CN107263090A - A kind of automatic compensated level automatic setup system - Google Patents

Abstract

The invention discloses an automatic assembly system for an automatic leveling instrument, which belongs to the technical field of automatic assembly, and includes an upper fixed support plate, a lower rotating support plate driven by a rotating shaft, several clamps and a substrate feeding mechanism; the clamps include clamp installation grooves The radially outer block fixed on the upper side of the bottom surface of the groove, the V-shaped block correspondingly arranged on the radially inner side of the radially outer block, and the clamp cylinder arranged radially along the lower rotating support plate and driving the V-shaped block, the clamp cylinder is arranged on The upper fixed support plate; the substrate feeding mechanism includes the substrate pneumatic slide table, the substrate lifting cylinder driven by the substrate pneumatic sliding table, the lifting horizontal plate driven by the substrate lifting cylinder and two substrate air claws set on the lifting horizontal plate, the substrate The pneumatic sliding table is arranged above the lower rotating support plate. The present invention is an automatic leveling instrument assembly system that realizes the automation of level instrument assembly, thereby improving the production efficiency of the enterprise and reducing labor costs.

Description

An automatic assembly system for an automatic leveling instrument

technical field

The invention belongs to the technical field of automatic assembly, and in particular relates to an automatic assembly system for an automatic leveling instrument.

Background technique

Leveling is the most basic and high-precision measurement method in elevation measurement. It is widely used in national elevation control surveys, engineering surveys of various scales, and engineering construction and monitoring. With the help of the internal compensation device, the automatic leveling level can automatically keep the collimation axis of the telescope in a horizontal state. When in use, it only needs to complete the rough leveling to carry out the measurement work, so the automatic leveling level is widely used in engineering surveys.

Due to the special structure of the compensator in the automatic leveling level, it is difficult to complete the automatic assembly of related parts, so the manual assembly method is generally used in China.

There is no complete set of level automatic assembly system and equipment at home and abroad.

The manual assembly method commonly used in automatic leveling levels is not high in automation, which makes the assembly time very lengthy. At the same time, due to the complex structure of the compensator, the core component of the leveling instrument, there are also certain requirements for the assembly skills of the assembly workers, which greatly restricts this. The production efficiency of the automatic leveling level.

Contents of the invention

The purpose of the present invention is to provide an automatic leveling instrument assembly system which realizes the automation of leveling instrument assembly, thereby improving the production efficiency of enterprises and reducing labor costs.

In order to achieve the above object, the present invention adopts the following technical solutions: an automatic leveling automatic assembly system, including an upper fixed support plate, a lower rotating support plate driven by a rotating shaft, several clamps and a substrate feeding mechanism set on the lower rotating support plate ; On the upper surface of the lower rotating support plate, around the central axis of the lower rotating support plate, several fixture installation grooves are sequentially arranged at intervals; several fixtures correspond to several fixture installation grooves respectively, and the fixtures include the groove bottom surface of the fixture installation groove The radially outer block fixed on the upper side, the V-shaped block correspondingly arranged on the radially inner side of the radially outer block, and the clamp cylinder arranged radially along the lower rotating support plate and driving the V-shaped block, the clamp cylinder is set on the upper fixed On the support plate; the substrate feeding mechanism includes a substrate pneumatic slide table, a substrate lifting cylinder driven by the substrate pneumatic sliding table, a lifting horizontal plate driven by the substrate lifting cylinder, and two substrate air claws set on the lifting horizontal plate. The platform partition is arranged above the lower rotating support disc.

The base body feeding mechanism for sending the base body of the automatic leveling level to the fixture installation groove and the compensator transfer mechanism for sending the assembled compensator to the base body of the automatic leveling level on the lower rotating support plate are arranged in sequence in turn. Mechanism, SCARA robot and the upper cover feeding manipulator for feeding the upper cover to the base of the automatic leveling gauge.

It also includes a compensator assembly mechanism correspondingly arranged on the outside of the compensator transfer mechanism. The compensator assembly mechanism includes a six-degree-of-freedom robot and a suspension pendulum body feeding module, a pressing plate feeding module, and a magnet compensator transfer module respectively arranged in sequence. It includes a combined mobile manipulator used to transfer the materials on the suspension pendulum feeding module to the platen feeding module, and the working end of the six-degree-of-freedom robot is equipped with an electric screwdriver.

The suspension pendulum feeding module includes a suspension feeding manipulator, a pendulum feeding manipulator and a suspension pendulum assembly limit groove, and the suspension pendulum feeding manipulator includes a suspension lifting cylinder, which is driven by a suspension lifting cylinder. The lifting suspension horizontal cylinder and the suspension claw driven by the suspension horizontal cylinder and used to clamp the suspension and send the suspension to the assembly limit groove of the suspension pendulum body; the pendulum body feeding manipulator includes a pendulum body lift Cylinder, the pendulum body horizontal cylinder driven up and down by the pendulum body lifting cylinder and the pendulum body air claw driven by the pendulum body transverse cylinder and used to clamp the pendulum body and send the pendulum body to the pendulum assembly limit groove.

The platen feeding module includes the rear lower platen feeding manipulator, the front lower platen material manipulator, the front upper platen material manipulator, the rear upper platen material manipulator, assembly limit groove A, assembly limit groove B With the assembly limit groove C and the pressure plate compensator transfer manipulator, the assembly limit groove A, assembly limit groove B and assembly limit groove C are arranged at intervals along a straight line from outside to inside, and the assembly limit groove A is correspondingly located on the rear side Between the feeding manipulator on the lower platen and the feeding manipulator on the front lower platen, the assembly limit groove B is correspondingly located between the feeding manipulator on the rear upper platen and the feeding manipulator on the front upper platen, the feeding manipulator on the rear lower platen, the front The feeding manipulator on the lower platen on the side, the feeding manipulator on the upper platen on the front side, and the feeding manipulator on the upper platen on the rear side have the same structure and are all platen feeding manipulators. Press plate cylinder and rotating cylinder that drives the press plate cylinder to rotate; the press plate compensator transfer manipulator includes the press plate transfer pneumatic slide table, two press plate lift cylinders driven by the press plate transfer pneumatic slide table, and two press plate lifting cylinders driven by the two press plate lift cylinders respectively air claw.

The magnet compensator transfer module includes flip manipulator, double assembly limit slot A, double assembly limit slot B and magnet feeding manipulator, flip manipulator includes flip manipulator pneumatic slide table and two flip manipulator grabs driven by flip manipulator pneumatic slide table The grabbing mechanism of the flipping manipulator includes the horizontal cylinder of the flipping manipulator, the horizontally movable lifting cylinder of the flipping manipulator driven by the horizontal cylinder of the flipping manipulator, the rotating cylinder of the flipping manipulator driven by the lifting cylinder of the flipping manipulator, and the rotating cylinder of the flipping manipulator. Rotatable overturning manipulator claws, one of the overturning manipulator grabbing mechanism's overturning manipulator claws is used to grab and move the material on the assembly limit slot C to the double assembly limit slot A, and the other overturning manipulator grabs The flipping manipulator air claw of the mechanism is used to grab and move the material on the double assembly limit groove A to the double assembly limit groove B; the magnet feeding manipulator includes a magnet horizontal cylinder and a magnet horizontal cylinder driven by the magnet horizontal cylinder for grabbing Magnet and place the magnet on the double assembly limit slot A of the magnet claw of the material; the compensator transfer mechanism includes a compensator pneumatic slide table, a compensator lifting cylinder driven by the compensator pneumatic slide table and a compensator lifting cylinder It consists of compensator air claws that drive up and down. The compensator air claws are used to grab the materials on the double assembly limit groove B and send them to the base of the automatic leveling instrument; assembly limit groove A, assembly limit groove B, assembly limit The position groove C, the double assembly limit groove A and the double assembly limit groove B are sequentially arranged at intervals along a straight line from outside to inside.

The upper cover feeding manipulator includes the upper cover feeding pneumatic slide table, the upper cover feeding lifting cylinder driven by the upper cover feeding pneumatic sliding table and the upper cover feeding suction cup driven by the upper cover feeding lifting cylinder.

The combined mobile manipulator includes a combined transfer pneumatic slide table, a transfer lift cylinder driven by the combined transfer pneumatic slide table, a transfer horizontal cylinder driven up and down by the transfer lift cylinder, and a transfer horizontal cylinder driven by the transfer horizontal cylinder. The feeding module loads the material and transfers it to the transfer claw of the feeding module on the platen.

