Automatic assembling device

Abstract

The utility model belongs to the technical field of automation, and particularly relates to an automatic assembling device. The automatic assembling device is used for assembling a steel core and a steel support, a sealing clamping jaw is arranged on the steel core, a clamping groove is formed in the steel support and used for containing the steel core, notches are formed in the two sides of the clamping groove and used for containing the sealing clamping jaw, the material moving mechanism comprises a sliding rail, and the sliding rail extends in the first direction; the steel core and the steel support can move to an assembly station through the sliding rail; the assembling mechanism comprises a supporting piece and a mechanical arm, the supporting piece is arranged on the peripheral side of the assembling station, the mechanical arm is arranged on the supporting piece in a sliding mode in the first direction and the second direction, the first direction is perpendicular to the second direction, and the mechanical arm can clamp the steel core, press the steel core into the clamping groove and press the sealing clamping jaw into the notch; the positioning mechanism is arranged on the peripheral side of the assembling station and used for recognizing and positioning the positions of the steel support, the steel core and the clamping groove.

Description

Technical Field

[0001] The utility model relates to the technical field of automation, in particular to an automatic assembly device. Background Art

[0002] The assembly logic of a sealed product is to set multiple assembly petals and form a sealed product by setting a fixing part in the center to fix the multiple assembly petals. A certain product is composed of three steel supports spliced together, and the center of the three steel supports is fixed by a steel core with a sealing claw. Therefore, the steel core needs to be first installed in one of the steel supports, and then the other steel supports are spliced onto the steel core.

[0003] In the prior art, the assembly of the steel core and the steel support is usually carried out manually. However, the efficiency of manual assembly is too low, resulting in a low production volume of the product; and during the manual assembly process, the operator repeats a single action, which will cause damage to the body. Summary of the Utility Model

[0004] The purpose of the utility model is to provide an automatic assembly device to solve the problems in the prior art that the efficiency of manually assembling the steel core and the steel support is too low; and during the manual assembly process, the operator repeats a single action, which will cause damage to the body, improve the assembly efficiency of the steel core and the steel support, and reduce the labor cost.

[0005] To achieve this purpose, the utility model adopts the following technical solutions:

[0006] An automatic assembly device for assembling a steel core and a steel support, wherein the steel core is provided with a sealing claw, the steel support is provided with a slot for accommodating the steel core, and both sides of the slot are provided with notches for accommodating the sealing claw, and the device includes:

[0007] A material transfer mechanism, the material transfer mechanism includes a slide rail, the slide rail extends along a first direction, and the steel core and the steel support can be moved to an assembly station through the slide rail;

[0008] An assembly mechanism, the assembly mechanism includes a support member and a robotic arm, the support member is arranged on the periphery of the assembly station, the robotic arm is slidably arranged on the support member along the first direction and a second direction, the first direction and the second direction are perpendicular, and the robotic arm can clamp the steel core and press-fit the steel core into the slot, and press-fit the sealing claw into the notch

[0009] A positioning mechanism, the positioning mechanism is arranged on the periphery of the assembly station for identifying and positioning the positions of the steel support, the steel core and the slot.

[0010] As an alternative technical solution of the automatic assembly device, the material transfer mechanism further includes a positioning reference block, which is arranged at one end of the steel support and corresponds to the card slot, and the positioning mechanism can determine the position of the card slot through the position of the positioning reference block.

[0011] As an alternative technical solution of the automatic assembly device, the material transfer mechanism further includes a clamping block, which is arranged at the other end of the steel support, and the clamping block can move in a direction close to or away from the steel support to clamp the steel support together with the positioning reference block or move away from the steel support.

[0012] As an alternative technical solution of the automatic assembly device, a first clamping jaw is arranged on the robotic arm, and the first clamping jaw can move along the first direction and the second direction with the robotic arm. The first clamping jaw includes two clamping flaps that can approach or separate from each other to clamp or release the steel core.

[0013] As an alternative technical solution of the automatic assembly device, a press-fitting head is further arranged on the robotic arm, and the press-fitting head abuts against the sealing clamping jaw. The press-fitting head can move along the second direction with the robotic arm to press-fit the sealing clamping jaw and the steel core.

[0014] As an alternative technical solution of the automatic assembly device, a second clamping jaw is further arranged on the robotic arm, and the second clamping jaw can move along the second direction with the robotic arm. The second clamping jaw includes a plurality of clamping blocks, and the clamping blocks can abut against the steel support to finely adjust the position of the card slot.

