CN107160141A - Equipment is finely tuned and carried to industrial robot auxiliary seal ring - Google Patents
Equipment is finely tuned and carried to industrial robot auxiliary seal ring Download PDFInfo
- Publication number
- CN107160141A CN107160141A CN201710577664.8A CN201710577664A CN107160141A CN 107160141 A CN107160141 A CN 107160141A CN 201710577664 A CN201710577664 A CN 201710577664A CN 107160141 A CN107160141 A CN 107160141A
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- Prior art keywords
- sealing ring
- fixed
- manipulator
- wrist
- fine setting
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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
- 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
- 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
- B23P19/10—Aligning parts to be fitted together
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- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to automated production equipment, more specifically to a kind of automated assembling equipment for sealing ring.Equipment is finely tuned and carried to industrial robot auxiliary seal ring, including：Got the raw materials ready mechanism, the sealing ring installing mechanism for assembling the sealing ring, the suction manipulator that grabs in mechanism on the sealing ring installing mechanism for the sealing ring to be got the raw materials ready from the half way around for providing the half way around of sealing ring.Industrial robot auxiliary seal ring fine setting of the present invention and carrying equipment, automation crawl and the carrying to sealing ring are realized using vacuum suction mode using transfer robot, the posture of sealing ring can be precisely adjusted using feeding machanism is turned round, realize the accurate assembling of sealing ring, the sealing ring completed using machine vision to assembling is detected, improves the assembling quality and production efficiency of sealing ring.
Description
Technical field
The present invention relates to automated production equipment, set more specifically to a kind of Automated assembly for sealing ring
It is standby.
Background technology
Sealing ring is widely used in mechanized equipment.
Because ring structure is compact, while material is soft, so the carrying for sealing ring depends on artificial operation.
The content of the invention
Object of the present invention is to provide a kind of fine setting of industrial robot auxiliary seal ring and carrying equipment, in machinery zero
In the production assembling process of part, such as the reliable assembling of sealing ring plays vital effect in automobile brake system,
The present invention is used to specific posture reliably be carried sealing ring, the need for meeting component of machine sealing property.
Industrial robot auxiliary seal ring of the present invention fine setting and equipment is carried, realized pair using vacuum suction mode using transfer robot
The automation crawl and carrying of sealing ring, can precisely adjust the posture of sealing ring using feeding machanism is turned round, realize sealing
The accurate assembling of circle, the sealing ring completed using machine vision to assembling is detected, improves assembling quality and the life of sealing ring
Produce efficiency.
A kind of industrial robot auxiliary seal ring fine setting and carrying equipment, including：Half way around for providing sealing ring is got the raw materials ready
Mechanism, the sealing ring installing mechanism for assembling the sealing ring, for the sealing ring to be got the raw materials ready mechanism from the half way around
Grab the suction manipulator on the sealing ring installing mechanism；
The half way around gets the raw materials ready mechanism positioned at the bottom of the sealing ring installing mechanism, and the suction manipulator is located at described close
Seal installing mechanism and half way around are got the raw materials ready between mechanism；
The half way around mechanism that gets the raw materials ready includes：Spring tray, half rotating disk, half rotating shaft, bedplate, half rotaring cylinder, half rotating disk,
Set on half way around rack, guide rail, de- material cylinder, stripper plate, de- material axle, bearing pin, small cylinder, swing arm bar, half rotating disk
Get the raw materials ready hole, the spring tray for installing the sealing ring is internally provided with the hole of getting the raw materials ready, half rotating disk is consolidated
It is connected in half rotating shaft, half rotating shaft is movably connected on the bedplate；Described half is fixed with the bottom of half rotating shaft
Rotating disk, the half way around rack is movably connected on the bottom of the bedplate by the guiding rail, the half way around rack
One end is movably connected on the end of the piston rod of half rotaring cylinder, and the cylinder block of half rotaring cylinder is fixed on the bedplate
Bottom；The cylinder block of the de- material cylinder is fixed on the bedplate, and the end of the piston rod of the de- material cylinder is fixed with
The stripper plate, the de- material axle is connected with the end of the stripper plate by the bearing pin；The de- material axle it is logical
The end that the swing arm bar is fixed on the piston rod of the small cylinder is crossed, the cylinder block of the small cylinder is fixed on the bedplate
Bottom.
More specifically, the sealing ring installing mechanism includes：For moving the transfer robot of the sealing ring, for propping up
Support the revolution feeding machanism of the sealing ring, the portable vision-based detection detected for the confined state to the sealing ring
Mechanism, the revolution feeding machanism is fixed on the workbench, and the transfer robot is located at the upper of the revolution feeding machanism
Portion, the portable vision-based detection mechanism is located at the top of the dynamic frock；The transfer robot includes：Robot branch
Frame, X-axis arm, Y-axis arm, Z axis arm, vacuum type wrist, the robot support are fixed on the workbench, the X-axis
Arm is fixed on the robot support, and the Y-axis arm is fixed on the X-axis arm, and the Z axis arm is fixed on the Y
Axle arm, the vacuum type wrist is fixed on the Z axis slide unit of the Z axis arm；The vacuum type wrist includes：Wrist electricity
Machine, shaft coupling, wrist brace, wrist sucker, upper bearing (metal), gyroaxis, vacuum passage, vacuum port, the wrist brace are fixed on
The Z axis slide unit, the gyroaxis is movably connected on the wrist brace, the output of the wrist motor by the upper bearing (metal)
Axle is fixed on the gyroaxis by the shaft coupling, and the wrist sucker is fixed on the bottom of the gyroaxis, the wrist
Sucker and the sealing ring match, be provided with the gyroaxis on the vacuum passage, the wrist sucker be provided with and
The vacuum port that the vacuum passage is connected, the vacuum passage is connected to vavuum pump.
