CN214298161U

CN214298161U - Robot floating, holding, deviation-rectifying and fine-throwing structure

Info

Publication number: CN214298161U
Application number: CN202023036901.6U
Authority: CN
Inventors: 徐正方; 方勇; 严春鹏; 卢华; 董旭伟
Original assignee: Hangzhou Xurui Machinery Co ltd
Current assignee: Hangzhou Xurui Machinery Co ltd
Priority date: 2020-12-16
Filing date: 2020-12-16
Publication date: 2021-09-28
Anticipated expiration: 2030-12-16

Abstract

The utility model relates to a float and get immobilization smart structure of throwing that rectifies, especially relate to a robot floats and gets immobilization smart structure of throwing that rectifies. Including roof and unsteady subassembly, the upper portion of roof be equipped with manipulator mounting flange, roof and unsteady subassembly between be elastic return and be connected, the subassembly that floats including can be from top to bottom the displacement level and smooth the briquetting and level and smooth the operation to the fin, the both sides of leveling the briquetting be equipped with respectively with level the briquetting and be the clamping piece that connects distribution and indicate and the clamping piece indicates to press from both sides the operation of getting the fin, the both sides of leveling the briquetting be equipped with respectively with level the briquetting and be the correction that connects distribution indicate and correct the position that indicates to correct the fin central plane coincidence with the top with the circulation piece, level and smooth the briquetting move down and drop the fin flat push to the die cavity of circulation piece product in. Further enhancing the degree of automation.

Description

Robot floating, holding, deviation-rectifying and fine-throwing structure

Technical Field

The utility model relates to a float and get immobilization smart structure of throwing that rectifies, especially relate to a robot floats and gets immobilization smart structure of throwing that rectifies.

Background

In recent years, with the rapid development of new energy vehicles, it is required to configure batteries with higher capacity and longer endurance, and thus higher requirements are put on heat exchange systems for new energy vehicles. The plate heat exchanger is a high-efficiency heat exchanger formed by stacking a series of metal sheets with certain corrugated shapes. Thin rectangular channels are formed between the various plates through which heat is exchanged. The lamination assembly process is complex, the automatic assembly difficulty is high, and a stable and reliable process and a production line suitable for automatic assembly are urgently needed to be researched. The main disadvantages of the prior art are:

1. because the fins from the previous process have a large amount of warping deformation and the stacked fins are uneven, the robot is difficult to reliably and stably pick up the fins or the fins are easy to fall off in the high-speed movement process of the manipulator after picking up the fins.

2. When the robot puts the fins into the circulating sheet, the fins cannot be stably and accurately put into the circulating sheet due to superposition of various factors.

3. The posture of the fin is easy to incline in the falling process.

SUMMERY OF THE UTILITY MODEL

The utility model discloses solve exist not enough among the prior art, provide an degree of automation height, get a slice fin at every turn and put the circulation piece on the belt transfer chain in the real-time operation, then carry a robot of next work station through the transfer chain and float and get the holding and rectify and throw the structure with the essence.

The above technical problem of the present invention can be solved by the following technical solutions:

a robot floating-taking, fixing, deviation-rectifying and fine-throwing structure comprises fins, a circulation piece, a rack, a robot, a top plate, a floating assembly and a floating upper plate, wherein a manipulator mounting flange is arranged at the upper part of the top plate, the top plate is elastically returned and connected with the floating assembly, the floating assembly comprises a leveling press block capable of moving up and down and the leveling press block is used for leveling the fins, clamping piece fingers which are matched and distributed with the leveling press block are respectively arranged at two sides of the leveling press block, and correcting fingers which are matched and distributed with the leveling press block are respectively arranged at two sides of the leveling press block;

the robot is fixed with a manipulator mounting flange, controls clamping fingers to clamp the fins, controls the straightening fingers to straighten the circulating sheets to the position coinciding with the central plane of the fins above and moves a leveling press block downwards to horizontally push the fins to drop into cavities of circulating sheet products;

the top plate is provided with a positioning pin capable of moving downwards, and the floating upper plate is provided with an oilless bushing which is movably stopped with the positioning pin.

Preferably, the floating assembly further comprises a floating upper plate arranged below the top plate, more than two guide rods are arranged between the top plate and the floating upper plate, spherical bearings sleeved with the guide rods are arranged in the top plate, springs sleeved with the guide rods are arranged between the top plate and the floating upper plate, and the top plate elastically displaces up and down along the guide rods through the spherical bearings.

