A modular automatic assembly platform

Abstract

The utility model discloses a building block type automatic assembly platform belongs to instrument and meter assembly technical field, and this device includes: including feeder, primary positioning displacement carrying mechanism, carrying mechanism, secondary positioning mechanism, width adjusting belt line, semi -finished product positioning mechanism, stop mechanism, distributing mechanism and six -axis robot assembly mechanism, distributing mechanism is connected with semi -finished product positioning mechanism, the feeder is connected with primary positioning displacement carrying mechanism, and primary positioning displacement carrying mechanism and secondary positioning mechanism are located carrying mechanism both sides respectively. The utility model discloses adopt building block type design, and the whole equipment is more flexible, satisfies the different demand of different product, and the improvement of product diversity and productivity can be compatible to, and the expansibility is high, the utility model discloses adopt structure modularization, and the design is simple, and the main body frame is invariable, can change type and expand fast, reduces the cost of change type and maintenance cost.

Description

Technical Field

[0001] This utility model relates to the field of instrument and meter assembly technology, specifically to a modular automatic assembly platform. Background Technology

[0002] For the assembly of instruments and meters, the industry currently uses traditional non-standard methods or manual assembly methods. Non-standard methods include turntable loading and unloading or pallet transfer. The turntable method has high product restrictions, can only be used as a single machine, and has high costs for model change and maintenance. The pallet transfer method requires a large space and has high pallet costs.

[0003] Existing technologies are generally only designed for assembling one type of product, resulting in poor applicability. Furthermore, they require complex equipment, high precision in the installation of each mechanism, high debugging and maintenance costs, and significant difficulty in scaling up or increasing capacity, thus lacking flexibility. Utility Model Content

[0004] The purpose of this invention is to provide a highly efficient modular automatic assembly platform.

[0005] To solve the above-mentioned technical problems, this utility model provides a modular automatic assembly platform, including a feeder, a primary positioning and transfer mechanism, a handling mechanism, a secondary positioning mechanism, a width-adjusting belt conveyor, a semi-finished product positioning mechanism, a stop mechanism, a material distribution mechanism, and a six-axis robot assembly mechanism.

[0006] The adjustable belt conveyor is equipped with a stop mechanism and a material distribution mechanism in sequence.

[0007] The material distribution mechanism is connected to the semi-finished product positioning mechanism, which is used to position the semi-finished product.

[0008] The feeder is connected to the initial positioning and transfer mechanism;

[0009] The initial positioning and transfer mechanism and the secondary positioning mechanism are located on both sides of the transport mechanism. The transport mechanism is used to move the parts on the initial positioning and transfer mechanism to the secondary positioning mechanism.

[0010] The secondary positioning mechanism and the semi-finished product positioning mechanism are located on both sides of the six-axis robot assembly mechanism. The six-axis robot assembly mechanism is used to move the parts on the secondary positioning mechanism to the semi-finished product positioning mechanism for assembly with the semi-finished product.

[0011] Preferably, it also includes a vision mechanism;

[0012] The vision mechanism is located below the movement path of the six-axis robot assembly mechanism.

[0013] Preferably, it also includes an NG handling mechanism and an NG delivery mechanism;

[0014] The NG delivery mechanism and the secondary positioning mechanism are located on both sides of the NG handling mechanism. The NG handling mechanism is used to move the NG products on the secondary positioning mechanism to the NG delivery mechanism.

[0015] Preferably, the NG handling mechanism includes a handling bracket, a handling track seat, a handling cylinder, and a handling clamp.

[0016] The transport track seat is horizontally installed on the top of the transport bracket;

[0017] The transport cylinder is slidably mounted on the transport track seat;

[0018] The piston rod of the transport cylinder is vertically arranged and connected to the transport clamp.

[0019] Preferably, the six-axis robot assembly mechanism is equipped with a robotic gripper.

[0020] The robotic gripper includes a connecting rod, a connecting plate, a gripper drive motor, and a gripper assembly;

[0021] One end of the connecting rod is connected to the six-axis robot assembly mechanism, and the other end is connected to the connecting plate;

[0022] The gripper drive motor is mounted on the connecting plate;

[0023] The gripper assembly includes two oppositely arranged grippers, both of which are connected to a gripper drive motor.

