CN105805114A - Full-automatic efficient precision assembling machine - Google Patents

Abstract

The invention discloses a full-automatic efficient precision assembling machine. The full-automatic efficient precision assembling machine comprises a rack, a workbench arranged on the rack, a feeding supporting disc station, a product locating station, a feeding station, an assembling hot melt adhesive station, a to-be-assembled piece assembling station, a to-be-assembled piece supporting disc placing station, a jig transferring station, a pressure maintaining station, a detection station, a material taking station, an unqualified product receiving station and a qualified product supporting disc station, wherein the feeding supporting disc station, the product locating station, the feeding station, the assembling hot melt adhesive station, the to-be-assembled piece assembling station, the to-be-assembled piece supporting disc placing station, the jig transferring station, the pressure maintaining station, the detection station, the material taking station, the unqualified product receiving station and the qualified product supporting disc station are sequentially distributed around the workbench. Product locating jigs are transferred among the stations through a supporting and conveying mechanism, and devices on all the stations are connected with a PLC. The assembling machine is compact in structure, can achieve efficient and precise assembly of products and pieces to be assembled and integrates the feeding, hot melt achieve gluing, to-be-assembled piece gluing, detection and discharging processes, and the product assembling production line can be shortened.

Description

A high-efficiency fully automatic precision assembly machine

technical field

The invention relates to the technical field of assembly equipment, in particular to an efficient automatic precision assembly machine.

Background technique

In industrial assembly, there are usually multiple assembly processes, which are required to be assembled according to a certain process, and multiple accessories are installed on a certain product body according to a certain process requirement, and the assembly accuracy and efficiency are required to be high. Traditional manual assembly The method is far from meeting the requirements of various industries for assembly accuracy and assembly efficiency, especially the fully automatic precision assembly of small parts that require high efficiency and high quality has become a hot and difficult issue in the industrial assembly industry.

Contents of the invention

The purpose of the present invention is to provide a high-efficiency fully automatic precision assembly machine. The device integrates loading, hot-melt adhesive, assembly, detection, and blanking processes. The technical problem of high-precision adhesion of melt adhesive to parts to be assembled.

Based on the above problems, the technical solution provided by the invention is:

A high-efficiency fully automatic precision assembly machine, including a frame, a workbench arranged on the frame, and a feeding tray station, a product positioning station, a feeding station, Assembling the hot melt glue station, assembling the parts to be assembled, placing the tray of the parts to be assembled, transferring the jig, holding the pressure, testing, retrieving the unqualified products, and Qualified product tray station, the product positioning fixture is transferred between the above-mentioned stations through the supporting mechanism, the product is loaded at the loading station, passes through the assembly hot-melt glue station, and the assembly is to be assembled The parts station fixes the parts to be assembled on the product with hot melt glue, and after being fixed at the pressure holding station, the inspection station detects whether the assembly between the parts to be assembled and the product is qualified and then removes the material from the reclaiming station. Enter the qualified product tray station or the unqualified product receiving station, and the devices on each station are connected with the PLC controller.

Further, the first manipulator for feeding, the second manipulator for sucking the parts to be assembled and the The third manipulator for taking and placing the tested products.

Further, the hot-melt mechanism of the assembly hot-melt glue station includes a cylinder fixed on the bracket, a heating device connected to the cylinder, a hot-melt head and a feeding mechanism arranged under the heating device, and the feeding mechanism includes a feeding end , the receiving end and the hot-melt tape guiding mechanism arranged at the feeding end and the receiving end, the hot-melt tape guiding mechanism transports the hot-melt adhesive to be assembled to the product below the hot-melt head.

Further, the pressure-holding mechanism of the pressure-holding station includes two parts: a pressure-holding head for pressure-holding the product where the parts to be assembled are assembled and a pre-pressing head for pre-pressing the center of the product .

Further, the assembling hot-melt glue station includes a first assembling hot-melt glue station and a second assembling hot-melt glue station, and the holding pressure station includes a first holding pressure station and a second holding pressure station .

