Air cylinder feeding device

Abstract

The utility model provides an air cylinder feeding device which comprises a skip car, a plurality of air cylinders arranged in a matrix mode are laid on the skip car. A plurality of jigs used for positioning the air cylinder are fixedly mounted on the positioning table; a fixing plate is installed at the tail end of the mechanical arm, a plurality of clamps used for clamping air cylinders are arranged on the fixing plate, the number and the relative positions of the clamps correspond to the number and the relative positions of the jigs, and one clamp is provided with a lifting assembly; and the control cabinet is connected with the mechanical arm, the clamp and the lifting assembly. The mechanical arm is controlled to drive the clamps provided with the lifting assemblies to sequentially clamp the air cylinders to be placed on the jigs on the positioning table, then the mechanical arm is controlled to drive the clamps to clamp the air cylinders on the positioning table at the same time, and the air cylinders are placed at the feeding end of machining equipment. And a plurality of air cylinders can be grabbed at a time for feeding the multi-station broaching machine, so that the machining efficiency of the multi-station broaching machine is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of cylinder processing, in particular to a cylinder loading device. Background Art

[0002] The cylinder is one of the key components in an air conditioner compressor. The cylinder is used to assemble a rolling piston and a sliding vane. The rolling piston is arranged on the eccentric crankshaft of the compressor and rolls along the cylinder wall during refrigeration. The sliding vane is in close contact with the outer wall of the rolling piston under the action of spring force to form a dynamic seal.

[0003] During the production process of the cylinder, a broaching machine is needed for processing. In order to improve the processing efficiency, generally a multi-station broaching machine is used to process multiple cylinders at the same time. Generally, a mechanical gripper is used to automatically grab the cylinders to be processed for loading. However, the traditional mechanical gripper can only grab one cylinder at a time, which reduces the processing efficiency of the multi-station broaching machine. Summary of the Utility Model

[0004] The utility model provides a cylinder loading device, which solves the problems that the mechanical gripper in the prior art can only grab one cylinder at a time, reducing the processing efficiency of the multi-station broaching machine, etc.

[0005] The technical solution of the utility model is realized as follows:

[0006] The utility model provides a cylinder loading device, including:

[0007] A material truck, on which a number of cylinders arranged in a matrix are laid;

[0008] A positioning table, on which a number of fixtures for positioning cylinders are fixedly installed;

[0009] A robotic arm, at the end of which a fixing plate is installed. A number of clamps for clamping cylinders are arranged on the fixing plate. The number and relative positions of the clamps correspond to the number and relative positions of the fixtures. One of the clamps is equipped with a lifting component;

[0010] A control cabinet, which is connected to the robotic arm, the clamps and the lifting component, and is used to control the robotic arm to drive the clamp equipped with the lifting component to sequentially clamp a number of cylinders and place them on a number of fixtures on the positioning table, and then control the robotic arm to drive a number of clamps to simultaneously clamp a number of cylinders on the positioning table and place them at the feeding end of the processing equipment.

[0011] The utility model controls the robotic arm to drive the fixture configured with a lifting component to sequentially pick up a number of cylinders and place them on a number of jigs on the positioning table, and then controls the robotic arm to drive a number of fixtures to simultaneously pick up a plurality of cylinders on the positioning table and place them at the feeding end of the processing equipment, so that multiple cylinders can be grabbed at one time for feeding the multi-station broaching machine, improving the processing efficiency of the multi-station broaching machine.

[0012] Preferably, a vision camera is installed above the material truck, and the vision camera is connected to the control cabinet, and is used to identify the position and angle of the cylinder, so as to control the robotic arm to rotate the fixture to pick up the cylinder in a set posture according to the position and angle information of the cylinder and place it on the jig on the positioning table.

[0013] Furthermore, a number of layers of cylinders are laid on the material truck, the vision camera is installed above the material truck through a lifting module, and the lifting module is connected to the control cabinet, and the height of the vision camera is adjusted through the lifting module to facilitate the identification and positioning of cylinders with different heights (the stacking heights of cylinders located on different layers are different).

