Intelligent Assembly Manipulator for Automatic Production Line

Abstract

The present invention relates to the field of assembly manipulators, and particularly to an intelligent assembly manipulator for an automatic production line, including a box hopper. The inner cavity width of the box hopper decreases from top to bottom. Nuts are placed in the box hopper. The material guiding arm obtains nuts from the bottom of the box hopper and conveys the nuts to be discharged in a horizontal state. The fastening assembly includes an end shell. The end shell is connected to one end of the material guiding arm where the nuts are discharged. There is a sliding cavity inside the end shell. A rotating cylinder is rotatably installed at the bottom of the end shell. The rotating cylinder has a cavity that penetrates up and down. The cross-section of the inner cavity of the rotating cylinder is a polygonal shape adapted to the nuts. The first motor is connected to the rotating cylinder through belt drive. The present invention drives the nuts to be arranged and moved in a clamping manner through the reversely rotating conveyor belt, realizes feeding the fastening assembly one by one, and then presses the nuts down by a crank to be aligned and clamped into the rotating cylinder to realize taking materials one by one. Driving the rotating cylinder to rotate completes the fastening and assembly of the nuts one by one, without the need for independent material taking, saving assembly time, reducing the workload of the equipment, and reducing the failure rate.

Description

Technical Field

[0001] The present invention relates to the field of assembly manipulators, and particularly to an intelligent assembly manipulator for an automatic production line. Background Art

[0002] The assembly production line has achieved automated production, and each processing link has been replaced by intelligent processing equipment instead of manual labor. High efficiency and high precision are the advantages of the automated production line compared to the traditional production line. The manipulator is a particularly important working unit in the assembly production line.

[0003] The nut fixing and assembling manipulator rotates and fixes the nut on the screw body to achieve the purpose of fixing and assembling the product. In the existing assembly production line, for the automatic fixing and assembling of nuts, the manipulator first clamps the nut and then transfers the nut to the assembly point for rotary assembly. Each assembly point requires the manipulator to independently pick up the material and perform rotary assembly. The frequent movement of the manipulator between the material picking point and the assembly point not only takes time but also easily increases the failure rate of the manipulator. Summary of the Invention

[0004] The purpose of the present invention is to solve the following problems existing in the prior art: In the existing assembly production line, for the automatic fixing and assembling of nuts, the manipulator first clamps the nut and then transfers the nut to the assembly point for rotary assembly. Each assembly point requires the manipulator to independently pick up the material and perform rotary assembly. The frequent movement of the manipulator between the material picking point and the assembly point not only takes time but also easily increases the failure rate of the manipulator.

[0005] To solve the problems existing in the prior art, the present invention provides an intelligent assembly manipulator for an automatic production line, including a box hopper. The inner cavity width of the box hopper decreases from top to bottom, and nuts are placed in the box hopper.

[0006] A feeding arm that obtains nuts from the bottom of the box hopper and conducts the nuts to be discharged in a horizontal state.

[0007] A fastening component, which includes an end shell connected to one end where the feeding arm discharges the nuts. There is a sliding cavity inside the end shell. A rotating cylinder is rotatably installed at the bottom of the end shell. The rotating cylinder has a cavity that penetrates up and down. The cross-section of the inner cavity of the rotating cylinder is a polygonal shape adapted to the nut. The first motor is connected to the rotating cylinder through a belt drive. The nuts discharged by the feeding arm enter the sliding cavity and then fall into the inner cavity of the rotating cylinder.

[0008] A movable seat that supports the synchronous movement of the box hopper, the feeding arm, and the fastening component.

[0009] Preferably, a torsion column is elastically rotatably installed in the sliding cavity through a torsion spring. A crank is fixed to the torsion column. The end of the crank is bent upwards. The crank presses on the flat part around the threaded hole on the upper surface of the nut.

[0010] Preferably, a first push switch is arranged above the torsion column. The surface of the torsion column has protrusions. The nut supports the crank to move upward, so that the protrusions on the surface of the torsion column contact the first push switch, and the first push switch is electrically connected to the first motor.

[0011] Preferably, a telescopic groove is formed in the inner cavity of the rotary cylinder. A retaining ball is elastically and slidably arranged in the telescopic groove through a spring. The retaining ball protrudes from the surface of the inner cavity of the rotary cylinder to block the nut from descending in the rotary cylinder.

