CN107310911A - A kind of control method for overturning and carrying workpiece - Google Patents
A kind of control method for overturning and carrying workpiece Download PDFInfo
- Publication number
- CN107310911A CN107310911A CN201710637473.6A CN201710637473A CN107310911A CN 107310911 A CN107310911 A CN 107310911A CN 201710637473 A CN201710637473 A CN 201710637473A CN 107310911 A CN107310911 A CN 107310911A
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- Prior art keywords
- tong
- workpiece
- frame
- central controller
- bar
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/02—Control or detection
- B65G2203/0266—Control or detection relating to the load carrier(s)
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- Attitude Control For Articles On Conveyors (AREA)
- Specific Conveyance Elements (AREA)
Abstract
The invention discloses a kind of control method for overturning and carrying workpiece, by the storage of sensor sensing workpiece and information is given to central controller, central controller sends control signal control delivery device and switching mechanism, wherein delivery device is pushed to workpiece by push rod the grasping part of switching mechanism, the switching mechanism makes tong device clamp workpiece by first connecting rod, on the other hand realizes the upset of workpiece by second connecting rod and is transported on another conveyer belt；Whole control process realizes full-automation, and without the help of manpower, and whole device floor space is few, and carries and overturn workpiece simultaneously, improves production efficiency.
Description
Technical field
The present invention relates to machining tool field, more particularly to a kind of control method for overturning and carrying workpiece.
Background technology
In production and processing field, it is necessary to carry out being transferred to another conveyer from a transport mechanism to many workpieces
Structure, and need to handle the different parts of workpiece, this is accomplished by carrying workpiece and overturning, existing
Technology in, carry and upset be point different machine to complete, required footprint area is big, mechanism complexity, and removing
Distribution intermediate demand conveyer belt before and after shipping unit and turning device, adds the fed distance of transport mechanism, and transport mechanism needs
Stop twice, have impact on production efficiency in carrying and upset.
The content of the invention
It is an object of the invention to overcome the shortcoming and deficiency of prior art there is provided one kind can and meanwhile overturn and carry plus
The control method of workpiece.
The purpose of the present invention is achieved through the following technical solutions, and the control method is carried out using following steps：
Step one：When the workpiece placed on a moving belt is transported at switching mechanism, workpiece enters delivery device
On sensor induction range in, now the real-time position information of object is transferred to central controller by the sensor, center
Controller receives the control information, and control conveyer belt interval stops conveying；
Step 2：Sensor sensing on delivery device to workpiece stop motion information, by the information transfer into
Entreat at controller, central controller receives the information, send the instruction that delivery device starts braking；
Step 3：Delivery device is after braking instruction is received, and drive mechanism brings into operation, the second hydraulic actuator it is defeated
Go out end to stretch out, the output end promotes the trisquare shape being hinged with it to stick up bar motion, and cam is rotated and upward sliding in groove, by trisquare
The convert rotational motion that shape sticks up bar is the linear motion of middle frame, and push rod promotes workpiece to move forward in tong device；
Step 4：The maximum shift motion of push rod is set to the horizontal range of push rod front end and tong, when push rod is pushed to
When at its range, central controller is transmitted that information to, central controller receives the information, sends delivery device and opens
The instruction that beginning retracts；Delivery device is after receiving and retracting instruction, and the output end of the second hydraulic actuator is retracted, the output end band
Move connected trisquare shape and stick up bar motion, push rod is retracted backward；
Step 5：Sensor sensing on delivery device is not to having the information of workpiece on conveyer belt, by the information transfer
To central controller, central controller receives the information, sends the instruction of delivery device stopping action, and tong device
Start action command；
Step 6：Tong device is received after action command, and the first hydraulic actuator brings into operation, the first hydraulic actuator
Output end stretch out, the output end drives second connecting rod, first connecting rod, tong, and tong frame rotary motion successively, tong frame with
Grasping part between clamping limb diminishes, and clamps workpiece, at the same time, and pin joint of the tong frame along itself and pedestal rotates,
Drive workpiece rotation；
Step 7：Tong after its arrival maximum anglec of rotation, transmit that information to central controller, center control
Device receive information, sends the instruction of retracting of tong device, and the first hydraulic actuator drives its output end to retract, and the output end is successively
Second connecting rod, first connecting rod, tong, and tong frame rotary motion are driven, workpiece is placed on another conveyer belt, with this
Meanwhile, tong rotates and returns to original position, and transmits that information to central controller；
Step 8：Central controller receives the mail message of tong device, sends conveyer belt start-up operation instruction；Conveyer belt
Receive after the instruction, start running, convey next workpiece, continue executing with the course of conveying of next workpiece, perform step
Rapid one；Until all workpieces all convey completion, terminate the work of whole system.
