CN104259851A - Assembly robot system with insulating sleeve connectors - Google Patents
Assembly robot system with insulating sleeve connectors Download PDFInfo
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- CN104259851A CN104259851A CN201410453566.XA CN201410453566A CN104259851A CN 104259851 A CN104259851 A CN 104259851A CN 201410453566 A CN201410453566 A CN 201410453566A CN 104259851 A CN104259851 A CN 104259851A
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- 230000007246 mechanism Effects 0.000 claims abstract description 54
- 239000002184 metal Substances 0.000 claims abstract description 9
- 238000009413 insulation Methods 0.000 claims description 84
- 239000000758 substrate Substances 0.000 claims description 40
- 239000000945 filler Substances 0.000 claims description 8
- 238000001514 detection method Methods 0.000 claims description 4
- 238000012163 sequencing technique Methods 0.000 claims description 3
- 238000004519 manufacturing process Methods 0.000 abstract description 9
- 238000000034 method Methods 0.000 abstract description 6
- 239000000463 material Substances 0.000 abstract description 3
- 230000007423 decrease Effects 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- ZZUFCTLCJUWOSV-UHFFFAOYSA-N furosemide Chemical group C1=C(Cl)C(S(=O)(=O)N)=CC(C(O)=O)=C1NCC1=CC=CO1 ZZUFCTLCJUWOSV-UHFFFAOYSA-N 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000011031 large-scale manufacturing process Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000002708 enhancing effect Effects 0.000 description 1
- 239000000284 extract Substances 0.000 description 1
- 238000007373 indentation Methods 0.000 description 1
- 238000004904 shortening Methods 0.000 description 1
Classifications
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- 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
- B23P21/004—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 the units passing two or more work-stations whilst being composed
- B23P21/006—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 the units passing two or more work-stations whilst being composed the conveying means comprising a rotating table
Abstract
The invention discloses an assembly robot system with insulating sleeve connectors. The assembly robot system comprises a main rotating disc, a controller, a material supply mechanism, an assembly mechanism and a finished product collection mechanism. The main rotating disc comprises a machine frame, a rotating motor, a rotating shaft device and a tray. The rotating motor is fixed to the machine frame and is connected with the rotating shaft device. The rotating shaft device is fixed to the bottom of the tray and used for driving the tray to rotate. The rotating motor is electrically connected with the controller. A plurality of notch-shaped assembly station holes are evenly distributed in the periphery of the tray. Part of the assembly station holes are sealed through a metal protection ring fixed to the machine frame. Discharge mechanisms are arranged on the portion, provided with the non-sealed assembly station holes, of the machine frame and are used for making the insulating sleeve connectors disengaged from the assembly station holes. The material supply mechanism and the assembly mechanism are arranged on the periphery of the main rotating disc. The finished production collection mechanism is arranged below the portion close to the non-sealed assembly station holes. By means of the assembly robot system, multiple procedures can be automatically completed, the required time ranges from 3 seconds to 4 seconds, and production efficiency is high.
Description
Technical field
The invention belongs to robotic asssembly field, specifically, it relate to a kind of can rapidly by robot system that tape insulation casing joint assembly assembles automatically.
Background technology
The pipe joint that the present invention relates to mainly refers to the cable tube joint that tape insulation overlaps, and it is the common one of cable connector, as shown in Figure 2: pipe joint substrate 21 is the externally threaded metal circular tube of band, and side is processed with threaded apertures.What coordinate with pipe joint substrate is thin slice nut 20 and circumferential screw 19, and being assemblied in inside pipe joint substrate is insulation sleeve 22, plays a part to protect cable.Each assembly is all the finished product of automated production, and the step that needs are processed further is exactly:
1) from material frame, a pipe joint substrate is got;
2) nut is screwed into pipe joint substrate outer ring;
3) insulation sleeve is pressed into pipe joint substrate inner ring;
4) to screw on circumferential screw toward substrate with screwdriver;
5) workpiece assembled is put into finished product frame.
These steps are all manually-operated, only nut assemble a procedure will be consuming time about 5 seconds, and action is uninteresting, is not suitable for workers with long time work.But the former demand of cable connector is little, and artificial mode of producing just can meet the demand of society.
Along with the continuous propelling of economic globalization, the product that every industry or trade provides or service also more and more move towards Focus.This just makes in the world, and a certain product provides primarily of the enterprise that a little furniture has superiority becomes possibility, and also make the product originally not possessing large-scale production have the development space of mass production, cable connector is exactly so a kind of product simultaneously.Due to electrical network, power equipment universal; the reasons such as the low cost of manufacture of China; get more and more to this kind of metal assembly order of the cable tube joint under Chinese Enterprise both at home and abroad; but inner cable enterprise of the state overwhelming majority is also in the stage of manual assembly pipe joint, obviously the production capacity of domestic enterprise can not meet the requirement of large-scale production at present.How to improve the production efficiency of enterprise, reducing the labour intensity of workman is producer's problem in the urgent need to address.Based on above reason, adopt new device, new technological process, utilize robot continuous productive process, shorten installation time, reduce production cost and be very important.
