CN107150225B - Assembly and detection integral type integrated intelligence manufacture outfit - Google Patents
Assembly and detection integral type integrated intelligence manufacture outfit Download PDFInfo
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- CN107150225B CN107150225B CN201710451369.8A CN201710451369A CN107150225B CN 107150225 B CN107150225 B CN 107150225B CN 201710451369 A CN201710451369 A CN 201710451369A CN 107150225 B CN107150225 B CN 107150225B
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- spring
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- finger
- cover board
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- 238000001514 detection method Methods 0.000 title claims abstract description 49
- 238000004519 manufacturing process Methods 0.000 title claims abstract description 47
- 230000007246 mechanism Effects 0.000 claims abstract description 131
- 239000000463 material Substances 0.000 claims abstract description 39
- 238000012360 testing method Methods 0.000 claims abstract description 31
- 210000000078 claw Anatomy 0.000 claims abstract description 25
- 230000000903 blocking effect Effects 0.000 claims abstract description 17
- 239000000523 sample Substances 0.000 claims description 35
- 230000033001 locomotion Effects 0.000 claims description 12
- 238000007664 blowing Methods 0.000 claims description 11
- 238000003825 pressing Methods 0.000 claims description 9
- 230000008878 coupling Effects 0.000 claims description 3
- 238000010168 coupling process Methods 0.000 claims description 3
- 238000005859 coupling reaction Methods 0.000 claims description 3
- 239000007787 solid Substances 0.000 claims description 3
- 230000005540 biological transmission Effects 0.000 claims description 2
- 230000010354 integration Effects 0.000 abstract description 3
- 230000035611 feeding Effects 0.000 description 67
- 238000010586 diagram Methods 0.000 description 14
- 230000000694 effects Effects 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000033764 rhythmic process Effects 0.000 description 2
- 241000531807 Psophiidae Species 0.000 description 1
- 229910000639 Spring steel Inorganic materials 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 239000013013 elastic material Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000007306 turnover Effects 0.000 description 1
Classifications
-
- 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
- B23P19/04—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 for assembling or disassembling parts
-
- 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
-
- 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
- B23P19/007—Picking-up and placing mechanisms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/12—Gripping heads and other end effectors having finger members with flexible finger members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/023—Cartesian coordinate type
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Automatic Assembly (AREA)
Abstract
The present invention relates to automated assembling equipments, more specifically to a kind of mechanized equipment for realizing Automated assembly.The present invention assembles and detection integral type integrated intelligence manufactures outfit, includes mainly：Workbench, feeding track, overturning reclaimer robot, catching robot, dynamic clamp mechanism, blocking mechanism, chain delivery machanism, three claw robot, cover board vibrating disk, cover board feeding track, waits for that clip area, spring head into mechanism, mechanism for testing at vibrating disk.The present invention assembles and detection integral type integrated intelligence manufacture outfit realizes quick crawl and carrying to material using several manipulators, Automated assembly and the automatic test to cover board and spring are realized, automated integration degree is high, realizes unmanned quick assembling, the test jobs of electric equipment products.
Description
Technical field
The present invention relates to automated assembling equipments, more specifically to a kind of machinery for realizing Automated assembly
Equipment.
Background technology
Spring be it is a kind of utilize elasticity come work machine components.The part made of elastic material is sent out under external force
Raw deformation restores to the original state again after removing external force.Also make " spring ".Generally it is made of spring steel.The type complexity of spring is various, presses
Shape point, mainly there is helical spring, scroll spring, flat spring, heterotypic spring etc..
Although Spring Industry is a small industry in entire manufacturing industry, its played the role of be absolutely not can be low
Estimate.The industrial manufacturing industry of country, auto industry will be accelerated development, and based on one of part, parts Spring Industry just
It more needs just to adapt to national entire industrial fast development there are one the advanced phase developed.In addition, spring product scale product
The expansion of kind, the raising of quality level are also the needs of needs and the raising of matched host machine performance that machinery Replacement is regenerated, because
This, the development of entire National Industrial, spring product plays an important role.
Daily necessities industry and irommongery, including lighter, toy, lockset, door hinge, fitness equipment, mattress, sofa etc., just
It for quantity, has the call to spring, number is with 10,000,000,000, and technology is of less demanding, and price is very low.
Largely assemble in electric equipment products, such as in electric switch, circuit breaker by spring, due to spring structure is small,
Size is easy to happen variation, and therefore, it is necessary to workers to realize the crawl to spring by hand.
Invention content
The object of the present invention is to provide a kind of assembly and detection integral type integrated intelligence to manufacture outfit, application
In the production of the Automated assembly of electric equipment products or engineering goods.The present invention assembles and detection integral type integrated intelligence manufacture
Outfit realizes the quick crawl and carrying to material using several manipulators, and spring is realized using chain delivery machanism
Long distance delivery, automated integration degree is high, realizes the unmanned quick assembling operation of electric equipment products.
It is a kind of assembly and detection integral type integrated intelligence manufacture outfit, including：Workbench, for delivery spring
Vibrating disk, the feeding track for conveying the spring, the overturning reclaimer for the spring to be clamped and flips an angle
Tool hand, for grabbing the catching robot of the spring from the overturning reclaimer robot, for limiting the spring
The blocking mechanism of movement speed, is equipped on the chain delivery machanism chain delivery machanism for conveying the spring
Dynamic clamp mechanism, the three claw robot for capturing cover board, the cover board vibrating disk for exporting the cover board, be connected to it is described
The cover board feeding track of the discharge port of cover board vibrating disk is connected to waiting for clip area, being used for the bullet for the cover board feeding track
The spring that spring is assembled in the cover board heads into mechanism, the mechanism for testing for being tested the spring and cover board；It is described
The delivery outlet of vibrating disk is connected to the feeding track, and the delivery outlet of the feeding track is connected to the overturning feeding machinery
Hand, the blocking mechanism are located at the equipped at outlet port of the feeding track, and the catching robot is located at overturning feeding machinery
The top of hand, the dynamic clamp mechanism are located at the lower part of the catching robot, and the chain delivery machanism is located at described grab
Take the side of manipulator；The discharge port of the cover board vibrating disk is connected to the cover board feeding track, the cover board feeding track
Discharge port be connected to it is described wait for that clip area, the three claw robot are located at the top for waiting for clip area, the spring heads into mechanism
Positioned at the lower part of the dynamic clamp mechanism, the mechanism for testing is located at the lower part of the three claw robot；
The three claw robot includes：No. four holders, No. four horizontal sliding tables, No. four vertical slide unit, horizontal connecting plate, flexibilities
Paw；No. four holders are fixed on the workbench, and No. four horizontal sliding tables are fixed on No. four holders, described No. four
Vertical slide unit is fixed on No. four horizontal sliding tables, and the horizontal connecting plate is fixed on No. four vertical slide units, the flexibility
Paw is equally spacedly arranged in the lower part of the horizontal connecting plate；The quantity of the flexibility paw is three, including：No.1 is flexible
Paw, No. two flexible paws, No. three flexible paws；
The mechanism for testing includes：No. six holders, splicing slider cylinder, splicing paw, upper testboard, lower testboard, institute
It states No. six holders and is fixed on the workbench, the cylinder block of the splicing slider cylinder is fixed on No. six holders, described to connect
Material paw is fixed on the slide unit of the splicing slider cylinder, and the upper testboard is fixed on No. six holders, the upper survey
Test stand is located at the top of the splicing paw, and the lower testboard is fixed on No. six holders, and the upper testboard is located at institute
State the lower part of splicing paw；The lower testboard includes：Lower slide unit cylinder, lower conducting probe, lower insulating base, the lower slide unit gas
The cylinder block of cylinder is fixed on No. six holders, and the lower insulating base is fixed on the slide unit of the lower slide unit cylinder, under described
Conducting probe is fixed on the lower insulating base；The upper testboard includes：Upper slide unit cylinder, upper conducting probe, upper insulating base, institute
The cylinder block for stating upper slide unit cylinder is fixed on No. six holders, and the upper insulating base is fixed on the slide unit of the upper slide unit cylinder
On, the upper conducting probe is fixed on the upper insulating base；The lower conducting probe and the spring match.
