Automatic assembly workstation

Abstract

According to the automatic assembly workstation applied to the technical field related to assembly, the automatic feeding mechanism and the automatic grabbing mechanism are combined together, so that the relative position of the automatic feeding mechanism is fixed, deviation is not prone to occurring, the assembly precision and the working efficiency are effectively improved, and meanwhile, under the arrangement of the visual adjusting unit, the assembly efficiency is improved. The position deviation of the automatic grabbing mechanism caused by accumulated tolerance can be timely found, the direction and the size of the deviation can be determined, under the cooperation of a visual image, on one hand, the control center can timely adjust the position of the automatic grabbing mechanism so as to eliminate the tolerance and enable the assembly to be smoothly carried out, and on the other hand, the production efficiency is improved. According to the tolerance control center, the moving path of the automatic grabbing mechanism can be subjected to adaptive fine adjustment, so that the workpieces are accurately and stably assembled under the condition that tolerance exists, it is effectively guaranteed that the second workpiece can be accurately assembled on the first workpiece, and then the assembling efficiency is further improved.

Description

Technical Field

[0001] The present invention relates to an automatic assembly workstation, in particular to an automatic assembly workstation applied to the technical field related to automatic assembly. Background Art

[0002] Welding reinforcing ribs on both sides of the H-shaped workpiece can form high-strength H-shaped steel, which can enhance the strength of the H-shaped steel. The traditional steel structure processing and manufacturing process includes plasma cutting, primary assembly, main submerged arc welding, secondary assembly, CO2 gas shielded welding, sandblasting and rust removal, surface painting, etc. During assembly, alignment is required in the early stage. Generally, materials are delivered to the assembly station manually. The operator lifts the workpiece to the tooling through the lifting equipment. The preset positioning device on the tooling positions the workpiece and then manually clamps it. After repeating the above steps to position and assemble the required materials with tooling, confirm that the assembly position of each workpiece meets the process requirements before subsequent operations can be carried out, such as welding, sandblasting and rust removal, painting, etc. For example, the specification of Chinese patent CN118371845A discloses an H-beam laser processing production line; in order to improve work efficiency, intelligent equipment is generally used for automatic assembly on a predetermined trajectory to reduce the workload of manpower and reduce the error rate caused by manpower. For example, the specification of Chinese patent CN108857421B discloses a bogie frame component rapid assembly workstation.

[0003] However, in the above patents, the feeding device is generally independent of the grasping device, which leads to a certain deviation when the feeding device returns to the target position after loading or unloading each time, that is, its position relative to the grasping device is prone to deviation, resulting in a certain deviation between the actual grasping position of the grasping device when grasping the workpiece and the target grasping position, which affects the assembly accuracy and the assembly efficiency. Summary of the invention

[0004] In view of the above-mentioned prior art, the technical problem to be solved by the present invention is that the accuracy and efficiency of workpiece assembly before welding are low.