More specifically, the mechanical hand of the suction includes：Manipulator base, manipulator horizontal sliding table, the vertical slide unit of manipulator,
Manipulator slide plate, fine setting motor, synchronous belt mechanism, up and down motion cylinder, spline housing, splined shaft, lower sucker, vacuum road junction, suction
Attached cavity volume, the manipulator horizontal sliding table is fixed on the manipulator base, and the vertical slide unit of manipulator is fixed on the machine
On the slide unit of tool hand horizontal sliding table, the manipulator slide plate is movably connected on the vertical slide unit of the manipulator；The mechanical rubber sleeve
Plate is fixed with the cylinder block of the fine setting motor and up and down motion cylinder, and the spline housing is movably connected on the machine by bearing
Tool rubber sleeve plate, the splined shaft is movably connected on the spline housing, and the upper end of the splined shaft is fixed on the up and down motion gas
The end of the piston rod of cylinder, the lower sucker is fixed on the lower end of the splined shaft；The fine setting output shaft of motor and described
Spline housing is realized by the synchronous belt mechanism and is flexibly connected.
More specifically, the splined shaft is into coaxially arranged with the spline housing, the splined shaft is located at the spline housing
Shaft core position, the splined shaft can along the spline housing axial movement.
More specifically, the revolution feeding machanism includes：Bedplate, lower bearing, servo-actuated pallet, pass with moving mandrel, optical fiber
Sensor, it is workbench that the bedplate, which is fixed on, and the servo-actuated pallet is movably connected on the bedplate by the lower bearing,
The servo-actuated pallet is fixed on moving mandrel, the fibre optical sensor is fixed on the bedplate, described to be set with moving mandrel
There is the breach matched with the fibre optical sensor.
More specifically, the portable vision-based detection mechanism includes：Vision slide unit, industrial camera, the vision slide unit are consolidated
It is connected in the robot support, the industrial camera is located at the top of the dynamic frock.
More specifically, the vision slide unit and the Y-axis arm are parallel to each other.
More specifically, the resolution ratio of the industrial camera is 10,000,000 pixels.
More specifically, the type of the gear is helical gear, the type of the rack is helical rack.
More specifically, the type of the wrist motor is stepper motor.
More specifically, the type of the upper bearing (metal) is angular contact ball bearing, the upper bearing (metal) is installed in back-to-back pretension.
More specifically, the X-axis arm and Y-axis arm are mutually perpendicular to；The Y-axis arm and Z axis arm are mutually perpendicular to；Institute
State X-axis arm and Z axis arm is mutually perpendicular to.
Compared with conventional art, industrial robot auxiliary seal ring fine setting of the present invention and carrying equipment have following positive work
With and beneficial effect：
Industrial robot auxiliary seal ring fine setting of the present invention and carrying equipment, mainly include：Half way around is got the raw materials ready mechanism, sealing ring
Installing mechanism, suction manipulator.The half way around gets the raw materials ready mechanism for the sealing ring to be transferred under the suction manipulator
The sealing ring is got the raw materials ready and is delivered to the sealing ring installing mechanism, institute in mechanism by portion, the suction manipulator from the half way around
State the regulation that transfer robot realizes the posture to the sealing ring under the cooperation of the revolution feeding machanism, the carrying implement
The sealing ring is transported to down in one of automation procedure by device people.
Next the course of work and operation principle of the sealing ring installing mechanism and revolution feeding machanism described：
The revolution feeding machanism is fixed on the workbench, and the sealing ring is placed on the revolution feeding machanism, institute
The top that transfer robot is located at the revolution feeding machanism is stated, the vacuum type wrist contact of the transfer robot is in place
Sealing ring on the revolution feeding machanism, the vacuum type wrist drives the sealing ring to rotate, until the sealing ring
Predetermined angle is adjusted to, then the vacuum type wrist adsorbs the sealing ring, the sealing ring is installed on described close
Seal mounting surface, the portable vision-based detection mechanism is located at the top of the dynamic frock.
The X-axis arm, Y-axis arm, Z axis arm can move along a straight line, the X-axis arm, Y-axis arm, Z axis hand
Arm arranges that the vacuum type wrist is fixed on the Z axis arm into posture perpendicular to each other, therefore the transfer robot possesses
Four frees degree.
The wrist brace is fixed on the Z axis slide unit, and the gyroaxis is movably connected on described by the upper bearing (metal)
Wrist brace, the output shaft of the wrist motor is fixed on the gyroaxis by the shaft coupling, and the wrist motor can be with
The gyroaxis is driven to rotate.The wrist sucker is fixed on the bottom of the gyroaxis, the wrist sucker and described close
Seal matches.It is provided with the vacuum passage, the wrist sucker and is provided with and the vacuum passage on the gyroaxis
The vacuum port being connected, the vacuum passage is connected to vavuum pump.The bottom of the wrist sucker be provided with it is described close
The appearance profile that seal matches.The wrist sucker is pressed on after the sealing ring, and the vacuum port is by suction function in institute
Sealing ring is stated, the sealing ring is adsorbed on the wrist sucker, the wrist motor can drive the sealing ring to carry out
Rotate.