Further, the assembly station to be assembled is provided with a CCD industrial camera I and a CCD industrial camera II for the positioning of the parts to be assembled, and a fifth electric cylinder is provided, and the fifth electric cylinder is provided with a product for positioning Mobile CCD industrial camera III, the detection station is equipped with CCD industrial camera IV for detecting whether the product is installed qualified.

Further, the supporting mechanism includes a first supporting mechanism, a second supporting mechanism, a third supporting mechanism and a fourth supporting mechanism respectively located around the frame, and the first and third supporting mechanisms It includes an electric cylinder and three jacking cylinders that are slidably connected with the electric cylinders. The second and fourth supporting mechanisms include an electric cylinder and a jacking cylinder that is slidably connected with the electric cylinders. There are positioning pins for fixing the product positioning jig.

Further, several hollow grooves are provided on the tray of the parts to be assembled for placing the parts to be assembled.

Further, the frame is also provided with a protective cover, and the protective cover is provided with a maintenance window.

Further, the protective cover is also provided with a touch screen and a display screen, and buttons for start, reset and emergency stop are provided below the display screen.

Further, an LED flat light source is provided between the suction head of the second manipulator and the telescopic cylinder, and the suction head is made of acrylic material.

Compared with prior art, the advantage of the present invention is:

1. Adopting the technical scheme of the present invention, the assembly machine integrates loading, hot melt adhesive application, assembly-to-be-assembled parts, detection and unloading of assembled products, and has a compact structure, which greatly shortens the production line of product assembly and saves space for installation.

2. Adopting the technical solution of the present invention, the device has the advantages of compact structure, high assembly efficiency, high assembly accuracy, high assembly stability, and high degree of automation, which is convenient for mass product assembly, and is especially suitable for multiple parts with high precision In the case of assembly, problems such as unstable precision and slow speed of manual assembly are solved.

Description of drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following will briefly introduce the accompanying drawings that need to be used in the description of the embodiments. The accompanying drawings in the following description are only some embodiments of the present invention. As far as the skilled person is concerned, other drawings can also be obtained based on these drawings on the premise of not paying creative work.

Fig. 1 is the structural representation of the embodiment of a kind of high-efficiency full-automatic precision assembly machine of the present invention;

Fig. 2 is the structural representation of the embodiment of the present invention removing protective cover;

Fig. 3 is the structural representation of each station on the frame of the embodiment of the present invention;

Fig. 4 is the structural representation of each station in the embodiment of the present invention;

Fig. 5 is the structural representation of the product in the embodiment of the present invention;

Figure 6 is a schematic structural view of the hot melt adhesive to be assembled in the embodiment of the present invention;

7 is a schematic structural view of the parts to be assembled in the embodiment of the present invention;

Fig. 8 is a schematic structural view of a positioning jig for parts to be assembled in an embodiment of the present invention;

Fig. 9 is a schematic structural view of the first supporting mechanism in an embodiment of the present invention;

Fig. 10 is the working flowchart of the embodiment of the present invention;

Fig. 11 is a schematic structural diagram of a hot-melt mechanism according to an embodiment of the present invention;

Fig. 12 is a schematic diagram of a pressure maintaining mechanism according to an embodiment of the present invention;

