CN103394954B - Robot material loading benchmark bin - Google Patents
Robot material loading benchmark bin Download PDFInfo
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- CN103394954B CN103394954B CN201310302168.3A CN201310302168A CN103394954B CN 103394954 B CN103394954 B CN 103394954B CN 201310302168 A CN201310302168 A CN 201310302168A CN 103394954 B CN103394954 B CN 103394954B
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Abstract
The invention discloses a kind of robot material loading benchmark bin, comprising: support body; V-shaped groove, is formed on described support body, and its V-shaped groove face on the direction passed through and between horizontal plane at angle, this angle is greater than Self-locking angle, and Self-locking angle corresponds to the Self-locking angle of workpiece on V-shaped groove face; Benchmark baffle plate, is bonded on one end that V-shaped groove is lower, and vertical with described direction.Simple according to structure of the present invention, thus make its cost lower, and positioning precision also easily ensures.
Description
Technical field
The present invention relates to a kind of device of auxiliary robot material loading, specifically auxiliary robot carries out the device of material loading to the workpiece that bar or other have a cylindrical surface.
Background technology
Along with robot application is more and more extensive, started to be applied to manufacturing industry gradually, robot is the current and following application trend to lathe material loading.The application of current robot on lathe is scarcely out of swaddling-clothes, a problem is always there is in robot to lathe material loading, be exactly how can by blank material to be successfully contained on machine tool jaw and with the snap of chuck end face, material may be green state, length may be inconsistent, and this is just for lathe material loading brings difficulty.If people's element of too much intervener, will inevitably make robot material loading lose meaning.
Automatic charging as previously mentioned, first accurately will be located workpiece, shows as the location to workpiece one end in superincumbent content, if location is inaccurate, can lower efficiency on the one hand, may clash into lathe, generation accident on the other hand.In addition, in order to satisfied accurately location, as adopted multiple sensors to carry out Workpiece fixing, structure is very complicated with control, and cost is high, and the multiple sensors system of complexity also can exist accumulated error.
Summary of the invention
For this reason, the object of the present invention is to provide a kind of robot material loading benchmark bin, with the frame for movement on basis for positioning datum, structure is simple, thus makes its cost lower, and positioning precision also easily ensures.
The present invention is by the following technical solutions:
A kind of robot material loading benchmark bin, comprising:
Support body;
V-shaped groove, is formed on described support body, and its V-shaped groove face on the direction passed through and between horizontal plane at angle, this angle is greater than Self-locking angle, and Self-locking angle corresponds to the Self-locking angle of workpiece on V-shaped groove face;
Benchmark baffle plate, is bonded on one end that V-shaped groove is lower, and vertical with described direction.
Originally V-shaped groove is the normal structure portion of wishbone (GB4972-85), does frock that is fastening or location when being applicable to Machining of Shaft-type Parts or the test of nominal diameter 3 ~ 300mm, and gravity can be utilized to realize accurately location.It should be noted that, V-shaped groove not only shows as the location to above-mentioned nominal diameter axial workpiece here, obviously, based on utilizing two contour localization design features, also the location of larger nominal diameter axle type part is applicable to, wishbone own structural characteristics affects the size of V-shaped groove, and the impact of V-shaped groove in this respect by support body is relatively little in this article.
Therefore according to the present invention, as can be seen from said structure, V-shaped groove can make axial workpiece accurately locate, only become V-shaped groove level here into tilting, thus, utilize gravity, the trend that the oriented low side of part runs, when tilting angle is greater than Self-locking angle, workpiece will become trend into motion.And benchmark baffle plate forms the positioning datum of workpiece one end, the workpiece sliding to this end stop by benchmark baffle plate, thus the workpiece end face that benchmark baffle plate is surveyed is accurately positioned.Its overall structure is fairly simple, and cost of manufacture is low, and the positioning precision utilizing holder gear to realize is very high, meets the requirement of robot material loading to precision.
Above-mentioned robot material loading benchmark bin, in order to reduce friction V-shaped groove face in said direction two inclined-planes on be equipped with roller.
