CN111113026A - Automatic assembly equipment of small rotor type oil pump - Google Patents
Automatic assembly equipment of small rotor type oil pump Download PDFInfo
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- CN111113026A CN111113026A CN202010033138.7A CN202010033138A CN111113026A CN 111113026 A CN111113026 A CN 111113026A CN 202010033138 A CN202010033138 A CN 202010033138A CN 111113026 A CN111113026 A CN 111113026A
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- 239000000463 material Substances 0.000 claims abstract description 18
- 238000009434 installation Methods 0.000 claims abstract description 14
- 230000001915 proofreading effect Effects 0.000 claims description 6
- 210000001503 joint Anatomy 0.000 claims description 5
- 239000003921 oil Substances 0.000 description 46
- 238000004519 manufacturing process Methods 0.000 description 6
- 238000000034 method Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 239000012141 concentrate Substances 0.000 description 1
- 239000010705 motor oil Substances 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P21/00—Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with programme control
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- 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
- B23P19/007—Picking-up and placing mechanisms
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Abstract
The invention discloses automatic assembly equipment of a small rotor type oil pump, which comprises an equipment support, a material platform, a feeding manipulator, a rotating platform, a calibration assembly, a transferring manipulator, an installation platform, a material clamping and conveying manipulator, an assembly manipulator and a PLC (programmable logic controller), wherein the feeding manipulator is used for transferring oil pump parts to the rotating platform; the correction assembly corrects the deviation between the reference position and the actual position of the oil pump part; the rotating platform drives the oil pump part to rotate to a reference position; the automatic assembling equipment collects the pose of the oil pump parts by using the image collecting assembly, adjusts the oil pump parts to a preset assembling position by using the rotating platform, and then performs mechanical assembling by using the manipulator, so that the assembling efficiency, the assembling quality and the assembling system flexibility are improved.
Description
Technical Field
The invention relates to the technical field of oil pump assembly production, in particular to automatic assembly equipment of a small rotor type oil pump.
Background
The rotor type oil pump is widely applied to vehicles such as automobiles, motorcycles, tractors and the like, and has small volume and high assembly requirement. The traditional rotor type oil pump has two main assembling modes: one is a manual operation mode, namely assembly is carried out by matching human eyes and human hands, but due to the characteristics of easy fatigue, subjectivity and the like of workers, the problems of poor assembly accuracy, low efficiency and the like are easily caused, and the product quality is difficult to ensure. The other type is that the machine is used for assembly, all parts are placed at proper positions firstly, the positioning assembly is carried out through a simple sensor and a controller, the efficiency is improved, the flexibility is poor, one set of equipment can only be suitable for assembly of products of certain types, and parts with high matching precision requirements still need to be assembled manually.
The small rotor type oil pump mainly comprises eight parts, such as a pump body, a shaft, an inner rotor, an outer rotor, a screw and the like, and has the external dimension of 65mm multiplied by 8.5mm and compact structure; the assembly process flow of the engine oil pump is as follows: 1. the shaft is arranged in the corresponding air at the bottom of the pump body; 2. an inner rotor is arranged on the shaft; 3. an outer rotor is arranged on the inner rotor; 4. and (5) installing a pump cover plate and screwing 3 bolts. The assembly requirements are generally: 1. the matching between the shaft, the inner rotor and the outer rotor is as follows: one end of the shaft is provided with a chamfered edge pin, an inner hole of the inner rotor is a chamfered edge hole, and the chamfered edge parts of the inner rotor and the shaft can be installed only after being aligned; the inner rotor and the outer rotor are not concentric, the inner rotor and the outer rotor can be assembled only under the condition of meshing at a certain angle, small blind holes used as alignment reference are drilled on the end faces of the inner rotor and the outer rotor for facilitating the assembly, and the smooth assembly can be realized only when the angular deviation of parts is less than or equal to 0.2 degrees. 2. Screw tightening torque limitation: the tightening torque of the screw M5 needs to be between 3 and 5 N.m. 3. After the screw is screwed down, the oil pump shaft is ensured to rotate flexibly and stably without clamping stagnation.