Summary of the invention
For overcoming the deficiencies in the prior art, the object of this invention is to provide a kind of robot system of automatically being assembled by tape insulation casing joint assembly, shortening installation time, enhancing productivity, reduce labour cost.
For achieving the above object, the present invention is achieved through the following technical solutions: a kind of tape insulation casing joint assembly robot system, comprises main rotating disc, controller, feeding machanism, assemble mechanism and finished product collecting mechanism; Wherein, main rotating disc comprises frame, electric rotating machine, turning gear and pallet, and electric rotating machine is fixed in frame, electric rotating machine connection rotating shaft device, and the bottom of turning gear and pallet fixes, and rotate for driving tray, electric rotating machine is electrically connected with controller; The circumference of pallet is evenly equipped with the assembly station hole of multiple nick shaped, hole, subassembly position is by the metal retainer therefor involution be fixed in frame, and the frame place residing for assembly station hole of non-involution is provided with the blanking mechanism for making tape insulation casing joint depart from assembly station hole; Described feeding machanism and assemble mechanism are located at around main rotating disc; Described finished product collecting mechanism is arranged at the below near the assembly station hole of non-involution.
In order to make pallet stability of rotation, preferably, described pallet is discoid.
For the ease of control operation, preferably, described controller is PLC.
For making to depart from tape insulation casing joint from pallet efficiently, preferably, described blanking mechanism is the blanking driving lever of the below in the assembly station hole of non-involution described in being positioned at; Overlook above described pallet, described blanking driving lever is crossing with the assembly station hole circle of non-involution.
In order to simplify structure, preferably, preferably, described feeding machanism is auto-sequencing vibrations blanking machines.
In order to install thin slice nut easily, preferably, described feeding machanism comprises pipe joint substrate blanking machine and nut blanking machine, and each blanking machine is fixed on around main rotating disc along the direction of rotation of described pallet successively; Described assemble mechanism comprises nut assembly manipulator, is arranged at the side of corresponding blanking machine.
In described nut assembly manipulator, electronic or the pneumatic nut of auxiliary Telescopic-cylinder mechanism of comprising robot gantry, be fixed on the master cylinder at robot gantry top, be installed on the auxiliary cylinder of master cylinder telescoping mechanism, be installed on is twisted paw and is arranged at the upright guide rail of robot gantry, main and auxiliary cylinder is respectively vertical straight line cylinder and horizontal linear or rotary cylinder, and mount pad and the upright guide rail of auxiliary cylinder are slidably connected; Nut assembly manipulator is provided with the position sensor of twisting paw level and vertical motion position for detecting nut, the each position sensor of described nut assembly manipulator is electrically connected with described controller, and described controller is electrically connected with the main and auxiliary cylinder of described nut assembly manipulator.
Preferably, described nut is twisted paw and is twisted paw for being with magnetic nut.
In order to installing insulating cover easily, preferably, described feeding machanism also comprises insulation sleeve blanking machine, and described pipe joint substrate blanking machine, described nut blanking machine and described insulation sleeve blanking machine are fixed on around described main rotating disc along the direction of rotation of described pallet successively; Described assemble mechanism also comprises insulation sleeve assembly manipulator, and insulation sleeve assembly manipulator is arranged at the side of corresponding blanking machine.
In described insulation sleeve assembly manipulator, comprise robot gantry, be fixed on the master cylinder at robot gantry top, be installed on the telescoping mechanism of master cylinder auxiliary cylinder and be arranged at the auxiliary cylinder guide rail of robot gantry, main and auxiliary cylinder is respectively horizontal linear cylinder and vertical straight line cylinder, the mount pad of auxiliary cylinder is connected with auxiliary cylinder slide, and auxiliary Telescopic-cylinder mechanism end matches with insulation sleeve; Insulation sleeve assembly manipulator is provided with the position sensor for the telescoping mechanism terminal horizontal and vertical motion position detecting auxiliary cylinder, the each position sensor of described insulation sleeve assembly manipulator is electrically connected with described controller, and described controller is electrically connected with the main and auxiliary cylinder of described insulation sleeve assembly manipulator.
