CN107263090B - A kind of automatic compensated level automatic setup system - Google Patents
A kind of automatic compensated level automatic setup system Download PDFInfo
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- CN107263090B CN107263090B CN201710379818.2A CN201710379818A CN107263090B CN 107263090 B CN107263090 B CN 107263090B CN 201710379818 A CN201710379818 A CN 201710379818A CN 107263090 B CN107263090 B CN 107263090B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P21/00—Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with program control
- B23P21/004—Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with program control the units passing two or more work-stations whilst being composed
- B23P21/006—Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with program control the units passing two or more work-stations whilst being composed the conveying means comprising a rotating table
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Abstract
本发明公开了一种自动安平水准仪自动装配系统，属于自动化装配技术领域，包括上固定支撑盘、由转轴带动的下转动支撑盘、数个夹具和基体送料机构；所述夹具包括夹具安装槽的槽底面上侧固设的径向外侧挡块、相应设于径向外侧挡块径向内侧的V型块和沿下转动支撑盘径向设置并带动V型块的夹具气缸，夹具气缸设置在上固定支撑盘上；基体送料机构包括基体气动滑台、由基体气动滑台带动的基体升降气缸、由基体升降气缸带动的升降横板和设置在升降横板上的两个基体气爪，基体气动滑台隔设置在下转动支撑盘的上方，本发明是一种实现水准仪装配的自动化，从而提高企业的生产效率、降低劳动成本的自动安平水准仪自动装配系统。
The present invention discloses an automatic Anping -level automatic assembly system, which belongs to the field of automated assembly technology, including the upper fixed support disk, the lower rotation support disk driven by the axis, several fixtures and substrate feeding mechanisms; The radial block fixed on the upper side of the groove, the V -shaped block and the radial block of the radial block of the radial outward gear, and turn the supporting plate radial setting of the support plate along the bottom. On the fixed support disk; the material delivery mechanism includes the pneumatic skating of the substrate, the substrate lift the cylinder driven by the substrate pneumatic slide, the lift horizontal board driven by the substrate lifting cylinder, and the two substrate gas claws, the substrate set on the lifting horizontal board, The pneumatic slide is set up above the supporting disk of the lower rotation. The present invention is an automation of the level of realizing the production efficiency of the enterprise and reducing the labor cost of the enterprise and the automatic assembly system for automatic labor costs.
Description
Technical field
The invention belongs to Automated assembly technical field more particularly to a kind of automatic compensated level automatic setup systems.
Background technique
The measurement of the level is the higher measurement method of most basic in the measurement of higher degree and precision, is widely used in national height
Among process control measurement, the engineering survey of various scales and engineering construction and monitoring.Automatic compensated level is by means of inside
Compensation device can make the collimation axis of telescope automatically keep horizontality, and when in use, need to only complete to flatten roughly can carry out
Work is measured, therefore automatic compensated level is widely used in engineering survey.
Due to the particularity of compensator structure in automatic compensated level, the Automated assembly for completing related components has
Certain difficulty, therefore the domestic method for generalling use hand assembled.
Set of level automatic setup system and equipment are not yet found both at home and abroad.
The method for the hand assembled that automatic compensated level generallys use, the degree of automation is not high, so that assembly time ten
It is point tediously long, simultaneously because level core component compensator structure is complex, also have centainly to the assembly technical ability of assembler
Requirement, greatly constrain the production efficiency of the type automatic compensated level.
Summary of the invention
The object of the present invention is to provide it is a kind of realize level assembly automation, thus improve the production efficiency of enterprise,
Reduce the automatic compensated level automatic setup system of labour cost.
To achieve the above object, the present invention adopts the following technical scheme: a kind of automatic compensated level automatic setup system,
Including the several fixtures and matrix being arranged on upper fixed support plate, the lower rotational support disk driven by shaft, lower rotational support disk
Feeding mechanism；On the upper surface of lower rotational support disk, around lower rotational support disk central axis be successively equipped at intervals with it is several
Fixture mounting groove；Several fixtures are corresponding with several fixture mounting grooves respectively, and the fixture includes the groove bottom of fixture mounting groove
The fixed radial outside block in upside is accordingly set to the V-block of radial outside block radially inner side and along lower rotational support disk diameter
To the clamp cylinder for being arranged and driving V-block, clamp cylinder is arranged in upper fixed support plate；Matrix feeding mechanism includes matrix
Pneumatic slid platform, the matrix lifting cylinder driven by matrix Pneumatic slid platform, the lifting transverse slat driven by matrix lifting cylinder and setting
Two matrix pneumatic clampers on lifting transverse slat, matrix Pneumatic slid platform is every the top that lower rotational support disk is arranged in.
It sets gradually around lower rotational support disk for sending automatic compensated level matrix to described in fixture mounting groove
Matrix feeding mechanism, for sending the compensator assembled to the compensation on automatic compensated level matrix on lower rotational support disk
Device transfer mechanism, SCARA robot and for sending upper cover to the upper cover feeding mechanical hand of automatic compensated level matrix.
It further include the corresponding compensator assemble mechanism on the outside of compensator transfer mechanism, compensator assemble mechanism includes six
Degree of freedom robot and the suspension pendulum mass feeding module being successively accordingly arranged, pressing plate feeding module, magnet compensator transfer module,
It further include for by fit mobile manipulator of the material transmission to pressing plate feeding module, six degree of freedom on suspension pendulum mass feeding module
Electric screw driver is arranged in the working end of robot.
The suspension pendulum mass feeding module includes suspension feeding manipulator, pendulum mass feeding manipulator and suspension pendulum mass assembly limit
Position slot, the suspension feeding manipulator include suspension lifting cylinder, by the suspension lateral cylinder of suspension lifting cylinder drive lifting
With driven by suspension lateral cylinder and be used to clamp suspension and by suspension send to suspension pendulum mass assembly limiting slot suspension pneumatic clamper；Institute
Stating pendulum mass feeding manipulator includes pendulum mass lifting cylinder, by the pendulum mass lateral cylinder of pendulum mass lifting cylinder drive lifting and by pendulum mass
Lateral cylinder drives and is used to clamp pendulum mass and send pendulum mass to the pendulum mass pneumatic clamper of pendulum mass assembly limiting slot.
The pressing plate feeding module includes rear side lower platen feeding manipulator, front side lower platen feeding manipulator, on front side
Pressing plate feeding manipulator, rear side top board feeding manipulator, assembly limiting slot A, assembly limiting slot B and assembly limiting slot C and pressure
Plate compensator transfer manipulator, assembly limiting slot A, assembly limiting slot B and assembly limiting slot C along straight line from outside to inside successively
Interval setting, assembly limiting slot A are correspondingly positioned between rear side lower platen feeding manipulator and front side lower platen feeding manipulator, dress
It is correspondingly positioned between rear side top board feeding manipulator and front side top board feeding manipulator with limiting slot B, on rear side lower platen
Expect manipulator, front side lower platen feeding manipulator, front side top board feeding manipulator, rear side top board feeding manipulator structure phase
It together and is pressing plate feeding manipulator, pressing plate feeding manipulator includes pressing plate feeding sucker, band dynamic pressure plate feeding sucker straight line shifting
Dynamic pressing plate cylinder and the rotary cylinder with the rotation of dynamic pressure plate cylinder；The pressing plate compensator transfer manipulator includes pressing plate transfer
Pneumatic slid platform, by pressing plate transfer Pneumatic slid platform drive two pressing plate lifting cylinders and respectively by two pressing plate lifting cylinders drive
Two pressing plate pneumatic clampers of lifting.
