Automatic assembling device
By designing automatic assembly devices, the automatic stacking of workpieces with larger weights is achieved by using six-axis robots and laser measuring instruments, solving the problems of low stacking accuracy and efficiency in the existing technology, and significantly improving the automation level of stacking.
Patent Information
- Application Number
- CN202420844984.0
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-04-23
- Publication Date
- 2025-03-28
- Estimated Expiration
- 2034-04-23
AI Technical Summary
The prior art is difficult to efficiently carry out automatic stacking of workpieces with larger weights, and the stacking accuracy and efficiency are low.
An automatic assembly device is designed, including a placement table, a transfer part and an assembly part. The transfer part consists of a six-axis robot and electric jaws, which can automatically clamp and transfer the workpiece; the assembly part is equipped with a laser measuring instrument to detect the coaxiality and gap of the workpiece to ensure stacking accuracy.
Automatic stacking of shaft workpieces with larger weights is realized, stacking accuracy and efficiency are improved, and difficulty and inconvenience of manual operation are reduced.
Smart Images
Figure CN222680154U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of automation, in particular to an automatic assembly device. Background Art
[0002] like Figure 6 The figure shows a stacking diagram of a shaft workpiece, which has an upper cover 9, a rubber pad 90, a hole workpiece 91, a lower gasket 92 and a shaft workpiece 93 from top to bottom. When stacking and assembling such shaft workpieces, manual stacking is currently mostly adopted. When assembling such workpieces with small size and light weight, the assembly difficulty is relatively low. However, if manual assembly is adopted for such workpieces with large size and heavy weight, the assembly operation will be more difficult due to the heavy weight, not to mention that it is also necessary to ensure the coaxiality of the shaft workpieces during stacking, and the gap between the stacked workpieces during the stacking process. At the same time, the heavy weight also brings many inconveniences to the transfer of the workpieces. Utility Model Content
[0003] The utility model provides an automatic assembly device to solve the above-mentioned deficiencies of the prior art, can perform automatic stacking operations on heavy shaft workpieces, improves stacking accuracy and stacking efficiency, and has strong practicality.
[0004] In order to achieve the purpose of this utility model, the following technologies are proposed:
[0005] An automatic assembly device includes a placement table, a transfer part is installed on one side of the placement table, and an assembly part is installed on one side of the transfer part. The transfer part can automatically clamp and transfer an upper cover, a rubber pad, a hole workpiece, a lower gasket and a shaft workpiece, and the assembly part provides an operating platform for stacking operations. At the same time, when stacking, the coaxiality of the above-mentioned components and the gaps between the components can be measured, thereby improving the accuracy of stacking.
[0006] The transfer part includes a base, a control box is installed on the base, a six-axis robot is installed on the upper end of the control box, and an electric gripper is provided at the movable end of the six-axis robot. The six-axis robot has the characteristics of strong flexibility and a large range of movement. The electric gripper can use the common clamping claw structure driven by an electric cylinder on the market, which can stably clamp the upper cover, hole workpiece and shaft workpiece. Of course, in order to facilitate the transfer of the rubber pad and the lower gasket, a suction nozzle can be provided at the lower end of the electric gripper to transfer the rubber pad and the lower gasket by negative pressure adsorption.
[0007] The placement table includes a placement table base connected to the base, a placement box is installed on the placement table base, and a plurality of first placement tools and second placement tools are installed on the upper end of the placement box. The first placement tool is used for placing the workpieces to be stacked, and the second placement tool is used for placing the workpieces after stacking. In this way, the six-axis robot can be used to clamp or transfer the upper cover, rubber pad, hole workpiece, lower gasket and shaft workpiece, and a positioning component is provided for the safe placement of the stacked workpieces.
[0008] The assembly part includes an assembly box installed on the base, four lifting electric cylinders are installed in a circular array in the assembly box, a lifting plate is installed on the upper end of the lifting electric cylinder, the lifting plate moves in the vertical direction, a mobile electric cylinder is installed on the lifting plate, a laser measuring instrument is installed on the movable end of the mobile electric cylinder, and the mobile electric cylinder is used to control the horizontal position of the laser measuring instrument. A circular hole is opened on the top cover of the assembly box, an adjusting electric cylinder is installed in the assembly box, an assembly table is installed on the upper end of the adjusting electric cylinder, the assembly table moves along the axial direction of the circular hole, and the laser measuring instruments are distributed around the circular hole. The lifting electric cylinder adopts a conventional The standard servo motor is a 400W multi-turn absolute encoder servo motor with power-off self-locking function from the domestic brand Huichuan. The rated voltage of the motor is AC220V, the rated torque is 1.27NM, the rated current is 2.8A, and the rated speed is 3000r / min. It adopts EtherCat bus control and drives the lead screw to adjust the height of the lifting plate. At the same time, the height of the laser measuring instrument can be adjusted as needed through the lifting electric cylinder to facilitate the detection of workpiece gaps, coaxiality, and position and posture at different heights. Among them, the laser measuring instrument used to detect the end face gap is composed of an infrared light source, a telecentric lens, and an industrial camera, while the laser measuring instrument used for shaft hole detection is composed of a white light source, a high-definition camera, and an industrial camera. The laser measuring instrument used for position and posture detection uses a 3D intelligent line laser contour sensor.