Among them: 1-frame, 2-protective cover, 3-loading tray station, 4-product positioning station, 5-loading station, 6-first assembly hot melt glue station, 7-second assembly Hot melt glue station, 8-assembly station for parts to be assembled, 9-station for pallet placement of parts to be assembled, 10-fixture transfer station, 11-first pressure holding station, 12-second pressure holding station , 13-testing station, 14-receiving station, 15-receiving station for unqualified products, 16-receiving tray station for qualified products, 17-first manipulator, 18-fourth delivery mechanism, 19- Hollow groove, 20-product positioning fixture, 21-second manipulator, 22-hot melt adhesive to be assembled, 23-CCD industrial camera I, 24-CCD industrial camera II, 25-product, 26-third manipulator, 27 -Touch screen, 28-Display, 29-Start, reset, emergency stop button, 30-Workbench, 31-Foot cup, 32-Caster, 33-Electric control cabinet, 34-Maintenance window, 35-CCD industrial camera III, 36 -CCD industrial camera IV, 37-first electric cylinder, 38-second electric cylinder, 39-third electric cylinder, 40-fourth electric cylinder, 41-fifth electric cylinder, 42-sixth electric cylinder, 43- The placement position of the feeding and receiving tray, 44-parts to be assembled, 45-positioning fixture for parts to be assembled, 46-foolproof arc, 47-first jacking cylinder, 48-second jacking cylinder, 49-third Jacking cylinder, 50-first supporting mechanism, 51-locating pin, 52-second supporting mechanism, 53-third supporting mechanism, 54-holding head, 55-preloading head, 56-hot melt head , 57-cylinder, 58-heating device, 59-feeding end, 60-receiving end, 61-hot melt tape guiding mechanism.

detailed description

The above solution will be further described below in conjunction with specific embodiments. It should be understood that these examples are used to illustrate the present invention and not to limit the scope of the present invention. The implementation conditions used in the examples can be further adjusted according to the conditions of specific manufacturers, and the implementation conditions not indicated are usually the conditions in routine experiments.

Referring to Fig. 1-12, it is the structural schematic diagram of the embodiment of the present invention, provides a kind of high-efficiency full-automatic precision assembly machine, and it comprises frame 1, the workbench 30 that is arranged on the frame 2, and along workbench 30 all around successively arranges Cloth feeding tray station 3, product positioning station 4, material feeding station 5, assembly hot melt glue station, assembling to-be-assembled parts station 8, to-be-assembled parts tray placement station 9, jig transfer station 10. Pressure holding station, testing station 13, material retrieving station 14, unqualified product receiving station 15 and qualified product tray receiving tray 16, among which the loading tray station 3 and qualified product receiving tray The station 16 is located at one end of the worktable 30 and the jig transfer station 10 is located at the other end of the workbench 30. The product positioning jig 20 is transferred between the above-mentioned stations by the supporting mechanism, and each device of the above-mentioned stations Connected with the PLC controller, the product is loaded on the loading tray station 3 during assembly, the hot melt adhesive station for assembly and the assembly station 8 for the parts to be assembled are fixed on the product by hot melt adhesive, and after pressure maintaining After the station is fixed, the inspection station 13 detects whether the assembly between the parts to be assembled and the product is qualified, and enters the receiving tray station 16 for qualified products or the receiving station 15 for unqualified products from the retrieving station 14. The assembly machine integrates The process of loading, pasting hot melt adhesive, pasting parts to be assembled, testing, and blanking is simplified, which greatly shortens the traditional assembly line and saves installation space.

Specifically, the first manipulator 17 for feeding, the second manipulator 21 for sucking the parts 44 to be assembled and the second manipulator 21 for sucking the parts to be assembled 44 are arranged respectively at the loading station 5, the station 8 for assembling the parts to be assembled, and the station 14 for taking materials. The third manipulator 26 for taking and placing the measured product.

In order to further improve the assembly accuracy of the assembly machine of the present invention, in this example, four product pre-positioning stations are set at the product positioning station 4, and the first manipulator 17 once sucks four products to the product positioning station 4 for positioning, and then takes out 1 #, 2#, 3#, 4# products to the loading station 5 for secondary positioning, and the corresponding hot melt glue assembly station is equipped with the first hot melt glue assembly station 6 and the second hot melt glue assembly station 7, The pressure holding station is equipped with a first pressure holding station 11 and a second pressure holding station 12. 1#, 3# products and 2#, 4# products are assembled in the first assembly hot melt glue station 6 and the second The assembly hot melt adhesive station 7 attaches the hot melt adhesive to be assembled, and then the four products enter the assembly station 8 of the parts to be assembled.