[0005] In order to solve the above problems, the present invention provides an automatic assembly workstation, comprising a ground rail and a workpiece carrier frame arranged in parallel, a column with a control center is installed on the upper end of the ground rail through an electric slide, a laser tracking device is installed on one end of the column facing the workpiece carrier frame, the laser tracking device is located above the automatic feeding mechanism, a horizontal suspension beam is fixedly connected to the top of the column, an automatic gripping mechanism is installed on the horizontal suspension beam, an automatic feeding mechanism is fixedly installed on one end of the column facing the workpiece carrier frame, the laser tracking device is located above the automatic feeding mechanism, and a workpiece one and a plurality of workpieces two are placed on the workpiece carrier frame and the automatic feeding mechanism respectively; The lower end of the horizontal suspension beam is fixedly connected to two slide rails, and the lower end of the horizontal suspension beam is also fixedly connected to a rack, which is located between the two slide rails. The top of the automatic grabbing mechanism is slidably connected to the slide rails. The right end of the automatic grabbing mechanism is fixedly installed with an upper motor. The working end of the upper motor moves through the top of the automatic grabbing mechanism and is fixedly connected to a gear, and the gear and the rack are meshed with each other. The automatic grasping mechanism includes an outer cover shell, a telescopic joint slidably connected to the inner wall of the outer cover shell, a plurality of buffer rods fixedly connected to the lower end of the telescopic joint, a rotating motor fixedly connected to the lower end of the buffer rod, and an electric clamp fixedly connected to the rotating end of the rotating motor, the telescopic joint includes a lower motor fixedly connected to the left end of the outer cover shell, a linear guide unit connected to the inside of the outer cover shell, a square tube fixedly connected to the linear guide unit, and a pulley assembly connected between the lower end of the linear guide unit and the rotating end of the lower motor, the linear guide unit includes a screw rod, two bearings for mounting the screw rod, and a nut threadedly connected to the outside of the screw rod, a visual adjustment unit is installed in the middle of the lower end of the electric clamp, the middle of the workpiece 2 is coated with a magnetic coating, and a proximity switch is also fixedly installed at the lower end of the telescopic joint; The workpiece carrier includes a frame installed on the ground, a plurality of transmission rollers installed on the upper end of the frame through bearings, a plurality of positioning units located at the lower end of the frame, and a driving unit installed at the front end of the frame, the driving unit includes a longitudinal motor located below two of the transmission rollers, a driving sprocket installed on the rotating shaft of the longitudinal motor, a plurality of driven double-tooth sprockets respectively fixedly connected to the ends of the transmission rollers, a driving chain connected to the outside of two driven double-tooth sprockets just above the driving sprocket, and a plurality of driven chains respectively connected between two adjacent driven double-tooth sprockets, the plurality of driven chains are respectively located on the left and right sides of the longitudinal motor, and no driven chain is arranged between the two driven double-tooth sprockets with the driving chain; The automatic feeding mechanism includes a fixed bottom plate fixedly connected to the bottom of the column, a movable bottom plate slidably connected to the upper end of the fixed bottom plate, four H-shaped support plates respectively fixedly connected to the four corners of the upper end of the movable bottom plate, and a pushing unit fixedly connected to the upper ends of the four H-shaped support plates. A lower motor is fixedly connected to the right end of the fixed bottom plate, and a linear guide unit is also fixedly connected to the driving end of the lower motor.

[0006] In the above-mentioned automatic assembly workstation, the automatic feeding mechanism and the automatic gripping mechanism are combined together, so that the relative position of the automatic feeding mechanism is fixed and not prone to deviation, thereby effectively improving the assembly accuracy and work efficiency. At the same time, under the setting of the visual adjustment unit, the accumulated tolerance can be detected in time, and the tolerance can be adjusted and eliminated before the workpiece is assembled, thereby effectively ensuring that the second workpiece can be accurately assembled on the first workpiece, thereby further improving the assembly efficiency.

[0007] As a further improvement of the present application, the positioning unit includes a base installed on the ground, a transverse motor fixedly connected to the base, and a positioning plate fixedly connected to the rotating end of the transverse motor, the positioning plate having a right-angle groove, and the lengths of the two right-angle sides of the right-angle groove are respectively greater than the lengths of the corresponding sides of the workpiece.

[0008] As a further improvement of the present application, the pushing unit includes a carrying plate fixedly connected to four H-shaped support plates, two horizontal electric push rods fixedly installed on the upper end of the carrying plate, a pushing plate fixedly connected to the ends of the two horizontal electric push rods, an L-shaped limit plate fixedly connected to the right-angled side of the carrying plate away from the column, and a ejecting plate slidably connected to the end face of the L-shaped limit plate facing the horizontal electric push rod, a longitudinal electric push rod is installed between the upper end of the moving bottom plate and the ejecting plate, and multiple workpieces are located between the ejecting plate and the pushing plate.

[0009] As a further improvement of the present application, the edges of the ejector plate and the carrier plate are in contact with each other, the lower end of the ejector plate is lower than the carrier plate, the upper end of the ejector plate is lower than the upper end of the workpiece two, and the width of the ejector plate at the step is smaller than the width of the workpiece two and larger than half the width of the workpiece two.

[0010] As a further improvement of the present application, the buffer rod includes an outer cylinder fixedly connected to the upper end of the rotating motor, a guide rod fixedly connected to the end of the square tube, and a compression spring sleeved outside the guide rod. The guide rod is inserted into the outer cylinder, and a limited long hole is drilled at the outer end of the outer cylinder. A pin is fixedly connected to the outer end of the guide rod, and the pin movably passes through the limited long hole.

[0011] As a further improvement of the present application, the visual adjustment unit includes a high-definition camera, a laser and a benchmark substrate installed between two clamps of the electric clamp. The two electric clamps are symmetrical about the laser. The benchmark substrate includes an upper electric push rod and a benchmark plate connected to the lower end of the upper electric push rod through an electric shaft. When the benchmark plate is in a horizontal state, the laser beam emitted by the laser is directly facing the center point of the benchmark plate.