If the small-sized rotor type oil pump is manually assembled, the inner rotor and the shaft are assembled, and the inner rotor and the outer rotor are assembled, the alignment and alignment difficulty is high, the sizes of an assembly body and parts are small, the operation is inconvenient, workers need to concentrate high attention, the labor intensity is high, and the production efficiency is low; when people work on the screw, the tightening force is difficult to control accurately, and the assembling quality is affected.
Disclosure of Invention
The invention aims to provide automatic assembly equipment of a small rotor type oil pump, which utilizes an image acquisition assembly to acquire the pose of oil pump parts, adjusts the oil pump parts to a preset assembly position by a rotary platform, and then utilizes a manipulator to carry out mechanical assembly, thereby improving the assembly efficiency and the assembly quality, improving the flexibility of an assembly system and solving the technical problems mentioned in the background technology.
The purpose of the invention is realized by the following technical scheme:
an automatic assembling device of a small rotor type oil pump comprises a device support, a material platform, a feeding mechanical arm, a rotating platform, a calibration assembly, a transferring mechanical arm, an installing platform, a clamping conveying mechanical arm, an assembling mechanical arm and a PLC main controller, wherein the material platform, the feeding mechanical arm, the calibration assembly, the transferring mechanical arm, the installing platform, the clamping conveying mechanical arm, the assembling mechanical arm and the PLC main controller are all installed on the device support, and the rotating platform is fixedly installed on the transferring mechanical arm;
the feeding manipulator is used for transferring oil pump parts to the rotary platform;
the proofreading assembly is used for proofreading the deviation between the reference position and the actual position of the oil pump part;
the rotary platform is used for driving the oil pump part to rotate to a reference position;
the assembly manipulator is used for clamping or adsorbing the oil pump parts and conveying the oil pump parts to the mounting platform, and comprises a wind batch which is used for fastening and assembling the oil pump parts;
the calibration assembly comprises a camera, the camera is electrically connected with the input end of the PLC main controller, and the driving elements of the feeding mechanical arm, the rotating platform, the transferring mechanical arm, the clamping conveying mechanical arm and the assembling mechanical arm are electrically connected with the output end of the PLC main controller.
Further, material loading manipulator includes mount pad, first spiral arm, second spiral arm, rotatory support arm, first pneumatic hand and holds and first vacuum chuck, first spiral arm rotates to be installed on the mount pad, the second spiral arm rotates to be installed on the first spiral arm, the one end of rotatory support arm is rotated and is installed on the mount pad, the other end of rotatory support arm with the top fixed connection of second spiral arm, slidable mounting has the rotation axis on the second spiral arm, the end of rotation axis is equipped with the fixed plate, first vacuum chuck installs the bottom terminal surface at the fixed plate, first pneumatic hand is held and is installed the lateral wall of fixed plate, mount pad fixed mounting be in on the equipment support.
Further, transport the manipulator and include vertical transport arm and horizontal transport arm, horizontal transport arm pass through horizontal slip table slidable mounting vertically transport on the arm, rotary platform passes through vertical slip table slidable mounting horizontally transport on the arm.
Further, horizontal slip table and rotary platform all install respectively through the same slip subassembly longitudinal transfer arm and horizontal transfer arm.
Further, the sliding assembly includes first rotation screw rod, first servo motor and sliding connection seat, the one end of first rotation screw rod is passed through the bearing and is installed vertically the one end of transporting the arm, vertically the other end of transporting the arm installs first servo motor, first servo motor's output with the other end of first rotation screw rod is connected, sliding connection seat is last seted up with first rotation screw rod complex screw thread through-hole, sliding connection seat's top with the bottom terminal surface fixed connection of horizontal slip table, the horizontal arm of transporting of top fixed connection of horizontal slip table, first servo motor does sliding assembly's drive element, first servo motor with PLC main control unit's output electric connection.
Furthermore, the rotating platform comprises a rotating platform and a stepping motor, the rotating platform is rotatably mounted on the longitudinal sliding table, the stepping motor is connected with a driving piece of the rotating platform, the stepping motor is a driving element of the rotating platform, and the stepping motor is electrically connected with the output end of the PLC main controller;
the turntable is provided with a light source connecting plate, the light source connecting plate is provided with a backlight source, and the backlight source is used for placing parts of the oil pump.
