Actuating mechanism and battery mounting equipment for weapon production

Abstract

The invention relates to the field of machining, in particular to mounting equipment for an executing mechanism and a battery for weapon production, an assembling mechanical arm body is arranged between an executing mechanism mounting mechanism and a battery mounting mechanism to execute assembling operation, and the assembling mechanical arm body is fed through a feeding table. In the assembling process of the main body part, the battery part and the executing mechanism part, the high-automation and high-precision assembling effect is achieved through multiple sets of automatic equipment, the battery part and the executing mechanism part are in the independent modular assembling process, the whole operation process is more orderly and efficient, manual operation is greatly reduced, and meanwhile precise assembling of parts is guaranteed.

Description

Technical Field

[0001] The present invention relates to the technical field of machining, and particularly to an installation device for an actuator and a battery used in weapon production. Background Art

[0002] During the manufacturing process of precision mechanical parts, the assembly of high-precision workpieces is the core technological link determining the product performance. Some of the existing technologies mainly rely on manual operation systems, including: basic component assembly and debugging assembly. This mode has significant technical defects. There are inherent precision fluctuations in manual operations, and operators need to undergo special training to meet the technological standards. Secondly, during continuous operation, with the increase of operation time and intensity, the overall work and assembly efficiency cannot be guaranteed. Summary of the Invention

[0003] The purpose of the present invention is to solve the disadvantages existing in the prior art, and to provide an installation device for an actuator and a battery used in weapon production.

[0004] In order to achieve the above purpose, the present invention adopts the following technical solutions: An installation device for an actuator and a battery used in weapon production includes an actuator installation mechanism and a battery installation mechanism. An assembly robotic arm body is configured between the actuator installation mechanism and the battery installation mechanism to perform assembly operations, and the assembly robotic arm body is fed through a feeding table. The actuator installation mechanism includes a machine vision positioning unit 1, an end ring disassembly unit, a clamping manipulator 1, a first manipulator dispensing unit, and a height measuring unit arranged in sequence. The main body part is driven by a first linear guide rail driving unit to move below the machine vision positioning unit 1, and after being processed by camera, it moves below the end ring disassembly unit to perform end ring disassembly operations, and the actuator parts are assembled into the main body part by the clamping manipulator 1. The battery installation mechanism includes a clamping manipulator 2, a machine vision positioning unit 2, a pin clamping manipulator, a second automatic screw locking manipulator, a fastener clamping manipulator, and a second manipulator dispensing unit arranged in sequence. After the main body part completes the actuator assembly operation, it is transferred by the assembly robotic arm body to the second linear guide rail driving unit. A second manipulator dispensing unit is arranged on the side away from the fastener clamping manipulator. The second manipulator dispensing unit sends the dispensed fasteners into the fastener transfer table through the fastener clamping manipulator. After the operation process of the pin clamping manipulator on the main body part is completed, the main body part moves through the second linear guide rail driving unit to trigger the operation process in the second automatic screw locking manipulator, and each time after the second automatic screw locking manipulator completes a single operation process, the main body part moves back in the original path to trigger the operation process in the pin clamping manipulator.

[0005] Preferably, a first transfer table is assembled on the first linear guide rail driving unit. The first transfer table is used for assembling the main body parts, and an actuator part is installed on one side of the first transfer table.

[0006] Preferably, the end ring disassembly unit includes a first automatic screw locking manipulator, a servo mechanical rotating gripper, and a screw feeding table. The servo mechanical rotating gripper is arranged on one side away from the first automatic screw locking manipulator, and the screw feeding table is arranged on the other side away from the first automatic screw locking manipulator.

[0007] Preferably, a first manipulator dispensing unit is arranged on one side of the first gripping manipulator, and the operation process of the first gripping manipulator takes precedence over that of the first manipulator dispensing unit.

[0008] Preferably, a second transfer table is assembled on the second linear guide rail driving unit. The second transfer table is used for assembling the main body parts.

