CN109954809B - Full-automatic robot precision stamping riveting production line for large household appliance box - Google Patents
Full-automatic robot precision stamping riveting production line for large household appliance box Download PDFInfo
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- CN109954809B CN109954809B CN201910254557.0A CN201910254557A CN109954809B CN 109954809 B CN109954809 B CN 109954809B CN 201910254557 A CN201910254557 A CN 201910254557A CN 109954809 B CN109954809 B CN 109954809B
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- feeding
- seat
- distributing
- riveting
- long hole
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- 238000004519 manufacturing process Methods 0.000 title claims abstract description 25
- 238000009826 distribution Methods 0.000 claims abstract description 29
- 230000007246 mechanism Effects 0.000 claims abstract description 29
- 230000005540 biological transmission Effects 0.000 claims description 28
- 241000252254 Catostomidae Species 0.000 claims description 10
- 230000000712 assembly Effects 0.000 claims description 6
- 238000000429 assembly Methods 0.000 claims description 6
- 238000007599 discharging Methods 0.000 claims description 3
- 238000000034 method Methods 0.000 abstract description 2
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 238000004080 punching Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D39/00—Application of procedures in order to connect objects or parts, e.g. coating with sheet metal otherwise than by plating; Tube expanders
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D43/00—Feeding, positioning or storing devices combined with, or arranged in, or specially adapted for use in connection with, apparatus for working or processing sheet metal, metal tubes or metal profiles; Associations therewith of cutting devices
- B21D43/02—Advancing work in relation to the stroke of the die or tool
- B21D43/026—Combination of two or more feeding devices provided for in B21D43/04 - B21D43/18
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D43/00—Feeding, positioning or storing devices combined with, or arranged in, or specially adapted for use in connection with, apparatus for working or processing sheet metal, metal tubes or metal profiles; Associations therewith of cutting devices
- B21D43/02—Advancing work in relation to the stroke of the die or tool
- B21D43/027—Combined feeding and ejecting devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D43/00—Feeding, positioning or storing devices combined with, or arranged in, or specially adapted for use in connection with, apparatus for working or processing sheet metal, metal tubes or metal profiles; Associations therewith of cutting devices
- B21D43/02—Advancing work in relation to the stroke of the die or tool
- B21D43/18—Advancing work in relation to the stroke of the die or tool by means in pneumatic or magnetic engagement with the work
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Press Drives And Press Lines (AREA)
- Specific Conveyance Elements (AREA)
Abstract
The invention relates to a full-automatic robot precision stamping riveting production line for large household appliance boxes. The device comprises a stamping die, a first feeding robot and a second feeding robot, wherein the first feeding robot and the second feeding robot comprise a frame, a vibration feeding disc, a grabbing manipulator and a distributing and positioning mechanism; the material separating and positioning mechanism is used for separating and positioning the riveting pieces conveyed by the vibration feeding tray one by one so as to be convenient for the grabbing manipulator to grab; the grabbing mechanical arm is used for grabbing the riveting piece which is well separated by the separating and positioning mechanism and conveying the riveting piece to the stamping die for riveting. The feeding robot provided by the invention realizes the working procedures of vibration feeding, material distribution, positioning, material grabbing feeding and the like through the vibration feeding tray, the material distribution positioning mechanism and the material grabbing mechanical arm, and finally, the feeding robot conveys the riveting piece to the stamping die for riveting, so that the automatic riveting machine is high in automation degree, high in safety, high in production efficiency and low in production cost, and does not stop production.
Description
Technical Field
The invention relates to the technical field of riveting devices, in particular to a full-automatic robot precision stamping riveting production line for large household appliance boxes.
Background
The existing riveting production line is characterized in that two workers feed materials on two sides of a stamping die, the production efficiency is low, the labor intensity is high, the working environment is dangerous, and the injury of the workers occurs sometimes, so that the existing riveting production line still needs to be further improved.
Disclosure of Invention
The invention aims to provide a full-automatic robot precision punching riveting production line for large household appliance boxes, which is high in production efficiency and safe to produce.
The purpose of the invention is realized in the following way:
the utility model provides a full-automatic robot precision stamping riveting production line of large-scale household electrical appliances box, includes stamping die, first feeding robot, second feeding robot locate stamping die's left and right sides respectively, first feeding robot, second feeding robot all include frame, vibration feeding tray, grab material manipulator and divide material positioning mechanism.
The vibration feeding disc is arranged on the frame and beside the distributing and positioning mechanism and is used for vibrating and conveying out the riveting piece to the distributing and positioning mechanism.
The distributing and positioning mechanism is arranged on the frame and positioned below the grabbing manipulator and is used for separating and positioning a plurality of riveting pieces conveyed by the vibration feeding tray one by one so as to be grabbed by the grabbing manipulator.
The grabbing mechanical arm is arranged on the frame and used for grabbing the riveting pieces well separated by the separating and positioning mechanism and conveying the riveting pieces to the stamping die for riveting.
The present invention can be further improved as follows.