Preferably, the upper part of the leveling pressing block is provided with a leveling bottom plate moving downwards along with the leveling pressing block, a push sheet cylinder for pushing the leveling bottom plate to move downwards is arranged in the floating upper plate, and the push sheet cylinder is fixedly connected with the leveling bottom plate through an air connecting plate;

the below of upper plate that floats be the horizontal guiding axle that is horizontal distribution, the clamping piece indicate to install in the clamping jaw mounting panel, the clamping jaw mounting panel slide along the horizontal guiding axle through the clamping jaw slider, the correction indicate to slide along the horizontal guiding axle through correcting the slider, the both sides that the clamping piece indicates be equipped with respectively and correct and indicate, the correction slider slide along the horizontal guiding axle through linear bearing.

Preferably, the positioning pin is installed in a positioning pin installation plate, and the positioning pin installation plate is displaced downwards by a locking cylinder.

Preferably, a push sheet cylinder mounting plate for mounting a push sheet cylinder is arranged in the floating upper plate, and a reflection sensor for sensing a fin is arranged in the leveling bottom plate; the fin clamping device comprises a clamping piece finger, a correcting finger and a fin clamping device, wherein the clamping piece finger is used for clamping a fin after being displaced along a horizontal guide shaft through a clamping piece gas claw, and the correcting finger is used for clamping a circulating piece after being displaced along the horizontal guide shaft through a correcting gas claw;

the leveling pressing block and the leveling bottom plate are fixed through a plurality of bolts, the bolts are embedded into the leveling pressing block, and the bottom of the bolts is prevented from loosening through clamp springs embedded into the leveling pressing block.

Preferably, the floating upper plate is internally provided with a guide shaft capable of being adjusted in a micro-floating mode up and down, the bottom of the guide shaft extends downwards to be fixed with the leveling press block, the floating upper plate is internally provided with a linear bearing in sliding connection with the guide shaft, the upper part of the linear bearing is provided with a fixing ring, and the upper part of the guide shaft is provided with a gasket movably positioned with the fixing ring.

The working principle is as follows:

the robot moves to the upper part of the fin incoming material rack device, the robot vertically descends, meanwhile, a locking cylinder piston rod retracts, a positioning pin ascends, when the robot descends together with the whole set of mechanism until a leveling press block starts to contact a first fin on the top layer in the fin incoming material rack device, the leveling press block is influenced by the accumulated warping deformation of the whole set of fins in the fin incoming material rack device, the first fin on the top layer in the fin incoming material rack device is not parallel to the horizontal plane, the leveling press block is in partial contact with the first fin on the top layer in the fin incoming material rack device but not in whole plane contact, the robot continues to vertically descend, at the same time, a guide rod slides along an inner hole of a spherical bearing and is compressed by a spring, the inner ring of the spherical bearing generates spatial angle deflection relative to the outer ring, the leveling press block simultaneously generates spatial angle deflection until the plane of the leveling press block is completely attached to the upper surface of the first fin on the top layer in the fin incoming material rack device, the reflection sensor detects that a fin is arranged, the clamping piece air claw is closed at the moment, the clamping piece fingers clamp the fin, then the robot vertically rises to a preset height, a locking cylinder piston rod is pushed out, the positioning pin enters the oilless bush to lock the inner ring and the outer ring of the spherical bearing, then the robot moves to the upper part of the belt conveying line area at a high speed, the robot descends according to the position of the circulating piece given by the machine vision above the belt line, when the lowest plane of the correcting finger descends to the position which is about 3 to 5mm away from the height of the belt line, the correcting air claw is closed, the correcting finger corrects the circulating piece product to the position which is superposed with the central plane of the fin product above, the pushing piece cylinder piston rod is pushed out at the moment, the leveling press block horizontally pushes the fin product to fall into a circulating piece product cavity, then the clamping piece air claw is opened, the reflection sensor signal determines that the fin is pushed down, and finally the robot vertically rises, the above operation cycle is repeated.

When the robot moves at a high speed to pick up the sheet-shaped product, the actuator floating mechanism automatically finds the actual plane of the sheet-shaped product and smoothly levels the warped and deformed product, and the lower clamping jaw is matched to reliably and stably pick up a single sheet-shaped product, so that the problem of high failure rate of picking up the sheet-shaped product caused by the warped and deformed product is solved.