The clamp also includes a connection block and a spring guide rod with a spring sheathed on the outer ring. One end of the spring guide rod is fixedly connected to the V-shaped block, and the other end passes through the connection block. The cylinder telescopic rod of the clamp cylinder is fixedly connected to the connection block.

A circumferential support baffle is also fixed on the top and bottom of the fixture installation groove, and the fixture installation groove is in the shape of an "L".

A reducer is arranged on the lower side of the lower rotating support plate, and the motor drives the rotating shaft through the reducer.

An automatic leveling automatic assembly system according to the present invention is driven by a motor and a reducer to rotate a circular workpiece turntable, and is used to realize the station switching of each "L"-shaped fixture installation groove.

The substrate feeding mechanism uses two substrate air claws to respectively grab the eyepiece tube and objective lens tube on the substrate of the automatic leveling level outside the lower rotating support plate, and lift them to the top of the lower rotating support plate by the base lifting cylinder, and then The base body lifting cylinder and the two base body air claws are driven by the base body pneumatic slide to move radially along the lower rotating support plate to the "L"-shaped fixture installation groove and put down.

The suspension pendulum feeding module utilizes the movement of the corresponding cylinders of the suspension feeding manipulator, the pendulum feeding manipulator, and the gripping and loosening of the pendulum air gripper and the suspension air gripper to sequentially place the suspension and the pendulum body at the assembly limit. In the position slot, a six-degree-of-freedom robot is used to assemble the limit screw, and finally the assembled component is moved to the next assembly limit slot by the integrated mobile manipulator to install the pressure plate.

The platen feeding module uses the front lower platen feeding manipulator and the rear lower platen material manipulator to respectively load the front lower platen and the rear lower platen. The front side lower pressure plate and the rear side lower pressure plate adsorbed on the feeding suction cup are moved from the front and rear sides to the installation position corresponding to the suspension in the assembly limit groove A and the lower pressure plate of the pendulum assembly, and a six-degree-of-freedom robot is used to Carry out screw assembly, screw the front lower pressure plate and the rear lower pressure plate to the suspension (corresponding mounting screw holes are provided for each pressure plate on the suspension); The pressure plate air claw on the side moves the assembled components in the assembly limit groove A to the next assembly limit groove B;

Then use the feeding manipulator on the upper pressing plate on the front side and the feeding manipulator on the upper pressing plate on the rear side to load the upper pressing plate. The suspension and pendulum assembly in the assembly limit groove B corresponds to the installation position of the upper platen; finally, the pressure plate air claw on the side close to the assembly limit groove B of the manipulator containing the platen compensator moves the installed components to the lower platen. An assembly limit groove C.

The compensator transfer mechanism uses the flip manipulator to flip the compensator assembly in the assembly limit slot C and move it to the next double assembly limit slot A, and the magnet feeding manipulator moves the magnet to the material combination on the double assembly limit slot The corresponding position on the pendulum body (there is a mounting screw hole corresponding to the magnet on the pendulum body), and a six-degree-of-freedom robot is used for screw assembly (the six-degree-of-freedom robot connects the magnet and the pendulum body screws together), and then the flipping mechanism The flipping manipulator claws of the gripping mechanism of the flipping manipulator on the outside of the hand flip the assembled compensator over and move it to the next double assembly limit slot B; finally the compensator transfer mechanism moves the compensator in the double assembly limit slot B to the position where the compensator is installed in the level body in the fixture mounting slot.

The upper cover installation module uses the SCARA robot to assemble the pendulum of the compensator and the four screws of the level body, and then the upper cover of the level is sucked by the upper cover feeding suction cup on the upper cover feeding manipulator and placed on the upper cover of the level. The installation position, and finally the SCARA robot completes the threaded connection between the upper cover and the level body.

The present invention has the following advantages:

1. The present invention completely designs the automatic assembly line of the automatic leveling level: solves the assembly actions of body structure positioning tightening, feeding, compensator assembly, and screw connection in the assembly process, basically realizes the automatic assembly of the automatic leveling level, and solves the problem of The deficiencies and limitations of manual production improve the accuracy and efficiency of assembly;

2. The automatic assembly line of the present invention has high flexibility and can cope with more production needs: in the automatic assembly system, cylinders, pneumatic slides and robots are used in many places. For assembly tasks with various requirements, only the assembly program parameters need to be modified or Replacing a few parts can meet the requirements of production tasks;

3. The present invention uses a circular workpiece turntable to greatly reduce the production and use space: the switching of different stations in the assembly process uses a circular workpiece turntable, and the stepping motor and high-precision reducer drive the disk to rotate, and the switching between stations It is more convenient, and the disc design makes reasonable use of the production space and greatly reduces waste;

4. The present invention uses a high-precision cylinder and a pneumatic slide table to ensure the accuracy and high efficiency of the assembly of the level; by using a high-precision cylinder and a pneumatic slide table, the clamping force and material feeding during the assembly process are better controlled Displacement during the process, and the cylinder and pneumatic sliding table are small in size and fast in speed, which ensures the progress and production requirements in the assembly process;

5. The present invention adopts the suction cup feeding method to avoid damage to precision parts due to excessive clamping force; the feeding method of the upper cover of the level gauge and the pressure plate adopts the suction cup feeding method, because the material of the upper cover and the pressure plate is relatively light, and the structural strength Low height, irregular shape, easier to control than traditional air claw feeding, less pressure generated by the suction cup and not easy to damage parts;

6. The present invention adopts 6-DOF robot and SCARA robot, which are easy to replace and maintain, and the assembly is also more intelligent and automatic: the application of 6-DOF robot and SCARA robot improves the automation level of assembly, and because the robot is independent of the support frame and In addition to the assembly of the workpiece, it is easier to repair and replace when a failure occurs, and it will not affect the efficiency of production too much.

Description of drawings

Fig. 1 is the structural representation of fixture;

Fig. 2 is the structural representation of working turntable;

Fig. 3 is the structural representation of matrix feeding mechanism;

Fig. 4 is a schematic structural view of a suspension pendulum feeding module;

Fig. 5 is a structural schematic diagram of a platen feeding module;

Fig. 6 is a structural schematic diagram of a compensator transfer mechanism;

Fig. 7 is a structural schematic diagram of the upper cover installation module;

Fig. 8 is a structural schematic diagram of a compensator assembly mechanism;

Fig. 9 is a structural schematic diagram of the assembly limit groove;

Fig. 10 is a structural representation of the present invention;

In the figure: V-shaped block 1, spring guide rod 2, connecting block 3, fixture cylinder 4, upper fixed support plate 5, circumferential support baffle plate 6, radial outer stopper 7, fixture installation groove 8, lower rotating support plate 9. Reducer 10, base body air claw 11, base body lifting cylinder 12, base body pneumatic slide table 13, lifting horizontal plate 14, first support frame 15, second support frame 16, transfer horizontal cylinder 17, integrated transfer pneumatic slide table 18 , Combined pneumatic slide table support 19, transfer lifting cylinder 20, transfer air claw 21, suspension pendulum support column 22, pendulum manipulator support column 23, suspension pendulum body assembly limit groove 24, suspension manipulator support column 25, Suspension horizontal cylinder 26, pendulum body air claw 27, pendulum body horizontal cylinder 28, suspension air claw 29, suspension lifting cylinder 30, pendulum body lifting cylinder 31, pressure plate transfer pneumatic sliding table bracket 32, pressure plate transfer pneumatic sliding table 33 , extension plate 34, assembly limit groove A35, pressure plate lifting cylinder 36, pressure plate air claw 37, assembly limit groove C38, pressure plate cylinder 39, rotating cylinder 40, pressure plate manipulator support column 41, compensator pneumatic slide table 42, assembly limit Position slot B43, magnet horizontal cylinder 44, double assembly limit slot B45, magnet air claw 46, double assembly limit slot A47, flip manipulator air claw 48, flip manipulator horizontal cylinder 49, flip manipulator lifting cylinder 50, flip manipulator pneumatic slide Table 51, flip manipulator rotary cylinder 52, double assembly groove support column B53, double assembly groove support column A54, magnet manipulator support column 55, compensator pneumatic sliding table bracket 56, compensator lifting cylinder 57, compensator air claw 58, flip Manipulator bracket 59, SCARA robot 60, upper cover pneumatic sliding table bracket 61, upper cover feeding pneumatic sliding table 62, upper cover feeding lifting cylinder 63, upper cover feeding suction cup 64, six degrees of freedom robot 65, suspension feeding manipulator 66, Pendulum feeding manipulator 67, integrated moving manipulator 68, front lower platen feeding manipulator 69, rear lower platen feeding manipulator 70, front upper platen feeding manipulator 71, rear upper platen feeding manipulator 72, platen compensation Device transfer manipulator 73, flip manipulator 74, compensator transfer mechanism 75, magnet feeding manipulator 76, upper cover feeding manipulator 77, pressure plate feeding sucker 78, rotating shaft 79, groove column 80, bottom block 81, "ten" shaped groove 82. A substrate feeding mechanism 83, a compensator assembly mechanism 84, an upper cover installation module 85, and a substrate unloading mechanism 86.

detailed description

An automatic leveling automatic assembly system shown in Figures 1-9 includes an upper fixed support plate 5, a lower rotating support plate 9 driven by a rotating shaft 79, several fixtures and a base set on the lower rotating support plate 9 Feeding mechanism 83.