The material grabbing mechanical arm comprises a portal frame, a feeding servo motor, a long supporting seat, a first feeding seat, a second feeding seat and a material grabbing arm, wherein the portal frame is arranged on a frame, the long supporting seat is horizontally arranged on the portal frame, the first feeding seat is horizontally arranged on the long supporting seat in a sliding mode, the second feeding seat is horizontally arranged on the first feeding seat in a sliding mode, the material grabbing arm is arranged at the front end of the second feeding seat, the feeding servo motor is arranged on the long supporting seat and is in driving connection with the first feeding seat, a front guide wheel, a rear guide wheel and a driving belt are arranged on the first feeding seat, the front guide wheel and the rear guide wheel are respectively arranged at the front end and the rear end of the first feeding seat, the driving belt is connected with the front guide wheel and the rear guide wheel, the long supporting seat is provided with a first clamping seat, the first clamping seat is fixedly connected with the outer side section of the driving belt, the second clamping seat is arranged on the second feeding seat, and the second clamping seat is fixedly connected with the inner side section of the driving belt. Because the first clamping seat is fixedly connected with the outer section of the transmission belt, namely the first clamping seat clamps a certain point on the outer section of the transmission belt, the position of the transmission belt clamped by the first clamping seat cannot move, when the first feeding seat slides forwards, the first feeding seat drives the front guide wheel, the rear guide wheel and the transmission belt to slide forwards together, the front guide wheel pulls the transmission belt and the rear guide wheel to move forwards or backwards, the front guide wheel and the rear guide wheel always tension the transmission belt, and the inner section of the transmission belt drives the second feeding seat and the grabbing arm to slide back and forth. The first feeding seat drives the second feeding seat to move, and the transmission belt can drive the second feeding seat to slide relative to the first feeding seat, so that the transmission belt can drive the second feeding seat and the material grabbing arm to move in a double-stroke and double-speed mode, and the material grabbing manipulator is high in feeding efficiency and high in feeding speed.
The first feeding seat is provided with a driven rack along the length direction of the long supporting seat, and a motor shaft of the feeding servo motor is provided with a driving gear which is meshed with the driven rack for transmission, so that the first feeding seat is driven to slide.
The long support seat and the second feeding seat are respectively arranged at the top and the bottom of the first feeding seat in a horizontal sliding mode.
The two sides of the long supporting seat are provided with first feeding guide rails along the length direction of the long supporting seat, and the first feeding seat is arranged on the first feeding guide rails in a sliding manner.
The bottom surface of first pay-off seat is equipped with the second pay-off guide rail along the length direction of long supporting seat, the second pay-off seat slides and sets up on the second pay-off guide rail.
The material grabbing arm comprises a feeding seat plate and lifting sucker assemblies arranged on two sides of the feeding seat plate, the feeding seat plate is arranged at the front end of the second feeding seat, the lifting sucker assemblies comprise lifting cylinders, lifting seats and suckers, the lifting cylinders are arranged on the feeding seat plate and are in driving connection with the lifting seats, and the suckers are arranged on the lifting seats and are located below the lifting cylinders.
The material distributing and positioning mechanism comprises a material distributing bottom plate, a material distributing cylinder, a material distributing sliding seat, a first material distributing and jacking cylinder, a second material distributing and jacking cylinder, a material pushing sliding seat and a material pushing and jacking cylinder, wherein the upper surface of the material distributing bottom plate is provided with a material distributing long hole, the material distributing sliding seat is slidably arranged on the material distributing bottom plate along the length direction of the material distributing long hole, the first material distributing and jacking cylinder and the second material distributing and jacking cylinder are arranged on the material distributing sliding seat along the length direction of the material distributing long hole at intervals, the first material distributing and jacking cylinder and the second material distributing and jacking cylinder are positioned below the material distributing long hole, the material distributing cylinder is arranged on the material distributing bottom plate and is in driving connection with the material distributing sliding seat, the middle part of the material distributing long hole is provided with a first positioning block and a first sensor, one end of the material distributing long hole is provided with a second positioning block and a second sensor, the other end of the material distributing long hole is provided with a third positioning block and a third sensor, and the periphery of the material distributing bottom plate is provided with a material feeding port. According to the vibration feeding disc disclosed by the invention, the riveting piece is sequentially conveyed to the feeding hole and the distributing long hole, the receiving cylinder drives the receiving plate to move forwards to receive the riveting piece, so that the riveting piece is prevented from falling from the distributing long hole, the receiving cylinder drives the receiving plate to move backwards, the receiving plate places the riveting piece on the distributing long hole, when the first sensor senses that the riveting piece is arranged in the middle position of the distributing long hole, the jacking seat on the first distributing jacking cylinder ascends out of the distributing long hole and jacks up the riveting piece, the distributing cylinder drives the distributing sliding seat to slide towards the left end or the right end of the distributing long hole, and the first distributing jacking cylinder pushes the riveting piece to the left end or the right end of the distributing long hole to be positioned, so that the grabbing arm can grab the riveting piece one by one.
