CN108788673A - assembling device - Google Patents
assembling device Download PDFInfo
- Publication number
- CN108788673A CN108788673A CN201810779488.0A CN201810779488A CN108788673A CN 108788673 A CN108788673 A CN 108788673A CN 201810779488 A CN201810779488 A CN 201810779488A CN 108788673 A CN108788673 A CN 108788673A
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- Prior art keywords
- spring
- manipulator
- actuator
- inner cavity
- pedestal
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Links
- 239000000463 material Substances 0.000 claims abstract description 44
- 238000000926 separation method Methods 0.000 claims abstract description 41
- 238000009826 distribution Methods 0.000 claims abstract description 33
- 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 abstract description 31
- 238000005461 lubrication Methods 0.000 claims description 30
- 238000003860 storage Methods 0.000 claims description 25
- 239000000314 lubricant Substances 0.000 claims description 14
- 238000007599 discharging Methods 0.000 claims description 10
- 239000007921 spray Substances 0.000 claims description 9
- 238000004891 communication Methods 0.000 claims description 4
- 238000005191 phase separation Methods 0.000 claims description 2
- 239000003795 chemical substances by application Substances 0.000 claims 1
- 238000004806 packaging method and process Methods 0.000 abstract description 7
- 239000000872 buffer Substances 0.000 description 7
- 238000010586 diagram Methods 0.000 description 6
- 238000005516 engineering process Methods 0.000 description 2
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 230000002950 deficient Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000002045 lasting effect Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000004080 punching Methods 0.000 description 1
- 230000000007 visual effect 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
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automatic Assembly (AREA)
Abstract
The present invention relates to a kind of assembling devices, including：Pedestal；Feeding machanism is set on pedestal, is used for order output spring；Feeding distribution mechanism is set on pedestal, and is connect with feeding machanism, spring of the feeding distribution mechanism for separation output feeding machanism output one by one；Material receiving mechanism is set on pedestal, and positioned at the lower section of feeding distribution mechanism, and material receiving mechanism is used to accept the spring of feeding distribution mechanism output；And clamping mechanism, including manipulator and gripper assembly, manipulator is set on pedestal, gripper assembly is set on manipulator, gripper assembly is for picking and placeing spring, manipulator is for driving gripper assembly to be moved between material receiving mechanism and shell, so that the spring that material receiving mechanism exports is plugged in the container of shell by gripper assembly.Compared to the mode of traditional man-made assembly, above-mentioned assembling device realizes the sub-material of spring and the automation of inserting and precision, substantially increases the packaging efficiency of spring and shell.
Description
Technical field
The present invention relates to automatic assembling technical fields, more particularly to a kind of assembling device.
Background technology
In the assembling process of spring and shell, traditional assembling mode is using the artificial sub-material for carrying out spring and to divide
Spring after material is susceptible to defective products with respect to the instrumentation operations of the container of shell since there are human factors for man-made assembly,
And assembly period is long, efficiency is low, of high cost, it is difficult to meet current efficient, accurate and automation assembling demand.
Invention content
Based on this, it is necessary to provide a kind of assembling device for the packaging efficiency that can improve spring and shell.
A kind of assembling device, for spring to be plugged in the container of shell, including：
Pedestal；
Feeding machanism is set on the pedestal, for spring described in order output；
Feeding distribution mechanism is set on the pedestal, and is connect with the feeding machanism, and the feeding distribution mechanism for detaching one by one
Export the spring of the feeding machanism output；
Material receiving mechanism is set on the pedestal, and positioned at the lower section of the feeding distribution mechanism, the material receiving mechanism is for accepting
The spring of the feeding distribution mechanism output；And
Clamping mechanism, including manipulator and gripper assembly, the manipulator are set on the pedestal, and the gripper assembly is set
In on the manipulator, the gripper assembly is for picking and placeing the spring, and the manipulator is for driving the gripper assembly to exist
It is moved between the material receiving mechanism and the shell, so that the gripper assembly inserts the spring that the material receiving mechanism exports
In container loaded on the shell.
The feeding machanism includes in one of the embodiments,：
Vibrating disk is set on the pedestal, for carrying spring described in simultaneously order output；And
Conveying track is connect with the vibrating disk, and the feeding distribution mechanism is connected to the conveying track far from the vibration
One end of disk, the conveying track are used to accept and export the spring of the vibrating disk output.