[0014] Furthermore, each layer of the cylinders is isolated by a partition board, and a suction cup assembly for sucking the partition board is also installed at the end of the robotic arm. The suction cup assembly is connected to the control cabinet, and the suction cup assembly and the fixture are switched by controlling the end joint of the robotic arm to rotate a certain angle. When all the cylinders on a certain layer of the partition board are loaded, the suction cup assembly can be switched to a vertically downward orientation by controlling the end joint of the robotic arm to rotate a certain angle, so as to facilitate sucking the partition board and placing it at the partition board storage place. After the partition board is taken away, the fixture can be switched to a vertically downward orientation again by controlling the end joint of the robotic arm to rotate a certain angle, so as to facilitate continuing to pick up the cylinders for feeding.

[0015] Specifically, the jig includes a bottom plate, and a number of vertical positioning pins are arranged on the top surface of the bottom plate. The size and position of the positioning pins correspond to the size and position of the pin holes on the cylinder. The cylinder can be limited by the cooperation of a plurality of positioning pins and the pin holes on the cylinder, so as to prevent the cylinder from displacing on the jig.

[0016] Furthermore, a position sensor and a number of cushion blocks are installed on the top surface of the bottom plate. The position sensor is connected to the control cabinet and is used to detect whether a cylinder is placed on the jig. After a cylinder is placed on each jig, the robotic arm is controlled to drive a number of fixtures to simultaneously pick up the cylinders on the corresponding jigs for feeding. The cushion blocks are used to pad up the cylinders to facilitate the fixture to extend into the inner hole of the cylinder to pick up the cylinder.

[0017] Specifically, the fixture is a three-jaw chuck finger, and the three-jaw chuck finger extends into the inner hole of the cylinder to pick up the cylinder by means of internal support, and the clamping is stable and reliable.

[0018] Specifically, the lifting assembly includes a bracket. A driving component is installed on the outer side of the top of the bracket. The telescopic shaft of the driving component is connected to a fixture. A linear bearing is also installed on the bracket. A guide shaft is slidably connected inside the linear bearing. One end of the guide shaft is connected to the fixture. The lifting of the fixture is realized by driving the telescopic shaft of the driving component to expand and contract. The lifting of the fixture is guided by the sliding fit between the linear bearing and the guide shaft, reducing lateral jitter.

[0019] Preferably, a cart guiding mechanism is provided on one side of the robotic arm. The cart guiding mechanism includes two parallel guide rails. The distance between the two guide rails matches the width of the cart. A number of guide rollers are provided on the inner side of the guide rails, and the entrance of the guide rails is of an outward-expanded structure. By providing a number of guide rollers on the inner side of the guide rails and designing the entrance of the guide rails to be of an outward-expanded structure, it is convenient for the cart to be pushed between the two guide rails. The cart is laterally constrained and longitudinally guided by the two guide rails.

[0020] Further, a limit block for limiting the wheels of the cart is provided on the ground at the end of the cart guiding mechanism. An active limit component is provided at the front end of the guide rail. The active limit component includes a mounting seat fixed at the front end of the guide rail, on which a retaining arm is rotatably installed and a handle for rotating the retaining arm. A pressing head for abutting against the cart is provided at the end of the retaining arm. The cart is longitudinally limited by the retaining arm, the pressing head at the front end of the guide rail and the limit block at the end, and the cart can be fixed in cooperation with the guide rail. Description of the Drawings

[0021] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0022] Figure 1 It is a schematic diagram of the overall structure of a cylinder feeding device of the present invention;

[0023] Figure 2 It is a schematic diagram of the assembly structure of the cylinder and the fixture in the embodiment of the present invention;

[0024] Figure 3 It is a schematic diagram of the installation structure of 3 fixtures on the fixing plate in the embodiment of the present invention;

