CN106113000A - A kind of multifunction automatic blowing mechanical hand - Google Patents

Abstract

The invention is a multifunctional automatic pick-and-place manipulator, in particular relates to a winding machine in the motor industry and an automatic pick-and-place manipulator related to equipment in the motor manufacturing industry. The manipulator includes: fixed base (1), supporting body (2), finished material gripper (3), material preliminary positioning structure (4), semi-finished material gripper (5), material axial positioning structure (6), gripper Claw rotating structure (7), clamping jaw rotating structure fixed angle block (8), clamping jaw horizontal motion servo module (9). The invention adopts a modular design, and each functional module can be changed quickly, thereby meeting the requirements of customers for quick change, and at the same time reducing the maintenance cost of equipment and reducing the inventory of spare parts, helping customers improve production efficiency and ensure product quality .

Description

A multi-functional automatic pick-and-place manipulator

technical field

The invention relates to a manipulator, in particular to an automatic pick-and-place manipulator for rotor-related equipment in the motor industry.

Background technique

With the development of industrial automation, people have put forward higher requirements for the automation of equipment. At present, the parts of the rotor on the motor production line of many domestic factories are still completed manually, which is labor-intensive, low in production efficiency, and manual operation. It is difficult to ensure the consistency of products, and it also brings danger in the process of human-computer interaction. In order to improve the efficiency of production and processing, reduce costs, and make the production line develop into a flexible manufacturing system to adapt to modern automated mass production, for The specific production process uses robot technology to design a manipulator that automatically picks and unloads materials to replace manual work, completes dangerous, repetitive and boring work, reduces human labor intensity, and improves labor productivity.

Contents of the invention

The problem to be solved by the present invention is to provide a multi-functional automatic loading and unloading manipulator to solve the problems in the background technology and realize automatic loading and unloading of rotor winding machines and rotor-related equipment in the motor industry.

The technical scheme that the present invention solves the problems of the technologies described above is as follows:

A multi-functional automatic loading and unloading manipulator, including: an installation base (1) and a support body (2) welded on the installation base, a finished material gripper (3), a material initial positioning structure (4), and a semi-finished material gripper ( 5), material axial positioning structure (6), gripper rotation structure (7), gripper rotation structure fixed angle block (8), gripper horizontal motion servo module (9); wherein, the finished material gripper ( 3) It includes a finger cylinder, on which two grippers and two sensors are installed, and the fetching gripper is used to take away finished materials;

The material initial positioning structure (4) includes: an indexing claw, an indexing cylinder, a return spring, an indexing chute, and an indexing guide rod. The indexing claw is fixed on the indexing guide rod, and the indexing guide The rod is fixed on the indexing cylinder, and a detection sensor is installed on the cylinder. The indexing cylinder pushes the indexing guide rod, and then drives the indexing claw to complete the material positioning. The return spring is used when After the positioning of the indexing claw is completed, it is reset by a spring;

The semi-finished material gripper (5) includes: a finger cylinder on which two grippers and two sensors are installed, and the retrieving gripper is used to place finished materials;

The material axial positioning structure (6) includes: a cylindrical cylinder, a positioning column is installed at the end of the cylinder, and two detection sensors are installed on the cylinder body;

The jaw rotating structure (7) includes: a rotating cylinder and two buffer limit structures, which are used to change the direction of the material, that is, the vertical direction becomes the horizontal direction or the horizontal direction becomes the vertical direction;

The clamping jaw rotating structure fixed angle block (8) includes: a 45-degree angle block for fixing the clamping jaw rotating structure (7) at an angle of 45 degrees, so that the clamping jaw rotating structure (7) is 45 degrees The angle is fixed, and the direction of the material is changed by rotating 180 degrees along the 45-degree angle, that is, the vertical direction becomes the horizontal direction or the horizontal direction becomes the vertical direction.