[0012] Preferably, the material guiding arm includes a vertical material pipe, a torsion material pipe, and a horizontal material pipe that are sequentially connected through. The cross-sectional dimensions of the vertical material pipe, the torsion material pipe, and the horizontal material pipe are the same. The torsion angle of the torsion material pipe is 90°. The vertical material pipe communicates with the bottom of the box hopper, and the horizontal material pipe communicates with the sliding cavity. Side ports are formed on both sides of the vertical material pipe. Transmission belts are symmetrically arranged on both sides of the vertical material pipe. The transmission belts penetrate through the side ports to squeeze the nuts in the vertical material pipe. The second motor is used to drive the two transmission belts to rotate in opposite directions to convey the nuts into the torsion material pipe.

[0013] Preferably, one end of the transmission belt away from the box hopper is elastically and rotatably connected to the vertical material pipe through a torsion spring, so that one end of the two transmission belts close to the box hopper has a tendency to approach. A contact block is arranged at the part of the transmission belt close to the box hopper. A second push switch is arranged on the side of the vertical material pipe. The contact block touches the second push switch when the transmission belts clamp and conduct the nuts.

[0014] Preferably, the movable seat includes a seat plate. A horizontal feed assembly and a vertical feed assembly are arranged at the bottom of the seat plate. The horizontal feed assembly and the vertical feed assembly are used to drive the seat plate to move horizontally and vertically. The box hopper is vertically and slidably connected to the seat plate through a plurality of telescopic columns. The air cylinder is used to drive the box hopper to move up and down relative to the seat plate.

[0015] Preferably, a cushion plate is arranged at the bottom of the box hopper. One end of the cushion plate close to the vertical material pipe is rotatably connected to the box hopper, and the other end of the cushion plate is a free end. A through hole is formed at the part of the bottom of the box hopper opposite to the free end of the cushion plate. A round rod is fixed in the through hole. A carrier seat is elastically and slidably arranged on the surface of the seat plate through a spring. A convex rack is fixed on the surface of the carrier seat. The convex rack penetrates through the through hole to contact the free end of the cushion plate. The tooth surface of the convex rack slides against the round rod.

[0016] Compared with the related technology, the automatic production line intelligent assembly manipulator provided by the present invention has the following

[0017] Beneficial effects:

[0018] The present invention drives the nuts to be arranged and moved in a clamping manner through the transmission belts rotating in opposite directions, realizes feeding the fastening components one by one, and then presses the nuts against the rotary cylinder by the crank to realize taking the nuts one by one, drives the rotary cylinder to rotate to complete the fastening and assembly of the nuts one by one, without independent material taking, saves the assembly time, reduces the workload of the equipment, and reduces the failure rate. Description of the Drawings

[0019] Figure 1 is the overall structural schematic diagram of the present invention;

[0020] Figure 2 is the mounting structure schematic diagram of the backing plate of the present invention;

[0021] Figure 3 is the distribution structure schematic diagram of the transmission belt of the present invention;

[0022] Figure 4 is the clamping nut structure schematic diagram of the transmission belt of the present invention;

[0023] Figure 5 is the structural schematic diagram of the transverse pipe connection and fastening assembly of the present invention;

[0024] Figure 6 is one of the structural schematic diagrams of the fastening assembly of the present invention;

[0025] Figure 7 is the second structural schematic diagram of the fastening assembly of the present invention;

[0026] Figure 8 is the schematic diagram of the crank pressing nut of the present invention.

[0027] Reference numerals in the figure: 1, box hopper; 2, vertical pipe; 21, torsion pipe; 22, transverse pipe; 3, fastening assembly; 31, end shell; 32, sliding cavity; 33, rotating cylinder; 34, crank; 35, torsion column; 36, protrusion; 37, first push switch; 38, first motor; 39, telescopic groove; 310, blocking ball; 4, side port; 41, transmission belt; 42, second motor; 43, contact block; 44, second push switch; 5, seat plate; 51, telescopic column; 52, cylinder; 53, transverse feed assembly; 54, vertical feed assembly; 6, backing plate; 61, carrier seat; 62, convex rack; 63, round rod. Detailed implementation manners

[0028] In order to make the objectives, technical solutions and advantages of the present invention clearer, 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 used to limit the present invention.

[0029] The following describes the specific implementation of the present invention in detail with reference to specific embodiments.