The two sides of the material distributing bottom plate are respectively provided with a first vibration feeding disc and a second vibration feeding disc, the two sides of the material distributing bottom plate are respectively provided with a first feeding hole and a second feeding hole, the discharging hole of the first vibration feeding disc is communicated with the first feeding hole, and the discharging hole of the second vibration feeding disc is communicated with the second feeding hole.
And a feeding guide block is arranged beside the first feeding hole and the second feeding hole.
The upper surface of dividing the material bottom plate is equipped with the pushing away material slot hole, the one end of pushing away the material slot hole communicates perpendicularly with the middle part of dividing the material slot hole, the pushing away material sliding seat slides along the length direction of pushing away the material slot hole and sets up on dividing the material bottom plate, and the pushing away material cylinder is located on the material bottom plate and is connected with pushing away material sliding seat drive, the pushing away material jacking cylinder is located on pushing away the material sliding seat and is located the below of pushing away the material slot hole, be equipped with fourth locating piece and fourth sensor on pushing away the material slot hole. According to the invention, the second vibration feeding disc sequentially conveys the riveting pieces to the second feeding hole, the receiving cylinder drives the receiving plate to move forwards to receive the riveting pieces, so that the riveting pieces are prevented from falling from the distributing long holes, the receiving cylinder drives the receiving plate to move backwards, the receiving plate places the riveting pieces on the pushing long holes, when the fourth sensor senses that the riveting pieces are arranged on the pushing long holes, the jacking seat of the pushing jacking cylinder ascends out of the pushing long holes and jacks up the riveting pieces, then the pushing cylinder and the pushing jacking cylinder push the riveting pieces to the middle position of the distributing long holes, and when the fifth sensor senses that the riveting pieces are arranged at the middle position of the distributing long holes, the jacking seat of the first distributing jacking cylinder ascends out of the distributing long holes and jacks up the riveting pieces, and then the distributing cylinder pushes the riveting pieces to the end parts of the distributing long holes to be positioned, so that the grabbing arms can grab the riveting pieces one by one.
The middle part of divide material slot hole or pushing away the material slot hole is equipped with and connects the material cylinder, be equipped with on the cylinder pole of receiving the material cylinder and connect the flitch, when vibrations feeding tray carries the riveting piece to the feed inlet, connect the material cylinder and drive and connect the flitch to remove to divide the material slot hole to catch the riveting piece, thereby avoid the riveting piece to drop from dividing the material slot hole.
The feeding hole is positioned at the outer side of the material distributing long hole or the material pushing long hole, the material receiving cylinder is positioned at the inner side of the material distributing long hole or the material pushing long hole, and the feeding hole and the material receiving plate are oppositely arranged.
The material distributing bottom plate is provided with a yielding groove corresponding to the material receiving plate, the yielding groove is vertically communicated with the material distributing long hole or the material pushing long hole, the material receiving plate horizontally slides on the yielding groove, and the material receiving plate is flush with the upper surface of the material distributing bottom plate, so that riveting pieces conveyed from the vibration feeding plate directly slide onto the material receiving plate, and the material receiving plate cannot block the riveting pieces from sliding.
The distance between the first material dividing and jacking cylinder and the second material dividing and jacking cylinder is equal to the distance between the first positioning block and the second positioning block, so that the first material dividing and jacking cylinder and the second material dividing and jacking cylinder can be conveniently used for dividing materials.
The first material-dividing jacking cylinder and the second material-dividing jacking cylinder are provided with jacking seats on cylinder rods, and positioning grooves are formed in the jacking seats, so that the jacking seats are convenient to fix riveting pieces.
And a feeding guide block is arranged beside the feeding hole.
The beneficial effects of the invention are as follows:
the feeding robot provided by the invention realizes the working procedures of vibration feeding, material distribution, positioning, material grabbing feeding and the like through the vibration feeding tray, the material distribution positioning mechanism and the material grabbing manipulator, and finally, the feeding robot conveys the riveting piece to the stamping die for riveting, so that the automatic riveting machine is high in automation degree, high in safety, high in production efficiency and low in production cost, and does not stop production.
And in addition, the feeding robot adopts double-vibration feeding trays for vibration feeding and double-distributing mechanisms for distributing, so that the feeding efficiency is high.
And thirdly, the distributing mechanism is matched with a plurality of sensors and a plurality of riveting pieces conveyed by the vibrating feeding tray by utilizing the distributing cylinder and the first and second distributing jacking cylinders, the riveting pieces are conveyed to different positioning blocks of the distributing bottom plate one by one to be positioned, the distributing of the riveting pieces is realized, and then signals are sent to the manipulator for grabbing the riveting pieces, so that the manipulator can grab the riveting pieces at one time.
And fourthly, the first feeding seat drives the second feeding seat to move, and the transmission belt can drive the second feeding seat to slide relative to the first feeding seat, so that the transmission belt can drive the second feeding seat and the grabbing arm to move in a double-stroke and double-speed mode, and the grabbing manipulator is high in feeding efficiency and high in feeding speed.