Furthermore, the clamping conveying manipulator and the assembling manipulator both comprise the same three-dimensional degree-of-freedom moving assembly, a second pneumatic hand grab and a second vacuum chuck are mounted on the three-dimensional degree-of-freedom moving assembly of the clamping conveying manipulator, and the air screwdriver is mounted on the three-dimensional degree-of-freedom moving assembly of the assembling manipulator.
Further, the three-way freedom degree moving assembly comprises an X-axis mechanical arm, a Y-axis mechanical arm and a Z-axis mechanical arm, wherein a support is slidably mounted on the X-axis mechanical arm, the Y-axis mechanical arm is slidably connected with the support, the Z-axis mechanical arm is fixedly connected with the Y-axis mechanical arm, and a mounting plate is slidably mounted on the Z-axis mechanical arm;
the X-axis mechanical arm and the support, the Y-axis mechanical arm and the support, and the mounting plate and the Z-axis mechanical arm are connected in a sliding manner through the same moving assembly;
and a second pneumatic hand gripper, a second vacuum chuck or a pneumatic screwdriver is arranged on the mounting plate.
Further, the removal subassembly includes that the second rotates screw rod, second servo motor and second slip table, the second rotates the one end of screw rod and passes through the bearing and install the one end of X axle arm, second servo motor is installed to the other end of X axle arm, second servo motor's output and second rotate the other end of screw rod and be connected, the bottom of second slip table seted up with the second rotates screw rod complex screw thread through-hole, the top of second slip table with support fixed connection, second servo motor with PLC main control unit's output electric connection.
Further, mounting platform includes platform support, link, three pneumatic hand of grabbing and points, three pneumatic hand of grabbing are all installed with the finger on the link, the link pass through the angle type support with platform support fixed connection, still be equipped with the locating pin on the link.
The invention has the beneficial effects that:
according to the automatic assembling device of the small rotor type oil pump, manual work is replaced by the camera vision assembly and the mechanical arm, the camera vision assembly is used for identifying the pose of the oil pump part, the part is adjusted to the correct assembling position through the rotary platform, and then the transferring and assembling process is completed through the relevant mechanical arm, so that the assembling efficiency and the assembling precision are greatly improved, oil pumps of different models can be assembled only through program adjustment, and the flexibility of an assembling system is improved; the automatic production line has the advantages of high automation degree, stable production and high working efficiency, can effectively improve the production and assembly efficiency during specific application, effectively reduces the labor cost, has high consistency degree of product assembly, better production quality of products and higher product percent of pass.
Drawings
FIG. 1 is a schematic diagram of the overall structure of an automatic assembling device of a small rotor type oil pump according to the present invention;
FIG. 2 is a schematic diagram of the overall structure of the automatic assembling apparatus of the small rotor type oil pump according to the present invention;
fig. 3 is a schematic structural diagram of the feeding manipulator of the present invention;
FIG. 4 is a schematic structural view of a transfer robot of the present invention;
FIG. 5 is a schematic structural view of a rotary platform according to the present invention;
FIG. 6 is a schematic structural view of a clamping and conveying robot of the present invention;
FIG. 7 is a schematic structural view of an assembly robot of the present invention;
FIG. 8 is a schematic structural view of the mounting platform of the present invention;
in the figure, 1-equipment support, 2-material table, 3-material loading mechanical arm, 301-mounting seat, 302-first rotary arm, 303-second rotary arm, 304-rotary support arm, 305-first pneumatic hand grip, 306-first vacuum chuck, 307-rotary shaft, 308-fixing plate, 4-rotary platform, 401-rotary table, 402-stepping motor, 5-alignment assembly, 6-transfer mechanical arm, 601-longitudinal transfer arm, 602-transverse transfer arm, 603-transverse slide table, 604-longitudinal slide table, 7-mounting platform, 701-platform support, 702-connecting frame, 703-three-grip pneumatic hand grip, 704-finger, 705-angle support, 706-positioning pin, 8-material clamping conveying mechanical arm, 801-a second pneumatic hand gripper, 802-a second vacuum chuck, 9-an assembly manipulator, 10-a wind screwdriver, 11-a camera, 12-a first rotating screw rod, 13-a first servo motor, 14-a sliding connection seat, 15-a light source connection plate, 16-a backlight source, 17-an X-axis mechanical arm, 18-a Y-axis mechanical arm, 19-a Z-axis mechanical arm, 20-a support, 21-a mounting plate, 22-a second rotating screw rod, 23-a second servo motor and 24-a second sliding table.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the following embodiments, and it should be understood that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without inventive effort based on the embodiments of the present invention, are within the scope of the present invention.