[0024] The connecting plate has auxiliary positioning components installed on both sides of the gripper assembly.

[0025] Preferably, the auxiliary positioning component includes an auxiliary positioning base plate and a spring;

[0026] The auxiliary positioning base plate is connected to the connecting plate by a spring.

[0027] Preferably, the secondary positioning mechanism includes a telescopic cylinder, an abutment plate, a secondary positioning base plate, and a secondary positioning baffle.

[0028] The number of telescopic cylinders is two, the secondary positioning base plate is rectangular, the two telescopic cylinders are respectively installed on the adjacent sides of the secondary positioning base plate, and the secondary positioning base plate is respectively installed on the other two sides with secondary positioning baffles adapted to the telescopic cylinders.

[0029] The piston rods of both telescopic cylinders are oriented toward the center of the secondary positioning base plate and are both equipped with abutment plates.

[0030] Preferably, the feeder includes a right feeder and a left feeder arranged in parallel.

[0031] Preferably, both the left and right feeders are flexible feeders, including a feed support, an X-axis feed track seat, a Y-axis feed track seat, a feed cylinder, and a feed clamp;

[0032] The X-axis feeding track seat is horizontally installed on the top of the feeding bracket;

[0033] The Y-axis feeding track seat is slidably mounted on the X-axis feeding track seat;

[0034] The feeding cylinder is slidably mounted on the Y-axis feeding track seat;

[0035] The piston rod of the feeding cylinder is vertically arranged and connected to the feeding clamp.

[0036] Compared with the prior art, the beneficial effects of this utility model are as follows:

[0037] 1. Modular design makes the entire equipment more flexible, meeting the different needs of different products. It is compatible with product diversity and capacity improvement, and has high scalability.

[0038] 2. The structure is modular, the design is simple, the main frame remains unchanged, and it can be quickly changed and expanded, reducing changeover and maintenance costs. Attached Figure Description

[0039] The specific embodiments of this utility model will be further described in detail below with reference to the accompanying drawings.

[0040] Figure 1 This is a top view of the modular automatic assembly platform of this utility model.

[0041] Figure 2 This is a three-dimensional structural diagram of a modular automatic assembly platform according to this utility model;

[0042] Figure 3 This is a schematic diagram of the assembly of the top cover and the semi-finished product in Example 1;

[0043] Figure 4 This is a schematic diagram of the outer shell of the modular automated assembly platform;

[0044] Figure 5 This is a schematic diagram of the NG handling mechanism 7;

[0045] Figure 6 This is a schematic diagram of the secondary positioning mechanism for semi-finished products;

[0046] Figure 7 This is a schematic diagram of the structure for adjusting the belt width;

[0047] Figure 8 This is a schematic diagram of the robotic gripper's structure;

[0048] Figure 9 This is a schematic diagram of the left feeder. Detailed Implementation

[0049] Many specific details are set forth in the following description to provide a full understanding of the present invention. However, the present invention can be implemented in many other ways different from those described herein, and those skilled in the art can make similar extensions without departing from the spirit of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0050] The terminology used in one or more embodiments of this specification is for the purpose of describing particular embodiments only and is not intended to be limiting of the one or more embodiments of this specification. The singular forms “a,” “described,” and “the” as used in one or more embodiments of this specification and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the term “and / or” as used in one or more embodiments of this specification refers to and includes any or all possible combinations of one or more associated listed items.

[0051] It should be understood that although the terms first, second, etc., may be used to describe various information in one or more embodiments of this specification, such information should not be limited to these terms. These terms are only used to distinguish information of the same type from one another. For example, first may also be referred to as second without departing from the scope of one or more embodiments of this specification, and similarly, second may also be referred to as first. Depending on the context, the word "if" as used herein may be interpreted as "when," "when," or "in response to a determination."

[0052] The present invention will now be described in further detail with reference to the accompanying drawings:

[0053] This utility model provides a modular automatic assembly platform, including a feeder, a primary positioning and transfer mechanism 2, a handling mechanism 3, a secondary positioning mechanism 4, a width-adjusting belt 8, a semi-finished product positioning mechanism 9, a stop mechanism 10, a material distribution mechanism 11, and a six-axis robot assembly mechanism 12.

