CN217493294U

CN217493294U - Pin driving mechanism for robot to punch steel rail

Info

Publication number: CN217493294U
Application number: CN202220876730.8U
Authority: CN
Inventors: 卓小劲
Original assignee: Guangdong Cuifeng Robotics Technology Ltd
Current assignee: Guangdong Cuifeng Robotics Technology Ltd
Priority date: 2022-04-16
Filing date: 2022-04-16
Publication date: 2022-09-27
Anticipated expiration: 2032-04-16

Abstract

The utility model relates to a pin equipment technical field discloses a knock pin mechanism for robot punching press rail, include: the steel rail profiling positioning mechanism is used for installing and fixing a steel rail workpiece; the casting part feeding mechanism is connected with the steel rail profiling positioning mechanism, and feeds the casting part to the steel rail to be matched; the mechanical arm is provided with a steel rail clamp for clamping a steel rail, and the mechanical arm moves the steel rail to the steel rail profiling positioning mechanism; the pin feeding mechanism is used for conveying pin feeding; the pin separating and guiding-in pressing mechanism is arranged on one side of the steel rail profiling positioning mechanism, and the pin separating and guiding-in pressing mechanism is used for bearing pins of the pin feeding mechanism to the steel rail profiling positioning mechanism to be matched with a cast part and a steel rail for pressing. The utility model discloses can realize the automatic riveting operation of cast member, rail and pin, improve assembly efficiency, more be suitable for in-service use.

Description

Pin driving mechanism for robot to punch steel rail

Technical Field

The utility model relates to a pin equipment technical field, in particular to a drive pin mechanism for robot punching press rail.

Background

In the assembly line of the robot stamping steel rail, assembly holes are reserved on the produced steel rail and die castings, and the steel rail and die castings need to be riveted into the assembly holes through pins. Due to the complex processing process, the automatic production is difficult to realize, and the processing efficiency is lower.

SUMMERY OF THE UTILITY MODEL

The utility model provides a technical problem to the defect that exists among the above-mentioned prior art, provide a knock pin mechanism for robot punching press rail to solve the problem that proposes among the above-mentioned background art.

In order to solve the technical problem, the utility model discloses the technical scheme who takes as follows:

a pinning mechanism for a robot to punch a rail, comprising:

the steel rail profiling positioning mechanism is used for installing and fixing a steel rail workpiece;

the casting part feeding mechanism is connected with the steel rail profiling positioning mechanism and matches casting part feeding with the steel rail;

the mechanical arm is provided with a steel rail clamp for clamping a steel rail, and the mechanical arm moves the steel rail to the steel rail profiling positioning mechanism;

the pin feeding mechanism is used for conveying pin feeding;

leading-in pressing mechanism of pin separation, the leading-in pressing mechanism of pin separation is located one side of rail profiling positioning mechanism, the leading-in pressing mechanism of pin separation accepts the pin of pin feed mechanism extremely rail profiling positioning mechanism cooperation casting member, rail carry out the pressfitting.

Further, rail profiling positioning mechanism includes the base station, sets up be used for fixed rail positioner and setting on the base station and be in the base station is used for the imitative type seat of fixed rail and casting.

Further, cast member feed mechanism includes the cast member vibration disc, with the cast member runner that the cast member vibration disc is connected sets up cast member runner discharge gate is used for the centre gripping cast member to remove to the centre gripping mobile device of imitative type seat, the centre gripping mobile device is in the tip centre gripping cast member of cast member runner removes to on the imitative type seat.

Further, the centre gripping mobile device includes that the X axle removes the module, sets up the support that the module was removed to the X axle, the shelf location Z axle removes the module and installs the casting piece anchor clamps that are used for centre gripping casting piece on the Z axle removes the module.

Further, the steel rail clamp comprises a rotating device arranged on the mechanical arm and a finger cylinder arranged on the rotating device and used for clamping the steel rail.

Further, the pin feeding mechanism comprises a pin vibrating disc, a pin flow channel connected with the pin vibrating disc and a material pushing device arranged at a pin flow channel discharge port and used for pushing pins, and the material pushing device pushes the pins to the pin separation leading-in pressing mechanism.

Furthermore, the material pushing device comprises a material pushing cylinder and a pushing block arranged at the telescopic end of the material pushing cylinder and used for bearing the pin, and the material pushing cylinder drives the pushing block to move to the pin separation and leading-in pressing mechanism.