Example 1
Referring to fig. 1 to 8, the present invention provides a technical solution:
referring to fig. 1-2, an automatic assembling device for a small rotor type oil pump comprises a device support 1, a material platform 2, a feeding manipulator 3, a rotating platform 4, a calibration assembly 5, a transferring manipulator 6, an installation platform 7, a clamping and conveying manipulator 8, an assembling manipulator 9 and a PLC main controller, wherein the material platform 2, the feeding manipulator 3, the calibration assembly 5, the transferring manipulator 6, the installation platform 7, the clamping and conveying manipulator 8, the assembling manipulator 9 and the PLC main controller (not shown) are all installed on the device support 1, and the rotating platform 4 is fixedly installed on the transferring manipulator 6;
the feeding manipulator 3 is used for transferring oil pump parts to the rotary platform 4;
the proofreading component 5 is used for proofreading the deviation between the reference position and the actual position of the oil pump part;
the rotating platform 4 is used for driving the oil pump part to rotate to a reference position;
the transfer manipulator 6 is used for transferring oil pump parts to the butt joint of the mounting platform 7, the clamping and conveying manipulator 8 clamps or adsorbs the oil pump parts and conveys the oil pump parts to the mounting platform 7, the assembling manipulator 9 comprises a wind batch 10, and the wind batch 10 completes fastening and assembling of the oil pump parts;
the calibration assembly 5 comprises a camera 11, the camera 11 is electrically connected with the input end of the PLC main controller, and the driving elements of the feeding manipulator 3, the rotating platform 4, the transferring manipulator 6, the clamping conveying manipulator 8 and the assembling manipulator 9 are electrically connected with the output end of the PLC main controller.
The invention relates to automatic assembly equipment of a small rotor type oil pump, which mainly comprises a feeding manipulator 3, a transferring manipulator 6, a rotary platform 4, a clamping and conveying manipulator 8, an assembly manipulator 9 and the like, wherein the feeding manipulator 3 is used for clamping and conveying parts of the transferred oil pump to the rotary platform 4, a camera 11 is used for shooting image information of the actual position of the parts of the oil pump and transmitting the image information to a PLC main controller for storage through a wireless network, the rotary platform 4 rotates according to the contrast difference between the actual position and the reference position to finish reference position calibration, the parts of the oil pump are conveyed to a butt joint part with an installation platform 7 by the transferring manipulator 6 after no error calibration, the clamping and conveying manipulator 8 clamps or adsorbs base parts to the installation platform 7, a pneumatic clamp on the installation platform 7 fixes the base parts, the processes are repeated to finish the fixation of all the base parts on the installation platform 7, finally, the screw fastening between each base part is completed by the windrow 10 of the assembling manipulator 9.
According to the automatic assembling device of the small rotor type oil pump, manual work is replaced by the camera vision assembly and the mechanical arm, the camera vision assembly is used for identifying the pose of the oil pump part, the part is adjusted to the correct assembling position through the rotary platform 4, and then the transferring and assembling procedures are completed through the relevant mechanical arm, so that the assembling precision is high, the speed is high, oil pumps of different models can be assembled only through program adjustment, and the flexibility of an assembling system is improved.