[0012] As another improvement of the present application, the benchmark plate is connected to an upper covering plate, a sensing interlayer and a lower lining plate in sequence from top to bottom, the sensing interlayer includes a rectangular frame and a gathering and dispersion layer fixedly connected to the inner wall of the rectangular frame, a groove is opened on the upper end of the lower lining plate, the center point of the groove and the gathering and dispersion layer are on the same vertical line, and the length and width of the groove are both larger than the length and width of the gathering and dispersion layer.

[0013] As another improved supplement of the present application, the upper covering plate is made of transparent material, the lower lining plate is made of hard non-transparent material, the gathering and dispersion layer is made of transparent elastic material, and the gathering and dispersion layer is filled with positioning liquid, which is a mixture of iron powder and clean water in a volume ratio of 1:5-10.

[0014] In summary, the automatic feeding mechanism and the automatic gripping mechanism are combined together so that the relative position of the automatic feeding mechanism is fixed and not prone to deviation, thereby effectively improving the assembly accuracy and work efficiency. At the same time, under the setting of the visual adjustment unit, the deviation of the position of the automatic gripping mechanism caused by the accumulated tolerance can be detected in time, and the direction and size of the deviation can be determined. With the cooperation of the visual image, on the one hand, the control center can adjust the position of the automatic gripping mechanism in time to eliminate the tolerance and make the assembly go smoothly. On the other hand, according to the tolerance, the control center can adaptively fine-tune the moving path of the automatic gripping mechanism, so as to perform accurate and stable assembly of the workpiece in the presence of tolerance, thereby effectively ensuring that the second workpiece can be accurately assembled to the first workpiece, thereby further improving the assembly efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 This is a three-dimensional diagram of the first embodiment of the present application; Figure 2 This is a three-dimensional diagram of the automatic grabbing mechanism of the first embodiment of the present application when it is installed on the horizontal suspension beam; Figure 3 A three-dimensional diagram of the automatic grasping mechanism of the first embodiment of the present application; Figure 4 A three-dimensional diagram of a workpiece carrier according to a first embodiment of the present application; Figure 5 This is a front-view stereoscopic diagram of the automatic feeding mechanism of the first embodiment of the present application; Figure 6 A rear-view stereoscopic diagram of the automatic feeding mechanism of the first embodiment of the present application; Figure 7 This is a side schematic diagram of the first embodiment of the present application; Figure 8 This is a front view schematic diagram of the automatic grasping mechanism part of the second embodiment of the present application; Fig. 9 This is a front cross-sectional view of the marking plate in a horizontal state according to the second embodiment of the present application; Fig.10 This is a cross-sectional view of the second embodiment of the present application when the alignment plate is attached to the second upper surface of the workpiece; Fig.11 This is a schematic diagram of an image of a benchmark plate acquired by a high-definition camera when cumulative tolerance occurs in the second embodiment of the present application.

[0016] Description of the numbers in the figure: 1 ground rail, 2 column, 201 laser tracking device, 3 horizontal suspension beam, 301 slide rail, 302 rack, 4 automatic feeding mechanism, 411 fixed bottom plate, 412 moving bottom plate, 413 lower motor, 42 H-type support plate, 431 bearing plate, 432 horizontal electric push rod, 433 push plate, 434 L-type limit plate, 441 vertical electric push rod, 442 ejector plate, 5 workpiece carrier, 51 frame, 52 transmission roller, 6 drive unit, 61 driving sprocket, 621 driving chain, 622 driven chain, 63 driven double-tooth sprocket, 71 horizontal motor, 72 positioning plate, 8 automatic grabbing mechanism, 801 upper motor, 802 proximity switch, 803 Lower motor, 81 outer cover shell, 82 electric clamp, 83 buffer rod, 831 outer cylinder, 832 pin shaft, 833 compression spring, 84 expansion joint, 841 pulley assembly, 842 screw rod, 843 nut, 844 square tube, 85 rotating motor, 91 high-definition camera, 92 laser, 93 upper electric push rod, 10 benchmarking plate, 101 upper cover plate, 102 lower lining plate, 1031 gathering and dispersion layer, 1032 rectangular frame, 11 magnetic coating. DETAILED DESCRIPTION

[0017] Two implementation modes of the present application are described in detail below with reference to the accompanying drawings.