In order to mounting screw easily, preferably, described feeding machanism also comprises screw blanking machine, and described pipe joint substrate blanking machine, nut blanking machine, insulation sleeve blanking machine and screw blanking machine are fixed on around main rotating disc along the direction of rotation of described pallet successively; Described assemble mechanism also comprises screw assembly manipulator, and described screw assembly manipulator is arranged at the side of corresponding blanking machine.
In described screw assembly manipulator, comprise horizontal linear cylinder, band screwdriver motor, motor slide rails and the screw filler device for screw being loaded the circumferential screwed hole porch in pipe joint substrate; Wherein, horizontal linear cylinder is positioned at the end of motor slide rails, base with screwdriver motor and motor slide rails are slidably matched, and band screwdriver motor is just to circumferential screwed hole, the telescoping mechanism of horizontal linear cylinder is connected with band screwdriver motor, moves along motor slide rails for rotating band screwdriver motor; Screw assembly manipulator is provided with the position sensor for detection zone screwdriver motor horizontal movement position, the each position sensor of screw assembly manipulator is electrically connected with described controller, the horizontal linear cylinder of described controller and screw assembly manipulator and be with screwdriver motor to be electrically connected.
In order to improve the operation stability of system, preferably, this robot system is provided with the proximity switch that some and described controller is electrically connected, comprise the position being arranged on pipe joint substrate place to be assembled for detect the proximity switch whether having pipe joint substrate, the end being arranged on nut assembly manipulator for detect the proximity switch whether having nut, the end being arranged on insulation sleeve assembly manipulator for detect whether have insulation sleeve proximity switch, be arranged in screw filler device for detecting the proximity switch whether having screw.When wherein arbitrary proximity switch can't detect corresponding pipe joint substrate, nut, insulation sleeve or screw, corresponding proximity switch sends stopping signal to controller, system-down.
Advantage of the present invention and beneficial effect are: adopt this assembly robot system,---nut assembling------screw assembling---the blanking entire exercise that adds insulation sleeve that can automatically complete feed, completing all process steps required time is 3-4 seconds, shorten the operating time, improve production efficiency, simultaneity factor stability is high, energy continuous operation 9-10 hours.The present invention is simple and reasonable, and automaticity is high, has considerable economic results in society.
Accompanying drawing explanation
Fig. 1 is the structural representation of tape insulation casing joint Automated assembly machine robot system of the present invention;
Fig. 2 is the structural representation of the tape insulation casing joint that robotic assembly system of the present invention assembles;
Fig. 3 is the simplification structural representation of pallet and blanking driving lever in Fig. 1.
In figure: 1, frame; 2, turning gear; 3, blanking driving lever; 4, pallet; 5, metal retainer therefor; 6, pipe joint substrate blanking machine; 7, nut blanking machine; 8, insulation sleeve blanking machine; 9, screw blanking machine; 10, the first vertical straight line cylinder; 11, cylinder is horizontally rotated; 12, nut twists paw; 13, the first horizontal linear cylinder; 14, the second vertical straight line cylinder; 15, the second horizontal air cylinder; 16, screwdriver motor is with; 17, guide rail; 18, screw filler device; 19, screw; 20, nut; 21, pipe joint substrate; 22, insulation sleeve; 23, horizontal guide rail.
Detailed description of the invention
Below in conjunction with accompanying drawing, the specific embodiment of the present invention is further described.Following examples only for technical scheme of the present invention is clearly described, and can not limit the scope of the invention with this.
The present invention is a kind of tape insulation casing joint assembly robot system, as shown in Figure 1, comprises main rotating disc, PLC, feeding machanism, assemble mechanism and finished product gathering machine.Fig. 2 gives the structural representation of assembled tape insulation casing joint.
Main rotating disc comprises frame 1, electric rotating machine (not shown), turning gear 2 and the discoid pallet 4 as workpiece mounting plate.Electric rotating machine is fixed in frame 1; Electric rotating machine 1 connection rotating shaft device 2, turning gear 2 fixes with the bottom of pallet 4, rotates for driving tray 4; Controller is electrically connected with electric rotating machine, for controlling startup and the stopping of electric rotating machine; The circumference of pallet 4 is evenly equipped with the assembly station hole of multiple nick shaped, assembly station hole comprises station hole circle and from station hole circle to the breach of pallet 4 extension, the width of breach is at least greater than station hole diameter of a circle, and the width preferably choosing breach is suitable with station hole diameter of a circle.Major part assembly station hole is by metal retainer therefor 5 involution of the annular be fixed in frame 1, and frame 1 place residing for assembly station hole of non-involution is provided with the blanking mechanism for making the tape insulation casing joint after assembling depart from assembly station hole.Feeding machanism and assemble mechanism are located at around main rotating disc.Finished product collecting mechanism (not shown) is arranged at the below near the assembly station hole of non-involution, can be finished product frame, also can be finished product delivery mechanism finished product being delivered to next procedure place.
