CN105196032A - Full-automatic alignment and assembly machine - Google Patents

Full-automatic alignment and assembly machine Download PDF

Info

Publication number
CN105196032A
CN105196032A CN201510657544.XA CN201510657544A CN105196032A CN 105196032 A CN105196032 A CN 105196032A CN 201510657544 A CN201510657544 A CN 201510657544A CN 105196032 A CN105196032 A CN 105196032A
Authority
CN
China
Prior art keywords
jacking
loading
axis
block
carrier
Prior art date
Application number
CN201510657544.XA
Other languages
Chinese (zh)
Other versions
CN105196032B (en
Inventor
吕绍林
马金勇
孙卫东
赵永存
刘治渊
夏时雨
徐楠楠
Original Assignee
苏州博众精工科技有限公司
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by 苏州博众精工科技有限公司 filed Critical 苏州博众精工科技有限公司
Priority to CN201510657544.XA priority Critical patent/CN105196032B/en
Publication of CN105196032A publication Critical patent/CN105196032A/en
Application granted granted Critical
Publication of CN105196032B publication Critical patent/CN105196032B/en

Links

Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23POTHER WORKING OF METAL; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P19/00Machines 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
    • B23P19/02Machines 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 for connecting objects by press fit or for detaching same
    • B23P19/021Railroad wheels on axles
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00Gripping heads and other end effectors
    • B25J15/0019End effectors other than grippers

Abstract

The invention relates to a full-automatic alignment and assembly machine which comprises a base plate, a manipulator mechanism, a feeding mechanism, a photographing and capturing mechanism, a jacking mechanism, a carrier mechanism and a finished product moving-out mechanism. Firstly, a worker puts an adhesive-dispensed watch case and film-stripped watch glass in a feeding carrier of the feeding mechanism. A clamping jaw of the photographing and capturing mechanism grabs the watch case and puts the watch case in a carrier of the carrier mechanism to be positioned, meanwhile a manipulator sucks the watch glass, a CCD on the photographing and capturing mechanism photographs the position of the watch case, the manipulator moves the watch glass to the position under the CCD, and the approximate position of the watch glass is photographed. The watch glass is obliquely inserted into the watch case, the CCD accurately positions the watch glass, multiple-time alignment is performed till the circle centers and angles of the watch case and the watch glass coincide, and the watch glass is attached to the watch case. A pressure maintaining suction disc ascends to suck the watch case, a watch glass profiling suction disc leaves, and the pressure maintaining suction disc descends under the effect of a spring to perform pressure maintaining. The manipulator grabs a product, puts the product onto the finished product moving-out mechanism and delivers the finished product to a standard position. The full-automatic alignment and assembly machine can achieve automatic alignment and is high in assembly accuracy.

Description

A kind of full-automatic contraposition kludge

Technical field:

The present invention relates to wrist-watch manufacture field, relate to a kind of contraposition kludge liquid crystal display contraposition be assembled on watchcase in particular.

Background technology:

Being assembled into by intelligent watch liquid crystal display on intelligent watch watchcase, is all manual operation at present.Workman puts glue on watchcase, then fits on watchcase by liquid crystal display, easily like this occurs liquid crystal display and watchcase decentraction and there is angular deviation, and assembly precision is low, and is not easy pressurize, increases the labour intensity of workman, and inefficiency.Now need a kind of full-automatic contraposition kludge, for liquid crystal display contraposition is assembled into watchcase.

Summary of the invention:

The object of the invention is for the deficiencies in the prior art part, provide a kind of full-automatic contraposition kludge, for liquid crystal display contraposition is assembled into watchcase, its assembly precision is high, enhances productivity.

Technology solution of the present invention is as follows:

A kind of full-automatic contraposition kludge, it comprises base plate, manipulator mechanism and Carrier mechanism, and described manipulator mechanism is arranged on base plate, and base plate is provided with Carrier mechanism, also comprises feed mechanism, grasping mechanism of taking pictures, lifting body and finished product shift-out mechanism; Described manipulator mechanism comprises manipulator base, manipulator and manipulator sucking disc clamp claw assembly, and manipulator floor installation is below base plate, and on described manipulator installation manipulator base, described manipulator sucking disc clamp claw assembly is installed on a robotic arm; Described feed mechanism, take pictures grasping mechanism and finished product shift-out mechanism are arranged on base plate respectively; Described lifting body is arranged on below base plate.

The jacking block rising of described lifting body can make the jacking block jack-up in Carrier mechanism, makes wedge drive movable block outwards to open along carrier slide rail; Watchcase is put between fixed block and movable block, then jacking block decline, movable block under the effect of spring a return by watchcase clamping and positioning.

The material loading bearing of described feed mechanism is provided with watchcase loading assemblies and table mirror loading assemblies; Described watchcase loading assemblies is identical with the structure of table mirror loading assemblies, but watchcase loading assemblies is provided with watchcase material loading carrier a, table mirror loading assemblies is provided with table mirror material loading carrier b.

Described grasping mechanism of taking pictures comprises X-axis mechanism, Y-axis mechanism and grabbing assembly of taking pictures, and X-axis mechanism is arranged in Y-axis mechanism, described in grabbing assembly of taking pictures be arranged in X-axis mechanism.

Described watchcase material loading carrier a lays watchcase, described table mirror material loading carrier b lays table mirror, material loading carrier base plate can be driven to move along material loading slide rail by the material loading air cylinder driven of feed mechanism, watchcase material loading carrier a or table mirror material loading carrier b can be transported to standard operation position by material loading carrier base plate; Then take pictures grasping mechanism jaw capture watchcase, put into the carrier of Carrier mechanism and locate; Simultaneously manipulator sucking disc clamp claw assembly draws table mirror, and the CCD taken pictures on grasping mechanism takes pictures watchcase position, and table mirror moves on to immediately below CCD by manipulator, takes pictures and shows the position of mirror; Table mirror oblique cutting enters in watchcase by manipulator, the accurate navigation watch mirror of CCD, until watchcase overlaps with angle with the center of circle of table mirror, fits to watchcase on by table mirror through repeatedly contraposition; When showing mirror and being installed on watchcase, jacking block is jack-up sucker suction table mirror again, and jacking block declines, and sucker pulls down under the effect of spring b, thus his-and-hers watches mirror carries out pressurize; Last manipulator captures product and puts on finished product shift-out mechanism.

As preferably, described Carrier mechanism comprises carrier base plate, and carrier base plate is arranged on carrier installing plate upper right, and described carrier base plate upper right is provided with fixed block; Described carrier installing plate upper left-hand is horizontally installed with carrier slide rail, carrier slide rail is provided with carrier slide block, carrier slide block is provided with movable block; Be installed with spring block on the left of described carrier installing plate, described movable block left side is provided with slotted eye, is equipped with spring a in slotted eye, and spring block top supports on spring a; Described carrier installing plate bottom is provided with four spring axis of guides, each spring axis of guide is socketed with one group of spring b and group spring pad epipodium, four groups of spring pad epipodiums are provided with sucker float plate; Two spring axis of guides of front side are provided with spring regulating block, two spring axis of guides of rear side are also provided with spring regulating block, and are separately installed with Spring set screws between each spring regulating block and carrier installing plate; Described sucker float plate is provided with sucker column, and sucker column upper end is provided with sucker, and sucker column lower end is provided with gas-tpe fitting, and gas-tpe fitting bottom is provided with gas-tpe fitting shrouding; Described movable block left end is provided with wedge, and wedge lower end is passed from carrier installing plate.