The upper fixed support plate 5 and the lower rotating support plate 9 are arranged at intervals up and down, the upper fixed support plate 5 is arranged above the lower rotating support plate 9 at intervals, and the upper fixed support plate 5, the lower rotating support plate 9 and the rotating shaft 79 are coaxially arranged , the upper fixed support disc 5 and the lower rotary support disc 9 are horizontal discs, the rotating shaft 79 is vertically arranged, the central axis of the upper fixed support disc 5, the central axis of the lower rotary support disc 9 and the central axis of the rotating shaft 79 coincide, The lower rotating support disc 9 is provided with a central hole, and the rotating shaft is inserted into the central hole of the lower rotating supporting disc 9 and is keyed with the lower rotating supporting disc 9. Of course, the rotating shaft can also be fixedly connected with the lower rotating supporting disc 9, and the rotating shaft drives the lower rotation Support disc 9 rotates synchronously. The upper fixed support plate 5 is fixed on the general bracket and does not move, and the lower side of the lower rotating support plate 9 is provided with a reducer 10, and the motor drives the rotating shaft through the reducer 10. Reducer 10 and motor (not shown in the motor figure).

The diameter of the upper fixed support disc 5 is smaller than the diameter of the lower rotary support disc 9, and the upper fixed support disc 5 and the lower rotary support disc 9 form a stepped shape.

On the upper surface of the lower rotating support plate 9, around the central axis of the lower rotating support plate 9, there are several fixture installation grooves 8 for shelving the base body of the automatic leveling instrument at intervals. The base of Anping level includes housing, eyepiece tube and objective lens tube.

Several clamps correspond to several clamp installation grooves 8 respectively, and each clamp installation groove 8 corresponds to one clamp.

The clamp includes a circumferential support baffle 6 fixed on the bottom surface of the fixture installation groove 8, a radially outer stopper 7 fixed on the upper side of the groove bottom surface of the fixture installation groove 8, and a corresponding radially outer stopper. 7. The V-shaped block 1 on the radially inner side, the radially arranged and driven V-shaped block 1, the spring guide rod 2 of the connecting block 3 and the spring guide rod 2 that is sleeved with the spring along the lower rotating support plate 9, and the spring guide rod 2 is also arranged along the The radial extension of the lower rotary support disc 9, one end of the spring guide rod 2 is fixedly connected with the V-shaped block 1, and the other end runs through the connection block 3. Of course, the connection block 3 is provided with a via hole corresponding to the spring guide rod 2, and the spring guide rod 2 Pass through the connection block 3 through the through hole, the spring clip is set between the connection block 3 and the V-shaped block 1, the V-shaped mouth of the V-shaped block 1 faces the radially outer stopper 7, and the cylinder body of the clamp cylinder 4 is fixed on it Fix the lower side of the support plate 5, the cylinder telescopic rod of the clamp cylinder 4 is fixedly connected with the connecting block 3, and the cylinder telescopic rod of the clamp cylinder 4 expands and contracts in a straight line along the radial direction of the lower rotating support plate 9 and drives the connecting block 3 to move radially. The block 3 pushes the V-shaped block 1 to move linearly by pushing the spring, and the circumferential support baffle 6 is arranged on the side in the circumferential direction between the V-shaped block 1 and the radially outer block 7; The outer circle of the bottom of the shell is clamped between the V-shaped block 1 and the radially outer stopper 7, while the circumferential support baffle 6 blocks the outer circle of the bottom of the shell of the base body of the automatic leveling instrument to form a Describe the positioning and clamping limit structure of the automatic leveling level.

Surrounding the lower rotating support plate 9, the substrate feeding mechanism 83 for automatically leveling the base body of the leveling instrument to the fixture installation groove 8 is arranged at intervals in the circumferential direction, and the automatic mechanism for sending the assembled compensator to the lower rotating support plate 9. The compensator transfer mechanism 75, the SCARA robot 60, the upper cover feeding manipulator 77 and the base unloading mechanism 86 for sending the upper cover to the base of the automatic level, the automatic assembly system of the automatic level also includes The compensator assembly mechanism 84 outside the compensator transfer mechanism 75 .

The substrate feeding mechanism 83 includes a substrate pneumatic slide table 13 extending radially (rotating the support disc 9 radially), a substrate lifting cylinder 12 driven by the substrate pneumatic sliding table 13, a lifting horizontal plate 14 driven by the substrate lifting cylinder 12 and The two substrate air grippers 11 arranged on the lifting horizontal plate 14, the substrate pneumatic slide table 13 are arranged above the lower rotating support plate 9 in parallel and spaced apart, and correspond to the substrate of the automatic leveling level instrument clamped by the clamp below it, and the substrate pneumatically slides The table 13 is arranged horizontally and extends along the radial direction of the lower rotating support plate 9, and the radially outer end of the base air slide table 13 protrudes outside the base air slide table 13. Preferably, the base air slide table 13 is higher than the upper fixed support plate 5 , a vertical first support frame 15 is fixed on the upper side of the upper fixed support plate 5, a vertical second support frame 16 is fixed on the outside of the lower rotating support plate 9, and one end of the base pneumatic slide table 13 is fixedly connected to the second support frame The top and the other end of 16 are fixedly connected to the top of the first support frame 15, the base lift cylinder 12 is vertically arranged, the cylinder body of the base lift cylinder 12 is fixedly connected with the slide block of the base pneumatic slide table 13, and the cylinder telescopic rod extends downwards. And can shrink in a straight line up and down, the slide block of base body pneumatic slide table 13 moves linearly along the radial direction of the lower rotating support disc 9 and can move to the outer top of the lower rotating support disc 9 from directly above the lower rotating support disc 9 (the lower rotating support above the radially outer side of the disk 9), the cylinder telescopic rod of the base lifting cylinder 12 is fixedly connected with the middle part of the lifting horizontal plate 14, and the lifting horizontal plate 14 is arranged horizontally along the tangential direction of the lower rotating support plate 9, and the two base air claws 11 are respectively fixed on the lower sides of the two ends of the lifting horizontal plate 14, and the two substrate air claws 11 are used to grab the eyepiece barrel and the objective lens barrel of the automatic leveling instrument substrate. The air gripper is a pneumatic gripper, which is a prior art, so it will not be described in detail.

The compensator assembly mechanism 84 is correspondingly arranged on the outside of the compensator transfer mechanism, and the compensator assembly mechanism 84 is specifically arranged on the left side of the compensator transfer mechanism.

The compensator assembly mechanism 84 includes a six-degree-of-freedom robot 65 and a suspension pendulum feeding module, a platen feeding module, and a magnet compensator transfer module that are arranged in sequence, and also includes a material transfer module for the suspension pendulum feeding module. To the integrated mobile manipulator 68 of the feeding module on the pressing plate, the working end of the six-degree-of-freedom robot 65 is equipped with an electric screwdriver.