Preferably, the spring heads into mechanism and includes：No. five holders, push-in cylinder, thimble slide plate, thimble, towing force roller,
No. five holders are fixed on the workbench, and the cylinder block of the push-in cylinder is fixed on No. five holders, the thimble
Slide plate is movably connected on No. five holders, and the end of the piston rod of the push-in cylinder is fixed on the thimble slide plate；It is described
The thimble is fixed at the top of thimble slide plate, the thimble and the dynamic clamp mechanism match；The towing force roller is lived
Dynamic to be connected to No. five holders, the towing force roller is located at the lower part of the dynamic clamp mechanism, the towing force roller and moves
State clamp mechanism matches.
Preferably, the flexible paw includes：No. four finger cylinders, left hand refer to, the right hand refers to, left side assisted finger, right side
The cylinder block of assisted finger, spring base, finger springs, flexible clamping plate, No. four finger cylinders is fixed on the level even
Fishplate bar, the left hand, which refers to refer to the right hand, is connected to No. four finger cylinders, and the left hand refers to refers into parallel folding with the right hand
State；The left side assisted finger is fixed on the left hand and refers to, and the right side assisted finger is fixed on the right hand and refers to；It is described soft
Property grip block is movably connected on the right hand and refers to, and the spring base is fixed on the right hand and refers to, in the flexible clamping plate and bullet
Finger springs are provided between spring abutment；The left hand refers to constitutes one group of clamping combination, the left side auxiliary with right side assisted finger
Finger and flexible clamping plate constitute one group of clamping combination.
Preferably, the dynamic clamp mechanism includes：Roller, sliding panel, fixture, the roller are movably connected on the cunning
Movable plate, the fixture are fixed on the sliding panel；
Preferably, the chain delivery machanism includes：Gantry support, driving motor, sliding rail, erects chain-drive mechanism
Straight limiting cylinder, vertical limiting plate, limit guide post, the gantry support are fixed on the workbench, and the chain-drive mechanism is lived
Dynamic to be connected to the gantry support, the driving motor is fixed on the gantry support, and the output shaft of the driving motor passes through
Shaft coupling is fixed on the chain-drive mechanism；The institute to match with the dynamic clamp mechanism is provided on the gantry support
Sliding rail is stated, the roller is movably connected on the sliding rail, and the dynamic clamp mechanism is fixed on by connecting carrier bar
The chain-drive mechanism；The cylinder block of the vertical limiting cylinder is fixed on the gantry support, and the vertical limiting plate is connected
In on the sliding block of the vertical limiting cylinder, being provided with the limit guide post on the vertical limiting plate, it is arranged on the fixture
There are the limition orientation hole to match with the limit guide post, the limit guide post to be located at the top of material platform support seat.
Preferably, it is provided with catch on the fixture, is configured with sensor on the gantry support, the catch and described
Sensor matches.
Preferably, the overturning reclaimer robot includes：The horizontal sliding cylinder of No.1 holder, No.1, No.1 horizontal slide plate,
Tumble cylinder, No.1 paw cylinder, upper finger, lower finger, elastic press, cover board, the No.1 holder are fixed on the work
The cylinder block of platform, the horizontal sliding cylinder of No.1 is fixed on the No.1 holder, and the No.1 horizontal slide plate is movably connected on
The end of the No.1 holder, the piston rod of the horizontal sliding cylinder of No.1 is fixed on the No.1 horizontal slide plate；It is described to turn over
The cylinder block of rotaring cylinder is fixed on the No.1 horizontal slide plate, and the cylinder block of the No.1 paw cylinder is fixed on the overturning gas
On the output flange of cylinder；The upper finger, lower finger are fixed on the No.1 paw cylinder, are fixed on the upper finger
Refer to, be fixed with lower finger on the lower finger, is provided on the lower finger with the spring to matched feeding mouth, on the upper finger
It is flexibly connected the elastic press, the cover board is fixed on the upper finger, under being provided between the elastic press and cover board
Pressing spring, the elastic press and feeding mouth match.
Preferably, the blocking mechanism includes：No. two holders, upper and lower air cylinders, end connecting plate, upper lower skateboard, elasticity are visited
Needle, No. two holders are fixed on the workbench, and the cylinder block of the upper and lower air cylinders is fixed on No. two holders, it is described on
Lower skateboard is movably connected on No. two holders, and the end of the piston rod of the upper and lower air cylinders is connected by the end connecting plate
In the upper lower skateboard；The elastic probe is fixed on the upper lower skateboard, the elastic probe and the feeding track phase
Match.
Preferably, the catching robot includes：No. three holders, No. two horizontal sliding tables, No. two vertical slide units, Y-axis slide unit,
Blowing finger cylinder, blowing finger, No. three holders are fixed on the workbench, and No. two horizontal sliding tables are fixed on described
No. three holders, described No. two vertical slide units are fixed on the sliding block of No. two horizontal sliding tables, and the Y-axis slide unit is fixed on described
On the sliding block of No. two vertical slide units, the blowing finger cylinder is fixed on the sliding block of the Y-axis slide unit.
Preferably, when the piston rod of the horizontal sliding cylinder of the No.1 is in stretching state, the feeding mouth and described send
When expecting that track matches, the No.1 paw cylinder is in unfolded state, the spring can enter in the feeding mouth；When
In the closure state, the spring is in the state of clamped by the No.1 paw cylinder for the No.1 paw cylinder.
Preferably, two material holes for accommodating the spring are provided on the fixture：No.1 material hole, No. two material holes.
Preferably, when the piston rod of the upper and lower air cylinders is in stretching state, the elastic of the elastic probe enters
To in the feeding track and touching the surface of the spring；When the piston rod of the upper and lower air cylinders is in retracted mode,
The elastic is detached from the feeding track and is detached from and the contact of the spring.
Preferably, the lower part of the dynamic clamp mechanism is provided with the material platform for being used to support the dynamic clamp mechanism
Support seat.
It is compared with traditional technology, present invention assembly and detection integral type integrated intelligence manufacture outfit have following product
Pole acts on and advantageous effect：
The present invention assembles and detection integral type integrated intelligence manufactures outfit, includes mainly：Workbench, vibrating disk,
Feeding track, overturning reclaimer robot, catching robot, dynamic clamp mechanism, blocking mechanism, chain delivery machanism, three-jaw machine
Tool hand, cover board feeding track, waits for that clip area, spring head into mechanism, mechanism for testing at cover board vibrating disk.The spring is first poured into institute
It states in vibrating disk, the vibrating disk is input to after the spring is carried out ordered queue in the feeding track；The feeding rail
Road conveys the spring to the overturning reclaimer robot direction；The blocking mechanism is for controlling the spring
Enter the rhythm of the overturning reclaimer robot；The overturning reclaimer robot is captured from the discharge outlet of the feeding track
To after the spring, the spring is detached from the feeding track, and by the certain angle of the spring pivotal；The dynamic
Clamp mechanism sliding rail described in the driving lower edge of the chain delivery machanism moves, and the dynamic clamp mechanism stays in institute
After stating in material platform support seat, the limit guide post enters in the limition orientation hole to further increase the positioning of the fixture
Precision；The catching robot grabs the spring from the overturning reclaimer robot, and the spring is positioned over institute
It states in No.1 material hole, No. two material holes；Then, the spring is transmitted on other different stations by the chain delivery machanism,
To realize pipelining.The present invention assembles and detection integral type integrated intelligence manufactures outfit, realizes the bullet
Spring is automatically assembled in No.1 material hole, No. two material holes, avoids the deformation of the clamping to the spring, the spring quilt
The dynamic clamp mechanism is delivered to cover board assembly station；The cover board is after cover board vibrating disk output, by the lid
Plate feeding track waits for that clip area, the No.1 flexibility paw from described wait for that cover board clamping is come and put from clip area described in reaching
It is placed in and has been located in the dynamic clamp mechanism at cover board assembly station, since the spring has been located in the dynamic clamp machine
On structure, the spring heads into that mechanism is bottom-up to be pushed into the spring in the pilot hole of the cover board, by the spring and
Cover board realizes assembly；Then, described No. two flexible paws grab the spring and cover board that assemble at test station, institute
The stretching of splicing slider cylinder is stated, the splicing paw clamps the spring and cover board for coming from described No. two flexible paws；
Then, the splicing slider cylinder is retracted, and the upper testboard, lower testboard complete the test to the spring and cover board.This
Invention assembly and detection integral type integrated intelligence manufacture outfit are real using the overturning reclaimer robot, catching robot
Show defeated to the quick crawl of the spring and carrying, the long range that the spring is realized using the chain delivery machanism
It send, the carrying to the cover board, assembly and test is realized using the three claw robot.The present invention assembles and detection integral type
Integrated intelligence manufacture outfit realizes the unmanned quick assembling, test jobs, efficient, product quality of electric equipment products
Reliably.