[0018] The first implementation method: Figure 1 An automatic assembly workstation is shown, in which a represents workpiece 1, and b represents workpiece 2, comprising a ground rail 1 and a workpiece carrier 5 arranged in parallel, a column 2 with a control center is installed on the upper end of the ground rail 1 through an electric slide, a laser tracking device 201 is installed on the end of the column 2 facing the workpiece carrier 5, the laser tracking device 201 is located above the automatic feeding mechanism 4, a cross suspension beam 3 is fixedly connected to the top of the column 2, an automatic gripping mechanism 8 is installed on the cross suspension beam 3, an automatic feeding mechanism 4 is fixedly installed on the end of the column 2 facing the workpiece carrier 5, the laser tracking device 201 is located above the automatic feeding mechanism 4, workpiece 1 and multiple workpieces 2 are placed on the workpiece carrier 5 and the automatic feeding mechanism 4 respectively, when working, firstly multiple workpieces 2 are placed on the automatic feeding mechanism 4, and workpiece 1 is placed on the workpiece carrier 5, and then the control center plans the trajectory of the automatic gripping mechanism 8, so that the automatic gripping mechanism 8 completes the process of clamping workpiece 2 from the automatic feeding mechanism 4 and moving it above workpiece 1 so as to be stuck in workpiece 1, thereby realizing assembly.

[0019] It is worth noting that the workpiece 2 is a plate-type workpiece, and the workpiece 1 can be an H-type workpiece, a box-type workpiece, or other workpieces. In this embodiment, the H-type workpiece is taken as an example. like Figure 2The lower end of the horizontal suspension beam 3 is fixedly connected to two slide rails 301, and the lower end of the horizontal suspension beam 3 is also fixedly connected to a rack 302, the rack 302 is located between the two slide rails 301, the top of the automatic grabbing mechanism 8 is slidably connected to the slide rail 301, and the right end of the automatic grabbing mechanism 8 is fixedly installed with an upper motor 801, the working end of the upper motor 801 moves through the top of the automatic grabbing mechanism 8 and is fixedly connected with a gear, the gear and the rack 302 are meshed with each other, and the gear is driven to rotate by the upper motor 801. Under the action of the rack 302, the automatic grabbing mechanism 8 can be driven to move back and forth on the horizontal suspension beam 3 along the slide rail 301.

[0020] like Figure 3 The automatic grasping mechanism 8 includes an outer cover shell 81, a telescopic section 84 slidably connected to the inner wall of the outer cover shell 81, a plurality of buffer rods 83 fixedly connected to the lower end of the telescopic section 84, a rotating motor 85 fixedly connected to the lower end of the buffer rod 83, and an electric clamp 82 fixedly connected to the rotating end of the rotating motor 85. A proximity switch 802 is also fixedly installed at the lower end of the telescopic section 84. The proximity switch 802 is mainly used to feedback the height signal of the electric clamp 82 relative to the outer cover shell 81. The telescopic section 84 includes a lower motor 803 fixedly connected to the left end of the outer cover shell 81, a linear guide unit connected to the inner side of the outer cover shell 81, and a linear guide unit connected to the linear guide unit. The linear guide unit comprises a square tube 844 fixedly connected to the linear guide unit and a pulley assembly 841 connected between the lower end of the linear guide unit and the rotating end of the lower motor 803. The linear guide unit comprises a screw rod 842, two bearings for mounting the screw rod 842 and a nut 843 threadedly connected to the outside of the screw rod 842, wherein the two bearings are mounted on the inner wall of the outer cover shell 81, and the nut 843 is fixed to the square tube 844. After the lower motor 803 is started, the screw rod 842 can be driven to rotate through the pulley assembly 841, thereby forcing the nut 843 to move linearly along the screw rod 842, so that the square tube 844 carries the electric clamp 82 to move up and down together.

[0021] The buffer rod 83 includes an outer cylinder 831 fixedly connected to the upper end of the rotating motor 85, a guide rod fixedly connected to the end of the square tube 844, and a compression spring 833 sleeved on the outside of the guide rod. The guide rod is inserted into the outer cylinder 831, and a limited long hole is drilled at the outer end of the outer cylinder 831. A pin shaft 832 is fixedly connected to the outer end of the guide rod, and the pin shaft 832 movably penetrates the limited long hole. The buffer rod 83 is mainly used for buffering, so that the electric clamp 82 and the rotating motor 85 are not easily damaged due to excessive force during assembly or clamping. The limited long hole and the pin shaft 832 are used for limiting, so that the compression spring 833 does not need to be over-compressed, thereby protecting it from being damaged in elasticity.