[0009] Preferably, a pin placement table and a gasket placement table are assembled on one side away from the pin gripping manipulator.

[0010] Preferably, a second manipulator dispensing unit is arranged below the fastener gripping manipulator, and the second manipulator dispensing unit is configured with a vibrating feeding unit.

[0011] Preferably, when the fastener transfer table reciprocates through a linear motor, a fastener gripping manipulator is arranged directly above one end travel terminal, and a second automatic screw locking manipulator is arranged directly above the other end travel terminal.

[0012] Preferably, a height measuring unit is arranged between the end ring disassembly unit and the first gripping manipulator.

[0013] The beneficial effects of the present invention are as follows: In the present invention, during the assembly process of the main body parts, battery parts, and actuator parts, high automation and high-precision assembly effects are achieved by multiple sets of automated equipment. Moreover, the battery parts and actuator parts have independent modular assembly processes, making the entire operation process more orderly and efficient. While greatly reducing manual operations, it ensures the precision assembly of components. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 FIG. is a schematic diagram of the overall structure of an installation device for an actuator and a battery used in weapon production proposed by the present invention; Figure 2 FIG. is a schematic diagram of the overall structure of the actuator installation mechanism proposed by the present invention; Figure 3 FIG. is a schematic diagram of the structure of the end ring disassembly unit proposed by the present invention; Figure 4 FIG. is a schematic diagram of the structure of the first gripping manipulator proposed by the present invention; Figure 5 Schematic diagram of the overall structure of the battery installation mechanism proposed by the present invention; Figure 6 Schematic diagram of the structure of the pin clamping manipulator proposed by the present invention; Figure 7 Schematic diagram of the structure at position A proposed by the present invention; Figure 8 Schematic diagram of the external structure of the installation equipment of the fastener clamping manipulator proposed by the present invention.

[0015] In the figure: 1. Actuator installation mechanism; 11. First linear guide rail drive unit; 12. Machine vision positioning unit 1; 13. End ring disassembly unit; 131. First automatic screw locking manipulator; 132. Servo mechanical rotating gripper; 133. Screw feeding table; 14. Clamping manipulator 1; 15. First manipulator dispensing unit; 16. Height measuring unit; 2. Battery installation mechanism; 21. Second linear guide rail drive unit; 22. Clamping manipulator 2; 23. Machine vision positioning unit 2; 24. Pin clamping manipulator; 25. Second manipulator dispensing unit; 26. Fastener transfer table; 261. Linear motor; 27. Second automatic screw locking manipulator; 28. Pin placement table; 29. Spacer placement table; 210. Fastener clamping manipulator; 3. Assembly robotic arm body; 4. Feeding table; 5. Actuator component; 6. Main body component; 61. Battery component; 7. Transfer table 1; 8. Transfer table 2; 9. Vibration feeding unit. Specific embodiments

[0016] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments.

[0017] Refer to Figure 1-8 , an installation device for an actuator and a battery used in weapon production, including an actuator installation mechanism 1 and a battery installation mechanism 2. An assembly robotic arm body 3 is configured between the actuator installation mechanism 1 and the battery installation mechanism 2 to perform an assembly operation. The assembly robotic arm body 3 is fed through a feeding table 4; Furthermore, the actuator installation mechanism 1 includes a machine vision positioning unit 1 12, an end ring disassembly unit 13, a clamping manipulator 1 14, a first manipulator dispensing unit 15, and a height measuring unit 16 arranged in sequence. The main body component 6 is driven by the first linear guide rail drive unit 11 to move below the machine vision positioning unit 1 12, and after being processed by the camera, it moves below the end ring disassembly unit 13 for end ring disassembly operation, and the actuator component 5 is assembled into the main body component 6 by the clamping manipulator 1 14; On one side away from the machine vision positioning unit 12, there are sequentially arranged an end ring disassembly unit 13, a height measuring unit 16, and a first clamping manipulator 14. On one side of the first clamping manipulator 14, there is a first manipulator dispensing unit 15 installed.