The feeding distribution mechanism includes in one of the embodiments,：
Holder is set on the pedestal；
Separation member is set on the holder, and the material receiving mechanism is located at the lower section of the separation member, and the separation member is equipped with
Inner cavity for accommodating the spring, and the top and bottom ends of the separation member be respectively equipped with feeding mouth in communication with the inner cavity and
Discharge port, the feeding mouth are connect with the feeding machanism, and the feeding mouth and the discharge port are respectively used to supply the spring
The side of the into and out inner cavity, the separation member is additionally provided with via hole in communication with the inner cavity；
First actuator is set on the holder；
Baffle, sliding is set between the separation member and the material receiving mechanism, and is connect with first actuator；It is described
Baffle is for supporting the spring so that in the inner cavity, and the baffle is equipped with for supplying the spring by the spring retainer
The connecting hole worn；And
Bolt, sliding is arranged in the via hole, and is connect with first actuator；The bolt is for stretching to institute
State inner cavity and with the spring phase clamping with, in the inner cavity, first actuator can drive described by the spring retainer
Baffle and the bolt are along first direction synchronizing moving, when so that the baffle and the bolt being in corresponding first position,
The connecting hole is deviated with the discharge port so that the baffle supports the spring of lowermost end and will be described in lowermost end
Spring retainer is in the inner cavity, while the bolt is moved to the phase separation of the spring outside the inner cavity and with secondary bottom end；Or
Person
When so that the baffle and the bolt being in the corresponding second position, the connecting hole is opposite with the discharge port
It is accurate so that the spring of lowermost end wears the discharge port and the connecting hole and removes in the inner cavity, while the bolt
Stretch to the inner cavity and with the spring phase clamping of secondary bottom end with by the spring retainer of secondary bottom end in the inner cavity.
The feeding distribution mechanism further includes the second actuator in one of the embodiments, and second actuator is set to institute
It states on holder, the separation member and first actuator are connect by second actuator with the holder, and described second
Actuator can drive the separation member to be moved in a second direction relative to the holder, so that the separation member and the receiver
The distance between structure interval is adjustable.
The material receiving mechanism includes in one of the embodiments,：
First movement platform is set on the pedestal；
Second mobile platform is connect with the first movement platform；And
Adapting table is connect with second mobile platform, and the adapting table is equipped with the receiving for accommodating the spring
Hole；The first movement platform can drive the adapting table to be moved along the first direction by second mobile platform,
Second mobile platform can drive the adapting table to be moved along third direction simultaneously, so that the receiving hole and the discharging
Mouth aligns, and then so that the receiving hole accepts the spring of the discharge port output.
The material receiving mechanism further includes position sensor in one of the embodiments, and the position sensor is embedded at
One end of the adapting table, the position sensor are used to detect alignment case and the generation of the receiving hole and the discharge port
Feedback signal.
The gripper assembly includes in one of the embodiments,：
Third actuator is set on the manipulator；And
Clamp arm is connect with the third actuator, and the clamp arm includes two, two clamp arm relative spacing settings,
And the opposite sides for supporting the spring；The third actuator can drive two clamp arm along the first direction
It is close to each other or separate, so that the opposite sides of spring described in two clamp arm clamp or releases.
The clamping mechanism further includes the lubrication assembly for spray lubricant, the profit in one of the embodiments,
Sliding component is set on the manipulator, and the manipulator is additionally operable to drive the lubrication assembly to closer or far from the shell
It moves in direction.
The clamping mechanism further includes fourth drive member in one of the embodiments, and the fourth drive member is set to institute
It states on manipulator.The lubrication assembly is connect by the fourth drive member with the manipulator, and the fourth drive member can
Drive the lubrication assembly to be moved along the second direction relative to the manipulator so that the lubrication assembly and the shell it
Between distance interval it is adjustable.
The lubrication assembly includes in one of the embodiments,：
Storage cylinder is set on the manipulator, and the storage cylinder is for storing the lubricant；
Tracheae is connect with one end of the storage cylinder, and the tracheae is used to inject gas to the storage cylinder with to described
The lubricant in storage cylinder is pressurized；
Injector head is connect with the other end of the storage cylinder, described in the injector head is used to export the storage cylinder
Lubricant carries out spray.
The spring of feeding machanism order output is carried out separation output and profit one by one by above-mentioned assembling device by feeding distribution mechanism
It is accepted with material receiving mechanism, then by the mutual cooperation of the manipulator of clamping mechanism and gripper assembly, thus by receiver
The spring of structure output is plugged in the container of shell.Compared to the mode of traditional man-made assembly, above-mentioned assembling device realizes
The sub-material of spring and the automation of inserting and precision, substantially increase the packaging efficiency of spring and shell.
