CN110170829A - Automatic assembling machine - Google Patents

Automatic assembling machine Download PDF

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Publication number
CN110170829A
CN110170829A CN201910549678.8A CN201910549678A CN110170829A CN 110170829 A CN110170829 A CN 110170829A CN 201910549678 A CN201910549678 A CN 201910549678A CN 110170829 A CN110170829 A CN 110170829A
Authority
CN
China
Prior art keywords
movement
screw
module
lock
dispensing
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201910549678.8A
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Chinese (zh)
Inventor
张凯歌
龚清萍
徐子强
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
China Aeronautical Radio Electronics Research Institute
Original Assignee
China Aeronautical Radio Electronics Research Institute
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by China Aeronautical Radio Electronics Research Institute filed Critical China Aeronautical Radio Electronics Research Institute
Priority to CN201910549678.8A priority Critical patent/CN110170829A/en
Publication of CN110170829A publication Critical patent/CN110170829A/en
Pending legal-status Critical Current

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B05SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05CAPPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05C5/00Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work
    • B05C5/02Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work the liquid or other fluent material being discharged through an outlet orifice by pressure, e.g. from an outlet device in contact or almost in contact, with the work
    • B05C5/0208Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work the liquid or other fluent material being discharged through an outlet orifice by pressure, e.g. from an outlet device in contact or almost in contact, with the work for applying liquid or other fluent material to separate articles
    • B05C5/0212Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work the liquid or other fluent material being discharged through an outlet orifice by pressure, e.g. from an outlet device in contact or almost in contact, with the work for applying liquid or other fluent material to separate articles only at particular parts of the articles
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B05SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05CAPPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05C5/00Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work
    • B05C5/02Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work the liquid or other fluent material being discharged through an outlet orifice by pressure, e.g. from an outlet device in contact or almost in contact, with the work
    • B05C5/027Coating heads with several outlets, e.g. aligned transversally to the moving direction of a web to be coated
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23PMETAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P19/00Machines 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
    • B23P19/001Article feeders for assembling machines
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23PMETAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P19/00Machines 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
    • B23P19/04Machines 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
    • B23P19/06Screw or nut setting or loosening machines

Abstract

The invention discloses a kind of automatic assembling machines, include: Screw feeding machine (1), for providing screw for vertical lock silk module (2), lateral lock silk module (3);Screw thread dispensing module (4), for providing screw thread glue for vertical lock silk module (2), lateral lock silk module (3);Vertical lock silk module (2), for taking screw away from Screw feeding machine (1), lock silk is completed in the lockhole position on vertical plane for driving screw to lock component to be assembled again after dispensing in screw thread dispensing module (4);Lateral lock silk module (3), for taking screw away from Screw feeding machine (1), lock silk is completed in the lockhole position on side for driving screw to lock component to be assembled again after dispensing in screw thread dispensing module (4);Pusher shift module (5), is fixed for shifting component to be assembled on tooling position onto, and is rotated as needed by component to be assembled.The present invention can be automatically performed screw dispensing and lock silk operation.