Before the robot is put into the product in the high-speed movement, the actuator floating mechanism automatically resets to the original point and is fixed and kept in a stable posture with high repeatability by combining the high-speed positioning mechanism, so that the stability of the attitude of the actuator and the product in the movement and displacement process of the robot is ensured.

When the robot moves to the upper part of the shell area of the throwing object at a high speed, the actuator dynamically corrects the position of the lower shell in real time, so that the central planes of the throwing object and the thrown object are in a superposed state, and further the deviation of the relative position of the sheet product and the shell, caused by the factors such as the repeat precision problem of the robot, the misjudgment of the object position by machine vision, the fluctuation of the speed of a conveying belt of the position of the lower object, the counting distortion of the slipping pulses of the roller pair roller of an encoder and the belt line, and the like, is corrected.

After the robot moves to the position above the throwing object area at a high speed and the position of the lower object is corrected, the vertical horizontal pushing mechanism acts in a clamping state, so that the thrown object keeps a parallel posture and accurately drops materials into the lower shell.

The high-speed robot lamination actuator is developed and developed to provide a stable and reliable high-speed robot lamination actuator. The method has the advantages of ensuring the stability and reliability of the high-speed lamination, improving the production efficiency, reducing the rejection rate and reducing the cost.

The key points and points to be protected are:

A. floating and leveling pick-up technology: when picking up the sheet-shaped product in the high-speed motion of the robot, the actuator floating mechanism automatically finds the actual plane of the sheet-shaped product and smoothly levels the deformed and warped product, and the lower clamping jaw is matched to reliably and stably pick up a single sheet-shaped product. The problem of high failure rate of picking up sheet-shaped products caused by deformation and warping of the products is solved.

B. Self-resetting state shift technology: before the robot is put into the product in the high-speed movement, the actuator floating mechanism automatically resets to the original point and is fixed and kept in a stable posture with high repeatability by combining the high-speed positioning mechanism, so that the stability of the attitude of the actuator and the product in the movement and displacement process of the robot is ensured.

C. Dynamic deviation rectifying technology: when the robot moves to the upper part of the shell area of the throwing object at a high speed, the actuator dynamically corrects the position of the lower shell in real time, so that the central planes of the throwing object and the thrown object are in a superposed state, and further the deviation of the relative position of the sheet product and the shell, caused by the factors such as the repeat precision problem of the robot, the misjudgment of the object position by machine vision, the fluctuation of the speed of a conveying belt of the position of the lower object, the counting distortion of the slipping pulses of the roller pair roller of an encoder and the belt line, and the like, is corrected.

D. A clamping state flat-throw technology: after the robot moves to the position above the throwing object area at a high speed and the position of the lower object is corrected, the vertical horizontal pushing mechanism acts in a clamping state, so that the thrown object keeps a parallel posture and accurately drops materials into the lower shell.

Therefore, the floating, fixing, deviation rectifying and fine throwing structure of the robot has more stable floating and positioning, and ensures the stability of the posture of an actuating mechanism and a product when the robot runs at a high speed; when the robot puts in the product, the vertical horizontal pushing mechanism in a clamping state ensures that the product is dropped in a parallel posture after being put in; before the robot puts in the product, carry out position correction to putting in the target casing for put in the target can be accurate put in the casing.

Drawings

Fig. 1 is a schematic perspective view of the utility model;

fig. 2 is a schematic perspective view of the present invention;

fig. 3 is a schematic sectional structure of the present invention;

fig. 4 is a schematic sectional structure of the present invention;

fig. 5 is a schematic sectional structure diagram of the present invention.

Detailed Description

The technical solution of the present invention is further specifically described below by way of examples and with reference to the accompanying drawings.

Example 1: as shown in the figure, the robot floating, holding, deviation rectifying and fine throwing structure comprises a fin 1, a circulating sheet 2, a frame 34 and a robot 35, and also comprises a top plate 3, a floating assembly and a floating upper plate 8, the upper part of the top plate 3 is provided with a manipulator mounting flange 4, the top plate 3 is elastically connected with the floating assembly in a return manner, the floating assembly comprises a leveling pressing block 5 which can move up and down, and the leveling pressing block 5 levels the fin 1, clamping fingers 6 which are matched and distributed with the flattening pressing block 5 are respectively arranged at two sides of the flattening pressing block 5, the clamping fingers 6 clamp the fin 1, the two sides of the leveling pressing block 5 are respectively provided with a correcting finger 7 which is matched and distributed with the leveling pressing block 5, the correcting fingers 7 correct the circulating sheet 2 to the position which is superposed with the central plane of the upper fin 1, the leveling pressing block 5 moves downwards to horizontally push the fins 1 to fall into the cavities of the products of the circulation sheets 2;