It includes turning manipulator that magnet compensator, which transfers module, on double assembly limiting slot A, double assembly limiting slot B and magnet
Expect manipulator, two overturnings that turning manipulator includes turning manipulator Pneumatic slid platform and driven by turning manipulator Pneumatic slid platform
Manipulator grasping mechanism, turning manipulator grasping mechanism include turning manipulator horizontal air cylinder, by turning manipulator horizontal air cylinder
The horizontally movable turning manipulator lifting cylinder driven, the turning manipulator gone up and down by the drive of turning manipulator lifting cylinder
It rotary cylinder and is driven by turning manipulator rotary cylinder and rotatable turning manipulator pneumatic clamper, one of turning manipulator
The turning manipulator pneumatic clamper of grasping mechanism is used to that the material assembled on limiting slot C to be grabbed to and be moved to double assembly limiting slot A, separately
The turning manipulator pneumatic clamper of one turning manipulator grasping mechanism is used to that the material on double assembly limiting slot A to be grabbed and be moved to double
It assembles on limiting slot B；Magnet feeding manipulator includes magnet horizontal air cylinder and is used to grab magnetic by what magnet horizontal air cylinder drove
Body and the magnet pneumatic clamper that magnet is placed in material on double assembly limiting slot A；Compensator transfer mechanism include compensator Pneumatic slid platform,
One compensator lifting cylinder driven by compensator Pneumatic slid platform and a compensation gone up and down by the drive of compensator lifting cylinder
Device pneumatic clamper composition, compensator pneumatic clamper are used to grab the material on double assembly limiting slot B and send to automatic compensated level matrix
On；Limiting slot A, assembly limiting slot B, assembly limiting slot C, double assembly limiting slot A and double assembly limiting slot B are assembled along straight line
Successively interval setting from outside to inside.
Upper cover feeding mechanical hand includes upper cover feeding Pneumatic slid platform, by the upper cover feeding liter of upper cover feeding Pneumatic slid platform drive
Sending down abnormally ascending cylinder and upper cover feeding lifting cylinder drive the upper cover feeding sucker of lifting.
The zoarium mobile manipulator includes fit transfer Pneumatic slid platform, by the fit transfer liter transferring Pneumatic slid platform and driving
Sending down abnormally ascending cylinder is driven the transfer horizontal air cylinder gone up and down by transfer lifting cylinder and is used to clamp suspension by what transfer horizontal air cylinder drove
Material and the transfer pneumatic clamper of pressing plate feeding module is sent on pendulum mass feeding module.
The fixture further includes the spring guide of link block and outer ring sheathed spring, and spring guide one end is fixed with V-block
Connection, the other end run through the link block, and the Telescopic-cylinder bar of clamp cylinder is fixedly connected with link block.
Circumferential supporting baffle is fixedly provided on the upside of the groove bottom of the fixture mounting groove, the fixture mounting groove is in " L " word
Shape.
It is provided with retarder on the downside of the lower rotational support disk, motor drives shaft by retarder.
A kind of automatic compensated level automatic setup system of the present invention drives round piece by motor, retarder
Turntable rotation, for realizing the Switch of working position of each " L " type fixture mounting groove.
Described matrix feeding mechanism is to grab the automatic peace being located at outside lower rotational support disk respectively using two matrix pneumatic clampers
Eyepiece stalk and objective tube on flat level matrix, and the top for being promoted to lower rotational support disk is carried out by matrix lifting cylinder,
Again by matrix Pneumatic slid platform with kinetoplast lifting cylinder and two matrix pneumatic clampers moving radially to institute along lower rotational support disk
It states and is put down in " L " type fixture mounting groove.
The suspension pendulum mass feeding module using suspension feeding manipulator, pendulum mass feeding manipulator respective cylinder it is mobile with
And suspension and pendulum mass are promptly successively placed in assembly limiting slot with loosening by pendulum mass pneumatic clamper and suspension pneumatic clamper, and freely using six
The assembly that robot carries out stop screw is spent, the component assembled is finally moved into next assembly by fit mobile manipulator and is limited
The installation of slot progress pressing plate.
The pressing plate feeding module be using front side lower platen feeding manipulator, rear side lower platen feeding manipulator respectively into
The feeding of row front side lower platen, rear side lower platen, the rotary cylinder of the two is matched with pressing plate cylinder will be on pressing plate feeding sucker
Front side lower platen, the rear side lower platen of absorption move to the suspension in assembly limiting slot A from front and rear sides combine with pendulum mass respectively
The corresponding installation site of body lower platen, and screw assembly is carried out using six-DOF robot, front side lower platen, rear side are pushed
Plate bolt is connected on suspension and (corresponds to each pressing plate on suspension equipped with corresponding installation screw)；The transfer of compensator containing pressing plate is mechanical
The pressing plate pneumatic clamper of the close side assembly limiting slot A of hand will assemble the component assembled in limiting slot A and move to next assembly limit
In slot B；
Front side top board feeding manipulator, rear side top board feeding manipulator is recycled to carry out the feeding of top board, the two
Rotary cylinder matched with pressing plate cylinder by the top board adsorbed on pressing plate feeding sucker from front and rear sides be installed to assembly limit
The installation site of suspension top board corresponding with pendulum mass assembly in the slot B of position；Finally by the transfer manipulator of compensator containing pressing plate
Mounted component is moved to next assembly limiting slot C by the pressing plate pneumatic clamper close to the assembly side limiting slot B.
Compensator transfer mechanism utilizes turning manipulator, and the compensation device assembly assembled in limiting slot C is overturn and moved to down
A pair of assembles in limiting slot A, and magnet feeding manipulator moves to magnet on double assembly limiting slots in material combinations body on pendulum mass
Corresponding position (installation screw for having a respective magnet on pendulum mass), and there is six-DOF robot to carry out screw assembly, (six certainly
Magnet and pendulum mass screw are linked together by degree robot), then grabbed by the turning manipulator in turning manipulator positioned at outside
The turning manipulator pneumatic clamper of mechanism is taken to then move to the compensator assembled overturning in lower a pair of assembly limiting slot B；Finally compensate
Compensator in double assembly limiting slot B is moved to the position that compensator is installed in level ontology in fixture mounting groove by device transfer mechanism
It sets.
Upper cover installation module using SCARA robot by four screws of the pendulum mass of compensator and level ontology into
Luggage is matched, then is placed into level upper cover after being drawn the upper cover of level by the upper cover feeding sucker of upper cover feeding mechanical on hand
Installation site, last SCARA robot completes the thread connection of upper cover Yu level ontology again.