Referring to fig. 3, the feeding manipulator 3 includes an installation base 301, a first swing arm 302, a second swing arm 303, a rotating arm 304, a first pneumatic hand grip 305, and a first vacuum chuck 306, where the first swing arm 302 is rotatably installed on the installation base 301, the second swing arm 303 is rotatably installed on the first swing arm 302, one end of the rotating arm 304 is rotatably installed on the installation base 301, the other end of the rotating arm 304 is fixedly connected to the top of the second swing arm 303, a rotating shaft 307 is slidably installed on the second swing arm 303, a fixing plate 308 is disposed at the end of the rotating shaft 307, the first vacuum chuck 306 is installed on the bottom end surface of the fixing plate 308, the first pneumatic hand grip 305 is installed on the side wall of the fixing plate 308, and the installation base 301 is fixedly installed on the device support 1.
The first pneumatic gripper 305 of the feeding manipulator 3 is used for gripping base parts, and the fingers 704 of the first pneumatic gripper 305 are provided with inner and outer chucks for gripping parts on the inner circle or outer circle surface; the first vacuum chuck 306 is used for adsorbing thin plate parts such as cover plate parts, the first pneumatic hand grip 305 and the first vacuum chuck 306 cannot act simultaneously, and if conversion is needed between the first pneumatic hand grip 305 station and the first vacuum chuck 306 station, the rotating shaft 307 needs to be rotated by 90 degrees; the first radial arm 302 can rotate around the mounting base 301, the second radial arm 303 can rotate around the first radial arm 302, and the second radial arm 303 can also rotate around the mounting base 301 under the driving of the rotating support arm 304, so that parts can be transferred from the material platform 2 positioned outside the feeding manipulator 3.
The feeding manipulator 3 can be driven by a driving element in the prior art, and is not described in detail herein.
Referring to fig. 4, the transfer robot 6 includes a longitudinal transfer arm 601 and a transverse transfer arm 602, the transverse transfer arm 602 is slidably mounted on the longitudinal transfer arm 601 through a transverse sliding table 603, and the rotary platform 4 is slidably mounted on the transverse transfer arm 602 through a longitudinal sliding table 604.
Further, the transverse sliding table 603 is mounted on the longitudinal transfer arm 601 through a sliding assembly, the rotary platform 4 is mounted on the transverse transfer arm 602 through a sliding assembly, and the structures of the sliding assemblies are the same.
Further, the mounting structure of the transverse sliding table 603 and the longitudinal transfer arm 601 is as follows: the sliding assembly includes first rotation screw rod 12, first servo motor 13 and sliding connection seat 14, the one end of first rotation screw rod 12 is passed through the bearing and is installed vertical transfer arm 601's one end, vertical transfer arm 601's the other end installs first servo motor 13, first servo motor 13's output with first rotation screw rod 12's the other end is connected, sliding connection seat 14 is last seted up with first rotation screw rod 12 complex screw thread through-hole, sliding connection seat 14's top with the bottom terminal surface fixed connection of horizontal slip table 603, the horizontal arm 602 of transporting of top fixed connection of horizontal slip table 603, first servo motor 13 does sliding assembly's drive element, first servo motor 13 with PLC main control unit's output electric connection.
The mounting arrangement between the rotary platform 4 and the transverse transfer arm 602 is as above.
The transverse sliding table 603 can move back and forth along the longitudinal transfer arm 601, and the longitudinal sliding table 604 can move back and forth along the transverse transfer arm 602, so that the transverse and longitudinal position adjustment of the rotary platform 4 on the longitudinal sliding table 604 in the three-dimensional space of the transfer manipulator 6 is realized, and oil pump parts can be smoothly transferred to the butt joint of the mounting platform 7.
Referring to fig. 5, the rotating platform 4 includes a rotating platform 401 and a stepping motor 402, the rotating platform 401 is rotatably mounted on the longitudinal sliding table 604, the stepping motor 402 is connected to a driving member of the rotating platform 401, the stepping motor 402 is a driving element of the rotating platform 4, and the stepping motor 402 is electrically connected to an output end of the PLC main controller;
the turntable 401 is provided with a light source connecting plate 15, the light source connecting plate 15 is provided with a backlight source 16, and the backlight source 16 is used for placing oil pump parts.