It is workbench that the bedplate, which is fixed on, and the fibre optical sensor is fixed on the bedplate, described with moving mandrel
It is fixed on the servo-actuated pallet, the breach matched with being provided with moving mandrel with the fibre optical sensor.The optical fiber
Sensor is irradiated against the breach, and the photosignal of collection is analyzed.The transfer robot driving is described
Sealing ring is rotated, and constitutes a complete circumferential notch after breach and concave edge matching, the fibre optical sensor is irradiated to
The circumferential notch, the fibre optical sensor can perceive the breach by the collection to photosignal and concave edge has been in
Matching status.Then the transfer robot adsorbs the sealing ring, then the sealing ring is assemblied on component of machine.
Because the sealing ring passes through correction so that the concave edge is in correct posture, so as to reach precision assembly.
Finally the assembling quality of the sealing ring is detected by the portable vision-based detection mechanism, to ensure assembling
Quality.
Next the half way around is described to get the raw materials ready the course of work and operation principle of mechanism：
The half way around gets the raw materials ready mechanism positioned at the bottom of the transfer robot.Hole of getting the raw materials ready is provided with half rotating disk, can
So that the sealing ring is positioned in the hole of getting the raw materials ready by artificial mode, then 180 degree of the half rotating disk rotation will
The sealing ring moves to the bottom of the wrist sucker.The spring tray is used to hold the sealing ring, prevents described close
Seal is dropped from the hole of getting the raw materials ready.When the absorption manipulator is capturing the sealing ring, the spring tray is also
Flexible support can be provided to the sealing ring, prevent the bad sealing ring of the mechanical hand pressure of the absorption.
Half rotating disk is fixed on half rotating shaft, and half rotating disk is fixed with the bottom of half rotating shaft, described
Half way around rack and half rotating disk match.Half rotaring cylinder is used to drive the half way around rack to occur 180 degree of rotations,
180 degree of rotations occur under the control of half rotaring cylinder for half rotating disk.
The cylinder block of the de- material cylinder is fixed on the bedplate, and the end of the piston rod of the de- material cylinder is fixed with
The stripper plate, the de- material axle is connected with the end of the stripper plate by the bearing pin.The de- material cylinder
Piston rod stretches out, and the de- material axle is departed from the sealing ring from the hole of getting the raw materials ready.Then the absorption manipulator
The sealing ring is siphoned away on the revolution feeding machanism.Being fixed on by the swing arm bar for the de- material axle is described stingy
The end of the piston rod of cylinder, the cylinder block of the small cylinder is fixed on the bottom of the bedplate.The small cylinder can drive
The swing of certain angle occurs for the de- material axle so that the de- material axle by the sealing ring more easily from the hole of getting the raw materials ready
It is middle to depart from.
Next the course of work and operation principle of the suction manipulator described：
The vertical slide unit of manipulator is fixed on the slide unit of the manipulator horizontal sliding table, the manipulator slide plate activity
It is connected to the vertical slide unit of the manipulator.The manipulator horizontal sliding table is used to drive the manipulator slide plate occurred level direction
Motion, the vertical slide unit of manipulator is used for the motion for driving the manipulator slide plate to occur vertical direction.The spline housing
The manipulator slide plate is movably connected on by bearing, the output shaft and the spline housing of the fine setting motor pass through the synchronization
Band mechanism, which is realized, to be flexibly connected, and the fine setting motor drives the spline housing, splined shaft and lower suction by the synchronous belt mechanism
Disk rotates, so that the angle to adjusting the sealing ring.The splined shaft is movably connected on the spline housing, the spline
The upper end of axle is fixed on the end of the piston rod of the up and down motion cylinder, and the lower sucker is fixed under the splined shaft
End.The splined shaft is into coaxially arranged with the spline housing, and the splined shaft is located at the shaft core position of the spline housing, the flower
Key axle can along the spline housing axial movement.The piston rod of the up and down motion cylinder stretches out, and drives under the lower sucker
Drop, makes the lower sucker touch the sealing ring.
Brief description of the drawings
Fig. 1 is industrial robot auxiliary seal ring fine setting of the present invention and the structural representation for carrying equipment；
Fig. 2,3,4,5 be industrial robot auxiliary seal ring of the present invention fine setting and the sealing ring installing mechanism for carrying equipment and
Half way around is got the raw materials ready the structural representation of mechanism；
Fig. 6,7 are industrial robot auxiliary seal ring fine setting of the present invention and the structural representation for the suction manipulator for carrying equipment
Figure；
Fig. 8 is industrial robot auxiliary seal ring fine setting of the present invention and the structural representation for the transfer robot for carrying equipment
Figure.
