CN111774859B - Assembly device and robot of robot front end vision subassembly - Google Patents
Assembly device and robot of robot front end vision subassembly Download PDFInfo
- Publication number
- CN111774859B CN111774859B CN202010744931.8A CN202010744931A CN111774859B CN 111774859 B CN111774859 B CN 111774859B CN 202010744931 A CN202010744931 A CN 202010744931A CN 111774859 B CN111774859 B CN 111774859B
- Authority
- CN
- China
- Prior art keywords
- pcba
- feeding
- assembly
- mainboard
- main board
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P21/00—Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with programme control
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/001—Article feeders for assembling machines
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/001—Article feeders for assembling machines
- B23P19/006—Holding or positioning the article in front of the applying tool
Abstract
The invention discloses an assembling device of a front-end visual component of a robot and the robot, belonging to the technical field of manufacturing and automation, wherein the device comprises a mainboard feeding mechanism, a front-view PCBA and a front-view PCBA, wherein the mainboard feeding mechanism is used for feeding a mainboard and moving the mainboard to a position for assembling the mainboard with the front-view PCBA; the forward-looking PCBA feeding and assembling mechanism is used for feeding the forward-looking PCBA and completing the assembly of the forward-looking PCBA and the mainboard; the light screen feeding mechanism is used for feeding the light screen into the front end of the light screen assembling mechanism so that the light screen assembling mechanism can obtain the light screen; and the light screen assembling mechanism is used for realizing the assembly of the light screen and the mainboard assembled with the forward-looking PCBA. According to the device, the intelligent assembly of the front-end visual component of the robot can be automatically realized only by placing the main board, the front-view PCBA and the light screen into the main board feeding mechanism, the front-view PCBA feeding and assembling mechanism and the light screen feeding mechanism respectively by workers, the assembly efficiency is high, the use is simple, and the labor cost is saved.
Description
Technical Field
The invention relates to the technical field of manufacturing and automation, in particular to an assembling device of a robot front-end visual assembly and a robot.
Background
With the development of industrial automation, the demand for assembly automation has also increased. The automatic operation is increasingly needed on the floor sweeping robot assembly line so as to achieve the purposes of reducing manual use, improving production efficiency, ensuring product quality and reducing production cost. On the floor sweeping robot assembly line, a front visual component part of the floor sweeping robot is formed by assembling five parts including a U-shaped main board, three light screens and a forward-looking PCBA. This process needs three manwares to accomplish on the assembly line, and the shape of three light screens is different, and the installation process is complicated, and required material variety is many in the process, and the degree of cooperation requirement between the workman is higher, leads to production efficiency can't improve.
Disclosure of Invention
The invention aims to solve the problems of complex installation process and low production efficiency in the prior art, and provides an assembling device for a front-end visual component of a robot and the robot.
The purpose of the invention is realized by the following technical scheme: an assembly apparatus of a robotic front end vision assembly, the apparatus comprising: the main board feeding mechanism is used for feeding a main board and moving the main board to a mounting position for assembling with the front-view PCBA; the forward-looking PCBA feeding and assembling mechanism is used for feeding the forward-looking PCBA and completing the assembly of the forward-looking PCBA and the mainboard; the light screen feeding mechanism is used for feeding the light screen into the front end of the light screen assembling mechanism so that the light screen assembling mechanism can obtain the light screen; and the light screen assembling mechanism is used for realizing the assembly of the light screen and the mainboard assembled with the forward-looking PCBA.
As an option, the main board feeding mechanism comprises a main board positioning table, a first power transmission assembly and a first power device; the first power device is in transmission connection with the first power transmission assembly, a mainboard positioning table is installed on the first power transmission assembly, and a mainboard positioning groove is formed in the mainboard positioning table.