The present invention has the advantage that
1, the present invention completely devises the automatic assembly line of automatic compensated level: solving bulk junction in assembling process
Structure positioning steps up, feeding, compensator assemble, the assembly of thread connection movement, realizes the automatic of automatic compensated level substantially
Assembly, solves the deficiency and limitation of manual production, improves the precision and efficiency of assembly；
2, automatic assembly line of the present invention flexibility with higher copes with more production requirements: automatic setup system
Middle many places need to only modify linkage editor ginseng for the fittage of a variety of demands using cylinder and Pneumatic slid platform and robot
Number or replacement a few components, can reach the requirement of production task；
3, the present invention is greatly reduced using round piece turntable and produces and uses space: different station cuts in assembling process
It changes using round piece turntable, disc-rotated by stepper motor and high accurate speed reducer, the switching between station is more
It is convenient to add, and the design reasonable utilization of disc type production space, greatly reduces waste；
4, the present invention uses High-precision cylinder and Pneumatic slid platform, it is ensured that the accuracy and high efficiency of level assembly；It is logical
It crosses using high-precision cylinder and Pneumatic slid platform, preferably controls in assembling process in the size of chucking power and feeding process
Displacement, and cylinder and Pneumatic slid platform is small in size, speed is fast ensure that schedule requirement and production requirement in assembling process；
5, the method that the present invention uses sucker feeding, avoids chucking power from crossing havoc precision component；Level upper cover and
The feeding of pressing plate is all the feeding method using sucked type, and since the material of upper cover and pressing plate is lighter, and structural strength is not high,
It is in irregular shape, it is easier to control compared to traditional pneumatic clamper feeding, does not also allow destructible zero since the pressure of sucker generation is smaller
Part；
6, the present invention uses 6DOF robot and SCARA robot, is easily changed and repairs, and assembly is also more intelligent
Change and automate: the application of 6DOF robot and SCARA robot improves the automatization level of assembly, and due to machine
Except device people is independently of support frame and workpiece assembly, it is also easier to repair and replace when so breaking down, will not excessively influences
The efficiency of production.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of fixture；
Fig. 2 is the structural schematic diagram of working rotary table；
Fig. 3 is the structural schematic diagram of matrix feeding mechanism；
Fig. 4 is the structural schematic diagram of suspension pendulum mass feeding module；
Fig. 5 is the structural schematic diagram of pressing plate feeding module；
Fig. 6 is the structural schematic diagram of compensator transfer mechanism；
Fig. 7 is the structural schematic diagram of upper cover installation module；
Fig. 8 is the structural schematic diagram of compensator assemble mechanism；
Fig. 9 is the structural schematic diagram for assembling limiting slot；
Figure 10 is structural schematic diagram of the invention；
In figure: V-block 1, spring guide 2, link block 3, clamp cylinder 4, upper fixed support plate 5, circumferential supporting baffle 6,
Radial outside block 7, fixture mounting groove 8, lower rotational support disk 9, retarder 10, matrix pneumatic clamper 11, matrix lifting cylinder 12, base
Body Pneumatic slid platform 13, lifting transverse slat 14, the first support frame 15, the second support frame 16, transfer horizontal air cylinder 17, fit transfer are pneumatic
Slide unit 18, fit Pneumatic slid platform bracket 19, transfer lifting cylinder 20, transfer pneumatic clamper 21, suspension pendulum mass support column 22, pendulum mass are mechanical
Hand support column 23, suspension pendulum mass assembly limiting slot 24, suspension robot support column 25, suspension lateral cylinder 26, pendulum mass pneumatic clamper 27,
Pendulum mass lateral cylinder 28, suspension pneumatic clamper 29, suspension lifting cylinder 30, pendulum mass lifting cylinder 31, pressing plate transfer Pneumatic slid platform bracket
32, pressing plate transfer Pneumatic slid platform 33, extension plate 34, assembly limiting slot A35, pressing plate lifting cylinder 36, pressing plate pneumatic clamper 37, assembly limit
Position slot C38, pressing plate cylinder 39, rotary cylinder 40, pressing plate manipulator support column 41, compensator Pneumatic slid platform 42, assembly limiting slot
B43, magnet horizontal air cylinder 44, double assembly limiting slot B45, magnet pneumatic clamper 46, double assembly limiting slot A47, turning manipulator pneumatic clamper
48, turning manipulator horizontal air cylinder 49, turning manipulator lifting cylinder 50, turning manipulator Pneumatic slid platform 51, turning manipulator
Rotary cylinder 52, double fitting groove support column B53, double fitting groove support column A54, magnet robot support column 55, compensator are pneumatic
Slide unit bracket 56, compensator lifting cylinder 57, compensator pneumatic clamper 58, turning manipulator bracket 59, SCARA robot 60, upper cover
Pneumatic slid platform bracket 61, upper cover feeding Pneumatic slid platform 62, upper cover feeding lifting cylinder 63, upper cover feeding sucker 64, six degree of freedom
Robot 65, suspension feeding manipulator 66, pendulum mass feeding manipulator 67, fit mobile manipulator 68, front side lower platen feeder
Tool hand 69, rear side lower platen feeding manipulator 70, front side top board feeding manipulator 71, rear side top board feeding manipulator 72,
Pressing plate compensator transfer manipulator 73, turning manipulator 74, compensator transfer mechanism 75, magnet feeding manipulator 76, upper cover are sent
Expect manipulator 77, pressing plate feeding sucker 78, shaft 79, slot column 80, sole piece 81, " ten " font groove 82, matrix feeding mechanism 83,
Compensator assemble mechanism 84, upper cover install module 85, matrix cutting agency 86.
Specific embodiment
By a kind of Fig. 1-automatic compensated level automatic setup system shown in Fig. 9, including upper fixed support plate 5, by turning
Lower rotational support disk 9 that axis 79 drives, the several fixtures and a matrix feeding mechanism 83 being arranged on lower rotational support disk 9.
Between the upper and lower every setting, the upper fixed interval of support plate 5 is set to lower rotation for upper fixed support plate 5 and lower rotational support disk 9
The top of support plate 9, upper fixed support plate 5, lower rotational support disk 9 and 79 three of shaft coaxial arrangement, upper fixed 5 He of support plate
Lower rotational support disk 9 is horizontal disk, and shaft 79 is vertically arranged, the central axis of upper fixed support plate 5, lower rotational support
The central axis of disk 9 and the central axis of shaft 79 are overlapped, and lower rotational support disk 9 is equipped with centre bore, the lower rotation branch of shaft insertion
The centre bore of support plate 9 is simultaneously keyed between lower rotational support disk 9, and certainly, shaft can also be with the fixed company of lower rotational support disk 9
It connects, shaft drives lower rotational support disk 9 to rotate synchronously.Upper fixed support plate 5 is fixed on total bracket and does not move, under described
The downside of rotational support disk 9 is provided with retarder 10, and motor drives shaft by retarder 10.Retarder 10 and motor (motor
It is not shown in the figure).
The diameter of upper fixed support plate 5 is less than the diameter of lower rotational support disk 9, upper fixed support plate 5 and lower rotational support
Disk 9 forms step type.
On the upper surface of lower rotational support disk 9, around lower rotational support disk 9 central axis be successively equipped at intervals with it is several
For shelving the fixture mounting groove 8 of automatic compensated level matrix, the fixture mounting groove 8 is in " L " font, Beam Auto-Level
Instrument matrix includes shell, eyepiece stalk and objective tube.
Several fixtures are corresponded with several fixture mounting grooves 8 respectively, and each fixture mounting groove 8 is opposite with a fixture
It answers.
The fixture includes circumferential supporting baffle 6 fixed on the upside of the groove bottom of fixture mounting groove 8, fixture mounting groove 8
The fixed radial outside block 7 in groove bottom upside is accordingly set to the V-block 1 of 7 radially inner side of radial outside block, along lower rotation
Support plate 9 is arranged radially and drives the spring guide 2 of the clamp cylinder 4 of V-block 1, link block 3 and outer ring sheathed spring, spring
Also the radially extending along lower rotational support disk 9 of guide rod 2,2 one end of spring guide is fixedly connected with V-block 1, the other end is through described
Via hole is arranged in link block 3, certainly, the corresponding spring guide 2 of link block 3, and spring guide 2 is inserted through link block 3, spring clip from via hole
It is located between link block 3 and V-block 1, towards radial outside block 7, the cylinder body of clamp cylinder 4 is installed in the V-shaped part of V-block 1
Upper 5 downside of fixed support plate, the Telescopic-cylinder bar of clamp cylinder 4 are fixedly connected with link block 3, the Telescopic-cylinder of clamp cylinder 4
Bar along lower rotational support disk 9 radial direction linear expansion and drive link block 3 to move radially, link block 3 passes through push the spring
Then V-block 1 is pushed to move linearly, the circumferential direction supporting baffle 6 is set to the circumferential direction circle between V-block 1 and radial outside block 7
Circumferential direction side；The housing bottom outer circle of automatic compensated level matrix is clamped between V-block 1 and radial outside block 7,
Both circumferentially supporting baffle 6 gear automatic compensated level matrix housing bottom outer circle outer circumferential, formed to it is described from
The position limiting structure of the positioning and clamping of dynamic level.
Setting is circumferentially successively spaced around lower rotational support disk 9 to send for automatic compensated level matrix to fixture installation
The described matrix feeding mechanism 83 of slot 8, for sending the compensator assembled to the Beam Auto-Level on lower rotational support disk 9
Compensator transfer mechanism 75, SCARA robot 60 on instrument matrix, for sending upper cover to automatic compensated level matrix
Lid feeding mechanical hand 77 and matrix cutting agency 86, automatic compensated level automatic setup system further include accordingly being set to compensator
The compensator assemble mechanism 84 in 75 outside of transfer mechanism.