[0025] Figure 4 It is a schematic diagram of the cooperation state between the cart and the cart guiding mechanism in the embodiment of the present invention;

[0026] In the figure: 1, charging car; 2, cylinder; 3, positioning table; 4, fixture; 5, robotic arm; 6, fixed plate; 7, clamp; 8, lifting assembly; 9, vision camera; 10, lifting module; 11, suction cup assembly; 12, bottom plate; 13, positioning pin; 14, pin hole; 15, position sensor; 16, spacer block; 17, bracket; 18, driving component; 19, telescopic shaft; 20, linear bearing; 21, guiding shaft; 22, charging car guiding mechanism; 23, guide rail; 24, guiding roller; 25, outward expansion structure; 26, limiting block; 27, mounting seat; 28, blocking arm; 29, handle; 30, pressing head. Detailed implementation manners

[0027] The technical solutions of the present utility model will be clearly and completely described below in conjunction with the embodiments of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all of the embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present utility model.

[0028] Referring to Figures 1 to 4 , the present utility model provides a cylinder feeding device, including:

[0029] A charging car 1, on which a number of cylinders 2 arranged in a matrix are laid;

[0030] A positioning table 3, on which a number of fixtures 4 for positioning the cylinders 2 are fixedly installed;

[0031] A robotic arm 5, at the end of which a fixed plate 6 is installed. A number of clamps 7 for clamping the cylinders 2 are provided on the fixed plate 6. The number and relative positions of the clamps 7 correspond to the number and relative positions of the fixtures 4. One of the clamps 7 is configured with a lifting assembly 8 (in this embodiment, the number of clamps 7 is 3, and the middle clamp 7 is configured with a lifting assembly 8. The specific number of clamps 7 can be flexibly adjusted according to actual needs);

[0032] A control cabinet, which is connected to the robotic arm 5, the clamps 7, and the lifting assembly 8, and is used to control the robotic arm 5 to drive the clamp 7 configured with the lifting assembly 8 to sequentially clamp a number of cylinders 2 and place them on a number of fixtures 4 on the positioning table 3, and then control the robotic arm 5 to drive a number of clamps 7 to simultaneously clamp a plurality of cylinders 2 on the positioning table 3 and place them at the feeding end of the processing equipment.

[0033] The utility model controls the robotic arm 5 to drive the fixture 7 configured with the lifting assembly 8 to sequentially pick up a plurality of cylinders 2 and place them on a plurality of fixtures 4 on the positioning table 3, and then controls the robotic arm 5 to drive a plurality of fixtures 7 to simultaneously pick up a plurality of cylinders 2 on the positioning table 3 and place them at the feeding end of the processing equipment, so that multiple cylinders 2 can be grabbed at one time for feeding the multi-station broaching machine, improving the processing efficiency of the multi-station broaching machine.

[0034] Preferably, a vision camera 9 is installed above the material truck 1, and the vision camera 9 is connected to the control cabinet, and is used to identify the position and angle of the cylinder 2, so as to control the robotic arm 5 to rotate the fixture 7 to pick up the cylinder 2 in a set posture according to the position and angle information of the cylinder 2 and place it on the fixture 4 on the positioning table 3 (the position of the cylinder 2 on the material truck 1 can be located according to the pixel coordinates of the center point of the inner hole of the cylinder 2 in the camera field of view, and then the path for the end of the robotic arm 5 to move to the target cylinder 2 can be planned. The placement angle of the cylinder 2 on the material truck 1 can be obtained according to the posture of the cylinder 2 in the camera field of view, so as to facilitate adjusting the rotation angle of the fixture 7, so that the fixture 7 picks up the cylinder 2 in a fixed posture and places it on the fixture 4 on the positioning table 3. The identification and positioning of the vision camera 9 can directly utilize the existing vision identification and positioning technology).

