the holding mechanism 4 has the following specific structure: the lifting device comprises a base plate 410, wherein the rear surface of the base plate is provided with a sliding block assembly which slides along a vertical guide rail 301 on a lifting base 3, the middle part of the front surface is provided with a support plate 408 through a rotary balance cylinder 409, the two sides of the front surface are symmetrically provided with second transverse guide rails 407, each second transverse guide rail 407 is provided with a finger clamping sliding table 411 in a sliding way, and the two finger clamping assemblies are respectively arranged on the two finger clamping sliding tables 411 in a sliding way through an installation shell 412.

The mounting structure of the clamping finger assembly is as follows: the clamping device comprises a first motor 401, a gear shaft arranged in parallel with an output shaft of the first motor 401 is arranged beside the first motor, a driving gear 402 is arranged on the output shaft of the first motor 401, the driving gear 402 is meshed with a driven gear 404 on the gear shaft, and clamping fingers 405 are arranged at the end part of the driven gear 404 through a clamping cylinder; the clamping finger sliding table 411 located beside the clamping cylinder is provided with a pre-clamping finger 403 through a pre-clamping cylinder.

The finger-clamping sliding table 411 is further provided with an elastic buffer cylinder 406, the end of a piston rod of the elastic buffer cylinder is connected with the mounting shell 412 through a connecting piece, and the mounting shell 412 is driven to drive the whole finger-clamping assembly to slide along a second longitudinal guide rail 413 on the finger-clamping sliding table 411.

The two ends of the rear surface of the carrier plate 408 are respectively provided with a second motor 414, and each second motor 414 drives the corresponding finger clamping sliding table 411 to slide along the second transverse guide rail 407 through a transmission mechanism.

As shown in fig. 5, the material supporting assembly 5 has the following structure: the device comprises a bottom frame 501 and a top plate 502, wherein a fourth motor 503 is arranged in the bottom frame 501, an output shaft of the fourth motor is connected with an output shaft through a belt transmission assembly, the top surface of the output shaft, which extends out of the bottom frame 501, is connected with the bottom surface of the top plate 502, a guide sleeve is arranged in the bottom frame 501, a guide post sliding in the guide sleeve is arranged on the bottom surface of the top plate 502, a material supporting plate 504 is arranged on the top surface of the top plate 502 through a supporting section bar, two ends of the bottom surface of the material supporting plate 504 are respectively provided with a stretching cylinder.

The extension plates 506 are the same as the material supporting plates 504 in horizontal height, and are used as extension parts at two ends of the material supporting plates 504, the width of the extension plates 506 is smaller than that of the material supporting plates 504, so that two sides of the part, positioned on the extension plates 506, at two ends of the material sheet 6 are suspended to be clamped by the clamping finger assembly.

As shown in fig. 6, the lifting base 3 has the following structure: including vertical base 303, be equipped with vertical guide rail 301 along the front surface of vertical base 303, third motor 302 is installed at vertical base 303 top, and its output shaft passes through the lead screw slider and is connected with embracing clamp mechanism 4, and the drive is embraced and is pressed from both sides mechanism 4 and slide along vertical guide rail 301.

The utility model discloses at concrete implementation in-process, parts such as each slip table and sliding base all can drive through servo motor lead screw slider mechanism, accomplish along corresponding guide rail and remove, "transverse guide" and "transverse guide" that mention in this embodiment all set up along the horizontal direction, and mutually perpendicular, "vertical guide" then sets up along vertical direction. Parameters such as the stroke of the servo drive are set according to actual working requirements.

The clamping cylinder of this embodiment is driven by the driven gear 404 and the gear shaft to rotate and drive the clamping fingers 405 to open and close, and the pre-clamping cylinder is fixedly mounted on the finger-clamping sliding table 411 to drive the pre-clamping fingers 403 to open and close.

In the specific working process, the manipulator transfers the finely cut material sheet 6 to the material supporting plate 504 of the material supporting assembly 5, then the two lifting bases 3 move towards the middle along the first longitudinal guide rail 201 to start positioning in the length direction of the material sheet 6, after the positioning is finished, the pre-clamping cylinder controls the pre-clamping fingers 403 to clamp the material sheet 6, after the pre-clamping is finished, the holding clamping fingers 405 clamp and fix the material sheet 6, then the pre-clamping fingers 403 are released, the clamping mechanism 4 and the lifting base 3 move along corresponding guide rails under the drive of the respective driving mechanisms, the rotary cylinders of the clamping fingers 405 cooperate to perform servo clamping, the flat material 6 is rolled into a cylinder shape from two ends to the middle of the traversing sliding table 2, meanwhile, the transverse sliding table 2 moves and positions along the first transverse guide rail 101, and the whole equipment is moved to a welding station for positioning welding.

In the clamping process, the elastic buffer cylinder 406 and the rotary balance cylinder 409 work in cooperation, the angle of the carrier plate 408 is adjusted by rotating the balance cylinder 409 to rotate in a vertical plane, so that the levelness of the clamping finger assemblies at the two sides of each clamping mechanism 4 is kept consistent, if the short sides of the two ends of the material sheet 6 are not parallel, the seam formed after rounding is inclined, a contact surface is formed only on one side, and a gap is formed at the contact position on the other side, at the moment, the elastic buffer cylinder 406 at one end acts to enable the clamping finger assembly to slide along the second longitudinal guide rail 413, the position of the seam is adjusted, the dislocation is corrected, the positions where the gap is formed are attached, the seam is ensured to be neat, and the accumulated error of equipment in the processing and assembling processes is eliminated, even if the short sides at the two ends are not in a completely parallel state when being clamped, the material sheets can be completely attached in the process of completing positioning by rounding. The actual measured data under the specific working condition is the seam gap of a flat material sheet with the thickness of 0.6mm, and the seam gap does not exceed 0.03 mm.