As shown in Figure 1, the function of feeding machanism is sorted by tube joint assembly, and ceaselessly to system feed.It comprises 4 auto-sequencing vibrations blanking machines be placed in around main rotating disc, i.e. pipe joint substrate blanking machine 6, nut blanking machine 7, insulation sleeve blanking machine 8 and screw blanking machine 9, wherein, pipe joint substrate blanking machine 6 provides pipe joint substrate 21, nut blanking machine 7 provides thin slice nut 20, insulation sleeve blanking machine 8 provides insulation sleeve 22, and screw blanking machine 9 provides screw 19; The control of the uncontrolled device of each blanking machine, the direction of rotation along pallet 4 is fixed on around main rotating disc successively.
As described in Figure 1, assemble mechanism comprises nut assembly manipulator, insulation sleeve assembly manipulator and screw assembly manipulator, and each assembly manipulator is arranged at the side of corresponding blanking machine, and is electrically connected with controller.
The function of nut assembly manipulator is the nut that pickup nut blanking machine 7 provides, and nut is screwed into the pipe joint substrate 21 being fixed on pallet 4.The middle part of pipe joint substrate 21 is sticked in assembly station hole, and the upper and lower end of pipe joint substrate 21 is exposed to above and below pallet 4 respectively.Nut assembly manipulator comprises robot gantry, the first vertical straight line cylinder 10, horizontally rotates cylinder 11, Electric nut twists paw 12 and upright guide rail (not shown); First vertical straight line cylinder 10 is fixed on robot gantry top, horizontally rotate the telescoping mechanism that cylinder 11 is installed on the first vertical straight line cylinder 10, nut is twisted paw 12 and is installed on the telescoping mechanism horizontally rotating cylinder 11, rotary cylinder guide rail is arranged at robot gantry, the mount pad and the upright guide rail that horizontally rotate cylinder 11 are slidably connected, and the first vertical straight line cylinder 10 promotes to horizontally rotate cylinder 11 and slides up and down along upright guide rail.Electric nut is twisted paw 12 and is rotated always, and band is magnetic; When it and thin slice nut 20 are enough close, just nut 20 can be drawn.
Nut assembly manipulator is provided with four position sensors, be respectively used to detect nut twist paw whether horizontal movement to upper and lower limit position, vertical motion is to upper and lower limit position; Each position sensor is electrically connected with controller, controller and the first vertical straight line cylinder 10, horizontally rotates cylinder 11 and is electrically connected, and controls the first vertical straight line cylinder 10, the startup horizontally rotating cylinder 11 and stopping.
In order to run with making system stability, avoid the substandard products producing unassembled nut 20, the end of nut assembly manipulator is also provided with for detecting the proximity switch whether having nut 20, and this proximity switch is electrically connected with controller.If this proximity switch can't detect thin slice nut 20, system will stop, if thin slice nut 20 detected, system drive Electric nut is twisted paw 12 and picked up thin slice nut 20.When above nut assembly manipulator moves to thin slice nut 20 to be assembled, corresponding level sensor just sends signal to PLC, and namely PLC controls the first vertical straight line cylinder 10 and decline; When nut assembly manipulator drops to certain position and drawn thin slice nut 20, corresponding vertical position sensor just sends signal to PLC, and namely PLC controls the first vertical straight line cylinder 10 and rise; When nut assembly manipulator rises to highest order, corresponding vertical position sensor just sends signal to PLC, and PLC and level of control rotary cylinder 11 rotate; When above nut assembly manipulator rotates to pipe joint substrate 21 to be assembled, corresponding level sensor just sends signal to PLC, and namely PLC controls the first vertical straight line cylinder 10 and decline; When nut assembly manipulator drop to twist initial position time, corresponding vertical position sensor just to PLC send signal, namely PLC controls nut assembly manipulator and twists certain hour; After time arrives, thin slice nut 20 completes assembling with pipe joint substrate 21, and PLC controls the first vertical straight line cylinder 10 and rises; During to extreme higher position, corresponding vertical position sensor just sends signal to PLC, and PLC and level of control rotary cylinder 11 rotate, and get back to original position, complete a circulation, waits for and enters next circulation.In addition, the micromachine that Electric nut is twisted in paw 12 also can be electrically connected with controller, is controlled startup and the stopping of micromachine by controller.