Description

Automatic assembling machine
Technical field
The present invention relates to production manufacturing field, in particular to a kind of arrangement that can be automatically performed different size screw With feeding, be automatically performed screw dispensing and lock silk operation assembly machine.
Background technique
Currently, the development at home and abroad of Automated assembly technology and application are very extensive, in the row such as machine-building, electronics Already through designing and manufacturing out the automated production equipment of a large amount of heterogeneous.Various technologies are constantly mature, advanced nonstandard Equipment or goods shelf products continue to bring out.The use of these automation equipments is being improved labor efficiency and the quality of product, improvement work People's working condition, reduction energy consumption, saving material etc. achieve significant effect.But in avionics product machine assembly Field is to automatic technology using very rare.Based on manual operation, main cause can for the machine assembly of avionics product Be summarized as three aspects: firstly, product complexity is high, Internal cable arrangement is complicated, and assembly technology is cumbersome, many process applications Automation equipment is difficult to realize;Secondly, product batch is small, the production of beat metaplasia is difficult to realize, and Automated assembly effect is unobvious;Most Afterwards, avionics product variety is more, and product differentiation is big, and automation equipment is difficult to complete various types of assembly.With modern Aviation electricity The assembling capacity of the development of sub- technology, avionics product constantly enhances, and structure design is continued to optimize, and complicated cable arrangement can be inserted It pulls out formula line row to replace, module design more standard and uniformly, to machine assembly, more stringent requirements are proposed for this, also to disguise automatically Application with technology provides opportunity.
By industrial analysis and erecting yard with producing, Screw feeding and lock silk are the works for most influencing efficiency and assembling quality Sequence, total used time account for 80% or more of assembly total hours worked.The artificial main difficulty for carrying out screw assembly is shown: 1) screw and Gasket very little is not easy to guarantee the stability of crawl by hand;2) product is complicated, manual lock silk be easy to appear neglected loading, torque less than Situations such as position, or even fifth wheel may also be formed in cabinet because of careless omission;3) manual lock silk low efficiency, compared to being turned into automatically Industry, time-consuming more 2-3 times of manual lock silk;4) dispensing amount is not easily controlled, and manual glue-spread is difficult to effectively control, and leads to assembling quality It is difficult to ensure with consistency.
Summary of the invention
For above-mentioned difficulties, goal of the invention of the invention is to propose a kind of automatic assembling machine, can be automatically performed not The arrangement of same specification screw and feeding are automatically performed screw dispensing and lock silk operation, are provided simultaneously with assembling process detection and retrospect Function guarantees assembling quality.The present invention may be not only suitable for Avionic Products, be readily applicable to the product in other fields In.
Goal of the invention of the invention is achieved through the following technical solutions:
A kind of automatic assembling machine includes Screw feeding machine 1, vertical lock silk module 2, lateral lock silk module 3, screw thread point rubber moulding Block 4, pusher shift module 5, assembly machine workbench 7, in which:
Assembly machine workbench 7 is equipped with frame;
Screw feeding machine 1 is installed on a side of frame, for providing for vertical lock silk module 2, lateral lock silk module 3 Screw;
Screw thread dispensing module 4 is installed on the bottom of frame, for providing spiral shell for vertical lock silk module 2, lateral lock silk module 3 Line glue;
Vertical lock silk module 2 is installed on above frame and perpendicular to assembly machine workbench 7, for taking from Screw feeding machine 1 Screw is walked, the lockhole position on vertical plane for driving screw to lock component to be assembled again after dispensing in screw thread dispensing module 4 is completed Lock silk;
Lateral lock silk module 3 is installed on a side of frame, for taking screw away from Screw feeding machine 1, drives screw Lock silk is completed in the lockhole position on side for locking component to be assembled again after dispensing in screw thread dispensing module 4;
Pusher shift module 5 is installed on the bottom of frame, fixes for shifting component to be assembled on tooling position onto, And component to be assembled is rotated as needed.
