CN105817851B - Automatic setup system and method - Google Patents
Automatic setup system and method Download PDFInfo
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- CN105817851B CN105817851B CN201510006772.0A CN201510006772A CN105817851B CN 105817851 B CN105817851 B CN 105817851B CN 201510006772 A CN201510006772 A CN 201510006772A CN 105817851 B CN105817851 B CN 105817851B
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Abstract
The present invention discloses a kind of automatic setup system, comprising: fixture is suitable for the clamping first component；First robot is placed into the fixture for grabbing the first component, and by the first component of crawl；With the second robot, insert for grabbing second component, and by the second component of crawl into the first component being fixed on the fixture.The fixture is mounted and is supported on a fixed support plate, and the fixture is configured to move up relative to the fixed support plate in orthogonal first direction and second party.In the present invention, fixture for clamping the first component is slidingly supported at a fixed support plate, therefore, when second component is inserted into the first component, insertion force is directly born by fixed support plate, without being applied in the first robot, so as to ensure the relative position between the first component and second component, assembly precision is improved.
Description
Technical field
The present invention relates to a kind of automatic setup system and automatic assembly methods, for a component to be inserted into another portion
In part.
Background technique
Because robot can quickly, accurately realize small component assembling, in the prior art, usually
Using multiple robot cooperated assembly works for completing a product, for example, robot cooperated by two component groups by two
It is fitted together.
In the prior art, when by a component inserting into another component, usually a robot is directly grabbed
A firmly component, another robot directly catch another component, and right the latter robot is moved relative to another robot
It is dynamic, so that a component is inserted into another component.The required lesser situation of insertion force, this scheme when for inserting
Without what problem.But if the position precision of robot is just difficult to control when insertion force required when inserting is larger, this
Assembly precision can be reduced.For example, during terminal to be inserted into insulating body (or being shell) in an interference fit,
With regard to needing biggish insertion force, at this point, if entire insertion force is applied directly on the end of Liang Ge robot, Liang Ge robot
The relative position between terminal and insulating body just can not be reliably kept, the assembly precision of this meeting terminal.
Summary of the invention
The purpose of the present invention aims to solve the problem that at least one aspect of the above-mentioned problems in the prior art and defect.
It is an object of the present invention to provide a kind of automatic setup system and automatic assembly methods, can be with high precision
One component is inserted into another component.
According to an aspect of the present invention, a kind of automatic setup system is provided, comprising: fixture is suitable for the clamping first component；
First robot is placed into the fixture for grabbing the first component, and by the first component of crawl；With the second robot,
For grabbing second component, and by the inserting of the second component of crawl into the first component being fixed on the fixture.The folder
Tool is mounted and is supported on a fixed support plate, and the fixture is configured to relative to the fixed support plate
It is moved up in orthogonal first direction and second party.
The embodiment of an exemplary according to the present invention, the fixture are slidably installed by right-angled intersection guide rail mechanism
On the fixed support plate.
The embodiment of another exemplary according to the present invention, the right-angled intersection guide rail mechanism include: the first guide rail, Gu
Determine onto the front surface of the fixed support plate, and extends along the first direction；Second guide rail, after the fixture
On surface, and extend along the second direction；And sliding block, there is the first sliding groove extended along the first direction and along described the
The second sliding slot that two directions extend, wherein first guide rail is slidably mounted in the first sliding groove of the sliding block, described the
Two guide rails are slidably mounted in the second sliding slot of the sliding block.
The embodiment of another exemplary according to the present invention, the fixture are fixed in the front surface of the first mounting plate,
Second guide rail is fixed in the rear surface of first mounting plate；And first mounting plate and the fixed support plate
It is parallel to the plane limited by the first direction and the second direction.
The embodiment of another exemplary according to the present invention is provided with one second at the rear of the fixed support plate
Mounting plate, second mounting plate are configured to parallel with first mounting plate, and pass through connecting rod and first peace
Loading board is fixedly connected.
The embodiment of another exemplary according to the present invention is formed with through-hole, the company on the fixed support plate
Extension bar passes through the through-hole；And the through-hole is formed to allow the connecting rod along the first direction and the second party
It is moved in predetermined range.
The four corners of the embodiment of another exemplary according to the present invention, first mounting plate pass through described in four
Connecting rod is respectively connected to the four corners of second mounting plate.
