CN109175979A - A kind of floating assembly system for robotized plant's automation - Google Patents
A kind of floating assembly system for robotized plant's automation Download PDFInfo
- Publication number
- CN109175979A CN109175979A CN201811045110.4A CN201811045110A CN109175979A CN 109175979 A CN109175979 A CN 109175979A CN 201811045110 A CN201811045110 A CN 201811045110A CN 109175979 A CN109175979 A CN 109175979A
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- Prior art keywords
- floating
- floating assembly
- automation
- assembly system
- robotized
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- 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 13
- 239000000203 mixture Substances 0.000 claims description 31
- 229910000831 Steel Inorganic materials 0.000 claims description 14
- 239000010959 steel Substances 0.000 claims description 14
- 230000006835 compression Effects 0.000 claims description 11
- 238000007906 compression Methods 0.000 claims description 11
- 238000013519 translation Methods 0.000 claims description 8
- 230000005540 biological transmission Effects 0.000 claims description 7
- 230000033001 locomotion Effects 0.000 claims description 7
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 2
- 210000000078 claw Anatomy 0.000 claims 1
- 230000001360 synchronised effect Effects 0.000 abstract description 9
- 238000007689 inspection Methods 0.000 abstract description 3
- 238000013461 design Methods 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 6
- 238000012790 confirmation Methods 0.000 description 2
- 230000003252 repetitive effect Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 1
- 230000003028 elevating 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
- 238000006467 substitution reaction 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
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P21/00—Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with programme control
Abstract
The invention belongs to technical field of mechanical design, disclose a kind of floating assembly system for robotized plant's automation, it including pedestal, floating system, holds system and pressing system, floating system tightly and is connect with pedestal, the outside of floating system is arranged in holding system and pressing system.The technical program has pedestal, the floating system for precision assembly and the holding system for realizing synchronous clamping for carrying, and holding system can be gone up and down, it can be achieved that clamping part moves up and down, for overcoming electric twisting spanner to tighten the pressing system of torsion.Structure is simple, compact, reasonable, on the basis of by NI Vision Builder for Automated Inspection, can actively adapt to the error of vision system generation, the Automated assembly operation of high-quality and efficient completion large size, heavy duty industrial product.
Description
Technical field
The invention patent relates to technical field of mechanical design, the more particularly, to floating assembly of robotized plant's automation
System.
Background technique
Assembly in robotized plant's automation to small parts such as electronic products, often uses machine vision system completely
System is to solve；But for large-scale, heavy duty industrial product, because its size is larger, the corresponding camera lens visual field is larger, existing machine view
Feel that product or solution its positioning accuracy are not enough to support high-accuracy assembling work.This just needs a kind of ancillary equipment, energy
Enough errors for actively adapting to vision system generation, the Automated assembly operation of high-quality and efficient completion large size, heavy duty industrial product.
Summary of the invention
It is an object of the invention in view of the above technical problems, provide the floating assembly system for robotized plant's automation
System, which can actively adapt to the error of vision system generation on the basis of by NI Vision Builder for Automated Inspection, high-quality and efficient
Large-scale, heavy duty industrial product Automated assembly operation is completed, the technical scheme adopted is as follows:
For the floating assembly system of robotized plant's automation, including pedestal, floating system, holding system and pressing system.
The pedestal guarantees its normal work for carrying floating system, holding system and pressing system.Floating system is for realizing essence
Close assembly.Holding system is for realizing the synchronous clamping to piece installing, while the system also has elevating function, it can be achieved that clamping part
Move up and down.Pressing system is equipped with multiple pressure heads, the torsion that can be used for that electric twisting spanner is overcome to generate when tightening.
