CN114289986A - Positioner capable of realizing multi-direction rotation - Google Patents
Positioner capable of realizing multi-direction rotation Download PDFInfo
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- CN114289986A CN114289986A CN202210024537.6A CN202210024537A CN114289986A CN 114289986 A CN114289986 A CN 114289986A CN 202210024537 A CN202210024537 A CN 202210024537A CN 114289986 A CN114289986 A CN 114289986A
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Abstract
The invention discloses a positioner capable of realizing multidirectional rotation, which is characterized in that: the positioner include base (1), be provided with first reduction gear box (2) on base (1), the input of first reduction gear box (2) links to each other with the output shaft of first motor (3), and the output of first reduction gear box (2) then links to each other with the center of C type runing rest (4), C type runing rest (4) rotate between through flat bearing and first reduction gear box (2) and are connected, still be provided with first detection switch (5) that are located the first reduction gear box (2) outside on base (1), then be provided with on the bottom face of C type runing rest (4) with the trigger block that first detection switch (5) match still is provided with first locating pin support (6) on base (1), the top of first locating pin support (6) is provided with first locating pin mechanism.
Description
Technical Field
The invention relates to a positioner, in particular to a positioner capable of realizing multidirectional rotation.
Background
At present, on an automobile welding production line, equipment of a turnover station and a rotary table station is used more, but some parts (aluminum Mig welding frames of battery shell shells) with complex workpieces or complex processes cannot reach accurate positions or various postures required by a robot only through turnover or rotation, and under a certain condition, because the direct turnover in place or the direct rotation in place has certain limitation under the limiting conditions of rhythm, field, space, process requirements of the workpieces and the like, the welding work of the full-flexible robot in cooperation with various complex postures cannot be realized, so that a method or a device capable of solving the problems is needed at present.
Disclosure of Invention
The invention aims to solve the defects in the prior art, and provides the positioner which is simple in structure, flexible and reliable in action, can drive a workpiece to rotate by taking a Z axis as an axis, and can drive the workpiece to turn over by taking a horizontal axis as an axis, and can realize multidirectional rotation.
The technical solution of the invention is as follows: the utility model provides a can realize machine of shifting of multi-direction rotation which characterized in that: the positioner comprises a base 1, wherein a first reduction box body 2 is arranged on the base 1, the input end of the first reduction box body 2 is connected with the output shaft of a first motor 3, the output end of the first reduction box body 2 is connected with the center of a C-shaped rotating bracket 4, the C-shaped rotating bracket 4 is rotatably connected with the first reduction box body 2 through a plane bearing, a first detection switch 5 positioned at the outer side of the first reduction box body 2 is also arranged on the base 1, a trigger block matched with the first detection switch 5 is arranged on the bottom end surface of the C-shaped rotating bracket 4, a first positioning pin bracket 6 is also arranged on the base 1, and a first positioning pin mechanism is arranged at the top end of the first positioning pin bracket 6,
the first locating pin mechanism comprises a shell 7 directly connected with a first locating pin support 6, a first locating pin 8 is movably connected in the shell 7, a deflector rod 9 which is vertical to the first locating pin 8 is connected on the side wall of the first locating pin 8, an upper clamping groove 10 and a lower clamping groove 11 which are parallel to each other are also arranged on the shell 7, the deflector rod 9 can be clamped in the upper clamping groove 10 or the lower clamping groove 11, a first locating pin detection switch 12 is also arranged on the first locating pin support 6, the first locating pin detection switch 12 is matched with the bottom end of the first locating pin 8,
the two ends of the rotating bracket 4 are respectively provided with an active supporting mechanism and a passive supporting mechanism, the rotating bracket 4 is rotationally connected with a clamp connecting frame 13 through the active supporting mechanism and the passive supporting mechanism, the clamp connecting frame 13 is provided with a plurality of positioning holes,
the active supporting mechanism comprises a second reduction gearbox body 14 fixedly connected to the C-shaped rotating bracket 4, the input end of the second reduction gearbox body 14 is connected with the output shaft of a second motor 15, the output shaft of the second reduction gearbox body 14 is connected with a positioning rotary table 16, one side of the positioning rotary table 16 is rotatably connected with the second reduction gearbox body 14 through a bearing, the other side of the positioning rotary table 16 is fixedly connected with one end of a clamp connecting frame 13, a plurality of arc-shaped grooves 17 uniformly distributed in the circumferential direction are arranged on the outer circumference of the positioning rotary table 16, a mounting seat 18 is arranged on the second reduction gearbox body 14, a positioning cylinder 19 is arranged on the mounting seat 18, a connecting plate is arranged on the working shaft of the positioning cylinder 19, two second positioning pins which are symmetrically distributed are arranged on the connecting plate, the two second positioning pins are matched with the arc-shaped grooves 17, and a second positioning pin detection switch 20 is also arranged on the mounting seat 18,
the passive support mechanism comprises a passive support 21 arranged on a C-shaped rotating support 4, a bearing seat 22 is arranged on the passive support 21, a support shaft 23 is rotatably supported in the bearing seat 22, one end of the support shaft 23 is connected with a passive turntable 24, the passive turntable 24 is fixedly connected with a clamp connecting frame 13, a protruding portion 25 is arranged at the outer circumference of the passive turntable 24, and a second detection switch 26 matched with the protruding portion 25 is arranged on the passive support 21.