The embodiment of another exemplary according to the present invention is provided with a quick coupling in first robot,
And a fast interface is provided in the rear surface of second mounting plate, the quick coupling is suitably connected to described fast
In quick access mouth.
The embodiment of another exemplary according to the present invention, the quick coupling and the fast interface are matched by axis hole
The mode of conjunction is connected with each other.
The embodiment of another exemplary according to the present invention, the first direction and the second direction limit one and erect
Straight plane.
The embodiment of another exemplary according to the present invention, the first component are the ontology of an electronic product, institute
Stating second component is the terminal being inserted into the ontology.
The embodiment of another exemplary according to the present invention is provided in first robot and is suitable for grabbing described the
First grabber of one component；And the second crawl for being suitable for grabbing the second component is provided in second robot
Device.
The embodiment of another exemplary according to the present invention, the automatic setup system further include: the first feeding system,
For supplying the first component to first robot；With the second feeding system, it is used to supply to second robot
The second component.
The embodiment of another exemplary according to the present invention, the automatic setup system further include: vision system is used for
Visually guide first robot and second robot by second component inserting into the first component.
The embodiment of another exemplary according to the present invention, the vision system include: the first video camera, are used for vision
Ground guides the first robot crawl first component, the first component of crawl is placed into fixture and along described first
Direction and the mobile fixture of second direction；With the second video camera, for visually guiding second robot crawl second
Component and by the inserting of the second component of crawl to being fixed in the first component on fixture.
According to another aspect of the present invention, a kind of automatic assembly method is provided, comprising the following steps:
S100: foregoing automatic setup system is provided；
S200: the first robot grabs the first component, and the first component of crawl is placed into fixture；
The fixture is moved to target position by the S300: the first Robot first direction and second direction, and will be described
Fixture is maintained at the target location；With
S400: the second robot grabs second component, and by the second component of crawl inserting to the be fixed on fixture
In one component.
The embodiment of an exemplary according to the present invention, the fixture are slidably installed by right-angled intersection guide rail mechanism
On the fixed support plate.
The embodiment of another exemplary according to the present invention, by second component inserting into the first component
The direction of insertion force is approximately perpendicular to the first direction and second direction.
The embodiment of another exemplary according to the present invention, vision guide of first robot in the first video camera
The first component of crawl is placed into fixture and moves along the first direction and second direction by the lower crawl first component
The fixture；And second robot grabs second component under the vision guide of the second video camera and by the second of crawl
Component inserting is to being fixed in the first component on fixture.
The embodiment of another exemplary according to the present invention, in preceding method, the step S300 includes:
S310: first robot is bonded to the fixture using quick-connect machanism；
S320: first direction described in driving first Robot and the second direction are mobile, until the fixture
Reach the target position；With
S330: first robot stops movement, and the fixture is made to be maintained at the target position.
In the automatic setup system and automatic assembly method of foregoing individual embodiments of the invention, for clamping the first component
Fixture be slidingly supported on a fixed support plate, therefore, by second component be inserted into the first component when, insertion force is straight
Connect and born by fixed support plate, without being applied in the first robot, so as to ensure the first component and second component it
Between relative position, improve assembly precision.
By the description made for the present invention of below with reference to attached drawing, other objects and advantages of the present invention will be aobvious and easy
See, and can help that complete understanding of the invention will be obtained.
Detailed description of the invention
Fig. 1 shows the stereoscopic schematic diagram of the automatic setup system of the embodiment of an exemplary according to the present invention；
Fig. 2, which is shown in Fig. 1, is used for mobile and the movement of positioning fixture and the antero-lateral perspective schematic diagram of positioning mechanism；With
Fig. 3, which is shown in Fig. 2, is used for mobile and the movement of positioning fixture and the rear perspective schematic diagram of positioning mechanism.
Specific embodiment
Below with reference to the embodiments and with reference to the accompanying drawing the technical solutions of the present invention will be further described.Illustrating
In book, the same or similar drawing reference numeral indicates the same or similar component.Following reference attached drawings are to embodiment of the present invention
Illustrate to be intended to explain present general inventive concept of the invention, and is not construed as to a kind of limitation of the invention.