Next the course of work and operation principle of the three claw robot are described：
No. four horizontal sliding tables are for driving the flexible paw to realize that horizontal movement, described No. four vertical slide units are used for
The flexible paw is driven to realize vertical and straight movement；The horizontal connecting plate is fixed on No. four vertical slide units, the flexible hand
Pawl is equally spacedly arranged in the lower part of the horizontal connecting plate.The crawl to material may be implemented in the flexibility paw, and in institute
Under the driving for stating No. four horizontal sliding tables and No. four vertical slide units, the quick movement in planar range is realized.In order to improve to material
Efficiency is clamped, the flexibility paw can notify to clamp two cover boards.Since the cover board exists in geometric dimension
Small error, the flexibility paw can make the flexibility by this small error of the finger springs flexible compensation
Two cover boards can be clamped in paw simultaneously.
Next the course of work and operation principle of the flexible paw are described：
The left side assisted finger is fixed on the left hand and refers to, and the right side assisted finger is fixed on the right hand and refers to；Institute
It states flexible clamping plate and is movably connected on the right hand and refer to, the spring base is fixed on the right hand and refers to, in the flexible clamping plate
Finger springs are provided between spring base；The left hand refers to constitutes one group of clamping combination, the left side with right side assisted finger
Assisted finger and flexible clamping plate constitute one group of clamping combination.First, No. four finger cylinders are in open configuration, when described
Cover board is located at the left hand and refers between the assisted finger of right side, meanwhile, another described cover board is located at the left side assisted finger
Between flexible clamping plate；Then, No. four finger cylinders are closed, and No. four finger cylinders drive the left hand to refer to
Be closed with right side assisted finger to clamp the cover board, meanwhile, the left side assisted finger and flexible clamping plate closing from
And the cover board is clamped, the flexible clamping plate is equal to the chucking power of the cover board elastic force of the finger springs.From
And realize, the clamping to two cover boards is completed using No. four finger cylinder, substantially increases the flexible hand
The working efficiency of pawl.
Next the course of work and operation principle of the chain delivery machanism are described：
The chain-drive mechanism is movably connected on the gantry support, and the driving motor drives the chain-drive mechanism phase
The gantry support is rotated.
The roller is movably connected on the sliding rail, and the dynamic clamp mechanism is fixed on described by connection carrier bar
Chain-drive mechanism, the chain-drive mechanism drive the dynamic clamp mechanism to be moved along the sliding rail direction, due to
The guiding function of the sliding rail improves the kinematic accuracy of the dynamic clamp mechanism.On the chain delivery machanism
The limit guide post of positioning accuracy can be improved by being additionally provided with.
When the dynamic clamp mechanism reaches aiming station, i.e.,：The catch and the sensor match, the chain
Transmission mechanism stop motion.By the electromagnetic action of the catch and sensor, the thick of the dynamic clamp mechanism may be implemented
Positioning.Next, further increasing the positioning accuracy of the dynamic clamp mechanism.
Since the fixture is located at the top of the material platform support seat, the limit guide post is in the vertical limiting cylinder
It is entered under driving in the limition orientation hole, since the limit guide post and limition orientation hole are in and are accurately positioned state, from
And the positioning accuracy of the fixture is improved, while the fixture being made to be fixed in the material platform support seat, make the fixture not
Have any transportable space.The fixture can accurately dock the catching robot, to realize pipelining
Precision, efficient driving.
Next the course of work and operation principle of the overturning reclaimer robot are described：
The No.1 horizontal slide plate is movably connected on the No.1 holder, the piston rod of the horizontal sliding cylinder of No.1
End is fixed on the No.1 horizontal slide plate, and the cylinder block of the tumble cylinder is fixed on the No.1 horizontal slide plate, and described one
Number sliding cylinder is for driving the tumble cylinder to be detached from or touch the feeding track.
The cylinder block of the No.1 paw cylinder is fixed on the output flange of the tumble cylinder, the upper finger, under
Finger is fixed on the No.1 paw cylinder, and finger is fixed on the upper finger, lower finger is fixed on the lower finger.It is described
No.1 paw cylinder is closed, and the upper finger, lower finger can be driven to be closed, to realize the clamping to the spring；The No.1
Paw cylinder is unclamped, and the upper finger, lower finger can be driven to be detached from, to realize the release to the spring.
Since the material of the spring is relatively soft, the upper finger, lower finger are closed in order to prevent, are realized and are clamped to the spring
When and cause the crimp to the spring.The upper finger is provided with elastic mechanism, to realize the guarantor to the spring
Shield prevents the spring from crimp occurs.
The elastic press is flexibly connected on the upper finger, the cover board is fixed on the upper finger, in the elastic press
Lower pressing spring is provided between cover board, the elastic press and feeding mouth match.The No.1 paw cylinder is unclamped, described
After spring enters the feeding mouth；Then, the No.1 paw cylinder is closed, and the elastic press touches the spring
Surface, since the behind of the elastic press is provided with the lower pressing spring, compressive deformation occurs for the lower pressing spring, so that institute
The surface that elastic press flexibility is extruded in the spring is stated, prevents the spring from crimp occurs.
Next the course of work and operation principle of the blocking mechanism are described：
At first, the piston rod of the horizontal sliding cylinder of the No.1 is in stretching state, the feeding mouth and described
Feeding track matches, the No.1 paw cylinder is in unfolded state, the piston rod of the upper and lower air cylinders is in retracted mode,
The elastic is detached from the feeding track and is detached from can enter the feeding mouth with the contact of the spring, the spring
In；Then, the No.1 paw cylinder driving upper finger, lower finger are closed, and realize the flexible clamping to the spring；Then,
The piston rod of the upper and lower air cylinders is in stretching state, and the elastic of the elastic probe is made to enter in the feeding track simultaneously
The surface of the spring is touched, guarantee can only be moved by the spring that the No.1 paw cylinder is captured,
And it cannot be moved by the spring that the elastic probe is pushed down.
Since the elastic of the elastic probe is driven by flexible higher spring, the elastic touches institute
After stating spring, it is possible to prevente effectively from crimp occurs to the spring.
Description of the drawings
Fig. 1 is the structural schematic diagram of present invention assembly and detection integral type integrated intelligence manufacture outfit；
Fig. 2 is that the structure of the three claw robot of present invention assembly and detection integral type integrated intelligence manufacture outfit is shown
It is intended to；
Fig. 3 is the structural representation of the flexible paw of present invention assembly and detection integral type integrated intelligence manufacture outfit
Figure；
Fig. 4 is the part-structure schematic diagram of present invention assembly and detection integral type integrated intelligence manufacture outfit；
Fig. 5,6 are the knots of the invention for assembling and detecting integral type integrated intelligence and manufacture the chain delivery machanism of outfit
Structure schematic diagram；
Fig. 7,8,9 are present invention assembly and the part-structure signal of detection integral type integrated intelligence manufacture outfit
Figure；
Figure 10,11 are the overturning reclaimer robots of the invention for assembling and detecting integral type integrated intelligence manufacture outfit
Structural schematic diagram；
Figure 12 is that the spring of assembly and detection integral type integrated intelligence manufacture outfit of the invention heads into the knot of mechanism
Structure schematic diagram；
Figure 13 is that the structure of the mechanism for testing of present invention assembly and detection integral type integrated intelligence manufacture outfit is shown
It is intended to.