Furthermore, the pin separating and guiding and pressing mechanism comprises a Z-axis stretching device arranged on one side of the steel rail profiling positioning mechanism, a Y-axis moving device arranged on the Z-axis stretching device, and a punching needle device arranged on the Y-axis moving device and used for moving the pin hole in the pin string, wherein the pin hole in the pin string is punched by the Y-axis moving device and the casting piece and the steel rail, and is riveted by the Z-axis stretching device.

Furthermore, the punching needle device comprises a pin unloading device arranged on the Y-axis moving device and a punching needle pushing device arranged on the punching needle unloading device, the punching needle pushing device drives the punching needle to be stringed into an inner hole of the pin, and the punching needle unloading device drives the pin to be unloaded on a casting part and a steel rail.

Compared with the prior art, the beneficial effects of the utility model reside in that: the utility model discloses an adopt automatic feed, the pin feed mechanism of cast member feed mechanism realization cast member to realize the automatic feed of pin, through arm centre gripping rail feed, under the effect of the leading-in mechanism of pin separation, on the pilot hole on cast member and the rail is gone into with the pin cluster, realize automatic equipment operation, improve production efficiency.

Drawings

Fig. 1 is a schematic view of a rail structure.

Fig. 2 is a schematic view of the structure of the casting.

Fig. 3 is a schematic illustration of a pin configuration.

Fig. 4 is a schematic structural diagram of the present invention.

Fig. 5 is a schematic structural diagram of a rail profiling positioning mechanism.

Fig. 6 is a schematic structural view of a casting feeding mechanism.

Fig. 7 is a schematic structural view of the clamping and moving device.

Fig. 8 is a schematic view of the robotic arm and rail clamp configuration.

Fig. 9 is a schematic structural view of a pin feeding mechanism.

Fig. 10 is a schematic view of the pusher mechanism.

Fig. 11 is a schematic structural view of a pin separating and guiding pressing mechanism.

Fig. 12 is a structural schematic diagram of the punching needle device.

Reference numerals are as follows: 1. a steel rail profiling positioning mechanism; 2. a steel rail; 3. a casting feeding mechanism; 4. casting; 5. a mechanical arm; 6. a rail clamp; 7. a pin feeding mechanism; 8. a pin; 9. the pin is separated and led into the pressing mechanism; 10. a base station; 11. a positioning device; 12. a profiling seat; 13. casting vibration discs; 14. a casting runner; 15. clamping the mobile device; an X-axis moving module; 17. a support; moving the mold in the Z axis; 19. a casting jig; 20. a rotating device; 21. a finger cylinder; 22. a pin vibrating disc; 23. a pin runner; 24. a material pushing device; 25. a material pushing cylinder; 26. a push block; a Z-axis telescopic device; y-axis moving means; 29. a needle punching device; 30. a pin unloading device; 31. a punch needle pushing device.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings.

The embodiments described by referring to the drawings are exemplary and intended to be illustrative of the present application and are not to be construed as limiting the present application. In the description of the present application, it is to be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the present application and for simplicity in description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed in a particular orientation, and be operated in a particular manner, and thus should not be considered limiting. Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or to implicitly indicate the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present application, "a plurality" means two or more unless specifically limited otherwise. In this application, unless expressly stated or limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can include, for example, fixed connections, removable connections, or integral connections; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate. In this application, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may comprise direct contact of the first and second features, or may comprise contact of the first and second features not directly but through another feature in between. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly above and obliquely above the second feature, or simply meaning that the first feature is at a lesser level than the second feature.

As shown in fig. 1-12, for the utility model provides a pin driving mechanism for robot punching press rail, include: the steel rail profiling positioning mechanism 1 is used for installing and fixing a steel rail 2 workpiece on the steel rail profiling positioning mechanism 1; the casting part feeding mechanism 3 is connected with the steel rail profiling positioning mechanism 1, and the casting part feeding mechanism 3 feeds a casting part 4 to be matched with the steel rail 2; the mechanical arm 5 is provided with a steel rail clamp 6 for clamping the steel rail 2, and the mechanical arm 5 moves the steel rail 2 to the steel rail profiling positioning mechanism 1; the pin feeding mechanism 7 is used for feeding the pins 8; leading-in pressing means 9 of pin separation, the leading-in pressing means 9 of pin separation is located one side of rail profiling positioning mechanism 1, the leading-in pressing means 9 of pin separation accepts pin 8 of pin feed mechanism 7 extremely rail profiling positioning mechanism 1 cooperation casting 4, rail 2 carry out the pressfitting.

