Separated air cylinder and double-floating structure combined material taking and placing mechanism

Abstract

The utility model discloses a separate air cylinder and double-floating structure combined material taking and placing mechanism, and relates to the technical field of automatic manufacturing. The device comprises a stroke-adjustable air cylinder, an air cylinder deep hole hollow guide shaft, a spring floating mechanism guide shaft, a first spring floating structure, a first linear bushing, a second linear bushing, an air cylinder connecting column, an electromagnet fixing plate set, an electromagnet, a second spring floating mechanism and a second spring floating structure limiting bolt. And a product identification optical fiber sensor, a light collecting mirror and a cylinder rising in-place sensor. Through large-stroke buffering of the first spring floating structure and short-stroke avoiding of the second spring floating structure, the problems of product suction plane height errors and mold obstacle collision are solved, a clamp and a mold are protected, and equipment reliability is improved; large-stroke swing errors are eliminated, and the steel billet placing precision is remarkably improved; and 8-cavity and 12-cavity mold clamps are adapted, so that quick switching of small-batch order models is realized, and the cost is saved.

Description

Technical Field

[0001] This utility model belongs to the field of automated manufacturing technology, specifically relating to a separate cylinder and double floating structure combined picking and placing mechanism applied to a fully automatic brake pad production line, used to realize the automated action of picking out finished brake pads and placing steel billets. Background Technology

[0002] In the existing processes of the brake pad manufacturing industry, the reliability of the finished product removal and billet placement in the mold has always been a problem that has not received enough attention. If the reliability is reduced, such as when the finished product falls during the removal process or the billet is not placed in place, it will directly affect the equipment utilization rate in the production process. In severe cases, it will damage the fixtures and molds, causing significant losses. Therefore, a reliable fixture design scheme, which uses mechanical reliability and sensors to determine the position of the action and the presence or absence of the product, is a prerequisite for achieving unmanned tracking and fully autonomous automation.

[0003] The traditional gantry robot's material handling device has the following defects: (1) During the process of placing the billet in the mold, the large stroke swing of the Z-axis leads to insufficient positioning accuracy and rigidity, affecting the placement accuracy of the billet; (2) The gantry robot is installed independently from the forming machine. During debugging, the heavy forming machine needs to be moved to align with the mold, which is difficult to debug and occupies workshop area, resulting in poor equipment layout flexibility; (3) For multi-cavity molds such as 8-cavity and 12-cavity molds, the existing fixtures cannot be switched freely. The automation switching efficiency is low when producing small batch orders. The equipment is prone to failure due to product falling or billet not being placed properly, which damages the mold and fixtures and reduces the equipment uptime. Therefore, a highly reliable and high-precision material handling mechanism is urgently needed to solve the shortcomings of the existing technology. Utility Model Content

[0004] This invention provides a material handling mechanism combining a separate cylinder and a double floating structure, which solves the above problems.

[0005] To solve the above-mentioned technical problems, this utility model is achieved through the following technical solution:

[0006] The present invention comprises a separate cylinder and a double floating structure combined material handling mechanism, including a stroke adjustable cylinder, a cylinder deep hole hollow guide shaft, a spring floating mechanism guide shaft, a first spring floating structure, a first linear bushing, a second linear bushing, a cylinder connecting column, an electromagnet fixing plate assembly, an electromagnet, a second spring floating mechanism, a second spring floating structure limit bolt, a product identification fiber optic sensor and a light-collecting lens, and a cylinder rising to position sensor.

[0007] The adjustable stroke cylinder is connected to the electromagnet fixing plate assembly via a cylinder connecting column. The cylinder deep-hole hollow guide shaft cooperates with the second linear bushing for guidance. The spring floating mechanism guide shaft passes through the first linear bushing and is connected to the first spring floating structure. The second spring floating mechanism is coaxially assembled with the electromagnet fixing plate assembly via a limiting bolt. The electromagnets are symmetrically distributed on the electromagnet fixing plate assembly. The product identification fiber optic sensor and light-collecting lens are used to detect the presence or absence of the product.

[0008] Furthermore, the stroke-adjustable cylinder is a double-rod double-acting stroke-adjustable cylinder or a double-rod single-acting stroke-adjustable cylinder.

[0009] Furthermore, the first spring floating structure is a long-stroke floating structure, which includes a compression spring and a guide assembly, used to overcome the product suction plane height error and avoid obstacles on the mold.