[0035] In the specific implementation process, the vision camera 9 may not be used to identify the position and angle of the cylinder 2. The placement position and angle of the cylinder 2 can be fixed on the material truck 1 in advance, and then the robotic arm 5 can be directly controlled to move the fixture 7 to the set spatial position to pick up the target cylinder 2.

[0036] Further, a plurality of layers of cylinders 2 are laid on the material truck 1, and the vision camera 9 is installed above the material truck 1 through a lifting module 10. The lifting module 10 is connected to the control cabinet, and the height of the vision camera 9 is adjusted through the lifting module 10 to facilitate the identification and positioning of cylinders 2 with different heights (the stacking heights of cylinders 2 located on different layers are different). Every time a layer of cylinders 2 is taken away, the lifting module 10 drives the vision camera 9 to descend by a corresponding height to ensure the accuracy of the identification and positioning of the vision camera 9.

[0037] Further, each layer of the cylinders 2 is separated by a partition board. A suction cup assembly 11 for sucking the partition board is further installed at the end of the robotic arm 5. The suction cup assembly 11 is connected to the control cabinet. By controlling the rotation of the end joint of the robotic arm 5 by a certain angle, the suction cup assembly 11 and the fixture 7 are switched. When all the cylinders 2 on a certain layer of the partition board are loaded, the suction cup assembly 11 can be switched to the vertically downward orientation by controlling the rotation of the end joint of the robotic arm 5 by a certain angle (90° in this embodiment) to facilitate sucking the partition board and placing it in the partition board storage place. After the partition board is taken away, the fixture 7 can be switched to the vertically downward orientation again by controlling the reverse rotation of the end joint of the robotic arm 5 by a certain angle (90° in this embodiment) to facilitate continuing to pick up the cylinders 2 for feeding.

[0038] Specifically, as Figure 2 shown, the fixture 4 includes a bottom plate 12. A plurality of vertical positioning pins 13 (2 in this embodiment) are provided on the top surface of the bottom plate 12. The dimensions and positions of the positioning pins 13 correspond to the dimensions and positions of the pin holes 14 on the cylinder 2. By the cooperation of the plurality of positioning pins 13 and the pin holes 14 on the cylinder 2, the cylinder 2 can be limited in position to prevent the cylinder 2 from displacing on the fixture 4.

[0039] During the specific implementation process, the top end of the positioning pin 13 is a conical tip, the purpose of which is to guide the pin hole 14 on the cylinder 2 to facilitate the insertion of the positioning pin 13 into the pin hole 14 on the cylinder 2.

[0040] Further, a position sensor 15 and a plurality of cushion blocks 16 (4 in this embodiment) are installed on the top surface of the bottom plate 12. The position sensor 15 is connected to the control cabinet and is used to detect whether the cylinder 2 is placed on the fixture 4. After the cylinder 2 is placed on each fixture 4, the manipulator 5 is controlled to drive a plurality of clamps 7 to simultaneously clamp the cylinders 2 on the corresponding fixtures 4 for feeding. The cushion blocks 16 are used to lift the cylinder 2 to facilitate the clamp 7 to extend into the inner hole of the cylinder 2 to clamp the cylinder 2.

[0041] During the specific implementation process, the position sensor 15 can adopt a photoelectric sensor.

[0042] Specifically, the clamp 7 is a three-jaw finger. The three-jaw finger extends into the inner hole of the cylinder 2 to clamp the cylinder 2 by means of internal support, and the clamping is stable and reliable.

[0043] During the specific implementation process, a buffer pad is provided on the outer wall of the three-jaw finger. On the one hand, it can prevent the three-jaw finger from damaging the inner hole side wall of the cylinder 2, and on the other hand, it can also increase the friction between the three-jaw finger and the inner hole of the cylinder 2 to improve the firmness of the three-jaw finger clamping the cylinder 2.