As preferably, described wedge upper end is fastened on movable block, and wedge is fixed on movable block by being spirally connected, and movable block right flank is provided with two location thimbles.

As preferably, described lifting body comprises jacking bottom plate, jacking axis mechanism and jacking Y-axis mechanism, and jacking Y-axis mechanism is arranged on jacking bottom plate, and described jacking X-axis mechanism is arranged in jacking Y-axis mechanism; Described jacking X-axis mechanism is provided with jacking assembly; Described jacking assembly comprises jacking keyset, jacking installing plate, jacking motor, jacking motor mounting plate, jacking driving wheel, jacking mounting bar, jacking photoelectric sensor, jacking sensing chip, jacking slide rail, jacking slide block, jacking fixed block, screw mandrel bearing cushion block, screw mandrel bearing, screw mandrel, feed screw nut, jacking block and jacking driven pulley, described jacking keyset is arranged on the X-axis contiguous block of jacking X-axis mechanism, and jacking installing plate is arranged on jacking keyset; Described jacking motor is arranged on jacking motor mounting plate, jacking motor is provided with jacking driving wheel; Described jacking mounting bar, jacking slide rail are arranged on jacking installing plate, jacking mounting bar are provided with jacking photoelectric sensor, jacking slide rail are provided with jacking slide block, jacking slide block are provided with jacking fixed block; Described screw mandrel bearing cushion block is arranged on jacking installing plate, and described screw mandrel bearing is arranged on screw mandrel bearing cushion block, screw mandrel bearing is provided with screw mandrel, screw mandrel is provided with feed screw nut, and feed screw nut is arranged on jacking fixed block; Described jacking fixed block sidepiece is provided with jacking sensing chip, and jacking fixed block front portion is provided with jacking block; Described screw mandrel lower end is provided with jacking driven pulley; Linked together by belt between jacking driven pulley and jacking driving wheel.

As preferably, described jacking block upper end is provided with inclined plane.

As preferably, watchcase loading assemblies and the table mirror loading assemblies of described feed mechanism comprise material loading installing plate, material loading cylinder, front material loading cylinder saddle, rear material loading cylinder saddle, material loading mounting bar, material loading photoelectric sensor, material loading sensing chip, material loading slide rail cushion block, material loading slide rail, material loading slide block and material loading carrier base plate respectively, and described material loading installing plate is arranged on material loading bearing; Described material loading cylinder is arranged on material loading installing plate by forward and backward material loading cylinder saddle; Described material loading slide rail cushion block, material loading mounting bar are arranged on material loading installing plate, and described material loading mounting bar is provided with material loading photoelectric sensor, material loading slide rail cushion block is provided with material loading slide rail, material loading slide rail is provided with material loading slide block; Described material loading carrier base plate is arranged on the piston of material loading slide block and material loading cylinder, and the sidepiece of material loading carrier base plate is provided with material loading sensing chip; Described material loading carrier base plate is provided with watchcase material loading carrier a or table mirror material loading carrier b.

As preferably, be provided with material loading buffer on rear side of described material loading installing plate by material loading buffer fixed block, the bottom of material loading carrier base plate is provided with material loading block, and material loading block and material loading buffer adapt; Material loading carrier base plate on described watchcase loading assemblies is provided with material loading proximity transducer; Material loading slide rail cushion block sidepiece on described table mirror loading assemblies is provided with material loading structure of fiber_optic, material loading structure of fiber_optic is provided with material loading optical fiber.

As preferably, the grabbing assembly of taking pictures of described grasping mechanism of taking pictures comprises Z axis module fixed head, Z axis contiguous block, Z axis motor, Z axis motor mounting plate, Z axis shaft coupling, z axis module, z axis module slide block, lift cylinder fixed head, lift cylinder, jaw air cylinder fixed plate, jaw cylinder, jaw, CCD slide, CCD connecting plate, CCD, axis light fixed mount and axis light, and described Z axis module fixed head is arranged in X-axis mechanism by Z axis contiguous block; Described z axis module is arranged on Z axis module fixed head; Described Z axis motor is arranged on Z axis motor mounting plate, and Z axis motor is linked together by Z axis shaft coupling and z axis module, z axis module is provided with z axis module slide block, and z axis module slide block is provided with CCD slide; Described lift cylinder fixed head is arranged on Z axis module fixed head sidepiece, and lift cylinder is arranged on lift cylinder fixed head; Described jaw air cylinder fixed plate is arranged on the lifter plate of lift cylinder, and the lower end of jaw air cylinder fixed plate is provided with jaw cylinder, and jaw cylinder is provided with jaw; Described CCD is arranged on CCD slide by CCD connecting plate, CCD connecting plate is provided with axis light fixed mount, and axis light is arranged on immediately below CCD by axis light fixed mount, and axis light is coaxial with CCD.

As preferably, described finished product shift-out mechanism comprises platform assembly, transfer assembly and carrier positioning component, and described transfer assembly is arranged on platform assembly; Described carrier positioning component is arranged on transfer assembly; Described transfer assembly comprises fixed head, input and output material moves cylinder holder, input and output material moves cylinder, input and output material carrier fixed head and input and output material guiding mechanism, described fixed head is arranged in the fixed platform of platform assembly, input and output material moves and cylinder holder is provided with input and output material moves cylinder, and input and output material moves on cylinder and is provided with input and output material carrier fixed head; Between described fixed head and input and output material carrier fixed head, input and output material guiding mechanism is installed.

As preferably, described platform assembly comprises fixed platform, mobile platform and positioner, and fixed platform and mobile platform rotatably link together; Described positioner comprises fixed socket, movable latch seat and movable latch, mobile platform is installed with fixed socket, fixed platform is installed with movable latch seat, movable latch cooperation is arranged in movable latch seat, movable latch can insert in fixed socket make fixed platform and mobile platform in the same plane and locate, mobile platform fixed platform can turn down 90 ° relatively.

Beneficial effect of the present invention is:

The structure of Carrier mechanism of the present invention is simple, easy to use, and coordinate lifting body to use, when the jacking block jack-up wedge of lifting body, movable block outwards opens along carrier slide rail; Watchcase is put between fixed block and movable block, then jacking block decline, movable block under the effect of spring a return by watchcase clamping and positioning; When display screen is installed on watchcase, jacking block is jack-up sucker suction display screen again, and jacking block declines, sucker pulls down under the effect of spring b, thus pressurize is carried out to display screen, the decrement of Spring set screws adjustable springs of the present invention, regulate the pressure of pressurize further.

Lifting body of the present invention can realize X-direction, Y direction and Z-direction are moved, and jacking modular construction is compact, save space, can jack-up product, can utilize again the inclined-plane track of jacking block, realize the horizontal movement of product.

The material loading air cylinder driven of feed mechanism of the present invention can drive material loading carrier base plate to move along material loading slide rail, the shift position of material loading carrier base plate is spacing by material loading block, the displacement of material loading carrier base plate is determined by material loading photoelectric sensor, watchcase material loading carrier a or table mirror material loading carrier b can be transported to standard operation position by material loading carrier base plate, and watchcase and/or table mirror are transported to standard operation position.Efficiency of the present invention is high, easy to operate.

Two groups of linear modules of Y-axis about the Y-axis mechanism employing Y-axis belt drive of grasping mechanism of taking pictures of the present invention, solve X-axis horizontal span larger time, the left and right action of Y-axis mechanism is asynchronous causes to obtain error, Y-axis mechanism is provided with some directive wheels, for increasing the cornerite of Y-axis driven pulley and Y-axis belt, prevent Y-axis belt creep from departing from; Solve the problem of locating the inaccurate crawl weak effect caused when directly capturing product, contraposition position to be assembled of can first taking pictures, correction product and position deviation to be assembled, thus accurate positioning product.