[0009] Furthermore, an operation controller is placed on one side of the placement table, and the operation controller is used for human-computer interaction and for controlling the assembly process.
[0010] Further, the laser measuring instrument includes a first laser emission receiver for detecting the gap between the end faces of the workpiece;
[0011] A second laser emitter and receiver for detecting the position and stacking posture of the workpiece;
[0012] The third laser emitter and receiver is used to detect the workpiece shaft hole.
[0013] Furthermore, a six-axis adjustment table is installed on the upper end of the adjusting electric cylinder, and the assembly table is installed on the upper end of the six-axis adjustment table. The six-axis adjustment table is used for leveling operations of the assembly table and the workpieces placed thereon. The height of the stacked workpieces can be adjusted in real time by adjusting the electric cylinder to prevent the stacking height of the workpieces from being too high, and the six-axis adjustment table can be used to adjust the horizontality in real time during assembly.
[0014] Furthermore, the first placement tool includes a chassis installed on the upper end of the placement box, a ring is provided on the outer periphery of the chassis, a pair of clamping notches are symmetrically provided on the ring, a positioning block is sleeved on the ring, a slot is formed at the lower end of the positioning block, the ring is inserted into the slot, the positioning block is installed on the ring by screws, and the inner periphery of the positioning block is a concave arc surface. The positioning block is provided to limit the upper cover 9, the rubber pad 90, the hole workpiece 91, the lower washer 92 and the shaft workpiece 93, and the clamping notch facilitates the clamping action of the electric clamp.
[0015] Furthermore, the second placement tool includes an upper extension sleeve installed on the upper end of the placement box, and a pair of limit plates are provided at the upper end of the upper extension sleeve. The limit plates are in an arc-shaped structure, and the stacked workpieces can be limited by the limit plates.
[0016] Furthermore, a plurality of universal wheels are provided at the lower end of the placing platform base, a plurality of lower extension plates are installed at the lower end of the placing platform base, an adjusting screw rod is rotatably provided on the upper extension plate, a moving plate is sleeved on the lower extension plate, a groove is provided at the upper end of the moving plate, a vertical hole is also provided on the moving plate, the adjusting screw rod is passed through the vertical hole, a moving block is provided at one end of the adjusting screw rod, the lower wall of the moving block is an inclined surface, a lower push seat is provided on the inner side of the moving plate, the upper end of the lower push seat is an inclined wall, and the inclined surface of the moving block matches the inclined wall of the lower push seat. The balance of the placing platform base can be adjusted by the arranged lower push seat.
[0017] Furthermore, a plurality of lifting rings are installed on the side walls of the base of the placing table to facilitate the lifting operation of the placing table.
[0018] Furthermore, a mounting boss is provided on one side of the base, a connecting boss is installed on one side of the placement table base, and the connecting boss is installed on the mounting boss by screws, thereby improving the stability of the entire device.
[0019] The advantages of the above technical solution are:
[0020] The utility model can realize the automatic stacking operation of heavy shaft workpieces, thereby improving the stacking efficiency. BRIEF DESCRIPTION OF THE DRAWINGS
[0021] In order to make the purpose, technical solutions and advantages of the utility model clearer, the utility model will be further described in detail below with reference to the accompanying drawings.
[0022] Figure 1The three-dimensional structure of one embodiment is shown Figure 1 .
[0023] Figure 2 The three-dimensional structure of one embodiment is shown Figure 2 .
[0024] Figure 3 An enlarged view of A is shown.
[0025] Figure 4 The three-dimensional structure of one embodiment is shown Figure 3 .
[0026] Figure 5 An enlarged view of B is shown.
[0027] Figure 6 A schematic diagram showing the workpiece after assembly is shown. DETAILED DESCRIPTION
[0028] like Figure 1~Figure 5 As shown, an automatic assembly device includes a placement table 1, a transfer part 2 is installed on one side of the placement table 1, an assembly part 3 is installed on one side of the transfer part 2, and an operation controller 4 is placed on one side of the placement table 1. The operation controller 4 is used for human-computer interaction and controls the assembly process.
[0029] The transfer part 2 includes a base 20 , on which a control box 29 is mounted. A six-axis robot 22 is mounted on the upper end of the control box 29 , and an electric gripper is disposed at the movable end of the six-axis robot 22 .