Above-mentioned robot material loading benchmark bin, preferably, the roller number on each inclined-plane is no less than 5 and no more than 9, to ensure the reliability that workpiece slides.
Above-mentioned robot material loading benchmark bin, described roller at least surface has flexible anti-attrition layer, can effectively prevent the excircle of workpiece surface of intermediate step to be scratched.
Above-mentioned robot material loading benchmark bin, also comprise be arranged on described benchmark baffle plate for detecting the sensor that workpiece puts in place, the integration automatically controlled can be carried out, for the detection that puts in place of workpiece.
Above-mentioned robot material loading benchmark bin, described sensor is proximity switch.
Above-mentioned robot material loading benchmark bin, also comprises one as the bedplate of described erection of frames positioning seat, by a pair pin location between support body and bedplate, ensures the accurate location of support body, and is fastened by bolts, conveniently overhaul.
Above-mentioned robot material loading benchmark bin, is also integrated with and is positioned at the robot of V-shaped groove compared with low side, such localization part and operation part integrated, position relationship is between the two determined in advance, and further ensures the accuracy of material loading.
Above-mentioned robot material loading benchmark bin, the operate portions of the robot gripper of described robot is magnechuck, and material loading is more convenient, and can not disfiguring workpiece surface.
Above-mentioned robot material loading benchmark bin, for meeting different application, the number of described V-shaped groove is 1 to 3, and be arranged in parallel based on described direction.
Accompanying drawing explanation
Below in conjunction with Figure of description, more detailed statement is done to technical scheme of the present invention, make the clearer understanding the present invention of those skilled in the art, wherein:
Fig. 1 is the structural representation of a kind of robot material loading benchmark bin according to present pre-ferred embodiments.
In figure: 1, support body; 2, roller; 3, benchmark baffle plate; 4, proximity switch; 5, screw; 6, pin; 7, screw; 8, pin; 9, robot body; 10, bedplate; 11, robot gripper.
Detailed description of the invention
About V-shaped groove, V-shape inclined-plane can be expressed as in this article, use some terms on wishbone, as V-shaped groove, end face, V-shaped groove face are the standard terminology of standard wishbone.V-shaped groove has a pair symmetrical inclined-plane existed, and in standard terminology, direct representation is " inclined-plane ", should to have clearly understand for mechanical processing technique those skilled in the art to this.
With reference to Figure of description 1, for meeting multiple application, it is furnished with 3 V-shaped grooves, parallel setting, certainly, also only can configure one, in the construction shown in fig. 1, due to the existence of robot, the width of base plate configures multiple V-shaped groove and is also conducive to making full use of space.
The benchmark bin of employing robot material loading as shown in Figure 1, the structure of this bin adopts three V-shape inclined-planes, namely 3 V-shaped grooves, in the drawings towards the direction of robot, be expressed as more accurately the direction from V-shaped groove one end to the other end, V-shaped groove is inclined relative to horizontal layout.
About the angle tilted, the angle of friction of reference work object on V-shaped groove in other words pressure angle designs, and accordingly, the angle of inclination is greater than Self-locking angle.
Be to be understood that, coefficient of friction between metal is very little, especially in processing in early stage, workpiece generally has relatively bright and clean surface, and the length of workpiece is substantially consistent in post-production, generally also no longer need this benchmark bin, therefore, the angle of inclination is generally not too large, can not affect the elemental motion of robot material loading.
Further, in order to reduce the impact on robot material loading, the angle tilted should be reduced as much as possible, for this reason, inclined-plane is installed roller 2, roller 2 can roll, not only can become sliding friction into rolling friction, and the probability of workpiece surface damage can be reduced.
Those skilled in the art should understand, be linear contact lay between workpiece and inclined-plane during V-shaped groove location, workpiece is metalwork often, and object is usually larger, gross weight is relatively also larger, likely can disfiguring workpiece surface (the general hardness ratio of V-shaped groove material is larger) in the process of sliding.Therefore, the inclined-plane adopting rolling friction is necessary to a certain extent.