a belt conveying line 36 capable of conveying the circulating sheet 2 is arranged at the upper part of the rack 34, a fin feeding frame 37 which is matched and distributed with the belt conveying line 36 is arranged at the upper part of the rack 34, the fins 1 are stacked in the fin feeding frame 37, the robot 35 is fixed with a manipulator mounting flange 4, the robot 35 controls the clamping fingers 6 to clamp the fins 1, the robot 35 controls the correcting fingers 7 to correct the circulating sheet 2 to a position which is overlapped with the central plane of the fin 1 above, and the leveling press block 5 moves downwards to horizontally push the fins 1 and drop the fins 1 into a cavity of a product of the circulating sheet 2;

the top plate 3 is provided with a positioning pin 12 capable of moving downwards, and the floating upper plate 8 is provided with an oilless bushing 13 which is movably stopped with the positioning pin 12.

The floating assembly further comprises a floating upper plate 8 arranged below the top plate 3, more than two guide rods 9 are arranged between the top plate 3 and the floating upper plate 8, spherical bearings 10 sleeved with the guide rods 9 are arranged in the top plate 3, springs 11 sleeved with the guide rods 9 are arranged between the top plate 3 and the floating upper plate 8, and the top plate 3 elastically displaces up and down along the guide rods 9 through the spherical bearings 10;

the upper part of the leveling pressing block 5 is provided with a leveling bottom plate 14 moving downwards along with the leveling pressing block 5, a push sheet cylinder 15 for pushing the leveling bottom plate 14 to move downwards is arranged in the floating upper plate 8, and the push sheet cylinder 15 is fixedly connected with the leveling bottom plate 14 through an air connecting plate 16;

the below of unsteady upper plate 8 be equipped with the horizontal guide axle 17 that is horizontal distribution, the clamping piece indicate 6 to install in clamping jaw mounting panel 18, clamping jaw mounting panel 18 slide along horizontal guide axle 17 through clamping jaw slider 19, the correction indicate 7 to slide along horizontal guide axle 17 through correcting slider 20, the clamping piece indicate that the both sides of 6 are equipped with respectively to correct and indicate 7, correction slider 20 slide along horizontal guide axle 17 through linear bearing 31.

The positioning pin 12 is installed in a positioning pin installation plate 22, and the positioning pin installation plate 22 is downwardly displaced by a locking cylinder 23.

A push sheet cylinder mounting plate 24 for mounting the push sheet cylinder 15 is arranged in the floating upper plate 8, and a reflection sensor 25 for sensing the fins 1 is arranged in the leveling bottom plate 14; the clamping fingers 6 are displaced along the horizontal guide shaft 17 through the clamping gas claws 26 to clamp the fins 1, and the correcting fingers 7 are displaced along the horizontal guide shaft 17 through the correcting gas claws 27 to clamp the circulating sheets 2;

the leveling pressing block 5 and the leveling bottom plate 14 are fixed through a plurality of bolts 28, the bolts 28 are embedded into the leveling pressing block 5, and the bottoms of the bolts 28 are prevented from loosening through clamp springs 29 embedded into the leveling pressing block 5.

Unsteady upper plate 8 in be equipped with the guiding axle 30 that can slightly float from top to bottom and guiding axle 30's bottom downwardly extending is fixed mutually with leveling briquetting 5, unsteady upper plate 8 in be equipped with guiding axle 30 looks sliding connection's unsteady linear bearing 21, the upper portion of unsteady linear bearing 21 be equipped with solid fixed ring 32, the upper portion of guiding axle 30 be equipped with and gu fixed ring 32 be the packing ring 33 of movable location.