For performing the upset of above-mentioned control method and carry workpiece device include delivery device and switching mechanism
And central controller, the driving machine that the delivery device moves along a straight line including frame, the push rod being arranged in frame, driving push rod
Structure and the sensor for sensing workpiece existence position information；The switching mechanism includes platform, is fixedly connected with platform one end
Pedestal, the tong device that is hinged with pedestal and driving tong device the first hydraulic pressure for overturning and being hinged with the platform other end hold
Row device；The drive mechanism sticks up bar and bent including the second hydraulic actuator placed vertically, the trisquare shape being connected with gantry rotation
Chi shape sticks up the cam that bar one end rotates connection, and the push rod rear portion is provided with a middle frame, and middle and cam corresponding position is provided with width
Degree groove corresponding with cam height, when pushing mechanism is moved, the cam is slided up and down and rotated in groove；The song
Chi shape is stuck up the bar other end and is hinged with the second hydraulic actuator output end, and trisquare shape is stuck up to be connected in the middle part of bar with gantry rotation；The folder
Arm device includes one end and pedestal the tong frame being hinged, first that the tong being hinged with the tong frame other end, one end are hinged
Connecting rod and second connecting rod, wherein, the tong is L-shaped, includes the clamping limb and the articulated jib of bottom on top, and the clamping limb is dashed forward
Go out tong top of support and the grasping part of workpiece is formed with tong frame, the first connecting rod other end is cut with scissors with articulated jib one end
Connect, the other end and the tong frame middle and lower part of second connecting rod are hinged, second connecting rod bottom and the output end of the first hydraulic actuator are cut with scissors
Connect and both form oblique angle；When workpiece is pushed, the push rod and grasping part are in same straight line
On, and conveyer belt, positioned between them, the central controller is electrically connected with conveyer belt, delivery device, switching mechanism.
As preferred embodiment, the tong sets up the escape groove for having second connecting rod, second connecting rod and tong frame
Pin joint is arranged in escape groove.
As preferred embodiment, the pin joint of pedestal and tong frame is arranged on the oblique upper of pedestal, and pin joint
The thickness of tong frame is equal to distance to distance and " Y " with " X " of pedestal.
As preferred embodiment, top, the lower section of the grasping part are respectively provided with a protrusive board, and the protrusive board of top is consolidated
Clamping limb lower end is scheduled on, the protrusive board of lower section is fixed on tong frame top.
As preferred embodiment, the frame with trisquare shape stick up bar it is corresponding place be provided with bearing, the trisquare shape
Bar is stuck up to be connected with gantry rotation by bearing.
As preferred embodiment, cam and the trisquare shape is provided with a connecting plate between sticking up bar, the connecting plate
One end is connected with cam rotation, and the other end sticks up bar one end with trisquare shape and is fixedly connected.
As preferred embodiment, the frame is additionally provided with a support frame, and the support frame is provided with through hole, described to push away
Bar is slidably matched through through hole and with through hole.
As preferred embodiment, the front end of the push rod provided with a push pedal, the number of the push rod for two and
All it is fixedly connected with push pedal.
As preferred embodiment, in the step 6, tong frame works as folder along its pin joint rotary motion with pedestal
Stopped the rotation when the top surface that hand cradle front upper portion is low to connect pedestal, it is ensured that workpiece just have rotated 90 degree.
The present invention has the following advantages and effect relative to prior art：The present apparatus passes through a simple sensor sense
Answer the real-time position information of workpiece presence and be transmitted to central controller, it is sent control signal control pushing mechanism, and handle
Workpiece is pushed to switching mechanism, by controlling switching mechanism to realize the upset of workpiece and being put on another conveyer belt,
The upset and transfer of workpiece are realized simultaneously, whole control method realizes full-automation, without artificial participation；Whole device is accounted for
Ground area is few, and carries and overturn workpiece simultaneously, improves production efficiency.