As an option, the forward-looking PCBA feeding and assembling mechanism is installed on the mainboard positioning table and comprises a first thrust device and a first adsorption device, wherein the first adsorption device is arranged at the front end of the first thrust device, and the forward-looking PCBA is arranged between the first adsorption device and the mainboard positioning groove.
As an option, a forward-looking PCBA feed through hole is also provided on the motherboard positioning table, the forward-looking PCBA feed through hole cooperates with the motherboard positioning slot to allow a forward-looking PCBA that is not assembled with the motherboard to fall through the PCBA feed through hole.
As an option, the light screen feeding mechanism comprises a conveying device and a light screen feeding groove arranged on the conveying device.
As an option, the light screen assembling mechanism comprises a second power device, a second power transmission assembly, a middle rotating shaft and a second thrust device arranged on the middle rotating shaft, wherein a second adsorption device is arranged on the second thrust device; the second power device enables the middle rotating shaft to rotate through the second power transmission assembly, and then the second power device and the second adsorption device are driven to cooperate with each other to suck the shading plate.
As an option, the apparatus further comprises an auxiliary positioning mechanism for defining the working position of the shutter plate assembling mechanism.
As an option, the auxiliary positioning mechanism includes a third power device and a stopper.
As an option, the device further comprises a workbench, wherein the workbench is used for placing the mainboard feeding mechanism, the forward-looking PCBA feeding and assembling mechanism, the light screen feeding mechanism and the light screen assembling mechanism.
It should be further noted that the technical features corresponding to the above options can be combined with or replaced with each other.
The invention also comprises a robot which adopts the assembling device of the robot front-end visual assembly to complete assembly.
Compared with the prior art, the invention has the beneficial effects that:
(1) according to the invention, the mainboard is moved to the position matched with the forward-looking PCBA assembly by the mainboard feeding mechanism, the forward-looking PCBA feeding and assembling mechanism finishes feeding of the forward-looking PCBA and realizes assembly of the forward-looking PCBA and the mainboard, the light screen feeding mechanism feeds the light screen into the front end of the light screen assembling mechanism so that the light screen assembling mechanism can obtain the light screen, and the light screen assembling mechanism further realizes assembly of the mainboard on which the light screen and the forward-looking PCBA are assembled, so that assembly of a front-end vision component of the robot is realized. Compared with the traditional manual installation, the device can automatically realize the intelligent assembly of the front-end visual component of the robot by only needing workers to respectively place the mainboard, the front-view PCBA and the light screen into the mainboard feeding mechanism, the front-view PCBA feeding and assembling mechanism and the light screen feeding mechanism, has high assembly efficiency, is simple to use and saves labor cost.
(2) The mainboard feeding mechanism comprises a mainboard positioning table, a first power transmission component and a first power device, wherein the first power device drives the active positioning table to rotate through the first power transmission component, so that a mainboard positioning groove arranged on the mainboard positioning table can rotate to a mounting position for being assembled with the front-view PCBA, and the mainboard and the front-view PCBA are automatically assembled.
(3) The front-view PCBA feeding and assembling mechanism comprises a first thrust device and a first adsorption device, wherein the front end of the first thrust device is provided with the first adsorption device, and the front-view PCBA is assembled between the first adsorption device and a main board positioning groove; the first suction device sucks the forward-looking PCBA, and pushes the forward-looking PCBA to a mainboard positioning groove where the mainboard is placed under the action of the first thrust device, so that automatic assembly of the forward-looking PCBA and the mainboard is completed.
(4) A forward-looking PCBA feeding through hole is further formed in the mainboard positioning table and matched with the mainboard positioning groove, and therefore the redundant forward-looking PCBA which is not assembled with the mainboard falls through the PCBA feeding through hole to achieve automatic feeding.
(5) The light screen feeding mechanism comprises a conveying device and a light screen feeding groove arranged on the conveying device, wherein the light screen is moved to the front end of the light screen assembling mechanism through the conveying device so that the light screen assembling mechanism can obtain the light screen.