The function of insulation sleeve assembly manipulator is the insulation sleeve 22 that pickup insulation sleeve blanking machine 8 provides, and insulation sleeve 22 is pressed into pipe joint substrate 21 to be installed on pallet 4.Insulation sleeve assembly manipulator comprises robot gantry, the vertical straight line cylinder 14 of the first horizontal linear cylinder 13, second and vertical cylinder guide rail.First horizontal linear cylinder 13 is fixed on robot gantry top; Second vertical straight line cylinder 14 is installed on the telescoping mechanism of the first horizontal linear cylinder 13, the telescoping mechanism end of the second vertical straight line cylinder 14 matches with insulation sleeve 22, transfers in pipe joint substrate 21 by the second vertical straight line cylinder 14 telescoping mechanism by insulation sleeve 22 from insulation sleeve blanking machine 8; Vertical cylinder guide rail is arranged at robot gantry, and mount pad and the horizontal guide rail 23 of the second vertical straight line cylinder 14 are slidably connected, and the first horizontal linear cylinder 13 promotes the second vertical straight line cylinder 14 along horizontal guide rail 23 horizontal slip.
Insulation sleeve assembly manipulator is provided with four position sensors, be respectively used to detection second vertically straight line cylinder 14 telescoping mechanism end whether horizontal movement to upper and lower limit position, vertical motion is to upper and lower limit position; Each position sensor is electrically connected with controller, and controller is electrically connected with the vertical straight line cylinder 14 of the first horizontal linear cylinder 13, second.
In order to run with making system stability; avoid the substandard products producing unassembled insulation sleeve 22; the end of insulation sleeve assembly manipulator is also provided with for detecting the proximity switch whether having insulation sleeve 22; this proximity switch is electrically connected with controller; if this proximity switch detects insulation sleeve 22; insulation sleeve assembly manipulator directly declines and extracts, if not, and system-down.When above insulation sleeve assembly manipulator moves to insulation sleeve 22 to be assembled, corresponding level sensor just sends signal to PLC, and namely PLC controls the second vertical straight line cylinder 14 and decline; When insulation sleeve assembly manipulator drops to certain position and picked up insulation sleeve 22, corresponding vertical position sensor just sends signal to PLC, and namely PLC controls the second vertical straight line cylinder 14 and rise; When insulation sleeve assembly manipulator rises to highest order, corresponding vertical position sensor just sends signal to PLC, and namely PLC controls the first horizontal linear cylinder 13 horizontal movement; When above insulation sleeve assembly manipulator moves to pipe joint substrate to be assembled, corresponding level sensor just sends signal to PLC, and namely PLC controls the second vertical straight line cylinder 14 and decline; When insulation sleeve 22 is pressed into pipe joint substrate 21 inner ring and to minimum point, corresponding vertical position sensor just sends signal to PLC, and PLC controls the second vertical straight line cylinder 14 and rises; During to extreme higher position, corresponding vertical position sensor just sends signal to PLC, and namely PLC controls the first horizontal linear cylinder 13 and move horizontally, and gets back to original position, completes a circulation, waits for and enters next circulation.
The function of screw assembly manipulator is that the screw 19 provided by screw blanking machine 9 is screwed in the circumferential screwed hole of pipe joint substrate 21.Screw blanking machine comprises the second horizontal linear cylinder 15, band screwdriver motor 16, motor slide rails 17, screw filler device 18, and screw filler device 18 is for loading the circumferential screwed hole porch in pipe joint substrate 21 by screw 19; Wherein, second horizontal linear cylinder 15 is positioned at the end of motor slide rails 17, base with screwdriver motor 16 and motor slide rails 17 are slidably matched, band screwdriver motor 16 is just to circumferential screwed hole, base with screwdriver motor 16 and motor slide rails 17 are slidably connected, second horizontal linear cylinder 15 is arranged at the end of motor slide rails 17, and the telescoping mechanism of the second horizontal linear cylinder 15 is connected with band screwdriver motor 16, moves along guide rail 17 for rotating band screwdriver motor 16.
Screw assembly manipulator is provided with the position sensor for detection zone screwdriver motor 16 horizontal movement position, the each position sensor of screw assembly manipulator is electrically connected with controller, the second horizontal linear cylinder 15 of controller and screw assembly manipulator and be with screwdriver motor 16 to be electrically connected.
In order to run with making system stability, avoid the substandard products producing unassembled screw 19, also be provided with for detecting the proximity switch whether having screw in screw filler device 18, when this proximity switch can't detect screw 19, system-down, when screw 19 having been detected, PLC has controlled the second horizontal linear cylinder 15 action being arranged on guide rail 17 end, and the second horizontal linear cylinder 15 rotating band screwdriver motor 16 along guide rail 17 forward; When being with screwdriver motor 16 to move to correct position, band screwdriver motor 16 rotates, screw 19 is screwed into pipe joint substrate 21, to respective horizontal, level sensor just sends signal to PLC, the stall of PLC control cincture screwdriver motor 16, and band screwdriver motor 16 is retracted original position by the second horizontal linear cylinder 15 action, complete a circulation, wait for and enter next circulation.