Brief description of the drawings
Fig. 1 is the structural perspective for the device for overturning and carrying workpiece.
Fig. 2 is to overturn and carry the front view of the device of workpiece in Fig. 1.
Fig. 3 is the rearview in the Fig. 1 for the device for overturning and carrying workpiece.
Embodiment
With reference to embodiment and accompanying drawing, the present invention is described in further detail, but embodiments of the present invention are not limited
In this.
A kind of device that can be overturn workpiece 15 and put down as shown in Figure 1 and Figure 2, including delivery device 1 and turn over
Rotation mechanism 2 and central controller (not shown), the delivery device 1 include frame 11, the push rod being arranged in frame 11
12 and driving push rod 12 move along a straight line drive mechanism 13；Push rod 12 is pushed workpiece 15 by the driving of drive mechanism 13
To switching mechanism 2.The switching mechanism 2 is hinged including platform 21, the pedestal 22 being fixedly connected with the one end of platform 21, with pedestal 22
Tong device 23 and the first hydraulic actuator 24 that overturns and be hinged with the other end of platform 21 of driving tong device 23, when the
When one hydraulic actuator 24 is acted, tong device 23 clamps workpiece 15 and workpiece 15 is overturn, in the process, processing
Part 15 is easily removed from original conveyer belt 9 and is put into another conveyer belt (not shown).The delivery device 1 is additionally provided with sensing
Device 16, the positional information of the presence of workpiece 5 can be sensed when workpiece 5 reaches the front portion of push rod 12, and is transmitted to and center control
Device processed, the central controller electrically connects with conveyer belt 9, delivery device 1, switching mechanism 2 and controls them to act.Pass through center
Controller sends control signal, and push rod 12 makes workpiece 15 shift switching mechanism 2 onto, and the frame 11 is arranged vertically within base 14
On, the second hydraulic actuator 131 that the drive mechanism 13 includes placing vertically, with the trisquare shape that is connected of the rotation of frame 11 stick up bar
132nd, the one end of bar 132 is stuck up with trisquare shape and rotates the cam 133 being connected；The trisquare shape is stuck up the other end of bar 132 and held with the second hydraulic pressure
The output end of row device 131 is hinged, trisquare shape is stuck up the middle part of bar 132 and is connected with the rotation of frame 11, and trisquare shape sticks up bar 132 placing vertically
The vertical direction conversion of motion of the output end of second hydraulic actuator 131 moves along a straight line for the horizontal direction of push rod 12, the frame
11 are provided with bearing 134 sticking up the corresponding place of bar 132 with trisquare shape, and the trisquare shape sticks up bar 132 and pass through 11 turns of bearing 134 and frame
Dynamic connection, when the output end of the second hydraulic actuator 131 is moved upwards, trisquare shape sticks up the one end of bar 132 centered on bearing 134
Rotation, trisquare shape sticks up the other end of bar 132 band moving cam 133 around the circular motion of bearing 134, in order to preferably with the table of workpiece 15
Face is contacted, and the front end of push rod 12 sets the push pedal 121 of a plane, and the rear end of push rod 12 is additionally provided with a middle frame 136,
The middle frame 136 is provided with a groove 135 corresponding with the height of cam 133 with width with the corresponding place of cam 133, described
Cam 133 is caught in the contact of the inner formation face of groove 135.When cam 133 is rotated, the acting surface and groove 135 of cam 133 are just
The contact of face 1351 and upward sliding, and push rod 12 is promoted, it is convex when the output end of the second hydraulic actuator 131 is moved downward
Wheel 133 is contacted and slide downward with the reverse side 1352 of groove 135, so as to drive push rod 12 back to move along a straight line.
Cam 133 is dismantled and installs for convenience, the cam 133 and trisquare shape are connected between sticking up bar 132 provided with one
Plate 137, one end of the connecting plate 137 rotated with cam 133 be connected, the other end sticks up the one end of bar 132 with trisquare shape and is fixedly connected.