Description of the drawings
Fig. 1 is the structural schematic diagram of the assembling device in one embodiment of the invention；
Fig. 2 is the structural schematic diagram of feeding machanism in assembling device shown in Fig. 1；
Fig. 3 is the structural schematic diagram of feeding distribution mechanism and material receiving mechanism in assembling device shown in Fig. 1；
Fig. 4 is feeding distribution mechanism and the integrally-built diagrammatic cross-section of material receiving mechanism shown in Fig. 3；
Fig. 5 is the enlarged diagram at A in Fig. 4；
Fig. 6 is the partial structural diagram of clamping mechanism in assembling device shown in Fig. 1；
Fig. 7 is the partial structural diagram at another visual angle of clamping mechanism in assembling device shown in Fig. 1.
Specific implementation mode
To facilitate the understanding of the present invention, below with reference to relevant drawings to invention is more fully described.In attached drawing
Give the better embodiment of the present invention.But the present invention can realize in many different forms, however it is not limited to herein
Described embodiment.On the contrary, the purpose of providing these embodiments is that making to understand more the disclosure
Add thorough and comprehensive.
It should be noted that when element is referred to as " being fixed on " another element, it can be directly on another element
Or there may also be elements placed in the middle.When an element is considered as " connection " another element, it can be directly connected to
To another element or it may be simultaneously present centering elements.Term as used herein " vertical ", " horizontal ", " left side ",
" right side " and similar statement for illustrative purposes only, are not offered as being unique embodiment.
Unless otherwise defined, all of technologies and scientific terms used here by the article and belong to the technical field of the present invention
The normally understood meaning of technical staff is identical.Used term is intended merely to description tool in the description of the invention herein
The purpose of the embodiment of body, it is not intended that in the limitation present invention.Term " and or " used herein includes one or more
Any and all combinations of relevant Listed Items.
As shown in Figure 1, the assembling device 10 in one embodiment of the invention is used to spring 20 being plugged in the container of shell
It is interior.Assembling device 10 includes pedestal 100, feeding machanism 200, feeding distribution mechanism 300, material receiving mechanism 400 and clamping mechanism 500.For
Expect that mechanism 200 is set on pedestal 100.Feeding machanism 200 is used for order output spring 20.Feeding distribution mechanism 300 is set to pedestal 100
On, and connect with feeding machanism 200.Feeding distribution mechanism 300 is for the spring 20 that separation output feeding machanism 200 exports one by one.It connects
Expect that mechanism 400 is set on pedestal 100, and positioned at the lower section of feeding distribution mechanism 300.Material receiving mechanism 400 is for accepting feeding distribution mechanism 300
The spring 20 of output.Clamping mechanism 500 includes manipulator 520 and gripper assembly 540.Manipulator 520 is set on pedestal 100.Folder
Component 540 is taken to be set on manipulator 520.Gripper assembly 540 is for picking and placeing spring 20.Manipulator 520 is for driving gripper assembly
540 move between material receiving mechanism 400 and shell, so that the spring 20 that material receiving mechanism 400 exports is plugged in by gripper assembly 540
In the container of shell.
Above-mentioned assembling device 10 is divided the spring 20 of 200 order output of feeding machanism by feeding distribution mechanism 300 one by one
From exporting and being accepted using material receiving mechanism 400, then pass through the manipulator 520 of clamping mechanism 500 and gripper assembly 540
It cooperates, to which the spring 20 that material receiving mechanism 400 exports to be plugged in the container of shell.Compared to traditional man-made assembly
Mode, above-mentioned assembling device 10 realizes the sub-material of spring 20 and the automation of inserting and precision, substantially increases spring
20 with the packaging efficiency of shell.
As shown in Fig. 2, in one embodiment, feeding machanism 200 includes vibrating disk 210 and conveying track 220.Vibrating disk
210 are set on pedestal 100.Vibrating disk 210 is for carrying simultaneously order output spring 20.Conveying track 220 connects with vibrating disk 210
It connects.Feeding distribution mechanism 300 is connected to the one end of conveying track 220 far from vibrating disk 210.Conveying track 220 is for accepting and exporting
The spring 20 that vibrating disk 210 exports.Specifically, vibrating disk 210 vibrates confusing spring 20 along conveying track 220 automatically
At ordered arrangement spring 20 and export, in order to which spring 20 enters feeding distribution mechanism 300 subsequent detach one by one.