Matrix feeding mechanism 83 includes the matrix Pneumatic slid platform 13 for radially extending (radial along lower rotational support disk 9), by base
The matrix lifting cylinder 12 of the drive of body Pneumatic slid platform 13, the lifting transverse slat 14 driven by matrix lifting cylinder 12 and setting are being gone up and down
The top, simultaneously of lower rotational support disk 9 is arranged in 13 parallel interval of matrix Pneumatic slid platform in two matrix pneumatic clampers 11 on transverse slat 14
Corresponding with the automatic compensated level matrix as folded by fixture below, matrix Pneumatic slid platform 13 is horizontally disposed and along lower rotation
The radial direction of support plate 9 extends, and 13 radial outer end of matrix Pneumatic slid platform stretches out outside matrix Pneumatic slid platform 13, it is preferable that matrix
Pneumatic slid platform 13 is higher than upper fixed support plate 5, in fixed the first vertical support frame 15 in upper fixed 5 upside of support plate, at lower turn
Fixed the second vertical support frame 16 in the outside of dynamic support plate 9,13 one end of matrix Pneumatic slid platform is fixedly connected with the second support frame 16
Top, the other end be fixedly connected with the top of the first support frame 15, matrix lifting cylinder 12 is vertically arranged, matrix lifting cylinder 12
Cylinder body be fixedly connected with the sliding block of matrix Pneumatic slid platform 13, Telescopic-cylinder bar extends downwardly and can up and down straight line shrink, matrix
The sliding block of Pneumatic slid platform 13 moves linearly along the radial direction of lower rotational support disk 9 and can be from the surface of lower rotational support disk 9
The outer top (top of the radial outside of lower rotational support disk 9) of lower rotational support disk 9 is moved to, the cylinder of matrix lifting cylinder 12 is stretched
Contracting bar is fixedly connected with the intermediate position of lifting transverse slat 14, and lifting transverse slat 14 is set along the tangential direction level of lower rotational support disk 9
It sets, two matrix pneumatic clampers 11 are installed in respectively on the downside of the both ends of lifting transverse slat 14, and two matrix pneumatic clampers 11 are used for self leveling water
The eyepiece stalk and objective tube of quasi- instrument matrix are grabbed.The pneumatic clamper is Pneumatic paw, is the prior art, therefore does not chat in detail
It states.
Compensator assemble mechanism 84 is accordingly set to the outside of compensator transfer mechanism, and compensator assemble mechanism 84 is specific corresponding
Set on the left side of compensator transfer mechanism.
Compensator assemble mechanism 84 include six-DOF robot 65 and be successively accordingly arranged suspension pendulum mass feeding module,
Pressing plate feeding module, magnet compensator transfer module, further include for by material transmission on suspension pendulum mass feeding module to pressing plate
The working end of the fit mobile manipulator 68 of feeding module, six-DOF robot 65 carries electric screw driver.
The suspension pendulum mass feeding module includes suspension feeding manipulator 66, pendulum mass feeding manipulator 67 and is installed in suspension
The suspension pendulum mass of 22 upside of pendulum mass support column assembles limiting slot 24, and suspension feeding manipulator 66 is accordingly set to suspension pendulum mass assembly limit
Position 24 right of slot, pendulum mass feeding manipulator 67 are accordingly set to 24 front of suspension pendulum mass assembly limiting slot, and the suspension feeding is mechanical
Hand 66 includes vertical suspension robot support column 25, the suspension lifting cylinder that 25 top of suspension robot support column is arranged in
30, the suspension lateral cylinder 26 of lifting is driven by suspension lifting cylinder 30 and is driven by suspension lateral cylinder 26 and is used to clamp outstanding
Frame and suspension is sent to the suspension pneumatic clamper 29 of suspension pendulum mass assembly limiting slot 24, suspension lifting cylinder 30 is vertically arranged, suspension liter
The cylinder body of sending down abnormally ascending cylinder 30 is fixed on the top of suspension robot support column 25, and the Telescopic-cylinder bar of suspension lifting cylinder 30 is stretched upwards
Out and it is fixedly connected with the cylinder body of the suspension lateral cylinder 26, suspension lateral cylinder 26 is horizontally disposed, suspension lateral cylinder 26
Telescopic-cylinder bar is directed toward suspension pendulum mass and assembles limiting slot 24, i.e. the Telescopic-cylinder bar of suspension lateral cylinder 26 is assembled to suspension pendulum mass
24 side of limiting slot (left side) protrudes horizontally up and is fixedly connected the suspension pneumatic clamper 29, suspension lifting cylinder 30 and suspension transverse direction gas
Suspension pneumatic clamper 29 can be promoted to the positive upside of suspension pendulum mass assembly limiting slot 24 by cylinder 26, and suspension pneumatic clamper 29 is used to be grabbed outstanding
Frame is placed on suspension pendulum mass assembly limiting slot 24；The pendulum mass feeding manipulator 67 includes vertical pendulum mass robot support column
23, the pendulum mass lifting cylinder 31 at 23 top of pendulum mass robot support column is set, the pendulum gone up and down is driven by pendulum mass lifting cylinder 31
Body lateral cylinder 28 and by pendulum mass lateral cylinder 28 drive and for clamp pendulum mass and by pendulum mass send to suspension pendulum mass assemble limit
The pendulum mass pneumatic clamper 27 of slot 24, pendulum mass lifting cylinder 31 are vertically arranged, and the cylinder body of pendulum mass lifting cylinder 31 is installed in pendulum mass manipulator
The cylinder body of the pendulum mass lateral cylinder 28 is stretched out upwards and is fixedly connected at the top of support column 23, Telescopic-cylinder bar, and pendulum mass is lateral
Cylinder 28 is horizontally disposed, and the Telescopic-cylinder bar of pendulum mass lateral cylinder 28 is directed toward suspension pendulum mass and assembles limiting slot 24, i.e. pendulum mass is lateral
The Telescopic-cylinder bar of cylinder 28 protrudes horizontally up to frame pendulum mass assembly 24 side of limiting slot (rear side) and is fixedly connected with the pendulum mass gas
Pendulum mass pneumatic clamper 27 can be promoted to suspension pendulum mass assembly limiting slot 24 just by pawl 27, pendulum mass lifting cylinder 31 and pendulum mass lateral cylinder 28
Upside, the pendulum mass that pendulum mass pneumatic clamper 27 is used to be grabbed is placed on the suspension of suspension pendulum mass assembly limiting slot 24, i.e., first outstanding
Suspension is placed on frame pendulum mass assembly limiting slot 24, pendulum mass is then placed on suspension, then six-DOF robot 65 is by suspension
Suspension and pendulum mass screw on pendulum mass assembly limiting slot 24 link together.
