CN107803656A - Industrial robot cooperating manufacture streamline - Google Patents
Industrial robot cooperating manufacture streamline Download PDFInfo
- Publication number
- CN107803656A CN107803656A CN201711264809.5A CN201711264809A CN107803656A CN 107803656 A CN107803656 A CN 107803656A CN 201711264809 A CN201711264809 A CN 201711264809A CN 107803656 A CN107803656 A CN 107803656A
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- China
- Prior art keywords
- nut
- motor
- guide rod
- table top
- reduction box
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- 238000004519 manufacturing process Methods 0.000 title claims abstract description 26
- 230000009467 reduction Effects 0.000 claims abstract description 50
- 230000033001 locomotion Effects 0.000 claims abstract description 42
- 230000007723 transport mechanism Effects 0.000 claims abstract description 15
- 230000007246 mechanism Effects 0.000 claims description 120
- 239000000463 material Substances 0.000 claims description 19
- 210000000078 claw Anatomy 0.000 claims description 16
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 7
- 230000000694 effects Effects 0.000 claims description 3
- 230000005611 electricity Effects 0.000 claims description 3
- 238000000926 separation method Methods 0.000 claims description 2
- 230000005540 biological transmission Effects 0.000 claims 1
- 238000003754 machining Methods 0.000 abstract description 2
- 230000006378 damage Effects 0.000 description 3
- 208000027418 Wounds and injury Diseases 0.000 description 2
- 208000014674 injury Diseases 0.000 description 2
- 239000011435 rock Substances 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
- 206010019345 Heat stroke Diseases 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/001—Article feeders for assembling machines
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/04—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for assembling or disassembling parts
- B23P19/06—Screw or nut setting or loosening machines
Abstract
The present invention relates to field of machining, there is provided a kind of industrial robot cooperating manufacture streamline, for nut to be fastened into motor and reduction box, including：For realize the automatic assembly equipment of automated job, for carrying out the feeding robot of feeding and transport operation, for carrying out the blanking robot of blanking operation, for moving the step-by-step movement transport mechanism of object；Feeding robot, blanking robot are fixed on automatic assembly equipment, and step-by-step movement transport mechanism is located in the working range of blanking robot.The step of industrial robot cooperating manufacture streamline can reduce manual operation, saves the cost of labor of assembling work, and can improve the precision of assembling, lifts the quality of assembling.
Description
Technical field
The present invention relates to field of machining, more particularly to a kind of industrial robot cooperating manufacture streamline.
Background technology
In the prior art, motor assembling device usual one carrys out manual operation, and its automaticity is low, and manual steps are numerous
It is trivial, therefore the cost of labor assembled is higher, and manual operation easily causes assembly precision low, influences quality of motors.
Therefore, it is necessary in view of the above-mentioned problems, provide a kind of new industrial robot cooperating manufacture streamline.
The content of the invention
The present invention provides a kind of new industrial robot cooperating manufacture streamline, the industrial robot cooperating manufacture streamline
The step of manual operation can be reduced, the cost of labor of assembling work is saved, and the precision of assembling can be improved, lifting assembling
Quality.
The invention provides a kind of industrial robot cooperating manufacture streamline, mainly include：For realizing automated job
Automatic assembly equipment, for carrying out the feeding robot of feeding and transport operation, for carrying out the blanking machine of blanking operation
People, for moving the step-by-step movement transport mechanism of object；The feeding robot, blanking robot are fixed on the automatic dress
With equipment, the step-by-step movement transport mechanism is located in the working range of blanking robot；
The automatic assembly equipment is used to nut being fastened to motor and reduction box, including：Device pedestal, nut pretightening machine
Structure, reduction box fixed mechanism, motor hold-down mechanism, nut check mechanism and operating mechanism；Wherein, described device pedestal includes：
Support and table top, pretension station and locking station are provided with the table top；The reduction box fixed mechanism is used to subtract described
Fast case is fixed on the pretension station；The nut pre-tightening mechanism is used for will be described on the nut pretension to the reduction box
The motor is pressed on the locking station by motor hold-down mechanism；The nut check mechanism is used for preloaded described
Nut is locked；The operating mechanism is used to control the reduction box fixed mechanism, the nut pre-tightening mechanism, the motor
Hold-down mechanism and the nut check mechanism；
The step-by-step movement transport mechanism, including：The outer casing stand of fixation can be used for, mounting tool can be used for
Step-by-step movement material carrier platform, can be used for driving the circulation driver of step-by-step movement material carrier platform motion, can be used for driving described
Circulate the power take-off mechanism of driver motion, the screens device of the locked step-by-step movement material carrier platform, the step-by-step movement can be used for
Material carrier platform and circulation Drive Activity are connected to the outer casing stand, and the power take-off mechanism and screens device are fixed on the step
Enter formula material carrier platform；The step-by-step movement material carrier platform is movably connected on the circulation driver, and the power take-off mechanism is flexibly connected
In the circulation driver.