As shown in Fig. 2, in one embodiment, feeding machanism 200 may also include the straight device 230 that shakes.The straight device 230 that shakes is set to pedestal
On 100, and it is connect with the bottom of conveying track 220.The straight device 230 that shakes to conveying track 220 for providing vibration power, to ensure
Spring 20 is along the automatic output in good order of conveying track 220.
Further, in one embodiment, feeding machanism 200 may also include the limiting plate 240 for supporting spring 20.Limit
Position plate 240 includes two.Two limiting plates 240 are set to the both sides of conveying track 220.Limiting plate 240 can support spring 20, prevent
Only spring 20 is sliding out during moving along conveying track 220 from the opening of conveying track 220.In one embodiment,
Feeding machanism 200 further includes discharging gate 250.Discharging gate 250 is set to the one end of conveying track 220 far from vibrating disk 210.Depiler
Structure 300 is connect with discharging gate 250.
As shown in Fig. 2, in one embodiment, feeding machanism 200 further includes quantity inductor 260.Quantity inductor 260 is set
In the middle part of conveying track 220.Quantity inductor 260 is used to detect the quantity situation of the spring 20 of the undertaking of conveying track 220 simultaneously
Generate feedback signal.When quantity inductor 260 detects that the quantity for the spring 20 that conveying track 220 is accepted reaches upper limit value,
Quantity inductor 260 will produce corresponding feedback signal, the feedback signal that vibrating disk 210 can be generated according to quantity inductor 260
In time stop continuing to output to spring 20, avoid because vibrating disk 210 to the lasting output of spring 20 cause spring 20 overflow or
It is stacked with.
As shown in Figures 3 to 5, in one embodiment, feeding distribution mechanism 300 includes holder 310, the driving of separation member 320, first
Part 330, baffle 340 and bolt 350.Holder 310 is set on pedestal 100.Separation member 320 is set on holder 310.Material receiving mechanism
400 are located at the lower section of separation member 320.Separation member 320 is equipped with the inner cavity 321 for accommodating spring 20.The top bottom two of separation member 320
End is respectively equipped with the feeding mouth 322 being connected to inner cavity 321 and discharge port 323.Feeding mouth 322 is connect with feeding machanism 200.Specifically
, feeding mouth 322 is connect with discharging gate 250.Feeding mouth 322 and discharge port 323 are respectively used into and out interior for spring 20
Chamber 321.The side of separation member 320 is additionally provided with the via hole 324 being connected to inner cavity 321.
First actuator 330 is set on holder 310.The sliding of baffle 340 is set between separation member 320 and material receiving mechanism 400,
And it is connect with the first actuator 330.Baffle 340 is for supporting spring 20 so that spring 20 is limited in inner cavity 321.On baffle 340
Equipped with the connecting hole 342 for being worn for spring 20.The sliding of bolt 350 is arranged in via hole 324, and with the first actuator 330
Connection.Bolt 350 is for stretching to inner cavity 321 and with 20 phase clamping of spring spring 20 is limited in inner cavity 321.First driving
Part 330 can drive baffle 340 and bolt 350 along first direction synchronizing moving, so that baffle 340 and bolt 350 are in and correspond to
First position when, connecting hole 342 and discharge port 323 deviate so that baffle 340 supports the spring 20 of lowermost end and will most bottom
The spring 20 at end is limited in inner cavity 321, while bolt 350 is moved to outside inner cavity 321 and is separated with the spring of secondary bottom end 20；Or
When person is so that baffle 340 and bolt 350 are in the corresponding second position, connecting hole 342 is aligned with discharge port 323 so that most bottom
The spring 20 at end wears discharge port 323 and connecting hole 342 and removes in inner cavity 321, while bolt 350 stretches to inner cavity 321 simultaneously
20 phase clamping of spring with secondary bottom end by the spring 20 of secondary bottom end to be limited in inner cavity 321.
As depicted in figs. 3 and 5, it is just to understand, in the present embodiment, it is the rectilinear direction where X-axis to define first direction.