Preferably, the gripper horizontal movement servo module (9) includes: a horizontal movement mechanism, the horizontal movement mechanism is fixed on the support main body (2) in a horizontal direction, and one end of the horizontal movement mechanism is installed with a The active synchronous wheel driven by the servo motor has a driven synchronous wheel fixedly installed on the other end, the servo motor drives the active synchronous wheel to drive the driven synchronous wheel to run through the synchronous belt, and the driven synchronous wheel is used to adjust the synchronous belt The tightness of the horizontal motion mechanism also includes two linear guide rails, the linear guide rails are fixed on the upper and lower sides of the synchronous belt, and each of the linear guide rails has two sliders on which a fixed The fixed plate is connected to the synchronous belt, and the synchronous belt drives the fixed plate to move back and forth in the horizontal direction.

Preferably, the supporting body ( 2 ) is welded by means of square-through welding, rib reinforcement, etc., to fix each functional module and ensure the overall stability of the manipulator.

The invention adopts a modular design, and each functional module can be changed quickly, thereby meeting the requirements of customers for quick change, and at the same time reducing the maintenance cost of equipment and reducing the inventory of spare parts, helping customers improve production efficiency and ensure product quality .

The beneficial effects of the present invention are: the present invention provides a manipulator for quickly and automatically picking and unloading materials from the rotor, which can replace the manual delivery of materials quickly and accurately. The material axial positioning structure can quickly locate the axial position of the semi-finished material. The clamping claw rotation structure of the present invention can quickly convert the material horizontally or vertically. Each functional module of the present invention adopts a modular design. Each functional module can be changed quickly, so as to meet the requirements of customers for quick change, and at the same time reduce the maintenance cost of equipment and reduce the inventory of spare parts, helping customers improve production capacity and ensure product quality.

The technology of the present invention is of great significance to the equipment in the motor-related industry: on the one hand, it can realize automatic feeding, and has the function of accurate positioning of materials, improves the speed of picking and discharging materials, and reduces the production cycle; on the other hand, the present invention is a rotor for the motor industry. Compared with manual loading and other previous loading methods, the pick-and-place manipulator of related equipment has higher flexibility and intelligence. It is used in conjunction with automation equipment to raise the production efficiency of the motor industry to a higher level. .

Description of drawings

The present invention will be described in detail below in conjunction with the accompanying drawings, so as to make the above-mentioned advantages of the present invention clearer.

Fig. 1 is the schematic diagram of overall mechanism of the present invention;

Fig. 2 is the schematic diagram of the present invention showing that the rotor changes the material direction during the feeding process of Fig. 1;

Fig. 3 is a schematic diagram of the rotor initial positioning structure of the present invention;

Fig. 4 is a schematic diagram of the material axial positioning structure of the present invention;

Fig. 5 is a schematic diagram of the rotating structure of the claw of the present invention;

Fig. 6 is a schematic diagram of the horizontal movement servo module of the jaws of the present invention.

detailed description

In the description of the present invention, it should be noted that, unless otherwise specified and limited, the term "fixed" should be understood in a broad sense, referring to the fixed connection of two parts, or the integration of two parts.

As shown in Figure 1, the present invention includes a base (1) for installation and a support body (2) welded on the installation base, and the manipulator also includes a finished material gripper (3), a material initial positioning structure (4), Semi-finished material gripper (5), material axial positioning structure (6), gripper rotation structure (7), gripper rotation structure fixed angle block (8), gripper horizontal movement servo module (9);

As shown in Figure 2, both the rotor (10) and the rotor (11) change from vertical (horizontal) orientation to horizontal (vertical) orientation at the same time

