Sampling and assembling device

Abstract

The utility model relates to the technical field of automatic assembling equipment, and provides a sampling and assembling device which comprises a feeding mechanism, a sampling mechanism, an assembling mechanism and a sampling mechanism, the positioning mechanism is used for limiting the position of the workpiece; the conveying mechanism is used for conveying workpieces to the positioning mechanism; and the manipulator is used for picking up the rubber plugs from the charging tray and assembling the rubber plugs into the mounting holes of the workpieces. The image acquisition module is used for acquiring an image of the distribution state of the rubber plugs in the tray and assisting the manipulator in completing the picking action; and after the manipulator completes the assembly action, whether the rubber plug exists in the mounting hole or not is checked. Therefore, the picking and assembling actions of the rubber plug are completed through the manipulator; manual assembly operation is replaced; and the working intensity is reduced, and the assembling efficiency is improved. The assembling quality of the rubber plug is not interfered by human factors, the quality is stable, and the qualified rate of finished products is high.

Description

Technical Field

[0001] The utility model belongs to the technical field of automatic assembly equipment, and in particular relates to a sampling assembly device. Background Art

[0002] At present, the process of assembling rubber plugs in threaded holes mainly relies on manual operation. The operator inserts a needle-like instrument into the hole of the rubber plug to pick it up, puts it into the threaded hole of the material, and then twists the instrument to drive the rubber plug to rotate so that it is locked and fixed in the threaded hole. After assembly, the rubber plug is manually inspected to see if it is installed properly.

[0003] Manual assembly operation is labor-intensive and inefficient. When the rubber plug is screwed in the threaded hole, the force and speed need to be controlled. Too much force or too fast speed will damage the rubber plug. The operator's skills are high, which makes it difficult to control the qualified rate of finished products.

[0004] In summary, the prior art obviously has inconveniences and defects in practical use, so it is necessary to improve it. Utility Model Content

[0005] The utility model provides a sampling assembly device, aiming to solve the technical problems of low manual assembly efficiency and unstable assembly quality.

[0006] In order to achieve the above-mentioned purpose, the utility model provides a sampling assembly device, comprising:

[0007] A feeding mechanism, comprising a tray for holding the rubber plug;

[0008] A positioning mechanism for defining the position of a workpiece;

[0009] A conveying mechanism, used for conveying the workpiece to the positioning mechanism;

[0010] The robot is used to pick up the rubber plugs from the tray and assemble the rubber plugs into the mounting holes of the workpiece.

[0011] According to the sampling and assembly device of the utility model, it also includes an image acquisition module, which is used to acquire an image of the distribution state of the rubber plug in the material tray, and to check whether there is a rubber plug in the mounting hole after the manipulator completes the assembly action; the image acquisition module includes a camera; the camera is installed on the manipulator, and acquires an image of the distribution state of the rubber plug in the material tray and checks whether there is a rubber plug in the mounting hole as the manipulator moves.

[0012] According to the sampling assembly device of the utility model, the positioning mechanism includes: a workpiece positioning plate, which is provided with a limiting hole for limiting the position of the workpiece; a liftable tooling positioning plate, which is arranged below the workpiece positioning plate and is used to lift the tooling plate holding the workpiece so that the workpiece enters the limiting hole of the workpiece positioning plate; and a lifter, which is used to drive the lifting and lowering of the tooling positioning plate.

[0013] According to the sampling assembly device of the utility model, a blocking cylinder is respectively arranged on both sides of the tooling positioning plate; and the two blocking cylinders are arranged in sequence along the conveying direction of the conveying mechanism.

[0014] According to the sampling assembly device of the utility model, the conveying mechanism includes two baffles arranged opposite to each other, and a conveyor belt for placing the tooling positioning plate is installed on the inner side of each baffle.

[0015] According to the sampling assembly device of the utility model, the positioning mechanism also has two side upright plates supporting the workpiece positioning plate; the side upright plates are provided with clearance holes for the conveying mechanism to pass through.

[0016] According to the sampling and assembling device of the utility model, the manipulator is provided with a material picking needle for picking up the rubber plug; the material picking needle slides through a material removal plate; the material removal plate is connected to a material removal cylinder for driving it to slide relative to the material picking needle.

[0017] According to the sampling assembly device of the utility model, a plurality of material holes for inserting the rubber plugs are distributed in an array in the material tray.

[0018] According to the sampling assembly device of the utility model, the material tray is also connected to a vibration driving component for vibrating the material tray to drive the rubber plug placed on the material tray to be inserted into the material hole.

