CN106078206A - A kind of robot automatic assembly equipment - Google Patents
A kind of robot automatic assembly equipment Download PDFInfo
- Publication number
- CN106078206A CN106078206A CN201610701227.8A CN201610701227A CN106078206A CN 106078206 A CN106078206 A CN 106078206A CN 201610701227 A CN201610701227 A CN 201610701227A CN 106078206 A CN106078206 A CN 106078206A
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- Prior art keywords
- robot
- iron
- clad
- assembling
- axle
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P21/00—Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with programme control
- B23P21/004—Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with programme control the units passing two or more work-stations whilst being composed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/001—Article feeders for assembling machines
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/001—Article feeders for assembling machines
- B23P19/004—Feeding the articles from hoppers to machines or dispensers
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automatic Assembly (AREA)
Abstract
The invention discloses a kind of robot automatic assembly equipment, including frame and the workbench being arranged in frame, it is provided with plastic cement assembling mechanism on the table, snap assembled mechanism, iron-clad assembles and riveting mechanism, CCD finished product detection and the bad mechanism of row, iron-clad detection finished devices, four axle robot and six-joint robots, six-joint robot is located at plastic cement assembling mechanism and the peripheral position of snap assembled mechanism, four axle robots are located at iron-clad assembling and riveting mechanism and CCD finished product detection and arrange the peripheral position of bad mechanism, iron-clad detection finished devices is positioned at the peripheral position of four axle robot sides.Use the automatic assembly equipment described in invention to utilize Liang Ge robot to carry out cooperation to coordinate, rotation along with charging tray, Liang Ge robot sequentially passes through each station mechanism, realize the purpose automatically assembled, it is effectively saved substantial amounts of time and manpower, has reduced cost, improve working (machining) efficiency, there is simple in construction, the advantage such as easy to operate.
Description
Technical field
The present invention relates to mechanical automation equipment technical field, in particular to a kind of robot automatic assembly equipment.
Background technology
Along with industrial automatization constantly promotes, traditional hand assembled method can not meet the development need of society
Ask, along with the continuous lifting of cost of labor, the continuous lifting of competitiveness of society, want to occupy in keen competition a seat it
Ground, it is necessary to have strong industrial automation to do backing, can not be eliminated.
And along with the development of mechanical automation, increasing automation equipment disclosure satisfy that the production needs of people, but
It is that to lead to product be the production and processing for some more common standard workpieces to automation equipment, the specific form that client is needed
Workpiece, then be difficult to by simply resetting or reequip the processing needs realized new workpiece.
Therefore, in order to improve production efficiency and reduce cost of labor, it is necessary to the assembling equipment that exploitation makes new advances, to realize certainly
Dynamic metaplasia is produced.
Summary of the invention
In place of it is an object of the invention to for the deficiencies in the prior art, it is provided that a kind of smart structural design, rationally, operation side
Just, and the part of required processing can be carried out automatization's processing, thus improve the full-automatic assembling equipment of production efficiency, specifically
Ground is said, is a kind of robot automatic assembly equipment.
For solving above-mentioned technical problem, the technical solution adopted in the present invention is: a kind of robot automatic assembly equipment, bag
Including rack and the workbench being arranged in frame, be provided with plastic cement assembling mechanism, snap assembled mechanism, iron-clad on described workbench
Assemble and riveting mechanism, CCD finished product detection and arrange bad mechanism, iron-clad detection finished devices, four axle robots and six axle machines
People, described six-joint robot is located at plastic cement assembling mechanism and the peripheral position of snap assembled mechanism, and described four axle robots are located at
Iron-clad assembles and riveting mechanism and CCD finished product detection and arrange the peripheral position of bad mechanism, described iron-clad detection finished devices position
Peripheral position in four axle robot sides；Along with the rotation of disc in plastic cement assembling mechanism, the product after plastic cement assembles will be completed
Product, on the job position of six-joint robot, deliver to snap assembled mechanism successively and carry out snap assembled and iron-clad assembling and riveted
Mechanism carries out riveted, then the product after riveted is delivered on the job position of four axle robots CCD finished product detection and arranges not
Good opportunity structure detects, and is placed on by finished product the most afterwards on iron-clad detection finished devices, it is achieved assembling automatic to product.