Preferably, vertically lock silk module 2 includes the first the screwed lock mechanism 9, the first X-direction movement mechanism 10, the first side Y To movement mechanism 11 and the first Z-direction movement mechanism 12;First Y-direction movement mechanism 11 is mounted on the first X-direction movement mechanism On 10, the first Z-direction movement mechanism 12 is mounted on the first Y-direction movement mechanism 11, and the first the screwed lock mechanism 9 is installed on On one Z-direction movement mechanism 12.
Preferably, the first the screwed lock mechanism 9 uses absorption type electric screwdriver head.
Preferably, the first X-direction movement mechanism 10, the first Y-direction movement mechanism 11 and the first Z-direction movement mechanism 12 are equal Comprising servo motor, guide rail lead screw and encoder, servo motor drives guide rail guide screw movement, and encoder completes position record and mark It is fixed.
Preferably, laterally lock silk module 3 includes the second the screwed lock mechanism 13, the second X-direction movement mechanism 14, the 2nd Y Direction movement mechanism 15 and the second Z-direction movement mechanism 16, the second Y-direction movement mechanism 15 are mounted on the second X-direction fitness machine On structure 14, the second Z-direction movement mechanism 16 is mounted on the second Y-direction movement mechanism 15, the installation of the second the screwed lock mechanism 13 In on the second Z-direction movement mechanism 16.
Preferably, the second the screwed lock mechanism 13 uses air blowing type electric screwdriver head.
Preferably, the second X-direction movement mechanism 14, the second Y-direction movement mechanism 15 and the second Z-direction movement mechanism 16 are equal Comprising servo motor, guide rail lead screw and encoder, servo motor drives guide rail guide screw movement, and encoder completes position record and mark It is fixed.
Preferably, pusher shift module 5 includes straight-line motion mechanism 20, turntable mechanism 21 and clamping tooling 22, straight line fortune Motivation structure 20 is using servo motor and guide rail lead screw control linear motion;Turntable mechanism 21 is installed on straight-line motion mechanism 20 Side realizes turntable around the rotation of vertical direction using motor and commutator;Clamping tooling 22 is mounted on turntable mechanism 21, is used for Component to be assembled is fixed on turntable.
Preferably, screw thread dispensing module 4 includes vertical adhesive dispensing device 23, horizontal adhesive dispensing device 24 and adhesive dispensing device pedestal 25, vertically Adhesive dispensing device 23 and horizontal adhesive dispensing device 24 are mutually perpendicular to and are mounted on adhesive dispensing device pedestal 25;Vertical adhesive dispensing device 23 is generated by piston Air pressure squeezes out screw thread glue using pressure and uses for vertical lock silk module 2;Horizontal adhesive dispensing device 24 generates air pressure by piston, utilizes Pressure squeezes out screw thread glue and uses for lateral lock silk module 3.
Preferably, automatic assembling machine also includes assembly detection module 6, and assembly detection module 6 includes industrial camera 26 and phase Base 27, industrial camera 26 are installed on camera holder 27, and camera holder 27 is installed on frame, and industrial camera 26 is configured as obtaining It assembles image and sends and analyzed to back-end system.
The beneficial effects of the present invention are:
1) arrangement and feeding function of different size screw are automatically performed;
2) screw dispensing and lock silk operating function are automatically performed;
3) realize that assembling process is traceable, fabrication data automatically saves;
4) assembling process detection function guarantees assembling quality.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of automatic assembling machine.
Fig. 2 is the structural schematic diagram of vertical lock silk module.
Fig. 3 is the structural schematic diagram of lateral lock silk module.
Fig. 4 is the structural schematic diagram of pusher shift module 5.
Fig. 5 is the structural schematic diagram of screw thread dispensing module.
Specific embodiment
The present invention is described in further detail with reference to the accompanying drawings and examples.
A kind of automatic assembling machine shown in the present embodiment, as shown in Figure 1, include Screw feeding machine 1, vertical lock silk module 2, Lateral lock silk module 3, screw thread dispensing module 4, pusher shift module 5, assembly detection module 6, assembly machine workbench 7.
Assembly machine workbench 7 is equipped with frame, for mounting screw feeder 1, vertical lock silk module 2, lateral lock silk mould Block 3, screw thread dispensing module 4, pusher shift module 5, assembly detection module 6.
Screw feeding machine 1 is installed on a side of frame, for providing for vertical lock silk module 2, lateral lock silk module 3 Screw.Screw feeding machine 1 uses absorption type feeding scheme, screw conveying, detection, alignment process is completed, using absorption type feeding Advantage be to be suitable for multiple screws specification.Absorption type feeding is commonly fed mode and is divided into vibrating-disk feed and vane type Two kinds of feed.Material is elapsed and is arranged using the blade of rotation by vane type feed, has the spies such as occupy little space, noise is small Point, while it being also applied for a series of screw of specifications and models, it is adaptable.Vane type machine for arranging screws has automatic feeding, no Repeat the functions such as feeding, automatic counting, automatic rejection.