Preferably, the outer casing stand includes the conveying for circularizing the annular groove of structure and the structure that is in line；
Preferably, the circulation driver includes：Sports platform, rebound, the 3rd bearing pin, chain driving, the first sprocket wheel, second
Sprocket wheel, first sprocket wheel and the second sprocket wheel are movably connected on the outer casing stand, and first sprocket wheel and the second sprocket wheel pass through
The chain driving, which is realized, to be flexibly connected, and the chain driving is fixed on the sports platform, and the sports platform passes through the 3rd bearing pin
The rebound is movably connected on, the sports platform and the rebound are arranged at interval；The sports platform is movably connected on institute
Annular groove is stated, the step-by-step movement material carrier platform is fixed on the sports platform.
Preferably, the power take-off mechanism includes：Active cylinder, sliding guide, ratchet, sports platform, screens machine, first
Bearing pin, the second bearing pin, back-moving spring, corner block, the cylinder block of the active cylinder are fixed on the outer casing stand, the slip
Guide plate is movably connected on the conveying, and the end of the piston rod of the active cylinder is fixed on the sliding guide, described
Ratchet is movably connected on the bottom of the sliding guide, the promotion face of the ratchet and the sports platform by first bearing pin
Match；The corner block is fixed on the end of the sliding guide；The screens machine is flexibly connected by second bearing pin
Be provided with back-moving spring between the outer casing stand, the screens machine and the outer casing stand, the back-moving spring be in by
Tension state；The corner block is provided between the screens machine and the outer casing stand.
Preferably, the screens device includes screens protrusive board, screens cylinder, and the cylinder block of the screens cylinder is fixed on described
Outer casing stand, the end of the piston rod of the screens cylinder are fixed on the screens protrusive board；The screens protrusive board is movably connected on
The outer casing stand, the retaining groove to match with the screens protrusive board is provided with the sports platform.
Preferably, the reduction box fixed mechanism includes the slide rail being fixedly installed on the table top and slidable connection exists
Reduction box fixture on the slide rail, the reduction box fixture include slidable connection the fixture bottom on the slide rail
Seat and the U-shaped fork being fixedly connected on the fixture base, the reduction box fixed mechanism also include being arranged on the table top
Upper first cylinder, first cylinder include telescopic First piston bar, and the First piston bar is fixed with the reduction box
Part is fixedly connected, and the axis direction of first cylinder is set towards the pretension station.It is arranged such, is easy to nut pretightening machine
Structure carries out pretension operation to nut, and when avoiding pretension operation, reduction box rocks because of stress, so as to improve the convenience of operation
With the precision of assembling.
Preferably, the operating mechanism includes the first operating knob, and first operating knob is used to control the first piston
Bar extends and retracts.
Preferably, the nut pre-tightening mechanism includes vertical guide rod, and the bottom of the vertical guide rod is fixed on the table top
On, the nut pre-tightening mechanism also includes the guide holder being slidably arranged on the vertical guide rod, and the guide holder 3 can edge
The vertical guide rod to slide up and down, the transverse direction that the nut pre-tightening mechanism also includes slidably being arranged on the guide holder is led
Bar, the horizontal guide rod can relatively described guide holder slid laterally along with the vertical perpendicular direction of guide rod, it is described
Nut check mechanism also includes the electric wrench seat that is fixedly connected on the horizontal guide rod and is fixedly installed on described electronic pull
Electric wrench and handle on hand seat, the nut check mechanism also include hanging the upper end for being located at the vertical guide rod by rope
Balance device for hoisting, the balance device for hoisting includes flexible rope, and described flexible rope one end is fixedly connected on the guide holder, institute
State the direction motion that flexible rope is partial to pull the guide holder to be directed away from the table top.It is arranged such, without operator's hand
It is dynamic to be pulled away from electric wrench, the step of reducing manual operation, the production efficiency of lifting and the cost of labor for reducing assembling.
Preferably, second operating knob is used to control the electric wrench to start and stop.
Preferably, the motor hold-down mechanism includes the support base being fixedly connected on the table top and is arranged on the branch
The second cylinder on seat is supportted, second cylinder includes telescopic second piston bar, and the motor hold-down mechanism also includes solid
Surely the motor compressing member being connected in the second piston bar, the second piston bar can be vertically flexible up and down, when
When the second piston bar extends downwardly from, drive the motor compressing member to compress the motor on the locking station, work as institute
When stating second piston bar and retracting upwards, the motor compressing member is driven to unclamp the motor on the locking station, the electricity
Machine hold-down mechanism also includes the guide rod being fixedly connected on the motor compressing member, and the guide rod is passed through on the support base
Through hole and can relatively described support base vertical sliding, the diameter parallel of the axis of the guide rod and second cylinder.
Motor hold-down mechanism can avoid motor and reduction box from being shaken when locking operation because of stress, avoid because rocking
Caused assembly precision reduces.