The first detection switch 5 and the trigger block which are matched with each other form a set of rotation detection mechanism together, and the rotation detection mechanisms are multiple sets.
The second detecting switch 26 and the protruding portion 25, which are matched with each other, together form a set of overturn detecting mechanism, and the number of the overturn detecting mechanisms is multiple.
Compared with the prior art, the invention has the following advantages:
this kind of structural style can realize machine of shifting of multi-direction rotation, a structure is simple, design benefit, reasonable in layout, it is difficult to drive work piece cooperation welding robot to traditional weldment work and does the complicated gesture adjustment of full flexibility, lead to influencing welding quality, multiple problems such as welding route design difficulty, a special structure is designed, on the one hand it can drive the work piece and use the Z axle to do the rotation as the axle, it can also drive the work piece and use the horizontal axle to do the upset action as the axle simultaneously, the combination of above-mentioned two kinds of actions, can drive the work piece and make comparatively complicated action on the space, with the welding operation of cooperation welding robot, thereby it is more convenient, swiftly to let weldment work, and it still designs many sets of detection mechanism, the degree that can real time monitoring rotates or overturn, with the purpose that reaches automatic accurate control. The multidirectional rotary positioner has the advantages of simple manufacturing process and low manufacturing cost, so the multidirectional rotary positioner has various advantages, is particularly suitable for popularization and application in the field, and has very wide market prospect.
Drawings
Fig. 1 is a schematic perspective view (direction one) of an embodiment of the present invention.
Fig. 2 is an enlarged view of a portion a in fig. 1.
Fig. 3 is a schematic structural view of a first positioning pin mechanism portion in the embodiment of the present invention.
Fig. 4 is an enlarged view of a portion B in fig. 1.
Fig. 5 is a schematic perspective view (direction two) of the embodiment of the present invention.
Fig. 6 is an enlarged view of a portion C in fig. 5.