Movable latch can be extracted in fixed socket when the mobile platform of the platform assembly of finished product shift-out mechanism of the present invention does not use, relative for mobile platform fixed platform is turned down 90 °, and floor space is few, easy to use.The input and output material of transfer assembly moves air cylinder driven can make input and output material carrier fixed head move, and is led by input and output material guiding mechanism, can make discharging carrier fixed head easy motion, improves mechanism kinematic stability.Carrier positioning component can be located and carrier for clamping by three groups of input and output material locating pieces and one group of input and output material clamp system, is convenient to input and output material carrier transfers finished product.

Accompanying drawing illustrates:

Below in conjunction with accompanying drawing, the present invention is described further:

Fig. 1 is structural representation of the present invention;

Fig. 2 is another structural representation of the present invention;

Fig. 3 is front view of the present invention;

Fig. 4 is top view of the present invention;

Fig. 5 is left view of the present invention;

Fig. 6 is the structural representation of Carrier mechanism of the present invention;

Fig. 7 is another structural representation of Carrier mechanism of the present invention;

Fig. 8 is the structural representation of lifting body of the present invention;

Fig. 9 is another structural representation of lifting body of the present invention;

Figure 10 is the front view of lifting body of the present invention;

Figure 11 is the top view of lifting body of the present invention;

Figure 12 is the left view of lifting body of the present invention;

Figure 13 is the structural representation of feed mechanism of the present invention;

Figure 14 is another structural representation of feed mechanism of the present invention;

Figure 15 is the front view of feed mechanism of the present invention;

Figure 16 is the structural representation of grasping mechanism of taking pictures of the present invention;

Figure 17 is another structural representation of grasping mechanism of taking pictures of the present invention;

Figure 18 is the front view of grasping mechanism of taking pictures of the present invention;

Figure 19 is the structural representation of finished product shift-out mechanism of the present invention;

Figure 20 is another structural representation of finished product shift-out mechanism of the present invention;

Figure 21 is the front view of finished product shift-out mechanism of the present invention.

Detailed description of the invention:

Embodiment, see accompanying drawing 1 ~ 21, a kind of full-automatic contraposition kludge, it comprises base plate 1, manipulator mechanism I and Carrier mechanism II, described manipulator mechanism is arranged on base plate, base plate is provided with Carrier mechanism, also comprises feed mechanism III, grasping mechanism IV of taking pictures, lifting body V and finished product shift-out mechanism VI; Described feed mechanism, take pictures grasping mechanism and finished product shift-out mechanism are arranged on base plate respectively; Described lifting body is arranged on below base plate.

Described manipulator mechanism comprises manipulator base 2, manipulator 3 and manipulator sucking disc clamp claw assembly 4, and manipulator floor installation is below base plate, and on described manipulator installation manipulator base, described manipulator sucking disc clamp claw assembly is installed on a robotic arm.

Described Carrier mechanism comprises carrier base plate 5, carrier base plate is arranged on carrier installing plate 6 upper right, described carrier base plate upper right is provided with fixed block 7, described carrier installing plate upper left-hand is horizontally installed with carrier slide rail 8, carrier slide rail is provided with carrier slide block 9, carrier slide block is provided with movable block 10; Described carrier slide rail has two groups, often organize on carrier slide rail and one group of carrier slide block is installed, two groups of carrier slide blocks are provided with movable block, and the upper surface of described fixed block is concordant with the upper surface of movable block, and the left surface of fixed block is provided with the arc surface matched with watchcase profile; The right flank of movable block is provided with V-type groove.Product can be clamped between fixed block and movable block.

In the middle part of described movable block left end, wedge 11 is installed, and wedge lower end is passed from carrier installing plate.Described wedge upper end is fastened on movable block, and wedge is fixed on movable block by being spirally connected.Wedge coordinates the jacking block of lifting body to work together, and the jacking block jack-up of lifting body, makes movable block outwards open along carrier slide rail by wedge, and the jacking block of lifting body resets, and by wedge, movable block is inwardly closed along carrier slide rail.

Spring block 12 is installed with on the left of described carrier installing plate, described movable block left side is provided with slotted eye, is equipped with spring a in slotted eye, and spring block top supports on spring a, when movable block outwards opens along carrier slide rail, spring a is in compressive state.

Described carrier installing plate bottom is provided with four spring axis of guides 13, each spring axis of guide is socketed with on one group of spring b14 and group spring pad epipodium, 15, four groups of spring pad epipodiums and is provided with sucker float plate 16; Two spring axis of guides of front side are provided with spring regulating block 17, two spring axis of guides of rear side are also provided with spring regulating block, and are separately installed with Spring set screws 18 between each spring regulating block and carrier installing plate; Described sucker float plate is provided with sucker column 19, and sucker column upper end is provided with sucker 20, and sucker column lower end is provided with gas-tpe fitting 21, and gas-tpe fitting bottom is provided with gas-tpe fitting shrouding 22.

Described movable block right flank is arranged with two location thimbles 23, when movable block moves right along carrier slide rail, location thimble first contacts watchcase sides, ensures that watchcase is axially symmetrical.

Described sucker column passes from carrier installing plate and carrier base plate respectively, sucker is positioned at the circular hole position on carrier base plate, sucker also coordinates lifting body to move together, when display screen is installed on watchcase, the jacking block jack-up sucker suction display screen again of lifting body, jacking block declines, sucker pulls down under the effect of spring b, thus pressurize is carried out to display screen, the decrement of Spring set screws adjustable springs, regulate the pressure of pressurize further.

On described sucker column, the left and right sides is separately installed with sucker slide rail 24, each sucker slide rail is provided with sucker slide block 25, carrier installing plate bottom is provided with two sucker sliding dowel blocks 26, and each sucker slide block correspondence is arranged on sucker sliding dowel block, when sucker column drives sucker to move up and down, can make operating steadily up and down of sucker under the guide effect of sucker slide rail, ensure the complete contact product of sucker, absorption affinity is strong.

Described lifting body comprises jacking bottom plate 27, jacking X-axis mechanism VII and jacking Y-axis mechanism VIII, and jacking Y-axis mechanism is arranged on jacking bottom plate, and described jacking X-axis mechanism is arranged in jacking Y-axis mechanism; Described jacking X-axis mechanism is provided with jacking assembly; Jacking assembly moves to required position by the drive of jacking X-axis mechanism and jacking Y-axis mechanism in X-direction and Y direction.

Described jacking Y-axis mechanism comprises jacking y-axis motor, jacking Y-axis shaft coupling, the linear module of jacking Y-axis, jacking Y-axis connecting plate, jacking Y-axis joint angle, jacking XY connecting plate, jacking Y-axis slide rail cushion block, jacking Y-axis slide rail, jacking Y-axis slide block, jacking Y-axis mounting bar, jacking Y-axis photoelectric sensor and jacking Y-axis sensing chip, described jacking Y-axis slide rail cushion block, the linear module of jacking Y-axis and jacking Y-axis mounting bar are arranged on jacking bottom plate respectively, and jacking Y-axis slide rail cushion block, the linear module of jacking Y-axis and jacking Y-axis mounting bar are parallel to each other; Described jacking Y-axis mounting bar is provided with three jacking Y-axis photoelectric sensors; Described jacking Y-axis slide rail cushion block is provided with jacking Y-axis slide rail, jacking Y-axis slide rail coordinates jacking Y-axis slide block is installed; Described jacking y-axis motor is linked together by jacking Y-axis shaft coupling and the linear module of jacking Y-axis; The linear module of described jacking Y-axis is connected to jacking Y-axis connecting plate, jacking Y-axis connecting plate sidepiece is provided with jacking Y-axis joint angle, jacking XY connecting plate is arranged on jacking Y-axis joint angle and jacking Y-axis slide block, and jacking Y-axis sensing chip is arranged on the side of jacking XY connecting plate.