As shown in Figure 3, the initial positioning structure of the material includes the gripper movement cylinder (15), the gripper sliding block (16), the gripper mounting seat (14), the left gripper (12) and the right gripper (13), wherein the left gripper (12) and the inner wall of the right claw (13) are provided with an arc-shaped notch with the same outer diameter as the rotor (10), and the left claw (12) and the right claw (13) can be adjusted according to the outer diameter of the rotor (10). diameter change, the claw mounting seat (14) is fixed on the claw sliding block (16), and the claw sliding block (16) is closed and opened by the claw movement cylinder (15), and the left claw (12) and The right claw (13) is respectively fixed on the claw mounting seat (14). In addition, a square groove is arranged on the outside of the right claw (13). An indexing cylinder (17) is fixed above the groove, and a dividing cylinder is installed in the groove. The indexing slider (19), an indexing claw (18) is installed inside the indexing slider (19), and the indexing slider (19) is fixed on the indexing cylinder (17) through the indexing connecting rod (20), and is subject to The indexing cylinder (17) is used to drive the indexing slider (19) to slide back and forth to drive the indexing claw (18) to position the rotor (10) in the radial direction. The indexing cylinder (17) is provided with a position sensor device (21), which is mainly used to detect whether the rotor (10) is positioned accurately.

As shown in Figure 4, the material axial positioning structure includes a positioning column (22), a mounting plate (23), a positioning cylinder (24), and a detection switch (25), wherein the positioning column (22) is fixed on the positioning cylinder (24) , the axial end of the rotor shaft is positioned through the extension of the cylinder, and the detection switch (25) is used to detect whether the radial position of the rotor is in place.

As shown in Figure 5, the claw rotating structure includes a claw fixed rotating seat (26), a buffer mounting plate (27), a buffer (28), a rotating cylinder (30), and a cylinder fixing plate (29). The plate (29) is in the shape of a 45-degree angle relative to the vertical plane, the rotating cylinder (30) is fixed on the mounting plate at a 45-degree angle, the buffer mounting plate (27) is fixed on the rotating cylinder (30), and two Buffer (28), the fixed rotating seat (26) of paw is installed on the rotary cylinder, controls the angular position that the fixed rotating seat (26) of paw rotates by buffer (28).

As shown in Figure 6, the gripper horizontal motion servo module includes a fixed body (31) for movement, two linear guide rails (33) are installed along the horizontal direction of the fixed body (31), and the moving slide (32) is fixed on the linear guide rail ( 33) on the slider above. The moving skateboard (32) moves back and forth along the horizontal direction through the synchronous belt (34) fixed in the middle of the linear guide rail (33). The synchronous belt (34) is connected to the active synchronous wheel (36) and The driven synchronous wheel (37) drives the synchronous belt (34) to do linear reciprocating motion through the rotation of the servo motor (37) installed on the back of the fixed main body (31).

The working principle of the present invention is as follows: the gripper horizontal movement servo module (9) drives the semi-finished material gripper (5) and the finished material gripper (3) to reach the finished product area first, and the finished product rotor (11) is in a horizontal state at this time. After the finished material gripper (3) takes away the finished product, the gripper horizontally moves the servo module (9) to drive the semi-finished material gripper (5) to the position where the material needs to be loaded. At this time, the semi-finished material gripper (5) is in the vertical direction. material state, then the left hand claw (12) and right hand claw (13) of the material initial positioning structure clamp the rotor (10) at the same time, and then the positioning column (22) of the material axial positioning structure (6) stretches out to withstand the rotor (10 ) for axial positioning, so as to ensure the consistency of feeding. After the positioning is completed, the indexing cylinder (17) of the initial positioning structure of the material makes the indexing slider (19) slide back and forth to drive the indexing claw (18 ) to position the rotor (10) in the radial direction. When the sensor (21) on the indexing cylinder (17) receives the signal, it indicates that the initial positioning of the material is completed, and then the jaw horizontally moves the servo module (9) to drive the semi-finished product The material gripper (5) reaches a vacant position, and the gripper rotating structure (7) rotates 180 degrees. At this time, the rotor (10) on the semi-finished material gripper (5) changes from a vertical state to a horizontal state, while the finished material gripper The rotor (11) on the claw (3) changes from a horizontal state to a vertical state, and then the jaw horizontal movement servo module (9) continues to move horizontally until the rotor (10) is sent to the target position. After the feeding is completed, the gripper horizontal movement servo module (9) returns to the position where the semi-finished material gripper (5) just loaded, puts the finished rotor (11) into the unloading area, and then the gripper horizontal movement servo module (9) repeats In the initial action, the action of picking and unloading is repeated.