The suspension pendulum feeding module includes a suspension pendulum feeding manipulator 66, a pendulum feeding manipulator 67 and a suspension pendulum assembly limit groove 24 fixed on the upper side of the suspension pendulum support column 22. The material manipulator 66 is correspondingly arranged on the right side of the suspension pendulum assembly limit groove 24, and the pendulum feeding manipulator 67 is correspondingly arranged at the front of the suspension pendulum assembly limit groove 24. The suspension pendulum feeding manipulator 66 includes a vertical The suspension manipulator support column 25, the suspension lifting cylinder 30 arranged on the top of the suspension manipulator support column 25, the suspension horizontal cylinder 26 driven by the suspension lifting cylinder 30, and the suspension horizontal cylinder 26 driven and used to clamp the suspension and the suspension is sent to the suspension claw 29 of the suspension pendulum assembly limit groove 24, the suspension lifting cylinder 30 is vertically arranged, and the cylinder body of the suspension lifting cylinder 30 is fixed on the top of the suspension manipulator support column 25 , the cylinder telescopic rod of the suspension lifting cylinder 30 extends upwards and is fixedly connected to the cylinder body of the suspension horizontal cylinder 26, the suspension horizontal cylinder 26 is horizontally arranged, and the cylinder telescopic rod of the suspension horizontal cylinder 26 points to the suspension pendulum assembly The limit groove 24, that is, the cylinder telescopic rod of the suspension transverse cylinder 26 extends horizontally to the side (left side) of the suspension pendulum assembly limit groove 24 and is fixedly connected to the suspension air claw 29, and the suspension lifting cylinder 30 And the suspension horizontal cylinder 26 can lift the suspension air claw 29 to the upper side of the suspension pendulum assembly limit groove 24, the suspension air claw 29 is used to place the suspension it grabs on the suspension pendulum assembly limit. On the slot 24; the pendulum feeding manipulator 67 includes a vertical pendulum manipulator support column 23, a pendulum lift cylinder 31 arranged on the pendulum manipulator support column 23 top, a pendulum lift cylinder driven by the pendulum lift cylinder 31. body horizontal cylinder 28 and the pendulum body claw 27 driven by the pendulum body transverse cylinder 28 and used to clamp the pendulum body and send the pendulum body to the suspension pendulum body assembly limit groove 24, the pendulum body lifting cylinder 31 is vertically arranged, and the pendulum body lift cylinder 31 is vertically arranged. The cylinder body of body lifting cylinder 31 is fixedly arranged on the top of pendulum body manipulator support column 23, and cylinder telescoping rod stretches out upwards and is fixedly connected to the cylinder body of described pendulum body transverse cylinder 28, and pendulum body transverse cylinder 28 is horizontally arranged, and pendulum body transverse cylinder 28 is horizontally arranged, and pendulum body transverse cylinder The cylinder telescoping rod of cylinder 28 points to suspension pendulum body assembly limit groove 24, and the cylinder telescoping rod of pendulum body transverse cylinder 28 extends horizontally to frame pendulum body assembly limit groove 24 one side (rear side) and is fixedly connected with described The pendulum body air claw 27, the pendulum body lifting cylinder 31 and the pendulum body horizontal cylinder 28 can lift the pendulum body air claw 27 to the upper side of the suspension pendulum body assembly limit groove 24, and the pendulum body air claw 27 is used to grab it The pendulum is placed on the suspension of the suspension pendulum assembly limit groove 24, that is, the suspension is first placed on the suspension pendulum assembly limit groove 24, and then the pendulum is placed on the suspension, and then the six-degree-of-freedom robot 65, the suspension on the suspension pendulum assembly limit groove 24 and the pendulum screw are connected together.

The platen feeding module includes a rear side lower platen feeding manipulator 70, a front side lower platen material manipulator 69, a front side upper platen material manipulator 71, a rear side upper platen material manipulator 72, a support column A, fixed on The assembly limit groove A35 on the upper side of the support column A, the support column B, the assembly limit groove B43 fixed on the upper side of the support column B, the support column C, the assembly limit groove C38 fixed on the upper side of the support column C, and The pressure plate compensator transfer manipulator 73, the assembly limit groove A35, the assembly limit groove B43 and the assembly limit groove C38 are of the same height and are arranged at intervals from outside to inside along a straight line extending horizontally from left to right, so as to point to the central axis of the rotating shaft or down. The central axis of the rotating support plate 9 is inside, otherwise it is outside. The assembly limit groove A35 is correspondingly located between the feeding manipulator 70 of the lower platen on the rear side and the feeding manipulator 69 of the lower platen on the front side. The feeding manipulator 70 on the lower side platen is correspondingly and symmetrically arranged in the front and rear of the assembly limiting groove A35, and the assembly limiting groove B43 is correspondingly located between the feeding manipulator 72 on the rear upper platen and the feeding manipulator 71 on the front side upper platen. , the front side upper platen feeding manipulator 71 and the rear side upper platen feeding manipulator 72 are respectively and symmetrically arranged in front and rear of the assembly limit groove B43, and the front side upper platen feeding manipulator 71 is located on the front side lower platen feeding manipulator The inboard of manipulator 69 is also the right side simultaneously, and the feeding manipulator 72 of rear side upper pressing plate is positioned at the inboard of rear side lower pressing plate feeding manipulator 70 and is also the right side simultaneously, the rear side lower pressing plate feeding manipulator 70, the front side lower pressing plate feeding manipulator. Manipulator 69, front side upper plate feeding manipulator 71, and rear side upper plate feeding manipulator 72 have the same structure and are all plate feeding manipulators. The pressing plate feeding manipulator includes a pressing plate feeding sucker 78, a pressing plate that drives the pressing plate feeding sucker to stretch linearly Cylinder 39, rotary cylinder 40 and platen manipulator support column 41 that drive platen cylinder 39 to rotate, said rotary cylinder 40 is horizontally arranged on the top of platen manipulator support column 41, and rotary cylinder 40 and its rotation center line are all parallel to said straight line , the cylinder body of the rotary cylinder 40 is fixedly connected to the cylinder body of the pressure plate cylinder 39, the cylinder body of the rotary cylinder 40 rotates and drives the pressure plate cylinder 39 to rotate, and the cylinder expansion rod of the pressure plate cylinder 39 expands and contracts along a straight line and is perpendicular to the rotary cylinder 40; The pressure plate compensator transfer manipulator 73 includes the pressure plate transfer pneumatic slide table 33 arranged on the upper side of the pressure plate transfer pneumatic slide table support 32, the two pressure plate lifting cylinders 36 driven by the pressure plate transfer pneumatic slide table 33 and the two pressure plate lifting cylinders 36 respectively. Lifting two pressure plate air claws 37, the pressure plate transfer pneumatic slide table support 32 is arranged at intervals behind the rear lower pressure plate feeding manipulator 70 and the rear upper pressure plate feeding manipulator 72, the pressure plate transfer pneumatic slide table 33 is set horizontally on the left and right , the assembly limit groove A35, the assembly limit groove B43 and the assembly limit groove C38 are all located at the front and bottom of the press plate transfer pneumatic slide table 33, the straight line is parallel to the press plate transfer pneumatic slide table 33, and the press plate transfer pneumatic slide table 33 The vertical left and right intervals of the pneumatic slide table 33 are transferred along the pressing plate on the slide block Two extension plates 34 are set, and the extension plates 34 are horizontally extended front and rear, the rear end of the extension plates 34 is fixed on the slide block of the press plate to transfer the pneumatic slide table 33, and the cylinder body of the press plate lift cylinder 36 is fixed on the lower side of the front end, and the press plate is transferred. The slide block of the pneumatic slide table 33 moves horizontally from side to side, and the cylinder expansion rod of the lifting cylinder 36 stretches out downwards and contracts upwards. On the two cylinder telescopic rods of the two lift cylinders 36, the inner and outer intervals of the two pressure plate air claws 37 are also set at the left and right intervals. Transfer to the assembly limit groove B43, and the inner (right side) pressure plate air claw 37 is used to grab the material on the assembly limit groove B43 and transfer it to the assembly limit groove C38.