[0010] Furthermore, the second spring floating mechanism consists of a bushing sliding mechanism, four limit bolts and a built-in compression spring, with a total stroke of 6mm. It is coaxially arranged with the cylinder deep hole hollow guide shaft and the cylinder connecting column for short-stroke floating avoidance.

[0011] Furthermore, there are at least three electromagnets, symmetrically distributed, used to adsorb finished brake pads or steel billets. The product identification fiber optic sensor and the focusing lens detect the adsorption state in real time and feed it back to the control system.

[0012] Furthermore, the material handling mechanism is adapted to 8-cavity or 12-cavity mold fixtures, and the mold fixtures can be freely switched through the combination of discrete cylinders and a double floating structure.

[0013] Furthermore, the cylinder cooperates with the short-stroke Z-axis servo mechanism of the moving roller mechanism to realize the picking and placing action under the shortest Z-axis stroke, thereby improving the billet placement accuracy.

[0014] The present invention has the following advantages over the prior art:

[0015] (1) Dual floating structure design: By using the large stroke buffer of the first spring floating structure and the short stroke avoidance of the second spring floating mechanism, the problem of product suction plane height error and mold obstacle collision is solved, protecting the fixture and mold and improving equipment reliability;

[0016] (2) High-precision positioning: The short-stroke Z-axis servo mechanism works in conjunction with the cylinder to eliminate large stroke oscillation error and significantly improve the billet placement accuracy;

[0017] (3) Flexible switching: The discrete cylinder and the double floating structure are compatible with 8-cavity and 12-cavity mold fixtures, enabling rapid switching of small batch order models and saving costs;

[0018] (4) Automation integration: Sensors detect the presence of products and cylinder position in real time, and work with the control system to realize emergency shutdown and alarm, supporting fully autonomous operation of the factory in the dark.

[0019] Of course, any product implementing this utility model does not necessarily need to achieve all of the advantages described above at the same time. Attached Figure Description

[0020] To more clearly illustrate the technical solutions of the embodiments of this utility model, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 This is a schematic diagram of the structure of the discrete 8-cavity material handling mechanism of this utility model;

[0022] Figure 2 This is a schematic diagram of the structure of the discrete 12-cavity material handling mechanism of this utility model;

[0023] Figure 3 This is a schematic diagram of a double floating structure;

[0024] Figure 4 for Figure 3 Main view of the structure;

[0025] Figure 5 for Figure 3 Structural bottom view;

[0026] Figure 6 for Figure 3 A schematic diagram of the structure of the second spring floating mechanism;

[0027] The attached diagram lists the components represented by each number as follows:

[0028] 1-Adjustable stroke cylinder, 2-Cylinder deep hole hollow guide shaft, 3-Spring floating mechanism guide shaft, 4-First spring floating structure, 5-First linear bushing, 6-Second linear bushing, 7-Cylinder connecting column, 8-11-Electromagnet fixing plate assembly, 12-Electromagnet, 13-Second spring floating mechanism, 14-Second spring floating mechanism limit bolt, 15-Concentrating lens, 16-Cylinder rising to position sensor. Detailed Implementation

[0029] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of the present utility model.

[0030] In the description of this utility model, it should be understood that the terms "coaxial" and "symmetrical" indicate orientation or positional relationship only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the components or elements referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model.

[0031] Please see Figure 1-6 As shown, the separate cylinder and double floating structure combined material handling mechanism of this utility model includes a stroke adjustable cylinder 1, a cylinder deep hole hollow guide shaft 2, a spring floating mechanism guide shaft 3, a first spring floating structure 4, a first linear bushing 5, a second linear bushing 6, a cylinder connecting column 7, an electromagnet fixing plate group 8-11, an electromagnet 12, a second spring floating mechanism 13, a second spring floating structure limit bolt 14, a product identification fiber optic sensor and a light-collecting lens 15, and a cylinder rising to position sensor 16.

[0032] The adjustable stroke cylinder 1 is connected to the electromagnet fixing plate group 8-11 via the cylinder connecting column 7. The cylinder deep hole hollow guide shaft 2 cooperates with the second linear bushing 6 for guidance. The spring floating mechanism guide shaft 3 passes through the first linear bushing 5 and is connected to the first spring floating structure 4. The second spring floating mechanism 13 is coaxially assembled with the electromagnet fixing plate group 8-11 via the limit bolt 14. The electromagnets 12 are symmetrically distributed on the electromagnet fixing plate group 8-11. The product identification fiber optic sensor and the light-collecting lens 15 are used to detect the presence or absence of the product.