(6) In the light screen assembling mechanism, the middle rotating shaft is rotated through the second power transmission assembly, so that the second thrust device and the second adsorption device are driven to be matched with each other to suck the light screen, and the assembly of the light screen and the main board is further completed.
(7) The device also comprises an auxiliary positioning mechanism which is used for limiting the working position of the light screen assembling mechanism and realizing the accurate assembly of the front-end visual assembly.
(8) The device also comprises a workbench, and the workbench is used for placing the main board feeding mechanism, the light screen feeding mechanism and the light screen assembling mechanism.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention.
FIG. 1 is a schematic view of an assembly apparatus according to embodiment 1 of the present invention;
fig. 2 is an assembled and mated view of the front-end vision assembly of embodiment 1 of the present invention;
fig. 3 is a partial schematic view of a main board feeding mechanism according to embodiment 1 of the present invention;
FIG. 4 is a partial schematic view of a forward-looking PCBA feeding and assembly mechanism in accordance with embodiment 1 of the present invention;
FIG. 5 is a partial schematic view of a light shielding plate feeding mechanism according to embodiment 1 of the present invention;
FIG. 6 is a partial schematic view of a visor assembling mechanism according to embodiment 1 of the present invention;
FIG. 7 is a partial schematic view of an auxiliary positioning mechanism according to embodiment 1 of the present invention;
fig. 8 is a partial schematic view of a table according to embodiment 1 of the present invention.
In the figure:
a conveying table support plate 1, a transmission shaft 2, a conveyor belt 3, a light screen feeding groove 4, a transmission shaft bracket 5, a second electric push rod mounting seat base 6, a bearing 7, a synchronous wheel 8, a synchronous belt 9, a push rod mounting seat 10, an intermediate rotating shaft 11, a guide post mounting plate 12, a second electric push rod mounting plate 13, a guide post 14, a guide plate 15, a second vacuum suction cup 16, a second electric push rod 17, a small motor support plate 18, a small motor 19, a U-shaped material groove 20, a first vacuum suction cup 21, a first electric push rod 22, a first electric push rod support plate 23, a first motor 24, a first motor support seat 25, a mainboard positioning table 26, a gear 27, a platform table seat 28, a spring stop 29, a spring stop 30, a small cylinder 31, a bottom plate 32, a light screen workbench 33, a forward-looking PCBA workbench 34, a mainboard positioning groove 35, a forward-looking PCBA feeding through hole 36, a light screen 37, U-shaped mainboard 38, forward-looking PCBA 39, mainboard feeding mechanism 100, forward-looking PCBA feeding and assembling mechanism 200, light screen feeding mechanism 300, light screen assembling mechanism 400, auxiliary positioning mechanism 500 and workbench 600
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it is to be understood that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, belong to the protection scope of the present invention.
In the description of the present invention, it should be noted that directions or positional relationships indicated by "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like are directions or positional relationships described based on the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply 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 limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected" and "connected" are to be construed broadly and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in a specific case to those of ordinary skill in the art.
In addition, the technical features involved in the different embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
The invention discloses an assembling device for a front-end visual component of a robot, which aims to solve the problems of complex installation process and low production efficiency in the prior art, and is designed to realize automatic assembling of the front-end visual component of the robot.