Jacking y-axis motor drives and jacking Y-axis connecting plate can be made to move along the linear module of jacking Y-axis, thus jacking XY connecting plate is moved along jacking Y-axis slide rail, and displacement is determined by jacking Y-axis photoelectric sensor.

Described jacking X-axis mechanism comprises jacking X-axis module fixed head, the linear module of jacking X-axis, jacking X-axis contiguous block, jacking X-axis motor, jacking X-axis motor mounting plate, jacking X-axis driving wheel, jacking X-axis driven pulley, jacking X-axis mounting bar, jacking X-axis photoelectric sensor and jacking X-axis sensing chip; Described jacking X-axis module fixed head is arranged on jacking XY connecting plate, inside jacking X-axis module fixed head, the linear module of jacking X-axis is installed, the linear module of jacking X-axis is provided with jacking X-axis contiguous block by the linear module slide block of jacking X-axis, and jacking X-axis sensing chip is arranged on jacking X-axis contiguous block top; Described jacking X-axis mounting bar is arranged on jacking X-axis module fixed head top, jacking X-axis mounting bar is provided with three jacking X-axis photoelectric sensors; Described jacking X-axis motor mounting plate is arranged on jacking X-axis module fixed head, and jacking X-axis motor is arranged on jacking X-axis motor mounting plate, the main shaft of jacking X-axis motor is provided with jacking X-axis driving wheel; The linear module end of described jacking X-axis is provided with jacking X-axis driven pulley, and jacking X-axis driven pulley and jacking X-axis driving wheel are linked together by jacking X-axis belt.

Described jacking X-axis module fixed head is provided with jacking X-axis adjustment screw, jacking X-axis adjustment screw is provided with jacking X-axis regulating wheel regulating block, jacking X-axis regulating wheel regulating block is provided with organizes connecting shaft hole more, connecting shaft hole is connected with jacking X-axis regulating wheel by jacking X-axis tensioning shaft, and jacking X-axis regulating wheel is for regulating the tensioning degree of jacking X-axis belt.

Jacking X-axis motor drives jacking X-axis driving wheel to rotate, under the effect of jacking X-axis belt, jacking X-axis driven pulley rotates, the linear module slide block of jacking X-axis on the linear module of jacking X-axis is moved, and jacking X-axis contiguous block moves, and its displacement is determined by jacking X-axis photoelectric sensor.

Described jacking assembly comprises jacking keyset 28, jacking installing plate 29, jacking motor 30, jacking motor mounting plate 31, jacking driving wheel 32, jacking mounting bar 33, jacking photoelectric sensor 34, jacking sensing chip 35, jacking slide rail 36, jacking slide block 37, jacking fixed block 38, screw mandrel bearing cushion block 39, screw mandrel bearing 40, screw mandrel 41, jacking block 42 and jacking driven pulley 43, described jacking keyset is arranged on the X-axis contiguous block of X-axis mechanism, and jacking installing plate is arranged on jacking keyset; Described jacking motor is arranged on jacking motor mounting plate, jacking motor is provided with jacking driving wheel; Described jacking mounting bar, jacking slide rail are arranged on jacking installing plate, jacking mounting bar are provided with jacking photoelectric sensor, jacking slide rail are provided with jacking slide block, jacking slide block are provided with jacking fixed block; Described screw mandrel bearing cushion block is arranged on jacking installing plate, and described screw mandrel bearing is arranged on screw mandrel bearing cushion block, screw mandrel bearing is provided with screw mandrel, screw mandrel is provided with feed screw nut, and feed screw nut is arranged on jacking fixed block; Described jacking fixed block sidepiece is provided with jacking sensing chip, and jacking fixed block front portion is provided with jacking block, and jacking block upper end is provided with inclined plane; Described screw mandrel lower end is provided with jacking driven pulley; Linked together by belt between jacking driven pulley and jacking driving wheel; Described jacking motor mounting plate is provided with jacking regulating wheel regulating block 44, jacking regulating wheel 45 is arranged on jacking regulating wheel regulating block bottom by jacking tensioning shaft 46 through jacking motor mounting plate, and jacking adjustment screw 47 is connected with jacking regulating wheel regulating block through jacking adjustment screw seat 48.

The jacking block rising of described lifting body can make the jacking block jack-up in Carrier mechanism, makes wedge drive movable block outwards to open along carrier slide rail; Watchcase is put between fixed block and movable block, then jacking block decline, movable block under the effect of spring a return by watchcase clamping and positioning.

The material loading bearing 49 of described feed mechanism is provided with watchcase loading assemblies Ⅸ and table mirror loading assemblies Ⅹ; Material loading bearing has two groups, two groups of material loading bearings is separately installed with two groups of watchcase loading assemblies and two groups of table mirror loading assemblies; Described watchcase loading assemblies is identical with the structure of table mirror loading assemblies, but watchcase loading assemblies is provided with watchcase material loading carrier a50, table mirror loading assemblies is provided with table mirror material loading carrier b51.

Described watchcase loading assemblies and table mirror loading assemblies all comprise material loading installing plate 52, material loading cylinder 53, front material loading cylinder saddle 54, rear material loading cylinder saddle 55, material loading mounting bar 56, material loading photoelectric sensor 57, material loading sensing chip 58, material loading slide rail cushion block 59, material loading slide rail 60, material loading slide block 61 and material loading carrier base plate 62, and described material loading installing plate is arranged on material loading bearing; Described material loading cylinder is arranged on material loading installing plate by forward and backward material loading cylinder saddle; Described material loading slide rail cushion block, material loading mounting bar are arranged on material loading installing plate, and described material loading mounting bar is provided with material loading photoelectric sensor, material loading slide rail cushion block is provided with material loading slide rail, material loading slide rail is provided with material loading slide block; Described material loading carrier base plate is arranged on the piston of material loading slide block and material loading cylinder, and the sidepiece of material loading carrier base plate is provided with material loading sensing chip; Described material loading carrier base plate is provided with watchcase material loading carrier a or table mirror material loading carrier b.

Be provided with material loading buffer 64 by material loading buffer fixed block 63 on rear side of described material loading installing plate, the bottom of material loading carrier base plate is provided with material loading block 65, and material loading block and material loading buffer adapt.The shift position of material loading carrier base plate can be controlled by the cooperation of material loading block and material loading buffer, stop the movement of restriction material loading carrier base plate, prevent overtravel.

Material loading carrier base plate on described watchcase loading assemblies is provided with material loading proximity transducer 66, and material loading proximity transducer can detect on watchcase material loading carrier a whether have watchcase.

Material loading slide rail cushion block sidepiece on described table mirror loading assemblies is provided with material loading structure of fiber_optic 67, material loading structure of fiber_optic is provided with material loading optical fiber 68, and material loading optical fiber can detect on table mirror material loading carrier b whether have table mirror.

Described grasping mechanism of taking pictures comprises X-axis mechanism Ⅺ, Y-axis mechanism Ⅻ and grabbing assembly of taking pictures, and X-axis mechanism is arranged in Y-axis mechanism, described in grabbing assembly of taking pictures be arranged in X-axis mechanism.