Preferably, the operating mechanism includes the 3rd operating knob, and the 3rd operating knob is used to control the second piston
Bar stretches out or retracted
Preferably, the nut check mechanism is arranged on the lower section of the table top, and the nut check mechanism includes fixing
The support frame being connected to below the table top and the 3rd cylinder being fixedly installed on support frame as described above, the 3rd cylinder include
The 3rd piston rod that can vertically stretch, intermediate plate, the intermediate plate are fixedly connected with the 3rd piston rod
On be provided with sleeve, the sleeve is rotatably arranged on the intermediate plate by clutch shaft bearing, the nut check mechanism
Also include the servomotor being fixedly installed on support frame as described above and the clamping jaw that can be rotated by servomotor driving, it is described
Clamping jaw connects in the inside of the sleeve, the bottom of the clamping jaw with the servomotor, described in the top stretching of the clamping jaw
The top of sleeve, and be in three-clove style claw type structure, through hole is provided with the table top, the top of the clamping jaw can be from described
Stretched out upwards in the through hole in face, the three-clove style claw type structure includes slope, and the three-clove style claw type structure can be leaned on each other
Hold together or separate, when the sleeve moves upwards, the top of the sleeve makes the three-clove style claw type knot against the slope
Structure is bringing together to be used to clamp the nut, and when the sleeve moves downward, the slope is unclamped on the top of the sleeve
The three-clove style claw type structure is set to separate each other to unclamp the nut, the clamping jaw is rotatably connected to by second bearing
On support frame as described above.The nut check mechanism being arranged such can realize Automatic-clamping and the automatic and accurate locking to nut, subtract
The step of having lacked manual operation, the precision that can be locked with hoisting nut.
Preferably, the nut check mechanism also includes the locating part being arranged on support frame as described above, and the locating part is set
Put includes three layers in the top of the 3rd piston rod, the distance moved upwards for limiting the intermediate plate, support frame as described above
Support, three layers of support are fixed together by connecting pole to each other, and sheath is further fixedly arranged on the intermediate plate,
The sheath is set in the outside of the sleeve.It is arranged such, locating part can limit the distance that intermediate plate moves upwards, avoid
Excessive clamping to nut and caused by damage, sheath is also possible to prevent user and touches sleeve in sleeve rotating to cause to anticipate
Outer injury.
Preferably, the operating mechanism includes the 4th operating knob, and the 4th operating knob is used to control the 3rd piston
Bar extends and retracts and controls the servomotor to rotate and stop.
Brief description of the drawings
Fig. 1 is the solid of the automatic assembly equipment of the industrial robot cooperating manufacture streamline of one embodiment of the present invention
Schematic diagram；
Fig. 2 is that the automatic assembly equipment shown in Fig. 1 hides the schematic perspective view after support；
Fig. 3 is that the automatic assembly equipment shown in Fig. 1 hides the front view after support；
Fig. 4 is the schematic perspective view of the nut pre-tightening mechanism of the automatic assembly equipment shown in Fig. 1；
Fig. 5 is the schematic perspective view of the motor hold-down mechanism of the automatic assembly equipment shown in Fig. 1；
Fig. 6 is the schematic perspective view of the nut check mechanism of the automatic assembly equipment shown in Fig. 1；
Fig. 7 is the profile of the nut check mechanism shown in Fig. 6；
Fig. 8 is the schematic perspective view of the industrial robot cooperating manufacture streamline of one embodiment of the present invention；
Fig. 9,10 be step-by-step movement transport mechanism structural representation；
Figure 11 is the structural representation of the housing of step-by-step movement transport mechanism of the present invention；
Figure 12 is the structural representation of the paw of step-by-step movement transport mechanism of the present invention；
Figure 13 is the structural representation of the drive mechanism of step-by-step movement transport mechanism of the present invention；
Figure 14,15,16,17 are the structural representations of step-by-step movement transport mechanism of the present invention.
Wherein,
1. the reduction box of 10. motor of automatic assembly equipment 20.
30. the motor hold-down mechanism of 40. nut pre-tightening mechanism of device pedestal 50.
60. the fan of 70. operating mechanism of nut check mechanism 80.
90. the support of 201. nut of reduction box fixed mechanism 301.
The upper bracket of 303. table top, 305. lower carriage 307.
The pretension station 313. of 309. ceiling hold 311. locks station
401. vertical 403. guide holder of guide rod, 405. horizontal guide rods
The handle of 407. electric wrench seat, 409. electric wrench 411.
413. balance device for hoisting 415. 501. support bases of flexible rope
The motor compressing member of 503. second cylinder, 505. second piston bar 507.
The cylinder of 509. guide rod, 601. support frame 603. the 3rd
The sleeve of 605. the 3rd piston rod, 607. intermediate plate 609.
The clamping jaw of 611. clutch shaft bearing, 613. servomotor 615.
The locating part of 617. 619. second bearing of three-clove style claw type structure 621.
The operating knob of 623. connecting pole, 625. sheath 701. first
The operating knob of 702. second the 3rd operating knob 704. of operating knob 703. the 4th
The fixture base of 901. slide rail, 903. reduction box fixture 905.
907.U types pitch the First piston bar of 909. first cylinder 911.
Embodiment
Below with reference to the embodiment shown in Figure of description, the present invention will be described in detail.But these are implemented
Mode is not intended to limit the present invention, and the simple transformation that one of ordinary skill in the art is made according to these embodiments includes
Within the scope of the present invention.