Blanking mechanism be used for by assembling after tape insulation casing joint never involution assembly station hole place depart from pallet 4.Blanking mechanism can be realized by the blanking driving lever 3 be arranged in frame 1.As shown in Figure 1, blanking driving lever 3 is positioned at the below in the assembly station hole of non-involution; Overlook from the top of pallet 4, blanking driving lever 3 is crossing with the assembly station hole circle of non-involution.Preferably blanking driving lever 3 is crossing with the assembly station hole circle of non-involution with constant slope.As shown in Figure 3, the center of circle of station hole circle is O ', and the center of circle of pallet 3 is O; The inner side of blanking driving lever 3 becomes constant slope with the vertical line of straight line OO ', and namely the inner side of blanking driving lever 3 and the vertical line of straight line OO ' form an angle, and the size of angle is determined by the rotary speed of pallet 4.Under the assembling line speed conditions not changing existing usual use, the size can choosing angle is 3 ~ 15 degree.When pallet 4 rotates, contact with blanking driving lever 3 bottom the tape insulation casing joint of frame on station hole, according to relative motion principle, blanking driving lever 3 pushes the tape insulation casing joint completing assembling to station hole indentation, there, and falls in the finished product collecting mechanism below station hole.
In order to improve the operation stability of system, this robot system is also provided with for detecting the proximity switch whether having pipe joint substrate 21 in the position at pipe joint substrate place to be assembled, if can't detect pipe joint substrate 21, system will stop.
In addition, in above-mentioned main rotating disc, all right right and wrong of pallet 4 are discoid, as long as the assembly station hole place of pallet 4 can coordinate with the metal retainer therefor 5 of annular, can rotate in metal retainer therefor 5.
In nut assembly manipulator and insulation sleeve assembly manipulator, respective robot gantry can be integrated with the frame 1 of main rotating disc, and also can be robot gantry fixes respectively by bolt or the mode such as to weld with the frame 1 of main rotating disc.
In nut assembly manipulator, as an alternative, the nut of nut assembly manipulator is twisted special paw 12 and can be changed Pneumatic paw into.As an alternative, horizontally rotating cylinder 11 and can change horizontal linear cylinder into, to realize the horizontal movement that Electric nut twists paw 12 in nut assembly manipulator.
In insulation sleeve assembly manipulator, as an alternative, the first horizontal linear cylinder 13 in insulation sleeve assembly manipulator can change into and horizontally rotate cylinder, to realize the horizontal movement of the second vertical straight line cylinder 14 telescoping mechanism end.
The above is only the preferred embodiment of the present invention; it should be pointed out that for those skilled in the art, under the prerequisite not departing from the technology of the present invention principle; can also make some improvements and modifications, these improvements and modifications also should be considered as protection scope of the present invention.
Claims (10)
1. a tape insulation casing joint assembly robot system, is characterized in that, comprises main rotating disc, controller, feeding machanism, assemble mechanism and finished product collecting mechanism; Wherein, main rotating disc comprises frame, electric rotating machine, turning gear and pallet, and electric rotating machine is fixed in frame, electric rotating machine connection rotating shaft device, and the bottom of turning gear and pallet fixes, and rotate for driving tray, electric rotating machine is electrically connected with controller; The circumference of pallet is evenly equipped with the assembly station hole of multiple nick shaped, hole, subassembly position is by the metal retainer therefor involution be fixed in frame, and the frame place residing for assembly station hole of non-involution is provided with the blanking mechanism for making tape insulation casing joint depart from assembly station hole; Described feeding machanism and assemble mechanism are located at around main rotating disc; Described finished product collecting mechanism is arranged at the below near the assembly station hole of non-involution.
2. tape insulation casing joint assembly robot system as claimed in claim 1, is characterized in that, described blanking mechanism is the blanking driving lever of the below in the assembly station hole of non-involution described in being positioned at; Overlook above described pallet, described blanking driving lever is crossing with the assembly station hole circle of non-involution; Described feeding machanism is auto-sequencing vibrations blanking machines.
3. tape insulation casing joint assembly robot system as claimed in claim 2, it is characterized in that, described feeding machanism comprises pipe joint substrate blanking machine and nut blanking machine, and each blanking machine is fixed on around main rotating disc along the direction of rotation of described pallet successively; Described assemble mechanism comprises nut assembly manipulator, is arranged at the side of corresponding blanking machine.