Drawings
Fig. 1 is a schematic structural view of a full-automatic robot precision stamping and riveting production line for large-scale household appliance boxes.
Fig. 2 is a side view of fig. 1.
Fig. 3 is a schematic structural view of the first and second feeding robots of the present invention.
Fig. 4 is a schematic structural view of the grasping manipulator (in an extended state) of the invention.
Fig. 5 is a schematic view of another angle of the grabbing mechanical arm of the present invention.
Fig. 6 is a schematic structural view of the material grabbing manipulator (in a contracted state) of the present invention.
Fig. 7 is a schematic structural view of the distributing and positioning mechanism of the present invention.
Fig. 8 is a schematic view of another angle of the dispensing and positioning mechanism of the present invention.
Fig. 9 is a side view of fig. 7.
Detailed Description
The invention is further described below with reference to the drawings and examples.
First embodiment, as shown in fig. 1 to 9, a full-automatic riveting production line for large household appliance boxes comprises a stamping die 1, a first feeding robot 2 and a second feeding robot 3, wherein the first feeding robot 2 and the second feeding robot 3 are respectively arranged on the left side and the right side of the stamping die 1, and the first feeding robot 2 and the second feeding robot 3 comprise a frame 20, a first vibration feeding disc 21, a second vibration feeding disc 22, a grabbing manipulator 4 and a distributing and positioning mechanism 7.
The first vibration feeding tray 21 and the second vibration feeding tray 22 are arranged on the frame 20 and are positioned beside the distributing and positioning mechanism 7, and are used for vibrating and conveying out the riveting piece 9 to the distributing and positioning mechanism 7.
The distributing and positioning mechanism 7 is arranged on the frame 20 and positioned below the grabbing manipulator 4, and is used for separating and positioning a plurality of riveting pieces 9 conveyed by the two vibration feeding trays one by one so as to be grabbed by the grabbing manipulator 4.
The grabbing mechanical arm 4 is arranged on the frame 20 and used for grabbing the riveting pieces 9 separated by the separating and positioning mechanism 7 and conveying the riveting pieces 9 to the stamping die 1 for riveting.
As a more specific technical scheme of the invention.
The material grabbing mechanical arm 4 comprises a portal frame 41, a feeding servo motor 45, a long supporting seat 42, a first feeding seat 43, a second feeding seat 44 and a material grabbing arm 5, wherein the portal frame 41 is arranged on the frame 20, the long supporting seat 42 is horizontally arranged on the portal frame 41, the first feeding seat 43 is horizontally arranged on the long supporting seat 42 in a sliding mode, the second feeding seat 44 is horizontally arranged on the first feeding seat 43 in a sliding mode, the material grabbing arm 5 is arranged at the front end of the second feeding seat 44, the feeding servo motor 45 is arranged on the long supporting seat 42 and is in driving connection with the first feeding seat 43, a front guide wheel 62, a rear guide wheel 63 and a transmission belt 61 are arranged on the first feeding seat 43, the front guide wheel 62 and the rear guide wheel 63 are respectively arranged at the front end and the rear end of the first feeding seat 43, the transmission belt 61 is connected with the front guide wheel 62 and the rear guide wheel 63, a first clamping seat 46 is arranged on the long supporting seat 42, the first clamping seat 46 is fixedly connected with the outer side section of the transmission belt 61, the second clamping seat 48 is fixedly connected with the second clamping seat 48, and the second clamping seat 48 is fixedly connected with the inner side section of the transmission belt 61. Because the first clamping seat is fixedly connected with the outer section of the driving belt, that is, the first clamping seat clamps a certain point on the outer section of the driving belt, the position of the driving belt 61 clamped by the first clamping seat 46 cannot move, when the first feeding seat 43 slides forwards, the first feeding seat 43 drives the front guide wheel 62, the rear guide wheel 63 and the driving belt 61 to slide, the front guide wheel 62 pulls the driving belt 61 and the rear guide wheel 63 to move forwards or backwards, the front guide wheel 62 and the rear guide wheel 63 always tension the driving belt 61, and the inner section of the driving belt 61 drives the second feeding seat 44 and the grabbing arm 5 to slide back and forth. Since the first feeding seat 43 itself has already driven the second feeding seat 44 to move, and the driving belt 61 can also drive the second feeding seat 44 to slide relative to the first feeding seat 43, the driving belt 61 drives the second feeding seat 44 and the grabbing arm 5 to move in a double-stroke and double-speed manner, so that the grabbing manipulator 4 has high feeding efficiency and high feeding speed.
The first feeding seat 43 is provided with a driven rack 47 along the length direction of the long support seat, a motor shaft of the feeding servo motor 45 is provided with a driving gear 49, and the driving gear 49 is meshed with the driven rack 47 for transmission, so that the first feeding seat 43 is driven to slide.
The long support seat 42 and the second feeding seat 44 are respectively arranged at the top and the bottom of the first feeding seat 43 in a horizontal sliding manner.