The backlight source 16 is used for placing oil pump parts, the backlight source 16 is installed on a rotary table 401 of a rotary platform 4 through a light source connecting plate 15, the rotary table 401 rotates when a stepping motor 402 is driven, and the rotary platform 4 can be adjusted along with the transverse and longitudinal positions in the three-dimensional space of a transfer manipulator 6, so that the oil pump parts can be smoothly adjusted to a reference position and transferred to the butt joint of an installation platform 7.
Referring to fig. 6 to 7, the material clamping and conveying robot 8 and the assembling robot 9 both include the same three-dimensional degree of freedom moving assembly, a second pneumatic gripper 801 and a second vacuum chuck 802 are mounted on the three-dimensional degree of freedom moving assembly of the material clamping and conveying robot 8, and the air screwdriver 10 is mounted on the three-dimensional degree of freedom moving assembly of the assembling robot 9.
The three-way freedom degree moving assembly can realize position adjustment in three directions of an X, Y, Z axis, so that two pneumatic hand grippers, the second vacuum chuck 802 or the air screwdriver 10 are driven to adjust the position in a three-dimensional space, and oil pump parts can be grabbed, adsorbed and installed accurately.
Further, the three-way degree-of-freedom moving assembly comprises an X-axis mechanical arm 17, a Y-axis mechanical arm 18 and a Z-axis mechanical arm 19, wherein a support 20 is slidably mounted on the X-axis mechanical arm 17, the Y-axis mechanical arm 18 is slidably connected with the support 20, the Z-axis mechanical arm 19 is fixedly connected with the Y-axis mechanical arm 18, and a mounting plate 21 is slidably mounted on the Z-axis mechanical arm 19;
the X-axis mechanical arm 17 and the support 20, the Y-axis mechanical arm 18 and the support 20, and the mounting plate 21 and the Z-axis mechanical arm 19 are connected in a sliding mode through the same moving assembly; a second pneumatic hand grip 801, a second vacuum chuck 802 or a wind batch 10 are mounted on the mounting plate 21.
The Y-axis mechanical arm 18 can slide along the X-axis mechanical arm 17 along with the support 20, the Y-axis mechanical arm 18 and the support 20 can slide relatively, and the mounting plate 21 can slide along the Z-axis mechanical arm 19, so that the position of the second pneumatic hand grip 801, the second vacuum chuck 802 or the wind batch 10 on the mounting plate 21 can be adjusted in three directions of X, Y, Z axes.
Further, the removal subassembly includes that the second rotates screw rod 22, second servo motor 23 and second slip table 24, the second rotates the one end of screw rod 22 and passes through the bearing and install the one end of X axle arm 17, second servo motor 23 is installed to the other end of X axle arm 17, the output and the second of second servo motor 23 rotate the other end of screw rod 22 and are connected, the bottom of second slip table 24 seted up with the second rotates screw rod 22 complex screw thread through-hole, the top of second slip table 24 with support 20 fixed connection, second servo motor 23 with PLC main control unit's output electric connection.
The moving components are all suitable for being arranged between the X-axis mechanical arm 17 and the support 20, between the Y-axis mechanical arm 18 and the support 20, and between the mounting plate 21 and the Z-axis mechanical arm 19, and when the second servo motor 23 is driven, the second rotating screw 22 rotates to drive the second sliding table 24 to move back and forth along the second rotating screw 22, so that the purpose that the support 20 moves along the X-axis mechanical arm 17 is achieved.
Referring to fig. 8, the mounting platform 7 includes a platform support 701, a connecting frame 702, a three-grab pneumatic gripper 703 and fingers 704, the three-grab pneumatic gripper 703 and the fingers 704 are both mounted on the connecting frame 702, the connecting frame 702 is fixedly connected to the platform support 701 through an angle-shaped support 705, and the connecting frame 702 is further provided with a positioning pin 706.
The mounting platform 7 is used for positioning and clamping parts of the oil pump base, and is convenient for mounting other parts subsequently. The three-jaw pneumatic gripper is fixedly connected with the angle-shaped support 705 through screws and keeps a certain distance from the angle-shaped support 705 through a connecting ring so as to ensure that the three jaws can act, the pneumatic gripper is used for clamping the oil pump base, the angle-shaped support 705 is fixedly connected with the platform support 701 through screws, and the angle-shaped support 705 is provided with a positioning pin 706 for positioning the base on the mounting platform 7.
