Automated assembly line for gripper suction cup assembly

Abstract

The present invention provides an automated assembly line for a gripper suction cup assembly. The automated assembly line comprises a seven-axis movement module equipped with a gripper thereon. Arranged around the seven-axis movement module are a vibratory bowl platform assembly, a feeding station, a glue application device, a tightening device, a vibratory bowl for suction cup fixing screws, a robot controller cabinet, and an assembly line control cabinet. The beneficial effects of the present invention are as follows: by replacing manual labor with robots and pneumatic components in the assembly of a gripper suction cup assembly, a fully automated assembly process for the gripper suction cup assembly is implemented, improving the assembly efficiency of the gripper suction cup assembly and enhancing the safety of the assembly process, enabling controllable assembly production by means of the cooperation between robots and sensors, saving production costs and labor costs, and eliminating potential safety hazards during operation.

Description

Automatic assembly line for gripper and suction cup assembly Technical Field

[0001] The present invention relates to the technical field of gripper suction cup assembly, in particular to an automatic assembly line for a gripper suction cup assembly. Background Art

[0002] Gripper assemblies are mostly used at the end of robots or manipulators to pick up and carry glass or plates. The current traditional process for assembling gripper assemblies is to manually place the parts to be assembled on the operating table and tighten the parts with an ordinary manual wrench through the mechanism limit. Since the tightening stroke, tightening force and tightening angle are not fixed and cannot be monitored, and personnel may misjudge and fail to tighten the corresponding parts after long-term work, some gripper assemblies may not be tightened or there may be internal leakage of the gripper assemblies, which is prone to defective products and brings additional difficulties to subsequent functional testing and quality testing. Therefore, there is a need for a device that can realize the fully automatic assembly of gripper assemblies, which greatly saves labor costs while increasing production speed and stabilizing production yield.

[0003] Summary of the Invention

[0004] In order to overcome the above problems existing in the prior art, the present invention provides an automatic assembly line for a gripper and suction cup assembly.

[0005] The present invention discloses an automatic assembly line for a gripper and suction cup assembly, comprising a seven-axis mobile module on which a gripper is mounted. The seven-axis mobile module is surrounded by a vibration plate platform assembly, a feeding table, a gluing machine, a tightening device, a suction cup fixing screw vibration plate, a robot controller cabinet and an assembly line control cabinet.

[0006] On this basis, the seven-axis mobile module includes a seventh-axis frame, supporting feet, a driving motor, a seventh-axis rack, a seventh-axis hard limit, a seventh-axis auxiliary slide rail, and a six-axis robot. Supporting feet are installed around the seventh-axis frame to fix the seventh-axis frame to the ground. A seventh-axis rack and a seventh-axis auxiliary slide rail are set on the seventh-axis frame. The seventh-axis rack and the seventh-axis auxiliary slide rail are set in parallel. The seventh-axis auxiliary slide rail is set on both sides of the seventh-axis rack. The driving motor is set on the seventh-axis frame. The gear of the driving motor is engaged with the seventh-axis rack. Seventh-axis hard limits are set on both sides of the seventh-axis frame, and the six-axis robot is installed in the seventh-axis auxiliary slide rail.

[0007] On this basis, the gripper is installed at the free end of the six-axis robot, and a clamp is provided on the gripper.

[0008] On this basis, the vibration plate platform assembly is provided with a joint screw feeding device, a retaining washer feeding device for round nuts, and a spring feeding device.

[0009] On this basis, the glue coating machine equipment adopts a thread glue dispensing machine.

[0010] On this basis, the tightening equipment is provided with a suction cup tightening station, a joint screw tightening station, a support rod tightening station, an assembly station and a final assembly station. The tightening equipment is also provided with a transverse slide module, a lifting slide module and a tightening electric screwdriver. The tightening electric screwdriver is locked to the lifting slide module through an adapter plate.

[0011] On this basis, the feeding table is equipped with a round nut feeding device, a support rod feeding device, a support rod flipping mechanism, a support rod fixing plate feeding device, a suction cup fixing plate feeding device, a support rod fixing sleeve feeding device, an induction cup feeding device, a rubber pad feeding device, a suction cup feeding assembly and a flat washer feeding device.