[0054] The adjustable belt conveyor 8 is sequentially equipped with a stop mechanism 10 and a material distribution mechanism 11.

[0055] The material distribution mechanism 11 is connected to the semi-finished product positioning mechanism 9, which is used to position the semi-finished product.

[0056] The feeder is connected to the initial positioning and transfer mechanism 2;

[0057] The initial positioning and transfer mechanism 2 and the secondary positioning mechanism 4 are located on both sides of the transport mechanism 3. The transport mechanism 3 is used to move the accessories on the initial positioning and transfer mechanism 2 to the secondary positioning mechanism 4.

[0058] The secondary positioning mechanism 4 and the semi-finished product positioning mechanism 9 are located on both sides of the six-axis robot assembly mechanism 12. The six-axis robot assembly mechanism 12 is used to move the parts on the secondary positioning mechanism 4 to the semi-finished product positioning mechanism 9 for assembly with the semi-finished product.

[0059] Preferably, it also includes a vision mechanism 5;

[0060] The vision mechanism 5 is located below the movement path of the six-axis robot assembly mechanism 12.

[0061] Preferably, it also includes an NG handling mechanism 7 and an NG delivery mechanism 6;

[0062] The NG delivery mechanism 6 and the secondary positioning mechanism 4 are located on both sides of the NG handling mechanism 7. The NG handling mechanism 7 is used to move the NG products on the secondary positioning mechanism 4 to the NG delivery mechanism 6.

[0063] Preferably, the NG handling mechanism 7 includes a handling bracket 71, a handling track seat 72, a handling cylinder 73, and a handling clamp 74.

[0064] The transport track seat 72 is horizontally installed on top of the transport bracket 71;

[0065] The transport cylinder 73 is slidably mounted on the transport track seat 72; the transport cylinder 73 slides horizontally on the transport track seat 72 to adjust its position;

[0066] The piston rod of the transport cylinder 73 is vertically arranged and connected to the transport clamp 74; the piston rod of the transport cylinder 73 drives the transport clamp 74 to move downward to grab the item.

[0067] Preferably, a robotic gripper 121 is mounted on the six-axis robot assembly mechanism 12;

[0068] The robotic gripper 121 includes a connecting rod 122, a connecting plate 123, a gripper drive motor 124, and a gripper assembly 125;

[0069] One end of the connecting rod 122 is connected to the six-axis robot assembly mechanism 12, and the other end is connected to the connecting plate 123;

[0070] The gripper drive motor 124 is mounted on the connecting plate 123;

[0071] The gripper assembly 125 includes two opposing grippers 126, both of which are connected to a gripper drive motor 124; items are gripped by these two grippers 126.

[0072] The connecting plate 123 has auxiliary positioning components 127 installed on both sides of the gripper assembly 125; the auxiliary positioning components 127 on both sides are used to help limit the position of the gripped item.

[0073] Preferably, the auxiliary positioning component 127 includes an auxiliary positioning base plate 128 and a spring 129;

[0074] The auxiliary positioning base plate 128 is connected to the connecting plate 123 by a spring 129; the spring 129 allows the auxiliary positioning base plate 128 to have a certain degree of flexibility in position, so that it will not directly damage the item being clamped.

[0075] Preferably, the secondary positioning mechanism 4 includes a telescopic cylinder 41, an abutment plate 42, a secondary positioning base plate 43, and a secondary positioning baffle 44.

[0076] The number of telescopic cylinders 41 is two, the secondary positioning base plate 43 is rectangular, the two telescopic cylinders 41 are respectively installed on the adjacent sides of the secondary positioning base plate 43, and the secondary positioning base plate 43 is respectively installed on the other two sides with secondary positioning baffles 44 adapted to the telescopic cylinders 41.

[0077] Both piston rods of the two telescopic cylinders 41 face the center of the secondary positioning base plate 43 and are equipped with abutment plates 42. In use, the product is placed on the secondary positioning base plate 43, and the piston rods of the two telescopic cylinders 41 drive the product to move until the product abuts against the secondary positioning baffles 44 on the opposite sides, thereby determining the position of the product.

[0078] Preferably, the feeder includes a right feeder 1 and a left feeder 13 arranged in parallel.