1 workbench, 2 vibrating disks, 3 feeding tracks, 4 overturning reclaimer robots, 5 catching robots, 6 fixtures, 7 blocking machines
Structure, 8 No.1 holders, the horizontal sliding cylinder of 9 No.1s, 10 No.1 horizontal slide plates, 11 tumble cylinders, 12 No.1 paw cylinders, on 13
Finger, 14 times fingers, 15 elastic press, 16 cover boards, 17 springs, 18 upper and lower air cylinders, 19 end connecting plates, lower skateboard, 21 on 20
Elastic probe, refer on 22,23 down finger, 24 elastics, 25 times pressing springs, 26 feeding mouths, 27 No. two horizontal sliding tables, 28 No. two vertically
Slide unit, 29Y axis slide unit, 30 blowing finger cylinders, 31 blowing fingers, 32 No.1 material holes, 33 No. two material holes, 34 No. two holders, 35
No. three holders, 36 chain delivery machanisms, 37 material platform support seats, 38 gantry supports, 39 chain-drive mechanisms, 40 driving motors, 41 connect
Chain link plate, 42 sliding rails, 43 rollers, 44 sliding panels, 45 dynamic clamp mechanisms, 46 catch, 47 sensors, 48 vertical limit gas
Cylinder, 49 vertical limiting plates, 50 limit guide posts, 51 limition orientation holes, 52 three claw robots, 53 cover board vibrating disks, 54 cover board feedings
Clip area, 56 cover boards, 57 No. four holders, 58 No. four horizontal sliding tables, 59 No. four vertical slide units, 60 horizontal connecting plates, 61 are waited in track, 55
No.1 flexibility paw, 62 No. four finger cylinders, 63 left hands refer to, 64 right hands refer to, 65 left side assisted fingers, 66 right side assisted fingers,
67 spring bases, 68 finger springs, 69 flexible clamping plates, 70 No. two flexible paws, 71 No. three flexible paws, 72 springs head into machine
Structure, 73 No. five holders, 74 push-in cylinders, 75 thimble slide plates, 76 thimbles, 77 towing force rollers, 78 mechanism for testing, 79 No. six holders,
80 splicing slider cylinders, 81 splicing paws, 82 lower slide unit cylinders, 83 times conducting probes, 84 times insulating bases, 85 upper slide unit cylinders,
Conducting probe on 86, insulating base on 87.
Specific implementation mode
The present invention is described in further detail below in conjunction with attached drawing, but does not constitute any limitation of the invention,
Similar element numbers represent similar element in attached drawing.As described above, the present invention provides a kind of assembly and detection integral types
Integrated intelligence manufactures outfit, in the Automated assembly production of electric equipment products, spring is captured and is placed into an orderly manner
It on fixture, is realized in the order output to feeding track of spring using vibrating disk, using overturning reclaimer robot from feeding rail
Spring is grabbed in road, the crawl from overturning reclaimer robot comes and is placed into dynamic clamp by spring using catching robot
On, spring is delivered to cover board assembly station using chain delivery machanism；It is realized to the orderly defeated of cover board using cover board vibrating disk
Go out to cover board feeding track, using three claw robot by cover board from waiting for that clip area grabs on dynamic clamp, and spring is assembled to
On cover board, then the spring assembled and cover board are clamped on next station by three claw robot.The present invention assembles and detection
Integral type integrated intelligence manufactures outfit, realizes the order output to spring, after spring is adjusted to scheduled angle,
Be placed on fixture, ensure that the smooth, controllable of spring moving process using double-manipulator, avoid crushing spring, spring according to
It is delivered to cover board assembly station by chain delivery machanism；Using three claw robot by cover board from waiting for that clip area grabs cover board assembler
On dynamic clamp on position, the assembly that mechanism realizes cover board and spring is headed by spring；Then, three claw robot is realized cover board
In spring clamping to test station, the test to product is completed by mechanism for testing.The present invention assembles and detection integral type is integrated
Changing intelligence manufacture outfit realizes the quick crawl to material using several manipulators and carries, and realizes to cover board and bullet
The Automated assembly and automatic test of spring, automated integration degree is high, realizes the unmanned quick assembling operation of electric equipment products.
Fig. 1 is the structural schematic diagram of present invention assembly and detection integral type integrated intelligence manufacture outfit, and Fig. 2 is this
The structural schematic diagram of the three claw robot of invention assembly and detection integral type integrated intelligence manufacture outfit, Fig. 3 is this hair
The structural schematic diagram of the flexible paw of bright assembly and detection integral type integrated intelligence manufacture outfit, Fig. 4 is dress of the present invention
Match and detect the part-structure schematic diagram of integral type integrated intelligence manufacture outfit, Fig. 5,6 are present invention assembly and detection
Integral type integrated intelligence manufacture outfit chain delivery machanism structural schematic diagram, Fig. 7,8,9 be the present invention assembly and
The part-structure schematic diagram of integral type integrated intelligence manufacture outfit is detected, Figure 10,11 are present invention assembly and detection one
Body formula integrated intelligence manufactures the structural schematic diagram of the overturning reclaimer robot of outfit, and Figure 12 is present invention assembly and detection
The spring of integral type integrated intelligence manufacture outfit heads into the structural schematic diagram of mechanism, and Figure 13 is present invention assembly and detection
Integral type integrated intelligence manufactures the structural schematic diagram of the mechanism for testing of outfit.
It is a kind of assembly and detection integral type integrated intelligence manufacture outfit, including：Workbench 1 is used for delivery spring
17 vibrating disk 2, feeding track 3 for conveying the spring 17, for the spring 17 to be clamped and flips an angle
Overturn reclaimer robot 4, for grabbing the catching robot 5 of the spring 17 from the overturning reclaimer robot 4, being used for
It limits the blocking mechanism 7 of the movement speed of the spring 17, the chain delivery machanism 36 for conveying the spring 17, be equipped on
Dynamic clamp mechanism 45 on the chain delivery machanism 36, the three claw robot 52 for capturing cover board 56, for exporting
State the cover board vibrating disk 53 of cover board 56, the discharge port for being connected to the cover board vibrating disk 53 cover board feeding track 54, be connected to
The cover board feeding track 54 waits for that clip area 55, the spring for the spring 17 to be assembled in the cover board 56 head into mechanism
72, the mechanism for testing 78 for being tested the spring 17 and cover board 56；The delivery outlet of the vibrating disk 2 is connected to described
The delivery outlet of feeding track 3, the feeding track 3 is connected to the overturning reclaimer robot 4, and the blocking mechanism 7 is located at institute
The equipped at outlet port of feeding track 3 is stated, the catching robot 5 is located at the top of the overturning reclaimer robot 4, the dynamic folder
Tool mechanism 45 is located at the lower part of the catching robot 5, and the chain delivery machanism 36 is located at the side of the catching robot 5
Side；The discharge port of the cover board vibrating disk 53 is connected to the cover board feeding track 54, the discharging of the cover board feeding track 54
Mouth waits for that clip area 55, the three claw robot 52 are located at the top for waiting for clip area 55 described in being connected to, and the spring heads into mechanism
72 are located at the lower part of the dynamic clamp mechanism 45, and the mechanism for testing 78 is located at the lower part of the three claw robot 52；
The three claw robot includes：No. four horizontal sliding tables 58, four of holder 57, four vertical slide unit 59, horizontal connections
Plate 60, flexible paw；No. four holders 57 are fixed on the workbench 1, and No. four horizontal sliding tables 58 are fixed on described four
Number holder 57, described No. four vertical slide units 59 are fixed on No. four horizontal sliding tables 58, and the horizontal connecting plate 60 is fixed on institute
No. four vertical slide units 59 are stated, the flexibility paw is equally spacedly arranged in the lower part of the horizontal connecting plate 60；The flexible hand
The quantity of pawl is three, including：The flexible paw 71 of flexible paw 70, three of No.1 flexibility paw 61, two；
The mechanism for testing 78 includes：No. six holders 79, splicing slider cylinder 80, splicing paw 81, upper testboard, lower survey
Test stand, No. six holders 79 are fixed on the workbench 1, and the cylinder block of the splicing slider cylinder 80 is fixed on described No. six
Holder 79, the splicing paw 81 are fixed on the slide unit of the splicing slider cylinder 80, and the upper testboard is fixed on described
No. six holders 79, the upper testboard are located at the top of the splicing paw 81, and the lower testboard is fixed on No. six branch
Frame 79, the upper testboard are located at the lower part of the splicing paw 81；The lower testboard includes：Lower slide unit cylinder 82, under lead
The cylinder block of electric probe 83, lower insulating base 84, the lower slide unit cylinder 82 is fixed on No. six holders 79, the lower insulating base
84 are fixed on the slide unit of the lower slide unit cylinder 82, and the lower conducting probe 83 is fixed on the lower insulating base 84；On described
Testboard includes：The cylinder block of upper slide unit cylinder 85, upper conducting probe 86, upper insulating base 87, the upper slide unit cylinder 85 is connected
In No. six holders 79, the upper insulating base 87 is fixed on the slide unit of the upper slide unit cylinder 85, the upper conducting probe
86 are fixed on the upper insulating base 87；The lower conducting probe 83 and the spring 17 match.