Example 1
In embodiment 1, an assembly apparatus for a front-end visual component of a robot, as shown in fig. 1, includes a motherboard feeding mechanism 100, a front PCBA feeding and assembling mechanism 200, a mask feeding mechanism 300, and a mask assembling mechanism 400; specifically, the mainboard is fed by the mainboard feeding mechanism 100 and is moved to the position matched with the forward-looking PCBA39 in an assembling mode, the forward-looking PCBA feeding and assembling mechanism 200 feeds the forward-looking PCBA39 and assembles the forward-looking PCBA39 and the mainboard, the shading plate feeding mechanism 300 feeds the shading plate 37 into the front end of the shading plate assembling mechanism 400 so that the shading plate assembling mechanism 400 can obtain the shading plate 37, and the shading plate assembling mechanism 400 further assembles the shading plate 37 and the forward-looking PCBA39 to complete the assembled mainboard, so that the assembly of the front-end visual component of the robot is achieved. Compared with the traditional manual installation, the device can automatically realize the intelligent assembly of the front-end visual component of the robot only by putting the main board, the front-view PCBA39 and the light screen 37 into the main board feeding mechanism 100, the front-view PCBA feeding and assembling mechanism 200 and the light screen feeding mechanism 300 respectively by workers, has high assembly efficiency and simple use, and saves labor cost. It should be further noted that, as shown in fig. 2, the front-end visual component of the present invention includes a visor 37, a U-shaped main board 38 and a front-view PCBA39, and the visor 37 is specifically a visor with three different shapes.
Further, as shown in fig. 3, the main board feeding mechanism 100 (U-shaped main board feeding mechanism 100) includes a main board positioning table 26, a first power transmission assembly and a first power device; the first power device is in transmission connection with the first power transmission assembly, a main board positioning table 26 is installed on the first power transmission assembly, and a main board positioning groove 35 is formed in the main board positioning table 26; the first power device drives the active positioning table to rotate through the first power transmission assembly, so that the mainboard positioning groove 35 installed on the mainboard positioning table 26 can rotate to the installation position where the mainboard positioning groove is assembled with the front view PCBA 39, and further automatic assembly of the mainboard and the front view PCBA 39 is achieved. As an embodiment, the first power transmission component is specifically a gear 27, and the first power device is specifically a first motor 24; the main board feeding mechanism 100 (U-shaped main board feeding mechanism 100) further includes a first motor 24 support base for placing a motor and a platform base 28 for supporting the main board feeding mechanism 100.
As an option, the main board positioning table 26 is a circular main board positioning table 26, and at least one main board positioning groove 35 is disposed thereon, in this embodiment, two main board positioning grooves 35 are included, and the two main board positioning grooves 35 are symmetrical (symmetrically arranged in an inverted manner) along a certain diameter of the circular main board positioning table 26. The shape of mainboard constant head tank 35 matches with U type mainboard 38, and further fixes U type mainboard 38, and initiative constant head tank both ends are equipped with the vertical draw-in groove at two joint U type mainboard 38 both ends.
Further, as shown in fig. 4, the forward-looking PCBA feeding and assembling mechanism 200 of the present invention includes a first thrust device, a first suction device, the front end of the first thrust device is provided with the first suction device, the forward-looking PCBA assembly is disposed between the first suction device and the motherboard positioning slot 35; the first suction device sucks the front-view PCBA39, and pushes the front-view PCBA39 to the mainboard positioning groove 35 where the mainboard is placed under the action of the first thrust device, so that automatic assembly of the front-view PCBA39 and the U-shaped mainboard 38 is completed. As a specific embodiment, the first pushing device is specifically a first electric push rod 22, the first suction device is specifically a first vacuum chuck 21, and the first vacuum chuck 21 is installed at the front end of the first electric push rod 22; more specifically, the front view PCBA feeding and assembling machine further comprises a first electric push rod support plate 23, the first electric push rod 22 is mounted on the first electric push rod support plate 23, the first electric push rod support plate 23 is mounted at the center of the circle of the circular main board positioning table 26, and in order to ensure that the first electric push rod 22 and the first vacuum chuck at the front end thereof can adsorb the front view PCBA39, a lower counter bore is formed at the center of the circle of the circular main board positioning table 26 to mount the first electric push rod support plate 23.