In order to realize the transfer of products and product positioning fixtures between the above-mentioned stations, a first supporting mechanism 50, a second supporting mechanism 52, a third supporting mechanism 54 and a fourth supporting mechanism are respectively set up around the workbench. Supporting mechanism 18, wherein the first supporting mechanism 50, the third supporting mechanism 54 include electric cylinders and three jacking cylinders that are slidably connected with electric cylinders, the second supporting mechanism 52 and the fourth supporting mechanism 18 include electric cylinders. Cylinder and a jacking cylinder that is slidably connected with the electric cylinder, referring to Fig. 9, taking the first supporting mechanism 50 as an example, it includes the first electric cylinder 37 and three jacking cylinders that are slidably connected with the first electric cylinder 37, That is, the first jacking cylinder 47, the second jacking cylinder 48 and the third jacking cylinder 49. The jacking cylinder is provided with a positioning pin 51 for fixing the product positioning fixture. After the jacking cylinder is raised, the positioning pin 51 is inserted In the pin holes of the product positioning jigs 20, the first electric cylinder 37 drives the three product positioning jigs 20 to move one station toward the next station and then drop down.

Referring to Fig. 11, the hot-melt mechanism of the above-mentioned assembled hot-melt adhesive station includes a cylinder 57 fixed on the support, a heating device 58 connected to the cylinder 57, a hot-melt head 56 and a feeding mechanism arranged below the heating device 58, the feeding The mechanism is used to transport the hot melt adhesive 22 to be assembled to the product 25 below the hot melt head 56. The feeding mechanism includes a feeding end 56, a receiving end 60 and a hot melt tape guiding mechanism arranged at the feeding end 56 and the receiving end 60. 61, the feeding end 59 and the receiving end 60 cooperate to move, and the hot melt adhesive 22 to be assembled moves to the right below the hot melt head 56 under the action of the hot melt tape guide mechanism 61, and the cylinder 57 is pressed down to be heated by the heating device 58 The hot-melt head 56 carries out the sticking hot-melt glue action to the hot-melt glue 22 to be assembled and the product 25 sticking positions.

Referring to Fig. 12, the pressure holding mechanism of the above-mentioned pressure holding station is mainly composed of a pressure holding head 54 and a pre-pressing head 55. The pre-pressing head 5 is pre-pressed on the center of the product 25 to prevent the pressure holding head 54 from being assembled at one end of the product 25. The other end of the product 25 lifts or deviates when the assembly part 44 is pressurized.

In order to realize the accurate assembly of the parts to be assembled and the inspection of the assembled products, there are CCD industrial cameras I23 and CCD industrial cameras II24 for positioning the parts to be assembled on the station 8 of the parts to be assembled, respectively for 1# and 3# The parts to be assembled and 2# and 4# to be assembled are photographed and positioned, and a fifth electric cylinder 41 is also provided. The fifth electric cylinder 41 is slidably connected with a mobile CCD industrial camera III35 for positioning from the assembly hot melt glue station. For the delivered product 25, the inspection station 13 is equipped with a sixth electric cylinder 42 and a CCD industrial camera IV36 installed on the sixth electric cylinder 42 to detect whether the product is qualified. #, 4# products are detected; the second manipulator 21 draws four parts to be assembled from the pallet placement station 9 of the parts to be assembled. At this time, the CCD industrial camera I23 and the CCD industrial camera II24 locate the parts to be assembled, while the CCD industrial camera III35 The product 25 is positioned, and the second manipulator 21 is assembled according to the positioning coordinates of the product 25 and the part 44 to be assembled. After the assembly is completed, the product 25 and the product positioning jig 20 enter the first holding station through the jig and the transfer station 10 11 and the second holding station 12 carry out pressure holding, and the first holding station 11 and the second holding station 12 carry out holding pressure on 1#, 3# and 2#, 4# products respectively, and then enter the inspection Station 13, the sixth electric cylinder 42 drives the CCD industrial camera IV36 to successively take photos of the four products to check whether the assembly quality is qualified, and transmits the test results to the third manipulator 26, and the third manipulator 26 puts the qualified products in the qualified product collection box. The tray of the material tray station 16 places the unqualified product in the tray of the unqualified product receiving station 15.

