Flexible automatic oiling and attaching device for robot

Abstract

A robot flexible automatic oil coating and attaching device comprises a product positioning mechanism, a robot assembly mechanism, an automatic sponge stripping mechanism, an oil supply mechanism and an oil coating mechanism, the robot assembly mechanism comprises a robot base, a mechanical arm, a visual assembly and a suction cup assembly, the visual assembly is used for recognition and positioning, and the suction cup assembly is used for suction cup attaching. The suction cup assembly is used for sucking sponge and attaching the sponge to a preset position of a product under driving of the mechanical arm, the automatic sponge stripping mechanism is used for conveying and stripping a sponge block wound on a material roll, the oil supply mechanism is connected with the oil coating mechanism through an oil pipe, and the oil coating mechanism comprises a plurality of oil coating nozzles arranged at the position of the product positioning mechanism. Corresponding parts of the product are coated with oil; the product positioning mechanism comprises a table plate, a positioning column, a pressing air cylinder and a section taking air cylinder, and the positioning column, the pressing air cylinder and the section taking air cylinder are arranged on the table plate. According to the automatic sponge sticking and oiling device, automatic sponge stripping, automatic sponge sticking and oiling can be achieved, the quality, the position and the like of the sponge can be automatically detected, and different processed products can be automatically switched.

Description

Technical Field

[0001] The utility model relates to the technical field of mechanical automation, in particular to a flexible automatic oiling and pasting device for a robot. Background Art

[0002] During the manufacturing process, some products, such as some automotive parts and housings, require sponges to be applied at certain designated locations and oiled at other locations. If these processes are performed manually, problems such as inaccurate application positions, loose application, oil leakage, and unstable oiling quality will occur. Therefore, automating these processes is an important guarantee for improving production efficiency and product quality. Utility Model Content

[0003] The purpose of the utility model is to overcome the shortcomings of the prior art and provide a robot-assisted flexible automatic oiling and pasting device with a high degree of automation, which can improve product quality and is easy to implement.

[0004] The utility model is realized through the following technical solutions:

[0005] A robot flexible automatic oiling and sticking device comprises a product positioning mechanism, a robot assembly mechanism, a sponge automatic stripping mechanism, an oil supply mechanism and an oiling mechanism, wherein the product positioning mechanism is used to position and fix the product; the robot assembly mechanism is arranged next to the product positioning mechanism, and comprises a robot base, a robotic arm, a visual component and a suction cup component, the robotic arm is arranged on the robot base, the visual component and the suction cup component are arranged on the robotic arm, the visual component is used to identify and locate, the suction cup component is used to suck the sponge, and under the drive of the robotic arm, the sponge is stuck to the preset position of the product on the product positioning mechanism; the sponge automatic stripping mechanism is used to transport and strip the sponge block wound on the material roll for the suction cup assembly on the robot assembly mechanism to absorb; the oil supply mechanism is connected to the oiling mechanism through an oil pipe, and the oil supply mechanism is used to transport grease to the oiling mechanism, and the oiling mechanism comprises a plurality of oiling nozzles, and the plurality of oiling nozzles are arranged at the position of the product positioning mechanism, and are used to oil the corresponding parts of the product on the product positioning mechanism.

[0006] Furthermore, the product positioning mechanism includes a table and positioning columns, a clamping cylinder and a segment removal cylinder arranged on the table. The positioning columns include at least two, and the positioning columns position the product on the table by penetrating into holes on the product. The clamping cylinder is used to clamp the product from above to fix the product. The segment removal cylinder is connected to the positioning columns to drive the positioning columns to move to adapt to products of different specifications.

[0007] Furthermore, the oiling nozzle is arranged on the positioning column, and the positioning column penetrates into the hole on the product to position the product and oil the hole at the same time.

[0008] Furthermore, the clamping cylinder is vertically installed on the table, and the top of its telescopic end is connected to a horizontally extending clamping rod, which extends above the product. The telescopic clamping cylinder drives the clamping rod to move up and down to compress the product.

[0009] Furthermore, the automatic sponge peeling mechanism includes a material roll placement component, a winding component, a sponge peeling table and a waste collection box. The material roll placement component is used to place the material roll with sponge pasted on the release paper, and the winding component is used to wind and recycle the release paper after the sponge is peeled off. The sponge is pulled from the material roll placement component to the sponge peeling table to be peeled off, and the waste collection box is used to collect waste sponges that have failed the inspection by the robot assembly mechanism and are placed by the robot assembly mechanism.

[0010] Furthermore, the automatic sponge peeling mechanism also includes a guide assembly and a tensioning assembly, the guide assembly includes a plurality of guide wheels, the tensioning assembly includes a tensioning wheel and a tensioning drive, and the tensioning drive is connected to the tensioning wheel to drive the tensioning wheel to move.

[0011] Furthermore, the oil supply mechanism includes an oil storage barrel, a bracket, a stirring assembly and a liquid delivery pump. The stirring assembly is installed on the bracket and its stirring paddle is arranged in the oil storage barrel for stirring the grease in the oil storage barrel. The liquid delivery pump is installed on the bracket, one end of which is connected to the oil storage barrel and the other end is connected to the oiling mechanism.

[0012] Furthermore, the oiling mechanism further includes a metering valve, which is connected to the oiling nozzle.

[0013] Furthermore, the vision component of the robot assembly includes a camera mounted on the six-axis robotic arm. The suction cup assembly is mounted on the end of the robotic arm via a mounting bracket. The suction cup assembly comprises two sets arranged side by side, each set comprising a vacuum generator and a suction cup. The vacuum generator is connected to the suction cup, and the suction cup is used to absorb the sponge. The mounting bracket is also provided with two attachment tabs for attaching the sponge, each of which corresponds to the position of the two sets of suction cup assemblies.

[0014] Furthermore, it also includes a frame, and the product positioning mechanism, robot assembly mechanism, sponge automatic stripping mechanism and oiling mechanism each have two sets and are respectively assembled on the frame, and one set of the oil supply mechanism is arranged outside the frame and is connected to the two sets of oiling mechanisms through oil pipes.

[0015] The utility model realizes the processes of product positioning and fixing, automatic sponge stripping, automatic absorption and application of sponge, automatic detection of sponge quality, sponge position and application position, and automatic oiling by using visual positioning detection technology and automatic control technology through the arrangement of product positioning mechanism, robot assembly mechanism, automatic sponge stripping mechanism, oil supply mechanism and oiling mechanism, replacing the previous process of manual grasping and placement, improving the automation of the production process, improving production efficiency and ensuring product quality; through the cylinder assembly arranged on the product positioning mechanism, it can adapt to the processing of products of different specifications and realize automatic switching of different processed products, and one set of equipment can replace multiple sets in the past, with wide applicability; the oiling nozzle is arranged on the positioning column, so that the positioning column can not only play a positioning role but also apply oil to the corresponding hole position, further streamlining the structure and making it compact; the robot assembly module, the automatic sponge stripping module and the oiling module can all adopt existing mature technologies and are easy to implement. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a structural schematic diagram of an embodiment of the present utility model.

[0017] Figure 2 It is a top view of the product positioning mechanism in the embodiment of the present utility model.

[0018] Figure 3 It is a structural schematic diagram of the product positioning mechanism in an embodiment of the present utility model.

[0019] Figure 4 This is a structural diagram of placing a product on the product positioning mechanism in an embodiment of the utility model.

[0020] Figure 5 Schematic diagram of the structure of the robot assembly mechanism in an embodiment of the present utility model.

[0021] Figure 6 This is a schematic structural diagram of the suction cup assembly on the robot assembly mechanism in an embodiment of the present utility model.

[0022] Figure 7 It is a structural schematic diagram of the automatic sponge peeling mechanism in an embodiment of the present utility model.

[0023] Figure 8 It is a structural diagram of the oil supply mechanism in an embodiment of the present utility model.

[0024] Figure markings: 1-frame; 2-product positioning mechanism; 3-robot assembly mechanism; 4-sponge automatic stripping mechanism; 5-oil supply mechanism; 6-oiling mechanism; 7-operation box; 8-product; 9-sponge; 10-product arrival recognition mechanism; 21-table; 22-pressing cylinder; 23-section taking cylinder; 24-positioning column; 25-pressing rod; 31-robot base; 32-robotic arm; 33-visual component; 34-suction cup assembly; 35-mounting frame; 36-attachment sheet; 341-vacuum generator; 342-suction cup; 41-material roll placing component; 42-winding component; 43-sponge stripping table; 44-waste collection box; 45-guide wheel; 46-tensioning component; 51-bracket; 52-stirring component; 53-liquid delivery pump; 61-metering valve; 62-oiling nozzle. DETAILED DESCRIPTION

[0025] A robot flexible automatic oiling and pasting device, such as Figure 1 As shown, it includes a product positioning mechanism 2, a robot assembly mechanism 3, a sponge automatic peeling mechanism 4, an oil supply mechanism 5 and an oiling mechanism 6. The product positioning mechanism 2 is used to place and position the fixed product 8. The product positioning mechanism 2 is generally also provided with a product in place identification mechanism 10, such as an infrared electric eye, a camera or a pressure sensor. The robot assembly mechanism 3 is arranged beside the product positioning mechanism 2, as shown in FIG. Figure 5 It includes a robot base 31, a robotic arm 32, a visual component 33 and a suction cup component 34, etc. The robotic arm 32 is arranged on the robot base 31, and the visual component 33 and the suction cup component 34 are arranged on the robotic arm 32. The robotic arm 32 drives the visual component 33 and the suction cup component 34 to move. The visual component 33 is used to identify and locate through visual technology, such as identifying the sponge, locating the position of the sponge, locating the position of the attachment, etc. The suction cup component 34 is used to absorb the sponge 9 and attach the sponge to the corresponding position of the product on the product positioning mechanism 2 under the drive of the robotic arm 32. The position is pre-set by the control system. The robot robotic arm 32 moves according to the preset program and is positioned by the visual component 33 to ensure correct attachment.

[0026] In this embodiment, the camera on the visual component 33 is set at the front end of the robotic arm 32, and the robotic arm 32 is a six-axis robotic arm; Figure 6The suction cup assembly 34 is mounted on the end of the robotic arm 32 via a mounting bracket 35. The suction cup assembly 34 has two groups arranged side by side, each group including a vacuum generator 341 and a suction cup 342. The vacuum generator 341 is connected to the suction cup 342. The suction cup 342 is used to suck the sponge 9, and can suck two sponge blocks at a time. The vacuum generator 341 can also blow air to assist in the sponge attachment. The mounting bracket 35 is also provided with two attachment pieces 36. The attachment pieces 36 press the sponge block so that the sponge block is tightly attached to the product. Each attachment piece 36 corresponds one-to-one to the position of the two groups of suction cup assemblies 34.

[0027] The automatic sponge stripping mechanism 4 is used to transport and strip the sponge blocks wound on the material roll. The stripped sponge blocks are positioned at the sponge suction station, which is fixed and is then sucked by the suction cup assembly 34 on the robot assembly 3. The oil supply mechanism 5 is connected to the oiling mechanism 6 via an oil pipe. The oil supply mechanism 5 is used to supply grease to the oiling mechanism 6. The oiling mechanism 6 includes a plurality of oiling nozzles 62, which are positioned at the product positioning mechanism 2 and are used to oil corresponding parts of the product on the product positioning mechanism 2. The oiling parts of the product are generally fixed, such as certain holes and connections.

[0028] In this embodiment, Figure 1 The machine also includes a frame 1. Two sets of each of the product positioning mechanism 2, the robot assembly mechanism 3, the automatic sponge stripping mechanism 4, and the oiling mechanism 6 are assembled on the frame 1. The two sets of devices are arranged side by side to minimize space. The frame 1 can also be equipped with an operation box 7, an electrical control cabinet, a display screen, and other components. A protective frame can be installed outside the frame 1, with protective plates installed on the protective frame to cover these components for protection. A single set of oil supply mechanisms 5 is provided, located outside the frame 1 and connected to the two sets of oiling mechanisms 6 via oil pipes. This provides oil to both sets of oiling mechanisms 6 simultaneously, facilitating equipment cleaning.

[0029] The product positioning mechanism 2 is used to position and fix the product. A common fixture with a clamp can be used. The clamp fixes the product by pressing the edge of the product or clamping the product on both sides. The positioning method can be achieved by engaging an edge on the product or by engaging a hole, groove or protrusion on the fixture. As one embodiment, in this embodiment, if Figures 2 to 4 The product positioning mechanism 2 includes a table 21 and a positioning column 24, a clamping cylinder 22 and a segment cylinder 23 arranged on the table 21. The positioning column 24 includes at least two. The positioning column 24 positions the product on the table 21 by penetrating into the hole on the product 8. The clamping cylinder 22 is used to clamp the product 8 from above to fix the product. The segment cylinder 23 is connected to the positioning column 24 to drive the positioning column 24 to move to adapt to products of different specifications.

[0030] When it is necessary to oil certain holes on the product, in order to simplify the process, positioning and oiling can be combined. Specifically, the oiling nozzle 62 is set on the positioning column 24. The positioning column 24 penetrates the hole on the product to position the product and also oil the hole.

[0031] In this embodiment, the compression cylinder 22 is vertically mounted on the platen 21. A horizontally extending compression rod 25 is connected to the top of its telescopic end. The compression rod 25 extends above the product. The compression cylinder 22's telescopic movement drives the compression rod 25 up and down to compress the product. The compression cylinder 22 applies force through the extended compression rod 25, and the length of the compression rod 25 can accommodate products of varying specifications and sizes. A cushioning sponge or other material can be provided on the bottom surface of the compression rod 25, where it contacts the product, to prevent damage to the product surface.

[0032] As one implementation method, in this embodiment, Figure 7 The automatic sponge stripping mechanism 4 includes a roll placement component 41, a reeling component 42, a sponge stripping table 43, and a waste collection box 44. The roll placement component 41 is used to place a roll of release paper with sponge attached to it. The reeling component 42 is used to wind and recycle the release paper after the sponge has been stripped. The sponge is pulled from the roll placement component 41 to the sponge stripping table 43 for stripping. The waste collection box 44 is used to collect waste sponges that have been tested and found to be unqualified by the robot assembly 3 and placed there. The sponge pulled to the sponge stripping table 43 can be separated from the release paper using structures or methods such as pins, a pointed stripping plate, or a stripping roller. This technology can use existing sponge stripping technology or label paper stripping technology. The automatically stripped sponge is generally located in a fixed position, namely the suction position. Driven by the robotic arm 32, the suction component reaches this position to absorb the sponge. If any defective product is detected, it is automatically placed in the waste collection box 44.

[0033] In this embodiment, the sponge automatic peeling mechanism 4 also includes a guide assembly and a tensioning assembly 46. The guide assembly includes several guide wheels 45. The tensioning assembly 46 includes a tensioning wheel and a tensioning drive. The tensioning drive is connected to the tensioning wheel to drive the tensioning wheel to move, thereby tensioning the wound release paper.

[0034] The oil supply mechanism 5 can adopt the existing form, such as in this embodiment, Figure 8The oil supply mechanism 5 includes an oil storage barrel (not shown in the figure), a bracket 51, a stirring assembly 52 and a liquid delivery pump 53. The stirring assembly 52 is mounted on the bracket 51 and its stirring paddle is set in the oil storage barrel for stirring the grease in the oil storage barrel. The liquid delivery pump 53 is mounted on the bracket 51, one end of which is connected to the oil storage barrel and the other end is connected to the oiling mechanism 6. The liquid delivery pump 53 can be a diaphragm pump. A roller is set under the bracket 51 to facilitate the movement of the oil supply mechanism 5. The oiling mechanism 6 also includes a metering valve 61, which is set under the table 21 of the frame 1. The metering valve 61 is connected to the oiling nozzle 62. One metering valve 61 corresponds to one oiling nozzle 62, and the metering valve 61 is connected to the oiling nozzle 62 to supply oil in a fixed amount. The metering valve 61 is connected to the control system and is opened only when oiling is required.

[0035] The associated software that needs to be developed for this utility model mainly includes: robot programs: a) programs for all models: use different tool coordinates; add compensation overlay; add pasting calibration program; add compensation value data exchange program; and compensation value calculation program; b) unified teaching for all models: create tool coordinates for different models; re-teach all models, and establish base welding point and calibration point coordinates.

[0036] The workflow of this embodiment is as follows (taking one process as an example): In the automatic mode, the product is manually loaded into the product positioning mechanism 2. The sensor recognizes the product in place and activates. The automatic sponge stripping mechanism 4 automatically strips the sponge strip / block and transports it to the suction position. The robot arm 32 moves to the suction position, where the camera visually determines whether the sponge strip / block is qualified and correctly positioned. If correct, the sponge strip / block is automatically sucked in; otherwise, it is discarded into the waste collection box 44. The robot moves to the sponge application position, using the vacuum generator 341 to blow air and the steel application sheet to attach the sponge strip / block to the corresponding position on the product. The camera on the robot identifies and compares the position of the sponge strip / block after application to determine whether it is qualified. The oil supply pump (liquid delivery pump 53) applies pressure, and grease is delivered through the metering valve 61 to the oiling nozzle 62 to lubricate the set position and holes of the product (housing). When switching between product (machine) types, the position of the cylinder movement on the positioning mechanism is automatically calculated based on the product parameters, thereby achieving the product (machine) change.

[0037] The above detailed description is a specific description of a feasible embodiment of the present invention. The embodiment is not intended to limit the patent scope of the present invention. Any equivalent implementation or modification that does not depart from the present invention should be included in the patent scope of this case.

Claims

1. A robot flexible automatic oiling and pasting device, characterized in that: The product positioning mechanism includes a product positioning mechanism, a robot assembly mechanism, an automatic sponge peeling mechanism, an oil supply mechanism and an oiling mechanism. The product positioning mechanism is used to position and fix the product; the robot assembly mechanism is arranged next to the product positioning mechanism, and includes a robot base, a robotic arm, a visual component and a suction cup component. The robotic arm is arranged on the robot base, and the visual component and the suction cup component are arranged on the robotic arm. The visual component is used for identification and positioning, and the suction cup assembly is used to suck the sponge and, driven by the robotic arm, attach the sponge to a preset position of the product on the product positioning mechanism; the automatic sponge peeling mechanism is used to transport and peel off the sponge block wound on the material roll for absorption by the suction cup assembly on the robot assembly mechanism; the oil supply mechanism is connected to the oiling mechanism through an oil pipe, and the oil supply mechanism is used to transport grease to the oiling mechanism. The oiling mechanism includes a plurality of oiling nozzles, and the plurality of oiling nozzles are arranged at the position of the product positioning mechanism for oiling corresponding parts of the product on the product positioning mechanism.

2. A robot flexible automatic oiling and pasting device according to claim 1, characterized in that: The product positioning mechanism includes a table and positioning columns, a clamping cylinder and a segment removal cylinder arranged on the table. The positioning columns include at least two, and the positioning columns position the product on the table by penetrating into holes on the product. The clamping cylinder is used to clamp the product from above to fix the product. The segment removal cylinder is connected to the positioning columns to drive the positioning columns to move to adapt to products of different specifications.

3. The robot flexible automatic oiling and pasting device according to claim 2 is characterized in that: The oiling nozzle is arranged on the positioning column, and the positioning column penetrates the hole on the product to position the product and oil the hole at the same time.

4. The robot flexible automatic oiling and pasting device according to claim 2 is characterized in that: The compacting cylinder is vertically mounted on the table, and the top of its telescopic end is connected to a horizontally extending compacting rod, which extends above the product. The compacting cylinder is telescopic and drives the compacting rod to move up and down to compact the product.

5. The robot flexible automatic oiling and pasting device according to claim 1 is characterized in that: The automatic sponge stripping mechanism includes a material roll placement component, a winding component, a sponge stripping table and a waste collection box. The material roll placement component is used to place the material roll with sponge pasted on the release paper, and the winding component is used to wind and recycle the release paper after the sponge is stripped. The sponge is pulled from the material roll placement component to the sponge stripping table to be stripped. The waste collection box is used to collect waste sponges that have failed the inspection by the robot assembly mechanism and are placed by the robot assembly mechanism.

6. The robot flexible automatic oiling and applying device according to claim 5 is characterized in that: The automatic sponge peeling mechanism further comprises a guide assembly and a tensioning assembly. The guide assembly comprises a plurality of guide wheels. The tensioning assembly comprises a tensioning wheel and a tensioning drive. The tensioning drive is connected to the tensioning wheel to drive the tensioning wheel to move.

7. The robot flexible automatic oiling and pasting device according to claim 1 is characterized in that: The oil supply mechanism includes an oil storage barrel, a bracket, a stirring assembly and a liquid delivery pump. The stirring assembly is installed on the bracket and its stirring paddle is arranged in the oil storage barrel, which is used to stir the grease in the oil storage barrel. The liquid delivery pump is installed on the bracket, one end of which is connected to the oil storage barrel and the other end is connected to the oiling mechanism.

8. The robot flexible automatic oiling and applying device according to claim 1 is characterized in that: The oiling mechanism further comprises a metering valve, which is connected to the oiling nozzle.

9. The robot flexible automatic oiling and pasting device according to claim 1 is characterized in that: The visual component on the robot assembly mechanism includes a camera arranged on the robotic arm, and the robotic arm is a six-axis robotic arm; the suction cup assembly is installed at the end of the robotic arm through a mounting frame, and the suction cup assembly has two groups arranged side by side, each group includes a vacuum generator and a suction cup, and the vacuum generator is connected to the suction cup, and the suction cup is used to absorb the sponge; the mounting frame is also provided with two attachment plates for attaching the sponge, and each of the attachment plates corresponds one-to-one to the position of the two groups of suction cup assemblies.

10. The robot flexible automatic oiling and pasting device according to claim 1, characterized in that: It also includes a frame, and the product positioning mechanism, robot assembly mechanism, sponge automatic stripping mechanism and oiling mechanism each have two sets and are respectively assembled on the frame, and one set of the oil supply mechanism is arranged outside the frame and is connected to the two sets of oiling mechanisms through oil pipes.

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