[0033] Among them, the stroke adjustable cylinder 1 adopts a double-rod double-acting stroke adjustable cylinder or a double-rod single-acting stroke adjustable cylinder.

[0034] Among them, the first spring floating structure 4 is a large stroke floating structure, which includes a compression spring and a guide assembly, and is used to overcome the product suction plane height error and avoid obstacles on the mold.

[0035] The second spring floating mechanism 13 consists of a bushing sliding mechanism, four limit bolts 14 and a built-in compression spring, with a total stroke of 6mm. It is coaxially set with the cylinder deep hole hollow guide shaft 2 and the cylinder connecting column 7 and is used for short-stroke floating avoidance.

[0036] Among them, there are at least three electromagnets 12, which are symmetrically distributed and used to adsorb finished brake pads or steel billets. The fiber optic sensor detects the adsorption state in real time and feeds it back to the control system.

[0037] The material handling mechanism is adapted to 8-cavity or 12-cavity mold fixtures. Through the combination of discrete cylinders and a double floating structure, the mold fixtures can be switched freely.

[0038] Among them, cylinder 1 works in conjunction with the short-stroke Z-axis servo mechanism of the moving roller mechanism to realize the picking and placing action under the shortest Z-axis stroke, thereby improving the billet placement accuracy.

[0039] The working principle is as follows:

[0040] 1) The action pattern of removing the brake pads from the mold:

[0041] As the mold moves downward, the mold core ejects the product. Under the action of the double-rod adjustable cylinder, the cylinder connecting column 7 pushes the electromagnet fixing plate to move downward. The electromagnet is energized and fits against the product. At this time, the first spring floating structure moves upward to overcome the height error of the inconsistent suction plane of multiple products, so that the multiple electromagnets of the discrete mechanism are completely in contact with the product. If the brake pad steel billet has a stamped protrusion that just overlaps with the electromagnet suction surface (the protrusion on the brake pad steel billet is the riveting installation point of the brake pad retaining spring, which is generally about 2mm protrusion), the short-stroke floating motion of the second spring floating mechanism starts to take effect to avoid collision.

[0042] like Figure 5 As shown, the 5EA electromagnets are symmetrically distributed to ensure that at least 3EA electromagnets can pick up the product and prevent it from falling, thus completing the product suction action. The cylinder moves upward to remove the finished product from the mold. At this time, the product recognition fiber optic sensor and the infrared light from the focusing lens 15 determine whether the product has been picked up. If the product has fallen or has not been picked up, the system will implement an emergency stop and alarm. With the cooperation of the heavy-duty moving track and the moving roller mechanism, the entire mechanism will be lifted and moved laterally again, and the product will be moved to the production line to enter the next process.

[0043] 2) The action mode of placing the steel billet into the mold:

[0044] After the mold moves upward and the weighing machine completes feeding and mold cleaning, as follows: Figure 3-6As shown; the most stable engagement mode is when the adjustable cylinder is not in motion, and the hollow guide shaft of the cylinder and the second linear bushing are in the retracted state. This minimizes the sway of the entire mechanism and improves positioning accuracy. At this time, the short-stroke Z-axis servo mechanism of the moving roller mechanism moves downward. Under the action of the short-stroke floating motion of the second spring floating mechanism, the electromagnet is energized, completing the picking up of the billet from the billet machine positioning fixture. The Z-axis servo of the moving roller mechanism moves upward. At this time, the product identification uses the infrared light of the fiber optic sensor and the focusing lens to judge whether the product has been picked up. With the cooperation of the heavy-duty moving track and the moving roller mechanism, the entire mechanism is raised and moved laterally. After moving above the mold, it moves downward to place the billet.

[0045] Another function of the first spring floating structure:

[0046] In actual automated operation, it is unavoidable that some products may fall onto the mold, tilt onto the mold, or be placed on the mold by someone. In these situations, the entire cylinder structure will follow, and the first spring floating structure will float upwards to avoid these obstacles. The large-stroke floating of the first spring floating structure in multiple discrete mechanisms is designed to prevent hardware damage to the entire mechanism caused by products overlapping without buffering and undergoing a forced downward movement. The discrete floating structure perfectly solves the problem of protecting the fixture, demonstrating originality.