The pressing plate feeding module includes rear side lower platen feeding manipulator 70, front side lower platen feeding manipulator 69, preceding
Side top board feeding manipulator 71, rear side top board feeding manipulator 72, support column A, the assembly limit being installed on the upside of support column A
Position slot A35, it support column B, the assembly limiting slot B43 being installed on the upside of support column B, support column C, is installed on the upside of support column C
Assemble limiting slot C38 and pressing plate compensator transfer manipulator 73, assembly limiting slot A35, assembly limiting slot B43 and assembly limiting slot
C38 is contour and along the straight line successively corresponding setting in interval from outside to inside that a left and right horizontal extends, to be directed toward spindle central axis
Or lower 9 central axis of rotational support disk be it is interior, otherwise be it is outer, assemble limiting slot A35 be correspondingly positioned on rear side of lower platen feeder
Between tool hand 70 and front side lower platen feeding manipulator 69, front side lower platen feeding manipulator 69 and rear side lower platen feeding are mechanical
Hand 70 is corresponding respectively and is symmetrically set to front, the rear of assembly limiting slot A35, and assembly limiting slot B43 is correspondingly positioned on rear side
Between pressing plate feeding manipulator 72 and front side top board feeding manipulator 71, front side top board feeding manipulator 71 with pressed on rear side
Plate feeding manipulator 72 is corresponding respectively and is symmetrically set to front, the rear of assembly limiting slot B43, and front side top board feeding is mechanical
The inside that hand 71 is located at front side lower platen feeding manipulator 69 is also simultaneously right side, after rear side top board feeding manipulator 72 is located at
The inside of side lower platen feeding manipulator 70 is also right side, rear side lower platen feeding manipulator 70, front side lower platen feeding simultaneously
Manipulator 69, front side top board feeding manipulator 71, rear side top board 72 structures of feeding manipulator are identical and are pressing plate feeding
Manipulator, pressing plate feeding manipulator include pressing plate feeding sucker 78, the pressing plate cylinder 39 with dynamic pressure plate feeding sucker linear expansion
With the rotary cylinder 40 and pressing plate manipulator support column 41 rotated with dynamic pressure plate cylinder 39,40 left and right horizontal of rotary cylinder is set
Set at the top of pressing plate manipulator support column 41, rotary cylinder 40 and its rotation centerline with the straight line parallel, rotary pneumatic
The cylinder body of cylinder 40 is fixedly connected with the cylinder body of pressing plate cylinder 39, and the cylinder body rotation of rotary cylinder 40 is simultaneously rotated with dynamic pressure plate cylinder 39,
The Telescopic-cylinder bar of pressing plate cylinder 39 is along linear expansion and perpendicular with rotary cylinder 40；The pressing plate compensator transfer manipulator
73 include that the pressing plate being arranged on the upside of pressing plate transfer Pneumatic slid platform bracket 32 transfers Pneumatic slid platform 33, transfers Pneumatic slid platform by pressing plate
The 33 two pressing plate lifting cylinders 36 driven and the two pressing plate pneumatic clampers 37 for driving lifting by two pressing plate lifting cylinders 36 respectively, institute
It states pressing plate transfer Pneumatic slid platform bracket 32 interval and is set to rear side lower platen feeding manipulator 70 and rear side top board feeding manipulator
72 rear, pressing plate transfer Pneumatic slid platform 33 as left and right horizontal setting, assembly limiting slot A35, assemble limiting slot B43 and assembly limit
Position slot C38 is correspondingly positioned at the front lower place of pressing plate transfer Pneumatic slid platform 33, and the straight line is parallel with pressing plate transfer Pneumatic slid platform 33,
Pressing plate transfer Pneumatic slid platform 33 sliding block on along pressing plate transfer Pneumatic slid platform 33 longitudinal direction between left and right every setting two extension plates 34,
Extension plate 34 is anterior-posterior horizontal extension, and the rear end of extension plate 34 is fixed on the sliding block of pressing plate transfer Pneumatic slid platform 33, under front end
The cylinder body of the fixed pressing plate lifting cylinder 36 in side, the sliding block left and right horizontal that pressing plate transfers Pneumatic slid platform 33 is mobile, lifting cylinder
36 Telescopic-cylinder bar is extended downwardly, is shunk upwards, and the Telescopic-cylinder bar of a lifting cylinder 36 is fixedly connected with a pressing plate gas
Pawl 37, two pressing plate pneumatic clampers 37 are installed in respectively on two Telescopic-cylinder bars of two lifting cylinders 36, two pressing plate pneumatic clampers, 37 internal and external partition
Setting is simultaneously also between left and right every setting, outside (left side) pressing plate pneumatic clamper 37 is used to assemble the material crawl on limiting slot A35
And be transferred on assembly limiting slot B43, inside (right side) pressing plate pneumatic clamper 37 is used to assemble the material crawl on limiting slot B43 simultaneously
It is transferred on assembly limiting slot C38.
When pressing plate feeding module works, there are A, B, C, tetra- steps of D: A, the pressing plate of rear side lower platen feeding manipulator 70
Just opposite with rear side lower platen, the pressure of rear side lower platen feeding manipulator 70 when being stretched out after the Telescopic-cylinder bar horizontal direction of cylinder 39
The absorption rear side lower platen of plate feeding sucker 78, the rotary cylinder rotation of rear side lower platen feeding manipulator 70 make pressing plate cylinder 39
Telescopic-cylinder bar be in be directed toward assembly limiting slot A35 the state forward extended out, rear side lower platen is then placed on assembly
Material on limiting slot A35 --- on the assembly of suspension pendulum mass, rear side pushing plate bolt is connected to by six-DOF robot
On suspension；
When the Telescopic-cylinder bar of the pressing plate cylinder 39 of front side lower platen feeding manipulator 69 stretches out horizontally forward just with front side
Lower platen is opposite, the absorption of the pressing plate feeding sucker 78 front side lower platen of front side lower platen feeding manipulator 69, on the lower platen of front side
The rotary cylinder rotation for expecting manipulator 69 is in the Telescopic-cylinder bar of pressing plate cylinder 39 and is directed toward assembly limiting slot A35 backward
The state of stretching, the material being then placed on rear side lower platen on assembly limiting slot A35 --- on the assembly of suspension pendulum mass,
Front side pushing plate bolt is connected on suspension by six-DOF robot；
B, then, by the material assembled on limiting slot A35, (suspension, pendulum mass, front side push outside (left side) pressing plate pneumatic clamper 37
The assembly of plate and rear side lower platen) it grabs and is transferred on assembly limiting slot B43；
C, when stretching out after the Telescopic-cylinder bar horizontal direction of the pressing plate cylinder 39 of rear side top board feeding manipulator 72 just with after
Side top board is opposite, the absorption rear side top board of pressing plate feeding sucker 78 of rear side top board feeding manipulator 72, rear side top board
The rotary cylinder of feeding manipulator 72 rotates, make the Telescopic-cylinder bar of pressing plate cylinder 39 be in be directed toward assembly limiting slot B43 to
The state of preceding stretching, material (suspension, pendulum mass, the front side lower platen being then placed on rear side top board on assembly limiting slot B43
With the assembly of rear side lower platen) on, rear side top board screw is connected on pendulum mass by six-DOF robot；
When the Telescopic-cylinder bar of the pressing plate cylinder 39 of front side top board feeding manipulator 71 stretches out horizontally forward just with front side
Top board is opposite, the absorption of the pressing plate feeding sucker 78 front side top board of front side top board feeding manipulator 71, on the top board of front side
The rotary cylinder rotation for expecting manipulator 71 is in the Telescopic-cylinder bar of pressing plate cylinder 39 and is directed toward assembly limiting slot B43 backward
The state of stretching, then by front side top board be placed on assembly limiting slot B43 on material (suspension, pendulum mass, front side lower platen and
The assembly of rear side lower platen) on, front side top board screw is connected on pendulum mass by six-DOF robot.
D, inside (right side) pressing plate pneumatic clamper 37 by assemble limiting slot B43 on material (suspension, pendulum mass, front side lower platen, after
The assembly of side lower platen, front side top board and rear side top board) it grabs and is transferred on assembly limiting slot C38；
There are two stations for two pressing plate pneumatic clampers 37 tool of pressing plate compensator transfer manipulator 73, when on first station: pressure
Two pressing plate pneumatic clampers 37 of plate compensator transfer manipulator 73 can be located at simultaneously assembly limiting slot A, assembly limiting slot B just on
Side, two pressing plate pneumatic clampers 37 rise or decline to complete accordingly to fill respective downside under the drive of respective pressing plate lifting cylinder 36
Feeding, blowing with limiting slot；When on second station: two pressing plate pneumatic clampers 37 can be located at assembly limiting slot B, dress simultaneously
Surface with limiting slot B, two pressing plate pneumatic clampers 37 rise or decline to complete under the drive of respective pressing plate lifting cylinder 36
Feeding, the blowing of limiting slot are accordingly assembled to respective downside.