[0030] The intelligent assembly manipulator for the automatic production line is composed of a positioning part, a feeding part, and an assembly part;

[0031] The structure of the positioning part is as follows:

[0032] As Figure 1As shown, the movable seat includes a seat plate 5, a vertical feed assembly 54 is located at the bottom, a transverse feed assembly 53 is mounted on the upper part of the vertical feed assembly 54, and the seat plate 5 is mounted on the upper part of the transverse feed assembly 53. Both the transverse feed assembly 53 and the vertical feed assembly 54 adopt the screw propulsion principle to drive linear displacement, and both have a linear seat, a screw, a motor and a movable seat. The transverse feed assembly 53 and the vertical feed assembly 54 are used to drive the seat plate 5 to move horizontally and vertically. The box bucket 1 is arranged above the seat plate 5. The box bucket 1 is vertically slidably connected to the seat plate 5 through a plurality of telescopic columns 51. The cylinder 52 is vertically connected to the box bucket 1 and the seat plate 5. The cylinder 52 is used to drive the box bucket 1 to move up and down relative to the seat plate 5.

[0033] The structure of the feeding part is as follows:

[0034] like Figure 1 , Figure 3 , Figure 4 As shown, the width of the inner cavity of the box bucket 1 decreases from top to bottom, so that a linear material collection channel is formed at the bottom of the box bucket 1. The width of the linear material collection channel is slightly larger than the thickness of the nut. The nuts are placed in the box bucket 1 and gathered at the linear material collection channel. The material guide arm includes a vertical material pipe 2, a torsion material pipe 21, and a horizontal material pipe 22 that are sequentially connected. The cross-sectional dimensions of the vertical material pipe 2, the torsion material pipe 21, and the horizontal material pipe 22 are the same. The torsion angle of the torsion material pipe 21 is 90°. The vertical material pipe 2 is connected to the linear material collection channel at the bottom of the box bucket 1. Both sides of the vertical material pipe 2 A side opening 4 is provided, and transmission belts 41 are symmetrically arranged on both sides of the vertical material tube 2. The end of the transmission belt 41 away from the box bucket 1 is elastically rotatably connected to the vertical material tube 2 through a torsion spring, so that the two transmission belts 41 have a tendency to move closer to the end close to the box bucket 1. The transmission belt 41 is aligned with the side opening 4, and a second motor 42 is installed on the surface of the vertical material tube 2. The output shaft of the second motor 42 is connected to the positioning end pulley of one of the transmission belts 41. The pulleys at the positioning ends of the two transmission belts 41 are connected through gear transmission, so that the second motor 42 can rotate the two transmission belts 41 in the opposite direction.

[0035] like Figure 2 As shown, a pad 6 is provided at the bottom of the box bucket 1, one end of the pad 6 close to the vertical material pipe 2 is rotatably connected to the box bucket 1, and the other end of the pad 6 is a free end. A through hole is provided at the bottom of the box bucket 1 corresponding to the free end of the pad 6, and a round rod 63 is fixed in the through hole. A carrier 61 is elastically slidably mounted on the surface of the seat plate 5 through a spring, and a convex rack 62 is fixed on the surface of the carrier 61. The convex rack 62 passes through the through hole upward and contacts the free end of the pad 6, and the tooth surface of the convex rack 62 contacts the round rod 63 in sliding manner.

[0036] The nut in the box hopper 1 lands on the surface of the backing plate 6. When the cylinder 52 drives the box hopper 1 to move up and down, the convex rack 62 abuts against the backing plate 6 upwards to make it tilt, causing the nut to slide towards the vertical material pipe 2. Moreover, the tilted backing plate 6 is used to turn over the nuts in the box hopper 1, enabling the nuts to fall into the linear aggregate channel at the bottom of the box hopper 1 in a vertical state. The round rod 63 moves up and down following the box hopper 1. The round rod 63 abuts against the tooth surface of the convex rack 62, and with the elastic sliding of the carrier seat 61, the convex rack 62 undergoes reciprocating linear jitter. The backing plate 6 supported by the convex rack 62 also jitters, promoting the nuts arranged on the surface of the backing plate 6 to slide towards the vertical material pipe 2, and also promoting the nuts in the box hopper 1 to enter the linear aggregate channel in an adjusted state under the jitter;

[0037] The nut is pushed into the vertical material pipe 2 by the backing plate 6. The second motor 42 drives the two transmission belts 41 to rotate in opposite directions. The two transmission belts 41 conduct the nuts in a clamping manner, causing the nuts to be introduced into the twisted material pipe 21 by the vertical material pipe 2, rotate 90° and then enter the horizontal material pipe 22 to reach the horizontal arrangement state.