Further, the plastic cement assembling mechanism being located on described workbench has two, and described plastic cement assembling mechanism includes
Charging tray, described charging tray is driven it to rotate by assembling linear drive apparatus, when one of them rotation of disc to its Working position, and
Snap assembled mechanism and iron-clad assemble and riveting mechanism lays respectively on the job position of described six-joint robot, iron-clad assemble and
Riveting mechanism, CCD finished product detection and arrange bad mechanism and iron-clad detection finished devices lays respectively at the work of described four axle robots
On industry position；The job position of described Working position, the job position of described six-joint robot and described four axle robots is along institute
The rotation direction stating charging tray is sequentially distributed, and described six-joint robot is for from the described plastic assembled mechanism being positioned at its job position
Upper taking-up product and in described snap assembled mechanism place part, then from snap assembled mechanism take out product deliver to iron-clad
Assemble and on the position of riveting mechanism, inter-agency operate back and forth at these three groups, described four axle robots for assembling from iron-clad and
On the position of riveting mechanism, product delivered to CCD finished product detection and arranges placement part in bad mechanism, detecting heel row mutually and remove
Bad, and non-defective unit is placed on the finished product mounting table in iron-clad detection finished devices.
Further, assembled linear drive apparatus is cylinder.
Further, assembled linear drive apparatus is servomotor, and servomotor is by Timing Belt and synchronizes wheel and institute
State charging tray to connect.
Further, described four axle robots and six-joint robot are mounted on two jaws.
Further, described four axle robots are provided with at least one multi-functional jaw, described multi-functional jaw sets
Having two to be respectively used to grip part and the gripping position of charging tray, described four axle robots are additionally operable to utilize described multi-functional jaw
Being moved by described charging tray to predeterminated position, described charging tray is for accommodating the required gripping of described six-joint robot and four axle robots
Product.
Further, described robot automatic assembly equipment also includes CCD detecting instrument, for examining finished product
Survey.
Further, described CCD detecting instrument is positioned on the job position of described four axle robots, described four axle robots
After gripping finished product on described rotating disk, movement to described CCD detecting instrument detects.
Robot of the present invention automatic assembly equipment, in actual application, its specific works principle is: work as people
Product is put in charging tray by work, and under the effect assembling linear drive apparatus, charging tray enters plastic cement assembling mechanism and assembles, logical
Cross six-joint robot the product assembled is delivered to snap assembled mechanism to assemble, at the work of six-joint robot after snap assembled
Under with, snap assembled product is delivered to iron-clad and assembles and riveting mechanism, assemble and in riveting mechanism through iron-clad riveted at iron-clad
After under the effect of four axle robots, product after riveted is delivered to CCD finished product detection and arrange bad mechanism, after detecting will
Non-defective unit is placed on the finished product mounting table in iron-clad detection finished devices, thus completes to realize the assembling to product.Then six
Under the control of axle robot and four axle robots, assemble linear drive apparatus and extend out to precalculated position, wait the assembling of next round
Operation, correspondingly realizes each operation assembled.
Using robot of the present invention automatic assembly equipment, compared with prior art, it has the beneficial effects that:
One, every mounter human arm can need to be equipped with different frock according to technique, multiple batches of, little with satisfied following production line
Various production requirement of batch, only need to simply program and frock is changed and can be realized being switched fast.
Two, the high accuracy of robot and operation stability, can be used for lean industrial processes.
Three, assembling control power.Utilize Intelligent Force/torque movements technology to carry out parts assembling, eliminate part card simultaneously
Risk that is dead and that damage.
Four, visual performance, guided robot correctly identifies and grabbing workpiece, is sent to accurate assembly position.
Five, robot input and output ratio is high, and equipment is short for payoff period.
Six, speed of operation is fast, and acceleration is good, shortens net cycle time.
Seven, precision is high, has high repetitive positioning accuracy, it is ensured that assembly precision.
Eight, improve production efficiency, liberate single heavy physical labor.
Nine, improve workman's labor condition, break away from poisonous, to have radiation assembly environment.
Ten, good reliability, strong adaptability, stability height.
In sum, the automatic assembly equipment of the present invention utilizes Liang Ge robot to carry out cooperation cooperation, utilizes in robot
Jaw operate, along with the rotation of charging tray, Liang Ge robot sequentially passes through each station mechanism, only need to manually place product
The automatic assembling to product can be realized, be effectively saved substantial amounts of time and manpower, reduced cost, improved working (machining) efficiency,
Reduce the labor intensity of operator, add Production Gain.Having simple in construction, it is ingenious, reasonable to design, easy to operate etc.