Vertical lock silk module is installed on above frame and perpendicular to assembly machine workbench 7, for taking away from Screw feeding machine 1 Screw, the lockhole position on vertical plane for driving screw to lock component to be assembled again after dispensing in screw thread dispensing module 4, completes lock Silk.Vertical lock silk module is suitable for the assembly work of all modules and part frame, shown in Figure 2, includes the first screwed lock Pay mechanism 9, the first X-direction movement mechanism 10, the first Y-direction movement mechanism 11 and the first Z-direction movement mechanism 12;First side Y It is mounted on the first X-direction movement mechanism 10 to movement mechanism 11, the first Z-direction movement mechanism 12 is mounted on the first Y-direction fortune On motivation structure 11, the first the screwed lock mechanism 9 is installed on the first Z-direction movement mechanism 12.First X-direction movement mechanism 10, First Y-direction movement mechanism 11 and the first Z-direction movement mechanism 12 include servo motor, guide rail lead screw and encoder, servo Motor driven guide rail guide screw movement, encoder complete position record and calibration.First the screwed lock mechanism 9 uses absorption type electric screwdriver Head.The working principle of vertical lock silk module are as follows: screw generates adsorption capacity by the compressed air of absorption type electric screwdriver head, from screw Material machine 1 takes screw away, then in the first X-direction movement mechanism 10, the first Y-direction movement mechanism 11 and the first Z-direction movement mechanism 12 drive under to screw thread glue is taken in screw thread dispensing module 4, finally navigate to above product hole location, absorption type electric screwdriver head downlink is automatic It is locked into hole location, lock 2 second/of silk efficiency or so.
Lateral lock silk module is mounted on a side of frame, for taking screw away from Screw feeding machine 1, screw is driven to exist It locks the lockhole position on the side of component to be assembled in screw thread dispensing module 4 after dispensing again, completes lock silk.Lateral lock silk module is suitable It is shown in Figure 3 for the assembly work of cover board, display unit, including the movement of the second the screwed lock mechanism 13, the second X-direction Mechanism 14, the second Y-direction movement mechanism 15 and the second Z-direction movement mechanism 16, the second X-direction movement mechanism 14 and table top side In parallel, the second Y-direction movement mechanism 15 is mounted on the second X-direction movement mechanism 14, and the second Z-direction movement mechanism 16 is mounted on On second Y-direction movement mechanism 15, the second the screwed lock mechanism 13 is installed on the second Z-direction movement mechanism 16.Second X-direction Movement mechanism 14, the second Y-direction movement mechanism 15 and the second Z-direction movement mechanism 16 comprising servo motor, guide rail lead screw and Encoder, servo motor drive guide rail guide screw movement, and encoder completes position record and calibration.But due to laterally lock a module without Method feeding from Screw feeding machine, thus the second the screwed lock mechanism use air-sweeping type electric screwdriver head, screw under air pressure by Magazine is blown to below batch mouth by tracheae, and air-sweeping type electric screwdriver head electric screwdriver downlink carries out automatic lock screw operation, this lock silk mode Efficiency is up to 1 second/.The working principle of lateral lock silk module is similar with vertical lock silk module.
Pusher shift module is installed on the bottom of frame, is the positioning carrier of product component, is used for component to be assembled It shifts on tooling position and is fixed, and rotate component to be assembled as needed.Shown in Figure 4, pusher shift module 5 includes Straight-line motion mechanism 20, turntable mechanism 21 and clamping tooling 22.Straight-line motion mechanism 20 uses servo motor and guide rail lead screw control System linear motion realizes movement of the material from manual station to automatic station;Turntable mechanism 21 is installed on straight-line motion mechanism Top realizes the rotation around vertical direction using motor and commutator, lateral lock silk module is cooperated to realize machine using rotary motion The lock screw operation of four side surface directions of case;Clamping tooling 22 is mounted on turntable, is fixed on component to be assembled using cylinder On turntable.