Under original state, baffle 340 and bolt 350 are in corresponding first position, and connecting hole 342 is deviated with discharge port 323, and insert
Pin 350 is moved to outside inner cavity 321, and the spring 20 that feeding machanism 200 exports is entered by feeding mouth 322 in separation member 320
After chamber 321, baffle 340 supports the spring 20 of lowermost end and the spring of lowermost end 20 is limited in inner cavity 321, while bolt
350 are separated with the spring 20 of time bottom end.When the first actuator 330 drives bolt 350 and baffle 340 along the straight line where X-axis
When direction synchronizing moving is so that baffle 340 and bolt 350 are moved to the corresponding second position by corresponding first position, connecting hole
342 align with discharge port 323 so that the spring 20 of lowermost end wears discharge port 323 and connecting hole 342 and removes in inner cavity
321, while bolt 350 stretches to inner cavity 321 and with 20 phase clamping of the spring of secondary bottom end the spring 20 of secondary bottom end to be limited in
Inner cavity 321.So bolt 350 and baffle 340 are driven along the rectilinear direction reciprocation cycle where X-axis by the first actuator 330
It is dynamic so that by baffle 340 and bolt 350, iterative cycles switch between corresponding first position and the corresponding second position, from
And the spring 20 for exporting feeding machanism 200 detaches output one by one, it is ensured that the spring 20 that material receiving mechanism 400 is accepted is mutual indepedent not
It can intersect.
As shown in Figure 5, it should be pointed out that in the present embodiment, via hole 324 runs through the opposite sides of separation member 320,
It avoids because inner cavity 321 is along the undersized of first direction, and inner cavity 321 is stretched to clamping limit spring 20 to bolt 350
Operation interfere.
As shown in Figures 2 and 3, in one embodiment, feeding distribution mechanism 300 further includes for connecting feeding mouth 322 and discharging
The connecting cylinder 360 of mouth 250.Connecting cylinder 360 is set to 322 position of feeding mouth of separation member 320.The bullet that discharging gate 250 exports
Spring 20 enters to the inner cavity 321 of separation member 320 by connecting cylinder 360, feeding mouth 322.In the present embodiment, connecting cylinder 360 is remote
One end from separation member 320 and 250 piping connection of discharging gate.
As shown in figure 3, in one embodiment, feeding distribution mechanism 300 further includes the second actuator 370.Second actuator 370 is set
In on holder 310.Separation member 320 and the first actuator 330 are connect by the second actuator 370 with holder 310.Second actuator
370 can drive 320 opposite brackets 310 of separation member to move in a second direction, so that between separation member 320 and material receiving mechanism 400
Distance interval it is adjustable, avoid, because the distance between separation member 320 and material receiving mechanism 400 interval are inappropriate, leading to receiver
The spring 20 that structure 400 can not export separation member 320 is steadily accepted.In the present embodiment, second direction and first party
To vertical.It is the rectilinear direction where Y-axis to define second direction.Second actuator 370 can drive 320 opposite brackets of separation member
310 move along the rectilinear direction where Y-axis, so that the distance between separation member 320 and material receiving mechanism 400 interval are adjustable.
As shown in figure 3, in one embodiment, material receiving mechanism 400 includes first movement platform 420, the second mobile platform 440
And adapting table 460.First movement platform 420 is set on pedestal 100.Second mobile platform 440 connects with first movement platform 420
It connects.Adapting table 460 is connect with the second mobile platform 440.Adapting table 460 is equipped with the receiving hole 462 for accommodating spring 20.The
One mobile platform 420 can drive adapting table 460 to be moved along first direction by the second mobile platform 440, while the second movement
Platform 440 can drive adapting table 460 to be moved along third direction, so that receiving hole 462 is aligned with discharge port 323, and then with
Receiving hole 462 is set to accept the spring 20 that discharge port 323 exports.
In the present embodiment, third direction, second direction and first direction are vertical two-by-two.It to define by Z axis third direction
Rectilinear direction.First movement platform 420 can drive adapting table 460 along straight where X-axis by the second mobile platform 440
Line direction is moved, while the second mobile platform 440 can drive adapting table 460 to be moved along the rectilinear direction where Z axis, so as to hold
Receive hole 462 aligns with discharge port 323, and then so that receiving hole 462 accepts the spring 20 that discharge port 323 exports.
Further, in the present embodiment, receiving hole 462 includes two.Two intervals of receiving hole 462 are set to adapting table
On 460 so that material receiving mechanism 400 can accept two springs 20 simultaneously, improve the packaging efficiency of spring 20 and shell.
