Assembly and transfer system for butt-assembled workpieces

Abstract

The utility model relates to an assembling and transferring system for a butt-assembled workpiece, which is used for transferring and transferring the butt-assembled workpiece, the butt-assembled workpiece is formed by buckling a first component and a second component, and the butt-assembled workpiece is assembled. Through cooperation of the butt-assembling platform, the multifunctional mechanical arm and the carrying mechanism, the whole process of feeding and placing, assembling and butt-buckling, carrying and transferring and carrying and discharging of workpieces needing butt-buckling is completed, the whole process is completed in a full-automatic mode, overall refined control is achieved, the safety of discharging and warehousing is guaranteed, and the production efficiency is improved. Particularly, a visual detection mechanism is arranged in the transfer bin of the multifunctional manipulator, and secondary detection can be carried out on the assembly quality of butt-assembled workpieces.

Description

Technical Field

[0001] The utility model belongs to the field of workpiece loading, in particular to an assembly and transfer system for workpieces. Background Art

[0002] In the manufacturing industry, the assembly of interlocking workpieces is a common and critical process. The assembly quality of these workpieces directly affects the performance and reliability of the final product, so it is particularly important. Traditionally, this assembly process relies on manual operations. From interlocking, flipping materials, assembly to transshipment and transportation, many steps require manual participation.

[0003] However, manual assembly is inefficient, especially in mass production, and cannot meet the needs of efficient production. In addition, the accuracy of manual operation is limited, which affects the assembly quality. Therefore, many companies choose to use mechanical equipment to assist, such as manipulators to participate in the assembly and transportation of workpieces. However, when manipulators transport workpieces, there will be problems such as difficulty in grasping and inconvenience in transportation. Due to the special shape and structure of the workpieces, it is difficult for traditional grasping devices to effectively grasp and fix the workpieces, which makes it easy for the workpieces to fall off or shift during transportation. This not only affects the transportation efficiency, but may also cause damage to the workpiece or reduce the assembly quality.

[0004] Therefore, there is an urgent need for a system that can realize the overall automated process of fastening and assembling workpieces from loading, flipping, assembly to transfer and transportation, so as to achieve efficient, precise and stable assembly and transportation, and improve production efficiency and assembly quality. Utility Model Content

[0005] To solve the above problems, the utility model proposes an assembly and transfer system and method for matched workpieces, which completes a fully automatic operation system from loading to unloading and transportation through the cooperation of a matching platform, a multifunctional manipulator and a carrier mechanism, so as to solve the problems of manual participation and overly complex equipment systems. Specifically, it is an assembly and transfer system for matched workpieces, which is used to transfer and transfer matched workpieces. The matched workpieces are composed of a first component and a second component that are buckled together and assembled to form matched workpieces. The matching platform is used to provide a loading and installation station for the first component and the second component. The multifunctional manipulator is used to complete the grasping, assembly, loading transfer and transfer processes of the first component and the second component. A transfer bin is fixedly arranged on the multifunctional manipulator, and the transfer bin is used to realize the loading and transfer function of the matched workpieces; the carrier mechanism includes a transfer vehicle, which is used to accommodate and transport the matched workpieces transferred by the multifunctional manipulator, and a plurality of storage compartments are provided on the transfer vehicle for placing the matched workpieces.

[0006] Furthermore, the multifunctional manipulator has at least four movable axes, wherein the part located at the end of the multifunctional manipulator is a first manipulator arm, which is controlled to rotate by a first axis and fixedly connected to a transfer bin at the end, on which a first grasping tool and a vision module are fixedly arranged, and the first grasping tool is used to realize the handling and assembly of workpieces; the vision module is used to identify the empty and full load states of the target area of ​​the transfer vehicle, and to determine whether the assembled workpieces can be placed; the transfer bin includes a hollow sleeve and an ejection mechanism, and the ejection mechanism is used to eject the assembled workpieces placed inside the hollow sleeve, and the vision module includes a camera and a light source.

[0007] Furthermore, the ejection mechanism includes a slide rail, a slider, a first power cylinder and an ejection plate. The slide rail is fixedly arranged on the outer surface of the transfer warehouse. The slider is slidably connected to the slide rail. A first slideway is opened on the transfer warehouse. The slider part passes through the slideway and forms a fixed connection with the ejection plate arranged inside the transfer warehouse on the inner and outer sides of the transfer warehouse. The first power cylinder is fixedly connected to the ejection plate to provide push-pull force for the ejection plate.