When the platen feeding module works, there are four steps of A, B, C, and D: A, when the cylinder telescopic rod of the platen cylinder 39 of the rear side lower platen material manipulator 70 stretches out horizontally, it is just opposite to the rear side lower platen , the platen material sucker 78 of the rear side lower platen feeding manipulator 70 absorbs the rear side lower platen, and the rotary cylinder of the rear side lower platen material manipulator 70 rotates, so that the cylinder telescopic rod of the platen cylinder 39 is in the direction of the assembly limit groove A35 In the state of protruding forward, place the rear lower pressure plate on the material on the assembly limit groove A35 - the combination of the suspension pendulum, and the six-degree-of-freedom robot connects the rear lower pressure plate to the suspension with screws;

When the cylinder expansion rod of the platen cylinder 39 of the lower platen feeding manipulator 69 on the front side stretches out horizontally, it is just opposite to the lower platen on the front side, and the platen feeding suction cup 78 of the lower platen material manipulator 69 on the front side absorbs the lower platen on the front side. The rotary cylinder of the feeding manipulator 69 on the lower pressing plate on the front side rotates, so that the telescopic rod of the cylinder of the pressing plate cylinder 39 is in a state extending backward pointing to the assembly limiting groove A35, and then the lower pressing plate on the rear side is placed on the assembly limiting groove A35 The material——on the combination of the suspension pendulum body, the six-degree-of-freedom robot connects the front side lower plate screw to the suspension;

B. Then, the outer (left) clamping plate air gripper 37 grabs and transfers the materials (suspension, pendulum, front lower clamping plate and rear lower clamping plate) on the assembly limit slot A35 to the assembly limit on slot B43;

C, when the cylinder expansion rod of the platen cylinder 39 of the upper platen feeding manipulator 72 on the rear side stretches out horizontally, it is opposite to the upper platen on the rear side, and the platen material sucker 78 of the upper platen feeding manipulator 72 on the rear side is adsorbed on the rear side Pressing plate, the rotating cylinder of the feeding manipulator 72 on the pressing plate on the rear side rotates, so that the cylinder telescopic rod of the pressing plate cylinder 39 is in the state protruding forward pointing to the assembly limit groove B43, and then the upper pressing plate on the rear side is placed in the assembly limit groove On the materials on B43 (the combination of suspension, pendulum body, front lower pressure plate and rear lower pressure plate), the six-degree-of-freedom robot connects the rear upper pressure plate to the pendulum body with screws;

When the cylinder telescopic rod of the pressing plate cylinder 39 of the upper pressing plate feeding manipulator 71 on the front side stretches out horizontally, it is just relative to the upper pressing plate on the front side, and the upper pressing plate feeding sucker 78 of the upper pressing plate feeding manipulator 71 on the front side absorbs the upper pressing plate on the front side. The rotary cylinder of the feeding manipulator 71 on the upper platen on the front side rotates, so that the telescopic rod of the cylinder of the platen cylinder 39 is in the state extending backward pointing to the assembly limit groove B43, and then the upper platen on the front side is placed on the assembly limit groove B43 On the material (suspension, pendulum body, front side lower pressure plate and rear side lower pressure plate combination), the six-degree-of-freedom robot connects the front side upper pressure plate to the pendulum body with screws.

D, the inner (right side) pressure plate air claw 37 will assemble the material on the limit groove B43 (the combination of the suspension, the pendulum, the front lower pressure plate, the rear lower pressure plate, the front upper pressure plate and the rear upper pressure plate) Grab and transfer to the assembly limit groove C38;

The two pressure plate air claws 37 of the pressure plate compensator transfer manipulator 73 have two stations. When at the first station: the two pressure plate air claws 37 of the pressure plate compensator transfer manipulator 73 can be respectively located in the assembly limit groove A, assembly Directly above the limit groove B, the two pressure plate air claws 37 rise or fall under the drive of their respective pressure plate lifting cylinders 36 to complete the feeding and discharging of the corresponding assembly limit grooves on the respective lower sides; on the second station When: the two pressure plate air claws 37 can be respectively located directly above the assembly limit groove B and the assembly limit groove B at the same time, and the two pressure plate air claws 37 rise or fall under the drive of the respective pressure plate lifting cylinder 36 to complete the respective lower sides. Assembling the taking and discharging of the limit slot.

The combined mobile manipulator 68 includes a combined pneumatic slide table support 19, a combined transfer pneumatic slide table 18 fixed on the upper side of the combined pneumatic slide table support 19, a transfer lifting cylinder 20 driven by the combined transfer pneumatic slide table 18, and a lifting cylinder 20 driven by the transfer lift. The cylinder 20 drives the lifting horizontal transfer cylinder 17 and the transfer claw 21 driven by the transfer horizontal cylinder 17 is used to clamp the material on the suspension pendulum assembly limit groove 24 and transfer it to the platen feeding module, and transfers the pneumatic slide table together. 18 is set horizontally front and rear, the slide block of combined transfer pneumatic slide table 18 moves forward and backward, and combined transfer pneumatic slide table 18 is correspondingly located on the left side of the assembly limit groove 24 of the suspension pendulum body and the assembly limit groove A35, and the combined transfer pneumatic slide table The limit position of the front end of the slider of 18 is directly opposite to the assembly limit groove 24 of the suspension pendulum body, and the limit position of the rear end of the slider of the integrated transfer pneumatic slide table 18 is directly opposite to the assembly limit groove A, and the cylinder of the transfer lift cylinder 20 The body is fixed on the slide block of the combined transfer pneumatic slide table 18, the cylinder telescopic rod of the transfer lifting cylinder 20 is extended upwards, and the cylinder body of the transfer horizontal cylinder 17 is fixed on the cylinder telescopic rod of the transfer lifting cylinder 20, and the transfer level Cylinder 17 is arranged horizontally left and right, and the cylinder telescoping link of transfer horizontal cylinder 17 stretches out to the right level and is fixedly set described transfer air claw 21.

The suspension pendulum feeding module is located in front of the platen feeding module, and the suspension pendulum assembly limit groove 24 is arranged in front of the assembly limit groove A35 at intervals, and the front lower platen feeding manipulator 69 is located on the suspension pendulum. The body assembly limit groove 24 is arranged between the assembly limit grooves A35 at intervals, and the integrated mobile manipulator 68 is arranged at intervals on the outer side (left) of the suspension pendulum feeding module and the platen feeding module. When the slider moved to the position corresponding to the suspension pendulum assembly limit groove 24, the cylinder telescopic rod of the transfer lift cylinder 20 stretched out upwards, so that the transfer air claw 21 was higher than the suspension pendulum assembly limit groove 24, The cylinder expansion rod of the transfer horizontal cylinder 17 extends horizontally to the side of the suspension pendulum assembly limit groove 24, so that the transfer air claw 21 is located directly above the suspension pendulum assembly limit groove 24, and then the transfer air claw 21 descends and Grasp the material on the assembly limit groove 24 of the suspension pendulum body (the assembly of the suspension and the pendulum body), then transfer the air claw 21 and its materials to rise for a certain distance, and then transfer the cylinder telescopic rod of the horizontal cylinder 17 to shrink to the left, When the sliding block of the integrated transfer pneumatic slide table 18 moves backward to the position corresponding to the assembly limit groove A35, the transfer air claw 21 and the material grabbed by the transfer air claw 21 are also aligned with the assembly limit groove A35. Correspondingly, then the telescopic rod of the cylinder of the transfer horizontal cylinder 17 stretches out toward the assembly limit groove A35 side, and the material grabbed by the transfer air claw 21 is placed on the assembly limit groove A35, and the transfer air claw 21 releases the material and resets.