The zoarium mobile manipulator 68 includes fit Pneumatic slid platform bracket 19, is installed on fit Pneumatic slid platform bracket 19
The fit of side transfers Pneumatic slid platform 18, the transfer lifting cylinder 20 driven by fit transfer Pneumatic slid platform 18, by transfer lifting air
Cylinder 20 drives the transfer horizontal air cylinder 17 of lifting and is limited by what transfer horizontal air cylinder 17 drove for clamping the assembly of suspension pendulum mass
Material and it is sent to the transfer pneumatic clamper 21 of pressing plate feeding module on slot 24, zoarium transfer 18 anterior-posterior horizontal of Pneumatic slid platform setting is closed
The sliding block that body transfers Pneumatic slid platform 18 is to be moved forward and backward, and zoarium transfer Pneumatic slid platform 18 is correspondingly positioned at suspension pendulum mass assembly limiting slot
The left of 24 and assembly limiting slot A35, the slip front extreme position of zoarium transfer Pneumatic slid platform 18 and the assembly of suspension pendulum mass limit
Position 24 face of slot, the sliding block rear end extreme position and assembly limiting slot A face of zoarium transfer Pneumatic slid platform 18, the transfer lifting
The cylinder body of cylinder 20 is installed on the sliding block of fit transfer Pneumatic slid platform 18, and the Telescopic-cylinder bar of transfer lifting cylinder 20 is upward
It stretches out, the cylinder body of transfer horizontal air cylinder 17 is installed on the Telescopic-cylinder bar of transfer lifting cylinder 20, and transfer horizontal air cylinder 17 is left
The right side is horizontally disposed, and the Telescopic-cylinder bar of transfer horizontal air cylinder 17 protrudes horizontally up to the right and the fixed transfer pneumatic clamper 21.
Suspension pendulum mass feeding module is correspondingly positioned at the front of pressing plate feeding module, and between suspension pendulum mass assembly limiting slot 24
Every the front for being set to assembly limiting slot A35, front side lower platen feeding manipulator 69 is located between suspension pendulum mass assembly limiting slot 24
Every being set between assembly limiting slot A35, the fit interval of mobile manipulator 68 is set to suspension pendulum mass feeding module and pressing plate feeding mould
The outside (left) of block, when the sliding block of fit transfer Pneumatic slid platform 18 moves to position corresponding with suspension pendulum mass assembly limiting slot 24
When setting, the Telescopic-cylinder bar of transfer lifting cylinder 20 stretches out upwards, so that transfer pneumatic clamper 21 is higher than suspension pendulum mass and assembles limiting slot 24,
The Telescopic-cylinder bar for transferring horizontal air cylinder 17 is protruded horizontally up to suspension pendulum mass assembly 24 side of limiting slot, so that transfer pneumatic clamper 21
In the surface of suspension pendulum mass assembly limiting slot 24, then transfers pneumatic clamper 21 and decline and grab on suspension pendulum mass assembly limiting slot 24
Material (assembly of suspension, pendulum mass), then transfer pneumatic clamper 21 and its material and rise a distance, then transfer horizontal air cylinder
17 Telescopic-cylinder bar is shunk to the left, when the sliding block of fit transfer Pneumatic slid platform 18 move to backward it is opposite with limiting slot A35 is assembled
When the position answered, transfer pneumatic clamper 21 and the material grabbed by transfer pneumatic clamper 21 are also corresponding with assembly limiting slot A35 therewith, then
The Telescopic-cylinder bar for transferring horizontal air cylinder 17 is stretched out to the assembly side limiting slot A35, will be transferred the material that pneumatic clamper 21 grabs and is placed
On assembly limiting slot A35, transfer pneumatic clamper 21 is unclamped material and is resetted.
The magnet compensator transfer module includes turning manipulator 74, double fitting groove support column A54, is installed in double assembly
Double assembly limiting slot A47, double fitting groove support column B53 on the upside of slot support column A54, it is installed on double fitting groove support column B53
The double assembly limiting slot B45 and magnet feeding manipulator 76 of side, turning manipulator 74 include turning manipulator bracket 59, are installed in
The turning manipulator Pneumatic slid platform 51 of the upside of turning manipulator bracket 59 and driven by turning manipulator Pneumatic slid platform 51 two
Turning manipulator grasping mechanism, the turning manipulator pneumatic clamper 48 of one of turning manipulator grasping mechanism will be for that will assemble limit
Material on slot C38 is grabbed and is moved on double assembly limiting slot A47, the turning manipulator of another turning manipulator grasping mechanism
Pneumatic clamper 48 is used to grab the material on double assembly limiting slot A47 and moves to double assembly limiting slot B45, and turning manipulator is pneumatic
Slide unit 51 is left and right horizontal setting, and the sliding block of turning manipulator Pneumatic slid platform 51 can move left and right, turning manipulator Pneumatic slid platform
51 are correspondingly positioned at the rear of double assembly limiting slot A47 and double assembly limiting slot B45, and two turning manipulator grasping mechanisms are along overturning
Longitudinal internal and external partition setting of manipulator Pneumatic slid platform 51 is simultaneously also between left and right every setting, turning manipulator grasping mechanism includes
Turning manipulator horizontal air cylinder 49, by turning manipulator horizontal air cylinder 49 drive and can anterior-posterior horizontal linear expansion turning mechanical
Hand lifting cylinder 50 is driven the turning manipulator rotary cylinder 52 of lifting by turning manipulator lifting cylinder 50 and by turning mechanical
Hand rotary cylinder 52 drives the turning manipulator pneumatic clamper 48 of rotation, the setting of 49 anterior-posterior horizontal of turning manipulator horizontal air cylinder, overturning
The cylinder body of manipulator horizontal air cylinder 49 is installed on the sliding block of turning manipulator Pneumatic slid platform 51, Telescopic-cylinder bar forward extends out and
It is fixedly connected with the cylinder body of turning manipulator lifting cylinder 50, the Telescopic-cylinder bar of turning manipulator lifting cylinder 50 extends downwardly,
Turning manipulator rotary cylinder 52 is arranged on the Telescopic-cylinder bar of turning manipulator lifting cylinder 50, turning manipulator rotary pneumatic
The cylinder body of cylinder 52 is fixedly connected with the turning manipulator pneumatic clamper 48, and the cylinder body of turning manipulator rotary cylinder 52 rotates and drives institute
The overturning of turning manipulator pneumatic clamper 48 is stated, turning manipulator rotary cylinder 52 and its equal anterior-posterior horizontal of rotation centerline extend.Two turn over
The two turning manipulator horizontal air cylinders 49 for turning manipulator grasping mechanism are that left and right compartment of terrain is installed in turning manipulator Pneumatic slid platform
On 51 sliding block.
Magnet feeding manipulator 76 is correspondingly positioned at the outside (left) of compensator transfer mechanism 75, while magnet feeding is mechanical
Hand 76 is correspondingly positioned at the front of double assembly limiting slot A47, and magnet feeding manipulator 76 includes magnet robot support column 55, setting
It is used to grab magnet in the magnet horizontal air cylinder 44 of 55 upside of magnet robot support column and by what magnet horizontal air cylinder 44 drove
And magnet is placed in the magnet pneumatic clamper 46 on the upside of double assembly limiting slot A47 on material, 44 anterior-posterior horizontal of magnet horizontal air cylinder is arranged,
The cylinder body of magnet horizontal air cylinder 44 is installed in the upside of magnet robot support column 55, the Telescopic-cylinder bar of magnet horizontal air cylinder 44
The Telescopic-cylinder bar of the fixed magnet pneumatic clamper 46, magnet horizontal air cylinder 44 is horizontal to the side double assembly limiting slot A47 (rear side)
It stretches out；Double assembly limiting slot A47 are located at the radial outsides of double assembly limiting slot B45, while double assembly limiting slot A47 also are located at pair
The left of limiting slot B45 is assembled, further, assembly limiting slot A35, assembly limiting slot B43, assembly limiting slot C38, double assembly
Limiting slot A47 and double assembly limiting slot B45 is contour and the straight line that extends along the left and right horizontal from outside to inside (while for by it is left extremely
It is right) the successively corresponding setting in interval.