[0044] Specifically, as Figure 3 shown, the lifting assembly 8 includes a bracket 17. A driving component 18 is installed on the outer side of the top of the bracket 17. The telescopic shaft 19 of the driving component 18 is connected to the clamp 7. A linear bearing 20 is also installed on the bracket 17. A guide shaft 21 is slidably connected in the linear bearing 20. One end of the guide shaft 21 is connected to the clamp 7. By driving the telescopic shaft 19 of the driving component 18 to expand and contract, the lifting of the clamp 7 is realized. The lifting of the clamp 7 is guided by the sliding fit of the linear bearing 20 and the guide shaft 21 to reduce the lateral jitter.

[0045] Preferably, as Figure 4As shown, a cart guiding mechanism 22 is provided on one side of the robotic arm 5. The cart guiding mechanism 22 includes two parallel guide rails 23. The distance between the two guide rails 23 matches the width of the cart 1. A number of guide rollers 24 are provided on the inner side of the guide rails 23, and the entrance of the guide rails 23 is an outward-expanding structure 25. By providing a number of guide rollers 24 on the inner side of the guide rails 23 and designing the entrance of the guide rails 23 as an outward-expanding structure 25, it is convenient for the cart 1 to be pushed between the two guide rails 23. The two guide rails 23 perform lateral restraint and longitudinal guidance on the cart 1.

[0046] Furthermore, a limit block 26 for limiting the wheels of the cart 1 is provided on the ground at the end of the cart guiding mechanism 22. An active limit component is provided at the front end of the guide rail 23. The active limit component includes a mounting seat 27 fixed at the front end of the guide rail 23, a retaining arm 28 rotatably mounted on the mounting seat 27, and a handle 29 for rotating the retaining arm 28. A pressing head 30 for abutting against the cart 1 is provided at the end of the retaining arm 28. The retaining arm 28, the pressing head 30 at the front end of the guide rail 23, and the limit block 26 at the end perform longitudinal limitation on the cart 1, and the cart 1 can be fixed in cooperation with the guide rail 23.

[0047] The working process of the feeding device in this embodiment is as follows:

[0048] First, the cart 1 stacked with several layers of cylinders 2 is pushed to the entrance of the cart guiding mechanism 22. The cart 1 is pushed into the designated working position in cooperation with the guide rollers 24 on the inner side of the guide rail 23. After the front wheels of the cart 1 are blocked by the limit block 26, rotate the handle 29 to make the retaining arm 28 rotate to the rear end of the cart 1 to fix the cart 1.

[0049] Then, use the vision camera 9 above the cart 1 to identify the position and angle information of the uppermost cylinder 2. The control cabinet controls the robotic arm 5 to drive the three clamps 7 to move above the target cylinder 2 according to the position and angle information of the cylinder 2, adjust the horizontal angle of the clamp 7, and then control the lifting component 8 to drive the middle clamp 7 to descend a certain height and extend into the inner hole of the target cylinder 2 to clamp the cylinder 2. After clamping the cylinder 2, move the cylinder 2 to the fixture 4 on the positioning table 3 through the robotic arm 5; repeat the above steps until cylinders 2 are placed in the 3 fixtures 4 on the positioning table 3. Then control the robotic arm 5 to move above the positioning table 3, and then drive the 3 clamps 7 to simultaneously clamp the cylinders 2 on the 3 fixtures 4 and move them to the feeding end of the multi-station broaching machine, that is, complete one feeding process; during the gap when the broaching machine processes the 3 cylinders 2, the robotic arm 5 can also be used to sequentially clamp the 3 cylinders 2 on the cart 1 and place them on the 3 fixtures 4 on the positioning table 3, so as to realize the continuous operation of the multi-station broaching machine and improve the processing efficiency of the broaching machine.

[0050] The above are only the preferred embodiments of the present utility model and are not intended to limit the present utility model. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present utility model shall be included within the protection scope of the present utility model.