[0079] Preferably, the left feeder 13 and the right feeder 1 are both flexible feeders, including a feeder bracket 131, an X-axis feeder track seat 132, a Y-axis feeder track seat 133, a feeder cylinder 134, and a feeder clamp 135;

[0080] The X-axis feeding track seat 132 is horizontally installed on the top of the feeding bracket 131;

[0081] The Y-axis feeding track seat 133 is slidably mounted on the X-axis feeding track seat 132;

[0082] The feeding cylinder 134 is slidably mounted on the Y-axis feeding track seat 133;

[0083] The piston rod of the feeding cylinder 134 is vertically arranged and connected to the feeding clamp 135.

[0084] To better illustrate the technical effects of this utility model, the present utility model provides the following specific embodiments to explain the above technical process:

[0085] Example 1: A modular automatic assembly platform, comprising a right feeder 1, a primary positioning and transfer mechanism 2, a transport mechanism 3, a secondary positioning mechanism 4, a vision mechanism 5, an NG transport mechanism 6, an NG transport mechanism 7, a width-adjusting belt 8, a semi-finished product positioning mechanism 9, a stop mechanism 10, a material distribution mechanism 11, a six-axis robot assembly mechanism 12, and a left feeder 13.

[0086] Process description:

[0087] First, the semi-finished products enter the equipment from the width-adjusting belt 8 and are stopped by the blocking mechanism 10. Because the semi-finished products enter the equipment continuously, but can only be positioned individually in the positioning mechanism, there is a blocking mechanism 10 and a material distribution mechanism 11 (first stop, then the material distribution mechanism 11 allows only one semi-finished product to go to the next station).

[0088] After the semi-finished product is placed in the semi-finished product positioning mechanism 9, the upper cover is simultaneously transported to the initial positioning and transfer mechanism 2 by the XYZ module (X-axis feeding track seat 132, Y-axis feeding track seat 133 and feeding cylinder 134) on the left feeder 13.

[0089] Then the top cover is transported by the transport mechanism 3 to the secondary positioning mechanism 4, and then the six-axis robot assembly mechanism 12 grips the top cover and moves it to the vision mechanism 5 for visual-assisted position correction. The vision mechanism 5 is located below the movement path of the six-axis robot assembly mechanism 12. It uses a camera to capture images of the robotic gripper 121 of the six-axis robot assembly mechanism 12 gripping the top cover, and adjusts the position of the top cover according to the images.

[0090] Finally, the product is moved to the semi-finished product positioning mechanism 9 for assembly (the top cover transport and the semi-finished product transfer to the positioning mechanism are carried out simultaneously). After assembly, the laser displacement sensor on the 12-axis robot determines whether the assembly is successful. If NG, the product flows to the NG transport mechanism 7, which picks up the product and moves it to the NG delivery mechanism, eventually flowing out of the equipment to complete the entire process. If OK, the NG transport mechanism 7 does not move, and the product flows to the next workstation or equipment.

[0091] The right feeder 1 and the left feeder 13 can supply the same product when production capacity is needed, so as to ensure production capacity and replenishment time. When the production capacity requirement is not high, but there are requirements for product assembly process or multiple assembly styles, the right feeder 1 and the left feeder 13 can supply two different products, which reflects the flexibility of the equipment. Or, when it is a completely different product, only the tray and gripper of the feeder need to be replaced, and nothing else needs to be replaced, saving the cost of subsequent expansion and becoming more flexible and applicable.

[0092] The above description is merely a specific embodiment of this utility model, but the protection scope of this utility model is not limited thereto. Any changes or substitutions within the technical scope disclosed in this utility model should be included within the protection scope of this utility model. Therefore, the protection scope of this utility model should be determined by the protection scope of the claims.