Described Y-axis mechanism comprises base, the linear module of Y-axis, Y-axis mounting bar, Y-axis photoelectric sensor, Y-axis sensing chip, Y-axis contiguous block, Y-axis connection cushion block, installing plate, y-axis motor, Y-axis driving wheel, Y-axis driven pulley, regulating wheel and Y-axis belt, described base has two groups, often organize on base and be separately installed with the linear module of Y-axis, often organize on the linear module of Y-axis and be provided with the linear module slide block of Y-axis, the linear module front end of Y-axis is provided with Y-axis driven pulley; Described Y-axis contiguous block is arranged on the linear module slide block of Y-axis, Y-axis contiguous block is provided with Y-axis and connects cushion block; It is anterior that described installing plate is arranged on two groups of bases, and y-axis motor is installed on a mounting board, and the main shaft of y-axis motor is connected with Y-axis driving wheel through its front end of installing plate; Described regulating wheel is arranged on tensioning shaft; Described Y-axis belt is located at Y-axis driving wheel, between Y-axis driven pulley and regulating wheel; Described Y-axis mounting bar is arranged on base, Y-axis mounting bar is provided with Y-axis photoelectric sensor, and the Y-axis sensing chip that described Y-axis photoelectric sensor is installed with Y-axis contiguous block sidepiece matches.

Described installing plate is provided with long slot bore, the long slot bore that tensioning shaft is provided with through installing plate is arranged in tensioning block, adjustment screw is connected with tensioning block through adjustment screw holder, by adjustment screw adjusting tensioning axle position on a mounting board, be convenient to the position regulating regulating wheel, for the tensioning of Y-axis belt.

Described X-axis mechanism comprises X-axis connecting plate, X-axis module fixed head, the linear module of X-axis, X-axis motor, X-axis motor adjustable plate, X-axis adjustment screw, X-axis adjustment screw holder, X-axis extension shaft, X-axis driving wheel, X-axis motor mounting plate, X-axis driven pulley, X-axis mounting bar, X-axis photoelectric sensor and X-axis sensing chip, and described X-axis connecting plate is arranged on Y-axis and connects on cushion block; Described X-axis module fixed head is arranged on X-axis connecting plate, is provided with the linear module of X-axis inside X-axis module fixed head, the linear module of X-axis is provided with the linear module slide block of X-axis; Described Z axis contiguous block is arranged on the linear module slide block of X-axis, and X-axis sensing chip is arranged on Z axis contiguous block top; Described X-axis mounting bar is arranged on X-axis module fixed head top, X-axis mounting bar is provided with three X-axis photoelectric sensors; Described X-axis motor is arranged on X-axis motor adjustable plate, and X-axis adjustment screw is connected with X-axis motor adjustable plate through X-axis adjustment screw holder; Described X-axis motor is provided with X-axis extension shaft, X-axis extension shaft is provided with X-axis driving wheel, the linear module end of described X-axis is provided with X-axis driven pulley, and X-axis driven pulley and X-axis driving wheel are linked together by X-axis belt.

Strengthened by reinforcement fixing between described X-axis connecting plate and X-axis module fixed head, improve the stability of device.

Described installing plate is provided with five groups of directive wheels, for increasing the cornerite of Y-axis driven pulley and Y-axis belt, preventing Y-axis belt creep from departing from, having guide effect.

Described grabbing assembly of taking pictures comprises Z axis module fixed head 69, Z axis contiguous block 70, Z axis motor 71, Z axis motor mounting plate 72, Z axis shaft coupling 73, z axis module 74, z axis module slide block 75, Z axis mounting bar 76, Z axis photoelectric sensor 77, Z axis sensing chip 78, lift cylinder fixed head 79, lift cylinder 80, jaw air cylinder fixed plate 81, jaw cylinder 82, jaw 83, CCD slide 84, CCD connecting plate 85, CCD86, axis light fixed mount 87 and axis light 88, and described Z axis module fixed head is arranged in X-axis mechanism by Z axis contiguous block; Described Z axis motor is arranged on Z axis motor mounting plate, and Z axis motor is linked together by Z axis shaft coupling and z axis module, z axis module is provided with z axis module slide block, and z axis module slide block is provided with CCD slide; Described Z axis mounting bar, z axis module are arranged on Z axis module fixed head respectively, Z axis mounting bar are provided with Z axis photoelectric sensor, and the Z axis sensing chip that Z axis photoelectric sensor and CCD slide sidepiece are installed matches; Described lift cylinder fixed head is arranged on Z axis module fixed head sidepiece, and lift cylinder is arranged on lift cylinder fixed head; Described jaw air cylinder fixed plate is arranged on the lifter plate of lift cylinder, and the lower end of jaw air cylinder fixed plate is provided with jaw cylinder, and jaw cylinder is provided with jaw; Described CCD is arranged on CCD slide by CCD connecting plate, CCD connecting plate is provided with axis light fixed mount, and axis light is arranged on immediately below CCD by axis light fixed mount, and axis light is coaxial with CCD.

Being provided with Z axis reinforcement 89 between described lift cylinder fixed head Z axis module fixed head strengthens fixing, improves the stability of device.

Described finished product shift-out mechanism comprises platform assembly, transfer assembly and carrier positioning component, and described transfer assembly is arranged on platform assembly; Described carrier positioning component is arranged on transfer assembly; Described platform assembly comprises fixed platform 90, mobile platform 91 and positioner, and fixed platform and mobile platform rotatably link together; Described positioner comprises fixed socket 92, movable latch seat 93 and movable latch 94, mobile platform is installed with fixed socket, fixed platform is installed with movable latch seat, movable latch coordinates and is arranged in movable latch seat, movable latch can insert in fixed socket make fixed platform and mobile platform in the same plane and locate.

Described fixed platform and mobile platform are rotatably linked together by two groups of foldings 95, and mobile platform fixed platform can turn down 90 ° relatively.

Described positioner has two groups, two fixed sockets respectively fixed symmetrical are arranged on posterior edges position, mobile platform top, two movable latch seats respectively fixed symmetrical are arranged on forward edge position, fixed platform top, and movable latch seat is corresponding with fixed socket, is convenient to movable latch and can inserts in fixed socket.

Movable latch can be extracted in fixed socket when mobile platform does not use, relative for mobile platform fixed platform is turned down 90 °, reduce the floor space of mobile platform like this, convenient operation.

Described transfer assembly comprises fixed head 96, input and output material moves cylinder holder 97, input and output material moves cylinder 98, input and output material carrier fixed head 99 and input and output material guiding mechanism, described fixed head is arranged in the fixed platform of platform assembly, input and output material moves and cylinder holder is provided with input and output material moves cylinder, and input and output material moves on cylinder and is provided with input and output material carrier fixed head; Between described fixed head and input and output material carrier fixed head, input and output material guiding mechanism is installed.

Described input and output material guiding mechanism comprises input and output material lower fixed seat 100, input and output material upper fixed seat 101 and input and output material guide 102, described input and output material lower fixed seat is arranged on fixed head, input and output material upper fixed seat is arranged on input and output material carrier fixed head, and input and output material guide is arranged between input and output material lower fixed seat and input and output material upper fixed seat.

The left and right sides of described input and output material guide is respectively equipped with chute, and the side of input and output material lower fixed seat and input and output material upper fixed seat is respectively equipped with flange, and flange cooperation is arranged in corresponding chute, and flange can along runner movement.