Claims

1. A cylinder feeding device, characterized in that: include: A material cart (1), on which a plurality of cylinders (2) arranged in a matrix are laid; A positioning platform (3), on which a plurality of jigs (4) for positioning the cylinder (2) are fixedly mounted; A mechanical arm (5), a fixing plate (6) is installed at the end of the mechanical arm (5), and a plurality of clamps (7) for clamping the cylinder (2) are arranged on the fixing plate (6), the number and relative positions of the clamps (7) correspond to the number and relative positions of the fixture (4), and one of the clamps (7) is equipped with a lifting assembly (8); A control cabinet is connected to a mechanical arm (5), a clamp (7), and a lifting assembly (8), and is used to control the mechanical arm (5) to drive the clamp (7) equipped with the lifting assembly (8) to sequentially clamp a plurality of cylinders (2) and place them on a plurality of jigs (4) on a positioning table (3), and then control the mechanical arm (5) to drive a plurality of clamps (7) to simultaneously clamp a plurality of cylinders (2) on the positioning table (3) and place them on a feed end of a processing device.

2. A cylinder feeding device as claimed in claim 1, characterized in that: A visual camera (9) is installed above the material cart (1), and the visual camera (9) is connected to the control cabinet and is used to identify the position and angle of the cylinder (2).

3. A cylinder feeding device as claimed in claim 2, characterized in that: A plurality of layers of cylinders (2) are arranged on the material cart (1), and the visual camera (9) is installed above the material cart (1) via a lifting module (10), and the lifting module (10) is connected to a control cabinet.

4. A cylinder feeding device as claimed in claim 3, characterized in that: Each layer of the cylinders (2) is isolated by partitions, and a suction cup assembly (11) for sucking the partitions is also installed at the end of the mechanical arm (5). The suction cup assembly (11) is connected to a control cabinet, and the suction cup assembly (11) and the clamp (7) are switched by controlling the end joint of the mechanical arm (5) to rotate a certain angle.

5. A cylinder feeding device as claimed in claim 1, characterized in that: The jig (4) comprises a bottom plate (12), the top surface of which is provided with a plurality of vertical positioning pins (13), the size and position of the positioning pins (13) corresponding to the size and position of the pin holes (14) on the cylinder (2).

6. A cylinder feeding device as claimed in claim 5, characterized in that: A position sensor (15) and a plurality of cushion blocks (16) are installed on the top surface of the base plate (12); the position sensor (15) is connected to a control cabinet and is used to detect whether a cylinder (2) is placed on the fixture (4); and the cushion blocks (16) are used to cushion the cylinder (2).

7. A cylinder feeding device as claimed in claim 1, characterized in that: The clamp (7) is a three-claw clamp finger, which is fixed by internal support and extends into the inner hole of the cylinder (2) to clamp the cylinder (2).

8. A cylinder feeding device as claimed in claim 1, characterized in that: The lifting assembly (8) comprises a bracket (17), a driving component (18) is installed on the outer side of the top of the bracket (17), a telescopic shaft (19) of the driving component (18) is connected to the clamp (7), a linear bearing (20) is also installed on the bracket (17), a guide shaft (21) is slidably connected inside the linear bearing (20), and one end of the guide shaft (21) is connected to the clamp (7).

9. A cylinder feeding device as claimed in claim 1, characterized in that: A material cart guide mechanism (22) is provided on one side of the mechanical arm (5), and the material cart guide mechanism (22) includes two parallel guide rails (23), the spacing between the two guide rails (23) matches the width of the material cart (1), a plurality of guide rollers (24) are provided on the inner side of the guide rail (23), and the entrance of the guide rail (23) is an outward expansion structure (25).

10. A cylinder feeding device as claimed in claim 9, characterized in that: A limit block (26) for limiting the position of the wheel of the material cart (1) is provided on the ground at the end of the material cart guide mechanism (22); a movable limit assembly is provided at the front end of the guide rail (23); the movable limit assembly comprises a stop arm (28) rotatably mounted on a mounting seat (27) fixed at the front end of the guide rail (23) and a handle (29) for rotating the stop arm (28); a pressure head (30) for resisting the material cart (1) is provided at the end of the stop arm (28).

Images