[0038] As Figure 3 shown, a touch block 43 is provided at one end of the transmission belt 41 close to the box hopper 1, and a second pressure switch 44 is provided on the side of the vertical material pipe 2. The second pressure switch 44 is connected to a prompting device through a controller, such as a warning light, a loudspeaker, etc. When the transmission belt 41 clamps and conducts the nuts, the touch block 43 touches the second pressure switch 44. At this time, the prompting device does not give a prompt, indicating that there are nuts in the vertical material pipe 2 being normally arranged and conducted. When there are no nuts in the box hopper 1, or when the nuts in the box hopper 1 are blocked, no nuts enter between the two transmission belts 41, and the free ends of the two transmission belts 41 come closer together, and the pressing touch of the second pressure switch 44 is interrupted. The prompting device reminds of material shortage or jamming, facilitating the staff to handle it in time.

[0039] The structure of the assembly part is as follows:

[0040] As Figure 5 、 Figure 6 、 Figure 7 、 Figure 8 shown, the fastening assembly 3 includes an end shell 31. The end shell 31 is fixedly connected to the end of the horizontal material pipe 22. There is a sliding cavity 32 inside the end shell 31, and the sliding cavity 32 communicates with the horizontal material pipe 22. A rotary cylinder 33 is rotatably installed at the bottom of the end shell 31. The rotary cylinder 33 has a cavity that penetrates up and down. The cross-section of the cavity of the rotary cylinder 33 is a polygonal shape adapted to the nut. The first motor 38 is installed on the edge of the end shell 31, and the first motor 38 is connected to the rotary cylinder 33 through belt drive;

[0041] A torsion column 35 is rotatably installed in the sliding cavity 32 through a torsion spring. A crank 34 is fixed to the torsion column 35. The end of the crank 34 is bent upwards. The crank 34 is used to press on the flat part around the threaded hole on the upper surface of the nut;

[0042] The inner cavity of the rotary cylinder 33 is provided with a telescopic groove 39, in which a blocking ball 310 is elastically slidably arranged by a spring, and the blocking ball 310 protrudes from the surface of the inner cavity of the rotary cylinder 33;

[0043] The nut in the transverse material tube 22 is squeezed into the sliding cavity 32 by the nut arranged in the front, and the entered nut overcomes the elastic force to push up the crank 34, and the crank 34 is pressed on the flat part of the outer periphery of the threaded hole on the upper surface of the nut. The compressed nut is placed on the top of the rotary cylinder 33, and the first motor 38 drives the rotary cylinder 33 to rotate. When the inner cavity contour of the rotary cylinder 33 rotates to align with the nut, the compressed nut enters the rotary cylinder 33 and is blocked by the blocking ball 310 to prevent the nut from falling. At this time, the nut is compressed by the crank 34 at the top and blocked by the blocking ball 310 at the bottom, and is kept in a fixed position. At this time, part of the nut enters the rotary cylinder 33, and a part still protrudes from the top of the rotary cylinder 33, which is used to block the transverse material tube 22. The nut enters the sliding cavity 32 to avoid overlapping of feeding. When assembling the nut, the vertical feed component 54 and the horizontal feed component 53 drive the box bucket 1, the guide arm, and the fastening component 3 to move as a whole, so that the bottom of the rotary cylinder 33 is aligned with the screws on the surface of the product, the cylinder 52 is turned on and contracted to make the fastening component 3 descend, and the screws are inserted into the rotary cylinder 33, and the first motor 38 is turned on at the same time to drive the rotary cylinder 33 to rotate. The rotating nut thread connects the screw, and as the nut continues to rotate and engage, the nut is subjected to force to descend and squeeze the blocking ball 310 into the telescopic groove 39, so that the nut is fastened and assembled with the connecting screw, and then the fastening component 3 moves up, and the nut continues to enter the sliding cavity 32, waiting for the next assembly work.

[0044] like Figure 6 , Figure 7 As shown, a first push switch 37 is provided above the torsion post 35, and the first push switch 37 is electrically connected to the first motor 38 through the controller. The surface of the torsion post 35 has a protrusion 36. When the nut enters the sliding cavity 32, the nut supports the crank 34 to move upward, so that the protrusion 36 on the surface of the torsion post 35 contacts the first push switch 37. The controller controls the first motor 38 to rotate slowly, drives the rotary cylinder 33 to rotate slowly, so that the nut pressed down by the crank 34 can be stably aligned and enter the rotary cylinder 33. After the nut enters the rotary cylinder 33, the crank 34 swings down, the protrusion 36 disengages from the touch-controlled first push switch 37, and the slow rotation of the first motor 38 ends.