General technical design according to the present invention, provides a kind of automatic setup system, comprising: fixture is suitable for clamping
The first component；First robot is placed into the fixture for grabbing the first component, and by the first component of crawl；With
Two robots are inserted for grabbing second component, and by the second component of crawl to the first component being fixed on the fixture
In.The fixture is mounted and is supported on a fixed support plate, and the fixture is configured to relative to described
Fixed support plate is moved up in orthogonal first direction and second party.
Another general technical design according to the present invention, provides a kind of automatic assembly method, comprising the following steps: provide
Foregoing automatic setup system；First robot grabs the first component, and the first component of crawl is placed into fixture；
The fixture is moved to target position by the first Robot first direction and second direction, and the fixture is maintained at described
Target location；Second component is grabbed with the second robot, and by the second component of crawl inserting to the be fixed on fixture
In one component.
Fig. 1 shows the stereoscopic schematic diagram of the automatic setup system of the embodiment of an exemplary according to the present invention.
In the embodiment of an example of the present invention, a kind of automatic setup system is disclosed.As shown in Figure 1, should be certainly
Dynamic assembly system mainly include the first robot 100, the second robot 200 and for mobile and positioning fixture 340 movement and
Positioning mechanism 300.
Fig. 2, which is shown in Fig. 1, is used for mobile and the movement of positioning fixture and the antero-lateral perspective schematic diagram of positioning mechanism 300.
As depicted in figs. 1 and 2, in the illustrated embodiment, it is provided in the first robot 100 and is suitable for the crawl first component
1 the first grabber 110 is provided with the second grabber 210 for being suitable for grabbing second component 2 in second robot 200.
As depicted in figs. 1 and 2, in the illustrated embodiment, fixture 340 is suitable for the clamping first component 1.First robot
100 for grabbing the first component 1, and the first component of crawl 1 is placed into fixture 340.Second robot 200 is for grabbing
Second component 2, and by the inserting of the second component of crawl 2 into the first component 1 being fixed on fixture 340.
If Fig. 2 is clearly illustrated, fixture 340 is mounted and is supported on a fixed support plate 310, and fixture 340
It is configured to move on orthogonal first direction X and second direction Z relative to fixed support plate 310.
In the embodiment of an example of the present invention, fixture 340 passes through right-angled intersection guide rail mechanism 301,302,303
It is slidably mounted on fixed support plate 310.
Continuing with referring to fig. 2, in the illustrated embodiment, right-angled intersection guide rail mechanism 301,302,303 includes: first to lead
Rail 301 in the front surface fixed to fixed support plate 310, and extends in a first direction X；Second guide rail 302 is fixed to fixture
In 340 rear surface, and extend Z in a second direction；With sliding block 303, there is the first sliding groove for extending in a first direction X and along the
Two directions extend the second sliding slot of Z, wherein the first guide rail 301 is slidably mounted in the first sliding groove of sliding block 303, the second guide rail
302 are slidably mounted in the second sliding slot of sliding block 303.In this way, fixture 340 can be in a first direction on X and second direction Z
It is mobile.
As shown in Fig. 2, in the illustrated embodiment, fixture 340 is fixed in the front surface of the first mounting plate 320, second
Guide rail 302 is fixed in the rear surface of the first mounting plate 320；And the first mounting plate 320 and fixed support plate 310 be parallel to by
The plane that first direction X and second direction Z is limited.In the illustrated embodiment, first direction X and second direction Z limits one
Perpendicular.
Fig. 3, which is shown in Fig. 2, is used for mobile and the movement of positioning fixture and the rear perspective schematic diagram of positioning mechanism 300.
If Fig. 2 and Fig. 3 are clearly illustrated, the rear of fixed support plate 310 is provided with second mounting plate 330, the
Two mounting plates 330 are configured to parallel with the first mounting plate 320, and connect by the way that connecting rod 321 and the first mounting plate 320 are fixed
It connects.
Continuing with through-hole 311 referring to figs. 2 and 3, is formed on fixed support plate 310, connecting rod 321 passes through through-hole
311；And through-hole 311 is formed that connecting rod 321 is allowed to move in predetermined range along first direction X and second direction Z,
So as to which fixture 340 is moved to target position.
