CN111113026B - Automatic assembly equipment of small-size rotor type oil pump - Google Patents
Automatic assembly equipment of small-size rotor type oil pump Download PDFInfo
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- CN111113026B CN111113026B CN202010033138.7A CN202010033138A CN111113026B CN 111113026 B CN111113026 B CN 111113026B CN 202010033138 A CN202010033138 A CN 202010033138A CN 111113026 B CN111113026 B CN 111113026B
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- 238000012546 transfer Methods 0.000 claims abstract description 37
- 239000000463 material Substances 0.000 claims abstract description 14
- 210000001503 joint Anatomy 0.000 claims abstract description 6
- 238000012937 correction Methods 0.000 claims abstract description 4
- 239000003921 oil Substances 0.000 claims description 54
- 239000010705 motor oil Substances 0.000 claims description 7
- 230000000712 assembly Effects 0.000 claims description 4
- 238000000429 assembly Methods 0.000 claims description 4
- 238000009434 installation Methods 0.000 abstract description 5
- 238000004519 manufacturing process Methods 0.000 description 6
- 238000000034 method Methods 0.000 description 4
- 238000007688 edging Methods 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000012141 concentrate Substances 0.000 description 1
- 238000012797 qualification Methods 0.000 description 1
Classifications
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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
-
- 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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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automatic Assembly (AREA)
- Manipulator (AREA)
Abstract
The invention discloses automatic assembly equipment of a small rotor type oil pump, which comprises an equipment bracket, a material platform, a feeding manipulator, a rotary platform, a calibration assembly, a transfer manipulator, an installation platform, a 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 rotary platform; the correction component corrects the deviation of 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 transfer manipulator transfers the oil pump part to the butt joint of the mounting platform, the clamping material conveying manipulator clamps or adsorbs the oil pump part to be conveyed to the mounting platform, the air batch is used for fastening assembly among the oil pump parts, the automatic assembly equipment utilizes the image acquisition assembly to acquire the pose of the oil pump part, the rotating platform adjusts the oil pump part to a preset assembly position, and then the mechanical assembly is carried out by utilizing the manipulator, so that the assembly efficiency, the assembly quality and the assembly 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 assembly mode mainly comprises two types: one is manual operation mode, namely, the assembly is carried out through human eyes and human hands, but the problems of poor assembly accuracy, low efficiency and the like are easily caused due to the characteristics of easy fatigue, subjectivity and the like of workers, and the product quality is difficult to guarantee. The other is to use the machine assembly, firstly, each part is placed at a proper position, positioning assembly is carried out through a simple sensor and a controller, the efficiency is improved, but the flexibility is poor, one set of equipment is only suitable for the assembly of products of a certain model, and certain parts with high matching precision still need to be assembled manually.
The small rotor type oil pump mainly comprises a pump body, a shaft, an inner rotor, an outer rotor, screws and other eight parts, and has the external dimension of 65mm multiplied by 8.5mm and a compact structure; the assembly process flow of the oil pump comprises the following steps: 1. loading the shaft into the air corresponding to the bottom of the pump body; 2. loading an inner rotor on the shaft; 3. an outer rotor is arranged on the inner rotor; 4. and installing a pump cover plate and screwing 3 bolts. The assembly requirements are generally as follows: 1. shaft-inner rotor-outer rotor: one end of the shaft is provided with a edging pin, the inner hole of the inner rotor is a edging hole, and the inner rotor and the edging part of the shaft are aligned to be assembled; the inner rotor and the outer rotor are not concentric, the inner rotor and the outer rotor can be assembled under the condition of meshing at a certain angle, small blind holes serving as alignment references are drilled on the end surfaces of the inner rotor and the outer rotor for convenient assembly, and the part angle deviation is less than or equal to 0.2 degrees for smooth assembly. 2. Screw tightening torque limit: the tightening torque of the screw M5 is required to be 3-5 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 rotor type oil pump is assembled manually, the assembly between the inner rotor and the shaft and the assembly between the inner rotor and the outer rotor are high in alignment difficulty, the assembly body and the parts are small in size, the operation is inconvenient, the workers need to concentrate attention highly, the labor intensity is high, and the production efficiency is low; when people work a screw, the tightening force is difficult to accurately control, and the assembly quality is affected.
Disclosure of Invention
The invention aims to provide automatic assembly equipment for a small rotor type oil pump, which utilizes an image acquisition assembly to acquire the pose of an oil pump part, a rotary platform adjusts the oil pump part to a preset assembly position, and a mechanical arm is utilized to carry out mechanical assembly, so that the assembly efficiency and the assembly quality are improved, and the flexibility of an assembly system is improved, so as to solve the technical problems in the background art.