[0018] Furthermore, the battery installation mechanism 2 includes a second clamping manipulator 22, a machine vision positioning unit 23, a pin clamping manipulator 24, a second automatic screw locking manipulator 27, a fastener clamping manipulator 210, and a second manipulator dispensing unit 25 arranged in sequence. After the main body part 6 completes the assembly operation of the actuator, it is transferred to the second linear guide drive unit 21 by the assembly robotic arm body 3. On one side away from the fastener clamping manipulator 210, there is a second manipulator dispensing unit 25. The second manipulator dispensing unit 25 sends the dispensed fasteners into the fastener transfer table 26 through the fastener clamping manipulator 210; On one side away from the second clamping manipulator 22, there are sequentially arranged a machine vision positioning unit 23, a pin clamping manipulator 24, a second automatic screw locking manipulator 27, a fastener clamping manipulator 210, and a second manipulator dispensing unit 25.

[0019] Furthermore, during the assembly operation of the main body part 6 by the pin clamping manipulator 24, the main body part 6 travels to the second automatic screw locking manipulator 27 through the second linear guide drive unit 21 to trigger the operation process. And each time the second automatic screw locking manipulator 27 completes a single operation process, the main body part 6 travels back in the original path to the pin clamping manipulator 24 to trigger the operation process.

[0020] A transfer table 7 is assembled on the first linear guide drive unit 11. The transfer table 7 is used for assembling the main body part 6, and an actuator part 5 is installed on one side of the transfer table 7.

[0021] The end ring disassembly unit 13 includes a first automatic screw locking manipulator 131, a servo mechanical rotating gripper 132, and a screw feeding table 133. The servo mechanical rotating gripper 132 is arranged on one side away from the first automatic screw locking manipulator 131, and the screw feeding table 133 is arranged on the other side away from the first automatic screw locking manipulator 131.

[0022] A first manipulator dispensing unit 15 is arranged on one side of the first clamping manipulator 14, and the operation process of the first clamping manipulator 14 takes precedence over that of the first manipulator dispensing unit 15.

[0023] A transfer table 8 is assembled on the second linear guide drive unit 21. The transfer table 8 is used for assembling the main body part 6.

[0024] A pin placement table 28 and a gasket placement table 29 are assembled on one side away from the pin clamping manipulator 24.

[0025] Below the fastener clamping manipulator 210, a second manipulator dispensing unit 25 is configured, and the second manipulator dispensing unit 25 is configured with a vibrating feeding unit 9.

[0026] When the fastener transfer table 26 reciprocates through the linear motor 261, a fastener clamping manipulator 210 is arranged directly above one end travel terminal thereof, and a second automatic screw locking manipulator 27 is arranged directly above the other end travel terminal.

[0027] A height measuring unit 16 is arranged between the end ring disassembly unit 13 and the first clamping manipulator 14.

[0028] Four positioning holes for installing the battery component 61 are formed inside the main body part 6, and the positioning holes are used for assembling pin and screw components.

[0029] In this embodiment, the assembly robotic arm body 3 clamps and transports the main body part 6 in the feeding table 4 to the actuator installation mechanism 1, and performs installation and clamping through the first transfer table 7. The first transfer table 7 realizes linear motion through the first linear guide rail driving unit 11, and transfers the main body part 6 to the imaging area of the machine vision positioning unit 1 for vision positioning processing. After completing the operation process, it is transferred below the end ring disassembly unit 13. The first automatic screw locking manipulator 131 loosens the fastening screws of the upper end ring of the main body part 6, and then replaces them with a servo mechanical rotating gripper 132 to rotate and clamp and extract the loosened screws. Then the gripper puts the screws into the screw discharge table 133 arranged on one side for recycling.

[0030] At this time, the end ring and the main body part 6 are no longer in a constrained connection, and the end ring can be disassembled and removed by the servo mechanical rotating gripper 132.