The magnet compensator transfer module includes a turning manipulator 74, a double assembly groove support column A54, a double assembly limit groove A47 fixed on the upper side of the double assembly groove support column A54, a double assembly groove support column B53, and a double assembly groove support column B53 fixed on the double assembly groove support column A54. The double assembly limit groove B45 on the upper side of the groove support column B53 and the magnet feeding manipulator 76, the overturning manipulator 74 includes the overturning manipulator support 59, the overturning manipulator pneumatic slide table 51 fixed on the overturning manipulator support 59 upper side and the pneumatic slide table 51 driven by the overturning manipulator. The two overturning manipulator grabbing mechanisms driven by the slide table 51, the overturning manipulator air claw 48 of one of the overturning manipulator grabbing mechanisms are used to grab and move the material on the assembly limit groove C38 to the double assembly limit groove A47, The flipping manipulator air claw 48 of another flipping manipulator grasping mechanism is used to grab and move the material on the double assembly limit groove A47 to the double assembly limit groove B45. The slide block of the manipulator pneumatic slide table 51 can move left and right, and the flip manipulator pneumatic slide table 51 is located at the rear of the double assembly limit groove A47 and the double assembly limit groove B45 respectively, and the two flip manipulator grasping mechanisms move along the flip manipulator pneumatic slide table 51. The longitudinal inner and outer intervals of the vertical axis are also set at the left and right intervals. The grabbing mechanism of the overturning manipulator includes the horizontal cylinder 49 of the overturning manipulator, the lifting cylinder 50 of the overturning manipulator driven by the horizontal cylinder 49 of the overturning manipulator, and the lifting cylinder 50 of the overturning manipulator that can be stretched forward and backward horizontally and straightly, and the lifting cylinder 50 of the overturning manipulator. The rotating cylinder 52 of the turning manipulator that drives the lifting and the turning manipulator air claw 48 that is driven by the turning cylinder 52 of the turning manipulator to rotate. On the slide block, the cylinder expansion rod stretches out forward and is fixedly connected to the cylinder body of the lifting cylinder 50 of the overturning manipulator, and the cylinder telescoping rod of the lifting cylinder 50 of the overturning manipulator stretches out downwards, and the rotating cylinder 52 of the overturning manipulator is arranged on the lifting cylinder 50 of the overturning manipulator. On the telescopic rod of the cylinder, the cylinder body of the turning manipulator rotating cylinder 52 is fixedly connected to the turning manipulator air claw 48, and the cylinder body of the turning manipulator rotating cylinder 52 rotates and drives the turning manipulator air claw 48 to turn over, turning over the manipulator rotating cylinder 52 and The center lines of rotation all extend horizontally forward and backward. Two turnover manipulator horizontal cylinders 49 of two overturning manipulator grasping mechanisms are fixed on the slide block of overturning manipulator pneumatic slide table 51 for left and right at intervals.

The magnet feeding manipulator 76 is correspondingly positioned at the outside (left side) of the compensator transfer mechanism 75, and the magnet feeding manipulator 76 is correspondingly positioned at the front of the double assembly limit groove A47 simultaneously, and the magnet feeding manipulator 76 comprises the magnet manipulator support column 55, is arranged on The magnet horizontal cylinder 44 on the upper side of the magnet manipulator support column 55 and the magnet claw 46 driven by the magnet horizontal cylinder 44 for grabbing the magnet and placing the magnet on the material on the upper side of the double assembly limit groove A47, and the magnet horizontal cylinder 44 Horizontally set before and after, the cylinder block of magnet horizontal cylinder 44 is fixed on the upper side of magnet manipulator support column 55, and the cylinder telescoping rod of magnet horizontal cylinder 44 is fixedly set described magnet claw 46, and the cylinder telescoping rod of magnet horizontal cylinder 44 is to both sides. One side (rear side) of the assembly limit groove A47 protrudes horizontally; the double assembly limit groove A47 is located on the radial outer side of the double assembly limit groove B45, and the double assembly limit groove A47 is also located on the left side of the double assembly limit groove B45 Further, the assembly limit groove A35, the assembly limit groove B43, the assembly limit groove C38, the double assembly limit groove A47 and the double assembly limit groove B45 are of the same height and extend horizontally along the left and right from outside to Inside (at the same time, from left to right) are set at intervals accordingly.

The compensator transfer mechanism 75 includes the compensator pneumatic slide table 42 arranged on the compensator pneumatic slide table support 56, a compensator lifting cylinder 57 driven by the compensator pneumatic slide table 42, and a compensator lifting cylinder 57 driven up and down. The compensator air claw 58 is composed of the compensator air claw 58, which is used to grab the material on the double assembly limit groove B45 and send it to the base of the automatic leveling instrument, the compensator pneumatic sliding table 42 is set horizontally, and the compensator pneumatic sliding table 42 Parallel and spaced above the lower rotating support disc 9 and extending along the radial direction of the lower rotating supporting disc 9, the radially outer end of the compensator pneumatic sliding table 42 stretches out of the lower rotating supporting disc 9, and the compensator pneumatic sliding table 42 The slide block moves linearly along the radial direction of the lower rotating support disc 9 and can move from directly above the lower rotating supporting disc 9 to the outer top of the lower rotating supporting disc 9 (the radially outer top of the lower rotating supporting disc 9), and the compensator Pneumatic sliding table support 56 comprises a pillar A fixed on the upper side of the upper fixed support plate 5 and a pillar B fixed on the outside of the lower rotating support plate 9, and the two ends of the compensator pneumatic slide table 42 are respectively fixed on the pillar A, On the top of the pillar B, the cylinder body of the compensator lifting cylinder 57 is fixed on the slider of the compensator pneumatic slide table 42, the cylinder telescopic rod of the compensator lifting cylinder 57 extends downward, and the compensator air claw 58 is fixed on the compensator On the cylinder expansion rod of device lift cylinder 57. The compensator air claw 58 is used for gripping the material (compensator) on the double assembly limit groove B45 and sends it to the base body of the automatic leveling level gauge clamped by the clamp on the lower rotating support plate 9 .

The pneumatic sliding table 51 of the turning manipulator is parallel to the pneumatic sliding table 33 of the pressing plate feeding module and lower than the pneumatic sliding table 33 of the pressing plate. The air slide table 51 is located in front of the press plate transfer air slide table 33, and the outer end (left end) of the turning manipulator air slide table 51 extends to the front of the right end of the press plate transfer air slide table 33 and is located between the press plate transfer air slide table 33 and the assembly limit. Between the slots C38, the outer end of the flip manipulator pneumatic slide 51 corresponds to the assembly limit slot C38, when the slider of the flip manipulator pneumatic slide 51 drives its upper outer (left side) flip manipulator grabbing mechanism to move to the flip When the outer end (left end) of the manipulator pneumatic slide table 51 corresponds to the assembly limit groove C38, the flip manipulator air claw 48 of the outer flip manipulator grasping mechanism stretches out to the assembly limit groove C38 and grabs the assembly limit groove C38 and transfer the material to the double assembly limit slot A47, the magnet air gripper 46 grabs the magnet and places it on the assembly on the double assembly limit slot A47, and the robot with six degrees of freedom completes the double assembly limit slot A47 The assembly is connected with the screws of the magnet. So far, the assembly of the compensator is completed. The flip manipulator air claw 48 of the grabbing mechanism of the inside flip manipulator moves to the position facing the double assembly limit groove A47 and grabs the double assembly limit groove A47. The material (compensator) is then overturned and sent to the double assembly limit groove B45, and then the compensator air claw 58 grabs the material (compensator) on the double assembly limit groove B45 and sends it to the lower rotating support plate 9 On the substrate of the automatic leveling level held by the fixture.

The assembly limit groove 24 of the suspension pendulum body, the assembly limit groove A35, the assembly limit groove B43 and the assembly limit groove C38 have the same structure and are all assembly limit grooves. The assembly limit groove includes the bottom block 81 and the bottom block 81. Four vertical slot columns 80 are arranged at intervals in a rectangular shape. On the top surface of the bottom block 81, there is a "ten"-shaped groove 82 between the four slot columns. The suspension can be inserted into the slot. The double assembly limiting groove A47 and the double assembly limiting groove B45 have the same structure and both are double assembly limiting grooves.

The loam cake feeding manipulator 77 and the SCARA robot 60 constitute a loam cake installation module 85, and the loam cake feeding manipulator 77 includes a loam cake pneumatic sliding table support 61, a loam cake feeding pneumatic sliding table 62 arranged on the loam cake pneumatic sliding table support 61, The upper cover feeding lifting cylinder 63 driven by the upper cover feeding pneumatic slide table 62 and the upper cover feeding suction cup 64 driven by the upper cover feeding lifting cylinder 63 are arranged horizontally, and the upper cover feeding pneumatic sliding table 62 is arranged along the The radial extension of the lower rotating support plate 9 is parallel to the top of the lower rotating support plate 9 at intervals. The radially outer end of the upper cover feeding pneumatic slide table 62 extends to the radially outer side of the lower rotating supporting plate 9, and the upper cover feeding pneumatically The slide block of slide table 62 can be radially moved to the outside top of lower rotating support plate 9 from directly above the lower rotating support plate 9, and the upper cover pneumatic slide table support 61 includes a fixed support plate 5 upper side. The pillar C and a pillar D fixed on the outer side of the lower rotating support plate 9, the two ends of the compensator pneumatic slide table 42 are respectively fixed on the top of the pillar C and the pillar D, and the upper cover feeding lifting cylinder 63 is vertically arranged, and the upper cover feeding The cylinder block of lifting cylinder 63 is fixed on the slide block of loam cake feeding pneumatic slide table 62, and the cylinder telescoping rod of loam cake feeding lifting cylinder 63 vertically stretches out downwards, and loam cake feeding sucker 64 is arranged on loam cake feeding lifting cylinder On the cylinder telescopic link of 63, loam cake feeding sucker 64 is positioned at the top of lower rotating support disc 9 and is driven lifting by loam cake feeding lifting cylinder 63.