As shown in figure 3, the tong device 23 includes tong frame 231, the tong frame 231 that one end is hinged with pedestal 22
For L-type, tong 232 includes the clamping limb 2321 on top and the articulated jib 2322 of bottom, the end on wherein the first side of tong frame 231
It is hinged with the articulated jib 2322 of tong 232 and forms pin joint 3, the end on the second side of tong frame 231 is with abutting pedestal 22
Side 222 be hinged and form pin joint 8；The clamping limb 2321 of tong 232 protrude the top surface of tong frame 231 and with tong frame
231 the first side is oppositely arranged, and forms the grasping part of workpiece 15；The right-hand member and first of the articulated jib 2322 of tong 232
One end of connecting rod 233 is hinged and forms pin joint 7, and the other end and the one end of second connecting rod 234 of first connecting rod 233 are hinged simultaneously
Pin joint 4 is formed, the other end of second connecting rod 234 is hinged on the middle and lower part on the second side of tong frame 231 and forms pin joint 6；
In order to conveniently clip to workpiece 15, top, the lower section of the grasping part are respectively provided with a protrusive board 235, the protrusive board of top
235 are fixed on the lower end of clamping limb 2321, and the protrusive board 235 of lower section is fixed on the top of tong frame 231.The bottom of second connecting rod 234 and the
The output end of one hydraulic actuator 24 is hinged and forms pin joint 5, and both form oblique angle.In order to preferably arrange
The position of each several part part, the pin joint 3, pin joint 4, pin joint 5, pin joint 6, pin joint 7, pin joint 8 are all at one
On vertical plane, therefore, the tong frame 231 is provided with the escape groove 236 of second connecting rod 234, second connecting rod 234 and tong frame 231
Pin joint 6 be arranged on the middle part of escape groove 236.When the output end of the first hydraulic actuator 24 is oblique promotes second connecting rod 234,
On the one hand：The one end of second connecting rod 234 puts in escape groove 236 and makes the tong frame 231 be with pin joint 8 by the effect of pin joint 6
Center is around pedestal 22 to horizontal motion；On the other hand：The other end of second connecting rod 234 promotes first by the effect of pin joint 4
Connecting rod 233, first connecting rod 233 moves around pin joint 7 and promotes the articulated jib 2322 of tong 232, the clamping limb of tong 232
2321 are moved centered on pin joint 3 to tong frame 231, and grasping part diminishes and clamps workpiece 15.Ensure that
Workpiece 15 is promoted grasping part by delivery device 1 when pushing, when workpiece 15 are pushed, the push rod 12 and clamping
Space is on the same line, and conveyer belt 9 is located between them.
Due to when workpiece 15 is overturn, particularly overturn the workpiece 15 of rectangle or square when
Wait and turn 90 degrees, it is necessary to accurately turn over, workpiece 15 is turned to side from front, and workpiece 15 is carried from conveyer belt 9
Onto another conveyer belt, therefore, the pin joint 8 of pedestal 22 and tong frame 231 is arranged on the oblique upper of pedestal 22, and it is hinged
" X " of point 8 and pedestal 22 is equal to the thickness of tong frame 231 to distance and " Y " to distance (as shown in Figure 1)；When the first hydraulic pressure
The output end of actuator 24 is oblique when promoting second connecting rod 234, and positive 2311 upper end of tong frame 231 abuts the top surface of pedestal 22
221 so that terminate the stretching of the output end of the first hydraulic actuator 24, now tong frame 231 is vertical with pedestal 22, and workpiece 15
It is turn 90 degrees by turning over from vertical direction to horizontal direction, and side has been gone to from front, another has been easily removed from from conveyer belt 9
Conveyer belt；When the output end of the first hydraulic actuator 24 is withdrawn, positive 2311 lower end of tong frame 231 abuts the side of pedestal 22
222 and both are parallel, so that it is guaranteed that grasping part and push rod 12 are on the same line.