Shown in Fig. 1 to Fig. 6 is the industrial robot cooperating manufacture streamline of one embodiment of the present invention.Specifically,
With reference to shown in figure 1, a kind of industrial robot cooperating manufacture streamline, mainly include：For realizing the automatic dress of automated job
With equipment 1, for carry out the feeding robot 2 of feeding and transport operation, for carry out the blanking robot 3 of blanking operation, use
To move the step-by-step movement transport mechanism 100 of object；Feeding robot 2, blanking robot 3 are fixed on automatic assembly equipment 1,
Step-by-step movement transport mechanism 100 is located in the working range of blanking robot 3.
Automatic assembly equipment 1 is used to carry out assembling work to motor 10 and reduction box 20.Automatic assembly equipment 1 includes device
Pedestal 30, nut pre-tightening mechanism 40, reduction box fixed mechanism 90, motor hold-down mechanism 50, nut check mechanism 60 and operation machine
Structure 70.Wherein, device pedestal 30 includes support 301 and table top 303.Support 301 comprises at least four for supporting bable tops 303
Lower carriage 305.Support 301 also includes four upper brackets 307 being supported on table top 303 and is arranged on the top of upper bracket 307
Ceiling hold 309.Pretension station 311 and locking station 313 are provided with table top 303.Pretension station 311 and locking station 313 are equal
For placing motor 10 and reduction box 20.Pretension station 311 and locking station 313 are respectively provided with can be with motor 10 and reduction box 20
The shape that outer surface is engaged.Wherein pretension station 311 is used to place motor 10 when pretension is carried out to nut 201 and subtracted
Fast case 20, locking station 313 are used to place motor 10 and reduction box 20 when nut 201 is locked.To nut 201
When carrying out pretension, reduction box fixed mechanism 90 is used to reduction box being fixed on pretension station 311.Nut 201 is carried out
When locking, motor is pressed on locking station 313 by motor hold-down mechanism 50.Nut pre-tightening mechanism 40 is used for nut
On 201 pretensions to reduction box 20.Nut check mechanism 60 is used to lock preloaded nut 201.Operating mechanism
70 are used to control reduction box fixed mechanism 90, nut pre-tightening mechanism 40, motor hold-down mechanism 50 and nut check mechanism 60.Operation
Mechanism 70 includes the first operating knob 701, the second operating knob 702, the 3rd operating knob 703 and the 4th operating knob 704.Wherein first behaviour
Make button 701 to be used to control reduction box hold-down mechanism 90.Second operating knob 702 is used to control nut pre-tightening mechanism 40.3rd operation
Button 703 is used for controlled motor hold-down mechanism 50.4th operating knob 704 is used to control nut check mechanism 60.
With reference to shown in figure 2-4, reduction box fixed mechanism 90 includes the slide rail 901 being fixedly installed on table top 303 and can slided
The dynamic reduction box fixture 903 being connected on slide rail 901.Reduction box fixture 903 includes slidable connection on slide rail 901
Fixture base 905 and the U-shaped fork 907 being fixedly connected on fixture base 905.Reduction box fixed mechanism 90 also includes setting
The first cylinder 909 on table top.First cylinder 909 includes telescopic First piston bar 911.First piston bar 911 is with slowing down
Case fixture 903 is fixedly connected.Specifically, First piston bar 911 is fixedly connected with fixture base 905.First cylinder 909
Axis direction is set towards pretension station 311.Reduction box fixture 903 is driven when First piston bar 911 is stretched out towards pretension work
Position 311 is moved, and is made U-shaped fork that reduction box 20 is fixed on pretension station 311, is easy to nut pre-tightening mechanism 40 to enter nut 201
Row pretension operation, when avoiding pretension operation, reduction box 20 rocks because of stress, so as to improve the convenience of operation and assembling
Precision.Drive reduction box fixture 903 to be moved away from pretension station 311 when First piston bar 911 is retracted, subtract U-shaped fork release
Fast case 20.Now, reduction box 20 and motor 10 can be taken away from pretension station 311.First operating knob 701 is used to control first
Piston rod 911 extends and retracts.
With continued reference to shown in Fig. 2-4, nut pre-tightening mechanism 40 includes vertical guide rod 401.The vertical bottom of guide rod 401 is fixed on
On table top 303.Nut pre-tightening mechanism 401 also includes the guide holder 403 being slidably arranged on vertical guide rod 401.Guide holder 403
It can be slided up and down along vertical guide rod 401.Nut pre-tightening mechanism 40 also includes the transverse direction being slidably arranged on guide holder 403
Guide rod 405.Horizontal guide rod 405 can be oppositely oriented seat 403 and be slid laterally along the direction perpendicular with vertical guide rod.Nut lock
Tight mechanism 40 also includes the electric wrench seat 407 being fixedly connected on horizontal guide rod 405 and is fixedly installed on electric wrench seat 407
On electric wrench 409 and handle 411.Nut check mechanism 40 also includes hanging by rope being located at the vertical upper end of guide rod 401
Balance device for hoisting 413.Balancing device for hoisting 415 includes flexible rope 415.415 one end of flexible rope are fixedly connected on guide holder 403.