Advantage.
Accompanying drawing explanation
Below in conjunction with the accompanying drawings the present invention is described in further detail.
Fig. 1 is the overall structure simplified schematic diagram of the present invention；
Fig. 2 is the plastic cement assembling mechanism structural representation in the present invention；
Fig. 3 is the snap assembled mechanism structural representation in the present invention；
Fig. 4 is that the iron-clad in the present invention assembles and riveting mechanism and the structural representation of iron-clad detection finished devices；
Fig. 5 is the CCD finished product detection in the present invention and arranges bad mechanism structure schematic diagram.
Detailed description of the invention
For further illustrating the inventive concept of the present invention, below with reference to accompanying drawing the detailed description of the invention of the present invention made into
One step explanation:
As Fig. 1 is to shown in 5, and robot of the present invention automatic assembly equipment, including frame 1 and the work being arranged in frame 1
Station 2, is provided with plastic cement assembling mechanism 3, snap assembled mechanism 4, iron-clad assembling and riveting mechanism 6, CCD on described workbench 2
Finished product detection and the bad mechanism 7 of row, iron-clad detection finished devices 5, four axle robot 9 and six-joint robot 10, described six axle machines
Device people 10 is located at plastic cement assembling mechanism 3 and the peripheral position of snap assembled mechanism 4, and described four axle robots 9 are located at iron-clad and assemble
With riveting mechanism 6 and CCD finished product detection and the peripheral position of the bad mechanism 7 of row, described iron-clad detection finished devices 5 is positioned at four axles
The peripheral position of robot 9 side；Along with the rotation of disc in plastic cement assembling mechanism 3, the product after plastic cement assembles will be completed,
On the job position of six-joint robot 10, deliver to snap assembled mechanism 4 successively and carry out snap assembled and iron-clad assembling and lock seaming machine
Structure 6 carries out riveted, then the product after riveted is delivered on the job position of four axle robots 9 CCD finished product detection and arranges not
Good opportunity structure 7 detects, and is placed on by finished product the most afterwards on iron-clad detection finished devices 5, it is achieved assembling automatic to product.
Further, the plastic cement assembling mechanism 3 being located on described workbench 2 has two, and described plastic cement assembling mechanism 3 includes
Have charging tray A11, charging tray frame A12, product placing trough 13, beat K blank module 14, described snap assembled mechanism 4 include charging tray B111,
Charging tray frame B121, buckle 17, product displacement 16, feeding group 15, described iron-clad assembles and riveting mechanism 6 includes iron-clad 24, product
Position rotation 25, riveted module 26, described CCD finished product detection and the bad mechanism 7 of row is claimed to include product firm banking 23, Ya De visitor
19, finished product 20, described iron-clad detection finished devices 5 includes finished product mounting table 8, product chuck 18, also sets on described workbench 2
There are product support 21, product support 21 to be positioned at the job position of described four axle robots 9, are additionally provided with for driving described charging tray
The assembling linear drive apparatus 22 that A11 or charging tray B11 rotates, drives described charging tray A11 by assembling linear drive apparatus 22
Or charging tray B11 rotates, and it is placed with the product needed for corresponding assembling procedure equably on described each charging tray, when wherein
When one rotation of disc is to its Working position, and snap assembled mechanism 4, iron-clad assembling and riveting mechanism 6 lay respectively at described six
On the job position of axle robot 10, and iron-clad assemble and riveting mechanism 6, CCD finished product detection and arrange bad mechanism 7 and iron-clad inspection
Survey finished devices 5 then to lay respectively on the job position of described four axle robots 9.Described Working position, described six-joint robot
The job position of 10 and the job position of described four axle robots 9 are sequentially distributed along the rotation direction of described charging tray, described six axles
Robot 10 is for taking out product and to described buckle assembling machine from the described plastic assembled mechanism 3 being positioned at its job position
Place part on structure 4, then taking-up product is delivered on the position that iron-clad assembles with riveting mechanism 6 from snap assembled mechanism 4, at this
Three groups inter-agency operates back and forth, and described four axle robots 9 are for assembling from iron-clad and being delivered to by product the position of riveting mechanism 6
Place part in CCD finished product detection and the bad mechanism 7 of row, detect heel row accordingly and remove bad, and non-defective unit is placed on iron-clad
On finished product mounting table 8 in detection finished devices 5.