An LED panel light source is arranged between the suction head of the second manipulator 21 and the telescopic cylinder, so that the CCD industrial camera I23 and the CCD industrial camera II24 take pictures of the part 44 to be assembled by the second manipulator 21, and the suction head of the second manipulator 21 Made of acrylic material, it is more convenient for the second manipulator 21 to pick up the parts to be assembled.

The tray 45 of the parts to be assembled is provided with several hollow grooves 19, and the parts to be assembled 44 are placed in the grooves 19. Since the grooves 19 are hollowed out, the sucker of the second manipulator 21 facilitates the parts to be assembled 44 from the parts to be assembled. On the piece tray 45, in this example, one side of each groove 19 is also provided with a fool-proof arc 46.

In order to make the structure of the assembly machine of the present invention more compact, a protective cover 2 is also provided on the frame 1, an industrial control cabinet 33 is provided below the workbench 30, and a maintenance window 34 is provided on the protective cover 2 for daily maintenance. 2 is also provided with touch screen 27, display screen 28 and start, reset, emergency stop button 29 connected with PLC controller, and the bottom of frame 1 is also provided with foot cup 31 and caster 32.

Referring to Fig. 10, a brief introduction is made to the working process of the assembly machine of the present invention:

When assembling, place the product on the feeding tray station 3, the first manipulator 17 sucks four pieces of products through the vacuum suction cup and place them at the product positioning station 4, after preliminary positioning, the first manipulator 17 sucks the product 25 through the vacuum suction cup and Placed at loading station 5, the four product positioning fixtures 20 and the products on them go to the first assembly hot melt adhesive station 6 and the second assembly hot melt adhesive station 7 to perform the assembly hot melt adhesive process, and then the product 25 and the product positioning jig 20 to the station 8 for assembling the parts to be assembled, the second manipulator 21 sucks four parts 44 to be assembled from the station 9 for placing the tray of the parts to be assembled, and the station 8 for assembling the parts to be assembled is fixedly installed The CCD industrial camera I23 and the CCD industrial camera II24 are used for the positioning of the assembly 44, and a mobile CCD industrial camera III35 is installed on the fifth electric cylinder 41 for positioning the product 25. Then, the second manipulator 21 is based on the product 25 and The positioning coordinates of the parts to be assembled 44 are assembled. After the assembly is completed, the product positioning jig 20 and the product 25 on it enter the first holding pressure station 11 and the second holding pressure station 12 through the jig transfer station 10 for holding. Then enter the detection station 13, the ccD industrial camera IV36 on the sixth electric cylinder 42 detects the assembly quality, and then enters the reclaiming station 14, the suction cup at the end of the third manipulator 26 absorbs the tested product,

If some product testing results are qualified, then these qualified products are placed in the tray of the qualified product receiving pallet station 16 by the third manipulator 26, if some product testing results are unqualified, then the unqualified products are placed by the third manipulator 26 In the tray of the unqualified product receiving station 15, the empty product positioning jig 20 is then moved to the loading station 5 by the fourth supporting mechanism 18.

The above examples are only to illustrate the technical conception and characteristics of the present invention. The purpose is to enable those familiar with this technology to understand the content of the present invention and implement it accordingly, and cannot limit the protection scope of the present invention. All equivalent changes or modifications made according to the spirit of the present invention shall fall within the protection scope of the present invention.