In view of the technical problems described in the background, the main object of the present pinning system is to improve the machining efficiency by designing each mechanical mechanism to perform an automatic assembly operation of a cast member, a rail, and a pin by a synergistic effect between the mechanical mechanisms.

As shown in fig. 1-3, the structure of the steel rail 2, the casting 4 and the pin 8 is respectively, the steel rail profiling positioning mechanism 1 is designed to be profiled mainly according to the shape of the steel rail 2, and after the steel rail 2 is positioned, the subsequent assembly operation is facilitated. And the casting part feeding mechanism 3 is used for feeding the casting part 4 to the position of the rail profiling positioning mechanism 1. The mechanical arm 5 is used for moving the steel rail 2 to the steel rail profiling positioning mechanism 1, and meanwhile, after the steel rail 2, the casting part 4 and the pin 8 are assembled, the assembled product is clamped and unloaded. The pin separating and guiding pressing mechanism 9 is mainly used for taking out the pins 8 from the pin feeding mechanism 7, then perforating and guiding the pins with the casting 4 and the steel rail 2 on the steel rail profiling positioning mechanism 1, and then carrying out final riveting operation on the pin separating and guiding pressing mechanism 9.

The specific operation process is as follows: 6 centre gripping rail 2 of rail anchor clamps on arm 5 remove to rail profiling positioning mechanism 1 and fix a position, then, casting part feed mechanism 3 feeds casting part 4 to rail profiling positioning mechanism 1 position department, pin feed mechanism 7 feeds pin 8, the leading-in pressing mechanism 9 of pin separation, separate pin 8 from pin feed mechanism 7 and remove to rail profiling mechanism 1, with rail 2, casting part 4 carries out the perforation cooperation, accomplish the riveting operation under the leading-in pressing mechanism 9 drive of pin separation at last, thereby realize automatic operation process, and the production efficiency is improved.

As shown in fig. 5, the rail profiling positioning mechanism 1 includes a base 10, a positioning device 11 provided on the base 10 for fixing the rail 2, and a profiling seat 12 provided on the base 10 for fixing the rail 2 and the casting 4.

In this embodiment, the above is the structure of the rail profiling positioning mechanism 1 used, the base 10 is a table formed by using mechanical parts, the positioning device 11 is a device of cylinder type for limiting the degree of freedom of the rail 2 in the Z-axis direction, and the profiling seats 12 can be designed to be correspondingly profiled according to the actual processing target rail 2 and the cast product 4.

Referring to fig. 6 and 7, the casting feeding mechanism 3 includes a casting vibrating plate 13, a casting runner 14 connected to the casting vibrating plate 13, and a clamping moving device 15 disposed at an outlet of the casting runner 14 for clamping the casting 4 to move to the contour seat 12, wherein the clamping moving device 15 clamps the casting 4 to move to the contour seat 12 at an end of the casting runner 14.

In this embodiment, the above is the structural composition of the casting feeding mechanism 3, the casting 4 is fed in the form of the casting vibrating plate 13, and when the casting 4 is fed to the discharge port of the casting runner 14, the casting 4 is clamped by the clamping and moving device 15, and then moved to the profiling seat 12, and the casting 4 is placed on the profiling seat 12.

The clamping and moving device 15 comprises an X-axis moving module 16, a support 17 arranged on the X-axis moving module 16, a Z-axis moving module 18 mounted on the support 17, and a casting clamp 19 mounted on the Z-axis moving module 18 and used for clamping the casting 4.

In this implementation, the clamping and moving device 15 needs to complete the clamping and placing operations of the casting 4, the clamping operation uses the casting clamp 19 to clamp the casting, the casting clamp 19 can use a finger cylinder to clamp the casting or use a profiling clamp to clamp the casting, the placing operation needs to involve moving and placing, the moving operation uses the X-axis moving module 16, linear movement mainly occurs along the X-axis, the X-axis moving module 16 can use a form formed by a cylinder and a slide rail, the cylinder is used as a driving force, a mechanical part moves on the slide rail, the Z-axis moving module 18 can use a form of a cylinder to place the casting along the Z-axis, and the cylinder drives the casting clamp 19 to move along the Z-axis to clamp and place the casting 4.