Embodiment
The present invention is described in further detail below in conjunction with accompanying drawing, but does not constitute any limitation of the invention,
Similar element numbers represent similar element in accompanying drawing.As described above, the invention provides a kind of industrial robot auxiliary is close
Equipment, in the production assembling process of component of machine, such as sealing ring in automobile brake system are finely tuned and carried in seal
Reliable assembling plays vital effect, and the present invention is used to specific posture reliably be carried sealing ring, with full
The need for sufficient component of machine sealing property.Industrial robot auxiliary seal ring fine setting of the present invention and carrying equipment, utilize carrying
Robot realizes automation crawl and the carrying to sealing ring using vacuum suction mode, can be accurate using feeding machanism is turned round
The posture of sealing ring is adjusted, the accurate assembling of sealing ring is realized, the sealing ring completed using machine vision to assembling is examined
Survey, improve the assembling quality and production efficiency of sealing ring.
Fig. 1 is industrial robot auxiliary seal ring fine setting of the present invention and the structural representation for carrying equipment, and Fig. 2,3,4,5 are
Industrial robot auxiliary seal ring of the present invention fine setting and carry the sealing ring installing mechanism and half way around of equipment and get the raw materials ready the structure of mechanism
Schematic diagram, Fig. 6,7 are industrial robot auxiliary seal ring fine setting of the present invention and the structural representation for the suction manipulator for carrying equipment
Figure, Fig. 8 is the structural representation of industrial robot auxiliary seal ring fine setting of the present invention and the transfer robot for carrying equipment.
A kind of industrial robot auxiliary seal ring fine setting and carrying equipment, including：Half way around for providing sealing ring 72 is standby
Expect mechanism 75, the sealing ring installing mechanism 45 for assembling the sealing ring 72, for by the sealing ring 72 from the half way around
The suction manipulator 76 on the sealing ring installing mechanism 45 is grabbed in the mechanism that gets the raw materials ready 75；
The half way around gets the raw materials ready mechanism 75 positioned at the bottom of the sealing ring installing mechanism 45, and the suction manipulator 76 is located at
The sealing ring installing mechanism 45 and half way around are got the raw materials ready between mechanism 75；
The half way around mechanism 75 that gets the raw materials ready includes：Spring tray 77, half rotating disk 79, half rotating shaft 80, bedplate 81, half rotaring cylinder
82nd, half rotating disk 83, half way around rack 84, guide rail 85, de- material cylinder 86, stripper plate 87, de- material axle 88, bearing pin 89, stingy
Hole 78 of getting the raw materials ready is provided with cylinder 90, swing arm bar 91, half rotating disk 79, is internally provided with the hole 78 of getting the raw materials ready for installing institute
The spring tray 77 of sealing ring 72 is stated, half rotating disk 79 is fixed on half rotating shaft 80, and the activity of half rotating shaft 80 is even
It is connected to the bedplate 81；Half rotating disk 83 is fixed with the bottom of half rotating shaft 80, the half way around rack 84 passes through
The guiding rail 85 is movably connected on the bottom of the bedplate 81, and one end of the half way around rack 84 is movably connected on described
The end of the piston rod of half rotaring cylinder 82, the cylinder block of half rotaring cylinder 82 is fixed on the bottom of the bedplate 81；It is described
The cylinder block of de- material cylinder 86 is fixed on the bedplate 81, and the end of the piston rod of the de- material cylinder 86 is fixed with described take off
Flitch 87, the de- material axle 88 is connected with the end of the stripper plate 87 by the bearing pin 89；The de- material axle 88
The piston rod that the small cylinder 90 is fixed on by the swing arm bar 91 end, the cylinder block of the small cylinder 90 is fixed on
The bottom of the bedplate 81.
More specifically, the sealing ring installing mechanism 45 includes：For move the sealing ring 72 transfer robot 46,
For the shifting for supporting the revolution feeding machanism 47 of the sealing ring 72, being detected for the confined state to the sealing ring 72
Dynamic formula vision-based detection mechanism 48, the revolution feeding machanism 47 is fixed on the workbench 1, and the transfer robot 46 is located at institute
The top of revolution feeding machanism 47 is stated, the portable vision-based detection mechanism 48 is located at the top of the dynamic frock 6；It is described to remove
Fortune robot 46 includes：Robot support 49, X-axis arm 50, Y-axis arm 51, Z axis arm 52, vacuum type wrist 53, the machine
Device people support 49 is fixed on the workbench 1, and the X-axis arm 50 is fixed on the robot support 49, the Y-axis arm 51
The X-axis arm 50 is fixed on, the Z axis arm 52 is fixed on the Y-axis arm 51, and the vacuum type wrist 53 is fixed on institute
State on the Z axis slide unit 54 of Z axis arm 52；The vacuum type wrist 53 includes：Wrist motor 55, shaft coupling 56, wrist brace 57,
Wrist sucker 58, upper bearing (metal) 59, gyroaxis 60, vacuum passage 61, vacuum port 62, the wrist brace 57 are fixed on the Z axis
Slide unit 54, the gyroaxis 60 is movably connected on the wrist brace 57 by the upper bearing (metal) 59, the wrist motor 55
Output shaft is fixed on the gyroaxis 60 by the shaft coupling 56, and the wrist sucker 58 is fixed under the gyroaxis 60
Portion, the wrist sucker 58 and the sealing ring 72 match, and the vacuum passage 61 is provided with the gyroaxis 60, described
The vacuum port 62 being connected with the vacuum passage 61 is provided with wrist sucker 58, the vacuum passage 61 is connected to very
Empty pump.