In the embodiment of an example of the present invention, as shown in Figures 2 and 3, the four corners of the first mounting plate 320
The four corners of the second mounting plate 330 are respectively connected to by four connecting rods 321.
As shown in Figure 1, Figure 2 and Figure 3, a quick coupling 120 is provided in the first robot 100, and second
A fast interface 350 is provided in the rear surface of mounting plate 330, quick coupling 120 is suitably connected in fast interface 350.
In the illustrated embodiment, as shown in Figures 2 and 3, quick coupling 120 and fast interface 350 pass through shaft hole matching
Mode be connected with each other.
In the embodiment of an example of the present invention, the first component 1 is the ontology of an electronic product, second component
2 be the terminal being inserted into the ontology.For example, the first component 1 can be the insulating body of a connector, second component 2 can
Think the metal terminal being inserted into the insulating body.
As shown in Figure 1, in the embodiment of an example of the present invention, automatic setup system further include: the first feed
System 10, for supplying the first component 1 to the first robot 100；With the second feeding system 20, it is used for the second robot 200
Supply second component 2.
As shown in Figure 1, automatic setup system further includes vision system in the embodiment of an example of the present invention
101,201, for visually guiding the first robot 100 and the second robot 200 by the inserting of second component 2 to the first component 1
In.
In the illustrated embodiment, as shown in Figure 1, vision system 101,201 mainly includes the first video camera 101 and second
Video camera 201.First video camera 101 for visually guiding the first robot 100 crawl first component 1, by the first of crawl
Component 1 is placed into fixture 340 and along first direction X and second direction Z mobile fixture 340.Second video camera 201 is used for
Visually guide the second robot 200 crawl second component 2 and by the inserting of the second component 2 of crawl to being fixed on fixture 340
The first component 1 in.
Be described in detail assembly method second component being inserted into the first component, the dress below with reference to Fig. 1-Fig. 3
Method of completing the square mainly comprises the steps that
S100: foregoing automatic setup system is provided；
S200: the first robot 100 grabs the first component 1 under the guidance of vision system, and by the first component of crawl 1
It is placed into fixture 340；
S300: the first robot 200 moves fixture 340 along first direction X and second direction Z under the guidance of vision system
It moves to target position, and fixture 340 is maintained at target location；With
S400: the second robot 200 grabs second component 2 under the guidance of vision system, and by the second component of crawl 2
It inserts in the first component 1 being fixed on fixture 340.
In the embodiment of an example of the present invention, as shown in Figure 1, the first robot 100 is in the first video camera 101
Vision guide under grab the first component 1, the first component 1 of crawl is placed into fixture 340 and along first direction X and
Second direction Z mobile fixture 340；And the second robot 200 grabs second component under the vision guide of the second video camera 201
2 and the second component 2 of crawl is inserted into the first component 1 being fixed on fixture 340.
In the embodiment of an example of the present invention, the step S300 in preceding method includes:
S310: the first robot 100 is bonded to fixture 340 using quick-connect machanism；
S320: the first robot 100 of driving is moved along first direction X and second direction Z, until fixture 340 is moved to
Target position；With
S330: the first robot 100 stops movement, and fixture 340 is made to be maintained at target position.
In the aforementioned embodiment, second component 2 is inserted to the direction of the insertion force in the first component 1 and is approximately perpendicular to the
One direction X and second direction Z.That is, the direction of insertion force is roughly parallel to the third vertical with first direction X and second direction Z
Direction Y.
In the aforementioned embodiment, the first component 1 is clamped in fixture 340 and is positioned in pre-position, therefore,
When the first component 1 is arrived in the inserting of second component 2, it can easily guarantee the opposite position between the first component 1 and second component 2
It sets, ensure that assembly precision.
Although in conjunction with attached drawing, the present invention is described, and embodiment disclosed in attached drawing is intended to preferred to the present invention
Embodiment illustrates, and should not be understood as to a kind of limitation of the invention.
Although some embodiments of this present general inventive concept have been shown and have illustrated, those of ordinary skill in the art will be managed
Solution can make a change these embodiments, and various in the case where the principle and spirit without departing substantially from this present general inventive concept
Structure described in embodiment can be freely combined in the case where the conflict in terms of not recurring structure or principle, this
The range of invention is limited with claim and their equivalent.