Described input and output material carrier fixed head bottom is provided with input and output material block 103, described fixed head is provided with input and output material buffer holder 104, and input and output material buffer holder is provided with input and output material buffer 105, and input and output material block can stop input and output material buffer.Buffer limit is carried out by input and output material block contact input and output material buffer in the position of input and output material carrier fixed head movement.

Described carrier positioning component comprises input and output material carrier 106, input and output material locating piece 107 and input and output material clamp system, described input and output material carrier is placed on input and output material carrier fixed head, and input and output material carrier fixed head top is provided with three groups of input and output material locating pieces and one group of input and output material clamp system.

Described input and output material clamp system comprises input and output material clamping cylinder 108, input and output material clamp fixed block 109 and input and output material clamp 110, described input and output material clamping cylinder is fixedly mounted on input and output material carrier fixed head bottom, the piston of input and output material clamping cylinder is provided with input and output material clamp fixed block, input and output material clamp fixed block is provided with input and output material clamp, and input and output material clamp is positioned at a wherein Angle Position place of input and output material carrier.Three groups of input and output material locating pieces can locate the position of input and output material carrier, and input and output material clamp system can clamping feeding and discharging carrier, prevents input and output material carrier from moving.

Operation principle of the present invention: the table mirror after having put the watchcase of glue and stripping is first placed in the material loading carrier of feed mechanism by workman; Take pictures grasping mechanism jaw capture watchcase, put into the carrier of Carrier mechanism and locate; Simultaneously table mirror drawn by manipulator, and the CCD taken pictures on grasping mechanism takes pictures watchcase position, and table mirror moves on to immediately below CCD by manipulator, takes pictures and shows the approximate location of mirror; Table mirror oblique cutting is entered in watchcase, the accurate navigation watch mirror of CCD, repeatedly after contraposition, until watchcase overlaps with angle with the center of circle of table mirror, table mirror is fitted on watchcase; Pressurize sucker rises and holds watchcase, and table mirror profiling sucker leaves, and pressurize sucker declines under the action of the spring, carries out pressurize; Manipulator captures product and puts on finished product shift-out mechanism, and finished product is transplanted on normal place.

Above-described embodiment is the specific descriptions of carrying out the present invention; just the present invention is further described; can not be interpreted as limiting the scope of the present invention, those skilled in the art makes some nonessential improvement according to the content of foregoing invention and adjustment all falls within protection scope of the present invention.

Claims (10)