[0030] The placing table 1 includes a placing table base 10 connected to the base 20, a placing box 12 is installed on the placing table base 10, and a plurality of first placing tools and second placing tools are installed on the upper end of the placing box 12. The first placing tools are used to place the workpieces to be stacked, and the second placing tools are used to place the workpieces after stacking. The first placing tool includes a chassis 13 installed on the upper end of the placing box 12, a ring 14 is provided on the outer periphery of the chassis 13, a pair of clamping notches 15 are symmetrically provided on the ring 14, a positioning block 16 is sleeved on the ring 14, and a slot is formed in an open manner at the lower end of the positioning block 16. The ring 14 passes through the slot, and the positioning block 16 is installed on the ring 14 by screws 17, and the inner periphery of the positioning block 16 is an inner concave arc surface. The second placing tool includes an upper extension sleeve 191 installed on the upper end of the placing box 12, and a pair of limit plates 192 are provided on the upper end of the upper extension sleeve 191, and the limit plates 192 are in an arc-shaped structure. The lower end of the placing table base 10 is provided with a plurality of universal wheels 11, and the lower end of the placing table base 10 is installed with a plurality of lower extension plates, and an adjusting screw rod 51 is rotatably provided on the upper extension plate, and a moving plate 5 is sleeved on the lower extension plate, and a groove 50 is provided at the upper end of the moving plate 5, and a vertical hole is also provided on the moving plate 5, and the adjusting screw rod 51 passes through the vertical hole, and a moving block 54 is provided at one end of the adjusting screw rod 51, and the lower wall of the moving block 54 is an inclined surface, and a lower push seat 52 is provided on the inner side of the moving plate 5, and the upper end of the lower push seat 52 is an inclined wall, and the inclined surface of the moving block 54 matches the inclined wall of the lower push seat 52. A plurality of lifting rings 100 are installed on the side wall of the placing table base 10. A mounting boss 21 is provided on one side of the base 20, and a connecting convex plate is installed on one side of the placing table base 10, and the connecting convex plate is installed on the mounting boss 21 by screws.
[0031] The assembly part 3 includes an assembly box 30 mounted on the base 20. Four lifting electric cylinders 31 are mounted in a circular array in the assembly box 30. A lifting plate 32 is mounted on the upper end of the lifting electric cylinder 31. The lifting plate 32 moves in the vertical direction. A moving electric cylinder 33 is mounted on the lifting plate 32. A laser measuring instrument 34 is mounted on the movable end of the moving electric cylinder 33. The laser measuring instrument 34 includes a first laser emitter and receiver for detecting the end face gap of the workpiece, a second laser emitter and receiver for detecting the position and stacking posture of the workpiece, and a third laser emitter and receiver for detecting the axial hole of the workpiece. The moving electric cylinder 33 is used to control the horizontal position of the laser measuring instrument 34. A circular hole is opened on the top cover of the assembly box 30. An adjusting electric cylinder is mounted in the assembly box 30. An assembly table is mounted on the upper end of the adjusting electric cylinder. The assembly table moves along the axial direction of the circular hole, and the laser measuring instruments 34 are distributed around the circular hole. A six-axis adjustment table is installed on the upper end of the adjustment electric cylinder, and the assembly table is installed on the upper end of the six-axis adjustment table. The six-axis adjustment table is used for leveling operations of the assembly table and the workpieces placed thereon.
[0032] When assembling the placing table 1 of this embodiment, the hook of the crane is set on the lifting ring 100 of the placing table 1, and the placing table 1 is moved to one side of the base 20, and then adjusted with the help of the universal wheel 11, and the connecting boss is located on the mounting boss 21, and then fixed with screws, and then each adjusting screw 51 is rotated to adjust the balance of the placing table 1.
[0033] During assembly of this embodiment, the upper cover 9 , the rubber pad 90 , the hole workpiece 91 , the lower gasket 92 and the shaft workpiece 93 are sequentially placed on the corresponding first placement tooling and positioned by the positioning blocks 16 thereon.
[0034] Then the six-axis robot 22 drives the electric gripper to move above the upper cover 9, the rubber pad 90, the hole workpiece 91, the lower gasket 92 and the shaft workpiece 93, and grips and transfers the above components in the stacking order.
[0035] The shaft workpiece 93, lower washer 92, hole workpiece 91, rubber pad 90 and upper cover 9 are transferred and stacked on the assembly table in turn. When each component is connected and fixed, it is necessary to use a laser measuring instrument 34 to detect the posture, gap, and coaxiality of the stacked components. The horizontality of the workpiece is also adjusted with the help of a six-axis adjustment table. Of course, during measurement, the lifting electric cylinder 31 and the moving electric cylinder 33 adjust the height and distance of the laser measuring instrument 34 according to actual needs.