More specifically, the suction manipulator 76 includes：Manipulator base 92, manipulator horizontal sliding table 93, manipulator are erected
Straight slide unit 94, manipulator slide plate 95, fine setting motor 96, synchronous belt mechanism 97, up and down motion cylinder 98, spline housing 99, splined shaft
100th, lower sucker 101, vacuum road junction 102, absorption cavity volume 103, the manipulator horizontal sliding table 93 are fixed on the manipulator bottom
Seat 92, the vertical slide unit 94 of manipulator is fixed on the slide unit of the manipulator horizontal sliding table 93, the manipulator slide plate 95
It is movably connected on the vertical slide unit 94 of the manipulator；The manipulator slide plate 95 is fixed with the fine setting motor 96 and moved up and down
The cylinder block of cylinder 98, the spline housing 99 is movably connected on the manipulator slide plate 95 by bearing, and the splined shaft 100 is lived
Dynamic to be connected to the spline housing 99, the upper end of the splined shaft 100 is fixed on the end of the piston rod of the up and down motion cylinder 98
End, the lower sucker 101 is fixed on the lower end of the splined shaft 100；The output shaft and the spline housing of the fine setting motor 96
99 realize flexible connection by the synchronous belt mechanism 97.
More specifically, the splined shaft 100 and 99 one-tenth of the spline housing are coaxially arranged, the splined shaft 100 is located at described
The shaft core position of spline housing 99, the splined shaft 100 can along the spline housing 99 axial movement.
More specifically, the revolution feeding machanism 47 includes：Bedplate 63, lower bearing 64, servo-actuated pallet 65, with moving mandrel
66th, fibre optical sensor 67, it is workbench 1 that the bedplate 63, which is fixed on, and the servo-actuated pallet 65 is lived by the lower bearing 64
It is dynamic to be connected to the bedplate 63, the servo-actuated pallet 65 is fixed on moving mandrel 66, the fibre optical sensor 67 is fixed on institute
State bedplate 63, the breach 74 matched with being provided with moving mandrel 66 with the fibre optical sensor 67.
More specifically, the portable vision-based detection mechanism 48 includes：Vision slide unit 68, industrial camera 69, the vision
Slide unit 68 is fixed on the robot support 49, and the industrial camera 69 is located at the top of the dynamic frock 6.
More specifically, the vision slide unit 68 and the Y-axis arm 51 are parallel to each other.
More specifically, the resolution ratio of the industrial camera 69 is 10,000,000 pixels.
More specifically, the type of the gear 14 is helical gear, the type of the rack 15 is helical rack.
More specifically, the type of the wrist motor 55 is stepper motor.
More specifically, the type of the upper bearing (metal) 59 is angular contact ball bearing, the upper bearing (metal) 59 is in back-to-back pretension
Install.
More specifically, the X-axis arm 50 and Y-axis arm 51 are mutually perpendicular to；Y-axis arm 51 and Z axis arm 52 phase
It is mutually vertical；The X-axis arm 50 and Z axis arm 52 are mutually perpendicular to.
Below in conjunction with Fig. 1 to 8, further describe industrial robot auxiliary seal ring fine setting of the present invention and carry the work of equipment
Make principle and the course of work：
Industrial robot auxiliary seal ring fine setting of the present invention and carrying equipment, mainly include：Half way around get the raw materials ready mechanism 75, sealing
Enclose installing mechanism 45, suction manipulator 76.The half way around gets the raw materials ready mechanism 75 for the sealing ring 72 to be transferred into the suction
The bottom of manipulator 76, the suction manipulator 76 sealing ring 72 is got the raw materials ready from the half way around be delivered in mechanism 75 it is described
Sealing ring installing mechanism 45, the transfer robot 46 is realized to the sealing ring under the cooperation of the revolution feeding machanism 47
The sealing ring 72 is transported to down in one of automation procedure by the regulation of 72 posture, the transfer robot 46.
Next the course of work and operation principle of the sealing ring installing mechanism 45 and revolution feeding machanism 47 described：
The revolution feeding machanism 47 is fixed on the workbench 1, and the sealing ring 72 is placed on the revolution feeding machanism
On 47, the transfer robot 46 is located at the top of the revolution feeding machanism 47, the vacuum of the transfer robot 46
Formula wrist 53 touches the sealing ring 72 on the revolution feeding machanism 47, and the vacuum type wrist 53 drives the sealing
Circle 72 is rotated, and until the sealing ring 72 is adjusted to predetermined angle, then the vacuum type wrist 53 adsorbs the sealing
Circle 72, the sealing ring mounting surface 70 is installed on by the sealing ring 72, and the portable vision-based detection mechanism 48 is located at described
The top of dynamic frock 6.
The X-axis arm 50, Y-axis arm 51, Z axis arm 52 can move along a straight line, the X-axis arm 50, Y-axis hand
Arm 51, Z axis arm 52 arrange that the vacuum type wrist 53 is fixed on the Z axis arm 52, therefore institute into posture perpendicular to each other
State transfer robot 46 and possess four frees degree.