It should be noted that word " comprising " is not excluded for other element or steps, word "a" or "an" is not excluded for multiple.Separately
Outside, the range that any element label of claim should not be construed as limiting the invention.
Claims (15)
1. a kind of automatic setup system, comprising:
Fixture (340) is suitable for the clamping first component (1)；
First robot (100) is placed into the fixture for grabbing the first component (1), and by the first component of crawl (1)
(340) in；With
Second robot (200), for grabbing second component (2), and the second component of crawl (2) inserting is described to being fixed on
In the first component (1) on fixture (340),
It is characterized by:
The fixture (340) is mounted and is supported on a fixed support plate (310), and the fixture (340) is constructed
At can be moved on orthogonal first direction (X) and second direction (Z) relative to the fixed support plate (310), institute
It states first direction (X) and the second direction (Z) limits a perpendicular,
The fixture (340) is slidably mounted on the fixed support plate by right-angled intersection guide rail mechanism (301,302,303)
(310) on, the right-angled intersection guide rail mechanism (301,302,303) includes:
First guide rail (301) is fixed in the front surface of the fixed support plate (310), and is extended along the first direction
(X)；
Second guide rail (302) is fixed in the rear surface of the fixture (340), and extends (Z) along the second direction；With
Sliding block (303) has and extends the first sliding groove of (X) along the first direction and extend the of (Z) along the second direction
Two sliding slots, wherein
First guide rail (301) is slidably mounted in the first sliding groove of the sliding block (303), second guide rail (302)
It is slidably mounted in the second sliding slot of the sliding block (303),
The fixture (340) is fixed in the front surface of the first mounting plate (320), and second guide rail (302) is fixed on described
In the rear surface of first mounting plate (320),
First mounting plate (320) and the fixed support plate (310) are parallel to by the first direction (X) and described second
The plane that direction (Z) limits,
The rear of the fixed support plate (310) is provided with second mounting plate (330), second mounting plate (330)
It is configured to parallel with the first mounting plate (320), and solid by connecting rod (321) and first mounting plate (320)
Fixed connection.
2. automatic setup system according to claim 1, it is characterised in that:
It is formed on the fixed support plate (310) through-hole (311), the connecting rod (321) passes through the through-hole (311)；
And
The through-hole (311) is formed to allow the connecting rod (321) along the first direction (X) and the second direction
(Z) it is moved in predetermined range.
3. automatic setup system according to claim 2, it is characterised in that:
The four corners of first mounting plate (320) are respectively connected to second peace by four connecting rods (321)
The four corners of loading board (330).
4. automatic setup system according to claim 3, it is characterised in that:
A quick coupling (120) is provided on first robot (100), and in second mounting plate (330)
A fast interface (350) is provided in rear surface, the quick coupling (120) is suitably connected to the fast interface (350)
In.
5. automatic setup system according to claim 4, it is characterised in that:
The quick coupling (120) and the fast interface (350) are connected with each other by way of shaft hole matching.
6. automatic setup system according to claim 1, it is characterised in that:
The first component (1) is the ontology of an electronic product, and the second component (2) is the end being inserted into the ontology
Son.
7. automatic setup system according to claim 1, it is characterised in that:
The first grabber (110) for being suitable for grabbing the first component (1) is provided on first robot (100)；And
The second grabber (210) for being suitable for grabbing the second component (2) is provided on second robot (200).
8. automatic setup system described in any one of -7 according to claim 1, further includes:
First feeding system (10), for supplying the first component (1) to first robot (100)；With
Second feeding system (20), for supplying the second component (2) to second robot (200).
9. automatic setup system according to claim 8, further includes:
Vision system (101,201), for visually guiding first robot (100) and second robot (200)
By the second component (2) inserting in the first component (1).
10. automatic setup system according to claim 9, which is characterized in that the vision system (101,201) includes:
First video camera (101), for visually guiding first robot (100) the crawl first component (1), by crawl
The first component (1) is placed into fixture (340) and along the first direction (X) and the mobile fixture of second direction (Z)
(340)；With
Second video camera (201), for visually guiding the second robot (200) crawl second component (2) and will grab
Second component (2) insert into the first component (1) being fixed on fixture (340).