[0047] The second spring floating mechanism consists of a bushing-type up-and-down sliding mechanism, four limit bolts, and a built-in compression spring (which can be omitted). The total stroke is 6mm, and it is coaxially connected to the guide shaft, cylinder connecting column, and electromagnet fixing plate.

[0048] The double-rod double-acting adjustable cylinder or the double-rod single-acting adjustable cylinder can actually use the built-in spring buffer principle in the upper chamber of the double-rod single-acting adjustable cylinder to replace the first spring floating structure, which simplifies the whole structure. However, after the billet is placed, the main power of the downward movement of the cylinder is needed to strike the billet again to reset the billet that is not in place to the mold positioning pin. Therefore, this design scheme was not adopted.

[0049] This solution enables the removal of finished products and placement of billets under two different mold heights, and in particular improves the billet placement accuracy, ensuring the complete autonomy and normal automation of the entire system; the separate cylinder and the double floating structure combined material handling mechanism effectively solves the collision problem when the entire mechanism makes a rigid downward movement.

[0050] The preferred embodiments of this utility model disclosed above are merely illustrative of the present utility model. These preferred embodiments do not exhaustively describe all details, nor do they limit the utility model to the specific implementations described. Clearly, many modifications and variations can be made based on the content of this specification. This specification selects and specifically describes these embodiments to better explain the principles and practical applications of this utility model, thereby enabling those skilled in the art to better understand and utilize it. This utility model is limited only by the claims and their full scope and equivalents.

Claims

1. A material handling mechanism combining a separate cylinder and a double floating structure, characterized in that, It includes a stroke adjustable cylinder (1), a cylinder deep hole hollow guide shaft (2), a spring floating mechanism guide shaft (3), a first spring floating structure (4), a first linear bushing (5), a second linear bushing (6), a cylinder connecting column (7), an electromagnet fixing plate assembly (8-11), an electromagnet (12), a second spring floating mechanism (13), a second spring floating structure limit bolt (14), a product identification fiber optic sensor and a light-collecting lens (15), and a cylinder rising to position sensor (16). The adjustable stroke cylinder (1) is connected to the electromagnet fixing plate group (8-11) through the cylinder connecting column (7). The cylinder deep hole hollow guide shaft (2) cooperates with the second linear bushing (6) for guidance. The spring floating mechanism guide shaft (3) passes through the first linear bushing (5) and is connected to the first spring floating structure (4). The second spring floating mechanism (13) is coaxially assembled with the electromagnet fixing plate group (8-11) through the limit bolt (14). The electromagnets (12) are symmetrically distributed on the electromagnet fixing plate group (8-11). The product identification fiber optic sensor and the light focusing lens (15) are used to detect the presence or absence of the product.

2. The material handling mechanism combining a discrete cylinder and a double floating structure according to claim 1, characterized in that, The stroke-adjustable cylinder (1) is a double-rod double-acting stroke-adjustable cylinder or a double-rod single-acting stroke-adjustable cylinder.

3. The material handling mechanism combining a discrete cylinder and a double floating structure according to claim 1, characterized in that, The first spring floating structure (4) is a large stroke floating structure, which includes a compression spring and a guide assembly, and is used to overcome the product suction plane height error and avoid obstacles on the mold.

4. The material handling mechanism combining a discrete cylinder and a double floating structure according to claim 1, characterized in that, The second spring floating mechanism (13) consists of a bushing sliding mechanism, four limit bolts (14) and a built-in compression spring. The total stroke is 6mm. It is coaxially set with the cylinder deep hole hollow guide shaft (2) and the cylinder connecting column (7) for short-stroke floating avoidance.

5. The material handling mechanism combining a discrete cylinder and a double-floating structure according to claim 1, characterized in that, The electromagnets (12) are at least three in number and symmetrically distributed, used to adsorb finished brake pads or steel billets. The fiber optic sensor detects the adsorption state in real time and feeds it back to the control system.

6. The material handling mechanism combining a discrete cylinder and a double floating structure according to claim 1, characterized in that, The material handling mechanism is adapted to 8-cavity or 12-cavity mold fixtures. Through the combination of discrete cylinders and a double floating structure, the mold fixtures can be freely switched.

7. The material handling mechanism combining a discrete cylinder and a double floating structure according to claim 1, characterized in that, The cylinder (1) works in conjunction with the short-stroke Z-axis servo mechanism of the moving roller mechanism to achieve the loading and unloading action under the shortest Z-axis stroke, thereby improving the billet placement accuracy.

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