Claims

1. A modular auto-assembly platform, characterized by: It comprises a feeder, a primary positioning and moving mechanism (2), a carrying mechanism (3), a secondary positioning mechanism (4), a width-adjustable belt line (8), a semi-finished product positioning mechanism (9), a stopping mechanism (10), a distributing mechanism (11) and a six-axis robot assembly mechanism (12); The width-adjustable belt line (8) is sequentially provided with the stopping mechanism (10) and the distributing mechanism (11); The distributing mechanism (11) is connected with the semi-finished product positioning mechanism (9), and the semi-finished product positioning mechanism (9) is used for positioning a semi-finished product; The feeder is connected with the primary positioning and moving mechanism (2); The primary positioning and moving mechanism (2) and the secondary positioning mechanism (4) are respectively located on the two sides of the carrying mechanism (3), and the carrying mechanism (3) is used for moving a component on the primary positioning and moving mechanism (2) to the secondary positioning mechanism (4); The secondary positioning mechanism (4) and the semi-finished product positioning mechanism (9) are respectively located on the two sides of the six-axis robot assembly mechanism (12), and the six-axis robot assembly mechanism (12) is used for moving a component on the secondary positioning mechanism (4) to the semi-finished product positioning mechanism (9) to assemble with a semi-finished product.

2. The modular auto-assembly platform of claim 1, wherein: It further comprises a vision mechanism (5); The vision mechanism (5) is located below the moving path of the six-axis robot assembly mechanism (12).

3. The modular auto-assembly platform of claim 2, wherein: It further comprises an NG carrying mechanism (7) and an NG conveying-out mechanism (6); The NG conveying-out mechanism (6) and the secondary positioning mechanism (4) are respectively located on the two sides of the NG carrying mechanism (7), and the NG carrying mechanism (7) is used for moving an NG product on the secondary positioning mechanism (4) to the NG conveying-out mechanism (6).

4. The modular automatic assembly platform according to claim 3, wherein: The NG carrying mechanism (7) comprises a carrying support (71), a carrying rail seat (72), a carrying cylinder (73) and a carrying clamp (74), The carrying rail seat (72) is horizontally installed on the top of the carrying support (71); The carrying cylinder (73) is slidingly installed on the carrying rail seat (72); The piston rod of the carrying cylinder (73) is vertically arranged and connected with the carrying clamp (74).

5. The modular automatic assembly platform according to claim 4, wherein: The six-axis robot assembly mechanism (12) is provided with a mechanical hand jaw (121); The mechanical hand jaw (121) comprises a connecting rod (122), a connecting plate (123), a jaw driving motor (124) and a jaw assembly (125); One end of the connecting rod (122) is connected with the six-axis robot assembly mechanism (12), and the other end is connected with the connecting plate (123); The jaw driving motor (124) is installed on the connecting plate (123); The jaw assembly (125) comprises two oppositely arranged clamping pieces (126), and the two clamping pieces (126) are both connected with the jaw driving motor (124); The connecting plate (123) is provided with an auxiliary positioning assembly (127) on the two sides of the jaw assembly (125).

6. The modular automatic assembly platform according to claim 5, wherein: The auxiliary positioning assembly (127) comprises an auxiliary positioning base plate (128) and a spring (129); The auxiliary positioning base plate (128) is connected with the connecting plate (123) through the spring (129).

7. The modular automatic assembly platform according to claim 6, wherein: The secondary positioning mechanism (4) comprises telescopic cylinders (41), abutting plates (42), a secondary positioning base plate (43) and secondary positioning baffles (44); The number of the telescopic cylinders (41) is two, the secondary positioning base plate (43) is rectangular, two telescopic cylinders (41) are respectively installed on the adjacent two sides of the secondary positioning base plate (43), and the secondary positioning base plate (43) is respectively provided with secondary positioning baffles (44) matched with the telescopic cylinders (41) on the remaining two sides; The piston rods of the two telescopic cylinders (41) are both directed to the center of the secondary positioning base plate (43) and are both provided with abutting plates (42).

8. The modular automatic assembly platform according to claim 7, wherein: The feeder comprises a right feeder (1) and a left feeder (13) arranged in parallel.

9. The modular automatic assembly platform according to claim 8, wherein: The left feeder (13) and the right feeder (1) are both flexible feeders, comprising a feeder support (131), an X-axis feeder rail seat (132), a Y-axis feeder rail seat (133), a feeder cylinder (134) and a feeder clamp (135); The X-axis feeder rail seat (132) is horizontally installed on the top of the feeder support (131); The Y-axis feeder rail seat (133) is slidingly installed on the X-axis feeder rail seat (132); The feeder cylinder (134) is slidingly installed on the Y-axis feeder rail seat (133); The piston rod of the feeder cylinder (134) is vertically arranged and connected with the feeder clamp (135).

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