As an option, the forward-looking PCBA feeding and assembly mechanism 200 further comprises a chute for placing the forward-looking PCBA39, specifically the chute is a U-shaped chute 20, as an embodiment, the depth of the U-shaped chute 20 is shallower, facilitating the forward-looking PCBA39 to detach from the U-shaped chute; the U-shaped silo 20 is arranged in the front of the electric push rod (the first vacuum chuck 21), namely between the first vacuum chuck 21 and the main board positioning groove 35, the forward-looking PCBA39 of the U-shaped silo 20 is separated from the U-shaped silo under the action of the first electric push rod 22 and the first vacuum chuck 21, and moves towards the main board positioning groove 35 where the U-shaped main board 38 is placed, so that the automatic assembly of the U-shaped main board 38 and the forward-looking PCBA39 is realized.
Further, a front view PCBA feed through hole 36 is formed in the motherboard positioning table 26, and the front view PCBA feed through hole 36 is matched with the motherboard positioning groove 35, so that a front view PCBA39 which is not assembled with the motherboard falls through the front view PCBA feed through hole 36 to realize automatic feeding. It should be further noted that the front view PCBA feed through hole 36 is closely attached to the main board positioning groove 35, and the front view PCBA feed through hole 36 is disposed at a side close to the center of the main board positioning table 26, when the first electric push rod 22 and the first vacuum chuck 21 return to their original positions, the front view PCBA39 which is not assembled with the main board falls through the front view PCBA feed through hole 36.
Further, as shown in fig. 5, the light shielding plate feeding mechanism 300 includes a conveying device and a light shielding plate feeding groove 4 provided on the conveying device, and the light shielding plate 37 is moved to the front end of the light shielding plate assembling mechanism 400 by the conveying device so that the light shielding plate assembling mechanism 400 can obtain the light shielding plate 37. As a specific embodiment, the conveying device specifically comprises a transmission shaft 2 and a conveying belt 3; this light screen feeding mechanism 300 still includes conveying platform backup pad 1 and transmission pedestal 5, and wherein, transmission pedestal 5 installs on conveying platform backup pad 1, and transmission shaft 2 installs on transmission pedestal 5, installs the drive belt on the transmission shaft 2, and light screen chute feeder 4 is placed on the drive belt, and then realizes the conveying of light screen 37.
Further, as shown in fig. 6, the light shielding plate assembling mechanism 400 includes a second power device, a second power transmission assembly, an intermediate rotating shaft 11, and a second thrust device mounted on the intermediate rotating shaft 11, the second thrust device being mounted with a second adsorption device; the second power device rotates the intermediate rotating shaft 11 through the second power transmission assembly, and then drives the second thrust device and the second adsorption device to cooperate with the suction light screen 37, thereby completing the assembly of the light screen 37 and the main board. More specifically, the second power device specifically is small motor 19, and the second power transmission subassembly includes hold-in range 9, synchronizing wheel 8 that connect in order, and hold-in range 9 is connected with small motor 19, and 8 covers of synchronizing wheel are located in the middle of pivot 11, and the second thrust device specifically is second electric putter 17, and the second adsorption equipment specifically is second vacuum chuck 16.
Further, as shown in fig. 6, the light shielding plate assembling mechanism 400 further includes a second electric putter mounting base 6, a bearing 7, a second electric putter mounting base 10, a guide post 14 mounting plate 12, a second electric putter mounting plate 13, a guide post 14, a guide plate 15, and a small motor support plate 18 for supporting a small motor 19. Second electric putter mount pad 10 is installed on light screen workstation 33, and bearing 7 is installed on middle pivot 11, and middle pivot 11 upper portion cover is equipped with second putter mount pad 10. The second electric push rod 17 is installed on the second electric push rod mounting plate 13, and the second electric push rod mounting plate 13 is installed on the second push rod mounting base 10. Install guide post mounting panel 12 on the second push rod mount pad 10, be equipped with guide post 14 and deflector 15 on the guide post mounting panel 12, guide post 14 is connected with deflector 15, and deflector 15 is connected with second electric putter 17, realizes second electric putter 17's direction through guide post 14 and deflector 15.