Claims

1. The utility model provides a structure is thrown to robot floating holding rectification essence, includes fin (1), circulation piece (2), frame (34) and robot (35), its characterized in that: the fin leveling mechanism is characterized by further comprising a top plate (3), a floating assembly and a floating upper plate (8), wherein a manipulator mounting flange (4) is arranged on the upper portion of the top plate (3), the top plate (3) and the floating assembly are connected in an elastic return mode, the floating assembly comprises a leveling pressing block (5) capable of moving up and down, the leveling pressing block (5) is used for leveling the fin (1), clamping piece fingers (6) which are matched and distributed with the leveling pressing block (5) are respectively arranged on two sides of the leveling pressing block (5), and correcting fingers (7) which are matched and distributed with the leveling pressing block (5) are respectively arranged on two sides of the leveling pressing block (5);

the fin straightening machine is characterized in that a belt conveying line (36) capable of conveying circulating sheets (2) is arranged on the upper portion of the rack (34), a fin feeding frame (37) which is matched and distributed with the belt conveying line (36) in a matching mode is arranged on the upper portion of the rack (34), fins (1) are stacked in the fin feeding frame (37), the robot (35) is fixed with a manipulator mounting flange (4), the robot (35) controls a clamping finger (6) to clamp the fins (1), the robot (35) controls a straightening finger (7) to straighten the circulating sheets (2) to a position which is coincident with the central plane of the fins (1) above, and a flattening pressing block (5) moves downwards to horizontally push the fins (1) to fall into cavities of products of the circulating sheets (2);

the top plate (3) is provided with a positioning pin (12) which can move downwards, and the floating upper plate (8) is provided with an oilless bushing (13) which is movably stopped with the positioning pin (12).

2. The robot floating, holding, deviation rectifying and fine-throwing structure of claim 1, wherein: the floating assembly further comprises a floating upper plate (8) arranged below the top plate (3), more than two guide rods (9) are arranged between the top plate (3) and the floating upper plate (8), spherical bearings (10) sleeved with the guide rods (9) are arranged in the top plate (3), springs (11) sleeved with the guide rods (9) are arranged between the top plate (3) and the floating upper plate (8), and the top plate (3) is elastically displaced up and down along the guide rods (9) through the spherical bearings (10).

3. The robot floating, holding, deviation rectifying and fine-throwing structure of claim 2, wherein: the upper part of the leveling pressing block (5) is provided with a leveling bottom plate (14) moving downwards along with the leveling pressing block (5), a push sheet cylinder (15) for pushing the leveling bottom plate (14) to move downwards is arranged in the floating upper plate (8), and the push sheet cylinder (15) is fixedly connected with the leveling bottom plate (14) through an air connecting plate (16);

the below of unsteady upper plate (8) be equipped with horizontal guide shaft (17) that are horizontal distribution, the clamping piece indicate (6) to install in clamping jaw mounting panel (18), clamping jaw mounting panel (18) slide along horizontal guide shaft (17) through clamping jaw slider (19), the correction indicate (7) to slide along horizontal guide shaft (17) through correcting slider (20), the clamping piece indicate the both sides of (6) to be equipped with respectively and correct and indicate (7), correction slider (20) slide along horizontal guide shaft (17) through linear bearing (31).

4. The robot floating, holding, deviation rectifying and fine-throwing structure of claim 2, wherein: the positioning pin (12) is arranged in a positioning pin mounting plate (22), and the positioning pin mounting plate (22) moves downwards through a locking cylinder (23).

5. The robot floating, holding, deviation rectifying and fine-throwing structure of claim 3, wherein: a push sheet cylinder mounting plate (24) for mounting a push sheet cylinder (15) is arranged in the floating upper plate (8), and a reflection sensor (25) for sensing the fins (1) is arranged in the leveling bottom plate (14); the fin clamping device is characterized in that the clamping fingers (6) clamp the fins (1) after being displaced along the horizontal guide shaft (17) through the clamping gas claws (26), and the correcting fingers (7) clamp the circulating sheets (2) after being displaced along the horizontal guide shaft (17) through the correcting gas claws (27);

the leveling pressing block (5) and the leveling bottom plate (14) are fixed through a plurality of bolts (28), the bolts (28) are embedded into the leveling pressing block (5), and the bottoms of the bolts (28) are prevented from loosening through clamp springs (29) embedded into the leveling pressing block (5).

6. The robot floating, holding, deviation rectifying and fine-throwing structure of claim 3, wherein: the floating upper plate (8) in be equipped with guide shaft (30) and the bottom downwardly extending of guide shaft (30) that can slightly float from top to bottom and adjust and level briquetting (5) and fix mutually, floating upper plate (8) in be equipped with guide shaft (30) looks sliding connection's unsteady linear bearing (21), the upper portion of unsteady linear bearing (21) be equipped with solid fixed ring (32), the upper portion of guide shaft (30) be equipped with and be the packing ring (33) of movable location with solid fixed ring (32).