As shown in figure 3, in one embodiment, material receiving mechanism 400 further includes position sensor 480.Position sensor 480 is embedding
Set on one end of adapting table 460.Position sensor 480 is used to detect alignment case and the generation of receiving hole 462 and discharge port 323
Feedback signal.When position sensor 480 detects that receiving hole 462 is aligned with discharge port 323, position sensor 480 can be at once
Feedback signal is generated, the first actuator 330 of feeding distribution mechanism 300 can drive bolt 350 and baffle 340 according to this feedback signal
Along first direction synchronizing moving to switch the relative position residing for bolt 350 and baffle 340 so that receiving hole 462 can be timely
The spring 20 that discharge port 323 exports is accepted, the packaging efficiency of spring 20 and shell is improved.
In the present embodiment, position sensor 480 includes two.Two intervals of position sensor 480 are set to adapting table 460
The both sides of one end.Two position sensors 480 and two receiving holes 462 correspond.
As shown in figure 3, further, in one embodiment, first movement platform 420 includes the first mounting bracket 422, first
Sliding rail 424 and the first driving source 426.First mounting bracket 422 is set on pedestal 100.First sliding rail 424 is set to the first mounting bracket
On 422, and extend in a first direction.The sliding of second mobile station is set on the first sliding rail 424.First driving source 426 is set to first
The side of mounting bracket 422, and connect with the second mobile station.First driving source 426 can drive the second mobile station to be slided with respect to first
Rail 424 is moved along first direction, and then adapting table 460 is driven to be moved along first direction.In one embodiment, first movement platform
420 further include the first buffer 428.First buffer 428 is set to the side of first support 310.First buffer 428 is for delaying
Punching the second mobile station of limit is with respect to the first sliding rail 424 along the shift motion of first direction.
As shown in figure 3, further, in one embodiment, the second mobile platform 440 includes the second mounting bracket 442, second
Sliding rail 444 and the second driving source 446.The sliding of second mounting bracket 442 is set on the first sliding rail 424, and is connected with the first driving source 426
It connects.First driving source 426 can drive the second mounting bracket 442 to be moved along first direction relative to the first sliding rail 424, and then drive and hold
Platform 460 is connect to move along first direction.Second sliding rail 444 is set to side of second mounting bracket 442 far from the first sliding rail 424.Second
Sliding rail 444 extends along third direction.The sliding of adapting table 460 is set on the second sliding rail 444.Second driving source 446 is set to the second peace
442 side is shelved, and is connect with adapting table 460.Second driving source 446 can drive adapting table 460 with respect to the second sliding rail 444
It is moved along third direction.
As shown in figure 3, further, in one embodiment, the second mobile platform 440 further includes the second buffer 448.The
Two buffers 448 are set to the side of the second mounting bracket 442.Second buffer 448 is for buffer limit adapting table 460 opposite second
Shift motion of the sliding rail 444 along third direction.
As shown in fig. 6, in the present embodiment, gripper assembly 540 includes two.Two intervals of gripper assembly 540 are set to machine
On tool hand 520.It is arranged such so that clamping mechanism 500 can be accommodated two of adapting table 460 by two gripper assemblies 540
Spring 20 in hole 462 is gripped and is disposably shifted by manipulator 520 respectively, improves the packaging efficiency of spring 20 and shell.
As shown in fig. 6, in one embodiment, gripper assembly 540 includes third actuator 542 and clamp arm 544.Third drives
Part 542 is set on manipulator 520.Clamp arm 544 is connect with third actuator 542.Clamp arm 544 includes two.Two 544 phases of clamp arm
Interval is arranged, and the opposite sides for supporting spring 20.Third actuator 542 can drive two clamp arm 544 along first
Direction is close to each other or separate, so that the opposite sides of two 544 clamp or release springs 20 of clamp arm.
As shown in fig. 7, in one embodiment, clamping mechanism 500 further includes the lubrication assembly 560 for spray lubricant.
Lubrication assembly 560 is set on manipulator 520.Manipulator 520 is additionally operable to driving lubrication assembly 560 to the side closer or far from shell
To movement.In the present embodiment, lubrication assembly 560 includes two.Two intervals of lubrication assembly 560 are set on manipulator 520.
Before spring 20 is plugged in the container of shell, lubrication assembly 560 can be transferred to by manipulator 520
The container position of shell, and the spray lubricant into the container of shell of lubrication assembly 560 is utilized, so that spring
Sufficient lubrication can be kept after 20 insertings to the container of shell, realizes purpose of the spring 20 with respect to shell lubrication assembling.This
Outside, after spring 20 is plugged in the container of shell, lubrication assembly 560 can be transferred to spring by manipulator 520
20 top, and using lubrication assembly 560 to the top of spring 20 spray lubricant again, further promote the profit of spring 20
Sliding effect.