Compensator transfer mechanism 75 includes the compensator Pneumatic slid platform 42, one being arranged on compensator Pneumatic slid platform bracket 56
A compensator lifting cylinder 57 driven by compensator Pneumatic slid platform 42 and one drive lifting by compensator lifting cylinder 57
Compensator pneumatic clamper 58 forms, and compensator pneumatic clamper 58 is used to grab the material on double assembly limiting slot B45 and send to self leveling
On level matrix, compensator Pneumatic slid platform 42 is horizontally disposed, is set to 42 parallel interval of compensator Pneumatic slid platform lower rotation branch
9 top of support plate simultaneously extends along lower 9 radial direction of rotational support disk, and the radial outer end of compensator Pneumatic slid platform 42 stretches out lower rotation branch
Outside support plate 9, the sliding block of compensator Pneumatic slid platform 42 moves linearly along the radial direction of lower rotational support disk 9 and can be from lower rotation branch
The surface of support plate 9 moves to the outer top (top of the radial outside of lower rotational support disk 9) of lower rotational support disk 9, compensator gas
Dynamic slide unit bracket 56 includes that the pillar A for being installed in fixed 5 upside of support plate and one are fixed on outside lower rotational support disk 9
The pillar B of side, the both ends of compensator Pneumatic slid platform 42 are separately fixed at the top of pillar A, pillar B, compensator lifting cylinder 57
Cylinder body be installed on the sliding block of compensator Pneumatic slid platform 42, the Telescopic-cylinder bar of compensator lifting cylinder 57 extends downwardly, mend
Device pneumatic clamper 58 is repaid to be installed on the Telescopic-cylinder bar of compensator lifting cylinder 57.Compensator pneumatic clamper 58 is for clamping double assembly limits
Material (compensator) on slot B45 is simultaneously passed to the automatic compensated level base clamped by fixture on lower rotational support disk 9
On body.
The turning manipulator Pneumatic slid platform 51 is parallel with the pressing plate of pressing plate feeding module transfer Pneumatic slid platform 33 and is lower than
Pressing plate transfers Pneumatic slid platform 33, and turning manipulator Pneumatic slid platform 51 is arranged in a staggered manner before and after transferring Pneumatic slid platform 33 with pressing plate, overturns
Manipulator Pneumatic slid platform 51 is located at the front of pressing plate transfer Pneumatic slid platform 33, the outer end (left end) of turning manipulator Pneumatic slid platform 51
It extends to the front of the right part of pressing plate transfer Pneumatic slid platform 33 and is located at pressing plate transfer Pneumatic slid platform 33 and assembly limiting slot C38
Between, the outer end of turning manipulator Pneumatic slid platform 51 is corresponding with assembly limiting slot C38, when turning manipulator Pneumatic slid platform 51
(left side) turning manipulator grasping mechanism moves to the outer end (left end) of turning manipulator Pneumatic slid platform 51 on the outside of sliding block drive thereon
And when corresponding with assembly limiting slot C38, the turning manipulator pneumatic clamper 48 of outside turning manipulator grasping mechanism is limited to assembly
Slot C38 stretches out and grabs the material on assembly limiting slot C38 and by material transmission to double assembly limiting slot A47, magnet pneumatic clamper
46 crawl magnets are placed on the sub-assembly on double assembly limiting slot A47, and band six-DOF robot completes double assembly limiting slots
The connection of the screw of the upper sub-assembly of A47 and magnet, so far compensator assembly are completed, and the tipper of manipulator grasping mechanism is turned inside out
Tool luck pawl 48 moves to the position with double assembly limiting slot A47 faces and grabs the material (compensation on double assembly limiting slot A47
Device), it afterwards turns over and send and then compensate for device pneumatic clamper 58 to double assembly limiting slot B45 and grab materials on double assembly limiting slot B45
It (compensator) and is passed on the automatic compensated level matrix by fixture clamping on lower rotational support disk 9.
Suspension pendulum mass assembles limiting slot 24, assembly limiting slot A35, assembly limiting slot B43 and assembly limiting slot C38 structure phase
With being assembly limiting slot, assembly limiting slot include sole piece 81 and on the upside of sole piece 81 it is vertical in four of rectangular spacer distribution
Slot column 80 is equipped with " ten " font groove 82 being located between four slot columns on the top surface of sole piece 81, and suspension can be inserted into the card slot
In, double assembly limiting slot A47 are identical with double assembly limiting slot B45 structures and are double assembly limiting slots, and double assembly limiting slots are
Two assembly limiting slots or so are superimposed.
Upper cover feeding mechanical hand 77 and SCARA robot 60 constitute upper cover and install module 85, and upper cover feeding mechanical hand 77 wraps
It includes upper cover Pneumatic slid platform bracket 61, the upper cover feeding Pneumatic slid platform 62 that is arranged on upper cover Pneumatic slid platform bracket 61, sent by upper cover
Expect the upper cover feeding lifting cylinder 63 and the upper cover feeding that lifting is driven by upper cover feeding lifting cylinder 63 that Pneumatic slid platform 62 drives
Sucker 64, upper cover feeding Pneumatic slid platform 62 is horizontally disposed, 62 radially extending along lower rotational support disk 9 of upper cover feeding Pneumatic slid platform
And the spaced and parallel top set on lower rotational support disk 9, the radial outer end of upper cover feeding Pneumatic slid platform 62 extend to lower rotation branch
The sliding block of the radial outside of support plate 9, upper cover feeding Pneumatic slid platform 62 can radially move to down from the surface of lower rotational support disk 9
The outer upper side of rotational support disk 9, upper cover Pneumatic slid platform bracket 61 include the pillar for being installed in fixed 5 upside of support plate
C and one is fixed on the pillar D in 9 outside of lower rotational support disk, the both ends of compensator Pneumatic slid platform 42 be separately fixed at pillar C,
The top of pillar D, upper cover feeding lifting cylinder 63 are vertically arranged, and the cylinder body of upper cover feeding lifting cylinder 63 is installed in upper cover feeding
On the sliding block of Pneumatic slid platform 62, the Telescopic-cylinder bar of upper cover feeding lifting cylinder 63 stretches out straight down, upper cover feeding sucker 64
It is arranged on the Telescopic-cylinder bar of upper cover feeding lifting cylinder 63, upper cover feeding sucker 64 is located at lower 9 top of rotational support disk simultaneously
It is driven and is gone up and down by upper cover feeding lifting cylinder 63.
SCARA robot 60 be used to complete compensator and automatic compensated level matrix screw assembly and upper cover with from
The screw assembly of dynamic level matrix.SCARA robot 60 carries electric screw driver.
Six-DOF robot 65 also carries electric screw driver, and the six-DOF robot 65 is correspondingly positioned at suspension pendulum mass
The right of feeding module and the front for being located at pressing plate feeding module and magnet feeding manipulator 76 simultaneously.SCARA robot 60
It is the prior art with six-DOF robot 65, and can be commercially available, therefore is not described in detail.
Matrix cutting agency 86 is identical as 83 structure of matrix feed mechanism, and matrix cutting agency 86 is for will be mounted
The finished product of automatic compensated level is removed from lower rotational support disk 9.
When work, under the promotion of clamp cylinder 4, the bottom cylindrical shell of the shell of automatic compensated level matrix is clamped
Between V-block 1 and radial outside block 7, both circumferentially supporting baffle 6 keeps off the week in the shell of automatic compensated level matrix
Outward, the position limiting structure to the positioning and clamping of the automatic compensated level is formed；
Fixture and Switch of working position mechanism are rotated by motor, 10 drive shaft of retarder and lower rotational support disk 9, are used for
Realize the Switch of working position of each " L " type fixture mounting groove 8；
Two matrix pneumatic clampers 11 of matrix feeding mechanism 83 grab the Beam Auto-Level being located at outside lower rotational support disk 9 respectively
The eyepiece stalk and objective tube of instrument matrix, and carried out being promoted to the outer of the lower rotational support disk 9 by described matrix lifting cylinder 12
Top, then the moving radially to " L " the type fixture mounting groove 8 along the lower rotational support disk 9 by matrix Pneumatic slid platform 13
Surface then transfer, be located at automatic compensated level matrix in " L " type fixture mounting groove 8.