1. a full-automatic contraposition kludge, it comprises base plate, manipulator mechanism and Carrier mechanism, described manipulator mechanism is arranged on base plate, and base plate is provided with Carrier mechanism, it is characterized in that: also comprise feed mechanism, grasping mechanism of taking pictures, lifting body and finished product shift-out mechanism; Described manipulator mechanism comprises manipulator base, manipulator and manipulator sucking disc clamp claw assembly, and manipulator floor installation is below base plate, and on described manipulator installation manipulator base, described manipulator sucking disc clamp claw assembly is installed on a robotic arm; Described feed mechanism, take pictures grasping mechanism and finished product shift-out mechanism are arranged on base plate respectively; Described lifting body is arranged on below base plate;
The jacking block rising of described lifting body can make the jacking block jack-up in Carrier mechanism, makes wedge drive movable block outwards to open along carrier slide rail; Watchcase is put between fixed block and movable block, then jacking block decline, movable block under the effect of spring a return by watchcase clamping and positioning;
The material loading bearing of described feed mechanism is provided with watchcase loading assemblies and table mirror loading assemblies; Described watchcase loading assemblies is identical with the structure of table mirror loading assemblies, but watchcase loading assemblies is provided with watchcase material loading carrier a, table mirror loading assemblies is provided with table mirror material loading carrier b;
Described grasping mechanism of taking pictures comprises X-axis mechanism, Y-axis mechanism and grabbing assembly of taking pictures, and X-axis mechanism is arranged in Y-axis mechanism, described in grabbing assembly of taking pictures be arranged in X-axis mechanism;
Described watchcase material loading carrier a lays watchcase, described table mirror material loading carrier b lays table mirror, material loading carrier base plate can be driven to move along material loading slide rail by the material loading air cylinder driven of feed mechanism, watchcase material loading carrier a or table mirror material loading carrier b can be transported to standard operation position by material loading carrier base plate; Then take pictures grasping mechanism jaw capture watchcase, put into the carrier of Carrier mechanism and locate; Simultaneously manipulator sucking disc clamp claw assembly draws table mirror, and the CCD taken pictures on grasping mechanism takes pictures watchcase position, and table mirror moves on to immediately below CCD by manipulator, takes pictures and shows the position of mirror; Table mirror oblique cutting enters in watchcase by manipulator, the accurate navigation watch mirror of CCD, until watchcase overlaps with angle with the center of circle of table mirror, fits to watchcase on by table mirror through repeatedly contraposition; When showing mirror and being installed on watchcase, jacking block is jack-up sucker suction table mirror again, and jacking block declines, and sucker pulls down under the effect of spring b, thus his-and-hers watches mirror carries out pressurize; Last manipulator captures product and puts on finished product shift-out mechanism.
2. the full-automatic contraposition kludge of one according to claim 1, is characterized in that: described Carrier mechanism comprises carrier base plate, and carrier base plate is arranged on carrier installing plate upper right, and described carrier base plate upper right is provided with fixed block; Described carrier installing plate upper left-hand is horizontally installed with carrier slide rail, carrier slide rail is provided with carrier slide block, carrier slide block is provided with movable block; Be installed with spring block on the left of described carrier installing plate, described movable block left side is provided with slotted eye, is equipped with spring a in slotted eye, and spring block top supports on spring a; Described carrier installing plate bottom is provided with four spring axis of guides, each spring axis of guide is socketed with one group of spring b and group spring pad epipodium, four groups of spring pad epipodiums are provided with sucker float plate; Two spring axis of guides of front side are provided with spring regulating block, two spring axis of guides of rear side are also provided with spring regulating block, and are separately installed with Spring set screws between each spring regulating block and carrier installing plate; Described sucker float plate is provided with sucker column, and sucker column upper end is provided with sucker, and sucker column lower end is provided with gas-tpe fitting, and gas-tpe fitting bottom is provided with gas-tpe fitting shrouding; Described movable block left end is provided with wedge, and wedge lower end is passed from carrier installing plate.
3. the full-automatic contraposition kludge of one according to claim 2, is characterized in that: described wedge upper end is fastened on movable block, and wedge is fixed on movable block by being spirally connected, and movable block right flank is provided with two location thimbles.
4. the full-automatic contraposition kludge of one according to claim 1, it is characterized in that: described lifting body comprises jacking bottom plate, jacking axis mechanism and jacking Y-axis mechanism, jacking Y-axis mechanism is arranged on jacking bottom plate, and described jacking X-axis mechanism is arranged in jacking Y-axis mechanism; Described jacking X-axis mechanism is provided with jacking assembly; Described jacking assembly comprises jacking keyset, jacking installing plate, jacking motor, jacking motor mounting plate, jacking driving wheel, jacking mounting bar, jacking photoelectric sensor, jacking sensing chip, jacking slide rail, jacking slide block, jacking fixed block, screw mandrel bearing cushion block, screw mandrel bearing, screw mandrel, feed screw nut, jacking block and jacking driven pulley, described jacking keyset is arranged on the X-axis contiguous block of jacking X-axis mechanism, and jacking installing plate is arranged on jacking keyset; Described jacking motor is arranged on jacking motor mounting plate, jacking motor is provided with jacking driving wheel; Described jacking mounting bar, jacking slide rail are arranged on jacking installing plate, jacking mounting bar are provided with jacking photoelectric sensor, jacking slide rail are provided with jacking slide block, jacking slide block are provided with jacking fixed block; Described screw mandrel bearing cushion block is arranged on jacking installing plate, and described screw mandrel bearing is arranged on screw mandrel bearing cushion block, screw mandrel bearing is provided with screw mandrel, screw mandrel is provided with feed screw nut, and feed screw nut is arranged on jacking fixed block; Described jacking fixed block sidepiece is provided with jacking sensing chip, and jacking fixed block front portion is provided with jacking block; Described screw mandrel lower end is provided with jacking driven pulley; Linked together by belt between jacking driven pulley and jacking driving wheel.
5. the full-automatic contraposition kludge of one according to claim 4, is characterized in that: described jacking block upper end is provided with inclined plane.
6. the full-automatic contraposition kludge of one according to claim 1, it is characterized in that: watchcase loading assemblies and the table mirror loading assemblies of described feed mechanism comprise material loading installing plate, material loading cylinder, front material loading cylinder saddle, rear material loading cylinder saddle, material loading mounting bar, material loading photoelectric sensor, material loading sensing chip, material loading slide rail cushion block, material loading slide rail, material loading slide block and material loading carrier base plate respectively, and described material loading installing plate is arranged on material loading bearing; Described material loading cylinder is arranged on material loading installing plate by forward and backward material loading cylinder saddle; Described material loading slide rail cushion block, material loading mounting bar are arranged on material loading installing plate, and described material loading mounting bar is provided with material loading photoelectric sensor, material loading slide rail cushion block is provided with material loading slide rail, material loading slide rail is provided with material loading slide block; Described material loading carrier base plate is arranged on the piston of material loading slide block and material loading cylinder, and the sidepiece of material loading carrier base plate is provided with material loading sensing chip; Described material loading carrier base plate is provided with watchcase material loading carrier a or table mirror material loading carrier b.
7. the full-automatic contraposition kludge of one according to claim 1, it is characterized in that: on rear side of described material loading installing plate, by material loading buffer fixed block, material loading buffer is installed, the bottom of material loading carrier base plate is provided with material loading block, and material loading block and material loading buffer adapt; Material loading carrier base plate on described watchcase loading assemblies is provided with material loading proximity transducer; Material loading slide rail cushion block sidepiece on described table mirror loading assemblies is provided with material loading structure of fiber_optic, material loading structure of fiber_optic is provided with material loading optical fiber.
8. the full-automatic contraposition kludge of one according to claim 1, it is characterized in that: described in the take pictures grabbing assembly of taking pictures of grasping mechanism comprise Z axis module fixed head, Z axis contiguous block, Z axis motor, Z axis motor mounting plate, Z axis shaft coupling, z axis module, z axis module slide block, lift cylinder fixed head, lift cylinder, jaw air cylinder fixed plate, jaw cylinder, jaw, CCD slide, CCD connecting plate, CCD, axis light fixed mount and axis light, described Z axis module fixed head is arranged in X-axis mechanism by Z axis contiguous block; Described z axis module is arranged on Z axis module fixed head; Described Z axis motor is arranged on Z axis motor mounting plate, and Z axis motor is linked together by Z axis shaft coupling and z axis module, z axis module is provided with z axis module slide block, and z axis module slide block is provided with CCD slide; Described lift cylinder fixed head is arranged on Z axis module fixed head sidepiece, and lift cylinder is arranged on lift cylinder fixed head; Described jaw air cylinder fixed plate is arranged on the lifter plate of lift cylinder, and the lower end of jaw air cylinder fixed plate is provided with jaw cylinder, and jaw cylinder is provided with jaw; Described CCD is arranged on CCD slide by CCD connecting plate, CCD connecting plate is provided with axis light fixed mount, and axis light is arranged on immediately below CCD by axis light fixed mount, and axis light is coaxial with CCD.
9. the full-automatic contraposition kludge of one according to claim 1, it is characterized in that: described finished product shift-out mechanism comprises platform assembly, transfer assembly and carrier positioning component, described transfer assembly is arranged on platform assembly; Described carrier positioning component is arranged on transfer assembly; Described transfer assembly comprises fixed head, input and output material moves cylinder holder, input and output material moves cylinder, input and output material carrier fixed head and input and output material guiding mechanism, described fixed head is arranged in the fixed platform of platform assembly, input and output material moves and cylinder holder is provided with input and output material moves cylinder, and input and output material moves on cylinder and is provided with input and output material carrier fixed head; Between described fixed head and input and output material carrier fixed head, input and output material guiding mechanism is installed.
10. the full-automatic contraposition kludge of one according to claim 9, it is characterized in that: described platform assembly comprises fixed platform, mobile platform and positioner, fixed platform and mobile platform rotatably link together; Described positioner comprises fixed socket, movable latch seat and movable latch, mobile platform is installed with fixed socket, fixed platform is installed with movable latch seat, movable latch cooperation is arranged in movable latch seat, movable latch can insert in fixed socket make fixed platform and mobile platform in the same plane and locate, mobile platform fixed platform can turn down 90 ° relatively.
CN201510657544.XA 2015-10-13 2015-10-13 A kind of full-automatic contraposition kludge CN105196032B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201510657544.XA CN105196032B (en) 2015-10-13 2015-10-13 A kind of full-automatic contraposition kludge

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201510657544.XA CN105196032B (en) 2015-10-13 2015-10-13 A kind of full-automatic contraposition kludge

Publications (2)

Publication Number Publication Date
CN105196032A true CN105196032A (en) 2015-12-30
CN105196032B CN105196032B (en) 2018-01-12

Family

ID=54944160

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201510657544.XA CN105196032B (en) 2015-10-13 2015-10-13 A kind of full-automatic contraposition kludge

Country Status (1)

Country Link
CN (1) CN105196032B (en)

Cited By (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105397462A (en) * 2015-12-30 2016-03-16 深圳连硕自动化科技有限公司 Precise speed reducer bearing assembling device
CN105666103A (en) * 2016-01-07 2016-06-15 苏州市璟硕自动化设备有限公司 Production system for liquid crystal displays (LCDs)
CN105729111A (en) * 2016-04-15 2016-07-06 苏州鸿普精密模具有限公司 Transposition device of socket assembling machine
CN105817877A (en) * 2016-05-17 2016-08-03 广东金弘达自动化科技股份有限公司 Automatic feeding and assembling machine for aluminum pad of all-in-one machine core
CN106002167A (en) * 2016-07-29 2016-10-12 昆山杰士德精密工业有限公司 Watch battery and shell assembling equipment
CN106101320A (en) * 2016-07-28 2016-11-09 芜湖辉灿电子科技有限公司 Mobile phone screen erecting device
CN106112517A (en) * 2016-08-19 2016-11-16 高精科技(苏州)有限公司 combination product assembly system
CN106166754A (en) * 2016-08-18 2016-11-30 苏州元谋智能机器人系统有限公司 A kind of band buffer can grab clamp device by self-locking material
CN106197527A (en) * 2016-08-19 2016-12-07 高精科技(苏州)有限公司 Assembling products detection system
CN106271609A (en) * 2016-08-31 2017-01-04 浙江亿田电器有限公司 A kind of shell assembly machine of household integrated stove
CN106773605A (en) * 2017-01-19 2017-05-31 韩洋 Shell positioning assembling device and its processing technology after wrist-watch
CN107775302A (en) * 2017-10-24 2018-03-09 江苏唯侓机器人科技有限公司 One kind automation Cellphone Accessories package system
CN109838434A (en) * 2019-03-06 2019-06-04 东莞华贝电子科技有限公司 Automation point sticker screen system
CN109894838A (en) * 2019-04-12 2019-06-18 博众精工科技股份有限公司 Control method, device, equipment and the storage medium of abutted equipment
CN110238628A (en) * 2017-08-22 2019-09-17 东莞市蓉工自动化科技有限公司 A kind of motor drum in-phase assembling equipment