The wrist brace 57 is fixed on the Z axis slide unit 54, and the gyroaxis 60 is connected by the activity of upper bearing (metal) 59
The wrist brace 57 is connected to, the output shaft of the wrist motor 55 is fixed on the gyroaxis 60 by the shaft coupling 56,
The wrist motor 55 can drive the gyroaxis 60 to rotate.The wrist sucker 58 is fixed under the gyroaxis 60
Portion, the wrist sucker 58 and the sealing ring 72 match.The vacuum passage 61 is provided with the gyroaxis 60, it is described
The vacuum port 62 being connected with the vacuum passage 61 is provided with wrist sucker 58, the vacuum passage 61 is connected to very
Empty pump.The bottom of the wrist sucker 58 is provided with the appearance profile matched with the sealing ring 72.The wrist sucker 58
It is pressed on after the sealing ring 72, the vacuum port 62, in the sealing ring 72, adsorbs the sealing ring 72 by suction function
In on the wrist sucker 58, the wrist motor 55 can drive the sealing ring 72 to be rotated.
It is workbench 1 that the bedplate 63, which is fixed on, and the fibre optical sensor 67 is fixed on the bedplate 63, it is described with
Moving mandrel 66 is fixed on the servo-actuated pallet 65, described to match with being provided with moving mandrel 66 with the fibre optical sensor 67
Breach 74.The fibre optical sensor 67 is irradiated against the breach 74, and the photosignal of collection is analyzed.It is described
Transfer robot 46 drives the sealing ring 72 to rotate, and a complete circle is constituted after the breach 74 and the matching of concave edge 73
Breach, the fibre optical sensor 67 is irradiated to the circumferential notch, and the fibre optical sensor 67 can by the collection to photosignal
Matching status is in perceive the breach 74 and concave edge 73.Then the transfer robot 46 adsorbs the sealing
Circle 72, then the sealing ring 72 is assemblied on component of machine.Because the sealing ring 72 passes through correction so that described
Concave edge 73 is in correct posture, so as to reach precision assembly.
Finally detected by the assembling quality of portable 48 pairs of the vision-based detection mechanism sealing ring 72, to ensure
Assemble quality.
Next the half way around is described to get the raw materials ready the course of work and operation principle of mechanism：
The half way around gets the raw materials ready mechanism 75 positioned at the bottom of the transfer robot 46.It is provided with and gets the raw materials ready on half rotating disk 79
The sealing ring 72, can be positioned in the hole 78 of getting the raw materials ready, then 79 turns of half rotating disk by hole 78 by artificial mode
Move 180 degree of bottoms that the sealing ring 72 is moved to the wrist sucker 58.The spring tray 77 is used to hold institute
Sealing ring 72 is stated, prevents the sealing ring 72 from being dropped from the hole 78 of getting the raw materials ready.When the absorption manipulator 76 is described in crawl
When sealing ring 72, the spring tray 77 can also provide flexible support to the sealing ring 72, prevent the adsorption machine
Tool hand 76 damages the sealing ring 72 by pressure.
Half rotating disk 79 is fixed on half rotating shaft 80, and half rotating disk is fixed with the bottom of half rotating shaft 80
83, the rotating disk 83 of half way around rack 84 and half matches.Half rotaring cylinder 82 is used to drive the half way around rack 84 to occur
180 degree of rotations occur under the control of half rotaring cylinder 82 for 180 degree of rotations, half rotating disk 79.
The cylinder block of the de- material cylinder 86 is fixed on the bedplate 81, the end of the piston rod of the de- material cylinder 86
The stripper plate 87 is fixed with, the de- material axle 88 is connected with by the bearing pin 89 in the end of the stripper plate 87.
The piston rod of the de- material cylinder 86 stretches out, and the de- material axle 88 is taken off the sealing ring 72 from the hole 78 of getting the raw materials ready
From.Then the absorption manipulator 76 siphons away the sealing ring 72 on the revolution feeding machanism 47.The de- material axle 88
The piston rod that the small cylinder 90 is fixed on by the swing arm bar 91 end, the cylinder block of the small cylinder 90 is fixed on
The bottom of the bedplate 81.The small cylinder 90 can drive the de- material axle 88 to occur the swing of certain angle, so that
The de- material axle 88 more easily departs from the sealing ring 72 from the hole 78 of getting the raw materials ready.
Next the course of work and operation principle of the suction manipulator described：
The vertical slide unit 94 of manipulator is fixed on the slide unit of the manipulator horizontal sliding table 93, the manipulator slide plate
95 are movably connected on the vertical slide unit 94 of the manipulator.The manipulator horizontal sliding table 93 is used to drive the manipulator slide plate 95
The motion in occurred level direction, the vertical slide unit 94 of manipulator is used to drive the manipulator slide plate 95 to occur vertical direction
Motion.The spline housing 99 is movably connected on the manipulator slide plate 95 by bearing, the output shaft of the fine setting motor 96 and
The spline housing 99 realizes and is flexibly connected that the fine setting motor 96 passes through the synchronous belt mechanism by the synchronous belt mechanism 97
The 97 driving spline housings 99, splined shaft 100 and lower sucker 101 rotate, so that the angle to adjusting the sealing ring 72.