Detailed Description
The following description will explain embodiments of the present invention with reference to the accompanying drawings. As shown in fig. 1 to 6: a position changing machine capable of realizing multi-direction rotation comprises a base 1 as a base, a first reduction box body 2 is arranged on the base 1, the input end of the first reduction box body 2 is connected with the output shaft of a first motor 3, the output end of the first reduction box body 2 is connected with the center of a C-shaped rotating support 4, the C-shaped rotating support 4 is rotatably connected with the first reduction box body 2 through a plane bearing, a first detection switch 5 positioned at the outer side of the first reduction box body 2 is also arranged on the base 1, a trigger block matched with the first detection switch 5 is arranged on the bottom end surface of the C-shaped rotating support 4, a first positioning pin support 6 is also arranged on the base 1, and a first positioning pin mechanism is arranged at the top end of the first positioning pin support 6,
the first locating pin mechanism comprises a shell 7 directly connected with a first locating pin support 6, a first locating pin 8 is movably connected in the shell 7, a deflector rod 9 which is vertical to the first locating pin 8 is connected on the side wall of the first locating pin 8, an upper clamping groove 10 and a lower clamping groove 11 which are parallel to each other are also arranged on the shell 7, the deflector rod 9 can be clamped in the upper clamping groove 10 or the lower clamping groove 11, a first locating pin detection switch 12 is also arranged on the first locating pin support 6, the first locating pin detection switch 12 is matched with the bottom end of the first locating pin 8,
the two ends of the rotating bracket 4 are respectively provided with an active supporting mechanism and a passive supporting mechanism, the rotating bracket 4 is rotationally connected with a clamp connecting frame 13 through the active supporting mechanism and the passive supporting mechanism, the clamp connecting frame 13 is provided with a plurality of positioning holes,
the active supporting mechanism comprises a second reduction gearbox body 14 fixedly connected to the C-shaped rotating bracket 4, the input end of the second reduction gearbox body 14 is connected with the output shaft of a second motor 15, the output shaft of the second reduction gearbox body 14 is connected with a positioning rotary table 16, one side of the positioning rotary table 16 is rotatably connected with the second reduction gearbox body 14 through a bearing, the other side of the positioning rotary table 16 is fixedly connected with one end of a clamp connecting frame 13, a plurality of arc-shaped grooves 17 uniformly distributed in the circumferential direction are arranged on the outer circumference of the positioning rotary table 16, a mounting seat 18 is arranged on the second reduction gearbox body 14, a positioning cylinder 19 is arranged on the mounting seat 18, a connecting plate is arranged on the working shaft of the positioning cylinder 19, two second positioning pins which are symmetrically distributed are arranged on the connecting plate, the two second positioning pins are matched with the arc-shaped grooves 17, and a second positioning pin detection switch 20 is also arranged on the mounting seat 18,
the passive support mechanism comprises a passive support 21 arranged on a C-shaped rotating support 4, a bearing seat 22 is arranged on the passive support 21, a support shaft 23 is rotatably supported in the bearing seat 22, one end of the support shaft 23 is connected with a passive turntable 24, the passive turntable 24 is fixedly connected with a clamp connecting frame 13, a protruding portion 25 is arranged at the outer circumference of the passive turntable 24, and a second detection switch 26 matched with the protruding portion 25 is arranged on the passive support 21.
The first detection switch 5 and the trigger block which are matched with each other form a set of rotation detection mechanism together, and the rotation detection mechanisms are multiple sets.
The second detecting switch 26 and the protruding portion 25, which are matched with each other, together form a set of overturn detecting mechanism, and the number of the overturn detecting mechanisms is multiple.
The working process of the positioner capable of realizing multidirectional rotation provided by the embodiment of the invention is as follows: firstly, a plurality of tool fixtures are arranged on a fixture connecting frame 13 according to the specific shape of a workpiece to be welded (or other machining operations), the workpiece is connected to the fixture connecting frame 13 by using the tool fixtures, and meanwhile, the number and the installation angle of the rotation detection mechanisms and the turnover detection mechanisms to be arranged are selected and arranged according to specific parameters which are preset as required and need the workpiece to be kept in a static state, and the work can be started after the preparation work is finished;
for convenience of explaining the working process of the positioner, three sets of rotation detection mechanisms and two sets of turnover detection mechanisms are taken as examples below;
when the positioner is required to drive a workpiece to rotate, the first positioning pin 8 is manually unlocked, the C-shaped rotating support 4 obtains the degree of freedom of rotation in the circumferential direction with the Z axis as the axis, the control system controls the first motor 3 to work, the output torque of the first motor 3 drives the C-shaped rotating support 4 to drive the clamp connecting frame 13 to rotate after speed change through the first speed reduction box body 2, when the first detection switch 5 in the first set of rotation detection mechanism detects the trigger block corresponding to the first detection switch, the first detection switch 5 sends a signal to the control system, the control system judges that the workpiece is at the first rotation position … … corresponding to the first set of rotation detection mechanism, the second positioning pin is unlocked, the clamp connecting frame 13 obtains the degree of freedom of turnover with the horizontal axis as the axis, the control system controls the second motor 15 to work, the output torque of the second motor 15 drives the clamp connecting frame 15 to turn over after speed change through the second speed reduction box body 14, when the second detection switch 26 of the first set of turnover detection mechanism detects the corresponding protrusion 25, the second detection switch 26 sends a signal to the control system, and the control system determines that the workpiece is located at the first turnover position … … corresponding to the first set of turnover mechanism, and it needs to be noted that the second positioning pin needs to lock the fixture connecting frame 13 again before the machining is performed;