The above description is for the purpose of explanation and not limitation of the invention, which is defined in the claims, and any modifications may be made within the scope of the invention.

Claims

1. The utility model provides a servo armful presss from both sides machine which characterized in that: the clamping device comprises a transverse moving base (1), wherein a transverse moving sliding table (2) is slidably mounted on the transverse moving base through a group of first transverse guide rails (101), two ends of the transverse moving sliding table are respectively slidably mounted with a lifting base (3), the two lifting bases (3) are symmetrically arranged and respectively horizontally move along first longitudinal guide rails (201) at two ends of the transverse moving sliding table (2), each lifting base (3) is provided with a clamping mechanism (4) which vertically ascends and descends along the lifting base, each clamping mechanism (4) comprises a group of clamping finger assemblies which are symmetrically arranged and are matched with each other, and each clamping finger assembly structurally comprises a pre-clamping finger (403) and a clamping finger (405); a material supporting assembly (5) is fixedly arranged on the transverse sliding table (2) between the two lifting bases (3); the material supporting assembly (5) well positions the material sheet (6), the two ends of the material sheet (6) are respectively clamped and positioned by the clamping finger assemblies of the two clamping mechanisms (4) from two sides, then servo clamping is carried out, and the flat material sheet (6) is rolled into a cylinder shape.

2. The servo clamp clasping machine of claim 1, wherein: the holding and clamping mechanism (4) has the specific structure that: including base plate (410), its rear surface is equipped with along the gliding sliding block assembly of vertical guide rail (301) on lift base (3), and support plate (408) are installed through rotatory balance cylinder (409) in the middle part of the front surface, and second transverse guide (407) are installed to its front surface bilateral symmetry, and slidable mounting has the clamp to indicate slip table (411) on every second transverse guide (407), two the clamp indicates the subassembly to be in through an installation shell (412) slidable mounting respectively on two clamps indicate slip table (411).

3. The servo clamp clasping machine of claim 2, wherein: the mounting structure of the clamping finger assembly is as follows: the clamping device comprises a first motor (401), a gear shaft arranged in parallel with an output shaft of the first motor (401) is arranged beside the first motor, a driving gear (402) is arranged on the output shaft of the first motor (401), the driving gear (402) is meshed with a driven gear (404) on the gear shaft, and the end part of the driven gear (404) is provided with a clamping finger (405) through a clamping cylinder; the clamping finger sliding table (411) positioned beside the clamping cylinder is provided with the pre-clamping finger (403) through a pre-clamping cylinder.

4. The servo clamp clasping machine of claim 3, wherein: and the finger clamping sliding table (411) is also provided with an elastic buffer cylinder (406), the end part of a piston rod of the elastic buffer cylinder is connected with the mounting shell (412) through a connecting piece, and the mounting shell (412) is driven to drive the finger clamping assembly to integrally slide along a second longitudinal guide rail (413) on the finger clamping sliding table (411).

5. The servo clamp clasping machine of claim 3, wherein: and two ends of the rear surface of the carrier plate (408) are respectively provided with a second motor (414), and each second motor (414) drives the corresponding finger clamping sliding table (411) to slide along the second transverse guide rail (407) through a transmission mechanism.

6. The servo clamp clasping machine of claim 1, wherein: the structure of the material supporting component (5) is as follows: the device comprises a bottom frame (501) and a top plate (502), wherein a fourth motor (503) is arranged in the bottom frame (501), an output shaft of the fourth motor is connected with the bottom surface of the top plate (502) through a belt transmission assembly, the top surface of the output shaft extending out of the bottom frame (501) is connected with the bottom surface of the top plate (502), a guide sleeve is arranged in the bottom frame (501), a guide pillar which slides in the guide sleeve is arranged on the bottom surface of the top plate (502), a material supporting plate (504) is arranged on the top surface of the top plate (502) through a supporting section bar, two ends of the bottom surface of the material supporting plate (504) are respectively provided with a stretching cylinder (505), and.

7. The servo clamp clasping machine of claim 6, wherein: the horizontal heights of the extension plate (506) and the material supporting plate (504) are consistent, the extension plate is used as an extension part of two ends of the material supporting plate (504), the width of the extension plate (506) is smaller than that of the material supporting plate (504), and two side edges of the part, located on the extension plate (506), of two ends of the material sheet (6) are suspended so as to be clamped by the clamping finger assembly.

8. The servo clamp clasping machine of claim 1, wherein: the lifting base (3) has the structure that: including vertical base (303), follow the front surface of vertical base (303) is equipped with vertical guide rail (301), and third motor (302) are installed at vertical base (303) top, and its output shaft passes through the lead screw slider and embraces to press from both sides mechanism (4) and be connected, and the drive is embraced and is pressed from both sides mechanism (4) and slide along vertical guide rail (301).