Flexible rope 415 is partial to the direction motion for pulling guide holder 403 to be directed away from table top 303.As user, to hold handle 411 downward
During pulling, guide holder 403 overcomes the pulling force of balance device for hoisting 415 to be moved towards the direction of table top 303, leans on electric wrench 409
The nearly nut 201 for treating pretension.When unclamping handle 411 with user, guide holder 403 is remote under the pulling of balance device for hoisting 415
Table top 303.It is arranged such, is manually pulled away from electric wrench 409 without operator, the step of reducing manual operation, lifting
Production efficiency and the cost of labor for reducing assembling.Second operating knob 702 is used to control electric wrench 409 to start and stop.
With reference to shown in figure 2,3 and 5, motor hold-down mechanism 50 includes the support base 501 being fixedly connected on table top 303 and set
Put the second cylinder 503 on support base 501.Second cylinder 503 includes telescopic second piston bar 505.Motor compacting machine
Structure 50 also includes the motor compressing member 507 being fixedly connected in second piston bar 505.Second piston bar 505 can be along vertical side
Stretched to upper and lower.When second piston bar 505 extends downwardly from, drive motor compressing member 507 is compressed on locking station 313
Motor 10.When second piston bar 505 is retracted upwards, drive motor compressing member 507 unclamps the motor on locking station 313
10.Motor hold-down mechanism 50 also includes the guide rod 509 being fixedly connected on motor compressing member 507.Guide rod 509 passes through support
Through hole on seat 501 and can vertical sliding with relative support seat 501.The axis of the axis of guide rod 509 and the second cylinder 503
It is parallel.It is arranged such, can be with the stability of lifting motor hold-down mechanism 50, more firmly to the motor on locking station 313
10 are compressed.3rd operating knob 703 is used to control second piston bar 505 to stretch out or retract.Motor hold-down mechanism 50 can
To avoid motor 10 and reduction box 20 from being shaken when locking operation because of stress, the assembly precision caused by rocking is avoided
Reduce.
With reference to shown in figure 2,3, nut check mechanism 60 is arranged on the lower section of table top 303.With further reference to shown in Fig. 6,7, spiral shell
Female retaining mechanism 60 includes the 3rd for being fixedly connected on the support frame 601 of the lower section of table top 303 and being fixedly installed on support frame 601
Active cylinder 10603.In the present embodiment, the quantity of the 3rd active cylinder 10603 is two.3rd active cylinder 10603 wraps
Include the 3rd piston rod 605 that can vertically stretch.Intermediate plate 607 is fixedly connected with 3rd piston rod 605.Intermediate plate
Sleeve 609 is provided with 607.Specifically, sleeve 609 is rotatably arranged on intermediate plate 607 by clutch shaft bearing 611.Spiral shell
Female retaining mechanism 60 also includes the servomotor 613 being fixedly installed on support frame 601 and can drive rotation by servomotor 613
The clamping jaw 615 turned.Wherein, clamping jaw 615 connects in the inside of sleeve, the bottom of clamping jaw 615 and servomotor 613, the top of clamping jaw 615
The top of sleeve 609 is stretched out at end, and is in three-clove style claw type structure 617.Through hole is provided with table top 303, the top of clamping jaw 615 can
To be stretched out upwards from the through hole of table top 303.Three-clove style claw type structure 617 includes slope.Can be with bringing together or separation.When
When sleeve 609 moves upwards, the top of sleeve 609 makes three-clove style claw type structure is bringing together to be used to clamp spiral shell against slope
It is female.When sleeve 609 moves downward, slope is unclamped on the top of sleeve 609 makes three-clove style claw type structure separate each other to unclamp
Nut.In addition, clamping jaw 615 is rotatably connected on support frame 601 by second bearing 619.Nut check mechanism 60 is also wrapped
Include the locating part 621 being arranged on support frame 601.Locating part 621 is arranged on the top of the 3rd piston rod 605, in limitation
Between the distance moved upwards of plate 607.Support frame 601 includes three layers of support, and three layers of support are fixed by connecting pole 623 to each other to be connected
It is connected together.4th operating knob 704 is used to control the 3rd piston rod to extend and retract and control servomotor 613 to rotate and stop
Only.Sheath 625 is further fixedly arranged on intermediate plate 607.Sheath 625 is set in the outside of sleeve 609, for preventing user from existing
Sleeve 609 touches sleeve 609 when rotating and causes unexpected injury.It is furthermore preferred that clutch shaft bearing 611 is arranged on sleeve 609 and shield
Between set 625.The nut check mechanism 60 being arranged such can realize Automatic-clamping and the automatic and accurate locking to nut, reduce
The step of manual operation, the precision that can be locked with hoisting nut.