that is, the control system can automatically judge the current position and the attitude of the workpiece according to different arrangement combinations between two or more detection mechanisms, and send a signal to the welding robot according to the information, so that the welding robot can make an action corresponding to the current position and the attitude of the workpiece;
after the machining is finished, all the motors work again, the device is restored to the initial state, the first positioning pin 8 is manually lifted, the C-shaped rotating support 4 is locked again, and the next work is waited;
when the first positioning pin mechanism needs to be operated, an operator only needs to dial the shift lever 9, rotate the shift lever 9 out of the upper clamping groove 10 or the lower clamping groove 11, lift (or lower) the first positioning pin 8, and then rotate the shift lever 9 back into the lower clamping groove 11 or the upper clamping groove 10 again, when the first positioning pin mechanism acts, the first positioning pin detection switch 12 in the first positioning pin mechanism can judge the position of the first positioning pin 8 and send a signal to the control system, and the control system can judge whether the current first positioning pin mechanism is in a locking state;
when the second positioning pins work, the control system firstly judges that the clamp connecting frame 13 is located at a position which can be locked by the second positioning pins at the moment according to a detection result of a certain set of overturn detection mechanism, then the control system can control the positioning cylinder 19 to work, the positioning cylinder 19 drives a pair of second positioning pins to extend out, the two second positioning pins are inserted into the arc-shaped grooves 17 corresponding to the two second positioning pins, and the positioning turntable 16 is limited in the circumferential direction, so that the clamp connecting frame 13 connected with the positioning turntable 16 realizes the limitation in the overturn direction by taking a horizontal shaft as an axis; the second positioning pin detection switch 20 can detect the state of the second positioning pin, thereby helping the control system to determine whether the second positioning pin is currently in the locking state or the free-turning state.
Claims (3)
1. The utility model provides a can realize machine of shifting of multi-direction rotation which characterized in that: the positioner comprises a base (1), wherein a first reduction box body (2) is arranged on the base (1), the input end of the first reduction box body (2) is connected with the output shaft of a first motor (3), the output end of the first reduction box body (2) is connected with the center of a C-shaped rotating bracket (4), the C-shaped rotating bracket (4) is rotatably connected with the first reduction box body (2) through a plane bearing, a first detection switch (5) positioned on the outer side of the first reduction box body (2) is also arranged on the base (1), a trigger block matched with the first detection switch (5) is arranged on the bottom end face of the C-shaped rotating bracket (4), a first positioning pin bracket (6) is also arranged on the base (1), and a first positioning pin mechanism is arranged at the top end of the first positioning pin bracket (6),
the first positioning pin mechanism comprises a shell (7) directly connected with a first positioning pin support (6), a first positioning pin (8) is movably connected in the shell (7), a shifting lever (9) which is perpendicular to the first positioning pin (8) is connected on the side wall of the first positioning pin (8), an upper clamping groove (10) and a lower clamping groove (11) which are parallel to each other are also formed in the shell (7), the shifting lever (9) can be clamped in the upper clamping groove (10) or the lower clamping groove (11), a first positioning pin detection switch (12) is further arranged on the first positioning pin support (6), and the first positioning pin detection switch (12) is matched with the bottom end of the first positioning pin (8),
the two ends of the rotating bracket (4) are respectively provided with an active supporting mechanism and a passive supporting mechanism, the rotating bracket (4) is rotationally connected with a clamp connecting frame (13) through the active supporting mechanism and the passive supporting mechanism, the clamp connecting frame (13) is provided with a plurality of positioning holes,
the active supporting mechanism comprises a second reduction gearbox body (14) fixedly connected to a C-shaped rotating support (4), the input end of the second reduction gearbox body (14) is connected with the output shaft of a second motor (15), the output shaft of the second reduction gearbox body (14) is connected with a positioning rotary table (16), one side of the positioning rotary table (16) is rotatably connected with the second reduction gearbox body (14) through a bearing, the other side of the positioning rotary table is fixedly connected with one end of a clamp connecting frame (13), a plurality of arc-shaped grooves (17) uniformly distributed in the circumferential direction are formed in the outer circumference of the positioning rotary table (16), a mounting seat (18) is arranged on the second reduction gearbox body (14), a positioning cylinder (19) is arranged on the mounting seat (18), a connecting plate is arranged on the working shaft of the positioning cylinder (19), and two second positioning pins symmetrically distributed are arranged on the connecting plate, the two second positioning pins are matched with the arc-shaped grooves (17), a second positioning pin detection switch (20) is also arranged on the mounting seat (18),
passive supporting mechanism including setting up passive support (21) on C type runing rest (4), be provided with bearing frame (22) on passive support (21), bearing frame (22) internal rotation is supported there is back shaft (23), the one end and the passive carousel (24) of back shaft (23) are connected, passive carousel (24) then with anchor clamps link (13) fixed connection passive carousel (24) the outer circumference department is provided with protruding portion (25) passive support (21) then on be provided with protruding portion (25) assorted second detection switch (26).