[0012] Compared with the existing technology, the beneficial effects of the present invention are: using robots and pneumatic components to replace manual labor to assemble the gripper suction cup assembly, realizing a fully automated process for the assembly of the gripper suction cup assembly, improving the assembly efficiency of the gripper suction cup assembly, and improving the safety of the assembly process. The controllable assembly production is achieved through the cooperation of robots and sensors, saving production costs and labor costs, and eliminating safety hazards during the operation process. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] FIG1 is a schematic structural diagram of an automatic assembly line for a gripper and suction cup assembly according to the present invention;

[0014] FIG2 is a schematic structural diagram of a seven-axis mobile module of the present invention;

[0015] FIG3 is a schematic diagram of the overall assembly structure of the vibration plate platform of the present invention;

[0016] FIG4 is a schematic structural diagram of the first feeding station of the present invention;

[0017] FIG5 is a schematic structural diagram of a second feeding station of the present invention;

[0018] FIG6 is a schematic structural diagram of a third feeding station of the present invention;

[0019] Figure 7 is a schematic diagram of the gripper structure of the present invention;

[0020] Figure 8 is a schematic structural diagram of the glue coating machine of the present invention;

[0021] FIG9 is a schematic structural diagram of the tightening device of the present invention;

[0022] Figure 10 is a schematic structural diagram of the sucker tightening station of the present invention;

[0023] Figure 11 is a schematic diagram of the assembly station structure of the present invention;

[0024] 12 is a schematic structural diagram of the present invention, the suction cup fixing screw vibration plate;

[0025] FIG13 is an exploded view of a gripper suction cup.

[0026] In the picture:

[0027] A. Seven-axis mobile module;

[0028] B. Assembly of vibration plate platform;

[0029] C. Feeding table;

[0030] E. Grab handle;

[0031] G. Glue coating equipment;

[0032] H. Tightening equipment;

[0033] I. Suction cup fixing screw vibration plate;

[0034] J. Robot controller cabinet;

[0035] K. Assembly line control cabinet;

[0036] A1, seventh axis frame;

[0037] A2, supporting feet;

[0038] A3, seventh axis drive motor;

[0039] A4, seventh axis rack;

[0040] A5, seventh axis hard limit;

[0041] A6, seventh axis auxiliary slide;

[0042] A7, six-axis robot;

[0043] B3, joint screw feeding device;

[0044] B4, stop washer feeding device for round nuts;

[0045] B5, spring feeding device;

[0046] C3, round nut feeding device;

[0047] C4, support rod feeding device;

[0048] C5, support rod flipping mechanism;

[0049] C6, support rod fixed plate feeding device;

[0050] C7, suction cup fixed plate feeding device;

[0051] C8, support rod fixing sleeve feeding device;

[0052] C9, induction cup feeding device;

[0053] C10, rubber pad feeding device;

[0054] C11, suction cup feeding assembly;

[0055] C12, flat washer feeding device;

[0056] E1, suction cup fixture;

[0057] E2, vacuum fixture;

[0058] E3, pneumatic finger gripper;

[0059] E4, large diameter opening fixture;

[0060] E6, cylindrical clamping fixture;

[0061] G3, thread dispensing machine;

[0062] H3, suction cup tightening station;

[0063] H4, joint screw tightening station;

[0064] H5, support rod tightening station;

[0065] H6, assembly station;

[0066] H7, final assembly station;

[0067] H8, transverse slide module;

[0068] H9, lifting slide module;

[0069] H10, tighten the electric screwdriver;

[0070] H3-1, tighten the suction cup to the acupuncture point;

[0071] H3-2, slide cylinder;

[0072] H7-1, first pen-shaped cylinder;

[0073] H7-2, second pen-shaped cylinder;

[0074] I3. Suction cup fixing screw vibration plate;

[0075] L1, suction cup;

[0076] L2, suction cup fixing plate;

[0077] L3, connector screw;

[0078] L4, support rod;

[0079] L5, spring;

[0080] L6, flat washer;

[0081] L7, round nut;

[0082] L8, support rod fixing sleeve;

[0083] L9, lock washer;

[0084] L10, support rod fixing plate;

[0085] L11, rubber pad;

[0086] L12, induction cup;

[0087] L13, suction cup fixing screw. DETAILED DESCRIPTION

[0088] The present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0089] A gripper suction cup, with reference to FIG13, includes a suction cup L1, a suction cup fixing plate L2, a joint screw L3, a support rod L4, a spring L5, a flat washer L6, a round nut L7, a support rod fixing sleeve L8, a stop washer L9, a support rod fixing plate L10, a rubber pad L11, a sensing cup L12, and a suction cup fixing screw L13. In order to improve assembly efficiency and accuracy during assembly, the present invention discloses an automatic assembly line for a gripper suction cup assembly, with reference to FIG1, including a seven-axis mobile module A, on which a gripper E is mounted, and around which a vibration plate platform assembly B, a feeding table C, a gluing machine device G, a tightening device H, a suction cup fixing screw vibration plate I, a robot controller cabinet J, and an assembly line control cabinet K are respectively provided;