[0015] As an alternative technical solution of the automatic assembly device, the second clamping jaw is provided with a floating member, and the clamping blocks can float through the floating member when abutting against the steel support, avoiding damaging the steel support.

[0016] As an alternative technical solution of the automatic assembly device, the positioning mechanism includes a camera, and the camera can capture images of the steel support, the steel core, and the card slot.

[0017] As an alternative technical solution of the automatic assembly device, the positioning mechanism further includes a high-precision lens, which is connected to the camera to increase the accuracy of the images captured by the camera.

[0018] As an alternative technical solution of the automatic assembly device, the positioning mechanism further includes a light source, which is used to illuminate the steel support, the steel core, and the card slot to increase the accuracy of the images captured by the camera.

[0019] Advantages of the present utility model:

[0020] The present utility model provides an automatic assembly device for assembling a steel core and a steel support. A sealing claw is provided on the steel core, and a clamping groove is provided on the steel support for accommodating the steel core. Groove openings are provided on both sides of the clamping groove for accommodating the sealing claw. The automatic assembly device includes a material transfer mechanism, an assembly mechanism, and a positioning mechanism. The material transfer mechanism includes a slide rail that extends along a first direction, and the steel core and the steel support can be moved to the assembly station through the slide rail. The assembly mechanism includes a support member and a robotic arm. The support member is provided on the periphery of the assembly station, and the robotic arm is slidably provided on the support member along the first direction and a second direction, where the first direction and the second direction are perpendicular. The robotic arm can clamp the steel core and press-fit the steel core into the clamping groove, and press-fit the sealing claw into the groove opening. The positioning mechanism is provided on the periphery of the assembly station for identifying and positioning the positions of the steel support, the steel core, and the clamping groove. Through the cooperation of the robotic arm and the positioning mechanism, manual assembly is replaced, the assembly efficiency of the sealing claw is improved, and the labor cost is reduced. Description of the Drawings

[0021] In order to more clearly illustrate the technical solutions in the embodiments of the present utility model, the following will briefly introduce the drawings required for the description of the embodiments of the present utility model. Obviously, the following drawings are only some embodiments of the present utility model, and for those of ordinary skill in the art, without creative efforts, other drawings can be obtained according to the content of the embodiments of the present utility model and these drawings.

[0022] Figure 1 is a partial structural schematic diagram of the automatic assembly device provided by the embodiment of the present utility model Figure One ;

[0023] Figure 2 is a partial structural schematic diagram of the automatic assembly device provided by the embodiment of the present utility model Figure Two ;

[0024] Figure 3 is a partial structural schematic diagram of the automatic assembly device provided by the embodiment of the present utility model Figure Three ;

[0025] Figure 4 is a partial structural schematic diagram of the automatic assembly device provided by the embodiment of the present utility model Figure Four ;

[0026] Figure 5 is a partial structural schematic diagram of the automatic assembly device provided by the embodiment of the present utility model Figure Five 。

[0027] In the figure:

[0028] 1, steel core; 2, steel support; 3, sealing claw; 4, clamping groove;

[0029] 10. Material transfer mechanism; 11. Slide rail; 12. Positioning reference block; 13. Clamping block;

[0030] 20. Assembly mechanism; 21. Support member; 211. First plate member; 212. Second plate member; 213. Third plate member; 22. Robot arm; 221. First jaw; 222. Pressing head; 223. Second jaw; 2231. Floating member;

[0031] 30. Positioning mechanism; 31. Camera; 32. High-precision lens; 33. Light source. Detailed implementation mode

[0032] The present utility model will be further described in detail below in conjunction with the accompanying drawings and embodiments. It can be understood that the specific embodiments described herein are only used to explain the present utility model, rather than limiting the present utility model. In addition, it should be noted that for the convenience of description, only the parts related to the present utility model are shown in the drawings, rather than all the structures.

[0033] In the description of the present utility model, unless otherwise clearly defined and limited, the terms "connected", "connected to", and "fixed" shall be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or integrated; it may be a mechanical connection or an electrical connection; it may be directly connected, or indirectly connected through an intermediate medium, and it may be the internal communication of two elements or the interaction relationship between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present utility model can be understood according to specific situations.