As shown in fig. 8, the rail clamp 6 includes a rotating device 20 mounted on the robot arm 5, and a finger cylinder 21 mounted on the rotating device 20 for clamping the rail 2.

The rail clamp 6 used in the above embodiment is a finger cylinder 21 corresponding to the shape of the rail 2, and the rail 2 is clamped by the finger cylinder 21 and then rotated by the rotating device 20 to adjust the direction of the rail 2. The rotary device 20 may be used with a rotary air cylinder.

Referring to fig. 9, the pin feeding mechanism 7 includes a pin vibrating plate 22, a pin flow channel 23 connected to the pin vibrating plate 22, and a material pushing device 24 disposed at a discharge port of the pin flow channel 23 and used for pushing the pin 8, where the material pushing device 24 pushes the pin 8 to the pin separation and introduction pressing mechanism 9.

In this embodiment, the pin feeding mechanism 7 adopts a pin vibrating disk 22 feeding mode, the pin 8 moves to the pushing device 24 on the pin vibrating disk 22, and after the pushing device 24 receives the pin 8, the pushing device 24 moves the pin 8 to the rail profiling positioning mechanism 1.

Referring to fig. 10, the pushing device 24 includes a pushing cylinder 25 and a pushing block 26 disposed at a telescopic end of the pushing cylinder 25 and used for receiving the pin 8, and the pushing cylinder 25 drives the pushing block 26 to move to the pin separating and guiding-in pressing mechanism 1.

The pushing block 26 on the pushing device 24 is provided with a notch which can conveniently accommodate the pin 8, and after the pin 8 is fed to the pushing block 26, the pushing cylinder 25 drives the pushing block 26 to move to the position where the pin is separated and led into the pressing mechanism 1.

As shown in fig. 11, the pin separating and guiding-in pressing mechanism 9 includes a Z-axis extending device 27 disposed on one side of the rail profiling positioning mechanism 1, a Y-axis moving device 28 disposed on the Z-axis extending device 27, and a punch pin device 29 disposed on the Y-axis moving device 28 and used for moving the inner hole of the inserted pin 8, wherein the punch pin device 29 is inserted into the inner hole of the pin 8, and is driven by the Y-axis moving device to punch a hole through the casting 4 and the rail 2, and is riveted through the Z-axis extending device 27.

The pin separating and guiding-in pressing mechanism 9 adopted in this embodiment is mainly used for taking out the pin 8 from the push block 26, and therefore the pin separating and guiding-in pressing mechanism 9 needs to involve the punch pin device 29 matched with the pin 8 and the Z-axis extending device 27, under the action of the punch pin device 29, the punch pin device 29 is connected into the inner hole of the pin 8 in series, the punch pin device 27 drives the pin 8 to be separated from the push block 26 under the driving of the Z-axis extending device 27, then, under the action of the Y-axis moving device 28, the punch pin device 27 drives the pin 8 to move to the rail profiling positioning mechanism 1 to be matched with the assembly hole of the steel rail 2 and the casting piece 4 on the rail profiling positioning mechanism, and further driving of the Z-axis extending device 27 completes the riveting operation of the rest of the pin 8, the steel rail 2 and the casting piece 4.

The Z-axis extending/contracting device 27 is driven by an air cylinder disposed along the Z-axis, and the Y-axis moving device 28 is driven by an air cylinder disposed along the Y-axis and a slide rail, and the air cylinder driving unit moves along the Y-axis.

As shown in fig. 12, the punch pin device 29 includes a pin unloading device 30 installed on the Y-axis moving device 28, and a punch pin pushing device 31 provided on the punch pin unloading device 30, the punch pin pushing device 31 drives the punch pin to penetrate into the inner hole of the pin 8, and the punch pin unloading device 30 drives the pin 8 to be unloaded on the casting 4 and the steel rail 2.