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS62224531A (en) * 1986-03-25 1987-10-02 Seiko Epson Corp Device for assembling watch parts
CN203611524U (en) * 2013-11-22 2014-05-28 苏州博众精工科技有限公司 Full-automatic assembling device
CN103831604A (en) * 2014-03-07 2014-06-04 苏州博众精工科技有限公司 Full-automatic gasket assembler
CN104457589A (en) * 2014-12-26 2015-03-25 苏州博众精工科技有限公司 Automation equipment used for detecting height difference of electronic product
CN104668952A (en) * 2015-02-27 2015-06-03 苏州博众精工科技有限公司 Four-axis direction-adjustable component mounting mechanism
CN205032906U (en) * 2015-10-13 2016-02-17 苏州博众精工科技有限公司 Full automatic alignment kludge

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS62224531A (en) * 1986-03-25 1987-10-02 Seiko Epson Corp Device for assembling watch parts
CN203611524U (en) * 2013-11-22 2014-05-28 苏州博众精工科技有限公司 Full-automatic assembling device
CN103831604A (en) * 2014-03-07 2014-06-04 苏州博众精工科技有限公司 Full-automatic gasket assembler
CN104457589A (en) * 2014-12-26 2015-03-25 苏州博众精工科技有限公司 Automation equipment used for detecting height difference of electronic product
CN104668952A (en) * 2015-02-27 2015-06-03 苏州博众精工科技有限公司 Four-axis direction-adjustable component mounting mechanism
CN205032906U (en) * 2015-10-13 2016-02-17 苏州博众精工科技有限公司 Full automatic alignment kludge

Cited By (21)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105397462A (en) * 2015-12-30 2016-03-16 深圳连硕自动化科技有限公司 Precise speed reducer bearing assembling device
CN105666103A (en) * 2016-01-07 2016-06-15 苏州市璟硕自动化设备有限公司 Production system for liquid crystal displays (LCDs)
CN105666103B (en) * 2016-01-07 2018-06-26 苏州市璟硕自动化设备有限公司 For the production system of LCD
CN105729111A (en) * 2016-04-15 2016-07-06 苏州鸿普精密模具有限公司 Transposition device of socket assembling machine
CN105817877A (en) * 2016-05-17 2016-08-03 广东金弘达自动化科技股份有限公司 Automatic feeding and assembling machine for aluminum pad of all-in-one machine core
CN105817877B (en) * 2016-05-17 2019-01-04 广东金弘达自动化科技股份有限公司 A kind of all-in-one machine machine core aluminium pad automatic charging assembly machine
CN106101320A (en) * 2016-07-28 2016-11-09 芜湖辉灿电子科技有限公司 Mobile phone screen erecting device
CN106002167A (en) * 2016-07-29 2016-10-12 昆山杰士德精密工业有限公司 Watch battery and shell assembling equipment
CN106166754B (en) * 2016-08-18 2018-01-30 苏州元谋智能机器人系统有限公司 It is a kind of with buffer can self-locking material grab clamp device
CN106166754A (en) * 2016-08-18 2016-11-30 苏州元谋智能机器人系统有限公司 A kind of band buffer can grab clamp device by self-locking material
CN106197527A (en) * 2016-08-19 2016-12-07 高精科技(苏州)有限公司 Assembling products detection system
CN106197527B (en) * 2016-08-19 2019-03-08 高精科技(苏州)有限公司 Assemble products detection system
CN106112517A (en) * 2016-08-19 2016-11-16 高精科技(苏州)有限公司 combination product assembly system
CN106271609A (en) * 2016-08-31 2017-01-04 浙江亿田电器有限公司 A kind of shell assembly machine of household integrated stove
CN106773605B (en) * 2017-01-19 2019-02-05 深圳市瑞辉钟表有限公司 Wrist-watch rear shell positions assembling device and its processing technology
CN106773605A (en) * 2017-01-19 2017-05-31 韩洋 Shell positioning assembling device and its processing technology after wrist-watch
CN110238628A (en) * 2017-08-22 2019-09-17 东莞市蓉工自动化科技有限公司 A kind of motor drum in-phase assembling equipment
CN107775302A (en) * 2017-10-24 2018-03-09 江苏唯侓机器人科技有限公司 One kind automation Cellphone Accessories package system
CN109838434A (en) * 2019-03-06 2019-06-04 东莞华贝电子科技有限公司 Automation point sticker screen system
CN109894838A (en) * 2019-04-12 2019-06-18 博众精工科技股份有限公司 Control method, device, equipment and the storage medium of abutted equipment
CN109894838B (en) * 2019-04-12 2020-06-16 博众精工科技股份有限公司 Control method, device and equipment of laminating equipment and storage medium

Also Published As

Publication number Publication date
CN105196032B (en) 2018-01-12

Similar Documents

Publication Publication Date Title
CN103170859B (en) Thin-wall large part flexible fixture
CN104028986B (en) A kind of pad automatic joint device
KR100878540B1 (en) Electronic component placement machine and electronic component placement method
CN103231244B (en) A kind of automatic aligning component-mounting machine
CN103831604B (en) A kind of full-automatic shim pack installation
CN205290347U (en) Automatic assembly machine
CN103692199A (en) Screw locking mechanism
CN104858637A (en) Automatic alignment press-fit mechanism
CN103707033B (en) A kind of component-mounting machine of automatic selection part
KR101477658B1 (en) inspection device for mobile camera lens module
JP2003340658A (en) Product assembling apparatus
CN101707181B (en) Chip pick-and-place control method and device
CN103698916A (en) Pipeline type LCD (Liquid Crystal Display) mounting equipment
CN203649809U (en) Part assembling machine capable of automatically selecting parts
CN104096969B (en) For the compact type automatic coupling welding equipment of coaxial type opto-electronic device
CN104002293B (en) A kind of lamination machinery mobile phone structure
CN104914520B (en) A kind of three-body type coaxial type opto-electronic device automatic coupling device
CN103693441A (en) Suction mechanism with Z-axis clamping jaws
CN104625731B (en) Auto-align multi-station parts mounter
US6579057B2 (en) Conveyor apparatus for dies and small components
CN203658694U (en) Assembly line type liquid crystal display (LCD) assembling device
CN203624557U (en) Sucking disc transmission device capable of automatically positioning
CN105436877B (en) A kind of Full automatic screw lock adhering mechanism
CN202759670U (en) Chip mounter
CN105196057B (en) A kind of rotating disc type eyeglass vehicle edge turning chamfering machine

Legal Events

Date Code Title Description
PB01 Publication
C06 Publication
SE01 Entry into force of request for substantive examination
C10 Entry into substantive examination
CB02 Change of applicant information

Address after: The Wujiang economic and Technological Development Zone West Road Wujiang District of Suzhou City, Jiangsu Province, No. 666 215200

Applicant after: Bo Seiko Polytron Technologies Inc

Address before: The Wujiang economic and Technological Development Zone West Road Wujiang District of Suzhou City, Jiangsu Province, No. 666 215200

Applicant before: Suzhou Bozhong Precision Industry Technology Co., Ltd.

CB02 Change of applicant information
GR01 Patent grant
GR01 Patent grant