A flexible automated assembly apparatus based on collaborative robots

Abstract

The utility model relates to a kind of flexible automation assembly equipment based on collaborative robot, including front and rear side-by-side feeding subline and assembly subline and feeding subline;Feeding subline includes collaborative robot, two flexible vibration disc being located at the left and right sides of collaborative robot, quick-change jig module being located at the side of collaborative robot and visual identification module being located above flexible vibration disc;Assembly subline includes left and right arrangement assembly table, assembly station and discharge window being oppositely arranged on assembly table and being located below assembly table discharge conveying module;Feeding subline includes tray support, multiple tray temporary storage positions are arranged on tray support in left and right directions;Feeding subline further includes tray moving module for moving tray, tray moving module is located below tray support, and tray support is provided with avoiding cavity position for avoiding movable terminal of tray moving module;The scheme improves the problem that flexible production line compatibility is poor as a whole by more optimized layout cooperation quick-change jig module.

Claims

1. A flexible automated assembly equipment based on collaborative robots, characterized in that, This includes a feeding sub-line, an assembly sub-line, and a loading sub-line, which are separated and arranged side by side. The feeding sub-line includes a collaborative robot, two flexible vibrating plates respectively located on the left and right sides of the collaborative robot, a quick-change fixture module located on one side of the collaborative robot, and a visual recognition module located above the flexible vibrating plates. The assembly sub-line includes an assembly platform arranged in the left-right direction, an assembly station and a discharge window arranged opposite each other on the assembly platform, and a material discharge and conveying module arranged in the left-right direction below the assembly platform to cooperate with the discharge window for material discharge. The feeding sub-line includes a tray support, and the tray support has multiple tray temporary storage positions along the left and right directions; the feeding sub-line also includes a tray moving module for moving the trays on the tray temporary storage positions, the tray moving module is located below the tray support, and the tray support has a clearance cavity for avoiding the movable terminals of the tray moving module.

2. The flexible automated assembly equipment based on collaborative robots according to claim 1, characterized in that, The feeding sub-line also includes a mobile platform, on which the collaborative robot and the quick-change fixture module are both located.

3. The flexible automated assembly equipment based on collaborative robots according to claim 2, characterized in that, The quick-release fixture module includes a quick-release female head and a fixture mounting frame located at the lower end of the quick-release female head; the fixture mounting frame is provided with a mounting position for installing the processing fixture; the end joint of the collaborative robot is provided with a quick-release male head that cooperates with the quick-release female head to achieve quick-release connection.

4. The flexible automated assembly equipment based on collaborative robots according to claim 3, characterized in that, The quick-release female head is provided in multiple ways. The upper surface of the mobile platform is provided with a fixture mounting plate. One end of the fixture mounting plate is provided with an extension that extends out of the upper surface of the mobile platform. The extension is provided with a mounting position for storing the quick-release female head. The mounting position corresponds to multiple quick-release female heads.

5. The flexible automated assembly equipment based on collaborative robots according to claim 4, characterized in that, The quick-release female head is provided in three parts, and the processing fixtures on the three mounting positions are a suction nozzle module, a gripper module, and a screw-driving module, respectively.

6. The flexible automated assembly equipment based on collaborative robots according to claim 1, characterized in that, The material tray moving module includes a moving base arranged in the left-right direction, and material tray lifting units respectively arranged at both ends of the moving base, as well as a material transfer driving unit that drives the moving base to move left and right reciprocally; the material tray lifting unit includes a material tray support plate horizontally arranged in the clearance cavity, and a lifting cylinder that drives the material tray support plate to move up and down.

7. The flexible automated assembly equipment based on collaborative robots according to claim 6, characterized in that, A guide shaft is vertically fixed on the lower surface of the tray support plate, and a through hole is provided on the movable base for the lower end of the guide shaft to pass through. A guide sleeve adapted to the guide shaft is provided in the through hole.

8. The flexible automated assembly equipment based on collaborative robots according to claim 6, characterized in that, The lower surface of the tray support plate is provided with tray limiting plates at both the left and right ends. The opposite ends of the two tray limiting plates are provided with upward bending limiting parts. When assembled, the upper end of the bending limiting part is higher than the upper surface of the tray support plate.

9. The flexible automated assembly equipment based on collaborative robots according to claim 8, characterized in that, The tray limiting plate is bolted to the lower surface of the tray support plate, and the tray limiting plate is provided with elongated clearance holes along the left and right directions to avoid the bolts.

10. The flexible automated assembly equipment based on collaborative robots according to claim 1, characterized in that, The tray support is equipped with tray lifting modules on both the front and rear sides of the tray temporary storage position. The tray lifting module includes a tray lifting plate for extending into the lower side of the tray, a reset drive cylinder for driving the tray lifting plate to move horizontally toward or away from the tray, and a tray lifting cylinder for driving the tray lifting plate and the reset drive cylinder to move up and down synchronously; the edge of the tray temporary storage position is provided with an movable groove for the tray lifting plate to move up and down toward one end of the tray.

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