With reference to shown in figure 1-7, operating process and principle to automatic assembly equipment 1 are specifically described.First, motor 10
It is placed on reduction box 20 on pretension station 311.Operate the First piston bar that the first operating knob 701 controls the first cylinder 909
911 transverse movements, so as to drive reduction box fixture 903 along the transverse movement of slide rail 901 so that reduction box 20 is fixed on into pretension work
On position 311.Further, pull handle 411 nuts 201 for making electric wrench 409 on reduction box under.The behaviour of operation second
Make button 702 and start electric wrench 409 to the progress pretension of nut 201.After completing pretensioning operation, handle, the meeting of electric wrench 409 are unclamped
Rise in the presence of device for hoisting 413 is balanced and away from pretension station 311.Then, the first operating knob 701 of operation makes first piston
Bar 911 is retracted to unclamp the reduction box 20 and motor 10 on pretension station.Then, by the reduction box 20 and motor on pretension station
10 remove, and are placed on after overturning 180 ° on locking station 313.Then, the 3rd operating knob 703 of operation makes second piston bar 505
Decline.Motor 10 is pressed on locking station 313 by the drive motor compressing member 507 of second piston bar 505.Then the behaviour of operation the 4th
Making button 704 controls the 3rd piston rod 611 to stretch out.3rd piston rod 611 rises through intermediate plate 607 and transported upwards with moving sleeve 609
It is dynamic.The top of sleeve 609 makes the binding nut 201 of three-clove style claw type structure 617 against the slope of clamping jaw 615.Nut 201 is pressed from both sides
After pawl 615 clamps, servomotor 613 drives clamping jaw 615 to rotate, so as to locking nut.Servomotor 613 is real by moment of torsion control
The accurate locking of existing nut 201.In this way, assembly precision caused by can avoiding manual operation is low, the quality of assembling is improved.
Automatic assembly equipment 1 also includes at least one fan 80.In a preferred embodiment, fan 80 is arranged on branch
On frame 301.In a preferred embodiment, fan 80 is arranged on ceiling hold 309.In the above-described embodiments, more preferably
Two fans 80 are set, and two fans can be separately turned on.In the above-described embodiments, more preferably by fan 80 under
Side is set.When temperature is higher, operator's heatstroke can be avoided by starting fan 80, while can avoid electric wrench and servo electricity
The temperature of machine is too high and burns machine.
The step-by-step movement transport mechanism 100 of industrial robot cooperating manufacture streamline of the present invention, including：It can be used for fixing
The outer casing stand 101 of effect, the step-by-step movement material carrier platform 102 that mounting tool can be used for, it can be used for driving the step-by-step movement to carry
Expect the circulation driver 104 that platform 102 moves, the power take-off mechanism for driving the circulation driver 104 to move can be used for
103rd, the screens device 105 of the locked step-by-step movement material carrier platform 102 can be used for, the step-by-step movement material carrier platform 102 and circulation drive
Device 104 is movably connected on the outer casing stand 101, and the power take-off mechanism 103 and screens device 105 are fixed on the step-by-step movement
Material carrier platform 102；The step-by-step movement material carrier platform 102 is movably connected on the circulation driver 104, the power take-off mechanism 103
It is movably connected on the circulation driver 104；
The outer casing stand 101 includes the conveying 107 for circularizing the annular groove 28 of structure and the structure that is in line；
The circulation driver 104 includes：Sports platform 112, rebound 120, the 3rd bearing pin 121, chain driving 122, first
Sprocket wheel 123, the second sprocket wheel 124, the sprocket wheel 124 of the first sprocket wheel 123 and second are movably connected on the outer casing stand 101, institute
State the first sprocket wheel 123 and the second sprocket wheel 124 and flexible connection is realized by chain driving 122, the chain driving 122 is fixed on institute
Sports platform 112 is stated, the sports platform 112 is movably connected on the rebound 120, the motion by the 3rd bearing pin 121
Platform 112 and the rebound 120 are arranged at interval；The sports platform 112 is movably connected on the annular groove 28, the stepping
Formula material carrier platform 102 is fixed on the sports platform 112.
The power take-off mechanism 103 includes：Active cylinder 106, sliding guide 108, ratchet 109, sports platform 112, card
Position machine 115, the first bearing pin 116, the second bearing pin 117, back-moving spring 118, corner block 119, the cylinder block of the active cylinder 106
The outer casing stand 101 is fixed on, the sliding guide 108 is movably connected on the conveying 107, the active cylinder
The end of 106 piston rod is fixed on the sliding guide 108, and the ratchet 109 is flexibly connected by first bearing pin 116
In the bottom of the sliding guide 108, the promotion face 11 of the ratchet 109 and the sports platform 112 match；The corner block
119 are fixed on the end of the sliding guide 108；The screens machine 115 is movably connected on described by second bearing pin 117
Outer casing stand 101, back-moving spring 118, the back-moving spring are provided between the screens machine 115 and the outer casing stand 101
118 are in tension state；The corner block 119 is provided between the screens machine 115 and the outer casing stand 101.
The screens device 105 includes screens protrusive board 126, screens cylinder 127, and the cylinder block of the screens cylinder 127 is connected
In the outer casing stand 101, the end of the piston rod of the screens cylinder 127 is fixed on the screens protrusive board 126；The screens
Protrusive board 126 is movably connected on the outer casing stand 101, is provided with the sports platform 112 and matches with the screens protrusive board 126
Retaining groove 125.