4. tape insulation casing joint assembly robot system as claimed in claim 3, it is characterized in that, in described nut assembly manipulator, electronic or the pneumatic nut of auxiliary Telescopic-cylinder mechanism of comprising robot gantry, be fixed on the master cylinder at robot gantry top, be installed on the auxiliary cylinder of master cylinder telescoping mechanism, be installed on is twisted paw and is arranged at the upright guide rail of robot gantry, main and auxiliary cylinder is respectively vertical straight line cylinder and horizontal linear or rotary cylinder, and mount pad and the upright guide rail of auxiliary cylinder are slidably connected; Nut assembly manipulator is provided with the position sensor of twisting paw level and vertical motion position for detecting nut, the each position sensor of described nut assembly manipulator is electrically connected with described controller, and described controller is electrically connected with the main and auxiliary cylinder of described nut assembly manipulator.
5. tape insulation casing joint assembly robot system as claimed in claim 4, is characterized in that, described nut is twisted paw and twisted paw for being with magnetic nut.
6. tape insulation casing joint assembly robot system as claimed in claim 3, it is characterized in that, described feeding machanism also comprises insulation sleeve blanking machine, and described pipe joint substrate blanking machine, described nut blanking machine and described insulation sleeve blanking machine are fixed on around described main rotating disc along the direction of rotation of described pallet successively; Described assemble mechanism also comprises insulation sleeve assembly manipulator, and insulation sleeve assembly manipulator is arranged at the side of corresponding blanking machine.
7. tape insulation casing joint assembly robot system as claimed in claim 6, it is characterized in that, in described insulation sleeve assembly manipulator, comprise robot gantry, be fixed on the master cylinder at robot gantry top, be installed on the auxiliary cylinder of master cylinder telescoping mechanism and be arranged at the horizontal guide rail of robot gantry, main and auxiliary cylinder is respectively horizontal linear cylinder and vertical straight line cylinder, mount pad and the horizontal guide rail of auxiliary cylinder are slidably connected, and the telescoping mechanism end of auxiliary cylinder matches with insulation sleeve; Insulation sleeve assembly manipulator is provided with the position sensor for the telescoping mechanism terminal horizontal and vertical motion position detecting auxiliary cylinder, the each position sensor of described insulation sleeve assembly manipulator is electrically connected with described controller, and described controller is electrically connected with the main and auxiliary cylinder of described insulation sleeve assembly manipulator.
8. tape insulation casing joint assembly robot system as claimed in claim 7, it is characterized in that, described feeding machanism also comprises screw blanking machine, and described pipe joint substrate blanking machine, nut blanking machine, insulation sleeve blanking machine and screw blanking machine are fixed on around main rotating disc along the direction of rotation of described pallet successively; Described assemble mechanism also comprises screw assembly manipulator, and described screw assembly manipulator is arranged at the side of corresponding blanking machine.
9. tape insulation casing joint assembly robot system as claimed in claim 8, it is characterized in that, in described screw assembly manipulator, comprise horizontal linear cylinder, band screwdriver motor, motor slide rails and the screw filler device for screw being loaded the circumferential screwed hole porch in pipe joint substrate; Wherein, horizontal linear cylinder is positioned at the end of motor slide rails, base with screwdriver motor and motor slide rails are slidably matched, and band screwdriver motor is just to circumferential screwed hole, the telescoping mechanism of horizontal linear cylinder is connected with band screwdriver motor, moves along motor slide rails for rotating band screwdriver motor; Screw assembly manipulator is provided with the position sensor for detection zone screwdriver motor horizontal movement position, the each position sensor of screw assembly manipulator is electrically connected with described controller, the horizontal linear cylinder of described controller and screw assembly manipulator and be with screwdriver motor to be electrically connected.