[0019] According to the sampling assembly device of the utility model, the feeding mechanism also includes a coordinate adjustment component, and the coordinate adjustment component includes a vertically arranged transverse electric cylinder and a longitudinal electric cylinder; the transverse electric cylinder and the longitudinal electric cylinder are both provided with sliding plates; the transverse electric cylinder is installed on the sliding plate of the longitudinal electric cylinder; the material tray is installed on the sliding plate of the transverse electric cylinder; the transverse electric cylinder and the longitudinal electric cylinder respectively control their respective sliding plates to move in the transverse and longitudinal directions.

[0020] Technical effect:

[0021] 1. The utility model provides a sampling assembly device, which completes the picking and assembling actions of the rubber plug through a manipulator, replaces the manual assembly operation, reduces the work intensity, and improves the assembly efficiency. The assembly quality of the rubber plug is not affected by human factors, the quality is stable, and the qualified rate of finished products is high.

[0022] 2. It has an image acquisition module to collect the distribution status of the rubber plug in the tray, assist the robot to accurately complete the picking action; and check whether there is a rubber plug in the installation hole.

[0023] 3. The manipulator is provided with a picking needle for picking up the rubber plug; the picking needle slides through the removal plate; the removal plate moves back and forth along the picking needle to remove the attached residues, debris and other impurities to avoid affecting the next step of picking.

[0024] 4. The feeding mechanism also includes a coordinate adjustment component to establish the coordinate system of the X-axis and the Y-axis; select a hole in the tray as the reference point; drive the tray to move through the coordinate adjustment component, change the coordinate value of the X-axis and / or the Y-axis, so that the other holes of the tray are located at the position of the reference point in sequence; input the coordinate of the reference point into the control program of the manipulator, so that the manipulator moves to the position of the reference point each time to perform the picking action. The coordinate adjustment component drives the tray to move, and moves each hole to the position of the reference point in sequence for the manipulator to pick up. The cooperation of the two reduces the control difficulty and improves the success rate of picking up in one time. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a structural schematic diagram of the assembly device of the utility model;

[0026] Figure 2 It is a structural schematic diagram of a part of the transmission mechanism of the utility model;

[0027] Figure 3 It is a structural schematic diagram of the feeding structure of the utility model;

[0028] Figure 4 yes Figure 3 Schematic diagram of the structure of the middle sliding plate;

[0029] Figure 5 It is a structural schematic diagram of the positioning mechanism of the utility model;

[0030] Figure 6 yes Figure 5 Schematic diagram of the structure of the middle A area;

[0031] Figure 7 It is a structural schematic diagram of the manipulator of the utility model;

[0032] Figure 8 yes Figure 7 Schematic diagram of the structure of the middle B area;

[0033] In the figure: 1-feeding mechanism, 2-positioning mechanism, 3-manipulator, 4-transmission mechanism, 11-material tray, 12-slide plate, 13-X-axis electric cylinder, 14-Y-axis electric cylinder, 15-origin sensor, 16-limit sensor, 17-vibration drive component; 21-workpiece positioning plate, 22-tool positioning plate, 23-lifter, 24-blocking cylinder, 25-side plate, 26-pressure block strip, 27-guide column, 271-compression spring; 31-upper arm, 32-lower arm, 33-feeding needle, 34-camera, 35-removal plate, 36-removal cylinder, 37-cylinder frame, 41-conveyor belt, 42-baffle; 5-tool plate, 51-workpiece, 111-material hole, 121-sensor sheet, 251-clearance hole. DETAILED DESCRIPTION

[0034] In order to make the purpose, technical solutions and advantages of the utility model more clearly understood, the utility model is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the utility model and are not used to limit the utility model.

[0035] See also Figure 1 The utility model provides a sampling assembly device, comprising

[0036] The feeding mechanism 1 has a tray 11 for containing rubber plugs; the operator puts a number of rubber plugs into the tray 11 in advance, and replenishes the tray 11 in real time according to the usage of the rubber plugs.

[0037] See also Figure 5 and Figure 6 , a positioning mechanism 2, for defining the position of the workpiece 51;

[0038] A conveying mechanism 4, used for conveying the workpiece 51 to the positioning mechanism 2;

[0039] The robot 3 is used to pick up the rubber plug from the tray 11 and assemble the rubber plug into the mounting hole of the workpiece 51;

[0040] The positioning mechanism 2 of the present invention fixes the position of the workpiece 51 and further fixes the position of the mounting hole of the workpiece 51, so that the manipulator 3 can accurately find the position of the mounting hole and ensure the assembly quality.