The splined shaft 100 is movably connected on the spline housing 99, and the upper end of the splined shaft 100 is fixed on the up and down motion cylinder
The end of 98 piston rod, the lower sucker 101 is fixed on the lower end of the splined shaft 100.The splined shaft 100 and the flower
Key set 99 is into coaxially arranged, and the splined shaft 100 is located at the shaft core position of the spline housing 99, and the splined shaft 100 can edge
The axial movement of the spline housing 99.The piston rod of the up and down motion cylinder 98 stretches out, and drives the lower sucker 101 to decline,
The lower sucker is set to touch the sealing ring 72.
Finally it is pointed out that above example is only industrial robot auxiliary seal ring fine setting of the present invention and carries equipment
More representational example.Obviously, industrial robot auxiliary seal ring fine setting of the present invention and carrying equipment are not limited to above-mentioned implementation
Example, can also there is many deformations.Every technology that equipment is finely tuned and carried according to industrial robot auxiliary seal ring of the present invention is real
Any simple modification, equivalent variations and modification that confrontation above example is made, are considered as belonging to industrial robot of the present invention
The protection domain of equipment is finely tuned and carried to auxiliary seal ring.
Claims (10)
1. a kind of industrial robot auxiliary seal ring fine setting and carrying equipment, it is characterised in that including：For providing sealing ring
Half way around get the raw materials ready mechanism, the sealing ring installing mechanism for assembling the sealing ring, for the sealing ring is standby from the half way around
The suction manipulator on the sealing ring installing mechanism is grabbed in material mechanism；
The half way around gets the raw materials ready mechanism positioned at the bottom of the sealing ring installing mechanism, and the suction manipulator is located at the sealing ring
Installing mechanism and half way around are got the raw materials ready between mechanism；
The half way around mechanism that gets the raw materials ready includes：Spring tray, half rotating disk, half rotating shaft, bedplate, half rotaring cylinder, half rotating disk, half way around
It is provided with rack, guide rail, de- material cylinder, stripper plate, de- material axle, bearing pin, small cylinder, swing arm bar, half rotating disk standby
Expect hole, the spring tray for installing the sealing ring is internally provided with the hole of getting the raw materials ready, half rotating disk is fixed on
Half rotating shaft, half rotating shaft is movably connected on the bedplate；The half way around tooth is fixed with the bottom of half rotating shaft
Wheel, the half way around rack is movably connected on the bottom of the bedplate, one end of the half way around rack by the guiding rail
The end of the piston rod of half rotaring cylinder is movably connected on, the cylinder block of half rotaring cylinder is fixed under the bedplate
Portion；The cylinder block of the de- material cylinder is fixed on the bedplate, and the end of the piston rod of the de- material cylinder is fixed with described
Stripper plate, the de- material axle is connected with the end of the stripper plate by the bearing pin；The de- material axle passes through institute
The end that swing arm bar is fixed on the piston rod of the small cylinder is stated, the cylinder block of the small cylinder is fixed under the bedplate
Portion.
2. industrial robot auxiliary seal ring fine setting according to claim 1 and carrying equipment, it is characterised in that described close
Seal installing mechanism includes：For moving the transfer robot of the sealing ring, for supporting the revolution of the sealing ring to be fed
Mechanism, the portable vision-based detection mechanism detected for the confined state to the sealing ring, the revolution feeding machanism
The workbench is fixed on, the transfer robot is located at the top of the revolution feeding machanism, the portable vision-based detection
Mechanism is located at the top of the dynamic frock；The transfer robot includes：Robot support, X-axis arm, Y-axis arm, Z axis
Arm, vacuum type wrist, the robot support are fixed on the workbench, and the X-axis arm is fixed on the robot branch
Frame, the Y-axis arm is fixed on the X-axis arm, and the Z axis arm is fixed on the Y-axis arm, and the vacuum type wrist is consolidated
On the Z axis slide unit for being connected in the Z axis arm；The vacuum type wrist includes：Wrist motor, shaft coupling, wrist brace, wrist are inhaled
Disk, upper bearing (metal), gyroaxis, vacuum passage, vacuum port, the wrist brace are fixed on the Z axis slide unit, and the gyroaxis passes through
The upper bearing (metal) is movably connected on the wrist brace, and the output shaft of the wrist motor is fixed on described by the shaft coupling
Gyroaxis, the wrist sucker is fixed on the bottom of the gyroaxis, and the wrist sucker and the sealing ring match, described
It is provided with gyroaxis on the vacuum passage, the wrist sucker and is provided with the vacuum being connected with the vacuum passage
Mouthful, the vacuum passage is connected to vavuum pump.
3. industrial robot auxiliary seal ring fine setting according to claim 1 and carrying equipment, it is characterised in that described to inhale
Material manipulator includes：It is manipulator base, manipulator horizontal sliding table, the vertical slide unit of manipulator, manipulator slide plate, fine setting motor, same
Step band mechanism, up and down motion cylinder, spline housing, splined shaft, lower sucker, vacuum road junction, absorption cavity volume, the manipulator level are slided
Platform is fixed on the manipulator base, and the vertical slide unit of manipulator is fixed on the slide unit of the manipulator horizontal sliding table, institute
State manipulator slide plate and be movably connected on the vertical slide unit of the manipulator；The manipulator slide plate is fixed with the fine setting motor and upper
The cylinder block of lower motion cylinder, the spline housing is movably connected on the manipulator slide plate, the splined shaft activity by bearing
Be connected to the spline housing, the upper end of the splined shaft is fixed on the end of the piston rod of the up and down motion cylinder, it is described under
Sucker is fixed on the lower end of the splined shaft；The output shaft and the spline housing of the fine setting motor pass through the synchronous belt mechanism
Realize and be flexibly connected.