11. a kind of automatic assembly method, comprising the following steps:
S100: automatic setup system as defined in claim 1 is provided；
S200: the first robot (100) grabs the first component (1), and the first component of crawl (1) is placed into fixture (340)
In；
The fixture (340) is moved to target position along first direction (X) and second direction (Z) by the S300: the first robot (200)
It sets, and the fixture (340) is maintained at the target location；With
S400: the second robot (200) grabs second component (2), and by the second component of crawl (2) inserting to being fixed on fixture
(340) in the first component (1) on.
12. automatic assembly method according to claim 11, it is characterised in that:
The fixture (340) is slidably mounted on the fixed support plate by right-angled intersection guide rail mechanism (301,302,303)
(310) on.
13. automatic assembly method according to claim 11, it is characterised in that:
The second component (2) are inserted to the direction of the insertion force in the first component (1) and are approximately perpendicular to described first
Direction (X) and second direction (Z).
14. automatic assembly method according to claim 11, it is characterised in that:
First robot (100) grabs the first component (1), by crawl under the vision guide of the first video camera (101)
The first component (1) is placed into fixture (340) and along the first direction (X) and the mobile fixture of second direction (Z)
(340)；And
Second robot (200) grabs second component (2) under the vision guide of the second video camera (201) and by crawl
Second component (2) is inserted into the first component (1) being fixed on fixture (340).
15. automatic assembly method according to claim 11, the step S300 include:
S310: first robot (100) is bonded to the fixture (340) using quick-connect machanism；
S320: driving first robot (100) is mobile along the first direction (X) and the second direction (Z), until institute
It states fixture (340) and reaches the target position；With
S330: first robot (100) stops movement, and the fixture (340) is made to be maintained at the target position.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510006772.0A CN105817851B (en) | 2015-01-07 | 2015-01-07 | Automatic setup system and method |
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|---|---|---|---|
| CN201510006772.0A CN105817851B (en) | 2015-01-07 | 2015-01-07 | Automatic setup system and method |
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| CN105817851A CN105817851A (en) | 2016-08-03 |
| CN105817851B true CN105817851B (en) | 2019-01-22 |
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| CN201510006772.0A Active CN105817851B (en) | 2015-01-07 | 2015-01-07 | Automatic setup system and method |
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106584082A (en) * | 2016-12-30 | 2017-04-26 | 天津思博科科技发展有限公司 | Automatic assembly system applying machine vision and robot arm |
| CN106610660A (en) * | 2016-12-30 | 2017-05-03 | 天津思博科科技发展有限公司 | Intelligent system for monitoring assembly in-place state through machine vision |
| CN109713544B (en) * | 2017-10-25 | 2021-02-26 | 泰科电子(上海)有限公司 | Assembly system |
| CN109704050A (en) * | 2017-10-25 | 2019-05-03 | 泰科电子(上海)有限公司 | Discharge system |
| CN113904197B (en) * | 2021-10-20 | 2024-02-23 | 长城电源技术(广西)有限公司 | Full-automatic precision terminal assembly mechanism |
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| JP2000307296A (en) * | 1999-04-19 | 2000-11-02 | Ricoh Microelectronics Co Ltd | Mounter and electronic device |
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|---|---|---|---|---|
| CN101890629A (en) * | 2009-05-21 | 2010-11-24 | 本田技研工业株式会社 | Press fit method and press fit apparatus |
| CN202301444U (en) * | 2011-09-23 | 2012-07-04 | 上虞市金童实业有限公司 | Cross guide rail pair |
| CN103419012A (en) * | 2012-05-22 | 2013-12-04 | 珠海格力电器股份有限公司 | Automatic assembling device for electrical box |
| CN202726415U (en) * | 2012-06-25 | 2013-02-13 | 昆山市创新科技检测仪器有限公司 | Elastic sheet assembling equipment |
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| CN105817851A (en) | 2016-08-03 |
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Address after: Shanghai Hedan Waigaoqiao Free Trade Zone No. 142 first floor Applicant after: Tyco Electronics (Shanghai) Co., Ltd. Applicant after: Tailian Corporation Address before: 200131 Shanghai city Hedan Waigaoqiao Free Trade Zone No. 142 first floor Applicant before: Tyco Electronics (Shanghai) Co., Ltd. Applicant before: Tyco Electronics Corp. |
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