Screw thread dispensing module is installed on the bottom of frame, for providing spiral shell for vertical lock silk module 2, lateral lock silk module 3 Line glue.Shown in Figure 5, screw thread dispensing module includes vertical adhesive dispensing device 23, horizontal adhesive dispensing device 24 and adhesive dispensing device pedestal 25.Vertically Adhesive dispensing device 23, horizontal adhesive dispensing device 24 generate air pressure by piston, and compressed gas passes through modeling pipe (while coupling cylinder and syringe) Into in the syringe equipped with viscose glue, dispensing operation is carried out using pressure, the glue amount of extrusion is determined by the distance that piston moves, living The mobile distance of plug is controlled by sensor.
Assembling detection module 6 includes industrial camera 26 and camera holder 27, and industrial camera 26 is installed on camera holder 27, camera Seat 27 is installed on the frame of assembly machine workbench 7.
Automatic assembling machine concrete operations process is as follows:
1) position components: the straight-line motion mechanism 20 of pusher shift module 5 drives turntable mechanism 21 and clamping device 22 From automatic assembling station to artificial station;Clamping device 22 unclamps, and components to be assembled are placed in clamping device by operator On 22, clamping device 22 clamps components to be assembled;Straight-line motion mechanism 20 drives turntable mechanism 21 from artificial station to automatic Assembly station completes position components.
2) vertical direction locks screw: vertical lock silk module 2 passes through the first X-direction movement mechanism 10, the first Y-direction fitness machine Structure 11 and the first Z-direction movement mechanism 12 drive the first the screwed lock mechanism 9 to move at Screw feeding machine 1, the first screwed lock Pay the screw that mechanism 9 draws Screw feeding machine 1;Vertical lock silk module 2 is transported by the first X-direction movement mechanism 10, the first Y-direction Motivation structure 11 and the first Z-direction movement mechanism 12 drive the screwed lock mechanism 9 move to the vertical adhesive dispensing device of screw thread dispensing module 4 At 23, is moved up and down by the first Z-direction movement mechanism 12 and complete screw dispensing;Vertical lock silk module 2 is transported by the first X-direction Motivation structure 10, the first Y-direction movement mechanism 11 and the first Z-direction movement mechanism 12 drive the first the screwed lock mechanism 9 to move to At the hole location of product to be assembled, is moved up and down by the first Z-direction movement mechanism 12 and screw lock is completed in the movement of rotation lock silk Silk operation;It repeats and takes screw, dispensing and lock silk operation, until completing all screws locks silk task.
3) laterally lock screw: the air blowing type electric screwdriver head of lateral lock silk module 3 blows out screw, is moved by the second X-direction Mechanism 14, the second Y-direction movement mechanism 15 and the second Z-direction movement mechanism 16 drive the second the screwed lock mechanism 13 to move to spiral shell At the horizontal adhesive dispensing device 24 of line dispensing module 4, screw dispensing is completed by 16 horizontal rectilinear motion of the second Z-direction movement mechanism; Pusher shift module 5 passes through the rotation of turntable mechanism 21, will be extremely vertical with the second Z-direction movement mechanism 16 wait lock a Plane Rotation Position;Lateral lock silk module 3 passes through the second X-direction movement mechanism 14, the second Y-direction movement mechanism 15 and the second Z-direction fortune Motivation structure 16 drives the movement of the second the screwed lock mechanism 13 to complete screw lock silk operation;Repeat dispensing, lock silk, rotation behaviour Make, until all screws for completing all sides lock silk task.
4) assembly detection: after the assembly is completed, straight-line motion mechanism 20 drives turntable mechanism 21 from automatic assembling station to people Work station;26 pairs of assembly results of industrial camera above components are detected and retain detection data.Detect it is errorless after Mutual disassembly's components complete assembly manipulation.
The present invention is to guarantee the reliability of automatic lock screw process, and design multiple protective and detection guarantee that screw lock pays essence It is quasi-.Firstly, screw automatic charging machine 1 has tally function, and it is connect by specific communication port with upper software, from kinetonucleus Quasi- lock silk quantity;Secondly, all electric screwdrivers are configured with the detection such as torque sensor and sliding teeth, floating lock, leakage lock, intelligent control screwed lock Quality is paid, to lock silk abnormal alarm;Finally, 26 pairs of assembly results of industrial camera are detected and retained detection data, guarantee dress With accuracy and trackability.
The automatic charging of the achievable five direction screws of automatic assembling machine of the present invention, dispensing, lock silk operation, have The feature that structure is simple, space hold is few, easy to operate.
It, can according to the technique and scheme of the present invention and its hair it is understood that for those of ordinary skills Bright design is subject to equivalent substitution or change, and all these changes or replacement all should belong to the guarantor of appended claims of the invention Protect range.