[0034] In the present utility model, unless otherwise clearly defined and limited, the first feature being "above" or "below" the second feature may include the direct contact between the first and second features, or may include the situation where the first and second features are not in direct contact but in contact through other features between them. Moreover, the first feature being "above", "above", and "on" the second feature includes that the first feature is directly above and obliquely above the second feature, or only indicates that the first feature is at a higher horizontal height than the second feature. The first feature being "below", "below", and "under" the second feature includes that the first feature is directly below and obliquely below the second feature, or only indicates that the first feature is at a lower horizontal height than the second feature.

[0035] In the description of this embodiment, the orientation or positional relationships such as "above", "below", "right", etc. are based on the orientation or positional relationships shown in the drawings, and are only for the convenience of description and simplifying the operation, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation to the present utility model. In addition, the terms "first" and "second" are only used for distinction in description and have no special meaning.

[0036] A certain product is composed of three-piece steel supports spliced together. The center of the three-piece steel supports is fixed by a steel core with sealing claws. Therefore, it is necessary to first install the steel core into one of the steel supports, and then splice the other steel supports onto the steel core. In the prior art, the assembly of the steel core and the steel support is usually carried out manually. However, the efficiency of manual assembly is too low, resulting in a low production volume of the product; and during the manual assembly process, the operator repeats single actions, which will cause damage to the body.

[0037] To solve the above problems, referring to Figure 1 , this embodiment provides an automatic assembly device for assembling a steel core 1 and a steel support 2. A sealing claw 3 is provided on the steel core 1, and a slot 4 is provided on the steel support 2 for accommodating the steel core 1. Slot openings are provided on both sides of the slot 4 for accommodating the sealing claw 3; specifically, three sealing claws 3 are provided, and the three sealing claws 3 are evenly spaced around the central axis of the steel core 1; the automatic assembly device includes a material transfer mechanism 10, an assembly mechanism 20, and a positioning mechanism 30. The material transfer mechanism 10 includes a slide rail 11 that extends in a first direction. The steel core 1 and the steel support 2 can be moved to the assembly station through the slide rail 11; the assembly mechanism 20 includes a support member 21 and a robotic arm 22. The support member 21 is provided on the periphery of the assembly station. The robotic arm 22 can slide on the support member 21 along the first direction and the second direction, and the first direction and the second direction are perpendicular. The robotic arm 22 can pick up the steel core 1 and press-fit the steel core 1 into the slot 4, and press-fit the sealing claw 3 into the slot opening; the positioning mechanism 30 is provided on the periphery of the assembly station for identifying and positioning the positions of the steel support 2, the steel core 1, and the slot 4. Through the cooperation of the robotic arm 22 and the positioning mechanism 30, manual assembly is replaced, the assembly efficiency of the sealing claw 3 is improved, and the labor cost is reduced.

[0038] Specifically, the support member 21 includes a first plate member 211, a second plate member 212, and a third plate member 213. The second plate member 212 extends in the first direction, and the second plate member 212 and the third plate member 213 extend in the second direction. The first plate member 211 and the second plate member 212 are fixedly connected in an L shape. The second plate member 212 is used to support the first plate member 211. A guiding member is provided on the first plate member 211 along the first direction. A mating member is provided on the third plate member 213. The third plate member 213 slides on the first plate member 211 along the first direction through the mating member. A guiding member is provided on the third plate member 213 along the second direction. A mating member is provided on the robotic arm 22. The robotic arm 22 slides on the third plate member 213 along the second direction through the mating member.

[0039] Specifically, two slide rails 11 are arranged at intervals along the third direction. Sliders are provided at the bottom of the steel bracket 2, and the steel bracket 2 can be driven by a servo motor. In this embodiment, four sliders are provided, and the four sliders are respectively engaged with the two slide rails 11 so that the sealing claw 3 can move along the first direction to the assembly station. In other embodiments, a lead screw can be used instead of the slide rail 11, a nut is provided at the bottom of the steel bracket 2, and a rotary motor is used to drive the lead screw to rotate, thereby driving the sealing claw 3 to move along the first direction to the assembly station; or a conveyor belt is used to drive the sealing claw 3 to move along the first direction to the assembly station, which will not be elaborated here.