The two sides of the long support seat 42 are provided with a first feeding guide rail 410 along the length direction of the long support seat, and the first feeding seat 43 is slidably disposed on the first feeding guide rail 410.
The bottom surface of the first feeding seat 43 is provided with a second feeding guide rail 411 along the length direction of the long support seat, and the second feeding seat 44 is slidably disposed on the second feeding guide rail 411.
The material grabbing arm 5 comprises a feeding seat plate 51 and lifting sucker assemblies 50 arranged on two sides of the feeding seat plate 51, the feeding seat plate 51 is arranged at the front end of the second feeding seat 44, the lifting sucker assemblies 50 comprise lifting cylinders 52, lifting seats 54 and suckers 53, the lifting cylinders 52 are arranged on the feeding seat plate 51 and are in driving connection with the lifting seats 54, and the suckers 53 are arranged on the lifting seats 54 and are located below the lifting cylinders 52.
The material distributing and positioning mechanism 7 comprises a material distributing bottom plate 70, a first material distributing assembly 700 and a second material distributing assembly 800, and the first material distributing assembly 700 and the second material distributing assembly 800 are respectively positioned at the left side and the right side of the material distributing bottom plate 70. The two sides of the material distributing bottom plate 70 are respectively provided with a first feeding port 701 and a second feeding port 702, and a feeding guide block 703 is arranged beside the first feeding port 701 and the second feeding port 702.
The first vibration feeding tray 21 and the second vibration feeding tray 22 are respectively located at the left side and the right side of the material distributing bottom plate 70, a discharge hole of the first vibration feeding tray 21 is communicated with the first feeding hole 701, and a discharge hole of the second vibration feeding tray is communicated with the second feeding hole 702.
The first material distributing assembly 700 comprises a first material distributing cylinder 71, a first material distributing sliding seat 713, a first material distributing jacking cylinder 712 and a second material distributing jacking cylinder 711, wherein a first material distributing long hole 72 is formed in the upper surface of the material distributing bottom plate 70, the first material distributing sliding seat 713 is slidably arranged on the material distributing bottom plate 70 along the length direction of the first material distributing long hole 72, the first material distributing jacking cylinder 712 and the second material distributing jacking cylinder 711 are arranged on the first material distributing sliding seat 713 at intervals along the length direction of the material distributing long hole, the first material distributing jacking cylinder 712 and the second material distributing jacking cylinder 711 are located below the first material distributing long hole 72, the first material distributing cylinder 71 is arranged on the material distributing bottom plate and is in driving connection with the first material distributing sliding seat 713, a first positioning block 75, a first sensor 76 and a first material receiving cylinder 79 are arranged in the middle of the first material distributing long hole 72, a first material receiving plate 791 is arranged on a cylinder rod of the first material receiving cylinder 79 along the length direction of the material distributing long hole, the first material distributing cylinder 712 and the second material distributing cylinder 711 are located below the first material distributing long hole 72, a first positioning block 72 is arranged at the left end of the first positioning block 72 and a second sensor 72 is arranged at the left end of the first positioning block 72, and a third sensor 72 is arranged at the left end of the first positioning block 72.
According to the invention, the first vibration feeding disc sequentially conveys the riveting pieces 9 to the first feeding hole 701 and the first material distributing long hole 72, then the first material receiving cylinder 79 drives the first material receiving plate 791 to move forwards so as to receive the riveting pieces 9, thereby preventing the riveting pieces 9 from falling from the first material distributing long hole 72, then the first material receiving cylinder 79 drives the first material receiving plate 791 to move backwards, the first material receiving plate 791 places the riveting pieces 9 on the first material distributing long hole 72, the first positioning block 75 positions the riveting pieces 9, when the first sensor 76 senses that the riveting pieces 9 are arranged at the middle position of the first material distributing long hole 72, the jacking seat on the first material distributing jacking cylinder 712 is lifted out of the first material distributing long hole 72 and jacks up the riveting pieces 9, and then the first material distributing cylinder drives the first material distributing sliding seat to slide towards the left end or the right end of the first material distributing long hole 72 so as to push the riveting pieces 9 to be positioned at the left end or the right end of the first material distributing long hole 72, thereby facilitating the grabbing of the arm 5 one by one.
The second distributing assembly 800 includes a second distributing cylinder 81, a pushing cylinder 825, a pushing sliding seat 814, a second distributing sliding seat 813, a pushing jacking cylinder 815, a third distributing jacking cylinder 812 and a fourth distributing jacking cylinder (not shown in the figure), the upper surface of the distributing bottom plate 70 is provided with a second distributing long hole 82 and a pushing long hole 821, the front end of the pushing long hole is vertically communicated with the middle part of the second distributing long hole, the second distributing sliding seat 813 is slidably disposed on the distributing bottom plate 70 along the length direction of the second distributing long hole 82, the second distributing cylinder 81 is disposed on the distributing bottom plate and is in driving connection with the second distributing sliding seat, the third distributing jacking cylinder 812 and the fourth distributing jacking cylinder are disposed on the second distributing sliding seat 813 along the length direction of the second distributing long hole 82, the third distributing jacking cylinder 812 and the fourth distributing jacking cylinder are located below the second distributing long hole 82, the middle part of the second distributing bottom plate 82 is provided with a fifth sensor 86 and a sixth sensor 82, the second sensor 87 and a seventh sensor 82 are disposed at the middle part of the second distributing bottom plate 82, and the seventh sensor positioning block 83 is provided with a seventh sensor 87.