Further, as shown in fig. 7, the apparatus further includes an auxiliary positioning mechanism 500 for defining the working position of the light shielding plate assembling mechanism 400, so as to achieve precise assembly of the front-end vision assembly. More specifically, the auxiliary positioning mechanism 500 includes a third power device and a stopper, the third power device is specifically a small cylinder 31, the stopper is a spring stopper 30, and the spring stopper 30 is installed through a support seat 29 of the spring stopper 30, when the second electric push rod 17 rotates to a designated station, the spring stopper 30 and the small cylinder 31 jointly act to realize the auxiliary positioning of the second electric push rod 17 in the light shielding plate assembling mechanism 400, that is, the spring stopper 30 realizes the positioning of the front and back direction (using the advancing direction of the electric push rod as a reference) of the second electric push rod 17, and the small cylinder 31 realizes the positioning of the left and right direction of the electric push rod 17. It should be further noted that a bottom plate may be disposed at the bottom of the auxiliary positioning mechanism 500, so as to facilitate the movement, installation, and detachment of the auxiliary positioning mechanism 500.
Further, as shown in fig. 8, the apparatus further includes a worktable 500 for placing the main board feeding mechanism 100, the light shielding plate feeding mechanism 300 and the light shielding plate assembling mechanism 400. Specifically, the table 500 includes a base plate 32, a front view PCBA table 34, and a mask table 33, and the front view PCBA table 34 and the mask table 33 are connected to the base plate 32 via four support posts, respectively. It should be further noted that the front view PCBA table 34 is used for placing the motherboard feeding mechanism 100 and the front view PCBA feeding and assembling mechanism 200, and the visor table 33 is placed with the visor feeding mechanism 300 and the visor assembling mechanism 400.
Further, to better understand the technical solution of the present invention, the working principle of the device of the present invention will be further explained with reference to fig. 7:
three different shaped light screens 37 are first placed by a worker into the respective light screen magazine 4, the assembled forward looking PCBA group is placed into the U-shaped magazine 20, and the U-shaped motherboard 38 is then secured in the motherboard positioning slot 35. At this time, the first motor 24 drives the gear 27 to rotate and drive the U-shaped main board positioning platform 26 to rotate, when the U-shaped main board 38 rotates to the installation position (the position where the U-shaped main board 38 and the front PCBA39 are assembled), the first electric push rod 22 installed on the platform pedestal 28 starts to work, and pushes forward to contact the front PCBA39, and simultaneously, the first vacuum suction cup 21 installed on the first electric push rod 22 attracts the front PCBA39 and continues to push to be installed on the U-shaped main board 38. At this moment, four second electric putter 17 are installed to light screen equipment mechanism 400, second small motor 19 drive synchronizing wheel 8 makes middle pivot 11 rotate, three second electric putter 17 absorb light screen 37 through the second vacuum chuck in three light screen chute 4 respectively on light screen workstation 33, rethread second small motor 19 drive middle pivot 11 is rotatory to be transferred second electric putter 17 to the installation station and carry out the installation of light screen 37, carry out mechanism assistance-localization real-time by spring stop 30 and small-size cylinder 31 when rotatory to the installation station, the installation work of light screen 37 is accomplished in the forward promotion of second electric putter. After the three light shading plates 37 are installed, the U-shaped main board 38 positioning table 26 rotates for a half circle to reach the feeding station, the finished products are manually taken down, and then the U-shaped main board 38 is fed again, so that continuous installation is realized, and the working efficiency is high.
The invention also comprises a robot, and the robot realizes the assembly of the parts through the assembly device of the robot front-end visual assembly in the embodiment 1. It should be further noted that the present invention includes not only a robot, but also any product that can be assembled by components via the assembling device of the front-end visual component of the robot of the present invention is within the protection scope of the present invention.