The SCARA robot 60 is used to complete the screw assembly of the compensator and the base body of the automatic leveling instrument and the screw assembly of the upper cover and the base body of the automatic leveling instrument. The SCARA robot 60 comes with an electric screwdriver.

The six-degree-of-freedom robot 65 also has its own electric screwdriver, and the six-degree-of-freedom robot 65 is located on the right side of the suspension pendulum feeding module and in front of the platen feeding module and the magnet feeding manipulator 76 at the same time. Both the SCARA robot 60 and the six-degree-of-freedom robot 65 are prior art, and both are commercially available, so they will not be described in detail.

The substrate blanking mechanism 86 has the same structure as the substrate loading mechanism 83, and the substrate blanking mechanism 86 is used to remove the finished product of the installed automatic leveling level from the lower rotating support plate 9.

During work, under the promotion of the clamp cylinder 4, the bottom outer shell of the shell of the automatic leveling instrument base is clamped between the V-shaped block 1 and the radially outer stopper 7, and the circumferential support baffle plate 6 is blocked at the same time. The circumferential outer side of the shell of the automatic leveling instrument base forms a limiting structure for positioning and clamping the automatic leveling instrument;

The fixture and position switching mechanism is driven by the motor, the reducer 10 and the lower rotating support plate 9 to rotate, and is used to realize the position switching of each "L"-shaped fixture installation groove 8;

The two substrate air claws 11 of the substrate feeding mechanism 83 grasp the eyepiece barrel and the objective lens barrel of the automatic leveling instrument substrate outside the lower rotating support plate 9 respectively, and are lifted to the lower rotating support plate 9 by the substrate lifting cylinder 12. Then, the pneumatic sliding table 13 of the substrate moves radially of the lower rotating support plate 9 to directly above the “L”-shaped fixture installation groove 8 and then lowers it down, so that the substrate of the automatic leveling leveling instrument is located at the “L” Type fixture installation groove 8.

The lower rotating support plate 9 rotates, so that the base body of the automatic leveling instrument clamped by the fixture on the lower rotating support plate 9 is transferred to the station at the compensator transfer mechanism 75, and the compensator transfer mechanism 75 clamps the double assembly limit groove B the compensator, and place the compensator on the base of the automatic leveling level, the base of the automatic leveling level on which the compensator is placed, and then turn the support plate 9 down to the station at the SCARA robot 60, and the SCARA robot 60 will place the pendulum of the compensator Assemble with the four screws of the base shell of the level gauge to complete the screw connection between the compensator and the base body of the automatic leveling gauge; then the base body of the automatic leveling gauge is then rotated to the position of the feeding manipulator 77 of the upper cover, and then the upper cover The upper cover feeding suction cup 64 of the feeding manipulator sucks the upper cover of the level gauge and places it on the installation position of the level gauge upper cover. The SCARA robot 60 completes the screw connection between the upper cover and the base body of the automatic leveling level gauge. So far, the assembly of the automatic leveling gauge gauge is completed, and the base body unloading mechanism The two substrate air claws 11 grasp the eyepiece mounting shell and the objective lens mounting shell of the automatic leveling level, the clamps loosen the automatic leveling level, and the automatic leveling level is taken out from the lower rotating support disc 9.

The working process of the compensator assembly mechanism 84 is as follows: the suspension pendulum feeding module utilizes the suspension air claw 29 of the suspension feeding manipulator 66 to grab the suspension and place the suspension on the suspension pendulum assembly limit groove 24 , then the pendulum air gripper 27 of the pendulum loading manipulator 67 grabs the pendulum and places the pendulum on the suspension, the six-degree-of-freedom robot 65 assembles the suspension and the pendulum with screws, and finally the integrated mobile manipulator 68 moves the assembly of the suspended pendulum body to the assembly limit groove A35 to install the pressing plate of the next station, and the integrated mobile manipulator 68 resets and grabs the next suspension on the assembly limit groove 24 of the suspension pendulum body. Pendulum combination.

The platen feeding module uses the rear lower platen feeding manipulator 70 and the front lower platen material manipulator 69 to respectively carry out the feeding of the rear lower platen and the front lower platen, and the rotary cylinder 40 of the rear lower platen material manipulator 70 , the pressing plate cylinder 39 and the pressing plate feeding sucker 78 cooperate to install the rear side lower pressing plate from the rear side forward to the installation position corresponding to the upper rear side lower pressing plate on the suspension pendulum assembly in the assembly limit groove A35, and use six The degree of freedom robot 65 carries out screw assembly, similarly, the rotary cylinder 40 of the front side lower platen feeding manipulator 69, the platen cylinder 39 and the platen material sucker 78 cooperate to install the front side lower platen from the front side to the assembly limit groove The installation position corresponding to the lower pressure plate on the front side of the assembly suspension pendulum assembly in A35 is assembled with screws using a six-degree-of-freedom robot 65; the pressure plate compensator transfer manipulator 73 is located on the outside (right side) the pressure plate air claw 37 to move the assembled components (suspension, pendulum, rear side lower pressure plate and front side lower pressure plate assembly) into the assembly limit groove B43; then use the front side upper pressure plate feeding manipulator 71, rear side upper pressing plate feeding manipulator 72 carries out the feeding of rear side upper pressing plate, front side upper pressing plate respectively, the rotary cylinder of rear side upper pressing plate feeding manipulator 72, pressing plate cylinder 39 and pressing plate feeding suction cup 78 match the rear side The side upper pressure plate is installed from the rear side forward to the installation position corresponding to the rear upper pressure plate on the assembly (the assembly composed of the suspension, the pendulum, the rear side lower pressure plate and the front side lower pressure plate) in the assembly limit groove B43, And use the robot 65 with six degrees of freedom to carry out the screw assembly of the upper pressing plate and the assembly on the rear side. Install the pressure plate from the front side to the rear of the assembly in the assembly limit groove B43 (the assembly composed of the suspension, the pendulum, the rear side lower pressure plate and the front side lower pressure plate) on the corresponding installation position of the front side upper pressure plate, and use six The degree of freedom robot 65 carries out screw assembly; finally, the assembly installed in the assembly limit groove B43 is moved to the assembly limit groove C38 by the pressure plate air claw 37 located on the inner side of the pressure plate compensator transfer manipulator 73 .

The compensator transfer mechanism utilizes the overturning manipulator air claw 48 of the overturning manipulator grasping mechanism on the outside (left side) of the overturning manipulator 74 to assemble the components (pendulum, suspension, front side lower plate, rear side) in the limit groove C38. The assembly of the lower pressing plate, the upper pressing plate on the front side and the upper pressing plate on the rear side) is overturned and moved into the double assembly limiting groove A47, and the magnet feeding manipulator 76 moves the magnet to the installation position of the compensator assembly in the double assembly limiting groove A47 , and the compensator assembly in the magnet and the double assembly limit slot A47 is screwed by the six-degree-of-freedom robot 65, and then the flipping manipulator air claw 48 pairs of flipping manipulators that are positioned at the inside (right side) of the flipping manipulator grabbing mechanism of the flipping manipulator 74 In the assembly limit slot A47, turn over the assembled assembly (swing body, suspension, front lower pressing plate, rear lower pressing plate, front upper pressing plate, rear upper pressing plate and magnet assembly) and then move to the double Assemble the compensator in the limit groove B, and the compensator assembly is completed; finally, the compensator transfer mechanism 75 moves the compensator in the double assembly limit groove B45 to the position where the compensator is installed in the base of the automatic leveling gauge in the fixture installation groove 8.