[0040] Further, referring to Figure 5 , the positioning mechanism 30 includes a camera 31, and the camera 31 can capture images of the steel bracket 2, the steel core 1, and the card slot 4. Specifically, the camera 31 can select a CCD (Charge Coupled Device) camera, and the camera 31 is communicatively connected to the host computer and can monitor the states of the steel bracket 2, the steel core 1, and the card slot 4 in real time. Further, an electronic measurement mechanism can also be provided on the camera 31 to judge the state during the assembly process of the sealing claw 3, such as judging the position of the card slot 4, the width of the card slot 4, and the thickness of the sealing claw 3, etc. If it is judged that the size of the workpiece is incorrect, the electronic measurement mechanism will send a stop signal to avoid damaging the workpiece.

[0041] Further, the positioning mechanism 30 further includes a high-precision lens 32 and a light source 33. The high-precision lens 32 is connected to the camera 31, and the light source 33 is used to illuminate the steel bracket 2, the steel core 1, and the card slot 4 to increase the accuracy of the camera 31's shooting. Preferably, the light source 33 uses an LED (Light Emitting Diode) lamp for illumination. In other embodiments, the light source 33 can also use a halogen lamp, etc.

[0042] Further, referring to Figure 2 , the material transfer mechanism 10 further includes a positioning reference block 12. The positioning reference block 12 is provided at one end of the steel bracket 2 and is correspondingly arranged with the card slot 4. The positioning mechanism 30 can determine the position of the card slot 4 through the position of the positioning reference block 12. The camera 31 captures a picture of the positioning reference block 12 and measures the position of the positioning reference block 12 to determine the accurate position of the card slot 4. The card slot 4 and the positioning reference block 12 share the same center line.

[0043] Further, the material transfer mechanism 10 further includes a clamping block 13. The clamping block 13 is provided at the other end of the steel support 2. The clamping block 13 can move in a direction close to or away from the steel support 2 to jointly clamp the steel support 2 with the positioning reference block 12 or move away from the steel support 2. Specifically, at the position where the steel core 1 is placed, a positioning reference block 12 and a clamping block 13 are also provided to jointly clamp the steel core 1 with the positioning reference block 12 or disengage from the steel core 1. When the clamping steel core 1 and the steel support 2 are clamped by the robotic arm 12 to pick up the steel core 1 and press-fit the steel core 1 into the card slot 4, the positions of the steel core 1 and the card slot 4 can be fixed to avoid errors in picking up or press-fitting.

[0044] Further, referring to Figure 3 and Figure 4 , a first jaw 221 is provided on the robotic arm 12. The first jaw 221 can move along a first direction and a second direction with the robotic arm 22. The first jaw 221 includes two jaws that can approach or move away from each other to clamp or release the steel core 1. Specifically, two first jaws 221 are provided on the robotic arm 22 at intervals along a third direction to firmly clamp both ends of the steel core 1. The sides of the two jaws that approach each other are provided as arc-shaped surfaces to fit the side wall of the steel core 1, improving the clamping effect of the steel core 1.

[0045] Further, a press-fitting head 222 is also provided on the robotic arm 22. The press-fitting head 222 abuts against the sealing claw 3. The press-fitting head 222 can move along the second direction with the robotic arm 22 to press-fit the sealing claw 3 and the steel core 1. Specifically, the press-fitting head 222 is provided in the middle of the two first jaws 221 and above the steel core 1. The side of the press-fitting head 222 close to the steel core 1 is provided as an arc-shaped surface and is provided with a groove to accommodate one of the sealing claws 3. The two ends of the press-fitting head 222 are in contact with the side walls of the other two sealing claws 3 to facilitate the press-fitting of the steel core 1 and the sealing claws 3.

[0046] Further, a second jaw 223 is also provided on the robotic arm 22. The second jaw 223 can move along the second direction with the robotic arm 22. The second jaw 223 includes a plurality of clamping blocks. The clamping blocks can abut against the steel support 2 to finely adjust the position of the card slot 4. The plurality of clamping blocks are all inclined in a direction close to the steel core 1. The two sealing claws 3 on the side are placed between the plurality of clamping blocks to limit the axial displacement of the steel core 1. Specifically, the second jaw 223 is provided with a floating member 2231. When the clamping blocks abut against the steel support 2, they can float through the floating member 2231 to avoid damaging the steel support 2. In this embodiment, the floating member 2231 is set as a spring, which floats when the clamping blocks contact the steel support 2 to avoid crushing the steel support 2. In this embodiment, a total of eight clamping blocks are provided, and the springs are provided on the four inner clamping blocks.