Because conveyer belt 9 is located between push rod 12 and grasping part, and conveyer belt 9 has one fixed width, in order to ensure pushing away
Bar 12 does not occur crooked when pushing, and the frame 11 is additionally provided with a support frame 10, and the support frame 10 is provided with through hole
101, the push rod 12 is slidably matched through through hole 101 and with through hole 101, and the sensor 16 is located at support frame 10 and pushed up
Portion.When delivery device 1 pushes workpiece 15, push rod 12 protrudes the plane of through hole 101 and promotes clamping empty workpiece 15
Between.Because the side of workpiece 15 is not of uniform size, at larger workpiece 15 in promotion side, a push rod 12 and workpiece
15 application point is it is impossible to ensure that workpiece 15 takes the air line, for this reason, it may be necessary to which multiple application points, described to push away in the present embodiment
The number of bar 12 is two, and two push rods 12 are being fixed in push pedal 121, but is not limited.
Control method for overturning and carrying workpiece, the control method is carried out using following steps：
Step one：When the workpiece 15 being placed on conveyer belt 9 is transported at switching mechanism 2, workpiece 15, which is entered, to be pushed away
In the induction range for sending the sensor 16 in mechanism 1, now the real-time position information of object is transferred to center by the sensor 16
At controller, central controller receives the control information, and control conveyer belt 9 intermittently stops conveying；
Step 2：Sensor 16 on delivery device 1 senses the information of the stop motion of workpiece 15, by the information transfer
To central controller, central controller receives the information, sends the instruction that delivery device 1 starts braking；
Step 3：Delivery device 1 is after braking instruction is received, and drive mechanism 13 brings into operation, the second hydraulic actuator
131 output end emersion, the output end promotes the trisquare shape being hinged with it to stick up bar 132 and moved, and trisquare shape sticks up bar 132 around middle part
Bearing 134 is rotated, and the connecting plate 137 that the drive that trisquare shape sticks up bar 132 is secured to connect is moved up, and cam 133 is in groove
135 rotate and upward sliding, by the linear motion that the convert rotational motion that trisquare shape sticks up bar 132 is middle frame 136, and in drive
A structure of an essay 136 is moved forward, and middle frame 136 drives the through hole 101 along along support frame 10 of push rod 12 to move forward, the front end of push rod 12
Push pedal promotes workpiece 15 to move forward in tong device；
Step 4：The maximum shift motion of push rod 12 is set to the horizontal range of the front end of push rod 12 and tong 232, works as push rod
12 when being pushed at its range, transmits that information to central controller, central controller receive information, central controller
The information is received, the instruction that delivery device 1 starts to retract is sent；Delivery device 1 is after receiving and retracting instruction, the second hydraulic pressure
The output end of actuator 131 is retracted, and the output end drives connected trisquare shape to stick up bar 132 and moved, trisquare shape stick up bar 132 around
Bearing 134 is rotated, and the connecting plate 137 that the drive that trisquare shape sticks up bar 132 is secured to connect is moved down, and cam 133 is in groove
Simultaneously trisquare shape is stuck up linear motion of the convert rotational motion of bar 132 for middle frame 136 to 135 slide downwards by autobiography, and in drive
A structure of an essay 136 is moved rearwards by, and middle frame 136 drives the through hole 101 along along support frame 10 of push rod 12 to be moved rearwards by, the front end of push rod 12
Push pedal 121 is retracted backward；
Step 5：Sensor 16 on delivery device 1 senses the information for not having workpiece 15 on conveyer belt 9, and this is believed
Breath is transmitted to central controller, and central controller receives the information, sends the instruction of the stopping of delivery device 1 action, and
Tong device 23 starts action command；
Step 6：Tong device 23 is received after action command, and the first hydraulic actuator 24 is brought into operation, and the first hydraulic pressure is held
The output end of row device 24 is stretched out, and the output end drives second connecting rod 234, first connecting rod 233, tong 232, and tong frame successively
231 rotary motions, the grasping part between tong frame 231 and clamping limb 2321 diminishes, and clamps workpiece 15, at the same time,
Tong frame 231 is around its rotary motion of pin joint 8 with pedestal 22, when positive 2311 upper end of tong frame 231 abuts pedestal 22
When top surface 221, the first hydraulic actuator 24 is out of service, and workpiece 15 have rotated 90 degree；
Step 7：The maximum anglec of rotation of tong 232 is set as 90 degree, and after it reaches the anglec of rotation, the information is passed
Defeated to arrive central controller, central controller receive information, send tong device 23 retracts instruction；Tong device 23, which is received, to move back
Refer to after order, the first hydraulic actuator 24 drives its output end to retract, the output end drives second connecting rod 234 successively, first connects
Bar 233, tong 232, and the rotary motion of tong frame 231, the grasping part between tong frame 231 and tong 232 become big, will process
Part 15 is placed on another conveyer belt, at the same time, and tong frame 231 works as folder around its rotary motion of pin joint 8 with pedestal 22
When positive 2311 lower end of hand cradle 231 abuts side 222 of pedestal 22, the first hydraulic actuator 24 shuts down, now, folder
Hand 232, which is rotated by 90 °, returns to original position, and transmits that information to central controller；
Step 8：Central controller receives the mail message of tong device 23, sends the start-up operation instruction of conveyer belt 9；It is defeated
Send band 9 to receive after the instruction, start running, convey next workpiece, continue executing with the course of conveying of next workpiece, hold
Row step one；Until all workpieces all convey completion, terminate the work of whole system.