[0090] Referring to Figure 2, the seven-axis mobile module A includes a seventh-axis frame A1, a supporting foot A2, a driving motor A3, a seventh-axis rack A4, a seventh-axis hard limit A5, a seventh-axis auxiliary slide A6 and a six-axis robot A7. The supporting foot A2 is installed around the seventh-axis frame A1 to fix the seventh-axis frame A1 to the ground. The seventh-axis rack A4 and the seventh-axis auxiliary slide A6 are set on the seventh-axis frame A1. The seventh-axis rack A4 and the seventh-axis auxiliary slide A6 are set in parallel. The seventh-axis auxiliary slide A6 is set on both sides of the seventh-axis rack A4. The driving motor A3 It is set on the seventh-axis frame A1, the gear of the drive motor A3 is engaged with the seventh-axis rack A4, the seventh-axis hard limit A5 is set on both sides of the seventh-axis frame A1, and the six-axis robot A7 is installed in the seventh-axis auxiliary slide rail A6; the function of the seventh-axis auxiliary slide rail A6 is to guide the forward and backward directions and support the weight of the six-axis robot A7. The driving gear is installed on the drive motor A3. The rotation of the drive motor A3 causes the gear to rotate forward or reverse, and the gear is engaged with the seventh-axis rack A4 to drive the six-axis robot A7 forward or backward along the seventh-axis auxiliary slide rail A6.

[0091] The gripper E is installed at the free end of the six-axis robot A7. The gripper E is provided with fixtures, including a suction cup fixture E1, a vacuum fixture E2, a pneumatic finger fixture E3, a large-diameter opening fixture E4 and a cylindrical clamping fixture E6. The gripper E is also provided with a solenoid valve group.

[0092] Referring to Figure 3, since vibration will affect the positioning accuracy of other feeds, the vibration plate platform assembly B is set as an independent device. The vibration plate platform assembly B is provided with a joint screw feeding device B3, a retaining washer feeding device B4 for round nuts, and a spring feeding device B5.

[0093] Referring to FIG8 , the glue coating device G adopts a thread glue dispensing machine G3.

[0094] Referring to Figures 9 and 10, the tightening equipment H is provided with a suction cup tightening station H3, a joint screw tightening station H4, a support rod tightening station H5, an assembly station H6 and a final assembly station H7. The tightening equipment H is also provided with a transverse slide module H8, a lifting slide module H9 and a tightening electric screwdriver H10. The tightening electric screwdriver H10 is locked to the lifting slide module H9 through an adapter plate. The product fixing position of the suction cup tightening station H3 is installed on the slide cylinder H3-2 to realize the screw fixation of different positions of the suction cup.

[0095] Referring to Figures 4, 5, and 6, the welded frame of the feed table C is the basic body of this device. It is made of high-quality carbon structural steel welded and then annealed, resulting in high overall rigidity and providing a solid body for stable operation of the equipment. All other components are directly or indirectly mounted on the welded frame. The welded frame is fixed to the support feet with cylindrical head bolts, and the support feet are fixed to the ground with expansion bolts. The feed tables C can be arranged in a straight line on one side or in an L-shape. In this embodiment, considering the long processing time and the difficulty and cost of manufacturing the frame and table, the feed table C is split into three parts: the first feed table, the second feed table, and the third feed table. The first feeding table is provided with a round nut feeding device C3, a support rod feeding device C4, a support rod flipping mechanism C5 and a support rod fixing plate feeding device C6; the second feeding table is provided with a suction cup fixing plate feeding device C7, a support rod fixing sleeve feeding device C8 and an induction cup feeding device C9; the third feeding table is provided with a rubber pad feeding device C10, a suction cup feeding assembly C11 and a flat washer feeding device C12.

[0096] A gripper suction cup assembly method comprises the following steps:

[0097] Step 1: Press the main control panel of the assembly line control cabinet K to start the assembly line;

[0098] Step 2: Assemble the suction cup L1 and the suction cup fixing plate L2;