When work, accessory one to be installed is placed on floating system top by industrial robot by vision system first.Then
Accessory two to be installed is placed in above accessory one to be installed by vision system by industrial robot and is hovered.Then system acting is held tightly,
Its clamping jaw portion synchronous relative motion clamps accessory two to be installed, and confirmation clamps postindustrial robot clamp and withdraws.Subsequently hold tightly
System drives accessory two to be installed to move to accessory one to be installed, after the big chamfering at the two assembly position has overlapping, floating system top
It rises, two accessories to be installed continue to move toward one another, not misplacing coaxially by the guiding role for cooperating big chamfering, by floating between the two
It is coaxial that the position that steel ball idler wheel in system adjusts accessory one to be installed in real time guarantees the two, to complete combination assembling work.So
Floating system return afterwards, pressing system work, the electric twisting spanner completion screw being mounted on industrial robot tighten work
Industry.Finally after the assembly is completed, which is transported to next work by vision system positioning crawl by another industrial robot
Position, subsequent floating assembly system reset prepare next assembling work.
The pedestal is welded by square tube and steel plate, stabilized structure.
Floating system includes floating fixing seat, horizontal adjustment composition, jacking cylinder and jacking cylinder bracket.Jacking cylinder will
After horizontal adjustment composition jacks up, horizontal adjustment composition can be radially moved.After jacking cylinder drives horizontal adjustment composition to retract, water
At with floating fixing seat Cone fit occurs for Heibei provincial opera whole group, and horizontal adjustment composition is completely fixed, and can not carry out relative motion.
Horizontal adjustment composition includes steel ball idler wheel, steel ball roller mount (2-2-2), float plate.Float plate and steel ball idler wheel point
Contact, thus the resistance that steel ball roller mount moves horizontally is very small.
Holding system includes clamping jaw portion, lifting composition, translation composition, synchronization link mechanism, driving cylinder.Drive cylinder band
Dynamic synchronization link mechanism is, it can be achieved that two clamping jaw portions move synchronously, to guarantee the repetitive positioning accuracy after clamping.
Clamping jaw portion uses v-shaped structure, can guarantee that accessory position to be installed is constant after clamping with self-centering.
Lifting composition, translation composition are mounted on two linear guides, guarantee to run smoothly.
Synchronization link mechanism passes through the engaged transmission of transmission gear and idle wheel, realizes two translation compositions and synchronizes opposite fortune
It is dynamic, to realize the synchronous clamping in two clamping jaw portions.
Pressing system includes compression cylinder, compression bar and rubber squeeze head.To guarantee that each rubber squeeze head can conduct pressure
Power avoids pressure uneven, so each rubber squeeze head is equipped with independent compression cylinder.
The technical program has the pedestal for carrying, for the floating system of precision assembly and for realizing synchronous clamping
Holding system, holding system can be gone up and down, it can be achieved that clamping part moves up and down, for overcoming electric twisting spanner to tighten torsion
The pressing system of power.Structure is simple, compact, reasonable, on the basis of by NI Vision Builder for Automated Inspection, can actively adapt to vision system
The error that system generates, the Automated assembly operation of high-quality and efficient completion large size, heavy duty industrial product.
Detailed description of the invention
A kind of Fig. 1: structural schematic diagram (one) of the floating assembly system for robotized plant's automation of the present invention；
A kind of Fig. 2: structural schematic diagram (two) of the floating assembly system for robotized plant's automation of the present invention；
Fig. 3: Fig. 2 cross-sectional view；
A kind of Fig. 4: floating system schematic diagram of the floating assembly system for robotized plant's automation of the present invention；
Fig. 5: the collocation schematic diagram of floating assembly system of the present invention and electric twisting spanner；
A kind of Fig. 6: accessory schematic diagram to be assembled of the floating assembly system for robotized plant's automation of the present invention；
Fig. 7: Fig. 6 section B-B figure；
Fig. 8: the collocation schematic diagram of floating assembly system of the present invention and industrial robot.
Wherein: 1. pedestals；2. floating system；2-1. fixing seat；2-2. horizontal adjustment composition；2-2-1. idler wheel；2-2-2.
Roller mount；2-2-3. float plate；2-3. jacking cylinder；2-4. air cylinder support；3. the system of holding tightly；3-1. clamping jaw portion；3-2. lifting
Composition；3-3. translation composition；3-4. synchronization link mechanism；3-4-1: transmission gear；3-4-2. idle wheel；3-5. drives cylinder；4.