4. industrial robot auxiliary seal ring fine setting according to claim 1 and carrying equipment, it is characterised in that the flower
Key axle is into coaxially arranged with the spline housing, and the splined shaft is located at the shaft core position of the spline housing, and the splined shaft can be with
Along the axial movement of the spline housing.
5. industrial robot auxiliary seal ring fine setting according to claim 4 and carrying equipment, it is characterised in that described time
Turning feeding machanism includes：Bedplate, lower bearing, servo-actuated pallet, with moving mandrel, fibre optical sensor, the bedplate, which is fixed on, is
Workbench, the servo-actuated pallet is movably connected on the bedplate by the lower bearing, is fixed on moving mandrel described servo-actuated
Pallet, the fibre optical sensor is fixed on the bedplate, described with being provided with moving mandrel and the fibre optical sensor phase
The breach matched somebody with somebody.
6. industrial robot auxiliary seal ring fine setting according to claim 4 and carrying equipment, it is characterised in that described to move
Dynamic formula vision-based detection mechanism includes：Vision slide unit, industrial camera, the vision slide unit are fixed on the robot support, described
Industrial camera is located at the top of the dynamic frock.
7. industrial robot auxiliary seal ring fine setting according to claim 3 and carrying equipment, it is characterised in that described to regard
Feel that slide unit and the Y-axis arm are parallel to each other.
8. industrial robot auxiliary seal ring fine setting according to claim 1 and carrying equipment, it is characterised in that the tooth
The type of wheel is helical gear, and the type of the rack is helical rack.
9. industrial robot auxiliary seal ring fine setting according to claim 1 and carrying equipment, it is characterised in that on described
The type of bearing is angular contact ball bearing, and the upper bearing (metal) is installed in back-to-back pretension.
10. industrial robot auxiliary seal ring fine setting according to claim 1 and carrying equipment, it is characterised in that the X
Axle arm and Y-axis arm are mutually perpendicular to；The Y-axis arm and Z axis arm are mutually perpendicular to；The X-axis arm and Z axis arm are mutual
Vertically.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710577664.8A CN107160141A (en) | 2017-07-15 | 2017-07-15 | Equipment is finely tuned and carried to industrial robot auxiliary seal ring |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710577664.8A CN107160141A (en) | 2017-07-15 | 2017-07-15 | Equipment is finely tuned and carried to industrial robot auxiliary seal ring |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107160141A true CN107160141A (en) | 2017-09-15 |
Family
ID=59817779
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710577664.8A Withdrawn CN107160141A (en) | 2017-07-15 | 2017-07-15 | Equipment is finely tuned and carried to industrial robot auxiliary seal ring |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107160141A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109366120A (en) * | 2018-10-29 | 2019-02-22 | 湖北火爆机器人科技有限公司 | A kind of translation carrying mechanism and its operating method |
| WO2019157643A1 (en) * | 2018-02-13 | 2019-08-22 | Abb Schweiz Ag | Apparatuses and methods for separating, feeding and mounting o-rings |
| CN111069073A (en) * | 2019-12-31 | 2020-04-28 | 芜湖哈特机器人产业技术研究院有限公司 | Rubber ring sorting equipment |
| CN113199232A (en) * | 2021-04-23 | 2021-08-03 | 杭州沃镭智能科技股份有限公司 | Plunger pump star type circle and gasket automatic assembly device |
| CN113199227A (en) * | 2021-04-23 | 2021-08-03 | 杭州沃镭智能科技股份有限公司 | Automatic press fitting equipment of plunger pump |
-
2017
- 2017-07-15 CN CN201710577664.8A patent/CN107160141A/en not_active Withdrawn
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2019157643A1 (en) * | 2018-02-13 | 2019-08-22 | Abb Schweiz Ag | Apparatuses and methods for separating, feeding and mounting o-rings |
| CN111699072A (en) * | 2018-02-13 | 2020-09-22 | Abb瑞士股份有限公司 | Apparatus and method for separating, feeding and installing O-rings |
| US11440171B2 (en) | 2018-02-13 | 2022-09-13 | Abb Schweiz Ag | Apparatuses and methods for separating, feeding and mounting O-rings |
| CN109366120A (en) * | 2018-10-29 | 2019-02-22 | 湖北火爆机器人科技有限公司 | A kind of translation carrying mechanism and its operating method |
| CN111069073A (en) * | 2019-12-31 | 2020-04-28 | 芜湖哈特机器人产业技术研究院有限公司 | Rubber ring sorting equipment |
| CN113199232A (en) * | 2021-04-23 | 2021-08-03 | 杭州沃镭智能科技股份有限公司 | Plunger pump star type circle and gasket automatic assembly device |
| CN113199227A (en) * | 2021-04-23 | 2021-08-03 | 杭州沃镭智能科技股份有限公司 | Automatic press fitting equipment of plunger pump |
| CN113199227B (en) * | 2021-04-23 | 2022-03-08 | 杭州沃镭智能科技股份有限公司 | Automatic press fitting equipment of plunger pump |
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Application publication date: 20170915 |