Embodiment described above only expresses the several embodiments of the present invention, and its description is more specific and detailed, but simultaneously
Therefore the limitation to the scope of the claims of the present invention can not be interpreted as.It should be pointed out that for one of ordinary skill in the art
For, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to the guarantor of the present invention
Protect scope.Therefore, the protection domain of patent of the present invention should be defined by claim.
Claims (10)
- A kind of 1. industrial robot cooperating manufacture streamline, it is characterised in that including：For realizing the automatic dress of automated job With equipment, for carrying out the feeding robot of feeding and transport operation, for carry out the blanking robot of blanking operation, be used for into The step-by-step movement transport mechanism of row mobile object；Feeding robot, blanking robot are fixed on automatic assembly equipment, step-by-step movement transmission Mechanism is located in the working range of blanking robot；The automatic assembly equipment, including：Device pedestal, nut pre-tightening mechanism, subtract Fast case fixed mechanism, motor hold-down mechanism, nut check mechanism and operating mechanism；Wherein, described device pedestal includes：Support and Table top, pretension station and locking station are provided with the table top；The reduction box fixed mechanism is used to the reduction box being fixed on the pretension station；The nut pre-tightening mechanism is used for the nut pretension to the reduction box；The motor is pressed on the locking station by the motor hold-down mechanism；The nut check mechanism is used to lock the preloaded nut；The operating mechanism is used to control the reduction box fixed mechanism, the nut pre-tightening mechanism, the motor hold-down mechanism With the nut check mechanism；The step-by-step movement transport mechanism, including：The outer casing stand of fixation can be used for, the step of mounting tool can be used for Enter formula material carrier platform, can be used for driving the circulation driver of the step-by-step movement material carrier platform motion, can be used for driving the circulation The power take-off mechanism of driver motion, the screens device that the locked step-by-step movement material carrier platform can be used for, the step-by-step movement material containing Platform and circulation Drive Activity are connected to the outer casing stand, and the power take-off mechanism and screens device are fixed on the step-by-step movement Material carrier platform；The step-by-step movement material carrier platform is movably connected on the circulation driver, and the power take-off mechanism is movably connected on institute State circulation driver.
- 2. industrial robot cooperating manufacture streamline as claimed in claim 1, it is characterised in that the reduction box fixed mechanism Including the slide rail and slidable connection that are fixedly installed on the table top reduction box fixture on the slide rail, the deceleration Case fixture includes fixture base of the slidable connection on the slide rail and the U being fixedly connected on the fixture base Type is pitched, and the reduction box fixed mechanism also includes being arranged on the first cylinder on the table top, and first cylinder includes scalable First piston bar, the First piston bar is fixedly connected with the reduction box fixture, the axis direction of first cylinder Set towards the pretension station.
- 3. industrial robot cooperating manufacture streamline as claimed in claim 2, it is characterised in that the operating mechanism includes the One operating knob, first operating knob are used to control the First piston bar to extend and retract.
- 4. industrial robot cooperating manufacture streamline as claimed in claim 1, it is characterised in that the nut pre-tightening mechanism bag Vertical guide rod is included, the bottom of the vertical guide rod is fixed on the table top, and the nut pre-tightening mechanism also includes slidably setting The guide holder on the vertical guide rod is put, the guide holder 3 can slide up and down along the vertical guide rod, and the nut is pre- Tight mechanism also includes the horizontal guide rod being slidably arranged on the guide holder, and the horizontal guide rod can relatively described guide holder Slid laterally along with the vertical perpendicular direction of guide rod, the nut check mechanism also includes being fixedly connected on the horizontal stroke To the electric wrench seat on guide rod and the electric wrench and handle that are fixedly installed on the electric wrench seat, the nut check Mechanism also includes the balance device for hoisting that the upper end for being located at the vertical guide rod is hung by rope, and the balance device for hoisting includes flexible Rope, described flexible rope one end are fixedly connected on the guide holder, and the flexible rope is partial to pull the guide holder towards far Move in direction from the table top.
- 5. industrial robot cooperating manufacture streamline as claimed in claim 4, it is characterised in that second operating knob is used for The electric wrench is controlled to start and stop.
- 6. industrial robot cooperating manufacture streamline as claimed in claim 1, it is characterised in that the motor hold-down mechanism bag The support base being fixedly connected on the table top and the second cylinder being arranged on the support base are included, second cylinder includes Telescopic second piston bar, the motor that the motor hold-down mechanism also includes being fixedly connected in the second piston bar compress Part, the second piston bar can be vertically flexible up and down, when the second piston bar extends downwardly from, drive the electricity Machine compressing member compresses the motor on the locking station, when the second piston bar is retracted upwards, drives the motor Compressing member unclamps the motor on the locking station, and the motor hold-down mechanism also includes being fixedly connected on the motor pressure Guide rod on tight part, the guide rod through the through hole on the support base and can relatively described support base vertical sliding, The diameter parallel of the axis of the guide rod and second cylinder.
- 7. industrial robot cooperating manufacture streamline as claimed in claim 6, it is characterised in that the operating mechanism includes the Three operating knobs, the 3rd operating knob are used to control the second piston bar to stretch out or retract.