[0099] The robot controller cabinet J is used to control the movement of the six-axis robot A7. The control method adopts the existing control method and will not be described here. The drive motor A3 cooperates with the six-axis robot A7 to move. The gripper E moves to the top of the suction cup fixing plate feeding device C7. The large-diameter opening clamp E4 clamps the suction cup fixing plate L2 and moves to the suction cup tightening station H3. The suction cup fixing plate L2 is placed into the suction cup tightening point H3-1 on the suction cup tightening station H3 and then released. The gripper E moves to the top of the suction cup feeding component C11, and the suction cup clamp E1 clamps the suction cup L1. Move to the suction cup tightening station H3, the suction cup fixture E1 places the suction cup L1 on the suction cup tightening point H3-1 and then releases it. Referring to Figures 2 and 12, the gripper E moves to the top of the suction cup fixing screw vibration plate I3, and the pneumatic finger fixture E3 clamps the suction cup fixing screw L13. The gripper E moves to the suction cup tightening station H3 and places the suction cup fixing screw L13. The transverse slide module H8 cooperates with the lifting slide module H9 to move, and the tightening electric screwdriver H10 works, and the suction cup fixing screw L13 is used to assemble and tighten the suction cup L1 and the suction cup fixing plate L2.

[0100] Step 3: Assemble the suction cup L1, suction cup fixing plate L2, and connector screw L3 components;

[0101] The gripper E moves to the suction cup tightening station H3, the suction cup fixture E1 clamps the suction cup L1 and the suction cup fixing plate L2 assembly, and places it in the joint screw tightening station H4. The gripper E moves to the joint screw feeding device B3, the large-diameter opening fixture E4 clamps the joint screw L3, and places the joint screw L3 on the loading position of the thread dispensing machine G3. The thread dispensing machine G3 starts to operate and apply glue. After the dispensing is completed, the large-diameter opening fixture E4 places the joint screw L3 on the tightening head at the joint screw tightening station H4. The joint screw tightening station H4 starts to operate and tighten the joint screw L3 and the suction cup L1 and the suction cup fixing plate L2 assembly.

[0102] Step 4: Assemble the suction cup L1, suction cup fixing plate L2, connector screws L3 and support rod L4 components;

[0103] The suction cup fixture E1 clamps the suction cup L1, suction cup fixing plate L2 and joint screw L3 assembly, and places it at the support rod tightening station H5. The open-diameter fixture E4 clamps the support rod L4 and places it at the clamping position of the support rod flipping mechanism C5. The support rod flipping mechanism C5 clamps the support rod L4, and the support rod flipping mechanism C5 flips. The large-diameter open fixture E4 clamps the support rod L4 and moves it to the support rod tightening station H5. The support rod tightening station H5 holds the chuck to clamp the support rod L4, and assembles the support rod L4 with the suction cup L1, suction cup fixing plate L2 and joint screw L3 assembly.

[0104] Step 5: Assemble the round nut L7, the support rod fixing sleeve L8, the stop washer L9 and the support rod fixing plate L10; the cylindrical clamping fixture E6 moves to the support rod fixing sleeve feeding device C8 to clamp the support rod fixing sleeve L8, and place the support rod fixing sleeve L8 on the assembly station H6. The large-diameter opening fixture E4 moves to the support rod fixing plate feeding device C6 to clamp the support rod fixing plate L10, and put the support rod fixing plate L10 on the support rod fixing sleeve L8. The pneumatic finger clamp E3 moves to the round nut stop washer feeding device B4 to clamp the round nut stop washer L9, and place it on the support rod fixing sleeve L8. The cylindrical clamping fixture E6 moves to the round nut feeding device C3 to clamp the round nut L7, and place it on the tightening head of the assembly station H6. The tightening head starts working to tighten the round nut L7.

[0105] Step 6: Final assembly;

[0106] The large-diameter opening fixture E4 moves to the support rod tightening station H5 to clamp the suction cup L1, suction cup fixing plate L2, joint screw L3 and support rod L4 assembly, and place it on the final assembly station H7. The cylindrical clamping fixture E6 moves to the spring feeding device B5 to clamp the spring L5, and put the spring L5 on the support rod L4. The vacuum fixture E2 absorbs the flat washer L6 and puts the flat washer L6 on the support rod L4. The cylindrical clamping fixture E6 moves to the assembly station H6 to clamp the support rod fixing sleeve L8, support rod fixing plate L10, round nut lock washer L9, round nut L7 assembly, and put the assembly on the support rod L4. The vacuum fixture E2 absorbs the rubber pad L11, and the vacuum fixture E2 puts the rubber pad L11 on the final assembly. On the support rod L4 of station H7, the tightening structure of the final assembly station H7 is completed in and out by the first pen-shaped cylinder H7-1 cylinder, and is lifted and lowered by the second pen-shaped cylinder H7-2 to realize the final assembly of the gripper suction cup. The gripper E moves to the joint screw feeding device B3, and the large-diameter opening clamp E4 clamps the joint screw L3 and places it on the loading position of the thread dispensing machine G3. The thread dispensing machine G3 starts to run and apply glue. After the dispensing is completed, it is placed on the tightening head of the joint screw tightening station H4. The cylindrical clamping fixture E6 moves to the induction cup feeding device C9 to clamp the induction cup L12 and place it on the support rod L4 of the final assembly station H7. The tightening head of the final assembly station H7 presses down and tightens the joint screw L3 to complete the installation.