The above detailed description is for the purpose of describing the invention in detail, and it should not be construed that the detailed description is limited to the description, and it will be apparent to those skilled in the art that various modifications and substitutions can be made without departing from the spirit of the invention.
Claims (5)
1. An assembly device of robot front end vision subassembly which characterized in that: the device comprises:
a main board feeding mechanism (100) for feeding and moving the main board to a mounting position for assembly with the front view PCBA (39);
the forward-looking PCBA feeding and assembling mechanism (200) is used for feeding the forward-looking PCBA (39) and completing the assembly of the forward-looking PCBA (39) and the main board;
the light shielding plate feeding mechanism (300) is used for feeding the light shielding plate (37) into the front end of the light shielding plate assembling mechanism (400) so that the light shielding plate assembling mechanism (400) can obtain the light shielding plate (37);
The light screen assembling mechanism (400) is used for realizing the assembly of the light screen (37) and the mainboard assembled with the front-view PCBA (39);
the main board feeding mechanism (100) comprises a main board positioning table (26), a first power transmission assembly and a first power device; the first power device is in transmission connection with a first power transmission assembly, a main board positioning table (26) is mounted on the first power transmission assembly, and a main board positioning groove (35) is formed in the main board positioning table (26);
the mainboard positioning table (26) is also provided with a front view PCBA feeding through hole (36), the front view PCBA feeding through hole (36) is matched with the mainboard positioning groove (35) and used for enabling a front view PCBA (39) which is not assembled with a mainboard to fall through the PCBA feeding through hole (36);
the device also comprises an auxiliary positioning mechanism (500) for defining the working position of the shading plate assembling mechanism (400);
the auxiliary positioning mechanism (500) comprises a third power device and a stop block;
the forward-looking PCBA feeding and assembling mechanism (200) is installed on the mainboard positioning table (26) and comprises a first thrust device and a first adsorption device, wherein the front end of the first thrust device is provided with the first adsorption device, and the forward-looking PCBA is arranged between the first adsorption device and the mainboard positioning groove (35).
2. The assembly device of a robotic front end vision assembly of claim 1, wherein: the shading plate feeding mechanism (300) comprises a conveying device and a shading plate feeding groove (4) arranged on the conveying device.
3. The assembly device of a robotic front end vision assembly of claim 1, wherein: the light screen assembling mechanism (400) comprises a second power device, a second power transmission assembly, a middle rotating shaft (11) and a second thrust device arranged on the middle rotating shaft (11), and a second adsorption device is arranged on the second thrust device;
the second power device enables the middle rotating shaft (11) to rotate through the second power transmission assembly, and then drives the second thrust device and the second adsorption device to cooperate with the suction shading plate (37).
4. The assembly device of a robotic front end vision assembly of claim 1, wherein: the device also comprises a workbench (600), wherein the workbench (600) is used for placing the mainboard feeding mechanism (100), the front-view PCBA feeding and assembling mechanism (200), the light screen feeding mechanism (300) and the light screen assembling mechanism (400).