The foregoing is illustrative of the preferred embodiments of this invention, and it is to be understood that the invention is not limited to the precise form disclosed herein and that various other combinations, modifications, and environments may be resorted to, falling within the scope of the concept as disclosed herein, either as described above or as apparent to those skilled in the relevant art. And that modifications and variations may be effected by those skilled in the art without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (10)
1. The utility model provides an automatic assembly equipment of small-size rotor formula oil pump which characterized in that: the automatic material loading and unloading device comprises an equipment support (1), a material platform (2), a feeding mechanical arm (3), a rotating platform (4), a calibration assembly (5), a transferring mechanical arm (6), an installation platform (7), a clamping and conveying mechanical arm (8), an assembly mechanical arm (9) and a PLC (programmable logic controller) main controller, wherein the material platform (2), the feeding mechanical arm (3), the calibration assembly (5), the transferring mechanical arm (6), the installation platform (7), the clamping and conveying mechanical arm (8), the assembly mechanical arm (9) and the PLC main controller are all installed on the equipment support (1), and the rotating platform (4) is fixedly installed on the transferring mechanical arm (6);
the feeding manipulator (3) is used for transferring oil pump parts to the rotary platform (4);
the proofreading assembly (5) is used for proofreading the deviation between the reference position and the actual position of the oil pump part;
the rotary platform (4) is used for driving the oil pump part to rotate to a reference position;
the oil pump assembly line is characterized in that the transfer manipulator (6) is used for transferring oil pump parts to the butt joint of the mounting platform (7), the clamping and conveying manipulator (8) clamps or adsorbs the oil pump parts and conveys the oil pump parts to the mounting platform (7), the assembly manipulator (9) comprises an air batch (10), and the air batch (10) completes fastening assembly of the oil pump parts;
the calibration assembly (5) comprises a camera (11), the camera (11) is electrically connected with the input end of the PLC main controller, and the driving elements of the feeding manipulator (3), the rotating platform (4), the transferring manipulator (6), the clamping conveying manipulator (8) and the assembling manipulator (9) are electrically connected with the output end of the PLC main controller.
2. The automatic assembling apparatus of a small rotor-type oil pump according to claim 1, characterized in that: the feeding manipulator (3) comprises a mounting seat (301), a first swing arm (302), a second swing arm (303), a rotating support arm (304), a first pneumatic hand gripper (305) and a first vacuum chuck (306), wherein the first swing arm (302) is rotatably mounted on the mounting seat (301), the second swing arm (303) is rotatably mounted on the first swing arm (302), one end of the rotating support arm (304) is rotatably mounted on the mounting seat (301), the other end of the rotating support arm (304) is fixedly connected with the top of the second swing arm (303), a rotating shaft (307) is slidably mounted on the second swing arm (303), a fixing plate (308) is arranged at the tail end of the rotating shaft (307), the first vacuum chuck (306) is mounted on the bottom end face of the fixing plate (308), and the first pneumatic hand gripper (305) is mounted on the side wall of the fixing plate (308), the mounting seat (301) is fixedly mounted on the equipment support (1).
3. The automatic assembling apparatus of a small rotor-type oil pump according to claim 1, characterized in that: transfer manipulator (6) including vertically transporting arm (601) and transversely transport arm (602), transversely transport arm (602) through horizontal slip table (603) slidable mounting vertically transport on arm (601), rotary platform (4) through vertical slip table (604) slidable mounting transversely transport on arm (602).
4. The automatic assembling apparatus of a small rotor-type oil pump according to claim 3, characterized in that: the transverse sliding table (603) and the rotary platform (4) are respectively arranged on the longitudinal transfer arm (601) and the transverse transfer arm (602) through the same sliding assembly.