[0036] After stacking is completed, the six-axis robot 22 clamps and transfers the stacked workpieces to the second placement tool.
[0037] The above description is only a preferred embodiment of the utility model and is not intended to limit the utility model. Obviously, those skilled in the art can make various changes and modifications to the utility model without departing from the spirit and scope of the utility model. Thus, if these modifications and variations of the utility model fall within the scope of the claims of the utility model and their equivalents, the utility model is also intended to include these modifications and variations.
Claims
1. An automatic assembly device, characterized in that: It comprises a placement table (1), a transfer portion (2) is installed on one side of the placement table (1), and an assembly portion (3) is installed on one side of the transfer portion (2); The transfer part (2) comprises a base (20), a control box (29) is mounted on the base (20), a six-axis robot (22) is mounted on the upper end of the control box (29), and an electric gripper is provided at the movable end of the six-axis robot (22); The placement table (1) comprises a placement table base (10) connected to a base (20), a placement box (12) being installed on the placement table base (10), a plurality of first placement tools and second placement tools being installed on the upper end of the placement box (12), the first placement tools being used for placing workpieces to be stacked, and the second placement tools being used for placing workpieces after stacking; The assembly part (3) comprises an assembly box (30) mounted on a base (20), four lifting electric cylinders (31) are mounted in a circular array in the assembly box (30), a lifting plate (32) is mounted on the upper end of the lifting electric cylinder (31), the lifting plate (32) moves in a vertical direction, a movable electric cylinder (33) is mounted on the lifting plate (32), a laser measuring instrument (34) is mounted on the movable end of the movable electric cylinder (33), the movable electric cylinder (33) is used to control the horizontal position of the laser measuring instrument (34), a circular hole is opened on the top cover of the assembly box (30), an adjusting electric cylinder is mounted in the assembly box (30), an assembly table is mounted on the upper end of the adjusting electric cylinder, the assembly table moves along the axial direction of the circular hole, and the laser measuring instruments (34) are distributed around the circular hole.
2. The automatic assembly device according to claim 1, characterized in that: An operation controller (4) is placed on one side of the placement table (1), and the operation controller (4) is used for human-machine interaction and for controlling the assembly process.
3. The automatic assembly device according to claim 1, characterized in that: The laser measuring instrument (34) comprises a first laser emission receiver for detecting the gap between the end surfaces of the workpiece; A second laser emitter and receiver for detecting the position and stacking posture of the workpiece; The third laser emitter and receiver is used to detect the workpiece shaft hole.
4. The automatic assembly device according to claim 1, characterized in that: A six-axis adjustment table is installed on the upper end of the adjustment electric cylinder, and the assembly table is installed on the upper end of the six-axis adjustment table. The six-axis adjustment table is used for leveling operations of the assembly table and the workpieces placed thereon.
5. The automatic assembly device according to claim 1, characterized in that: The first placement tool comprises a chassis (13) mounted on the upper end of the placement box (12); a ring member (14) is provided on the outer circumference of the chassis (13); a pair of clamping notches (15) are symmetrically provided on the ring member (14); a positioning block (16) is sleeved on the ring member (14); a slot is formed at the lower end of the positioning block (16); the ring member (14) is inserted into the slot; the positioning block (16) is mounted on the ring member (14) by means of screws (17); and the inner circumference of the positioning block (16) is an inner concave arc surface.
6. The automatic assembly device according to claim 1, characterized in that: The second placement tool comprises an upper extension sleeve (191) installed on the upper end of the placement box (12); a pair of limit plates (192) are provided at the upper end of the upper extension sleeve (191); and the limit plates (192) are in an arc-shaped structure.
7. The automatic assembly device according to claim 1, characterized in that: A plurality of universal wheels (11) are provided at the lower end of the placing table base (10), and a plurality of lower extension plates are installed at the lower end of the placing table base (10). An adjusting screw rod (51) is rotatably provided on the upper extension plate, and a moving plate (5) is sleeved on the lower extension plate. A groove (50) is provided at the upper end of the moving plate (5), and a vertical hole is also provided on the moving plate (5). The adjusting screw rod (51) passes through the vertical hole. A moving block (54) is provided at one end of the adjusting screw rod (51), and the lower wall of the moving block (54) is an inclined surface. A lower push seat (52) is provided on the inner side of the moving plate (5), and the upper end of the lower push seat (52) is an inclined wall. The inclined surface of the moving block (54) matches the inclined wall of the lower push seat (52).
8. The automatic assembly device according to claim 1, characterized in that: A plurality of hanging rings (100) are installed on the side wall of the placement table base (10).
9. The automatic assembly device according to claim 1, characterized in that: A mounting boss (21) is provided on one side of the base (20), and a connecting boss is installed on one side of the placement table base (10), wherein the connecting boss is installed on the mounting boss (21) by means of screws.