Further, in order to prevent the excircle of workpiece machined surface of intermediate step not to be scratched, the roller 2 above two inclined-planes on three V-shape inclined-planes is that polyurethane or nylon material make, and also can add loading polyurethane liners on the roller bearing of rigidity.
In the construction shown in fig. 1, one end that V-shaped groove is lower arranges benchmark baffle plate 3, and benchmark baffle plate 3 is vertical from the high-end direction to low side with V-shaped groove, ensures to fit in the plate face of workpiece end face and benchmark baffle plate 3, ensure positioning precision, and face contact can improve bearing capacity.
Benchmark baffle plate 3 is installed proximity switch 4 feedback signal.
Operation principle: first robot is placed on the V-shaped groove of benchmark bin, owing to taking inclined structure after capturing part, under gravity, part moves to benchmark baffle plate 3 direction, until stop after contact, roller 2 can freely rotate, and adds the reliability of contact.After part contacts with benchmark baffle plate 2, the proximity switch 4 on benchmark baffle plate signals to control system, and control system determines that now there is material this position.
The crawl position each due to robot is determined, so that is, the position of robot gripper 11 is determined to the position of benchmark baffle plate 3, due to part and benchmark baffle plate 3 reliable contacts, then the position of robot gripper 11 is determined to the position of part one end, and be constant, therefore robot is to the position that just can arrive setting during lathe material loading very accurately.Not only can successfully be contained on machine tool jaw but also can ensure and chuck end face reliable contacts.
Some references realized, the position of robot and benchmark bin will keep maintaining static.Robot and support body 1 are all fixedly mounted on same bedplate 10, respectively with pin location, to guarantee that relative position is constant.
In using, support body 1 can be 1 also can be multiple putting together, can be configured in the different directions of robot, to meet concrete application.
Can determine according to workpiece length about the quantity of roller 2 and interval, the Main Function of roller 2 guarantees that workpiece can slide into bottom and benchmark baffle plate 3 close contact, be not scratched to prevent the excircle of workpiece machined surface of intermediate step, three V-shape inclined-planes have the roller above two to be that polyurethane or nylon material make, namely three V-shape inclined-planes can adopt different configuration modes, are applied to different objects.
Perforate on each benchmark baffle plate 3 also installs proximity switch 4, and proximity switch 4 is mainly used in signal feedback, and signal is supplied to control system, has identified whether material by control system.
Also can adopt the switch that machinery triggers, owing to producing Mechanical Contact, have larger impact service life.
Optics can also be adopted to put in place detection, perforate on benchmark baffle plate 3, position, hole is blocked and namely represents that workpiece puts in place.
The base plate of benchmark 1 is open and flat, is greater than V-shaped groove machine entity structure, by screw 5 and bedplate 10 closing, the quantity of screw 5 and intensity will be guaranteed closing firm; While conjunction, conjunction is being provided with pin 6, the pin 6 of each support body 1 is at least two pieces, and pin 6 is mainly used in location, prevents the impact due to workpiece from causing support body 1 to change with the relative position of bedplate 10.
In figure, screw 7 and pin 8 close for the handle of robot body 9 with bedplate 10 and locate, and the specification of screw 7 and pin 8 and quantity are determined according to the design of robot body 9, and its effect is also prevent robot body 9 from changing with the relative position of bedplate 10.
This paper in figure on robot body 9 is unnecessary does parts explanation.The effect of bedplate 10 is bases of whole mechanism, and robot body 9, benchmark bin 1 are all arranged on bedplate 10, and bedplate 10 bottom is connected with linear guide slide seat, does not describe herein.
Robot gripper 11 is equipped with according to the concrete shape of part, for cylindrical part, can adopt magnechuck.