The pushing sliding seat 814 is slidably disposed on the distributing bottom plate 70 along the length direction of the pushing long hole 821, the pushing air cylinder 825 is disposed on the distributing bottom plate and is in driving connection with the pushing sliding seat 814, the pushing jacking air cylinder 815 is disposed on the pushing sliding seat 814 and is located below the pushing long hole 821, the pushing long hole 821 is provided with a second receiving air cylinder 89, a fourth positioning block 822 and a fourth sensor 823, and a second receiving plate 891 is disposed on an air cylinder rod of the second receiving air cylinder 89.
According to the invention, the second vibration feeding tray sequentially conveys the riveting pieces 9 to the second feeding hole 702, then the second receiving cylinder 89 drives the second receiving plate 891 to move forwards to catch the riveting pieces 9, so that the riveting pieces 9 are prevented from falling from the second sub-feeding long holes 82, then the second receiving cylinder 89 drives the second receiving plate 891 to move backwards, the receiving plate 791 places the riveting pieces 9 on the pushing long holes 821, when the fourth sensor senses that the riveting pieces 9 are arranged on the pushing long holes 821, the lifting seat of the pushing lifting cylinder 815 is lifted out of the pushing long holes 821 and lifts the riveting pieces 9, then the pushing cylinder 825 drives the pushing sliding seat 814 to move towards the direction of the second sub-feeding long holes 82, the fifth sensor 86 senses that the riveting pieces 9 are arranged at the middle position of the second sub-feeding long holes 82, the third sub-feeding lifting cylinder 812 drives the lifting seat to be lowered, and then the pushing sliding seat of the second sub-feeding cylinder 825 is driven to move towards the left sub-feeding long holes 82 or the right sub-feeding long holes 82, so that the riveting pieces 9 can be conveniently lifted out of the second sub-feeding long holes 82, and the second sub-feeding cylinder 812 is conveniently lifted out of the left sub-feeding end of the riveting pieces 82 one by one, so that the lifting seat of the second sub-feeding cylinder is conveniently lifted out of the second sub-feeding rod 82 is lifted by the left end of the riveting pieces 81.
As a more specific technical scheme of the invention.
The first feeding port 701 and the feeding guide block 703 are located outside the first long distributing hole 72, the first positioning block 75, the first sensor 76 and the first receiving cylinder 79 are located inside the first long distributing hole 72, and the first feeding port is disposed opposite to the first receiving plate 791.
The second feeding port 702 and the feeding guide block 703 are located at the outer side of the long pushing hole 821, the fourth positioning block 822, the fourth sensor and the second receiving cylinder 89 are located at the inner side of the long pushing hole 821, and the second feeding port 702 is opposite to the second receiving plate 891.
The first material distributing bottom plate 70 is provided with a first relief groove 704 corresponding to the first material receiving plate 791, the first relief groove 704 is vertically communicated with the first material distributing long hole 72, the first material receiving plate 791 horizontally slides on the first relief groove 704, and the first material receiving plate 791 is flush with the upper surface of the material distributing bottom plate 70.
The second material receiving plate 891 corresponds to the material distributing bottom plate 70, a second relief groove 705 is provided, the second relief groove 705 is vertically communicated with the second material distributing long hole 82, the second material receiving plate 891 horizontally slides on the second relief groove 705, and the second material receiving plate 891 is flush with the upper surface of the material distributing bottom plate 70.
The distance between the first and second sub-jacking cylinders 712 and 711 is equal to the distance between the first and second positioning blocks 75 and 73.
Also, the distance between the third and fourth jacking cylinders 812 and 812 is equal to the distance between the fifth and sixth positioning blocks 85 and 83.
The cylinder rods of the first, second, third, fourth and pushing jacking cylinders 712, 711, 812 are provided with jacking seats 819, and positioning grooves 826 are formed in the jacking seats 819, so that the jacking seats 819 are convenient for fixing the riveting pieces 9.