[0022] like Figure 4The workpiece carrier 5 includes a frame 51 installed on the ground, a plurality of transmission rollers 52 installed on the upper end of the frame 51 through bearings, a plurality of positioning units located at the lower end of the frame 51, and a driving unit 6 installed at the front end of the frame 51, wherein the driving unit 6 includes a longitudinal motor located below two transmission rollers 52, a driving sprocket 61 installed on the rotating shaft of the longitudinal motor, a plurality of driven double-tooth sprockets 63 respectively fixedly connected to the ends of the transmission rollers 52, a driving chain 621 connected to the outside of the two driven double-tooth sprockets 63 just above the driving sprocket 61, and a plurality of driven chains 622 respectively connected between two adjacent driven double-tooth sprockets 63, wherein the plurality of driven chains 622 are respectively located on the left and right sides of the longitudinal motor, and no driven chain 622 is arranged between the two driven double-tooth sprockets 63 with the driving chain 621; The positioning unit includes a base installed on the ground, a transverse motor 71 fixedly connected to the base, and a positioning plate 72 fixedly connected to the rotating end of the transverse motor 71, with a right-angle groove bored on it, and the lengths of the two right-angle sides of the right-angle groove are respectively greater than the lengths of the corresponding sides of the workpiece. When the workpiece is placed on the workpiece carrier 5, the bottom of the workpiece carrier 5 is adjusted to be completely on the horizontal sides of the right-angle grooves of the multiple transverse motors 71, and then the multiple positioning plates 72 can be controlled to rotate by the transverse motor 71 to tilt the workpiece, and then move it toward the vertical side of the right-angle groove, thereby adjusting the position of the workpiece, fixing the position of the two arms of the H-shape of the workpiece, and allowing the automatic grasping mechanism 8 to smoothly place the workpiece between the two arms of the H-shape after clamping it each time, so that it is not easy to encounter difficulties in assembly.

[0023] like Figure 5-7 The automatic feeding mechanism 4 includes a fixed bottom plate 411 fixedly connected to the bottom of the column 2, a movable bottom plate 412 slidably connected to the upper end of the fixed bottom plate 411, four H-shaped support plates 42 respectively fixedly connected to the four corners of the upper end of the movable bottom plate 412, and a pushing unit fixedly connected to the upper ends of the four H-shaped support plates 42. The right end of the fixed bottom plate 411 is fixedly connected to a lower motor 413, and the driving end of the lower motor 413 is also fixedly connected to a linear guide unit. The linear guide unit here is also composed of a screw rod 842, two bearings and a nut 843, and the two bearings are both mounted on the fixed bottom plate 411. The nut 843 is fixed to the movable bottom plate 412, so that the lower motor 413 can drive the movable bottom plate 412 and the pushing unit above it to move back and forth along the fixed bottom plate 411, so as to facilitate the adjustment of the lateral position of multiple workpieces between the pushing plate 433 and the top plate 442.

[0024] The pushing unit includes a carrying plate 431 fixedly connected to four H-shaped support plates 42, two horizontal electric push rods 432 fixedly installed on the upper end of the carrying plate 431, a pushing plate 433 fixedly connected to the ends of the two horizontal electric push rods 432, an L-shaped limit plate 434 fixedly connected to the right-angled side of the carrying plate 431 away from the column 2, and a top plate 442 slidably connected to the end face of the L-shaped limit plate 434 facing the horizontal electric push rod 432, a longitudinal electric push rod 441 is installed between the upper end of the moving bottom plate 412 and the top plate 442, and a plurality of workpieces are located between the top plate 442 and the pushing plate 433.

[0025] The edge of the ejector plate 442 and the supporting plate 431 are in contact with each other, the lower end of the ejector plate 442 is lower than the supporting plate 431, and the upper end of the ejector plate 442 is lower than the upper end of the workpiece 2, so that after the workpiece 2 is lifted up, its upper end and the ejector plate 442 are offset from each other, which is convenient for the electric clamp 82 to clamp, and the width of the step of the ejector plate 442 is less than the width of the workpiece 2 and greater than half the width of the workpiece 2, which effectively ensures that the step of the ejector plate 442 can stably lift up the workpiece 2, and at the same time, the workpiece 2 adjacent to the target workpiece 2 is not easily lifted up by mistake, thereby effectively ensuring the stability of the loading process.