More specifically, the spring heads into mechanism 72 includes：No. five holders 73, push-in cylinder 74, thimble slide plate 75, thimble
76, towing force roller 77, No. five holders 73 are fixed on the workbench 1, and the cylinder block of the push-in cylinder 74 is fixed on institute
No. five holders 73 are stated, the thimble slide plate 75 is movably connected on No. five holders 73, the piston rod of the push-in cylinder 74
End is fixed on the thimble slide plate 75；The top of the thimble slide plate 75 is fixed with the thimble 76, the thimble 76 and institute
Dynamic clamp mechanism 45 is stated to match；The towing force roller 77 is movably connected on No. five holders 73, the towing force roller 77
Positioned at the lower part of the dynamic clamp mechanism 45, the towing force roller 77 and dynamic clamp mechanism 45 match.
More specifically, the flexibility paw includes：No. four finger cylinders 62, left hand refer to the 63, right hand and refer to 64, left side nondominant hand
Refer to 65, right side assisted finger 66, spring base 67, finger springs 68, flexible clamping plate 69, the cylinder of No. four finger cylinders 62
Body is fixed on the horizontal connecting plate 60, the left hand refer to 63 and the right hand refer to 64 and be connected to No. four finger cylinders 62, it is described
Left hand refers to 63 states for referring to 64 one-tenth parallel foldings with the right hand；The left side assisted finger 65 is fixed on the left hand and refers to 63, described
Right side assisted finger 66 is fixed on the right hand and refers to 64；The flexible clamping plate 69 is movably connected on the right hand and refers to 64, described
Spring base 67 is fixed on the right hand and refers to 64, and finger springs 68 are provided between the flexible clamping plate 69 and spring base 67；
The left hand refers to 63 and the one group of clamping combination of the composition of right side assisted finger 66, the left side assisted finger 65 and flexible clamping plate 69
Constitute one group of clamping combination.
More specifically, the dynamic clamp mechanism 45 includes：Roller 43, sliding panel 44, fixture 6,43 activity of the roller
It is connected to the sliding panel 44, the fixture 6 is fixed on the sliding panel 44；
More specifically, the chain delivery machanism 36 includes：Gantry support 38, driving motor 40, is slided chain-drive mechanism 39
Dynamic rail road 42, vertical limiting cylinder 48, vertical limiting plate 49, limit guide post 50, the gantry support 38 are fixed on the work
Platform 1, the chain-drive mechanism 39 are movably connected on the gantry support 38, and the driving motor 40 is fixed on gantry branch
The output shaft of frame, the driving motor 40 is fixed on the chain-drive mechanism 39 by shaft coupling；On the gantry support 38
It is provided with the sliding rail 42 to match with the dynamic clamp mechanism 45, the roller 43 is movably connected on the sliding
Track 42, the dynamic clamp mechanism 45 are fixed on the chain-drive mechanism 39 by connecting carrier bar 41；The vertical limit gas
The cylinder block of cylinder 48 is fixed on the gantry support 38, and the vertical limiting plate 49 is fixed on the cunning of the vertical limiting cylinder 48
On block, it is provided with the limit guide post 50 on the vertical limiting plate 49, is provided on the fixture 6 and the limit guide post 50
The limition orientation hole 51 to match, the limit guide post 50 are located at the top of material platform support seat 37.
More specifically, being provided with catch 46 on the fixture 6, sensor 47 is configured on the gantry support 38, it is described
Catch 46 and the sensor 47 match.
More specifically, the overturning reclaimer robot 4 includes：The horizontal sliding cylinder 9 of No.1 holder 8, No.1, No.1 are horizontal
Slide plate 10, tumble cylinder 11, No.1 paw cylinder 12, upper finger 13, lower finger 14, elastic press 15, cover board 16, the No.1
Holder 8 is fixed on the workbench 1, and the cylinder block of the horizontal sliding cylinder of the No.1 9 is fixed on the No.1 holder 8, described
No.1 horizontal slide plate 10 is movably connected on the No.1 holder 8, and the end of the piston rod of the horizontal sliding cylinder of the No.1 9 is connected
In the No.1 horizontal slide plate 10；The cylinder block of the tumble cylinder 11 is fixed on the No.1 horizontal slide plate 10, the No.1
The cylinder block of paw cylinder 12 is fixed on the output flange of the tumble cylinder 11；The upper finger 13, lower finger 14 are connected
Refer to 22 in being fixed in the No.1 paw cylinder 12, the upper finger 13, lower finger 23, institute are fixed on the lower finger 14
It states lower refer to be provided on 23 with the spring 17 to matched feeding mouth 26, upper refer to is flexibly connected the elastic press on 22
15, the cover board 16 is fixed on the upper finger 22, and lower pressing spring 25, institute are provided between the elastic press 15 and cover board 16
It states elastic press 15 and feeding mouth 26 matches.
More specifically, the blocking mechanism 7 includes：No. two holders 34, upper and lower air cylinders 18, end connecting plate 19, upper downslide
Plate 20, elastic probe 21, No. two holders 34 are fixed on the workbench 1, and the cylinder block of the upper and lower air cylinders 18 is fixed on
No. two holders 34, the upper lower skateboard 20 are movably connected on No. two holders 34, the piston rod of the upper and lower air cylinders 18
End the upper lower skateboard 20 is fixed on by the end connecting plate 19；The elastic probe 21 is fixed on the upper downslide
Plate 20, the elastic probe 21 and the feeding track 3 match.
More specifically, the catching robot 5 includes：No. three vertical slide units of the horizontal sliding table 27, two of holder 35, two
28, Y-axis slide unit 29, blowing finger cylinder 30, blowing finger 31, No. three holders 35 are fixed on the workbench 1, and described two
Number horizontal sliding table 27 is fixed on No. three holders 35, and described No. two vertical slide units 28 are fixed on No. two horizontal sliding tables 27
On sliding block, the Y-axis slide unit 29 is fixed on the sliding block of described No. two vertical slide units 28, and the blowing finger cylinder 30 is fixed on
On the sliding block of the Y-axis slide unit 29.
More specifically, when the piston rod of the horizontal sliding cylinder of the No.1 9 is in stretching state, the feeding mouth 26 and institute
When stating that feeding track 3 matches, the No.1 paw cylinder 12 is in unfolded state, the spring 17 can enter it is described enter
In material mouth 26；When the No.1 paw cylinder 12 in the closure state, the spring 17 be in by the No.1 paw cylinder
In the state that 12 is clamped.