Pressing system；4-1. compression cylinder；4-2. compression bar；5. industrial robot of 4-3. pressure head；6. electric twisting spanner；7. accessory to be installed
One；8. accessory two to be installed；9. cooperating chamfering.
Specific embodiment
The invention will be further described with example with reference to the accompanying drawing.
As shown in Fig. 1 to Fig. 8, the floating assembly system for robotized plant's automation includes: pedestal 1, floating system
2, system 3 and pressing system 4 are held tightly.
The pedestal 1 guarantees its normal work for carrying floating system 2, holding system 3 and pressing system 4.It floats and is
System 2 is for realizing precision assembly.Holding system 3 is for realizing the synchronous clamping to piece installing, while the system also has lifting function
It can be, it can be achieved that clamping part moves up and down.Pressing system 4 is equipped with multiple pressure heads, when can be used for that electric twisting spanner is overcome to tighten
The torsion of generation.
Pedestal 1 is welded by square tube and steel plate, stabilized structure.
Floating system 2 includes floating fixing seat 2-1, horizontal adjustment composition 2-2, jacking cylinder 2-3 and jacking cylinder bracket
2-4.After jacking cylinder 2-3 jacks up horizontal adjustment composition 2-2, horizontal adjustment composition 2-2 can be radially moved.Jacking cylinder 2-
After 3 drive horizontal adjustment composition 2-2 to retract, horizontal adjustment forms 2-2 and floating fixing seat 2-1 and Cone fit occurs, and level is adjusted
Whole group is completely fixed at 2-2, can not carry out relative motion.
It includes steel ball idler wheel 2-2-1, steel ball roller mount 2-2-2, float plate 2-2-3 that horizontal adjustment, which forms 2-2,.Float plate 2-
2-3 and steel ball idler wheel 2-2-1 point contact, thus the resistance that steel ball roller mount 2-2-2 is moved horizontally is very small.
Holding system 3 includes clamping jaw portion 3-1, lifting composition 3-2, translation composition 3-3, synchronization link mechanism 3-4, driving gas
Cylinder 3-5.Driving cylinder 3-5 drives synchronization link mechanism 3-4, it can be achieved that two clamping jaw portion 3-1's moves synchronously, to guarantee to press from both sides
Next repetitive positioning accuracy.
Clamping jaw portion 3-1 uses v-shaped structure, can guarantee that accessory position to be installed is constant after clamping with self-centering.
Lifting composition 3-2, translation composition 3-3 are mounted on two linear guides, guarantee to run smoothly.
Synchronization link mechanism 3-4 passes through the engaged transmission of transmission gear 3-4-1 and idle wheel 3-4-2, makes two translation compositions
3-3 realizes synchronous relative motion, to realize the synchronous clamping of two clamping jaw portion 3-1.
Pressing system 4 includes compression cylinder 4-1, compression bar 4-2 and rubber squeeze head 4-3.To guarantee each rubber squeeze head
4-3 energy conducting pressure, avoids pressure uneven, so each rubber squeeze head 4-3 is equipped with independent compression cylinder 4-1.
As shown in figure 8, accessory one to be installed is placed on floating system top by industrial robot by vision system.Then by work
Accessory two to be installed is placed in above accessory one to be installed by vision system and hovers by industry robot.Hold system acting, clamping jaw portion tightly
Synchronous relative motion clamps accessory two to be installed, and confirmation clamps postindustrial robot clamp and withdraws.
As shown in fig. 6-7, holding system tightly drives accessory two to be installed to move to accessory one to be installed.Accessory two to be installed is vertically downward
Movement, accessory one to be installed can be moved left and right due to floating system steel ball idler wheel.When the big chamfering at the two assembly position has overlapping
Afterwards, floating system jacks up, and two accessories to be installed continue to move toward one another, the guiding that the not coaxial error between the two passes through the big chamfering of cooperation
Effect guarantees that the two is coaxial by the position that the steel ball idler wheel 2-2-1 in floating system adjusts accessory one to be installed in real time, thus complete
Assembling work is closed in groups.