[0026] In the above-mentioned automatic assembly workstation, the automatic feeding mechanism 4 and the automatic gripping mechanism 8 are combined together to fix the relative position of the automatic feeding mechanism 4. The position of the automatic feeding mechanism 4 is not easy to change during loading and unloading, thereby effectively ensuring that the position of the workpiece 2 is relatively stable and not prone to deviation, thereby effectively improving the assembly accuracy and efficiency.

[0027] The second implementation method: Since more moving parts are set in the intelligent assembly process of the first embodiment, certain local slight wear is often prone to occur after working for a long time. Although this slight wear has little effect on the movement accuracy of a single component, when multiple moving parts are accumulated together, a larger cumulative tolerance will be produced, resulting in a large error when the electric clamp clamps workpiece two for assembly, making it difficult to assemble workpiece two onto workpiece one quickly and accurately, affecting assembly efficiency. Based on this problem, this embodiment adds a visual adjustment unit on the basis of the first embodiment, and the rest of the parts are consistent with the first embodiment.

[0028] Figure 8As shown, c in the figure represents the laser beam emitted by the laser 92, d represents the trace of iron powder aggregation, a visual adjustment unit is installed in the middle of the lower end of the electric clamp 82, the middle of the workpiece 2 is coated with a magnetic coating 11, the visual adjustment unit includes a high-definition camera 91, a laser 92 and a reference substrate installed between the two clamps of the electric clamp 82, and the two electric clamps 82 are symmetrical about the laser 92. It is worth noting that when the control center plans the moving path of the automatic grasping mechanism 8, when clamping the workpiece 2 at the automatic feeding mechanism 4, the laser 92 is controlled to face the midpoint of the workpiece 2, so that when there is no cumulative error, the laser beam emitted by the laser 92 can fall on the midpoint of the workpiece 2. When an offset occurs, the two do not overlap, and the reference substrate includes an upper electric push rod 93 and a reference plate 10 connected to the lower end of the upper electric push rod 93 through an electric shaft, as shown Fig. 9 The upper cover plate 101, the induction interlayer and the lower lining plate 102 are connected in sequence from top to bottom on the reference plate 10. The induction interlayer includes a rectangular frame 1032 and a gathering and dispersion layer 1031 fixedly connected to the inner wall of the rectangular frame 1032. A groove is cut on the upper end of the lower lining plate 102. The center point of the groove and the gathering and dispersion layer 1031 are on the same vertical line, and the length and width of the groove are larger than the length and width of the gathering and dispersion layer 1031. When the reference plate 10 is close to the workpiece 2, the magnetic coating 11 Under the adsorption force of the iron powder, the gathering and dispersion layer 1031 can be partially deformed downward, so that part of the iron powder gathers in the depression under the action of gravity, making the traces formed by the iron powder gathering more obvious. The upper cover plate 101 is made of transparent material, the lower lining plate 102 is a hard non-transparent material, the gathering and dispersion layer 1031 is made of transparent elastic material, and the gathering and dispersion layer 1031 is filled with a positioning liquid, which is a mixture of iron powder and clean water in a volume ratio of 1:5-10.

[0029] When the marking plate 10 is in a horizontal state, the laser beam emitted by the laser 92 is aimed at the center point of the marking plate 10. At regular intervals, when the automatic grabbing mechanism 8 reaches the automatic feeding mechanism 4, the electric clamp 82 is controlled to clamp the target workpiece 2, and then the electric shaft is controlled to rotate to rotate the marking plate 10 to a horizontal state, and then the upper electric push rod 93 is controlled to extend to make the marking plate 10 close to the workpiece 2. Fig.10Due to the adsorption force of the magnetic coating 11 on the iron powder, the corresponding part of 103 is deformed downward, and part of the iron powder is adsorbed and gathered, thereby forming an obvious trace of local aggregation. Then, the position of the laser beam is compared with the trace. When the two coincide, it means that there is no cumulative tolerance. When they are misaligned, it means that there is a cumulative tolerance. At this time, according to the positional relationship between the two in the image captured by the high-definition camera 91, the control center fine-tunes the position of the automatic grasping mechanism 8 to make the laser beam coincide with the trace of iron powder aggregation to achieve position compensation. At the same time, the control center can re-plan the path of the automatic grasping mechanism 8 according to the cumulative tolerance, so that in the presence of cumulative tolerance, the laser beam can still coincide with the trace of iron powder aggregation, thereby effectively maintaining accurate and stable assembly.