As shown in fig. 7, in one embodiment, lubrication assembly 560 includes storage cylinder 562, tracheae 564 and injector head 566.Storage
Cylinder 562 is deposited on manipulator 520.Storage cylinder 562 is used for lubricant storage.Tracheae 564 is connect with one end of storage cylinder 562.
Tracheae 564 is used to inject gas to storage cylinder 562 to be pressurized the lubricant in storage cylinder 562.Injector head 566 and storage
The other end connection of cylinder 562.The lubricant that injector head 566 is used to export storage cylinder 562 carries out spray.
As shown in fig. 7, further, in one embodiment, clamping mechanism 500 further includes fourth drive member 580.4 wheel driven
Moving part 580 is set on manipulator 520.Lubrication assembly 560 is connect by fourth drive member 580 with manipulator 520.Fourth drive member
580 can drive 560 relative mechanical hand 520 of lubrication assembly to move in a second direction, so that between lubrication assembly 560 and shell
Distance interval is adjustable, avoids, because the distance between lubrication assembly 560 and shell interval are inappropriate, leading to clamping mechanism 500
To lubrication assembly 560, the operation of spray lubricant into the container of spring 20 or shell causes to interfere other structures element.?
In the present embodiment, fourth drive member 580 is set to the opposite sides of manipulator 520 with gripper assembly 540.Storage cylinder 562 and the 4th
Actuator 580 connects.Fourth drive member 580 can drive 562 relative mechanical hand 520 of storage cylinder to move in a second direction.
Each technical characteristic of above example can be combined arbitrarily, to keep description succinct, not to above-described embodiment
In each technical characteristic it is all possible combination be all described, as long as however, the combination of these technical characteristics be not present lance
Shield is all considered to be the range of this specification record.
Only several embodiments of the present invention are expressed for above example, the description thereof is more specific and detailed, but can not
Therefore it is construed as limiting the scope of the patent.It should be pointed out that for those of ordinary skill in the art,
Under the premise of not departing from present inventive concept, various modifications and improvements can be made, these are all within the scope of protection of the present invention.
Therefore, the protection domain of patent of the present invention should be determined by the appended claims.
Claims (10)
1. a kind of assembling device, for spring to be plugged in the container of shell, which is characterized in that including：
Pedestal；
Feeding machanism is set on the pedestal, for spring described in order output；
Feeding distribution mechanism is set on the pedestal, and is connect with the feeding machanism, and the feeding distribution mechanism is for separation output one by one
The spring of the feeding machanism output；
Material receiving mechanism is set on the pedestal, and positioned at the lower section of the feeding distribution mechanism, and the material receiving mechanism is described for accepting
The spring of feeding distribution mechanism output；And
Clamping mechanism, including manipulator and gripper assembly, the manipulator are set on the pedestal, and the gripper assembly is set to institute
It states on manipulator, the gripper assembly is for picking and placeing the spring, and the manipulator is for driving the gripper assembly described
It is moved between material receiving mechanism and the shell, so that the spring that the material receiving mechanism exports is plugged in by the gripper assembly
In the container of the shell.
2. assembling device according to claim 1, which is characterized in that the feeding machanism includes：
Vibrating disk is set on the pedestal, for carrying spring described in simultaneously order output；And
Conveying track is connect with the vibrating disk, and the feeding distribution mechanism is connected to the conveying track far from the vibrating disk
One end, the conveying track are used to accept and export the spring of the vibrating disk output.