10. tape insulation casing joint assembly robot system as claimed in claim 9, it is characterized in that, this robot system is provided with the proximity switch that some and described controller is electrically connected, comprise the position being arranged on pipe joint substrate place to be assembled for detecting the proximity switch whether having pipe joint substrate, be arranged on the end of nut assembly manipulator for detecting the proximity switch whether having nut, be arranged on the end of insulation sleeve assembly manipulator for detecting the proximity switch whether having insulation sleeve, be arranged in screw filler device for detecting the proximity switch whether having screw.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410453566.XA CN104259851B (en) | 2014-09-09 | A kind of tape insulation casing joint assembly robot system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410453566.XA CN104259851B (en) | 2014-09-09 | A kind of tape insulation casing joint assembly robot system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104259851A true CN104259851A (en) | 2015-01-07 |
| CN104259851B CN104259851B (en) | 2017-01-04 |
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| CN104827288A (en) * | 2015-05-11 | 2015-08-12 | 吴中区横泾嘉运模具厂 | Button and top cap assembly mechanism for water heater thermal protection switch assembly machines |
| CN105081764A (en) * | 2015-06-26 | 2015-11-25 | 北京天地玛珂电液控制系统有限公司 | Scraper chain assembling system and assembling technique thereof |
| CN107363538A (en) * | 2017-08-13 | 2017-11-21 | 宁波三灵电子有限公司 | A kind of EMT positioning screws type pipe connecting piece series automatic assembling machine |
| CN107498289A (en) * | 2017-10-14 | 2017-12-22 | 宁波乔士橡塑有限公司 | A kind of float automatic assembly equipment and its assembly method |
| CN108127372A (en) * | 2017-12-31 | 2018-06-08 | 安徽米科智能科技有限公司 | A kind of screw and insulation sleeve press equipment |
| CN109202443A (en) * | 2018-11-02 | 2019-01-15 | 山东红宝自动化有限公司 | A kind of automatic assembly equipment of air-conditioner top cover composition |
| CN112356450A (en) * | 2020-10-26 | 2021-02-12 | 安徽伊法拉电力科技有限公司 | High-temperature-resistant insulating sheath of fuse and insulating sheath pin nailing equipment |
| CN113211073A (en) * | 2021-04-22 | 2021-08-06 | 修中利 | Thin-wall pipe connecting piece and machining method thereof |
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| CN103692208A (en) * | 2013-12-19 | 2014-04-02 | 周俊雄 | Plastic pipe connector dust prevention cover assembling machine |
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| US4945632A (en) * | 1989-07-19 | 1990-08-07 | Alman Lev M | Rotary line for assembly of tip for flexible hose with caulking means |
| CN201375184Y (en) * | 2009-03-20 | 2010-01-06 | 何永强 | Supporting bracket used for table or platform |
| CN102126130A (en) * | 2011-04-11 | 2011-07-20 | 温岭市金悦流水线设备制造有限公司 | Eight-station automatic assembly equipment |
| CN103111845A (en) * | 2013-02-26 | 2013-05-22 | 深圳市神拓机电设备有限公司 | Disc type carrying roller sealing assembling equipment |
| CN103212981A (en) * | 2013-04-26 | 2013-07-24 | 苏州安捷讯光电科技有限公司 | FC fiber-optic connector assembling integrated equipment |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104827288A (en) * | 2015-05-11 | 2015-08-12 | 吴中区横泾嘉运模具厂 | Button and top cap assembly mechanism for water heater thermal protection switch assembly machines |
| CN105081764A (en) * | 2015-06-26 | 2015-11-25 | 北京天地玛珂电液控制系统有限公司 | Scraper chain assembling system and assembling technique thereof |
| CN105081764B (en) * | 2015-06-26 | 2017-08-25 | 北京天地玛珂电液控制系统有限公司 | A kind of flight chain assembly system and its assembly technology |
| CN107363538A (en) * | 2017-08-13 | 2017-11-21 | 宁波三灵电子有限公司 | A kind of EMT positioning screws type pipe connecting piece series automatic assembling machine |
| CN107498289A (en) * | 2017-10-14 | 2017-12-22 | 宁波乔士橡塑有限公司 | A kind of float automatic assembly equipment and its assembly method |
| CN108127372A (en) * | 2017-12-31 | 2018-06-08 | 安徽米科智能科技有限公司 | A kind of screw and insulation sleeve press equipment |
| CN109202443A (en) * | 2018-11-02 | 2019-01-15 | 山东红宝自动化有限公司 | A kind of automatic assembly equipment of air-conditioner top cover composition |
| CN109202443B (en) * | 2018-11-02 | 2024-03-26 | 山东红宝自动化有限公司 | Automatic assembly equipment that air conditioner top cap was constituteed |
| CN112356450A (en) * | 2020-10-26 | 2021-02-12 | 安徽伊法拉电力科技有限公司 | High-temperature-resistant insulating sheath of fuse and insulating sheath pin nailing equipment |
| CN112356450B (en) * | 2020-10-26 | 2023-08-08 | 浙江中能电气有限公司 | High-temperature-resistant insulating sheath and insulating sheath pin penetrating equipment for fuse |
| CN113211073A (en) * | 2021-04-22 | 2021-08-06 | 修中利 | Thin-wall pipe connecting piece and machining method thereof |
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Effective date of registration: 20240220 Address after: 219 Tongdu North Road, Jiangyin City, Wuxi City, Jiangsu Province, 214400, 1206 Patentee after: JIANGSU ZHONGTAI INSPECTION AND TESTING CO.,LTD. Guo jiahuodiqu after: Zhong Guo Address before: 214400 room 407, 3 building, 8 West Binjiang Road, Jiangyin, Wuxi, Jiangsu. Patentee before: JIANGSU JIYE INFORMATION TECHNOLOGY Co.,Ltd. Guo jiahuodiqu before: Zhong Guo |