[0008] Furthermore, an internal camera slide rail is provided on the surface of the transfer warehouse, an internal camera is slidably provided on the internal camera slide rail, a lens of the internal camera is provided toward the interior of the transfer warehouse, and an internal light source is fixedly provided inside the transfer warehouse for providing lighting for the internal camera.

[0009] Furthermore, at least one side of the transfer bin is provided with a lower pressure plate for secondary buckling of the mounted workpieces.

[0010] Furthermore, the mounting platform includes a table, a loading conveyor line, a flipping mechanism, a mounting station and a plurality of flexible supports. The table is fixed with a plurality of flexible supports for receiving the first component. The loading conveyor line, the mounting station, the flipping mechanism and the flexible supports are fixedly arranged on the table in sequence. The flipping mechanism is used to flip the first component placed on the flexible support platform and place it on the mounting station along with the flipping mechanism.

[0011] Furthermore, the mounting station also includes a second ejection mechanism, which is fixed at the rear side of the mounting station and is used to eject the mounting workpiece placed at the mounting station.

[0012] Furthermore, a bracket slide rail is provided on the table, and the flexible bracket is slidably connected to the table along the bracket slide rail, so as to receive and support the first component and the second component of different models.

[0013] The utility model has the following advantages: (1) It adopts a fully automatic system, which can automatically complete the whole process from loading to assembling the workpiece and then unloading, and cooperates with the visual inspection equipment for fine control to ensure the safety of unloading and warehousing.

[0014] (2) The transfer bin of the multifunctional manipulator includes a visual inspection mechanism that can perform secondary inspection on the assembly quality of the workpieces. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a 3D schematic diagram of the overall structure of the utility model.

[0016] Figure 2 It is a side view schematic diagram of the overall structure of the utility model.

[0017] Figure 3 It is a top view schematic diagram of the overall structure of the utility model.

[0018] Figure 4 It is a schematic cross-sectional view of a preferred transfer bin of the utility model. DETAILED DESCRIPTION

[0019] In the description of the present invention, terms such as "up", "down", "left", "right", "inside", and "outside" indicating directions or positional relationships are based on the directions or positional relationships shown in the drawings. This is merely for the convenience of description and does not indicate or imply that the device or element must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be understood as a limitation on the present invention.

[0020] In addition, it should be noted that in the description of the present invention, unless otherwise clearly specified and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to the specific circumstances.

[0021] The utility model is further described below according to the embodiments:

[0022] refer to Figure 1 , Figure 2 and Figure 3 , Figure 1 This is a 3D schematic diagram of the overall structure of the utility model. Figure 2 It is a side view schematic diagram of the overall structure of the utility model. Figure 3It is a top view schematic diagram of the overall structure of the utility model. The utility model mainly includes three parts. The first part is a multifunctional manipulator, which is used to actively grasp and assemble workpieces and undertake the function of transferring workpieces; the second part is a mounting platform 3, which includes a loading function, and is used to cooperate with the manipulator to passively complete the assembly of workpieces and is responsible for placing the assembled workpieces into the multifunctional manipulator to complete the unloading function; the third part is a carrying mechanism, which includes a transfer vehicle 4 and a ground rail 401. The transfer vehicle 4 is provided with a plurality of columns for carrying the mounted workpieces delivered by the multifunctional manipulator, and the ground rail 401 is used to carry and transport the transfer vehicle 4. When the transport vehicle 4 is full of mounted workpieces, the transfer vehicle 4 can leave the working area of ​​the multifunctional manipulator 1 along the ground rail 401 by mechanical or manual action.

[0023] The mounting platform 3 needs to provide at least one table for placing the first component and the second component. On this table, the two assembly parts should be in a state where one of the assembly parts has its latching surface facing upward, for example: the latching surface of the second component is placed upward, and the latching surface of the first component is placed downward, and the multifunctional manipulator grabs the first component and fastens it on the second component, wherein the first component and the second component can be a kind of assembly part. This situation is more difficult for loading. In a preferred structure, a loading conveyor line 301, an mounting station 302, a flipping mechanism 303 and several flexible brackets 304 are placed on the table in sequence, and the multifunctional manipulator places the first component transported from the loading conveyor line 301 on the flexible bracket 304. In a preferred structure, the mounting platform 3 also includes a bracket slide rail, which is used to enable the flexible bracket 304 to slide along a fixed track to adjust the spacing between several flexible brackets 304 so that they can more adaptably support the first component and the second component.

[0024] After placement, the flipping mechanism 303 grabs the first component. The flipping mechanism 303 includes a main bracket and a rotating shaft vertically fixed on the table. The two are hinged and the rotating shaft can be flipped 180 degrees by a power mechanism (for example, a servo motor). A bracket is fixedly arranged on the rotating shaft, and a plurality of grippers are fixedly arranged on the bracket. The flip suction cup 3031 shown in the figure is a preferred gripper, which can not only perform the grabbing work, but also be used as a bearing component while completing the flipping after grabbing, and the second component is placed on the flipping mechanism, and the flipping mechanism flips the second component. Then the multifunctional manipulator grabs the first component and buckles it to the second component and presses it to complete the buckling assembly. A second ejection mechanism 3021 is arranged on the assembly station 302. The second ejection mechanism 3021 is composed of a second top plate and a front driving force mechanism. The front driving force mechanism can be a common method such as a power cylinder or a motor connecting a lead screw. The first component and the second component together form a workpiece, and the loading work can be completed by the second ejection mechanism 3021. In the utility model, the transfer bin 2 fixedly arranged on the multifunctional manipulator is docked at the loading position.

[0025] The preferred multifunctional robotic arm 1 is a four-axis robotic arm, and the section closest to the end is the first robotic arm 101. The transfer bin 2 is fixedly arranged on the first robotic arm 101. The transfer bin 2 includes a rectangular hollow sleeve structure, and the interior of the sleeve is used to accommodate the workpieces to complete the storage function during the loading and transfer process.

[0026] A visual module is fixedly arranged on the transfer bin 2. Generally speaking, the visual module includes at least a camera, such as the camera 204 shown in the figure. Considering the need for supplementary light in the working environment, a supplementary light source is required, such as the light source 205 shown in the figure. A first grasping tool 201 is also fixedly arranged on the transfer bin 2. The composition and grasping principle of the first grasping tool 201 are different according to different types of workpieces. However, all components used for grasping applications should fall within the scope of protection of the present utility model. Specifically, the first grasping tool 201 in the figure consists of a bracket and a plurality of flexible suction cups 2 011, the flexible suction cup 2011 is retractably fixedly connected to the bracket. When the flexible disk 2011 contacts the surface of the object to be grasped, the orientation can be adaptively adjusted to facilitate grasping of components with inconsistent surface heights, while forming a buffer to ensure that the object to be grasped is not damaged during grasping. The specific flexible suction cup 2011 is a preferred structure for grasping components such as smooth plates. The utility model is mainly aimed at assembling workpieces. Therefore, the main function of the first grasping tool 201 is to grasp the first component, buckle it on the second component to form a buckle and compact it.

[0027] The transfer bin 2 also includes an ejection mechanism 202. When the paired workpieces enter the interior of the transfer bin 2, the ejection mechanism 202 should remain in the initial position. The ejection mechanism 202 is composed of a slide rail 2024, a slider 2023, a first power cylinder 2021 and an ejection plate 2025. A first slideway 2022 is provided on the surface of the transfer bin 2. Part of the structure of the slider 2023 passes through the first slideway 2022 and is fixedly connected to the ejection plate 2025 inside the transfer bin 2. When the slider 2023 is powered by the first power cylinder 2021, it slides bidirectionally on the slide rail 2024, and the ejection plate 2025 slides inside the transfer bin 2. When there are paired workpieces inside the transfer bin 2, the ejection plate 2025 can eject the paired workpieces. A preferred structure can be referred to Figure 4 , Figure 4 It is a schematic cross-sectional view of a preferred transfer bin of the utility model, showing a preferred structure of the transfer bin 2. Figure 4 The middle ejector plate 2025 also includes an ejector plate push plate 20251, which is pushed out to a farther position by a power cylinder (an electric cylinder, a gas cylinder or a hydraulic cylinder that can provide power is referred to as a power cylinder in the utility model) or other power mechanisms, so as to be conveniently placed into the storage space.

[0028] Figure 4The preferred structure of the transfer warehouse 2 shown in the figure also includes an internal camera 207 and an internal camera slide rail 2071. The internal camera 207 can slide in both directions on the internal camera slide rail 2071 through a power cylinder. In a preferred form, the internal camera slide rail 2071 is a slide rail opened on the outer shell of the transfer warehouse 2; in another preferred form, in order to avoid mutual influence with the ejector plate push plate 20251, the internal camera 207 and the power cylinder and other components required to move it can be arranged in a groove formed by the outward expansion of the shell of the transfer warehouse 2. When the mounted workpieces are placed into the transfer warehouse 2, the internal camera 207 can capture the position of the mounted workpieces, which can be used to confirm whether the installation of the mounted workpieces is qualified. This detection method can meet most of the detection requirements of the mounted workpieces, but in order to ensure high-quality detection, in another preferred structure, another internal camera is arranged on the opposite side of the internal camera 207 to observe the mounting situation on the other side. In order to ensure the brightness inside the transfer warehouse 2, at least one internal light source 206 is fixed inside the transfer warehouse 2.

[0029] Figure 4 The preferred structure of the transfer bin 2 shown in the figure also includes a lower pressure plate 203, which passes through the transfer bin 2 and can be extended downward by the action of a power cylinder. When the internal camera 207 detects that the fastening of the mounted workpiece is abnormal and requires secondary fastening, the lower pressure plate 203 is pressed down to perform secondary fastening of the workpiece. In this structure, the coverage area of ​​the lower pressure plate 203 should at least cover 70% of the area of ​​the mounted component to prevent crushing during the fastening process. The structural design of the flexible suction cup 2011 can also be referred to to ensure the safety of the workpiece. Another preferred structure also includes a lower pressure plate slide groove 2031, which can be used to slide the lower pressure plate slide groove 2031 by the action of the lower pressure plate power cylinder. When the internal camera 207 detects that any part of the fastening is abnormal, the information is fed back to the lower pressure plate power cylinder of the lower pressure plate 203, and the position of the lower pressure plate 203 is adjusted to perform targeted area pressing to complete the fastening.

[0030] The use of the multifunctional manipulator in the embodiment of the utility model is explained below. The multifunctional manipulator selected by the utility model is a four-axis manipulator or a manipulator with more than four axes. When using the multifunctional manipulator of the utility model, the user can actively control the multifunctional manipulator through a controller, or can automatically control it through a preset program. During the process: the first manipulator arm 101 of the multifunctional manipulator adjusts its orientation through the rotation of the first manipulator arm axis, and sets the surface with the first grasping tool 101 in the direction of the first component, and the first component is buckled onto the second component through the first grasping tool 101 to complete the assembly. After the assembly is completed, the multifunctional manipulator is adjusted to adjust the warehouse opening of the transfer warehouse 2 to the first component. Aligned with the mounting station 302, the mounting workpiece is placed into the interior of the transfer bin 2 through the unloading tool provided on the mounting station 302. At this time, the ejector plate 2025 is in the original position (not pushed out), and the multifunctional manipulator adjusts the orientation and posture so that the camera 204 faces the column of the carrier mechanism, illuminated by the light source 205, and the camera 204 takes pictures to determine whether there are vacant columns in the carrier mechanism. If not, a signal is sent to the central control device, and the picture is taken again after the carrier mechanism is replaced. If there are vacant columns, the transfer bin 2 is aligned with the vacant column and the ejector plate 2025 is ejected, and the slider 2023 cooperates with the slide rail 2024 to eject the workpiece into the vacant column and complete the transfer process.

[0031] Some preferred components can be added in this process. The components and their usage methods are shown below: a slidable internal camera 207 is added inside the transfer bin 2. After the mounted workpieces enter the transfer bin 2, the internal camera 207 can perform visual inspection on the buckling position of the mounted workpieces to see whether the buckling structure is stable. If it is not stable, the mounted workpieces are buckled for a second time by means of the lower pressure plate 203 provided inside the transfer bin 2. The lower pressure plate 203 can be in a form that covers most of the area of ​​the mounted workpieces, or can be slid to adjust the position to ensure that the buckling quality is qualified. During the visual inspection, the transfer bin 2 can be supplemented with light by the internal light source 206.

[0032] So far, the technical solution of the present utility model has been described in conjunction with the preferred embodiments shown in the drawings, but it is easy for those skilled in the art to understand that the protection scope of the present utility model is obviously not limited to these specific embodiments.

[0033] Without departing from the principles of the present invention, those skilled in the art may make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will fall within the protection scope of the present invention.

[0034] The above description is only a preferred embodiment of the utility model and is not intended to limit the utility model. For those skilled in the art, the utility model may have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the utility model shall be included in the protection scope of the utility model.

Claims

1. An assembly and transfer system for paired workpieces, used for transferring and transferring paired workpieces, wherein the paired workpieces are composed of a first component and a second component that are buckled together to form the paired workpieces. Features: The invention comprises a mounting platform, a multifunctional manipulator and a carrying mechanism, wherein the mounting platform is used to provide a loading and installation station for the first component and the second component, the multifunctional manipulator is used to complete the grasping, assembling, loading transfer and transportation processes of the first component and the second component, and a transfer bin is fixedly arranged on the multifunctional manipulator, and the transfer bin is used to realize the loading transfer function of the mounted workpieces; the carrying mechanism comprises a transfer vehicle, and the transfer vehicle is used to accommodate and transport the mounted workpieces transferred by the multifunctional manipulator, and a plurality of storage compartments are arranged on the transfer vehicle for placing the mounted workpieces.

2. The assembly and transfer system for workpieces according to claim 1, Features: The multifunctional manipulator is movable in at least four axes, wherein the part located at the end of the multifunctional manipulator is a first manipulator arm, the first manipulator arm is controlled to rotate by a first axis and is fixedly connected to the transfer bin at the end, a first grasping tool and a vision module are fixedly arranged on the transfer bin, the first grasping tool is used to realize the handling and assembly of workpieces; the vision module is used to identify the empty and full load states of the target area of ​​the transfer vehicle, and determine whether the assembled workpieces can be placed; the transfer bin includes a hollow sleeve and an ejection mechanism, the ejection mechanism is used to eject the assembled workpieces placed inside the hollow sleeve, and the vision module includes a camera and a light source.

3. The assembly and transfer system for workpieces according to claim 2, Features: The ejection mechanism includes a slide rail, a slider, a first power cylinder and an ejection plate. The slide rail is fixedly arranged on the outer surface of the transfer warehouse, the slider is slidably connected to the slide rail, a first slideway is provided on the transfer warehouse, and the slider partially passes through the slideway and is fixedly connected to the ejection plate arranged inside the transfer warehouse on the inner and outer sides of the transfer warehouse. The first power cylinder is fixedly connected to the ejection plate to provide push-pull force for the ejection plate.

4. The assembly and transfer system for workpieces according to claim 1, Features: An internal camera slide rail is arranged on the surface of the transfer warehouse, an internal camera is slidably arranged on the internal camera slide rail, a lens of the internal camera is arranged toward the interior of the transfer warehouse, and an internal light source is fixedly arranged inside the transfer warehouse for providing lighting for the internal camera.

5. The assembly and transfer system for workpieces according to claim 1, Features: At least one side of the transfer bin is provided with a lower pressing plate for performing secondary buckling of the paired workpieces.

6. The assembly and transfer system for workpieces according to claim 1, Features: The mounting platform includes a table, a loading conveyor line, a flipping mechanism, a mounting station and a plurality of flexible supports. The table is fixed with a plurality of flexible supports for receiving the first component. The loading conveyor line, the mounting station, the flipping mechanism and the flexible support are fixedly arranged on the table in sequence. The flipping mechanism is used to flip the first component placed on the flexible support platform and place it on the mounting station along with the flipping mechanism.

7. The assembly and transport system according to claim 6, Features: The mounting station further comprises a second ejection mechanism, which is fixed at the rear side of the mounting station and is used for ejecting the mounting workpiece placed at the mounting station.

8. The assembly and transport system according to claim 6, Features: The table is provided with a bracket slide rail, and the flexible bracket is slidably connected to the table along the bracket slide rail, and is used to receive and support the first component and the second component of different models.

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