5. The automatic assembling apparatus of a small rotor-type oil pump according to claim 4, characterized in that: the sliding component comprises a first rotating screw rod (12), a first servo motor (13) and a sliding connecting seat (14), one end of the first rotating screw (12) is mounted on one end of the longitudinal transfer arm (601) through a bearing, the other end of the longitudinal transfer arm (601) is provided with a first servo motor (13), the output end of the first servo motor (13) is connected with the other end of the first rotating screw rod (12), the sliding connecting seat (14) is provided with a thread through hole matched with the first rotating screw rod (12), the top end of the sliding connection seat (14) is fixedly connected with the bottom end surface of the transverse sliding table (603), the top end of the transverse sliding table (603) is fixedly connected with a transverse transfer arm (602), the first servo motor (13) is a driving element of the sliding assembly, and the first servo motor (13) is electrically connected with the output end of the PLC main controller.
6. The automatic assembling apparatus of a small rotor-type oil pump according to claim 3, characterized in that: the rotary platform (4) comprises a rotary table (401) and a stepping motor (402), the rotary table (401) is rotatably mounted on the longitudinal sliding table (604), the stepping motor (402) is connected with a driving piece of the rotary table (401), the stepping motor (402) is a driving element of the rotary platform (4), and the stepping motor (402) is electrically connected with an output end of the PLC main controller;
the oil pump turntable is characterized in that a light source connecting plate (15) is installed on the turntable (401), a backlight source (16) is arranged on the light source connecting plate (15), and the backlight source (16) is used for placing oil pump parts.
7. The automatic assembling apparatus of a small rotor-type oil pump according to claim 1, characterized in that: press from both sides material conveying manipulator (8) and assembly manipulator (9) and all include the same three-dimensional degree of freedom and remove the subassembly, press from both sides to install on the three-dimensional degree of freedom removal subassembly of material conveying manipulator (8) that the second is pneumatic to be held in hand (801) and second vacuum chuck (802), the wind is criticized (10) and is installed on the three-dimensional degree of freedom removal subassembly of assembly manipulator (9).
8. The automatic assembling apparatus of a small rotor-type oil pump according to claim 7, characterized in that: the three-dimensional freedom degree moving assembly comprises an X-axis mechanical arm (17), a Y-axis mechanical arm (18) and a Z-axis mechanical arm (19), a support (20) is slidably mounted on the X-axis mechanical arm (17), the Y-axis mechanical arm (18) is slidably connected with the support (20), the Z-axis mechanical arm (19) is fixedly connected with the Y-axis mechanical arm (18), and a mounting plate (21) is slidably mounted on the Z-axis mechanical arm (19);
the X-axis mechanical arm (17) and the support (20), the Y-axis mechanical arm (18) and the support (20), and the mounting plate (21) and the Z-axis mechanical arm (19) are in sliding connection through the same moving assembly;
and a second pneumatic hand grab (801), a second vacuum chuck (802) or a wind screwdriver (10) are arranged on the mounting plate (21).
9. The automatic assembling apparatus of a small rotor-type oil pump according to claim 7, characterized in that: the removal subassembly includes that the second rotates screw rod (22), second servo motor (23) and second slip table (24), the second rotates the one end of screw rod (22) and passes through the bearing and install the one end of X axle arm (17), second servo motor (23) are installed to the other end of X axle arm (17), the output and the second of second servo motor (23) rotate the other end of screw rod (22) and are connected, the bottom of second slip table (24) seted up with the second rotates screw rod (22) complex screw thread through-hole, the top of second slip table (24) with support (20) fixed connection, second servo motor (23) with the output electric connection of PLC main control unit.
10. The automatic assembling apparatus of a small rotor-type oil pump according to claim 1, characterized in that: mounting platform (7) include platform support (701), link (702), three grab pneumatic hand grab (703) and finger (704) are all installed on link (702), link (702) through angle type support (705) with platform support (701) fixed connection, still be equipped with locating pin (706) on link (702).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010033138.7A CN111113026B (en) | 2020-01-13 | Automatic assembly equipment of small-size rotor type oil pump |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010033138.7A CN111113026B (en) | 2020-01-13 | Automatic assembly equipment of small-size rotor type oil pump |
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| Publication Number | Publication Date |
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| CN111113026A true CN111113026A (en) | 2020-05-08 |
| CN111113026B CN111113026B (en) | 2024-06-11 |
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