The working principle of the invention is as follows:
when the riveting machine works, the two vibration feeding trays of the first feeding robot 2 and the second feeding robot 3 start to vibrate and convey the riveting piece 9 to the respective distributing and positioning mechanisms 7, the riveting piece 9 is conveyed to the first feeding port 701 and the second feeding port 702 on the distributing bottom plate 70, the first receiving cylinder 79 drives the first receiving plate 791 to move forward so as to catch the riveting piece 9, then the first receiving plate 791 drives the riveting piece 9 to move backwards together, the riveting piece 9 moves into the first distributing long hole 72, then the first receiving cylinder 79 drives the first receiving plate 791 to move backwards so as to move out of the first distributing long hole 72, the riveting piece 9 falls on the first distributing long hole 72, when the first sensor 76 senses that the riveting piece 9 is in place, the first distributing jacking cylinder 712 drives the jacking seat 819 to jack the riveting piece 9, the first distributing cylinder 71 drives the first distributing jacking cylinder 712 to move to the left end of the first distributing long hole 72, the first distributing cylinder 819 pushes the first distributing seat 819 to move to the left end of the first distributing long hole 72, and then the first distributing and the first positioning block 819 pushes down the first distributing seat 819 to move down the first distributing long hole 72. When the first sensor 76 senses that the first receiving plate 791 is fed into the second riveting piece 9, the second split lifting cylinder 711 drives the lifting seat 819 thereof to lift the second riveting piece 9 upwards, then the first split lifting cylinder 71 drives the first split lifting cylinders 712 and 711 to move towards the right end of the first split long hole 72, the lifting seat 819 drives the second riveting piece 9 to move to the third positioning block at the right end of the first split long hole 72, and then the lifting seat 819 of the second split lifting cylinder 711 lowers the second riveting piece 9. The distributing and positioning mechanism 7 is repeated in a circulating way, so that the block-by-block distributing work of the plurality of riveting pieces 9 is completed, and the plurality of suckers 53 of the grabbing arm 5 are convenient to grab respectively.
Then, the material grabbing manipulators 4 of the first feeding robot 2 and the second feeding robot 3 are started, the material grabbing arms 5 are driven by the feeding servo motor 45 to move to the upper portion of the material distributing bottom plate 70, then the lifting cylinders 52 drive the suckers 53 to descend, the two suckers 53 respectively suck the first riveting piece 9 and the second riveting piece 9 at two ends of the first material distributing long hole 72 and ascend, then the material grabbing arms 5 are driven by the feeding servo motor 45 to move towards the direction of the workbench of the stamping die 1, after the material grabbing arms 5 move to the upper portion of the work, the suckers 53 descend, the riveting pieces 9 are accurately placed on the plate body to be riveted, then the material grabbing arms 5 are driven by the feeding servo motor 45 to move out of the workbench of the stamping die 1, and the stamping die 1 starts riveting the plate body.
According to the invention, the feeding servo motor 45 drives the first feeding seat 43 to move towards the direction of the workbench of the stamping die 1 through the driving gear and the driven rack 47, the first feeding seat 43 drives the front guide wheel 62, the rear guide wheel 63 and the transmission belt 61 to move towards the direction of the workbench of the stamping die 1 together, and as the outer section of the transmission belt 61 is fixed, the inner section of the transmission belt 61 is fixedly connected with the second feeding seat 44, the transmission belt 61 moves back and forth along with the first feeding seat 43, the transmission belt 61 pulls the second feeding seat 44 back and forth on the first feeding seat 43, so that the second feeding seat 44 can slide back and forth relative to the first feeding seat 43, and the second feeding seat 44 stretches on the first feeding seat 43, so that the transmission belt 61 drives the second feeding seat 44 and the grabbing arm 5 to move in a double-stroke manner, and the feeding efficiency and the feeding speed of the grabbing manipulator 4 are high.
Claims (7)
1. The full-automatic robot precision stamping riveting production line for the large household appliance box body is characterized by comprising a stamping die, a first feeding robot and a second feeding robot, wherein the first feeding robot and the second feeding robot are respectively arranged on two sides of the stamping die, each of the first feeding robot and the second feeding robot comprises a frame, a vibration feeding disc, a grabbing mechanical arm and a material distributing positioning mechanism, and the vibration feeding disc is arranged on the frame and is positioned beside the material distributing positioning mechanism and used for vibrating and conveying riveting pieces to the material distributing positioning mechanism;
the material distributing and positioning mechanism is arranged on the frame and positioned below the material grabbing manipulator and is used for separating and positioning a plurality of riveting pieces conveyed by the vibration feeding tray one by one so as to be grabbed by the material grabbing manipulator;
the material grabbing mechanical arm is arranged on the frame and used for grabbing the riveting piece well separated by the material separating and positioning mechanism and conveying the riveting piece to the stamping die for riveting;
the material grabbing mechanical arm comprises a portal frame, a feeding servo motor, a long supporting seat, a first feeding seat, a second feeding seat and a material grabbing arm, wherein the portal frame is arranged on a frame, the long supporting seat is horizontally arranged on the portal frame, the first feeding seat is horizontally arranged on the long supporting seat in a sliding manner, the second feeding seat is horizontally arranged on the first feeding seat in a sliding manner, the material grabbing arm is arranged at the front end of the second feeding seat, the feeding servo motor is arranged on the long supporting seat and is in driving connection with the first feeding seat, a front guide wheel, a rear guide wheel and a transmission belt are arranged on the first feeding seat, the front guide wheel and the rear guide wheel are respectively arranged at the front end and the rear end of the first feeding seat, the transmission belt is connected with the front guide wheel and the rear guide wheel, the long supporting seat is provided with a first clamping seat, the first clamping seat is fixedly connected with the outer side section of the transmission belt, the second clamping seat is arranged on the second feeding seat and is fixedly connected with the inner side section of the transmission belt;