The punching needle device 29 mainly has the main functions of discharging after assembling the pin 8 with the steel rail 2 and the die casting 4, the punching needle pushing device 31 mainly adopts the forms of an air cylinder and a punching needle, the punching needle is a round bar with a certain length and arranged on the telescopic end of the air cylinder, the diameter of the round bar is smaller than the inner hole of the pin 8, the punching needle is driven by the air cylinder to go deep into the pin 8, and the pin 8 is taken under the drive of the Z-axis telescopic device 27; then under the effect of Y axle mobile device 28, after pin 8 has been accomplished, cooperate with rail 2, the pilot hole of die casting 4, towards needle discharge apparatus 30 mainly includes the cylinder that sets up along the X axle, a slide rail, the ejector sleeve of setting on the cylinder, the ejector sleeve cover is established on towards the needle, and set up the briquetting at the ejector sleeve front end, the imitative type structure has been set up on the briquetting, can be spacing to die casting 4 and rail 2, the hole site that sets up on the briquetting aligns rather than the pilot hole, cylinder drive ejector sleeve is unloaded pin 8 on die casting 4 and rail 2, the briquetting is accomplished pin 8, die casting 4 and the pressfitting operation of rail 2 under the effect of Z axle telescoping device 27.

The above is not intended to limit the technical scope of the present invention, and any modifications, equivalent changes and modifications made to the above embodiments according to the technical spirit of the present invention are all within the scope of the technical solution of the present invention.

Claims

1. A drive pin mechanism for a robot to punch steel rails, comprising:

the pin feeding mechanism is used for conveying pin feeding;

the pin separation and lead-in pressing mechanism is arranged on one side of the steel rail profiling positioning mechanism and is used for bearing pins of the pin feeding mechanism to the steel rail profiling positioning mechanism to be matched with a cast part and a steel rail for pressing.

2. The pinning mechanism for robotic punching of a rail according to claim 1, wherein: the steel rail profiling positioning mechanism comprises a base platform, a positioning device and a profiling seat, wherein the positioning device is arranged on the base platform and used for fixing a steel rail, and the profiling seat is arranged on the base platform and used for fixing the steel rail and a casting part.

3. The pinning mechanism for robotic punching of a rail according to claim 2, wherein: casting feed mechanism includes the casting vibration dish, with the casting runner that the casting vibration dish is connected sets up casting runner discharge gate is used for the centre gripping casting to remove extremely the centre gripping mobile device of imitative type seat, the centre gripping mobile device is in the tip centre gripping casting of casting runner removes extremely on the imitative type seat.

4. The pinning mechanism for robotic punching of a rail according to claim 3, wherein: the clamping moving device comprises an X-axis moving module and a support, the support is arranged on the X-axis moving module, the support is provided with a Z-axis moving module, and a casting part clamp is arranged on the Z-axis moving module and used for clamping a casting part.

5. The pinning mechanism for robotic punching of a rail according to claim 1, wherein: the steel rail clamp comprises a rotating device arranged on the mechanical arm and a finger cylinder arranged on the rotating device and used for clamping a steel rail.

6. The pinning mechanism for robotic punching of a rail according to claim 1, wherein: the pin feeding mechanism comprises a pin vibrating disc, a pin flow channel connected with the pin vibrating disc and a material pushing device arranged at a pin flow channel discharge port and used for pushing pins, and the material pushing device pushes the pins to the pin separation leading-in pressing mechanism.

7. The pinning mechanism for robotic punching of a rail according to claim 6, wherein: the material pushing device comprises a material pushing cylinder and a pushing block arranged on the telescopic end of the material pushing cylinder and used for bearing pins, and the material pushing cylinder drives the pushing block to move to the pin separating and guiding-in pressing mechanism.

8. The pinning mechanism for robotic punching of a rail according to claim 1, wherein: the pin separation and introduction pressing mechanism comprises a Z-axis stretching device arranged on one side of the steel rail profiling positioning mechanism, a Y-axis moving device arranged on the Z-axis stretching device, and a punching needle device arranged on the Y-axis moving device and used for moving the pin hole in the string, wherein the pin hole in the string is punched by the punching needle device through the Y-axis moving device, the casting part and the steel rail are moved, and the pin hole is riveted by the Z-axis stretching device.

9. The pinning mechanism for robotic punching of a rail according to claim 8, wherein: towards the needle device including installing at Y axle mobile device's pin discharge apparatus and setting towards needle thrust unit towards on the needle discharge apparatus, towards the hole that the needle thrust unit drive was strikeed into the pin, towards needle discharge apparatus drive and unload the pin on cast member, rail.