[0030] It is worth noting that during each inspection, the electric shaft is used to quickly control the marking plate 10 to rotate back and forth, so that the positioning liquid inside it is shaken, the uniformity of the iron powder distribution is improved, and it is not easy to interfere with the subsequent traces of iron powder aggregation, so that the control center can better eliminate the cumulative tolerance.

[0031] In summary, the automatic feeding mechanism 4 and the automatic gripping mechanism 8 are combined together so that the relative position of the automatic feeding mechanism 4 is fixed and not prone to deviation, thereby effectively improving the assembly accuracy and work efficiency. At the same time, under the setting of the visual adjustment unit, the deviation of the position of the automatic gripping mechanism 8 caused by the accumulated tolerance can be detected in time, and the direction and size of the deviation can be determined. With the cooperation of the visual image, on the one hand, the control center can adjust the position of the automatic gripping mechanism 8 in time to eliminate the tolerance and make the assembly go smoothly. On the other hand, according to the tolerance, the control center can adaptively fine-tune the moving path of the automatic gripping mechanism 8, so as to perform accurate and stable assembly of the workpiece in the presence of tolerance, thereby effectively ensuring that the second workpiece can be accurately assembled to the first workpiece, thereby further improving the assembly efficiency.

[0032] In view of current practical needs, the above-mentioned implementation mode adopted in this application is not limited to the scope of protection. Various changes made within the knowledge scope of technical personnel in this field without departing from the concept of this application still fall within the scope of protection of the present invention.

Claims

1. An automatic assembly workstation, characterized in that: It comprises a ground rail (1) and a workpiece carrier (5) arranged in parallel with each other, a column (2) with a control center is installed on the upper end of the ground rail (1) via an electric slide, a laser tracking device (201) is installed on one end of the column (2) facing the workpiece carrier (5), a horizontal suspension beam (3) is fixedly connected to the top of the column (2), an automatic gripping mechanism (8) is installed on the horizontal suspension beam (3), an automatic feeding mechanism (4) is fixedly installed on one end of the column (2) facing the workpiece carrier (5), the laser tracking device (201) is located above the automatic feeding mechanism (4), and a workpiece one and a plurality of workpieces two are placed on the workpiece carrier (5) and the automatic feeding mechanism (4), respectively; The lower end of the transverse suspension beam (3) is fixedly connected to two slide rails (301), and the lower end of the transverse suspension beam (3) is also fixedly connected to a rack (302), the rack (302) is located between the two slide rails (301), the top of the automatic grasping mechanism (8) is slidably connected to the slide rail (301), the right end of the automatic grasping mechanism (8) is fixedly installed with an upper motor (801), the working end of the upper motor (801) movably passes through the top of the automatic grasping mechanism (8) and is fixedly connected to a gear, and the gear and the rack (302) are meshed with each other; The automatic grasping mechanism (8) comprises an outer cover shell (81), a telescopic section (84) slidably connected to the inner wall of the outer cover shell (81), a plurality of buffer rods (83) fixedly connected to the lower end of the telescopic section (84), a rotating motor (85) fixedly connected to the lower end of the buffer rods (83), and an electric clamp (82) fixedly connected to the rotating end of the rotating motor (85); the telescopic section (84) comprises a lower motor (803) fixedly connected to the left end of the outer cover shell (81), a linear guide unit connected to the inner wall of the outer cover shell (81), and a plurality of buffer rods (83) fixedly connected to the lower end of the buffer rods (83). The unit is fixedly connected to a square tube (844) and a pulley assembly (841) connected between the lower end of the linear guide unit and the rotating end of the lower motor (803), the linear guide unit comprising a screw rod (842), two bearings for mounting the screw rod (842) and a nut (843) threadedly connected to the outside of the screw rod (842), a visual adjustment unit is installed in the middle of the lower end of the electric clamp (82), a magnetic coating (11) is coated in the middle of the workpiece 2, and a proximity switch (802) is also fixedly installed at the lower end of the telescopic joint (84); The workpiece carrier (5) comprises a frame (51) mounted on the ground, a plurality of transmission rollers (52) mounted on the upper end of the frame (51) via bearings, a plurality of positioning units located at the lower end of the frame (51), and a driving unit (6) installed at the front end of the frame (51), wherein the driving unit (6) comprises a longitudinal motor located below two transmission rollers (52), a driving sprocket (61) mounted on a rotating shaft of the longitudinal motor, a plurality of driven double-tooth sprockets (63) respectively fixedly connected to the ends of the transmission rollers (52), a driving chain (621) connected to the outside of two driven double-tooth sprockets (63) directly above the driving sprocket (61), and a plurality of driven chains (622) respectively connected between two adjacent driven double-tooth sprockets (63), wherein the plurality of driven chains (622) are respectively located on the left and right sides of the longitudinal motor, and no driven chain (622) is provided between the two driven double-tooth sprockets (63) with the driving chain (621); The automatic feeding mechanism (4) comprises a fixed bottom plate (411) fixedly connected to the bottom of the column (2), a movable bottom plate (412) slidably connected to the upper end of the fixed bottom plate (411), four H-shaped support plates (42) respectively fixedly connected to the four corners of the upper end of the movable bottom plate (412), and a pusher unit fixedly connected to the upper ends of the four H-shaped support plates (42), the right end of the fixed bottom plate (411) is fixedly connected to a lower motor (413), and the driving end of the lower motor (413) is also fixedly connected to a linear guide unit.