3. assembling device according to claim 1, which is characterized in that the feeding distribution mechanism includes：
Holder is set on the pedestal；
Separation member is set on the holder, and the material receiving mechanism is located at the lower section of the separation member, and the separation member is equipped with and is used for
The inner cavity of the spring is accommodated, and the top and bottom ends of the separation member are respectively equipped with feeding mouth in communication with the inner cavity and discharging
Mouthful, the feeding mouth is connect with the feeding machanism, and the feeding mouth and the discharge port are respectively used to enter for the spring
With the removal inner cavity, the side of the separation member is additionally provided with via hole in communication with the inner cavity；
First actuator is set on the holder；
Baffle, sliding is set between the separation member and the material receiving mechanism, and is connect with first actuator；The baffle
For supporting the spring so that in the inner cavity, and the baffle is equipped with for being worn for the spring by the spring retainer
Connecting hole；And
Bolt, sliding is arranged in the via hole, and is connect with first actuator；The bolt is for stretching in described
Chamber and with the spring phase clamping with by the spring retainer, in the inner cavity, first actuator can drive the baffle
It is described when so that the baffle and the bolt being in corresponding first position with the bolt along first direction synchronizing moving
Connecting hole is deviated with the discharge port so that the baffle supports the spring of lowermost end and the spring by lowermost end
It is limited in the inner cavity, while the bolt is moved to the phase separation of the spring outside the inner cavity and with secondary bottom end；Or
When so that the baffle and the bolt being in the corresponding second position, the connecting hole and the discharge port align with
The spring of lowermost end is set to wear the discharge port and the connecting hole and remove in the inner cavity, while the bolt stretches into
To the inner cavity and with the spring phase clamping of secondary bottom end with by the spring retainer of secondary bottom end in the inner cavity.
4. assembling device according to claim 3, which is characterized in that the feeding distribution mechanism further includes the second actuator, institute
The second actuator is stated on the holder, the separation member and first actuator by second actuator with it is described
Holder connects, and second actuator can drive the separation member to be moved in a second direction relative to the holder, so that described
The distance between separation member and the material receiving mechanism interval are adjustable.
5. assembling device according to claim 3, which is characterized in that the material receiving mechanism includes：
First movement platform is set on the pedestal；
Second mobile platform is connect with the first movement platform；And
Adapting table is connect with second mobile platform, and the adapting table is equipped with the receiving hole for accommodating the spring；Institute
Stating first movement platform can drive the adapting table to be moved along the first direction by second mobile platform, while institute
Stating the second mobile platform can drive the adapting table to be moved along third direction, so that the receiving hole is opposite with the discharge port
Standard, and then so that the receiving hole accepts the spring of the discharge port output.
6. assembling device according to claim 5, which is characterized in that the material receiving mechanism further includes position sensor, institute
One end that position sensor is embedded at the adapting table is stated, the position sensor is for detecting the receiving hole and the discharging
The alignment case of mouth simultaneously generates feedback signal.
7. assembling device according to claim 1, which is characterized in that the gripper assembly includes：
Third actuator is set on the manipulator；And
Clamp arm is connect with the third actuator, and the clamp arm includes two, and two clamp arm relative spacing settings are used in combination
In the opposite sides for supporting the spring；The third actuator can drive two clamp arm mutual along the first direction
Closer or far from so that the opposite sides of spring described in two clamp arm clamp or releases.
8. assembling device according to claim 1, which is characterized in that the clamping mechanism further includes being used for spray lubricant
Lubrication assembly, the lubrication assembly is set on the manipulator, the manipulator be additionally operable to drive the lubrication assembly to by
Close or remote from the direction movement of the shell.
9. assembling device according to claim 8, which is characterized in that the clamping mechanism further includes fourth drive member, institute
Fourth drive member is stated on the manipulator.The lubrication assembly is connect by the fourth drive member with the manipulator,
The fourth drive member can drive the lubrication assembly to be moved along the second direction relative to the manipulator, so that the profit
Sliding the distance between component and the shell interval is adjustable.
10. assembling device according to claim 8, which is characterized in that the lubrication assembly includes：
Storage cylinder is set on the manipulator, and the storage cylinder is for storing the lubricant；
Tracheae is connect with one end of the storage cylinder, and the tracheae is used to inject gas to the storage cylinder with to the storage
The lubricant in cylinder is pressurized；
Injector head is connect with the other end of the storage cylinder, the lubrication that the injector head is used to export the storage cylinder
Agent carries out spray.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810779488.0A CN108788673B (en) | 2018-07-16 | 2018-07-16 | Assembling device |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810779488.0A CN108788673B (en) | 2018-07-16 | 2018-07-16 | Assembling device |
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| CN108788673B CN108788673B (en) | 2024-05-17 |
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| CN209078172U (en) * | 2018-07-16 | 2019-07-09 | 广东天机工业智能系统有限公司 | Assembling device |
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| GB1471553A (en) * | 1975-10-24 | 1977-04-27 | British Leyland Uk Ltd | Assembly of valve cotters |
| CN101711616A (en) * | 2009-11-06 | 2010-05-26 | 马鸿强 | Automatic assembly machine of invisible zipper head |
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| Publication number | Publication date |
|---|---|
| CN108788673B (en) | 2024-05-17 |
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