Claims

1. Intelligent assembly manipulator for automatic production line, characterized by: include: A box bucket (1), wherein the width of the inner cavity of the box bucket (1) decreases from top to bottom, and nuts are contained in the box bucket (1); A material guide arm, which obtains the nut from the bottom of the box bucket (1) and guides the nut to be discharged in a horizontal state; A fastening assembly (3), the fastening assembly (3) comprising an end shell (31), the end shell (31) being connected to one end of a material guide arm for discharging a nut, the end shell (31) having a sliding cavity (32) inside, a rotary drum (33) being rotatably mounted at the bottom of the end shell (31), the rotary drum (33) having an inner cavity that passes through from top to bottom, the inner cavity cross-section of the rotary drum (33) being a polygonal shape adapted to the nut, the first motor (38) being connected to the rotary drum (33) via a belt drive, the nut discharged by the material guide arm entering the sliding cavity (32) and then falling into the inner cavity of the rotary drum (33); A movable seat, the movable seat supports the box bucket (1), the material guide arm, and the fastening component (3) to move synchronously; A torsion column (35) is elastically rotatably mounted in the sliding cavity (32) via a torsion spring, a crank (34) is fixed to the torsion column (35), an end of the crank (34) is bent upward, and the crank (34) is pressed against a flat surface portion of the outer periphery of the threaded hole on the upper surface of the nut; A first push switch (37) is arranged above the torsion column (35), and a protrusion (36) is provided on the surface of the torsion column (35). The nut supports the crank (34) to move upward so that the protrusion (36) on the surface of the torsion column (35) contacts the first push switch (37), and the first push switch (37) is electrically connected to the first motor (38); The inner cavity of the rotary cylinder (33) is provided with a telescopic groove (39), and a blocking ball (310) is arranged in the telescopic groove (39) to slide elastically via a spring. The blocking ball (310) protrudes from the surface of the inner cavity of the rotary cylinder (33) and is used to prevent the nut from descending in the rotary cylinder (33).

2. The automatic production line intelligent assembly robot according to claim 1, characterized in that: The material guide arm comprises a vertical material pipe (2), a twisting material pipe (21), and a horizontal material pipe (22) which are connected in sequence. The cross-sectional dimensions of the vertical material pipe (2), the twisting material pipe (21), and the horizontal material pipe (22) are the same. The twisting angle of the twisting material pipe (21) is 90°. The vertical material pipe (2) is connected to the bottom of the box bucket (1), and the horizontal material pipe (22) is connected to the slide cavity (32). Side openings (4) are provided on both sides of the vertical material pipe (2). Transmission belts (41) are symmetrically arranged on both sides of the vertical material pipe (2). The transmission belts (41) pass through the side openings (4) to squeeze the nuts in the vertical material pipe (2). The second motor (42) is used to drive the two transmission belts (41) to rotate in opposite directions to convey the nuts into the twisting material pipe (21).

3. The automatic production line intelligent assembly robot according to claim 2 is characterized in that: The end of the transmission belt (41) away from the box (1) is elastically rotatably connected to the vertical material tube (2) through a torsion spring, so that the two ends of the transmission belts (41) close to the box (1) have a tendency to move closer together. A contact block (43) is provided at the end of the transmission belt (41) close to the box (1), and a second press switch (44) is provided on the side of the vertical material tube (2). When the transmission belt (41) clamps the conductive nut, the contact block (43) touches the second press switch (44).

4. The automatic production line intelligent assembly robot according to claim 1, characterized in that: The movable seat comprises a seat plate (5), and a horizontal feed assembly (53) and a vertical feed assembly (54) are arranged at the bottom of the seat plate (5). The horizontal feed assembly (53) and the vertical feed assembly (54) are used to drive the seat plate (5) to move horizontally and vertically. The box bucket (1) is vertically slidably connected to the seat plate (5) via a plurality of telescopic columns (51), and the cylinder (52) is used to drive the box bucket (1) to move up and down relative to the seat plate (5).

5. The automatic production line intelligent assembly robot according to claim 4 is characterized in that: A pad (6) is provided at the bottom of the box bucket (1), one end of the pad (6) close to the vertical material pipe (2) is rotatably connected to the box bucket (1), and the other end of the pad (6) is a free end. A through hole is provided at the bottom of the box bucket (1) corresponding to the free end of the pad (6), and a round rod (63) is fixed in the through hole. A carrier (61) is elastically slidably provided on the surface of the seat plate (5) through a spring, and a convex rack (62) is fixed on the surface of the carrier (61). The convex rack (62) passes through the through hole and contacts the free end of the pad (6), and the tooth surface of the convex rack (62) contacts the round rod (63) in sliding manner.

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