More specifically, being provided with two material holes for accommodating the spring 17 on the fixture 6：No.1 material hole 32, two
Number material hole 33.
More specifically, when the piston rod of the upper and lower air cylinders 18 is in stretching state, the elasticity of the elastic probe 21
Column 24 enters in the feeding track 3 and touches the surface of the spring 17；At the piston rod of the upper and lower air cylinders 18
When retracted mode, the elastic 24 is detached from the feeding track 3 and is detached from and the contact of the spring 17.
More specifically, the lower part of the dynamic clamp mechanism 45 is provided with the institute for being used to support the dynamic clamp mechanism 45
State material platform support seat 37.
Below in conjunction with Fig. 1 to 13, further describes present invention assembly and detection integral type integrated intelligence is manufactured into suit
Standby operation principle and the course of work：
The present invention assembles and detection integral type integrated intelligence manufactures outfit, includes mainly：Workbench 1, vibrating disk
2, feeding track 3, overturning reclaimer robot 4, catching robot 5, dynamic clamp mechanism 45, blocking mechanism 7, chain delivery machanism
36, three claw robot 52, cover board vibrating disk 53, cover board feeding track 54, wait for that clip area 55, spring head into mechanism 72, mechanism for testing
78.The spring 17 first pours into the vibrating disk 2, and the vibrating disk 2 is input to after the spring 7 is carried out ordered queue
In the feeding track 3；The feeding track 3 carries out the spring 17 to 4 direction of overturning reclaimer robot defeated
It send；The blocking mechanism 7 is used to control the rhythm that the spring 17 enters the overturning reclaimer robot 4；The overturning takes
Expect that manipulator 4 after the discharge outlet of the feeding track 3 grabs the spring 17, the spring 17 is detached from and is sent in described
Expect track 3, and the spring 17 is rotated to certain angle；The dynamic clamp mechanism 45 is in the chain delivery machanism 36
Sliding rail 42 described in lower edge is driven to move, it is described after the dynamic clamp mechanism 45 stays in the material platform support seat 37
Limit guide post 50 enters in the limition orientation hole 51 to further increase the positioning accuracy of the fixture 6；The gripper
Tool hand 5 grabs the spring 17 from the overturning reclaimer robot 4, and the spring 17 is positioned over No.1 material hole
32, in No. two material holes 33；Then, the spring 17 is transmitted on other different stations by the chain delivery machanism 36, with
Realize pipelining.The present invention assembles and detection integral type integrated intelligence manufactures outfit, realizes the spring
17 are automatically assembled in the material hole 33 of No.1 material hole 32, two, avoid the deformation of the clamping to the spring 17, described
Spring 17 is delivered to cover board assembly station by the dynamic clamp mechanism 45；The cover board 56 is exported from the cover board vibrating disk 53
Afterwards, it is reached by the cover board feeding track 54 and described waits for that clip area 55, the No.1 flexibility paw 61 are waited for from described from clip area 55
The clamping of the cover board 56 is come and is positioned over to have been located in the dynamic clamp mechanism 45 at cover board assembly station, by institute
It states spring 17 to have been located in the dynamic clamp mechanism 45, the spring heads into that mechanism 72 is bottom-up to head into the spring 17
Into the pilot hole of the cover board 56, the spring 17 and cover board 56 are realized into assembly；Then, described No. two flexible paws 70 will
The spring 17 and cover board 56 assembled grabs at test station, and the splicing slider cylinder 80 is stretched out, the splicing hand
Pawl 81 clamps the spring 17 and cover board 56 for coming from described No. two flexible paws 70；Then, the splicing slider cylinder
80 retract, and the upper testboard, lower testboard complete the test to the spring 17 and cover board 56.The present invention assembles and detection one
Body formula integrated intelligence manufacture outfit is realized using the overturning reclaimer robot 4, catching robot 5 to the spring
17 quick crawl and carrying, the long distance delivery of the spring 17 is realized using the chain delivery machanism, using described
Three claw robot realizes the carrying to the cover board, assembly and test.The present invention assembles and detection integral type integrated intelligence
Manufacture outfit realizes the unmanned quick assembling, test jobs, efficient, reliable product quality of electric equipment products.
Next the course of work and operation principle of the three claw robot 52 are described：
No. four horizontal sliding tables 58 are for driving the flexible paw to realize horizontal movement, described No. four vertical slide units 59
For driving the flexible paw to realize vertical and straight movement；The horizontal connecting plate 60 is fixed on described No. four vertical slide units 59, institute
State the lower part that flexible paw is equally spacedly arranged in the horizontal connecting plate 60.The flexibility paw may be implemented to grab material
It takes, and under the driving of No. four horizontal sliding tables 58 and No. four vertical slide units 59, realizes the quick movement in planar range.For
It improves to material clamp holding effect rate, the flexibility paw can notify to clamp two cover boards 56.Due to the cover board 56
There are small errors in geometric dimension, and the flexibility paw can be this small by 68 flexible compensation of the finger springs
Error, allow the flexible paw that two cover boards 56 to be clamped simultaneously.
Next the course of work and operation principle of the flexible paw are described：
The left side assisted finger 65 is fixed on the left hand and refers to 63, and the right side assisted finger 66 is fixed on the right hand
Refer to 64；The flexible clamping plate 69 is movably connected on the right hand and refers to 64, and the spring base 67 is fixed on the right hand and refers to 64,
It is provided with finger springs 68 between the flexible clamping plate 69 and spring base 67；The left hand refers to 63 and 66 structure of right side assisted finger
It is combined at one group of clamping, the left side assisted finger 65 and flexible clamping plate 69 constitute one group of clamping combination.First, described No. four
Finger cylinder 62 is in open configuration, refers between 63 and right side assisted finger 66 when the cover board 56 is located at the left hand, meanwhile,
Another described cover board 56 is between the left side assisted finger 65 and flexible clamping plate 69；Then, four trumpeter refers to gas
Cylinder 62 be closed, No. four finger cylinders 62 drive the left hand refer to 63 and right side assisted finger 66 be closed to clamp
The cover board 56, meanwhile, the left side assisted finger 65 and flexible clamping plate 69 are closed to clamp the cover board 56, described
Flexible clamping plate 69 is equal to the chucking power of the cover board 56 elastic force of the finger springs 68.Hereby, it is achieved that utilizing one
No. four finger cylinders 62 complete the clamping to two cover boards 56, substantially increase the work effect of the flexible paw
Rate.
Next the course of work and operation principle of the chain delivery machanism 36 are described：
The chain-drive mechanism 39 is movably connected on the gantry support 38, and the driving motor 40 drives the chain drive
Mechanism 39 is rotated relative to the gantry support 38.
The roller 43 is movably connected on the sliding rail 42, and the dynamic clamp mechanism 45 is solid by connecting carrier bar 41
It is connected in the chain-drive mechanism 39, the chain-drive mechanism 39 drives the dynamic clamp mechanism 45 along 42 institute of the sliding rail
It is moved in direction, due to the guiding function of the sliding rail 42, improves the kinematic accuracy of the dynamic clamp mechanism 45.
The limit guide post 50 of positioning accuracy can be improved by being additionally provided on the chain delivery machanism 36.
When the dynamic clamp mechanism 45 reaches aiming station, i.e.,：The catch 46 and the sensor 47 match,
39 stop motion of the chain-drive mechanism.By the electromagnetic action of the catch 46 and sensor 47, the dynamic may be implemented
The coarse positioning of clamp mechanism 45.Next, further increasing the positioning accuracy of the dynamic clamp mechanism 45.
Since the fixture 6 is located at the top of the material platform support seat 37, the limit guide post 50 is in the vertical limit
It is entered under the driving of cylinder 48 in the limition orientation hole 51, since the limit guide post 50 and limition orientation hole 51 are in essence
True positioning states to improve the positioning accuracy of the fixture 6, while making the fixture 6 be fixed on the material platform support seat
On 37, the fixture 6 is made not have any transportable space.The fixture 6 can accurately dock the catching robot
5, to realize precision, the efficient driving of pipelining.