Above-described embodiment is preferably embodiment, but embodiments of the present invention are not by above-described embodiment of the invention
Limitation, other any Spirit Essences without departing from the present invention and the change made under principle, modification, replacement, combine, simplification,
Equivalent substitute mode is should be, is included within protection scope of the present invention.
Claims (10)
1. a kind of control method for overturning and carrying workpiece, it is characterised in that the control method is carried out using following steps：
Step one：When the workpiece placed on a moving belt is transported at switching mechanism, workpiece is entered on delivery device
In the induction range of sensor, now the real-time position information of object is transferred at central controller by the sensor, center control
Device processed receives the control information, and control conveyer belt interval stops conveying；
Step 2：Sensor sensing on delivery device controls the information transfer to center to the information of workpiece stop motion
At device processed, central controller receives the information, sends the instruction that delivery device starts braking；
Step 3：Delivery device is after braking instruction is received, and drive mechanism brings into operation, the output end of the second hydraulic actuator
Emersion, the output end promotes the trisquare shape being hinged with it to stick up bar motion, and cam rotates and upward sliding in groove, trisquare shape is stuck up
The convert rotational motion of bar is the linear motion of middle frame, and push rod promotes workpiece to move forward in tong device；
Step 4：The maximum shift motion of push rod is set to the horizontal range of push rod front end and tong, when push rod is pushed to it most
When at big stroke, central controller is transmitted that information to, central controller receive information, central controller receives the letter
Breath, sends the instruction that delivery device starts to retract；Delivery device is after receiving and retracting instruction, the output of the second hydraulic actuator
End is retracted, and the output end drives connected trisquare shape to stick up bar motion, and push rod is retracted backward；
Step 5：Sensor sensing on delivery device is not to having the information of workpiece on conveyer belt, by the information transfer into
Entreat at controller, central controller receives the information, send the instruction of delivery device stopping action, and tong device starts
Action command；
Step 6：Tong device is received after action command, and the first hydraulic actuator brings into operation, the first hydraulic actuator it is defeated
Go out end to stretch out, the output end drives second connecting rod, first connecting rod, tong, and tong frame rotary motion, tong frame and clamping successively
Grasping part between arm diminishes, and clamps workpiece, at the same time, tong frame along its pin joint rotary motion with pedestal,
Drive workpiece rotation；
Step 7：Tong after its arrival maximum anglec of rotation, transmit that information to central controller, central controller connects
Collect mail and cease, send the instruction of retracting of tong device, the first hydraulic actuator drives its output end to retract, and the output end drives successively
Second connecting rod, first connecting rod, tong, and tong frame rotary motion, workpiece is placed on another conveyer belt, same with this
When, tong rotates and returns to original position, and transmits that information to central controller；
Step 8：Central controller receives the mail message of tong device, sends conveyer belt start-up operation instruction；Conveyer belt is received
To after the instruction, start running, convey next workpiece, continue executing with the course of conveying of next workpiece, perform step one；
Until all workpieces all convey completion, terminate the work of whole system.