[0047] Further, the first jaw 221, the press-fitting head 222, and the second jaw 223 can all be driven by a hydraulic cylinder, a pneumatic cylinder, an electric cylinder, etc., and there is no limitation here.

[0048] Obviously, the above embodiments of the present utility model are merely examples for clearly illustrating the present utility model, rather than limitations on the implementation manners of the present utility model. For those of ordinary skill in the art, various obvious changes, re-adjustments and substitutions can be made without departing from the protection scope of the present utility model. It is not necessary and impossible to enumerate all the implementation manners here. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present utility model shall be included within the protection scope of the claims of the present utility model.

Claims

1. An automated assembly device for assembling a steel core (1) and a steel support (2), wherein the steel core (1) is provided with a sealing claw (3), and the steel support (2) is provided with a slot (4) for accommodating the steel core (1), and notches are provided on both sides of the slot (4) for accommodating the sealing claw (3), characterized in that: include: A material moving mechanism (10), the material moving mechanism (10) comprising a slide rail (11), the slide rail (11) extending along a first direction, the steel core (1) and the steel support (2) being able to move to an assembly station via the slide rail (11); An assembly mechanism (20), the assembly mechanism (20) comprising a support member (21) and a mechanical arm (22), the support member (21) being arranged on the peripheral side of the assembly station, the mechanical arm (22) being slidably arranged on the support member (21) along the first direction and the second direction, the first direction being perpendicular to the second direction, the mechanical arm (22) being able to clamp the steel core (1) and press the steel core (1) into the slot (4), and press the sealing claw (3) into the notch; A positioning mechanism (30) is arranged on the peripheral side of the assembly station and is used to identify and position the steel support (2), the steel core (1) and the clamping slot (4).

2. The automated assembly device according to claim 1, characterized in that: The material shifting mechanism (10) further comprises a positioning reference block (12), wherein the positioning reference block (12) is arranged at one end of the steel support (2) and is arranged corresponding to the card slot (4), and the positioning mechanism (30) can determine the position of the card slot (4) by the position of the positioning reference block (12).

3. The automated assembly device according to claim 2, characterized in that: The material shifting mechanism (10) further comprises a clamping block (13), wherein the clamping block (13) is arranged at the other end of the steel support (2), and the clamping block (13) is capable of moving in a direction approaching or moving away from the steel support (2) so as to clamp the steel support (2) or move away from the steel support (2) together with the positioning reference block (12).

4. The automated assembly device according to claim 1, characterized in that: The mechanical arm (22) is provided with a first clamping jaw (221), and the first clamping jaw (221) can move along the first direction and the second direction with the mechanical arm (22), and the first clamping jaw (221) includes two clamping flaps that can move closer to or farther away from each other to clamp or release the steel core (1).

5. The automated assembly device according to claim 1, characterized in that: The mechanical arm (22) is also provided with a pressing head (222), the pressing head (222) abuts against the sealing claw (3), and the pressing head (222) can move along the second direction with the mechanical arm (22) to press the sealing claw (3) and the steel core (1).

6. The automated assembly device according to claim 1, characterized in that: The mechanical arm (22) is also provided with a second clamping jaw (223), which can move along the second direction with the mechanical arm (22), and the second clamping jaw (223) includes a plurality of clamping blocks, which can abut against the steel support (2) to fine-tune the position of the card slot (4).

7. The automated assembly device according to claim 6, characterized in that: The second clamping jaw (223) is provided with a floating piece (2231), and when the clamping block abuts against the steel support (2), it can float through the floating piece (2231), thereby avoiding damage to the steel support (2).

8. The automated assembly device according to any one of claims 1 to 7, characterized in that: The positioning mechanism (30) comprises a camera (31), and the camera (31) is capable of taking images of the steel support (2), the steel core (1) and the card slot (4).

9. The automated assembly device according to claim 8, characterized in that: The positioning mechanism (30) also includes a high-precision lens (32), and the high-precision lens (32) is connected to the camera (31) to increase the shooting accuracy of the camera (31).

10. The automated assembly device according to claim 8, characterized in that: The positioning mechanism (30) further comprises a light source (33), and the light source (33) is used to illuminate the steel support (2), the steel core (1) and the card slot (4), thereby increasing the accuracy of the camera (31) in photographing.

Images