[0041] The mounting hole of the utility model is a threaded hole, and the rubber plug is provided with a corresponding threaded structure; after the manipulator 3 picks up the rubber plug, it screws the rubber plug into the threaded hole by rotating and pressing down. Those skilled in the art can match the assembly process parameters of the manipulator 3 according to the actual size of the rubber plug and the threaded hole, such as setting an appropriate pressing speed, screwing speed, number of screwing turns, etc., so that the rubber plug can be assembled with appropriate force and speed to ensure assembly quality.

[0042] The rubber plug of the utility model can be a rubber plug or a silicone plug.

[0043] The utility model uses the manipulator 3 to complete the picking and assembling of the rubber plug, replaces the manual assembly operation, reduces the work intensity, and improves the assembly efficiency. The assembly quality of the rubber plug is not affected by human factors, the quality is stable, and the qualified rate of finished products is high.

[0044] Furthermore, the utility model also includes an image acquisition module for collecting the distribution status of the rubber plug in the material tray 11 so that the robot 3 can accurately complete the picking; and after the robot 3 completes the assembly action, check whether there is a rubber plug in the installation hole; the image acquisition module sends the collected image information to the background control unit for analysis and judgment.

[0045] If a rubber plug is detected in the mounting hole, it is determined that the robot 3 has completed the operation of the assembly cycle and can proceed to the next assembly cycle;

[0046] If it is detected that there is no rubber plug in the installation hole, it is determined that the robot 3 has not completed the operation of the assembly cycle, and it is necessary to pick up the rubber plug again to assemble the installation hole until the assembly cycle is completed.

[0047] A person skilled in the art can determine the cause of an incomplete assembly cycle and make appropriate responses to improve the success rate of an assembly.

[0048] See also Figure 7 Preferably, the image acquisition module of the utility model includes a camera 34; the camera 34 is installed on the manipulator 3, and collects images of the distribution state of the rubber plugs in the material tray 11 and checks whether there are rubber plugs in the installation holes as the manipulator 3 moves;

[0049] As an embodiment of the material tray 11, see Figure 3 The material tray 11 has a plurality of material holes 111 arranged in an array; the rubber plug is inserted into the material hole 111 in a vertical posture; the material holes 111 arranged in an array facilitate the robot 3 to determine the coordinates and accurately complete the picking action.

[0050] The upper end surface of the rubber plug of the utility model is provided with an insertion hole, and a needle-shaped device is pressed into the insertion hole, and the rubber plug can be lifted by friction. The center of gravity of the rubber plug is lower, and a thread structure is provided on the outer surface. After a number of rubber plugs are placed in the material tray 11, the material tray 11 is shaken, and under the action of gravity, all the rubber plugs are inserted and fixed into the material holes 111, and the end surface with the insertion hole faces upward, which is convenient for the robot 3 to pick up.

[0051] Furthermore, the material tray 11 is also connected to a vibration driving component 17 for vibrating the material tray 11 to drive the rubber plug placed on the material tray 11 to be inserted into the material hole 111;

[0052] Optionally, the vibration driving component 17 of the present invention can be a vibration motor or a vibration cylinder. A horizontal exciting force is applied to the material tray 11 to make the material tray 11 shake, and the rubber plug is driven to be inserted into the material hole 111.

[0053] The manipulator 3 of the utility model comprises a rotatable big arm 31, on which a small arm 32 is rotatably provided; on the small arm 32, a material taking needle 33 for picking up the rubber plug is provided;

[0054] The pick-up needle 33 is pushed down and inserted into the plug's insertion hole, and then lifted up to complete the pick-up of the plug. During assembly, the manipulator 3 drives the pick-up needle 33 to rotate and press down, screwing the plug into the mounting hole of the workpiece 51; then the pick-up needle 33 rises and is pulled out of the plug's insertion hole, preparing for the next cycle.

[0055] For further information, see Figure 8 The material taking needle 33 slides through the material removing plate 35; the material removing plate 35 is connected to a material removing cylinder 36 for driving it to slide relative to the material taking needle 33;

[0056] When the pick-up needle 33 is inserted into the rubber plug, rubber residue will be attached to the surface; if the rubber plug is torn during the operation, rubber pieces will remain on the surface of the pick-up needle 33. The removal cylinder 36 drives the removal plate 35 to move back and forth along the pick-up needle 33 to remove the attached residues, debris and other impurities to prevent them from affecting the next step of picking up.