Next the course of work and operation principle of the overturning reclaimer robot 4 are described：
The No.1 horizontal slide plate 10 is movably connected on the No.1 holder 8, the piston of the horizontal sliding cylinder of the No.1 9
The end of bar is fixed on the No.1 horizontal slide plate 10, and the cylinder block of the tumble cylinder 11 is fixed on the No.1 horizontal slide plate
10, the No.1 sliding cylinder 9 is for driving the tumble cylinder 11 to be detached from or touch the feeding track 3.
The cylinder block of the No.1 paw cylinder 12 is fixed on the output flange of the tumble cylinder 11, the upper finger
13, lower finger 14 is fixed on the No.1 paw cylinder 12, finger 22 is fixed on the upper finger 13, on the lower finger 14
It is fixed with lower finger 23.The closure of No.1 paw cylinder 12 can drive upper 22, the lower finger 23 that refers to be closed, to realization pair
The clamping of the spring 17；The No.1 paw cylinder 12 is unclamped, and upper 22, the lower finger 23 that refers to can be driven to be detached from, to real
Now to the release of the spring 17.
Since the material of the spring 17 is relatively soft, upper 22, the lower finger 23 that refers to is closed in order to prevent, to the spring 17
It realizes when clamping and causes the crimp to the spring 17.The upper finger 22 is provided with elastic mechanism, to realization pair
The protection of the spring 17 prevents the spring 17 from crimp occurs.
Upper refer to is flexibly connected the elastic press 15 on 22, the cover board 16 is fixed on the upper finger 22, described
Lower pressing spring 25 is provided between elastic press 15 and cover board 16, the elastic press 15 and feeding mouth 26 match.Described one
Number paw cylinder 12 is unclamped, after the spring 17 enters the feeding mouth 26；Then, the No.1 paw cylinder 12 is closed,
The elastic press 15 touches the surface of the spring 17, since the behind of the elastic press 15 is provided with the pushing bullet
Spring 25, compressive deformation occurs for the lower pressing spring 25, so that 15 flexibility of the elastic press is extruded in the surface of the spring 17,
Prevent the spring 17 from crimp occurs.
Next the course of work and operation principle of the blocking mechanism 7 are described：
At first, the piston rod of the horizontal sliding cylinder of the No.1 9 is in stretching state, the feeding mouth 26 and institute
State feeding track 3 matches, the No.1 paw cylinder 12 is in unfolded state, the piston rod of the upper and lower air cylinders 18 be in contracting
The state of returning, the elastic 24 are detached from the feeding track 3 and are detached from and the contact of the spring 17, the spring 17 can be into
Enter into the feeding mouth 26；Then, the No.1 paw cylinder 12 drives upper 22, the lower finger 23 that refers to be closed, and realizes to institute
State the flexible clamping of spring 17；Then, the piston rod of the upper and lower air cylinders 18 is in stretching state, makes the elastic probe 21
Elastic 24 enters in the feeding track 3 and touches the surface of the spring 17, ensures only by the No.1 paw
The spring 17 that cylinder 12 is captured can move, and cannot be occurred by the spring 17 that the elastic probe 21 is pushed down
Movement.
Since the elastic 24 of the elastic probe 21 is driven by flexible higher spring, the elastic 24 connects
After contacting the spring 17, it is possible to prevente effectively from crimp occurs to the spring 17.
Finally it is pointed out that above example is only that present invention assembly and detection integral type integrated intelligence manufacture are complete
The more representational example of equipment.Obviously, present invention assembly and detection integral type integrated intelligence manufacture outfit are not limited to
Above-described embodiment, acceptable there are many deformations.Every assembly according to the present invention and detection integral type integrated intelligence manufacture are complete
The technical spirit of equipment is considered as belonging to this hair to any simple modification, equivalent change and modification made by above example
The protection domain of bright assembly and detection integral type integrated intelligence manufacture outfit.
Claims (10)
1. a kind of assembly and detection integral type integrated intelligence manufacture outfit, which is characterized in that including：Workbench is used for
The vibrating disk of delivery spring, the feeding track for conveying the spring, for being clamped the spring and flipping an angle
Overturn reclaimer robot, for grabbing the catching robot of the spring from the overturning reclaimer robot, for limiting
The blocking mechanism of the movement speed of the spring, the chain delivery machanism for conveying the spring, to be equipped on the chain type defeated
Send the dynamic clamp mechanism in mechanism, the three claw robot for capturing cover board, the cover board vibrating disk for exporting the cover board,
It is connected to the cover board feeding track of the discharge port of the cover board vibrating disk, is connected to waiting for clip area, using for the cover board feeding track
Mechanism is headed into the spring that the spring is assembled in the cover board, the test for being tested the spring and cover board
Mechanism；The delivery outlet of the vibrating disk is connected to the feeding track, and the delivery outlet of the feeding track is connected to the overturning
Reclaimer robot, the blocking mechanism are located at the equipped at outlet port of the feeding track, and the catching robot is located at the overturning
The top of reclaimer robot, the dynamic clamp mechanism are located at the lower part of the catching robot, the chain delivery machanism position
In the side of the catching robot；The discharge port of the cover board vibrating disk is connected to the cover board feeding track, the cover board
The discharge port of feeding track waits for that clip area, the three claw robot are located at the top for waiting for clip area, the spring described in being connected to
The lower part that mechanism is located at the dynamic clamp mechanism is headed into, the mechanism for testing is located at the lower part of the three claw robot；
The three claw robot includes：No. four holders, No. four horizontal sliding tables, No. four vertical slide unit, horizontal connecting plate, flexible hands
Pawl；No. four holders are fixed on the workbench, and No. four horizontal sliding tables are fixed on No. four holders, and described No. four perpendicular
Straight slide unit is fixed on No. four horizontal sliding tables, and the horizontal connecting plate is fixed on No. four vertical slide units, the flexible hand
Pawl is equally spacedly arranged in the lower part of the horizontal connecting plate；The quantity of the flexibility paw is three, including：No.1 flexible hand
Pawl, No. two flexible paws, No. three flexible paws；
The mechanism for testing includes：No. six holders, splicing slider cylinder, splicing paw, upper testboard, lower testboard, described six
Number holder is fixed on the workbench, and the cylinder block of the splicing slider cylinder is fixed on No. six holders, the splicing hand
Pawl is fixed on the slide unit of the splicing slider cylinder, and the upper testboard is fixed on No. six holders, the upper testboard
Positioned at the top of the splicing paw, the lower testboard is fixed on No. six holders, and the upper testboard is located at described connect
Expect the lower part of paw；The lower testboard includes：Lower slide unit cylinder, lower conducting probe, lower insulating base, the lower slide unit cylinder
Cylinder block is fixed on No. six holders, and the lower insulating base is fixed on the slide unit of the lower slide unit cylinder, the lower conduction
Probe is fixed on the lower insulating base；The upper testboard includes：Upper slide unit cylinder, upper conducting probe, upper insulating base, it is described on
The cylinder block of slider cylinder is fixed on No. six holders, and the upper insulating base is fixed on the slide unit of the upper slide unit cylinder,
The upper conducting probe is fixed on the upper insulating base；The lower conducting probe and the spring match.
2. assembly according to claim 1 and detection integral type integrated intelligence manufacture outfit, which is characterized in that institute
It states spring and heads into mechanism and include：No. five holders, push-in cylinder, thimble slide plate, thimble, towing force roller, No. five holders are connected
No. five holders are fixed in the cylinder block of the workbench, the push-in cylinder, the thimble slide plate is movably connected on institute
No. five holders are stated, the end of the piston rod of the push-in cylinder is fixed on the thimble slide plate；The top of the thimble slide plate is solid
It is connected with the thimble, the thimble and the dynamic clamp mechanism match；The towing force roller is movably connected on described No. five
Holder, the towing force roller are located at the lower part of the dynamic clamp mechanism, and the towing force roller and dynamic clamp mechanism match.