[0031] The main body part 6 after the end ring is disassembled is transferred to the first clamping manipulator 14. The first clamping manipulator 14 takes out the actuator component 5 assembled on the first transfer table 7 and installs it into the main body part 6 to complete the operation process.

[0032] During this process, the actuator component 5 will first be transferred to the first manipulator dispensing unit 15 for circumferential dispensing treatment, and then the assembly operation process of the main body part 6 will be carried out after the dispensing treatment.

[0033] Further, after all the operation processes of the actuator installation mechanism 1 are completed, the main body part 6 is transferred to the side close to the assembly robot arm body 3, and is picked up and transferred to the battery installation mechanism 2 by the assembly robot arm body 3, and is assembled and connected with the second transfer table 8. The second transfer table 8 drives the main body part 6 to be transferred under the second gripper robot 22 through the second linear guide driving unit 21, and the second gripper robot 22 rotates to adjust the position until the installation angle matching the main body part 6 and the battery part 61 is met. Then, the main body part 6 is transferred into the imaging area of the second machine vision positioning unit 23 for vision positioning processing. After identification and separation, it is transferred under the pin gripper robot 24. The pin gripper robot 24 sequentially places pins into the slot holes inside the main body part 6 for installing the battery part 61 through the pin placement table 28 to complete the primary positioning; Then, after all the pins are configured, the pin gripper robot 24 sequentially aligns and places gaskets on each pin through the gasket placement table 29, that is, completes the guiding assembly of the gaskets.

[0034] Then the main body part 6 is transferred under the second gripper robot 22, and the assembly robot arm body 3 operates to pick up and transfer the battery part 61 in the feeding table 4 onto the main body part 6 and place and assemble it in alignment with the pin positions; After the preliminary assembly is completed, the main body part 6 is transferred under the pin gripper robot 24, and the pin gripper robot 24 takes out a single pin at the corresponding position. Immediately, the main body part 6 is sent under the second automatic screw locking robot 27, and the second automatic screw locking robot 27 drives the fastened parts after glue application into the vacated pin holes (slot holes) to complete the alternating assembly; Immediately, the main body part 6 will be transferred under the pin gripper robot 24 again for the operation process of taking pins, and will operate alternately with the second automatic screw locking robot 27 until all the pins are taken out and all the fastened parts are driven in.

[0035] Among them, during the glue application process of the fastened parts, the fastened parts are sent into the second manipulator dispensing unit 25 by the vibrating feeding unit 9 and are subjected to circumferential glue application treatment. Then, the fastened parts after glue application treatment are picked up and transferred to the fastened part transfer table 26 by the fastened part gripper robot 210, and the linear motor 261 drives the fastened part transfer table 26 to move to the lower part of the second automatic screw locking robot 27 for the second automatic screw locking robot 27 to pick up materials.

[0036] At this time, all the pins are automatically processed and replaced with fastened parts, and the assembly process of the battery part 61 and the main body part 6 is completed.

[0037] The first automatic screw-locking manipulator 131, the servo mechanical rotating gripper 132, the first picking manipulator 14, the first manipulator dispensing unit 15, the height measuring unit 16, the second picking manipulator 22, the pin picking manipulator 24, the second manipulator dispensing unit 25, and the second automatic screw-locking manipulator 27, and the fastener picking manipulator 210 are all configured with linear drive mechanisms, and the multi-axis linear movement of the corresponding components is realized through the linear drive mechanisms, which is a conventional configuration in the technical field and will not be explained further.

[0038] The actuator mounting mechanism 1 and the battery mounting mechanism 2 are both configured to be mounted on the workbench.

[0039] The above is only a preferred specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention, according to the technical solution and inventive concept of the present invention, makes equivalent substitutions or changes, and should be covered by the protection scope of the present invention.