[0057] As an implementation mode, a cylinder frame 37 is installed on the forearm 32 of the manipulator 3, and the material removal cylinder 36 is installed on the cylinder frame 37;

[0058] In order to make the robot 3 pick up the rubber plug from a specific position every time, the control process is simplified and the sampling success rate is improved. Figure 3 As an embodiment of the feeding mechanism 1, the feeding mechanism 1 further includes a coordinate adjustment component for establishing a coordinate system of an X-axis and a Y-axis; selecting a material hole 111 as a reference point in the material tray 11; driving the material tray 11 to move by the coordinate adjustment component, changing the coordinate value of the X-axis and / or the Y-axis, so that other material holes 111 of the material tray 11 are located at the positions of the reference points in sequence;

[0059] The coordinates of the reference point are input into the control program of the manipulator 3, so that the manipulator 3 moves to the position of the reference point every time to perform the picking action. The coordinate adjustment component drives the material tray 11 to move, and moves each material hole 111 to the position of the reference point in turn for the manipulator 3 to pick up. The cooperation of the two reduces the control difficulty and improves the success rate of one-time picking.

[0060] As an embodiment, the coordinate adjustment assembly includes an X-axis electric cylinder 13 and a Y-axis electric cylinder 14 which are vertically arranged; a sliding plate 12 is provided on each of the X-axis electric cylinder 13 and the Y-axis electric cylinder 14; the X-axis electric cylinder 13 is mounted on the sliding plate 12 of the Y-axis electric cylinder 14; the material tray 11 is mounted on the sliding plate 12 of the X-axis electric cylinder 13;

[0061] The X-axis electric cylinder 13 and the Y-axis electric cylinder 14 respectively control the sliding plate 12 to move and adjust the coordinate values ​​on the X-axis and the Y-axis.

[0062] Combination Figure 3 and Figure 4 Furthermore, an origin sensor 15 is respectively provided on the X-axis electric cylinder 13 and the Y-axis electric cylinder 14; a sensing sheet 121 is correspondingly provided on the sliding plate 12; when the origin sensor 15 senses the sensing sheet 121, a signal is sent to determine the coordinate value of the reference point.

[0063] Preferably, the X-axis electric cylinder 13 and the Y-axis electric cylinder 14 are respectively provided with a limit sensor 16 for limiting the travel of the sliding plate 12; when the limit sensor 16 senses the sensing sheet 121, it sends a signal, and the X-axis electric cylinder 13 or the Y-axis electric cylinder 14 stops moving, thereby preventing the sliding plate 12 from hitting the electric cylinder body.

[0064] Optionally, the origin sensor 15 and the limit sensor 16 of the present invention are proximity sensors or photoelectric induction switches.

[0065] See also Figure 5 As an embodiment of the positioning mechanism 2, the positioning mechanism 2 includes:

[0066] Workpiece positioning plate 21, combined with Figure 6 The workpiece positioning plate 21 is provided with a limiting hole for limiting the position of the workpiece 51;

[0067] The liftable tooling positioning plate 22 is arranged below the workpiece positioning plate 21 and is used to lift the tooling plate 5 holding the workpiece so that the workpiece 51 enters the limiting hole of the workpiece positioning plate 21;

[0068] The jack 23 is arranged below the tooling positioning plate 22 and is used to drive the lifting of the tooling positioning plate 22;

[0069] Preferably, the jacking device 23 of the present utility model is a jacking cylinder;

[0070] In order to prevent the workpiece 51 from flying out of the limiting hole due to the jacking speed being too fast, the workpiece positioning plate 21 is further provided with a block strip 26 located above the limiting hole for preventing the workpiece 51 from falling out of the limiting hole.

[0071] The pressure block strip 26 is slidably connected to a guide column 27 fixed on the workpiece positioning plate 21 . A compression spring 271 is sleeved on the guide column 27 . The pressure block strip 26 is elastically pressed on the workpiece 51 to prevent the workpiece 51 from being damaged.

[0072] Furthermore, a blocking cylinder 24 is respectively provided on both sides of the tooling positioning plate 22; the two blocking cylinders 24 are sequentially arranged along the conveying direction of the conveying mechanism 4;

[0073] Along the conveying direction, the blocking cylinder 24 located on the downstream side of the tooling positioning plate 22 extends out to block the tooling plate 5 transported by the conveying mechanism 4; then the tooling positioning plate 22 rises to lift the tooling plate 5; at the same time, another blocking cylinder 24 extends out to block other tooling plates 5 on the conveying mechanism 4.