3. assembly according to claim 1 and detection integral type integrated intelligence manufacture outfit, which is characterized in that institute
Stating flexible paw includes：No. four finger cylinders, left hand refer to, the right hand refers to, left side assisted finger, right side assisted finger, spring base, hand
The cylinder block of thrum spring, flexible clamping plate, No. four finger cylinders is fixed on the horizontal connecting plate, and the left hand refers to and the right side
Finger is connected to No. four finger cylinders, and the left hand refers to the state for referring into parallel folding with the right hand；The left side nondominant hand
Finger is fixed on the left hand and refers to, and the right side assisted finger is fixed on the right hand and refers to；The flexible clamping plate is movably connected on
The right hand refers to, and the spring base is fixed on the right hand and refers to, and finger is provided between the flexible clamping plate and spring base
Spring；The left hand refers to constitutes one group of clamping combination, the left side assisted finger and flexible clamping plate structure with right side assisted finger
It is combined at one group of clamping.
4. assembly according to claim 1 and detection integral type integrated intelligence manufacture outfit, which is characterized in that institute
Stating dynamic clamp mechanism includes：Roller, sliding panel, fixture, the roller are movably connected on the sliding panel, and the fixture is connected
In on the sliding panel.
5. assembly according to claim 4 and detection integral type integrated intelligence manufacture outfit, which is characterized in that institute
Stating chain delivery machanism includes：Gantry support, chain-drive mechanism, driving motor, sliding rail, vertical limiting cylinder, vertical limit
Position plate, limit guide post, the gantry support are fixed on the workbench, and the chain-drive mechanism is movably connected on gantry branch
Frame, the driving motor are fixed on the gantry support, and the output shaft of the driving motor is fixed on the chain by shaft coupling
Transmission mechanism；The sliding rail to match with the dynamic clamp mechanism, the roller are provided on the gantry support
Subactivity is connected to the sliding rail, and the dynamic clamp mechanism is fixed on the chain-drive mechanism by connecting carrier bar；Institute
The cylinder block for stating vertical limiting cylinder is fixed on the gantry support, and the vertical limiting plate is fixed on the vertical limiting cylinder
Sliding block on, the limit guide post is provided on the vertical limiting plate, is provided on the fixture and the limit guide post phase
Matched limition orientation hole, the limit guide post are located at the top of material platform support seat.
6. assembly according to claim 5 and detection integral type integrated intelligence manufacture outfit, which is characterized in that institute
It states and is provided with catch on fixture, sensor is configured on the gantry support, the catch and the sensor match.
7. assembly according to claim 1 and detection integral type integrated intelligence manufacture outfit, which is characterized in that institute
Stating overturning reclaimer robot includes：The horizontal sliding cylinder of No.1 holder, No.1, No.1 horizontal slide plate, tumble cylinder, No.1 paw
Cylinder, upper finger, lower finger, elastic press, cover board, the No.1 holder are fixed on the workbench, and the No.1 level is slided
The cylinder block of cylinder of taking offence is fixed on the No.1 holder, and the No.1 horizontal slide plate is movably connected on the No.1 holder, described
The end of the piston rod of the horizontal sliding cylinder of No.1 is fixed on the No.1 horizontal slide plate；The cylinder block of the tumble cylinder is connected
It is fixed on the output flange of the tumble cylinder in the cylinder block of the No.1 horizontal slide plate, the No.1 paw cylinder；Institute
State finger, lower finger is fixed on the No.1 paw cylinder, is fixed with finger on the upper finger, be connected on the lower finger
There is lower finger, the feeding mouth to match with the spring is provided on the lower finger, the elasticity pressure is flexibly connected on the upper finger
Block, the cover board are fixed on the upper finger, and lower pressing spring, the elastic press are provided between the elastic press and cover board
Match with feeding mouth.
8. assembly according to claim 1 and detection integral type integrated intelligence manufacture outfit, which is characterized in that institute
Stating blocking mechanism includes：No. two holders, upper and lower air cylinders, end connecting plate, upper lower skateboard, elastic probe, No. two holders are solid
It is connected in the workbench, the cylinder block of the upper and lower air cylinders is fixed on No. two holders, and the upper lower skateboard is movably connected on
The end of No. two holders, the piston rod of the upper and lower air cylinders is fixed on the upper lower skateboard by the end connecting plate；
The elastic probe is fixed on the upper lower skateboard, and the elastic probe and the feeding track match.
9. assembly according to claim 1 and detection integral type integrated intelligence manufacture outfit, which is characterized in that institute
Stating catching robot includes：No. three holders, No. two horizontal sliding tables, No. two vertical slide units, Y-axis slide unit, blowing finger cylinder, blowings
Finger, No. three holders are fixed on the workbench, and No. two horizontal sliding tables are fixed on No. three holders, described No. two
Vertical slide unit is fixed on the sliding block of No. two horizontal sliding tables, and the Y-axis slide unit is fixed on the cunning of described No. two vertical slide units
On block, the blowing finger cylinder is fixed on the sliding block of the Y-axis slide unit.
10. assembly according to claim 8 and detection integral type integrated intelligence manufacture outfit, which is characterized in that
When the piston rod of the upper and lower air cylinders is in stretching state, the elastic of the elastic probe enters in the feeding track
And touch the surface of the spring；When the piston rod of the upper and lower air cylinders is in retracted mode, the elastic is detached from institute
It states feeding track and is detached from and the contact of the spring.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710451369.8A CN107150225B (en) | 2017-07-12 | 2017-07-12 | Assembly and detection integral type integrated intelligence manufacture outfit |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710451369.8A CN107150225B (en) | 2017-07-12 | 2017-07-12 | Assembly and detection integral type integrated intelligence manufacture outfit |
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| CN107150225A CN107150225A (en) | 2017-09-12 |
| CN107150225B true CN107150225B (en) | 2018-10-26 |
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| CN108381881B (en) * | 2018-01-09 | 2020-09-08 | 温州职业技术学院 | Material grabbing and self-adaptive efficient loading and unloading device |
| CN109279292B (en) * | 2018-05-07 | 2023-08-18 | 广东利元亨智能装备有限公司 | Main body automatic feeding device |
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| CN109227523A (en) * | 2018-10-25 | 2019-01-18 | 杭州职业技术学院 | Man-machine collaboration robot |
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| CN109570941B (en) * | 2018-11-29 | 2020-05-01 | 陈寿春 | H-shaped wheel automatic feeding assembly system with noise protection function |
| CN109625932A (en) * | 2018-12-13 | 2019-04-16 | 温州市聚达信息科技有限公司 | The production technology of cosmetics |
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| CN110625369A (en) * | 2019-10-16 | 2019-12-31 | 贵州华昌汽车电器有限公司 | Automatic assembling device for torsion spring of vehicle lock |
| CN113953199B (en) * | 2021-11-26 | 2024-06-25 | 常熟大众机器人研究院有限公司 | Manipulator driving structure of lithium battery cover plate testing machine |
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Address after: 325000 Wenzhou City National University Science Park incubator, No. 38 Dongfang South Road, Ouhai Economic Development Zone, Wenzhou, Zhejiang Applicant after: Wenzhou Vocational & Technical College Address before: 325000 Ouhai science and Technology Park, Ouhai, Wenzhou, Zhejiang, No. 38 Dongfang Road, Ouhai Economic Development Zone, Wenzhou Applicant before: Wenzhou Vocational & Technical College |
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Effective date of registration: 20220304 Address after: 201900 548e, building 1, No. 668, SHANGDA Road, Baoshan District, Shanghai Patentee after: Shanghai pairantao Industrial Technology Co.,Ltd. Address before: 325000 Wenzhou City National University Science Park incubator, No. 38 Dongfang South Road, Ouhai Economic Development Zone, Wenzhou, Zhejiang Patentee before: WENZHOU VOCATIONAL & TECHNICAL College |
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