Claims (6)
1. a robot material loading benchmark bin, carries out material loading for auxiliary robot to the workpiece that bar or other have cylindrical surface, it is characterized in that, comprising:
Support body (1);
V-shaped groove, is formed on described support body, and its V-shaped groove face on the direction passed through and between horizontal plane at angle, this angle is greater than Self-locking angle, and Self-locking angle corresponds to the Self-locking angle of workpiece on V-shaped groove face;
Benchmark baffle plate, is bonded on one end that V-shaped groove is lower, and vertical with described direction;
Two inclined-planes in V-shaped groove face are in said direction equipped with roller;
Described roller at least surface has flexible anti-attrition layer;
Also comprise one as the bedplate of described erection of frames positioning seat, by a pair pin location between support body and bedplate, and be fastened by bolts;
The number of described V-shaped groove is 1 to 3, and be arranged in parallel based on described direction.
2. robot according to claim 1 material loading benchmark bin, is characterized in that, the roller number on each inclined-plane is no less than 5 and no more than 9.
3. robot according to claim 1 material loading benchmark bin, is characterized in that, also comprise be arranged on described benchmark baffle plate for detecting the sensor that workpiece puts in place.
4. robot according to claim 3 material loading benchmark bin, it is characterized in that, described sensor is proximity switch.
5. robot according to claim 1 material loading benchmark bin, is characterized in that, be also integrated with and be positioned at the robot of V-shaped groove compared with low side.
6. robot according to claim 5 material loading benchmark bin, is characterized in that, the operate portions of the robot gripper of described robot is magnechuck.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310302168.3A CN103394954B (en) | 2013-07-18 | 2013-07-18 | Robot material loading benchmark bin |
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| CN201310302168.3A CN103394954B (en) | 2013-07-18 | 2013-07-18 | Robot material loading benchmark bin |
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| CN103394954A CN103394954A (en) | 2013-11-20 |
| CN103394954B true CN103394954B (en) | 2016-01-06 |
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105619160A (en) * | 2016-03-28 | 2016-06-01 | 苏州倍特罗智能科技有限公司 | Receiving trough for discharging of machine tool |
| CN109967993A (en) * | 2019-01-14 | 2019-07-05 | 飞马智科信息技术股份有限公司 | Bus in Color Coat Production Line paper sleeve automatic installation apparatus and paper sleeve automatic installation method |
| CN112453312A (en) * | 2020-11-26 | 2021-03-09 | 天津市天锻压力机有限公司 | Bar gravity positioning device |
| CN112588481B (en) * | 2020-12-02 | 2023-03-31 | 周绿梅 | Panel furniture single face spraying device based on intelligent automation |
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| JP3565502B2 (en) * | 2000-10-16 | 2004-09-15 | 西研グラフィックス株式会社 | Cylindrical work separating and feeding device and cylindrical work inspection device |
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| CN202684964U (en) * | 2012-06-21 | 2013-01-23 | 江苏瑞洁塑料管材管件有限公司 | Device for cutting large-aperture plastic pipe |
| CN103072036A (en) * | 2013-01-07 | 2013-05-01 | 鞍钢集团工程技术有限公司 | Swing-type pipe billet sizing device and use method |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| JPH0425342A (en) * | 1990-05-18 | 1992-01-29 | Suzuki Motor Corp | Chip supply and discharge device to chip shaping device for welding |
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2013
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Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3565502B2 (en) * | 2000-10-16 | 2004-09-15 | 西研グラフィックス株式会社 | Cylindrical work separating and feeding device and cylindrical work inspection device |
| CN2923095Y (en) * | 2006-06-28 | 2007-07-18 | 江苏富力数控机床有限公司 | Plate positioning rack |
| CN201320698Y (en) * | 2008-12-22 | 2009-10-07 | 庄添财 | Pipe fitting automatic processing device |
| CN202292244U (en) * | 2011-08-25 | 2012-07-04 | 浙江蓝翔轴承有限公司 | Automatic feeding mechanism |
| CN202684964U (en) * | 2012-06-21 | 2013-01-23 | 江苏瑞洁塑料管材管件有限公司 | Device for cutting large-aperture plastic pipe |
| CN103072036A (en) * | 2013-01-07 | 2013-05-01 | 鞍钢集团工程技术有限公司 | Swing-type pipe billet sizing device and use method |
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| CN103394954A (en) | 2013-11-20 |
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