Further, described assembling linear drive apparatus 22 is cylinder, is used for by described assembling linear drive apparatus 22
Drive corresponding rotation of disc.Meanwhile, described assembling linear drive apparatus 22 can also be servomotor, uses servomotor to pass through
Timing Belt and synchronization wheel are connected with described charging tray, thus drive corresponding rotation of disc.
Further, described four axle robots 9 and six-joint robot 10 are mounted on two jaws.
Further, described four axle robots 9 are provided with at least one multi-functional jaw, described multi-functional jaw sets
Having two to be respectively used to grip part and the gripping position of charging tray, described four axle robots 9 are additionally operable to utilize described multifunction clips
Described charging tray is moved to predeterminated position by pawl, needed for described charging tray is used for accommodating described six-joint robot 10 and four axle robots 9
The product of gripping.
Further, described robot automatic assembly equipment also includes CCD detecting instrument, for examining finished product
Survey.Described CCD detecting instrument is positioned on the job position of described four axle robots 9, and described four axle robots 9 are for from described turn
After gripping finished product on dish, mobile extremely described CCD detecting instrument detects.In this technical scheme, take off in four axle robots 9
After finished product, first movement to CCD detecting instrument detects, such that it is able to testing result is stored by CCD detecting instrument,
So quality to workpiece in convenient follow-up work is analyzed.
It addition, use a kind of robot of the present invention automatic assembly equipment, also set up in the lower section of described workbench 2
Have for driven machine people's driving means, drive described four axle robots 9 and six-joint robot 10 to exist respectively by driving means
Its job position moves, and described driving means can use cylinder to be driven.
In sum, use this automatic assembly equipment of the present invention, utilize Liang Ge robot to carry out cooperation and coordinate, profit
Operating with the jaw in robot, along with the rotation of charging tray, Liang Ge robot sequentially passes through each station mechanism, only needs people
Work places product can realize the automatic assembling to product, has been effectively saved substantial amounts of time and manpower, has reduced cost, has improved
Working (machining) efficiency, reduces the labor intensity of operator, adds Production Gain.Having simple in construction, it is ingenious, reasonable to design,
The advantage such as easy to operate.
Protection scope of the present invention is not limited only to the technical scheme disclosed in detailed description of the invention, the foregoing is only this
Bright better embodiment, is not limiting as the present invention, all made according to technical scheme any trickle amendment, equivalent
Replace and improve, within should be included in the protection domain of technical solution of the present invention.
Claims (8)
1. a robot automatic assembly equipment, it is characterised in that: include frame (1) and the workbench being arranged in frame (1)
(2), described workbench (2) is provided with plastic cement assembling mechanism (3), snap assembled mechanism (4), iron-clad assembling and riveting mechanism
(6), CCD finished product detection and arrange bad mechanism (7), iron-clad detection finished devices (5), four axle robot (9) and six-joint robots
(10), described six-joint robot (10) is located at plastic cement assembling mechanism (3) and the peripheral position of snap assembled mechanism (4), and described four
Axle robot (9) is located at iron-clad assembling and riveting mechanism (6) and CCD finished product detection and arranges the peripheral position of bad mechanism (7), institute
State iron-clad detection finished devices (5) and be positioned at the peripheral position of four axle robot (9) sides；Along with in plastic cement assembling mechanism (3)
Rotation of disc, by completing the product after plastic cement assembles, on the job position of six-joint robot (10), delivers to snap assembled successively
Mechanism (4) carries out snap assembled and iron-clad assembles and riveting mechanism (6) carries out riveted, then by the product after riveted at four axle machines
Deliver to CCD finished product detection on the job position of device people (9) and the bad mechanism of row (7) detects, the most afterwards finished product is placed
On iron-clad detection finished devices (5), it is achieved assembling automatic to product.