5. A robot, characterized by: the robot adopts the assembly device of the robot front-end visual assembly as claimed in any one of claims 1-4 to complete assembly.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010744931.8A CN111774859B (en) | 2020-07-29 | 2020-07-29 | Assembly device and robot of robot front end vision subassembly |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010744931.8A CN111774859B (en) | 2020-07-29 | 2020-07-29 | Assembly device and robot of robot front end vision subassembly |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111774859A CN111774859A (en) | 2020-10-16 |
| CN111774859B true CN111774859B (en) | 2022-06-28 |
Family
ID=72766515
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010744931.8A Active CN111774859B (en) | 2020-07-29 | 2020-07-29 | Assembly device and robot of robot front end vision subassembly |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111774859B (en) |
Family Cites Families (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR101339513B1 (en) * | 2007-05-09 | 2013-12-10 | 아이로보트 코퍼레이션 | Autonomous coverage robot |
| CN104400768B (en) * | 2014-10-27 | 2016-08-24 | 湖北航天技术研究院总体设计所 | Walking self-balancing rotary table |
| CN105149947B (en) * | 2015-10-29 | 2017-09-15 | 四川福德机器人股份有限公司 | A kind of gas meter, flow meter magnet steel assembles fitting mechanism |
| CN206464775U (en) * | 2016-11-11 | 2017-09-05 | 昆山嘉斯特自动化技术有限公司 | A kind of rear end cap carrier structure |
| CN207788175U (en) * | 2018-05-07 | 2018-08-31 | 优尼麦迪克器械（深圳）有限公司 | High-pressure syringe piston assembles device |
| CN109044208A (en) * | 2018-08-28 | 2018-12-21 | 深圳市沃特沃德股份有限公司 | Anticollision device, collision-prevention device and sweeping robot |
| CN110039307B (en) * | 2019-05-22 | 2020-05-12 | 惠州市湘联金属制品有限公司 | Automatic production line and production process of automobile rearview mirror multi-joint adjuster |
| CN210024387U (en) * | 2019-06-05 | 2020-02-07 | 杭州东盛五金电器有限公司 | Bearing stamping device |
| CN110227921B (en) * | 2019-07-04 | 2024-04-26 | 上海优泰欧申智能科技有限公司 | Surge protector and assembly equipment thereof |
| CN210789957U (en) * | 2019-08-19 | 2020-06-19 | 艾菲发动机零件（武汉）有限公司 | PCB assembling device |
| CN110842501B (en) * | 2019-10-31 | 2021-04-06 | 盐城工学院 | Automatic gluing and assembling machine for condensation pipe |
| CN110877808A (en) * | 2019-12-13 | 2020-03-13 | 青岛众屹科锐工程技术有限公司 | Device capable of realizing accurate positioning of charging bucket |
-
2020
- 2020-07-29 CN CN202010744931.8A patent/CN111774859B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN111774859A (en) | 2020-10-16 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106733429B (en) | Dispensing and laminating machine | |
| CN103722376A (en) | Remote-control unit assembling equipment | |
| CN209476591U (en) | A kind of automatically dropping glue detection machine | |
| CN108274232B (en) | Automatic assembling machine for motor component of dust collector | |
| CN113148611B (en) | Efficient double-station full-automatic chip arrangement system | |
| CN208496063U (en) | A kind of vision positioning welding double-station laser welding platform | |
| CN113734767A (en) | Feeding and arranging machine | |
| CN108176921A (en) | A kind of power supply automatic assembling bonding machine | |
| CN113284810A (en) | Full-automatic terminal installation device | |
| CN115332601A (en) | Power battery lamination stacking machine | |
| CN111774859B (en) | Assembly device and robot of robot front end vision subassembly | |
| CN115032835B (en) | Method and apparatus for assembling backlight substrate | |
| CN217800132U (en) | Disc type toggle switch assembling equipment | |
| CN108819206B (en) | Synchronous transfer device of 3D curved glass | |
| CN216370994U (en) | Cell assembly mechanism based on visual positioning | |
| CN214440575U (en) | Double-station glue removing machine | |
| CN214934001U (en) | A loading attachment for nation decides machine | |
| CN113579732A (en) | Wisdom assembly based on new energy automobile parts | |
| CN107138579B (en) | A kind of one-shot multimode sheet metal component punch process transfer matic | |
| CN218927683U (en) | Duplex head pressure equipment machine | |
| CN219211280U (en) | Cutting and moving integrated device | |
| CN110740608A (en) | automatic installation equipment for PCB (printed circuit board) of small battery pack | |
| CN219238485U (en) | Cross-station fixed displacement conveying mechanism | |
| CN114543006B (en) | LED illumination lamp assembling production line | |
| CN219187532U (en) | Movable robot automatic dispensing workstation |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |