A robotic automated assembly inspection apparatus

Abstract

This utility model proposes an automated robotic assembly and testing equipment, comprising a circular conveyor line with a feeding module, an assembly module, and a testing and disassembly module arranged sequentially along the conveying direction. The circular conveyor line is equipped with several positioning carriers for carrying robot parts. The feeding module includes a storage bin and a transfer mechanism located on one side of the storage bin's Y-axis. The storage bin has several storage compartments, and the transfer mechanism is used to transfer parts from the storage compartments to the positioning carriers. The assembly module includes an assembly workbench and at least one collaborative robotic arm. The testing and disassembly module includes a testing workbench and a gantry-type three-axis truss located above the testing workbench. The moving end of the gantry-type three-axis truss is equipped with a rotating clamping mechanism and a disassembly execution mechanism. A disassembly and mating mechanism is provided on one side of the testing workbench. Through this method, a high degree of modularity, strong flexibility, and high operational efficiency are achieved.

Description

Technical Field

[0001] This utility model relates to the field of automation equipment technology, and in particular to a robotic automated assembly and testing equipment. Background Technology

[0002] In the field of robot manufacturing, automated assembly and inspection technologies have become key to improving production efficiency and product quality. Traditional robot assembly and disassembly usually rely on manual operation, followed by transfer to an inspection facility by a robotic arm or conveyor belt. The separation of assembly and inspection in traditional production lines results in lengthy processes and low disassembly and rework efficiency, affecting overall production efficiency. Utility Model Content

[0003] To address the aforementioned issues, this invention proposes a highly automated robotic assembly and testing device that effectively improves work efficiency.

[0004] The main contents of this utility model include: a circular conveyor line, which is provided with a feeding module, an assembly module and a detection and disassembly module in sequence along the conveying direction; and the circular conveyor line is provided with a number of positioning carriers for carrying robot parts.

[0005] The feeding module includes a storage bin and a transfer mechanism located on one side of the storage bin along the Y-axis. The storage bin has several storage compartments, and the transfer mechanism is used to transfer the parts in the storage compartments to the positioning carrier.

[0006] An assembly module, comprising an assembly workbench and at least one collaborative robotic arm, for transferring parts from a positioning carrier to the assembly workbench and assembling them into a robot.

[0007] The inspection and disassembly module includes an inspection workbench and a gantry-type three-axis truss located above the inspection workbench. The moving end of the gantry-type three-axis truss is equipped with a rotating clamping mechanism and a disassembly execution mechanism, which are used for inspecting and disassembling the robot, respectively. A disassembly cooperation mechanism and an inspection camera are provided on one side of the inspection workbench to assist in the disassembly of the robot.

[0008] Preferably, the storage compartments of the storage bin are arranged in an array along the X-axis and Z-axis. The material transfer mechanism includes an X-axis transverse module, a Z-axis lifting module installed on the moving end of the X-axis transverse module, a clamping carrier plate provided on the lifting end of the Z-axis lifting module, and a telescopic cylinder provided on the clamping carrier plate. The output end of the telescopic cylinder faces the storage bin and is equipped with a first pneumatic gripper for gripping or placing parts in the storage compartment.

[0009] Preferably, the assembly workbench is equipped with an assembly base, and the assembly base is provided with an electromagnetic adsorption device for fixing robot parts during the assembly process to ensure assembly accuracy.

[0010] Preferably, the assembly module is provided with two cooperative robotic arms, which are respectively located on both sides of the assembly base. The first cooperative robotic arm is used to transfer the parts on the positioning carrier to the assembly base, and the second cooperative robotic arm is used to transfer the assembled robot to the positioning carrier.

[0011] Preferably, the ends of the first and second collaborative robotic arms are equipped with pressure sensing modules for real-time detection of the force state during the assembly process.

[0012] Preferably, the rotary clamping mechanism includes a second pneumatic gripper and a rotary cylinder for driving the second pneumatic gripper to rotate, the second pneumatic gripper being used to clamp the robot.

[0013] Preferably, the disassembly actuator includes a third pneumatic gripper, the third pneumatic gripper being less vertically taller than the second pneumatic gripper.

[0014] Preferably, the disassembly and assembly mechanism includes a fourth pneumatic gripper for holding the lower part of the robot and a lateral displacement module for driving the fourth pneumatic gripper to move horizontally.

[0015] Preferably, the positioning carrier is equipped with a positioning structure, which includes several positioning blocks of different shapes, the shapes of which are adapted to different components.

[0016] Preferably, the system further includes a control system, which includes a PLC and a host computer, and the PLC is communicatively connected to the host computer.

[0017] The beneficial effects of this utility model are as follows: the feeding module, assembly module and inspection and disassembly module are integrated into a ring conveyor line to realize automatic supply of parts, high-precision assembly, finished product inspection and disassembly and recycling; the feeding module adopts a three-dimensional storage bin and material transfer mechanism to achieve efficient feeding; the assembly module completes robot assembly through the collaborative work of multiple robotic arms; the inspection and disassembly module utilizes a gantry three-axis truss to integrate a multi-functional execution terminal to realize fully automated operation, which has the advantages of high modularity, strong flexibility and high operation efficiency. Attached Figure Description

[0018] Figure 1 This is a three-dimensional structural schematic diagram of a preferred embodiment;

[0019] Figure 2 This is a three-dimensional structural diagram of the feeding module in a preferred embodiment;

[0020] Figure 3 This is a three-dimensional structural diagram of the detection and disassembly module in a preferred embodiment;

[0021] Figure label:

[0022] 1. Circular conveyor line; 11. Positioning carrier; 111. Positioning block;

[0023] 2. Feeding module; 21. Storage bin; 211. Storage room; 22. Transfer mechanism; 221. X-axis transverse transfer module; 222. Z-axis lifting module; 223. Fixture carrier plate; 224. Telescopic cylinder; 225. First pneumatic gripper;

[0024] 3. Assembly module; 31. Assembly workbench; 311. Assembly base; 32. First collaborative robotic arm; 33. Second collaborative robotic arm;

[0025] 4. Inspection and disassembly module; 41. Inspection workbench; 411. Positioning slot; 42. Gantry-type three-axis truss; 43. Rotary clamping mechanism; 431. Second pneumatic gripper; 44. Disassembly execution mechanism; 441. Third pneumatic gripper; 45. Disassembly mating mechanism; 451. Lateral displacement module; 452. Fourth pneumatic gripper. Detailed Implementation

[0026] The technical solution protected by this utility model will be described in detail below with reference to the accompanying drawings.

[0027] like Figure 1 As shown, this application proposes an automated assembly and testing equipment for robots, which includes a circular conveyor line 1, a feeding module 2, an assembly module 3 and a testing and disassembly module 4 arranged sequentially along the conveying direction, and a plurality of positioning carriers 11 for carrying robot parts on the circular conveyor line 1.

[0028] like Figure 1 As shown, preferably, the positioning carrier 11 is provided with a positioning structure for adapting to robot parts to limit the placement position of the parts on the positioning carrier 11. The positioning structure includes several positioning blocks 111 of different shapes, the specific shape of which is adapted to different robot parts to position different parts, thereby improving the applicability of the positioning carrier 11.

[0029] Preferably, the circular conveyor line 1 is equipped with a lifting and blocking mechanism (specific structure not shown) at the transfer station of the positioning carrier 11, which is used to accurately position the stopping position of the positioning carrier when picking up and placing parts. Specifically, the lifting and blocking mechanism may include a lifting cylinder located below the circular conveyor line 1, with the output end of the lifting cylinder facing upward and connected to a baffle. A sensor is set on the horizontal side of the transfer station. Once the sensor detects the positioning carrier, the lifting cylinder drives the baffle to move upward, which can prevent the positioning carrier from continuing to transfer, so that the positioning carrier 11 stops conveying at a fixed position in the transfer station, improving the stability of the parts picking and placing process. In a specific embodiment, the baffle may be set on the front side of the positioning carrier 11 along the transmission direction, or a positioning groove is opened at the bottom of the positioning carrier, and the baffle rises and inserts into the positioning groove.

[0030] like Figure 1-2 As shown, the feeding module 2 includes a storage bin 21 and a transfer mechanism 22 located on one side of the storage bin 21 along the Y-axis. The storage bin 21 has several storage compartments 211, which are used to store robot parts of different models. The transfer mechanism 22 is used to transfer the parts in the storage compartments 211 to the positioning carrier 11. Specifically, the storage compartments 211 of the storage bin 21 are arranged in an array along the X-axis and Z-axis directions. The transfer mechanism 22 includes an X-axis transverse module 221, a Z-axis lifting module 222 installed at the moving end of the X-axis transverse module 221, a clamping plate 223 located at the lifting end of the Z-axis lifting module 222, and a telescopic cylinder 224 located on the clamping plate 223. The output end of the telescopic cylinder 224 faces the storage bin 21 and is equipped with a first pneumatic gripper 225 for gripping or placing the parts in the storage compartments 211.

[0031] like Figure 1-2 As shown, preferably, the positions of the storage chamber 211 in the X-axis and Z-axis directions, and the transfer station at the corresponding feeding module 2 of the circular conveyor line 1, are all within the stroke range of the X-axis transverse module 221 and the Z-axis lifting module 222. This ensures that the first pneumatic gripper 225 can accurately move to the storage chamber 211 to grip the parts and transfer them to the positioning carrier 11 of the circular conveyor line 1, or grip the parts on the positioning carrier 11 and transfer them to the storage chamber 211. Preferably, in one embodiment, the clamping plate 223 is equipped with two sets of telescopic cylinders 224, and the output ends of the two sets of telescopic cylinders 224 are respectively connected to the first pneumatic gripper 225, which can simultaneously load two sets of parts, reduce the reciprocating frequency of the transfer mechanism 22, and effectively improve work efficiency.

[0032] like Figure 1-2As shown, assembly module 3 includes an assembly worktable 31 and at least one collaborative robotic arm, used to transfer parts from the positioning carrier to the assembly worktable 31 and assemble them into a robot. The collaborative robotic arm has multiple degrees of freedom and can flexibly complete various complex assembly actions, such as grasping, carrying, rotating, and inserting, to accurately install different parts into their corresponding positions.

[0033] like Figure 1 As shown, the assembly workbench 31 has an assembly base 311, which is equipped with an electromagnetic adsorption device for fixing robot parts during assembly, thereby improving the stability of the parts during assembly and the assembly accuracy of the finished product. In a specific embodiment, the assembly module 3 has two cooperative robotic arms that work together to assemble the robot. Furthermore, the two cooperative robotic arms are located on both sides of the assembly base 311. The first cooperative robotic arm 32 is used to transfer parts from the positioning carrier 11 at the feed module 2 transfer station to the assembly base 311, and the second cooperative robotic arm 33 is used to transfer the assembled robot to the positioning carrier 11 at the assembly module 3 transfer station, and then the robot is conveyed by the circular conveyor line 1 to the transfer station of the inspection and disassembly module 4 for unloading.

[0034] like Figure 1 As shown, preferably, the ends of the first collaborative robotic arm 32 and the second collaborative robotic arm 33 are equipped with pressure sensors (not shown) to detect the force state of the robot parts in real time during the assembly process. The robot's movement is adjusted through a force control algorithm to achieve precise force control, so as to assemble each part with appropriate force. This avoids damage to parts due to excessive force or incomplete assembly due to insufficient force, thereby effectively improving assembly accuracy and efficiency.

[0035] like Figure 1-3 As shown, the inspection and disassembly module 4 includes an inspection workbench 41 and a gantry-type three-axis truss 42 located above the inspection workbench 41. The moving end of the gantry-type three-axis truss 42 is provided with a rotating clamping mechanism 43 and a disassembly execution mechanism 44, which are used for inspecting and disassembling the robot, respectively. A disassembly cooperation mechanism 45 is provided on one side of the inspection workbench 41, which is configured as a robot disassembly aid.

[0036] like Figure 1-3 As shown, the surface of the inspection workbench 41 has a positioning groove 411 for defining the inspection placement position of the robot. An inspection camera (not shown) is set on the horizontal side of the inspection workbench. The inspection workbench 41 is located within the shooting range of the inspection camera. The robot is placed in the positioning groove, and the inspection camera can take pictures and inspect the robot around its circumference.

[0037] like Figure 1-3As shown, the rotating gripping mechanism 43 includes a second pneumatic gripper and a rotating cylinder that drives the second pneumatic gripper to rotate. The second pneumatic gripper picks up the finished robot from the self-positioning carrier 11 and transfers the finished robot to the inspection workbench 41 for photographic inspection. Then, the rotating cylinder drives the robot to rotate at multiple angles to perform multi-angle photographic inspection of the robot, thereby improving the inspection accuracy.

[0038] like Figure 1-3 As shown, the disassembly execution mechanism 44 includes a third pneumatic gripper 441 for gripping and disassembling robot parts; the disassembly mating mechanism 45 is located on one side of the inspection workbench 41, and includes a fourth pneumatic gripper 452 and a lateral displacement module 451 that drives the fourth pneumatic gripper 452 to move horizontally. The third pneumatic gripper 441 and the fourth pneumatic gripper 452 cooperate to complete the disassembly of robot parts. The lateral displacement module 451 drives the fourth pneumatic gripper 452 to move horizontally onto the inspection workbench 41, gripping the lower part of the robot to maintain its stability. The third pneumatic gripper 441 of the upper disassembly execution mechanism 44 grips the upper part and moves it to disassemble it. The third pneumatic gripper 441 then transfers the disassembled parts to the positioning carrier 11 for parts return transfer.

[0039] like Figure 1-3 As shown, preferably, the height of the second pneumatic gripper 431 in the vertical direction is greater than the height of the third pneumatic gripper 441 in the vertical direction, so as to prevent contact interference between the second pneumatic gripper 431 and the inspection worktable 41 when the third pneumatic gripper 441 descends to disassemble the parts.

[0040] This application also includes a control system, which comprises a PLC and a host computer. The PLC is communicatively connected to the host computer and is used to control the actions of the circular conveyor line 1, the feeding module 2, the assembly module 3, and the inspection and disassembly module 4. Through the control system, intelligent and rapid switching between production and inspection tasks for different models or specifications of products can be achieved to adapt to diverse and customized needs, improve flexible production capabilities and automation levels, and enhance work efficiency and finished product assembly quality.

[0041] The above description is merely an embodiment of this utility model and does not limit the patent scope of this utility model. Any equivalent structural or procedural transformations made based on the description and drawings of this utility model, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this utility model.

Claims

1. A robotic automated assembly and testing device, characterized in that, Mainly includes: The circular conveyor line (1) is provided with a feeding module (2), an assembly module (3) and a detection and disassembly module (4) in sequence along the conveying direction. The circular conveyor line (1) is provided with a number of positioning carriers (11) for carrying robot parts. The feeding module (2) includes a storage bin (21) and a transfer mechanism (22) located on one side of the Y-axis of the storage bin (21). The storage bin (21) has several storage chambers (211). The transfer mechanism (22) is used to transfer the parts in the storage chambers (211) to the positioning carrier (11). Assembly module (3) includes an assembly workbench (31) and at least one collaborative robotic arm for transferring parts from the positioning carrier (11) to the assembly workbench (31) and assembling them into a robot. The inspection and disassembly module (4) includes an inspection workbench (41) and a gantry-type three-axis truss (42) located above the inspection workbench (41). The moving end of the gantry-type three-axis truss (42) is provided with a rotating clamping mechanism (43) and a disassembly execution mechanism (44), which are used to inspect and disassemble the robot, respectively. A disassembly cooperation mechanism (45) for assisting the robot disassembly and an inspection camera are provided on one side of the inspection workbench (41).

2. The robotic automated assembly and testing equipment according to claim 1, characterized in that, The storage chambers (211) of the storage bin (21) are arranged in an array along the X-axis and Z-axis. The material transfer mechanism (22) includes an X-axis transverse module (221), a Z-axis lifting module (222) installed at the moving end of the X-axis transverse module (221), a clamping plate (223) provided at the lifting end of the Z-axis lifting module (222), and a telescopic cylinder (224) provided on the clamping plate (223). The output end of the telescopic cylinder (224) faces the storage bin (21) and is equipped with a first pneumatic gripper (225) for gripping or placing parts in the storage chamber (211).

3. The robotic automated assembly and testing equipment according to claim 1, characterized in that, The assembly workbench (31) is equipped with an assembly base (311), and the assembly base (311) is provided with an electromagnetic adsorption device for fixing robot parts during the assembly process to ensure assembly accuracy.

4. The robotic automated assembly and testing equipment according to claim 3, characterized in that, The assembly module (3) is equipped with two cooperative robotic arms, which are respectively located on both sides of the assembly base (311). The first cooperative robotic arm (32) is used to transfer the parts on the positioning carrier (11) to the assembly base (311), and the second cooperative robotic arm (33) is used to transfer the assembled robot to the positioning carrier (11).

5. The robotic automated assembly and testing equipment according to claim 4, characterized in that, The first collaborative robotic arm (32) and the second collaborative robotic arm (33) are equipped with pressure sensing modules at their ends for real-time detection of the force state during the assembly process.

6. The robotic automated assembly and testing equipment according to claim 1, characterized in that, The rotating clamping mechanism (43) includes a second pneumatic gripper (431) and a rotary cylinder for driving the second pneumatic gripper (431) to rotate. The second pneumatic gripper (431) is used to clamp the robot.

7. The robotic automated assembly and testing equipment according to claim 6, characterized in that, The disassembly actuator (44) includes a third pneumatic gripper (441), the third pneumatic gripper (441) being less than the second pneumatic gripper (431) in the vertical direction.

8. The robotic automated assembly and testing equipment according to claim 1, characterized in that, The disassembly and assembly mechanism (45) includes a fourth pneumatic gripper (452) for holding the lower part of the robot and a lateral displacement module (451) for driving the fourth pneumatic gripper (452) to move horizontally.

9. The automated assembly and testing equipment for robots according to claim 1, characterized in that, The positioning carrier (11) is equipped with a positioning structure, which includes several positioning blocks (111) of different shapes, and the shapes of the positioning blocks (111) are adapted to different components.

10. The robotic automated assembly and testing equipment according to claim 1, characterized in that, It also includes a control system, which includes a PLC and a host computer, and the PLC is communicatively connected to the host computer.

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