2. The multi-directional rotatable positioner of claim 1, wherein: the first detection switch (5) and the trigger block which are matched with each other form a set of rotation detection mechanism together, and the rotation detection mechanisms are multiple sets.
3. The multi-directional rotatable positioner of claim 1, wherein: the second detection switch (26) and the protruding part (25) which are matched mutually form a set of overturning detection mechanism, and the overturning detection mechanisms are multiple sets.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210024537.6A CN114289986A (en) | 2022-01-11 | 2022-01-11 | Positioner capable of realizing multi-direction rotation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210024537.6A CN114289986A (en) | 2022-01-11 | 2022-01-11 | Positioner capable of realizing multi-direction rotation |
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| Publication Number | Publication Date |
|---|---|
| CN114289986A true CN114289986A (en) | 2022-04-08 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210024537.6A Pending CN114289986A (en) | 2022-01-11 | 2022-01-11 | Positioner capable of realizing multi-direction rotation |
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE4023551A1 (en) * | 1990-07-25 | 1992-01-30 | Werkzeug Gmbh | Cutter to machine grooves for dowels - mounts cutting tool on manually advanced spring-loaded sliding carriage with stop system allowing stroke to be selected to suit dowel size |
| CN202506934U (en) * | 2012-04-12 | 2012-10-31 | 南京贝奇尔机械有限公司 | Scale division feeding device of heat burr removal machine tool |
| CN208787953U (en) * | 2018-09-25 | 2019-04-26 | 苏州思驼众自动化技术有限公司 | Oil pressure plate assembly line overturning jig |
| CN209206830U (en) * | 2018-11-08 | 2019-08-06 | 一拖（洛阳）汇德工装有限公司 | A kind of modularization robot welding overturning positioner |
| CN112605588A (en) * | 2020-12-03 | 2021-04-06 | 广州瑞松智能科技股份有限公司 | Positioner mechanism for welding front suspension of automobile |
| CN215280684U (en) * | 2021-07-02 | 2021-12-24 | 重庆海群机械制造有限公司 | Upset welded platform |
-
2022
- 2022-01-11 CN CN202210024537.6A patent/CN114289986A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE4023551A1 (en) * | 1990-07-25 | 1992-01-30 | Werkzeug Gmbh | Cutter to machine grooves for dowels - mounts cutting tool on manually advanced spring-loaded sliding carriage with stop system allowing stroke to be selected to suit dowel size |
| CN202506934U (en) * | 2012-04-12 | 2012-10-31 | 南京贝奇尔机械有限公司 | Scale division feeding device of heat burr removal machine tool |
| CN208787953U (en) * | 2018-09-25 | 2019-04-26 | 苏州思驼众自动化技术有限公司 | Oil pressure plate assembly line overturning jig |
| CN209206830U (en) * | 2018-11-08 | 2019-08-06 | 一拖（洛阳）汇德工装有限公司 | A kind of modularization robot welding overturning positioner |
| CN112605588A (en) * | 2020-12-03 | 2021-04-06 | 广州瑞松智能科技股份有限公司 | Positioner mechanism for welding front suspension of automobile |
| CN215280684U (en) * | 2021-07-02 | 2021-12-24 | 重庆海群机械制造有限公司 | Upset welded platform |
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Application publication date: 20220408 |