2. An automatic assembly workstation according to claim 1, characterized in that: The positioning unit comprises a base mounted on the ground, a transverse motor (71) fixedly connected to the base, and a positioning plate (72) fixedly connected to the rotating end of the transverse motor (71), wherein a right-angle groove is cut on the positioning plate (72), and the lengths of two right-angle sides of the right-angle groove are respectively greater than the lengths of corresponding sides of the workpiece.

3. An automatic assembly workstation according to claim 1, characterized in that: The pusher unit comprises a bearing plate (431) fixedly connected to four H-shaped support plates (42), two horizontal electric push rods (432) fixedly mounted on the upper end of the bearing plate (431), a pusher plate (433) fixedly connected to the ends of the two horizontal electric push rods (432), an L-shaped limit plate (434) fixedly connected to the right-angled side of the bearing plate (431) away from the column (2), and a pusher plate (442) slidably connected to the end surface of the L-shaped limit plate (434) facing the horizontal electric push rod (432), a vertical electric push rod (441) is installed between the upper end of the movable bottom plate (412) and the pusher plate (442), and a plurality of workpieces are located between the pusher plate (442) and the pusher plate (433).

4. An automatic assembly workstation according to claim 3, characterized in that: The edges of the ejector plate (442) and the carrier plate (431) are in contact with each other, the lower end of the ejector plate (442) is lower than the carrier plate (431), the upper end of the ejector plate (442) is lower than the upper end of the second workpiece, and the width of the ejector plate (442) at the step is smaller than the width of the second workpiece and larger than half the width of the second workpiece.

5. The automatic assembly workstation according to claim 1, characterized in that: The buffer rod (83) comprises an outer cylinder (831) fixedly connected to the upper end of the rotating motor (85), a guide rod fixedly connected to the end of the square tube (844), and a compression spring (833) sleeved outside the guide rod, the guide rod being inserted into the outer cylinder (831), and a limited position elongated hole being drilled at the outer end of the outer cylinder (831), a pin shaft (832) being fixedly connected to the outer end of the guide rod, and the pin shaft (832) movably passes through the limited position elongated hole.

6. An automatic assembly workstation according to claim 1, characterized in that: The visual adjustment unit comprises a high-definition camera (91), a laser (92) and a reference substrate installed between two clamps of the electric clamp (82); the two electric clamps (82) are symmetrical about the laser (92); the reference substrate comprises an upper electric push rod (93) and a reference plate (10) connected to the lower end of the upper electric push rod (93) via an electric rotating shaft; when the reference plate (10) is in a horizontal state, the laser beam emitted by the laser (92) is directly aligned with the center point of the reference plate (10).

7. An automatic assembly workstation according to claim 6, characterized in that: The reference plate (10) is connected to an upper cover plate (101), a sensing interlayer and a lower lining plate (102) in sequence from top to bottom; the sensing interlayer comprises a rectangular frame (1032) and a gathering and dispersion layer (1031) fixedly connected to the inner wall of the rectangular frame (1032); a groove is cut at the upper end of the lower lining plate (102); the groove and the center point of the gathering and dispersion layer (1031) are on the same vertical line, and the length and width of the groove are greater than the length and width of the gathering and dispersion layer (1031).

8. An automatic assembly workstation according to claim 7, characterized in that: The upper cover plate (101) is made of a transparent material, the lower lining plate (102) is made of a hard non-transparent material, the gathering and dispersion layer (1031) is made of a transparent elastic material, and the gathering and dispersion layer (1031) is filled with a positioning liquid, wherein the positioning liquid is a mixture of iron powder and clean water in a volume ratio of 1:5-10.

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