2. require the upset of the control method described in 1 for perform claim and carry the device of workpiece, it is characterised in that：Including
Delivery device and switching mechanism and central controller, the delivery device are pushed away including frame, the push rod being arranged in frame, driving
The sensor that the drive mechanism and sensing workpiece of bar linear motion are present；The switching mechanism includes platform and platform one
Hold what the pedestal being fixedly connected, the tong device being hinged with pedestal and driving tong device overturn and be hinged with the platform other end
First hydraulic actuator；The drive mechanism includes the second hydraulic actuator placed vertically, the trisquare being connected with gantry rotation
Shape, which sticks up bar, bar one end is stuck up with trisquare shape rotates cam be connected, and the push rod rear portion is provided with a middle frame, middle frame with it is convex
Take turns corresponding position and be provided with width groove corresponding with cam height, when pushing mechanism is moved, the cam glides on groove
Move and rotate；The trisquare shape is stuck up the bar other end and is hinged with the second hydraulic actuator output end, and trisquare shape is stuck up in the middle part of bar and frame
Connection is rotated, the cam is to be hinged with putting back-end；The tong device includes the tong frame and folder that one end is hinged with pedestal
First connecting rod and second connecting rod that tong that the hand cradle other end is hinged, one end are hinged, wherein, the tong is L-shaped, including
The clamping limb on top and the articulated jib of bottom, the clamping limb protrude tong top of support and the clamping of workpiece are formed with tong frame
Space, the first connecting rod other end is hinged with articulated jib one end, and the other end and the tong frame middle and lower part of second connecting rod are hinged, the
The output end of two connecting rod bottoms and the first hydraulic actuator is hinged and both form oblique angle；Push workpiece when
Wait, the push rod and grasping part are on the same line, and conveyer belt is located between them；The central controller with
Conveyer belt, delivery device, switching mechanism electrical connection.
3. the device according to claim 2 for overturning and carrying workpiece, it is characterised in that：The tong, which is set up, second
The escape groove of connecting rod, the pin joint of second connecting rod and tong frame is arranged in escape groove.
4. the device according to claim 2 for overturning and carrying workpiece, it is characterised in that：Pedestal is hinged with tong frame
Point is arranged on the oblique upper of pedestal, and " X " of pin joint and pedestal is equal to the thickness of tong frame to distance and " Y " to distance
Degree.
5. the device according to claim 2 for overturning and carrying workpiece, it is characterised in that：The grasping part it is upper
Side, lower section are respectively provided with a protrusive board, and the protrusive board of top is fixed on clamping limb lower end, and the protrusive board of lower section is fixed on tong frame top.
6. the device according to claim 2 for overturning and carrying workpiece, it is characterised in that：The frame with trisquare shape
Stick up bar correspondence place and be provided with bearing, the trisquare shape is stuck up bar and is connected by bearing with gantry rotation.
7. the device according to claim 6 for overturning and carrying workpiece, it is characterised in that：The cam sticks up with trisquare shape
Provided with a connecting plate between bar, one end of the connecting plate is connected with cam rotation, and the other end sticks up bar one end with trisquare shape to be fixed
Connection.
8. the device according to claim 2 for overturning and carrying workpiece, it is characterised in that：The frame is additionally provided with one
Support frame, the support frame is provided with through hole, and the push rod is slidably matched through through hole and with through hole.
9. the device according to claim 2 for overturning and carrying workpiece, it is characterised in that：The front end of the push rod is provided with
One push pedal, the number of the push rod is two and is all fixedly connected with push pedal.
10. the control method according to claim 1 for overturning and carrying workpiece, it is characterised in that：In the step 6,
Tong frame stops the rotation along its pin joint rotary motion with pedestal when the top surface for connecing pedestal when tong frame front upper portion is low,
It ensure that workpiece just have rotated 90 degree.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710637473.6A CN107310911B (en) | 2017-07-31 | 2017-07-31 | A kind of control method overturn and carry workpiece |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710637473.6A CN107310911B (en) | 2017-07-31 | 2017-07-31 | A kind of control method overturn and carry workpiece |
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| Publication Number | Publication Date |
|---|---|
| CN107310911A true CN107310911A (en) | 2017-11-03 |
| CN107310911B CN107310911B (en) | 2019-09-06 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201710637473.6A Active CN107310911B (en) | 2017-07-31 | 2017-07-31 | A kind of control method overturn and carry workpiece |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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