Lower rotational support disk 9 rotates, and makes to be gone on lower rotational support disk 9 by the automatic compensated level matrix of fixture clamping
On station at compensator transfer mechanism 75, compensator transfer mechanism 75 clamps the compensator on double assembly limiting slot B, and will mend
It repays device to be placed on automatic compensated level matrix, places the automatic compensated level matrix of compensator with lower rotational support disk 9
It goes on the station at SCARA robot 60, SCARA robot 60 is by four of the pendulum mass of compensator and level matrix shell
Screw is assembled, and is completed compensator and is connected with automatic compensated level matrix screw；Then automatic compensated level matrix is again
It goes on the station at upper cover feeding mechanical hand 77 with lower rotational support disk 9, then is inhaled by the upper cover feeding of upper cover feeding mechanical hand
Disk 64 is placed into the installation site of level upper cover after drawing the upper cover of level, SCARA robot 60 is to upper cover and automatically
Level matrix completes screw connection, and so far automatic compensated level assembly is completed, two matrix gas of matrix cutting agency
Pawl 11 catches the eyepiece mounting shell and object lens mounting shell of automatic compensated level, and fixture unclamps automatic compensated level, will be automatic
Level takes out from lower rotational support disk 9.
The course of work of compensator assemble mechanism 84 is as follows: suspension pendulum mass feeding module utilizes suspension feeding manipulator 66
Suspension pneumatic clamper 29 grabs suspension and suspension is placed on suspension pendulum mass assembly limiting slot 24, then the pendulum of pendulum mass feeding manipulator 67
Pendulum mass is simultaneously placed on suspension by the crawl pendulum mass of body pneumatic clamper 27, and six-DOF robot 65 carries out the dress of screw to suspension and pendulum mass
Match, finally by fit mobile manipulator 68 by the component of the suspension pendulum mass assembled move to assembly limiting slot A35 on carry out it is next
The installation of station pressing plate, fit mobile manipulator 68 reset and grab next suspension pendulum on suspension pendulum mass assembly limiting slot 24
Body assembly.
Pressing plate feeding module be using rear side lower platen feeding manipulator 70, front side lower platen feeding manipulator 69 respectively into
The feeding of row rear side lower platen, front side lower platen, rotary cylinder 40,39 and of pressing plate cylinder of rear side lower platen feeding manipulator 70
Pressing plate feeding sucker 78 matches the suspension pendulum mass for being installed to rear side lower platen in assembly limiting slot A35 forward from rear side and combines
The corresponding installation site of rear side lower platen on part, and screw assembly is carried out using six-DOF robot 65, similarly, front side pushes
Rotary cylinder 40, pressing plate cylinder 39 and the pressing plate feeding sucker 78 of plate feeding manipulator 69 are matched front side lower platen from front side
It is installed to lower platen corresponding installation site in front side on the sub-assembly suspension pendulum mass sub-assembly in assembly limiting slot A35 backward, and
Screw assembly is carried out using six-DOF robot 65；The close assembly limiting slot A35's of pressing plate compensator transfer manipulator 73
Pressing plate pneumatic clamper 37 positioned at outside (right side) is by the component the assembled (group of suspension, pendulum mass, rear side lower platen and front side lower platen
Component) it moves in assembly limiting slot B43；Recycle front side top board feeding manipulator 71, rear side top board feeding manipulator 72
The feeding of rear side top board, front side top board, rotary cylinder, the pressing plate cylinder of rear side top board feeding manipulator 72 are carried out respectively
39 and pressing plate feeding sucker 78 match rear side top board the sub-assembly being installed to forward in assembly limiting slot B43 from rear side
The corresponding installation site of rear side top board on (sub-assembly that suspension, pendulum mass, rear side lower platen and front side lower platen are constituted), and make
Rear side top board and sub-assembly are subjected to screw assembly with six-DOF robot 65, similarly, front side top board feeding manipulator
71 rotary cylinder 40, pressing plate cylinder 39 and pressing plate feeding sucker 78 match by front side top board it is in the past lateral after be installed to dress
With being pressed on front side on the sub-assembly (sub-assembly that suspension, pendulum mass, rear side lower platen and front side lower platen are constituted) in limiting slot B43
The corresponding installation site of plate, and screw assembly is carried out using six-DOF robot 65；It is finally transferred by pressing plate compensator mechanical
The pressing plate pneumatic clamper 37 positioned inside of hand 73 will be assembled mounted component in limiting slot B43 and be moved in assembly limiting slot C38.
Compensator transfer mechanism utilizes the turning manipulator grasping mechanism positioned at outside (left side) of turning manipulator 74
Turning manipulator pneumatic clamper 48 will assemble component (pendulum mass, suspension, front side lower platen, rear side lower platen, front side in limiting slot C38
The sub-assembly of top board and rear side top board) it overturns and moves in double assembly limiting slot A47, magnet feeding manipulator 76 is by magnet
The installation site of compensation device assembly in double assembly limiting slot A47 is moved to, and by six-DOF robot 65 to magnet and double assembly
Compensation device assembly carries out screw connection, then the turning mechanical positioned inside (right side) by turning manipulator 74 in limiting slot A47
By the sub-assembly assembled (pendulum mass, suspension, front side in turning manipulator pneumatic clamper 48 couples assembly limiting slot A47 of hand grasping mechanism
Lower platen, rear side lower platen, front side top board, rear side top board and magnet sub-assembly) then move to double assembly limits after overturning
In slot B, compensator assembly is completed；Compensator in double assembly limiting slot B45 is moved to fixture by last compensator transfer mechanism 75
The position that compensator is installed in the middle automatic compensated level matrix of mounting groove 8.
Claims (7)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710379818.2A CN107263090B (en) | 2017-05-25 | 2017-05-25 | A kind of automatic compensated level automatic setup system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710379818.2A CN107263090B (en) | 2017-05-25 | 2017-05-25 | A kind of automatic compensated level automatic setup system |
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| Publication Number | Publication Date |
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| CN107263090A CN107263090A (en) | 2017-10-20 |
| CN107263090B true CN107263090B (en) | 2019-03-26 |
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| CN201710379818.2A Expired - Fee Related CN107263090B (en) | 2017-05-25 | 2017-05-25 | A kind of automatic compensated level automatic setup system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110315484B (en) * | 2018-03-30 | 2024-11-15 | 中集车辆(集团)股份有限公司 | End beam assembly equipment |
| CN111673796B (en) * | 2020-07-14 | 2024-07-02 | 深圳达瑞鑫光电科技有限公司 | Robot arm leveling and positioning system based on PSD |
| CN113070662B (en) * | 2021-04-22 | 2022-04-01 | 宁国市正道橡塑零部件有限公司 | A kind of automatic assembly equipment for grommets for automobile firewall sealing system |
| CN114871720B (en) * | 2022-07-13 | 2022-10-14 | 山东永进传动机械有限公司 | Automatic assembly equipment for automobile balance shaft |
| CN117324964B (en) * | 2023-11-06 | 2026-04-07 | 中国船舶集团有限公司第七一九研究所 | Rib component rounding device |
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| CN103551849A (en) * | 2013-10-22 | 2014-02-05 | 杜桂林 | Irregular-shaped radiating fin automatic assembling device |
| CN203853781U (en) * | 2014-03-13 | 2014-10-01 | 郑祥模 | Indexing driving device of automatic assembly machine |
| CN104241694A (en) * | 2014-09-05 | 2014-12-24 | 惠州亿纬锂能股份有限公司 | Automatic battery end cover assembling machine |
| CN105773139A (en) * | 2016-04-21 | 2016-07-20 | 杭州马上自动化科技有限公司 | Lens mount and ICR automatic assembly line |
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| CN107263090A (en) | 2017-10-20 |
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