Claims (10)

1. A high-efficiency full-automatic precision assembly machine is characterized in that: comprise frame (1), be arranged on the workbench (30) on described frame (1) and arrange successively along described workbench (30) around Cloth feeding tray station (3), product positioning station (4), feeding station (5), assembling hot melt glue station, assembling to-be-assembled work station (8), to-be-assembled piece tray placement work station (9), jig transfer station (10), pressure holding station, testing station (13), retrieving station (14), unqualified product receiving station (15) and qualified product receiving tray Station (16), the product positioning jig (20) is transferred between the above-mentioned stations by the supporting mechanism, and the product (25) is loaded at the feeding station (5), and is hot-melted through the assembly. The glue station, the assembly station (8) fix the article (44) on the product (25) by hot melt glue, and fix it at the detection station (13) after being fixed by the pressure holding station. Detect whether the assembly between the parts to be assembled (44) and the product (25) is qualified, and enter the receiving tray station (16) for the qualified product from the reclaiming station (14) or the receiving tray station for the unqualified product. Material station (15), the device on each station links to each other with PLC controller. 2. The high-efficiency fully automatic precision assembly machine according to claim 1, characterized in that: the loading station (5), the assembly station (8) and the reclaiming station (14 ) are respectively provided with a first manipulator (17) for feeding, a second manipulator (21) for picking up parts to be assembled (44) and a third manipulator (26) for taking and placing measured products. 3. The high-efficiency fully automatic precision assembly machine according to claim 1, characterized in that: the hot-melt mechanism of the assembly hot-melt glue station includes a cylinder (57) fixed on the bracket, a cylinder (57) connected with the cylinder (57) Heating device (58), the hot-melt head (56) that is arranged on heating device (58) below and feeding mechanism, described feeding mechanism includes feeding end (56), receiving end (60) and being arranged on feeding end (56) And the hot-melt tape guide mechanism (61) of receiving end (60), described hot-melt tape guide mechanism (61) will be assembled hot-melt adhesive (22) to the product ( 25) on. 4. The high-efficiency full-automatic precision assembly machine according to claim 1, characterized in that: the pressure-holding mechanism of the pressure-holding station includes a set of parts to be assembled ( The pressure-holding head (54) at 44) and the pre-pressing head (55) that is used to pre-press the center of the product (25) are two parts. 5. The high-efficiency fully automatic precision assembly machine according to claim 1, characterized in that: said assembling hot-melt glue station comprises a first assembling hot-melt glue station (6) and a second assembling hot-melt glue station ( 7), the pressure holding station includes a first pressure holding station (11) and a second pressure holding station (12). 6. the efficient full-automatic precision assembly machine according to claim 5, is characterized in that: the said assembling station (8) of the parts to be assembled is provided with a CCD industrial camera 1 (23) for the location of the parts to be assembled (44) And CCD industry camera II (24), also be provided with the 5th electric cylinder (41), described 5th electric cylinder (41) is provided with the mobile CCD industry camera III (35) that is used for positioning product, described detection station (13) is provided with the 6th electric cylinder (42) and is arranged on the described 6th electric cylinder (42) and is used for detecting whether the product installs qualified CCD industry camera IV (36). 7. The high-efficiency fully automatic precision assembly machine according to claim 1, characterized in that: the supporting mechanism includes a first supporting mechanism (50) and a second supporting mechanism (52) respectively located around the frame. ), the third support mechanism (53) and the fourth support mechanism (18), the first and third support mechanisms (50, 53) include electric cylinders and three jacking mechanisms that are slidingly connected with the electric cylinders Cylinder, the second and fourth supporting mechanisms (52, 18) include an electric cylinder and a jacking cylinder slidingly connected with the electric cylinder, and the jacking cylinder is provided with positioning pins for fixing the product positioning jig (51). 8. The high-efficiency fully automatic precision assembly machine according to claim 1, characterized in that: the pallet (45) of the parts to be assembled is provided with several hollow grooves (19) for placing the parts to be assembled (44). 9. The high-efficiency fully automatic precision assembly machine according to claim 1, characterized in that: the frame (1) is also provided with a protective cover (2), and the protective cover (2) is provided with a maintenance window ( 34). 10. The high-efficiency fully automatic precision assembly machine according to claim 1, characterized in that: the protective cover (2) is also provided with a touch screen (27) and a display screen (28), and the display screen (28) below There are start, reset and emergency stop buttons (29).