[0107] In the description of the present invention, it should be understood that the terms "coaxial", "bottom", "one end", "top", "middle", "the other end", "upper", "one side", "top", "inside", "front", "center", "both ends", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0108] In the present invention, unless otherwise clearly stipulated and limited, the terms "install", "set", "connect", "fix", "screw", "place" and other terms should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integrated connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. Unless otherwise clearly defined, ordinary technicians in this field can understand the specific meanings of the above terms in the present invention according to the specific circumstances.

[0109] The foregoing description shows and describes preferred embodiments of the present invention. As previously mentioned, it should be understood that the present invention is not limited to the form disclosed herein and should not be construed as excluding other embodiments. Instead, the present invention can be used in various other combinations, modifications, and environments and can be modified within the scope of the inventive concept described herein by the teachings above or by techniques or knowledge in the relevant art. Modifications and variations made by those skilled in the art without departing from the spirit and scope of the present invention are intended to be within the scope of the appended claims.

Claims

1. An automatic assembly line for gripper and suction cup assembly, characterized in that: The invention comprises a seven-axis mobile module (A), on which a gripper (E) is mounted, and around which a vibration plate platform assembly (B), a feeding table (C), a glue coating machine (G), a tightening device (H), a suction cup fixing screw vibration plate (I), a robot controller cabinet (J) and an assembly line control cabinet (K) are respectively arranged.

2. The automatic assembly line of gripper and suction cup assembly according to claim 1 is characterized in that: The seven-axis mobile module (A) comprises a seventh-axis frame (A1), a supporting foot (A2), a driving motor (A3), a seventh-axis rack (A4), a seventh-axis hard limit (A5), a seventh-axis auxiliary slide rail (A6), and a six-axis robot (A7). The seventh-axis frame (A1) is provided with supporting feet (A2) around it to fix the seventh-axis frame (A1) to the ground. The seventh-axis rack (A4) and the seventh-axis auxiliary slide rail (A6) are provided on the seventh-axis frame (A1). The seventh-axis rack (A4) and the seventh-axis auxiliary slide rail (A6) are arranged in parallel, the seventh-axis auxiliary slide rail (A6) is arranged on both sides of the seventh-axis rack (A4), the drive motor (A3) is arranged on the seventh-axis frame (A1), the gear of the drive motor (A3) is meshed with the seventh-axis rack (A4), the seventh-axis hard limit (A5) is arranged on both sides of the seventh-axis frame A1, and the six-axis robot (A7) is installed in the seventh-axis auxiliary slide rail (A6).

3. The automatic assembly line of gripper and suction cup assembly according to claim 1 is characterized in that: The gripper (E) is installed at the free end of the six-axis robot (A7), and a clamp is arranged on the gripper (E).

4. The automatic assembly line of gripper and suction cup assembly according to claim 1 is characterized in that: The vibration plate platform assembly (B) is provided with a joint screw feeding device (B3), a retaining washer feeding device (B4) for round nuts, and a spring feeding device (B5).

5. The automatic assembly line of gripper and suction cup assembly according to claim 1 is characterized in that: The glue coating device (G) adopts a thread glue dispensing machine (G3).

6. The automatic assembly line of gripper and suction cup assembly according to claim 1 is characterized in that: The tightening device (H) is provided with a suction cup tightening station (H3), a joint screw tightening station (H4), a support rod tightening station (H5), an assembly station (H6) and a final assembly station (H7); the tightening device (H) is also provided with a transverse slide module (H8), a lifting slide module (H9) and a tightening electric screwdriver (H10); the tightening electric screwdriver (H10) is locked to the lifting slide module (H9) through an adapter plate.

7. The automatic assembly line of gripper and suction cup assembly according to claim 1 is characterized in that: The feeding platform (C) is provided with a round nut feeding device (C3), a support rod feeding device (C4), a support rod flipping mechanism (C5), a support rod fixing plate feeding device (C6), a suction cup fixing plate feeding device (C7), a support rod fixing sleeve feeding device (C8), an induction cup feeding device (C9), a rubber pad feeding device (C10), a suction cup feeding assembly (C11) and a flat washer feeding device (C12).

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