Claims (10)

1. a kind of automatic assembling machine includes Screw feeding machine (1), vertical lock silk module (2), lateral lock silk module (3), screw thread point Rubber moulding block (4), pusher shift module (5), assembly machine workbench (7), it is characterised in that:
Assembly machine workbench (7) is equipped with frame;
Screw feeding machine (1) is installed on a side of frame, for mentioning for vertical lock silk module (2), lateral lock silk module (3) For screw;
Screw thread dispensing module (4) is installed on the bottom of frame, for providing for vertical lock silk module (2), lateral lock silk module (3) Screw thread glue;
Vertical lock silk module (2) is installed on above frame and perpendicular to assembly machine workbench (7), is used for from Screw feeding machine (1) Take screw away, the lockhole position on vertical plane for driving screw to lock component to be assembled again after dispensing in screw thread dispensing module (4), Complete lock silk;
Lateral lock silk module (3) is installed on a side of frame, for taking screw away from Screw feeding machine (1), drives screw Lock silk is completed in the lockhole position on side for locking component to be assembled again after dispensing in screw thread dispensing module (4);
Pusher shift module (5) is installed on the bottom of frame, fixes for shifting component to be assembled on tooling position onto, and Component to be assembled is rotated as needed.
2. a kind of automatic assembling machine according to claim 1, it is characterised in that vertical lock silk module (2) includes the first screw Locking machine structure (9), the first X-direction movement mechanism (10), the first Y-direction movement mechanism (11) and the first Z-direction movement mechanism (12);First Y-direction movement mechanism (11) is mounted on the first X-direction movement mechanism (10), the first Z-direction movement mechanism (12) It is mounted on the first Y-direction movement mechanism (11), the first the screwed lock mechanism (9) is installed on the first Z-direction movement mechanism (12) On.
3. a kind of automatic assembling machine according to claim 2, it is characterised in that the first the screwed lock mechanism (9) is using absorption Formula electric screwdriver head.
4. a kind of automatic assembling machine according to claim 2, it is characterised in that the first X-direction movement mechanism (10), the first Y Direction movement mechanism (11) and the first Z-direction movement mechanism (12) include servo motor, guide rail lead screw and encoder, servo electricity Machine drives guide rail guide screw movement, and encoder completes position record and calibration.
5. a kind of automatic assembling machine according to claim 1, it is characterised in that lateral lock silk module (3) includes the second screw Locking machine structure (13), the second X-direction movement mechanism (14), the second Y-direction movement mechanism (15) and the second Z-direction movement mechanism (16), the second Y-direction movement mechanism (15) is mounted on the second X-direction movement mechanism (14), the second Z-direction movement mechanism (16) It is mounted on the second Y-direction movement mechanism (15), the second the screwed lock mechanism (13) is mounted on the second Z-direction movement mechanism (16) On.
6. a kind of automatic assembling machine according to claim 5, it is characterised in that the second the screwed lock mechanism (13), which uses, blows Gas formula electric screwdriver head.
7. a kind of automatic assembling machine according to claim 5, it is characterised in that the second X-direction movement mechanism (14), the 2nd Y Direction movement mechanism (15) and the second Z-direction movement mechanism (16) include servo motor, guide rail lead screw and encoder, servo electricity Machine drives guide rail guide screw movement, and encoder completes position record and calibration.
8. a kind of automatic assembling machine according to claim 1, it is characterised in that pusher shift module (5) includes linear motion Mechanism (20), turntable mechanism (21) and clamping tooling (22), straight-line motion mechanism (20) use servo motor and guide rail lead screw control System linear motion;Turntable mechanism (21) is installed on above straight-line motion mechanism (20), using motor and commutator realize turntable around The rotation of vertical direction;Clamping tooling (22) is mounted on turntable mechanism (21), for component to be assembled to be fixed on turntable.
9. a kind of automatic assembling machine according to claim 1, it is characterised in that screw thread dispensing module (4) includes vertical dispensing Device (23), horizontal adhesive dispensing device (24) and adhesive dispensing device pedestal (25), vertical adhesive dispensing device (23) are mutually perpendicular to horizontal adhesive dispensing device (24) And it is mounted on adhesive dispensing device pedestal (25);Vertical adhesive dispensing device (23) generates air pressure by piston, squeezes out screw thread glue using pressure and supplies Vertical lock silk module (2) uses;Horizontal adhesive dispensing device (24) generates air pressure by piston, squeezes out screw thread glue for lateral lock using pressure Silk module (3) uses.
10. a kind of automatic assembling machine according to claim 1, it is characterised in that also comprising assembly detection module (6), assembly Detection module (6) includes industrial camera (26) and camera holder (27), and industrial camera (26) is installed on camera holder (27), camera holder (27) it is installed on frame, industrial camera (26) is configured as obtaining assembly image and sending being analyzed to back-end system.
CN201910549678.8A 2019-06-24 2019-06-24 Automatic assembling machine Pending CN110170829A (en)

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CN111571190A (en) * 2020-05-22 2020-08-25 中国科学院自动化研究所 Three-dimensional visual automatic assembly system and method
CN113020959A (en) * 2021-03-11 2021-06-25 中国科学院自动化研究所 Binocular vision-based automatic joint tightening angle prediction device and system

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Application publication date: 20190827