[0074] After the workpiece 51 on the tooling plate 5 is assembled, the tooling positioning plate 22 and the blocking cylinder 24 on the downstream side fall down, and the tooling positioning plate 22 is placed back on the conveying mechanism 4. After that, the blocking cylinder 24 on the downstream side rises again, and the other blocking cylinder 24 falls down to send the subsequent tooling positioning plate 22 in.

[0075] As an embodiment, the positioning mechanism 2 has two side plates 25 supporting the workpiece positioning plate 21; the side plates 25 are provided with clearance holes 251 for the conveying mechanism 4 to pass through;

[0076] See also Figure 2 The conveying mechanism 4 of the utility model includes two baffles 42 arranged opposite to each other, and a strip conveyor belt 41 is installed inside each baffle 42; the tooling plate 5 is placed on the conveyor belt 41; and its bottom is suspended in the air to facilitate the lifting of the tooling positioning plate 22. The two baffles 42 limit the tooling plate 5 to prevent it from falling off.

[0077] In summary, the utility model provides a sampling assembly device, which completes the picking and assembling actions of the rubber plug through a manipulator, replaces the manual assembly operation, reduces the work intensity, and improves the assembly efficiency. The assembly quality of the rubber plug is not affected by human factors, the quality is stable, and the qualified rate of the finished product is high.

[0078] Of course, the present invention may have many other embodiments. Without departing from the spirit and essence of the present invention, technicians familiar with the field can make various corresponding changes and deformations based on the present invention, but these corresponding changes and deformations should all fall within the scope of protection of the claims attached to the present invention.

Claims

1. A sampling assembly device, characterized in that: include A feeding mechanism, comprising a tray for holding the rubber plug; A positioning mechanism for defining the position of a workpiece; A conveying mechanism, used for conveying the workpiece to the positioning mechanism; The robot is used to pick up the rubber plugs from the tray and assemble them into the mounting holes of the workpiece.

2. The sampling assembly device according to claim 1, characterized in that: It also includes an image acquisition module, which is used to acquire an image of the distribution state of the rubber plug in the tray, and to check whether there is a rubber plug in the mounting hole after the robot completes the assembly action; The image acquisition module includes a camera; the camera is installed on the manipulator, and collects images of the distribution state of the rubber plugs in the tray and checks whether the rubber plugs exist in the installation holes as the manipulator moves.

3. The sampling assembly device according to claim 1, characterized in that: The positioning mechanism comprises: A workpiece positioning plate, provided with a limiting hole for limiting the position of the workpiece; A liftable tooling positioning plate is arranged below the workpiece positioning plate and is used to lift up the tooling plate holding the workpiece so that the workpiece enters the limiting hole of the workpiece positioning plate; The jack is used to drive the lifting and lowering of the tooling positioning plate.

4. The sampling assembly device according to claim 3, characterized in that: A blocking cylinder is respectively arranged on both sides of the tooling positioning plate; and the two blocking cylinders are arranged in sequence along the conveying direction of the conveying mechanism.

5. The sampling assembly device according to claim 3, characterized in that: The conveying mechanism comprises two baffles arranged opposite to each other, and a conveying belt for placing the tooling positioning plate is installed on the inner side of each baffle.

6. The sampling assembly device according to claim 5, characterized in that: The positioning mechanism also has two side upright plates for supporting the workpiece positioning plate; the side upright plates are provided with clearance holes for the conveying mechanism to pass through.

7. The sampling assembly device according to claim 1, characterized in that: The manipulator is provided with a material picking needle for picking up the rubber plug; the material picking needle slides through a material removal plate; the material removal plate is connected to a material removal cylinder for driving it to slide relative to the material picking needle.

8. The sampling assembly device according to any one of claims 1 to 7, characterized in that: The material tray is provided with a plurality of material holes in an array for inserting the rubber plugs.

9. The sampling assembly device according to claim 8, characterized in that: The material tray is also connected to a vibration driving component for vibrating the material tray to drive the rubber plug placed on the material tray to be inserted into the material hole.

10. The sampling assembly device according to claim 8, characterized in that: The feeding mechanism further includes a coordinate adjustment component, which includes a vertically arranged transverse electric cylinder and a longitudinal electric cylinder; both the transverse electric cylinder and the longitudinal electric cylinder are provided with a sliding plate; the transverse electric cylinder is mounted on the sliding plate of the longitudinal electric cylinder; the material tray is mounted on the sliding plate of the transverse electric cylinder; The transverse electric cylinder and the longitudinal electric cylinder respectively control the sliding plates to move in the transverse direction and the longitudinal direction.

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