the material distribution positioning mechanism comprises a material distribution bottom plate, a material distribution cylinder, a material distribution sliding seat, a first material distribution jacking cylinder, a second material distribution jacking cylinder, a material pushing sliding seat and a material pushing jacking cylinder, wherein a material distribution long hole is formed in the upper surface of the material distribution bottom plate, the material distribution sliding seat is slidably arranged on the material distribution bottom plate along the length direction of the material distribution long hole, the first material distribution jacking cylinder and the second material distribution jacking cylinder are arranged on the material distribution sliding seat at intervals along the length direction of the material distribution long hole, the first material distribution jacking cylinder and the second material distribution jacking cylinder are positioned below the material distribution long hole, the material distribution cylinder is arranged on the material distribution bottom plate and in driving connection with the material distribution sliding seat, a first positioning block and a first sensor are arranged in the middle of the material distribution long hole, a second positioning block and a second sensor are arranged at one end of the material distribution long hole, a third positioning block and a third sensor are arranged at the other end of the material distribution long hole, and a material distribution bottom plate is provided with a material feeding port;
the upper surface of dividing the material bottom plate is equipped with the pushing away material slot hole, the one end of pushing away the material slot hole communicates perpendicularly with the middle part of dividing the material slot hole, the pushing away material sliding seat slides along the length direction of pushing away the material slot hole and sets up on dividing the material bottom plate, and the pushing away material cylinder is located on the material bottom plate and is connected with pushing away material sliding seat drive, the pushing away material jacking cylinder is located on pushing away the material sliding seat and is located the below of pushing away the material slot hole, be equipped with fourth locating piece and fourth sensor on pushing away the material slot hole.
2. The full-automatic robot precision stamping and riveting production line for large household appliance boxes according to claim 1, wherein a driven rack is arranged on the first feeding seat along the length direction of the long supporting seat, and a driving gear is arranged on a motor shaft of the feeding servo motor and is in meshed transmission with the driven rack.
3. The full-automatic robot precision stamping and riveting production line for large household appliance boxes according to claim 2, wherein the long support seat and the second feeding seat are respectively arranged at the top and the bottom of the first feeding seat in a horizontal sliding manner.
4. The full-automatic robot precision stamping riveting production line for large household appliance boxes according to claim 3, wherein the material grabbing arms comprise a feeding seat plate and lifting sucker assemblies arranged on two sides of the feeding seat plate, the feeding seat plate is arranged at the front end of the second feeding seat, the lifting sucker assemblies comprise lifting cylinders, lifting seats and suckers, the lifting cylinders are arranged on the feeding seat plate and are in driving connection with the lifting seats, and the suckers are arranged on the lifting seats and are positioned below the lifting cylinders.
5. The full-automatic robot precision stamping riveting production line for the large household appliance boxes according to claim 1, wherein the vibration feeding trays are arranged on two sides of the distributing bottom plate, the feeding inlets are arranged on two sides of the distributing bottom plate, the feeding guide blocks are arranged beside the feeding inlets, and the discharging holes of the vibration feeding trays are communicated with the feeding inlets.
6. The full-automatic robot precision stamping riveting production line for the large household appliance boxes according to claim 5, wherein a first receiving cylinder is arranged in the middle of the material distributing long hole or the material pushing long hole, a first receiving plate is arranged on a cylinder rod of the first receiving cylinder, the feeding hole is positioned at the outer side of the material distributing long hole or the material pushing long hole, the receiving cylinder is positioned at the inner side of the material distributing long hole or the material pushing long hole, and the feeding hole and the receiving plate are oppositely arranged.
7. The full-automatic robot precision stamping riveting production line for large household appliance boxes according to claim 6, wherein the material distributing bottom plate is provided with a yielding groove corresponding to the material receiving plate, the yielding groove is vertically communicated with the material distributing long hole or the material pushing long hole, the material receiving plate horizontally slides on the yielding groove, and the material receiving plate is flush with the upper surface of the material distributing bottom plate.
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| CN110842071B (en) * | 2019-10-31 | 2024-05-24 | 佛山市顺德区凯硕精密模具自动化科技有限公司 | Truss type robot stamping system |
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| CN111376036B (en) * | 2019-12-31 | 2024-06-21 | 佛山市顺德区凯硕精密模具自动化科技有限公司 | Robot assembly working section of box and front frame of sterilizing cabinet production line |
| CN112974632A (en) * | 2020-09-24 | 2021-06-18 | 佛山市顺德区凯硕精密模具自动化科技有限公司 | Household electrical appliances box pay-off stamping production line of robot |
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