Robot the most according to claim 1 automatic assembly equipment, it is characterised in that: it is located on described workbench (2)
Plastic cement assembling mechanism (3) has two, and described plastic cement assembling mechanism (3) includes charging tray, and described charging tray is by assembling linear drives dress
Putting (22) drives it to rotate, and when one of them rotation of disc to its Working position, and snap assembled mechanism (4) and iron-clad assemble
Laying respectively on the job position of described six-joint robot (10) with riveting mechanism (6), iron-clad assembles and riveting mechanism (6), CCD
Finished product detection and the bad mechanism of row (7) and iron-clad detection finished devices (5) lay respectively at the operation position of described four axle robots (9)
Put；Described Working position, the job position of described six-joint robot (10) and the job position edge of described four axle robots (9)
The rotation direction of described charging tray is sequentially distributed, and described six-joint robot (10) is for from the described plastics group being positioned at its job position
Mounting mechanism (3) is upper to be taken out product and places part on described snap assembled mechanism (4), then from snap assembled mechanism (4)
Take out product to deliver to iron-clad and assemble and on the position of riveting mechanism (6), inter-agency operate back and forth at these three groups, described four axle machines
People (9) is for assembling from iron-clad and product being delivered to the position of riveting mechanism (6) CCD finished product detection and arranges bad mechanism (7)
Upper placement part, detects heel row mutually and removes bad, and non-defective unit is placed on the finished product in iron-clad detection finished devices (5) and places
On platform (8).
Robot the most according to claim 2 automatic assembly equipment, it is characterised in that: assembled linear drive apparatus (22)
For cylinder.
Robot the most according to claim 2 automatic assembly equipment, it is characterised in that: assembled linear drive apparatus (22)
For servomotor, servomotor is connected with described charging tray by Timing Belt and synchronization wheel.
A kind of robot the most according to claim 1 and 2 automatic assembly equipment, it is characterised in that: described four axle robots
And on six-joint robot (10), be mounted on two jaws (9).
Robot the most according to claim 1 and 2 automatic assembly equipment, it is characterised in that: in described four axle robots (9)
Being provided with at least one multi-functional jaw, described multi-functional jaw is provided with two and is respectively used to grip part and the gripping of charging tray
Position, described four axle robots (9) are additionally operable to utilize described multi-functional jaw to move described charging tray to predeterminated position, described material
Dish is used for accommodating the product of the required gripping of described six-joint robot (10) and four axle robots (9).
7. according to the robot automatic assembly equipment according to any one of claim 1 or 2, it is characterised in that: described robot
Automatic assembly equipment also includes CCD detecting instrument, for detecting finished product.
Robot the most according to claim 7 automatic assembly equipment, it is characterised in that: described CCD detecting instrument is positioned at institute
State on the job position of four axle robots (9), described four axle robots (9) for grip from described rotating disk move after finished product to
Described CCD detecting instrument detects.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610701227.8A CN106078206A (en) | 2016-08-23 | 2016-08-23 | A kind of robot automatic assembly equipment |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610701227.8A CN106078206A (en) | 2016-08-23 | 2016-08-23 | A kind of robot automatic assembly equipment |
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| Publication Number | Publication Date |
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| CN106078206A true CN106078206A (en) | 2016-11-09 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
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| CN201610701227.8A Pending CN106078206A (en) | 2016-08-23 | 2016-08-23 | A kind of robot automatic assembly equipment |
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| CN (1) | CN106078206A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106493568A (en) * | 2016-12-27 | 2017-03-15 | 佛山市衡润晟五金有限公司 | Bag button assembly machine |
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| CN105382551A (en) * | 2015-12-21 | 2016-03-09 | 东莞市浩曦阳电子有限公司 | Automatic smart watch production line |
| CN105563104A (en) * | 2015-12-10 | 2016-05-11 | 宁波大正工业机器人技术有限公司 | Full-automatic assembling equipment |
| CN205904675U (en) * | 2016-08-23 | 2017-01-25 | 贵州五合元泰智能科技有限公司 | Automatic assembly equipment of robot |
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|---|---|---|---|---|
| US5586387A (en) * | 1993-12-22 | 1996-12-24 | Matsushita Electric Works, Ltd. | Automated part assembly machine |
| CN203448981U (en) * | 2013-08-19 | 2014-02-26 | 深圳雷柏科技股份有限公司 | Wireless receiver automatic assembling equipment |
| CN105127736A (en) * | 2015-06-10 | 2015-12-09 | 周俊雄 | PCB and shell assembling machine and assembling process thereof |
| CN105171411A (en) * | 2015-09-02 | 2015-12-23 | 东莞品一自动化科技有限公司 | Automatic assembling machine based on advanced telecom computing architecture (ATCA) manipulator application |
| CN105382532A (en) * | 2015-09-02 | 2016-03-09 | 东莞品一自动化科技有限公司 | VT assembling machine based on Mini-SAS application |
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| CN106493568A (en) * | 2016-12-27 | 2017-03-15 | 佛山市衡润晟五金有限公司 | Bag button assembly machine |
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Application publication date: 20161109 |
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