Claims

1. An installation device for an actuator and a battery used in weapon production, comprising an actuator installation mechanism (1) and a battery installation mechanism (2), characterized in that, An assembly robotic arm body (3) is configured between the actuator mounting mechanism (1) and the battery mounting mechanism (2) to perform assembly operations, and the assembly robotic arm body (3) is fed through a feeding table (4). The actuator mounting mechanism (1) includes a machine vision positioning unit 1 (12), an end ring disassembly unit (13), a gripping manipulator 1 (14), a first manipulator dispensing unit (15), and a height measuring unit (16) arranged in sequence. The main body part (6) is driven by a first linear guide rail driving unit (11) to move below the machine vision positioning unit 1 (12), and after being processed by the camera, it moves below the end ring disassembly unit (13) to perform the end ring disassembly operation, and the actuator part (5) is assembled into the main body part (6) by the gripping manipulator 1 (14). The battery mounting mechanism (2) includes a gripping manipulator 2 (22), a machine vision positioning unit 2 (23), a pin gripping manipulator (24), a second automatic screw locking manipulator (27), a fastener gripping manipulator (210), and a second manipulator dispensing unit (25) arranged in sequence. After the main body part (6) completes the actuator assembly operation, it is transferred by the assembly robotic arm body (3) onto the second linear guide rail driving unit (21). A second manipulator dispensing unit (25) is arranged on one side away from the fastener gripping manipulator (210), and the second manipulator dispensing unit (25) feeds the dispensed fasteners into the fastener transfer table (26) through the fastener gripping manipulator (210). When the operation process of the pin gripping manipulator (24) on the main body part (6) ends, the main body part (6) moves through the second linear guide rail driving unit (21) to trigger the operation process in the second automatic screw locking manipulator (27), and each time the second automatic screw locking manipulator (27) completes a single operation process, the main body part (6) moves back along the original path to trigger the operation process in the pin gripping manipulator (24).

2. The installation device for an actuator and a battery used in weapon production according to claim 1, characterized in that, A transfer table 1 (7) is assembled on the first linear guide rail driving unit (11), and the transfer table 1 (7) is used for assembling the main body part (6), and an actuator part (5) is installed on one side of the transfer table 1 (7).

3. The installation device for an actuator and a battery used in weapon production according to claim 1, characterized in that, The end ring disassembly unit (13) includes a first automatic screw locking manipulator (131), a servo mechanical rotating jaw (132), and a screw feeding table (133). The servo mechanical rotating jaw (132) is arranged on one side away from the first automatic screw locking manipulator (131), and the screw feeding table (133) is arranged on the other side away from the first automatic screw locking manipulator (131).

4. The installation device for an actuator and a battery used in weapon production according to claim 1, characterized in that, A first manipulator dispensing unit (15) is arranged on one side of the gripping manipulator 1 (14), and the operation process of the gripping manipulator 1 (14) takes precedence over the first manipulator dispensing unit (15).

5. An installation device for an actuator and a battery used in weapon production, characterized in that, A transfer table 2 (8) is assembled on the second linear guide rail driving unit (21), and the transfer table 2 (8) is used for assembling the main body part (6).

6. The installation device for an actuator and a battery used in weapon production according to claim 1, characterized in that, A pin placement table (28) and a gasket placement table (29) are assembled on one side away from the pin gripping manipulator (24).

7. An installation device for an actuator and a battery used in weapon production, characterized in that, A second robotic dispensing unit (25) is disposed below the fastener gripping robot (210), and the second robotic dispensing unit (25) is configured with a vibrating feeding unit (9).

8. An installation device for an actuator and a battery used in weapon production, characterized in that, When the fastener transfer table (26) reciprocates through a linear motor (261), a fastener gripping robot (210) is disposed directly above one end travel terminal thereof, and a second automatic screw locking robot (27) is disposed directly above the other end travel terminal.

9. The installation device for an actuator and a battery used in weapon production according to claim 1, characterized in that, A height measuring unit (16) is disposed between the end ring disassembling unit (13) and the first gripping robot (14).

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