Claims (10)

1. An automatic leveling instrument automatic assembly system is characterized in that: it comprises an upper fixed support plate (5), a lower rotating support plate (9) driven by a rotating shaft (79), and a number set on the lower rotating support plate (9). A clamp and a substrate feeding mechanism; on the upper surface of the lower rotating support plate (9), several clamp mounting grooves (8) are successively arranged at intervals around the central axis of the lower rotating support plate (9); several clamps are respectively connected with several clamps Corresponding to the installation groove (8), the clamp includes a radially outer stopper (7) fixed on the bottom surface of the fixture installation groove (8), and a radially inner stopper (7) correspondingly arranged on the radially outer stopper (7). The V-shaped block (1) and the lower rotating support plate (9) are arranged radially and drive the clamp cylinder (4) of the V-shaped block (1), and the clamp cylinder (4) is arranged on the upper fixed support plate (5); the substrate The feeding mechanism (83) comprises a substrate pneumatic slide table (13), a substrate lifting cylinder (12) driven by the substrate pneumatic slide table (13), a lifting horizontal plate (14) driven by the substrate lifting cylinder (12) and an elevating The two substrate air grippers (11) on the horizontal plate (14) and the substrate air slide table (13) are arranged above the lower rotating support disc (9) at intervals. 2. A kind of automatic leveling automatic assembly system as claimed in claim 1, characterized in that: the rotating support plate (9) around the bottom is arranged in turn for sending the base body of the automatic leveling level to the fixture installation groove (8). Substrate feeding mechanism (83), the compensator transfer mechanism (75) that is used to send the assembled compensator to the automatic leveling level instrument substrate on the lower rotating support plate (9), the SCARA robot (60) and the upper cover Deliver to the loam cake feeding manipulator (77) of automatic leveling level gauge substrate. 3. A kind of automatic leveling instrument automatic assembly system as claimed in claim 2, it is characterized in that: also comprise the compensator assembly mechanism (84) that is arranged on the compensator transfer mechanism (75) outside correspondingly, compensator assembly mechanism (84) ) includes a six-degree-of-freedom robot (65) and a suspension pendulum feeding module, a pressing plate feeding module, and a magnet compensator transfer module that are set in sequence, and also includes a suspension pendulum feeding module for transferring materials to the pressing plate. The integrated mobile manipulator (68) of the feeding module, the working end of the six-degree-of-freedom robot (65) is provided with an electric screwdriver. 4. A kind of automatic leveling instrument automatic assembly system as claimed in claim 3, is characterized in that: described suspension pendulum feeding module comprises suspension feeding manipulator (66), pendulum feeding manipulator (67) and The suspension pendulum is assembled with a limit groove (24), and the suspension feeding manipulator (66) includes a suspension lifting cylinder (30), a suspension horizontal cylinder (26) driven by the suspension lifting cylinder (30) and Driven by the suspension horizontal cylinder (26) and used to clamp the suspension and send the suspension to the suspension pendulum assembly limit groove (24); the pendulum feeding manipulator (67 ) comprises a pendulum body lifting cylinder (31), a pendulum body horizontal cylinder (28) driven by the pendulum body lift cylinder (31) and a pendulum body horizontal cylinder (28) driven and used for clamping the pendulum body and sending the pendulum body to The pendulum air pawl (27) of the suspension pendulum assembly limit groove (24). 5. A kind of automatic assembly system for automatic leveling gauge as claimed in claim 4, characterized in that: said platen feeding module comprises rear side lower platen feeding manipulator (70), front side lower platen material manipulator (69) , the feeding manipulator on the upper platen on the front side (71), the feeding manipulator on the upper platen on the rear side (72), the assembly limit groove A (35), the assembly limit groove B (43), the assembly limit groove C (38) and The platen compensator transfer manipulator (73), the assembly limit groove A (35), the assembly limit groove B (43) and the assembly limit groove C (38) are arranged at intervals along a straight line from outside to inside, and the assembly limit groove A (35) is correspondingly located between the feeding manipulator (70) on the lower platen on the rear side and the feeding manipulator (69) on the lower platen on the front side, and the assembly limit groove B (43) is correspondingly located on the feeding manipulator (72) on the upper platen on the rear side Between the feeding manipulator (71) on the upper platen on the front side, the feeding manipulator on the lower platen on the rear side (70), the feeding manipulator on the lower platen on the front side (69), the feeding manipulator on the upper platen on the front side (71), the upper platen on the rear side The pressing plate feeding manipulator (72) has the same structure and is a pressing plate feeding manipulator. The pressing plate feeding manipulator includes a pressing plate feeding sucker (78), a pressing plate cylinder (39) that drives the pressing plate feeding sucker to move linearly and a driving pressing plate cylinder (39) Rotating rotary cylinder (40); said platen compensator transfer manipulator (73) includes platen transfer pneumatic slide table (33), two platen lifting cylinders (36) driven by platen transfer air slide table (33) and The two pressure plate lifting cylinders (36) drive the two pressure plate air claws (37) for lifting, one of the pressure plate air claws (37) is used to grab and transfer the material on the assembly limit groove A (35) to the assembly limit groove B On (43), another pressure plate air claw (37) is used for grabbing the material on the assembly limit groove B (43) and moving it to the assembly limit groove C (38). 6. A kind of automatic assembly system of automatic leveling instrument as claimed in claim 5, it is characterized in that: the magnet compensator transfer module comprises flip manipulator (74), double assembly limit groove A (47), double assembly limit groove B (45) and the magnet feeding manipulator (76), the overturn manipulator (74) comprises the overturn manipulator pneumatic slide table (51) and two overturn manipulator grasping mechanisms driven by the overturn manipulator air slide table (51), the overturn manipulator grasps The mechanism comprises a turning manipulator horizontal cylinder (49), a turning manipulator lifting cylinder (50) that can move horizontally driven by the turning manipulator horizontal cylinder (49), and a turning manipulator rotating cylinder (52) driven by the turning manipulator lifting cylinder (50). and the rotatable overturning manipulator air claw (48) driven by the turning cylinder (52) of the overturning manipulator, wherein the overturning manipulator air claw (48) of the overturning manipulator grasping mechanism is used for grabbing on the assembly limit groove C (38) material and move to the double-assembly limiting groove A (47), and the flipping manipulator air claw (48) of another flipping manipulator grasping mechanism is used to grab the material on the double-assembling limiting groove A (47) and move to On the double assembly limit groove B (45); the magnet feeding manipulator (76) includes the magnet horizontal cylinder (44) and is used to grab the magnet and place the magnet in the double assembly limit groove driven by the magnet horizontal cylinder (44). A (47) magnet claws (46) on the upper material; the compensator transfer mechanism (75) includes a compensator pneumatic slide (42), a compensator lifting cylinder driven by the compensator pneumatic slide (42) 57) and a compensator air claw (58) driven up and down by the compensator lifting cylinder (57), the compensator air claw (58) is used to grab and send the material on the double assembly limit groove B (45) To the base of the automatic leveling level; assembly limit groove A (35), assembly limit groove B (43), assembly limit groove C (38), double assembly limit groove A (47) and double assembly limit groove B (45) Arranging at intervals along a straight line from outside to inside. 7. A kind of automatic assembly system for automatic leveling gauge as claimed in claim 2, characterized in that: the upper cover feeding manipulator includes upper cover feeding pneumatic sliding table (62), upper cover feeding pneumatic sliding table (62) driven Cover feeding lifting cylinder (63) and the loam cake feeding suction cup (64) driven lifting by loam cake feeding lifting cylinder (63). 8. An automatic assembly system for automatic leveling gauges according to claim 3, characterized in that: the combined mobile manipulator (68) includes a combined transfer pneumatic slide (18), a transfer lift driven by the combined transfer pneumatic slide Cylinder (20), the transfer horizontal cylinder (17) driven by the transfer lift cylinder (20) and the transfer horizontal cylinder (17) driven by the transfer horizontal cylinder (17) are used to clamp the material on the suspension pendulum assembly limit groove (24) and transfer To the transfer jaws (21) of the feeder module on the platen. 9. A kind of automatic assembly system of automatic leveling instrument as claimed in claim 1, it is characterized in that: described fixture also comprises connecting block (3) and the spring guide rod (2) of outer ring sleeve spring, spring guide rod (2) ) one end is fixedly connected to the V-shaped block (1), the other end runs through the connecting block (3), and the cylinder expansion rod of the fixture cylinder (4) is fixedly connected to the connecting block (3). 10. The automatic assembly system of an automatic leveling instrument according to claim 1, characterized in that: a reducer (10) is arranged on the lower side of the lower rotating support plate (9), and the motor is driven by the reducer (10) shaft.