As shown in figure 5, floating system return, pressing system work.The electric twisting spanner being mounted on industrial robot
Complete the tightening operation of screw.Finally after the assembly is completed, another industrial robot is grabbed by vision system positioning by the group
Component is transported to next station, and then entire floating assembly system reset, prepares next assembling work.
Embodiment only illustrates technical solution of the present invention, rather than carries out any restrictions to it；Although with reference to the foregoing embodiments
Invention is explained in detail, for those of ordinary skill in the art, still can be to previous embodiment institute
The technical solution of record is modified or equivalent replacement of some of the technical features；And these modifications or substitutions, and
The essence of corresponding technical solution is not set to be detached from the spirit and scope of claimed technical solution of the invention.
Claims (10)
1. a kind of floating assembly system for robotized plant's automation, it is characterised in that: including pedestal, floating system, embrace
Clamping system and pressing system, floating system are connect with pedestal, and the outside of floating system is arranged in holding system and pressing system.
2. a kind of floating assembly system for robotized plant's automation according to claim 1, it is characterised in that: floating
Dynamic system includes fixing seat, horizontal adjustment composition, jacking cylinder and jacking cylinder bracket, and jacking cylinder and horizontal adjustment composition connect
It connecing, horizontal adjustment composition is radially movable, after jacking cylinder drives horizontal adjustment composition to retract, horizontal adjustment composition and fixing seat
Relative motion does not occur for Cone fit.
3. a kind of floating assembly system for robotized plant's automation according to claim 2, it is characterised in that: water
Heibei provincial opera whole group is at including idler wheel, roller mount and float plate, float plate and idler wheel point contact.
4. a kind of floating assembly system for robotized plant's automation according to claim 1 to 3, feature
Be: holding system includes clamping jaw portion, lifting composition, translation composition, synchronization link mechanism and driving cylinder, and driving cylinder drives
Synchronization link mechanism realizes moving synchronously for two clamping jaw portions.
5. a kind of floating assembly system for robotized plant's automation according to claim 4, it is characterised in that: folder
Claw is v-shaped structure.
6. a kind of floating assembly system for robotized plant's automation according to claim 5, it is characterised in that: rise
It comes down to a lower group into and/or translates composition and two linear guides are installed.
7. -3 or 5 or 6 any a kind of floating assembly system for robotized plant's automation according to claim 1,
It is characterized by: synchronization link mechanism passes through the engaged transmission of transmission gear and idle wheel.
8. a kind of floating assembly system for robotized plant's automation according to claim 7, it is characterised in that: pressure
Clamping system includes compression cylinder, compression bar and pressure head, and each pressure head is equipped with independent compression cylinder.
9. a kind of floating assembly system for robotized plant's automation according to claim 8, it is characterised in that: pressure
There are two clamping systems or multiple.
10. a kind of floating assembly system for robotized plant's automation described in -3 or 5 or 6 or 8 or 9 according to claim 1
System, it is characterised in that: pedestal is welded by square tube and steel plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811045110.4A CN109175979A (en) | 2018-09-07 | 2018-09-07 | A kind of floating assembly system for robotized plant's automation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811045110.4A CN109175979A (en) | 2018-09-07 | 2018-09-07 | A kind of floating assembly system for robotized plant's automation |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109175979A true CN109175979A (en) | 2019-01-11 |