Therefore, adopting this type of automatic picking and unloading method has the main features of high efficiency and flexible use, and can effectively deliver materials to the required location quickly and accurately, with good results.

Finally, it should be noted that: the above is only a preferred embodiment of the present invention, and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, for those skilled in the art, it still The technical solutions recorded in the foregoing embodiments may be modified, or some technical features thereof may be equivalently replaced. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the invention shall be included within the protection scope of the present invention.

Claims (3)

1. a multifunction automatic blowing mechanical hand, it is characterised in that including: weld in mounting seat (1) and mounting seat Supportive body (2), finished product materials jaw (3), material just location structure (4), semi-product material jaw (5), material axially fixed Bit architecture (6), jaw rotational structure (7), jaw rotational structure fixed angle block (8), jaw horizontal movement servo module (9)； Wherein, described finished product materials jaw (3) includes finger cylinder, and described finger cylinder is provided with two panels paw and two sensings Device, described feeding paw is used for taking finished product materials away；

Described material just location structure (4) including: indexing pawl, indexing cylinder, back-moving spring, indexing chute, indexing guide rod, described Indexing pawl is fixed on indexing guide rod, and described indexing guide rod is fixed on described indexing cylinder, and cylinder is provided with detection sensing Device, described indexing cylinder promotes described indexing guide rod, then drives described indexing pawl to complete material location, described back-moving spring After having positioned when described indexing pawl, spring is utilized to be resetted；

Described semi-product material jaw (5) including: finger cylinder, and described finger cylinder is installed two panels paw and two sensings Device, described feeding paw is used for placing finished product materials；

Described material axial positioning structure (6) including: a cylindrical cylinder, and cylinder head portions is equipped with a locating dowel, cylinder block Two detection induction apparatuss are installed；

Described jaw rotational structure (7) including: a rotary cylinder and two buffer limit structures, for changing of material direction Become, i.e. vertical direction becomes horizontal direction or level to becoming vertical direction；

Described jaw rotational structure fixed angle block (8) including: the angle block gauge of 45 degree, for fixing institute along 45 degree of angles State jaw rotational structure (7), so that jaw rotational structure (7) is fixed in 45 degree of angles, change along 45 degree of angle rotation turnbacks Become material direction, i.e. vertical direction and become horizontal direction or level to becoming vertical direction.

Multifunction automatic blowing mechanical hand the most according to claim 1, it is characterised in that described jaw horizontal movement is watched Taking module (9) to include: horicontal motion mechanism, described horicontal motion mechanism is fixed on described supportive body (2) in horizontal direction Above, described horicontal motion mechanism one end is installed one and is taken turns by the active synchronization of driven by servomotor, and the other end is installed with The driven wheel that synchronizes, described driven by servomotor active synchronization wheel brings drive driven synchronization wheel operating by synchronization, described driven Synchronizing wheel and be used for regulating the elasticity of described Timing Belt, described horicontal motion mechanism further comprises two line slideways, described directly Line guide rail is fixed on the both sides up and down of Timing Belt, and described line slideway every has two slide blocks above, and described slide block is installed above Having fixed plate, described fixed plate to be connected on described Timing Belt, described Timing Belt drives fixed plate to do horizontal direction back and forth movement.

Multifunction automatic blowing mechanical hand the most according to claim 1 and 2, it is characterised in that described supportive body (2) welding manners such as square tube welding, reinforcement reinforcing are utilized, for fixing each functional module and ensureing the steady of mechanical hand entirety Solidity.