- 8. industrial robot cooperating manufacture streamline as claimed in claim 6, it is characterised in that the nut check mechanism is set Put in the lower section of the table top, the support frame that the nut check mechanism includes being fixedly connected on below the table top is set with fixation The 3rd cylinder on support frame as described above is put, the 3rd cylinder includes the 3rd piston rod that can vertically stretch, Intermediate plate is fixedly connected with 3rd piston rod, sleeve is provided with the intermediate plate, the sleeve passes through clutch shaft bearing It is rotatably arranged on the intermediate plate, the nut check mechanism also includes the servo being fixedly installed on support frame as described above Motor and the clamping jaw that rotation can be driven by the servomotor, the clamping jaw is at the inside of the sleeve, the bottom of the clamping jaw End connects with the servomotor, and the top of the sleeve is stretched out on the top of the clamping jaw, and is in three-clove style claw type structure, described Through hole is provided with table top, the top of the clamping jaw can be stretched out upwards from the through hole of the table top, the three-clove style claw type Structure includes slope, and the three-clove style claw type structure can be described when the sleeve moves upwards with bringing together or separation The top of sleeve makes the three-clove style claw type structure is bringing together to be used to clamp the nut against the slope, when the set When cylinder moves downward, the slope is unclamped on the top of the sleeve makes the three-clove style claw type structure separate each other to unclamp Nut is stated, the clamping jaw is rotatably connected on support frame as described above by second bearing.
- 9. industrial robot cooperating manufacture streamline as claimed in claim 6, it is characterised in that the nut check mechanism is also Including the locating part being arranged on support frame as described above, the locating part is arranged on the top of the 3rd piston rod, for limiting The distance that the intermediate plate moves upwards, support frame as described above include three layers of support, and three layers of support passes through connecting pole to each other It is fixed together.
- 10. industrial robot cooperating manufacture streamline as claimed in claim 6, it is characterised in that the operating mechanism includes 4th operating knob, the 4th operating knob are used to control the 3rd piston rod to extend and retract and control the servomotor to turn Dynamic and stopping.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711264809.5A CN107803656B (en) | 2017-11-22 | 2017-11-22 | industrial robot collaborative production assembly line |
| CN201911333100.5A CN111230436A (en) | 2017-11-22 | 2017-11-22 | Intelligent production line for multi-robot cooperative operation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711264809.5A CN107803656B (en) | 2017-11-22 | 2017-11-22 | industrial robot collaborative production assembly line |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911333100.5A Division CN111230436A (en) | 2017-11-22 | 2017-11-22 | Intelligent production line for multi-robot cooperative operation |
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| Publication Number | Publication Date |
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| CN107803656A true CN107803656A (en) | 2018-03-16 |
| CN107803656B CN107803656B (en) | 2019-12-10 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201711264809.5A Active CN107803656B (en) | 2017-11-22 | 2017-11-22 | industrial robot collaborative production assembly line |
| CN201911333100.5A Pending CN111230436A (en) | 2017-11-22 | 2017-11-22 | Intelligent production line for multi-robot cooperative operation |
Family Applications After (1)
| Application Number | Title | Priority Date | Filing Date |
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| CN201911333100.5A Pending CN111230436A (en) | 2017-11-22 | 2017-11-22 | Intelligent production line for multi-robot cooperative operation |
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| CN (2) | CN107803656B (en) |
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| CN109027022A (en) * | 2018-09-30 | 2018-12-18 | 安徽工程大学 | A kind of operating device of dual robot collaborative assembly bearing |
| CN110217593A (en) * | 2019-06-24 | 2019-09-10 | 苏州天目光学科技有限公司 | A kind of liquid crystal module AOI detection charging positioning mechanism |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN107803656B (en) | 2019-12-10 |
| CN111230436A (en) | 2020-06-05 |
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Effective date of registration: 20220525 Address after: 230000 b-1018, Woye Garden commercial office building, 81 Ganquan Road, Shushan District, Hefei City, Anhui Province Patentee after: HEFEI WISDOM DRAGON MACHINERY DESIGN Co.,Ltd. Address before: 325000 Wenzhou City National University Science Park incubator, No. 38 Dongfang South Road, Ouhai Economic Development Zone, Wenzhou, Zhejiang Patentee before: WENZHOU VOCATIONAL & TECHNICAL College |
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Effective date of registration: 20220729 Address after: Room 407, building S1, poly Lafite mansion, intersection of cross country road and Honglingjin Road, automobile economic and Technological Development Zone, Changchun City, Jilin Province, 130000 Patentee after: Changchun Tongtai Enterprise Management Service Co.,Ltd. Address before: 130000 group 1, Chunming Street Committee, Qingnian Road Street, Luyuan District, Changchun City, Jilin Province Patentee before: Wang Chenxing Effective date of registration: 20220729 Address after: 130000 group 1, Chunming Street Committee, Qingnian Road Street, Luyuan District, Changchun City, Jilin Province Patentee after: Wang Chenxing Address before: 230000 b-1018, Woye Garden commercial office building, 81 Ganquan Road, Shushan District, Hefei City, Anhui Province Patentee before: HEFEI WISDOM DRAGON MACHINERY DESIGN Co.,Ltd. |
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