Family
ID=64915506
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811045110.4A Pending CN109175979A (en) | 2018-09-07 | 2018-09-07 | A kind of floating assembly system for robotized plant's automation |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109175979A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109921262A (en) * | 2019-04-29 | 2019-06-21 | 上海先惠自动化技术股份有限公司 | A kind of battery high pressure copper installation device |
| CN112775831A (en) * | 2021-01-21 | 2021-05-11 | 常州机电职业技术学院 | Floating clamp for honing big end hole of connecting rod |
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| JPH01178091A (en) * | 1987-12-29 | 1989-07-14 | Honda Motor Co Ltd | Automatic assembling method of work |
| JP2002144172A (en) * | 2000-11-06 | 2002-05-21 | Nitto Seiko Co Ltd | Parts forming method, plastic working unit and parts machining device |
| CN2924508Y (en) * | 2006-06-26 | 2007-07-18 | 合肥工业大学 | Rearaxle noise quality test table |
| CN202114454U (en) * | 2011-05-27 | 2012-01-18 | 周众 | Press mounting machine |
| CN103521854A (en) * | 2013-10-12 | 2014-01-22 | 株洲凯丰实业有限公司 | Full-automatic floating tapping machine for pipe joint tapping and tapping method thereof |
| CN104191211A (en) * | 2014-09-05 | 2014-12-10 | 芜湖盛力科技股份有限公司 | Air chamber assembly press-fitting machine and operation method thereof |
| CN105241398A (en) * | 2015-10-20 | 2016-01-13 | 中国科学院沈阳自动化研究所 | Non-contact full-automatic shell body coaxiality detection device |
| CN105382513A (en) * | 2015-11-24 | 2016-03-09 | 河南省西峡汽车水泵股份有限公司 | Water seal assembling device and method for engine cooling water pump |
| CN106269885A (en) * | 2016-10-31 | 2017-01-04 | 中国重型机械研究院股份公司 | A kind of split type collateral support roller swing arm structure of eighteen-high mill |
| CN107433444A (en) * | 2017-09-26 | 2017-12-05 | 江阴博衍机械设备有限公司 | Secondary serialization floating press-loading apparatus |
| CN206839209U (en) * | 2017-06-20 | 2018-01-05 | 江西江铃底盘股份有限公司 | A kind of axle housing multi items processing is equipped with vertical boring car is switched fast |
| CN208992136U (en) * | 2018-09-07 | 2019-06-18 | 青岛杰瑞工控技术有限公司 | A kind of floating assembly system for robotized plant's automation |
-
2018
- 2018-09-07 CN CN201811045110.4A patent/CN109175979A/en active Pending
Patent Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH01178091A (en) * | 1987-12-29 | 1989-07-14 | Honda Motor Co Ltd | Automatic assembling method of work |
| JP2002144172A (en) * | 2000-11-06 | 2002-05-21 | Nitto Seiko Co Ltd | Parts forming method, plastic working unit and parts machining device |
| CN2924508Y (en) * | 2006-06-26 | 2007-07-18 | 合肥工业大学 | Rearaxle noise quality test table |
| CN202114454U (en) * | 2011-05-27 | 2012-01-18 | 周众 | Press mounting machine |
| CN103521854A (en) * | 2013-10-12 | 2014-01-22 | 株洲凯丰实业有限公司 | Full-automatic floating tapping machine for pipe joint tapping and tapping method thereof |
| CN104191211A (en) * | 2014-09-05 | 2014-12-10 | 芜湖盛力科技股份有限公司 | Air chamber assembly press-fitting machine and operation method thereof |
| CN105241398A (en) * | 2015-10-20 | 2016-01-13 | 中国科学院沈阳自动化研究所 | Non-contact full-automatic shell body coaxiality detection device |
| CN105382513A (en) * | 2015-11-24 | 2016-03-09 | 河南省西峡汽车水泵股份有限公司 | Water seal assembling device and method for engine cooling water pump |
| CN106269885A (en) * | 2016-10-31 | 2017-01-04 | 中国重型机械研究院股份公司 | A kind of split type collateral support roller swing arm structure of eighteen-high mill |
| CN206839209U (en) * | 2017-06-20 | 2018-01-05 | 江西江铃底盘股份有限公司 | A kind of axle housing multi items processing is equipped with vertical boring car is switched fast |
| CN107433444A (en) * | 2017-09-26 | 2017-12-05 | 江阴博衍机械设备有限公司 | Secondary serialization floating press-loading apparatus |
| CN208992136U (en) * | 2018-09-07 | 2019-06-18 | 青岛杰瑞工控技术有限公司 | A kind of floating assembly system for robotized plant's automation |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109921262A (en) * | 2019-04-29 | 2019-06-21 | 上海先惠自动化技术股份有限公司 | A kind of battery high pressure copper installation device |
| CN112775831A (en) * | 2021-01-21 | 2021-05-11 | 常州机电职业技术学院 | Floating clamp for honing big end hole of connecting rod |
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