The aim of the invention is realized by the following technical scheme:
The automatic assembly equipment of the small rotor type oil pump comprises an equipment support, a material platform, a material loading manipulator, a rotary platform, a calibration assembly, a transfer manipulator, an installation platform, a material clamping and conveying manipulator, an assembly manipulator and a PLC (programmable logic controller), wherein the material platform, the material loading manipulator, the calibration assembly, the transfer manipulator, the installation platform, the material clamping and conveying manipulator, the assembly manipulator and the PLC are all installed on the equipment support, and the rotary platform is fixedly installed on the transfer manipulator;
The feeding manipulator is used for transferring the oil pump part to the rotating platform;
the correction component is used for correcting deviation between a reference position and an actual position of the oil pump part;
the rotating platform is used for driving the oil pump part to rotate to a reference position;
the transferring manipulator is used for transferring the oil pump parts to the butt joint part of the mounting platform, the clamping and conveying manipulator clamps or adsorbs the oil pump parts to be conveyed to the mounting platform, the assembling manipulator comprises an air batch, and the air batch is used for fastening and assembling the oil pump parts;
the calibrating assembly comprises a camera, the camera is electrically connected with the input end of the PLC, and the driving element of the feeding manipulator, the rotating platform, the transferring manipulator, the clamping conveying manipulator and the assembling manipulator is electrically connected with the output end of the PLC.
Further, the feeding manipulator comprises a mounting seat, a first radial arm, a second radial arm, a rotary support arm, a first pneumatic hand grip and a first vacuum chuck, wherein the first radial arm is rotatably mounted on the mounting seat, the second radial arm is rotatably mounted on the first radial arm, one end of the rotary support arm is rotatably mounted on the mounting seat, the other end of the rotary support arm is fixedly connected with the top of the second radial arm, a rotary shaft is slidably mounted on the second radial arm, a fixing plate is arranged at the tail end of the rotary shaft, the first vacuum chuck is mounted on the bottom end face of the fixing plate, the first pneumatic hand grip is mounted on the side wall of the fixing plate, and the mounting seat is fixedly mounted on the equipment support.
Further, the transfer manipulator comprises a longitudinal transfer arm and a transverse transfer arm, wherein the transverse transfer arm is slidably mounted on the longitudinal transfer arm through a transverse sliding table, and the rotary platform is slidably mounted on the transverse transfer arm through the longitudinal sliding table.
Further, the transverse sliding table and the rotary platform are respectively installed on the longitudinal transfer arm and the transverse transfer arm through the same sliding assembly.
Further, the sliding component comprises a first rotating screw rod, a first servo motor and a sliding connecting seat, one end of the first rotating screw rod is installed at one end of the longitudinal transferring arm through a bearing, the other end of the longitudinal transferring arm is provided with the first servo motor, the output end of the first servo motor is connected with the other end of the first rotating screw rod, a threaded through hole matched with the first rotating screw rod is formed in the sliding connecting seat, the top end of the sliding connecting seat is fixedly connected with the bottom end face of the transverse sliding table, the top end of the transverse sliding table is fixedly connected with the transverse transferring arm, the first servo motor is a driving element of the sliding component, and the first servo motor is electrically connected with the output end of the PLC main controller.
Further, the rotary platform comprises a rotary table and a stepping motor, the rotary table is rotatably arranged on the longitudinal sliding table, the stepping motor is connected with a driving piece of the rotary table, the stepping motor is a driving element of the rotary 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, a backlight source is arranged on the light source connecting plate, and the backlight source is used for placing engine oil pump parts.
Further, the clamping and conveying manipulator and the assembling manipulator comprise the same three-dimensional freedom degree moving assembly, a second pneumatic gripper and a second vacuum chuck are arranged on the three-dimensional freedom degree moving assembly of the clamping and conveying manipulator, and the air batch is arranged on the three-dimensional freedom degree moving assembly of the assembling manipulator.
Further, the three-dimensional degree-of-freedom moving assembly comprises an X-axis mechanical arm, a Y-axis mechanical arm and a Z-axis mechanical arm, wherein a support is slidably arranged 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 arranged on the Z-axis mechanical arm;
The X-axis mechanical arm is connected with the support in a sliding manner, and the Y-axis mechanical arm is connected with the support and the mounting plate is connected with the Z-axis mechanical arm in a sliding manner through the same moving assembly;
and a second pneumatic hand grip, a second vacuum chuck or a wind mill are arranged on the mounting plate.
Further, the movable assembly comprises a second rotating screw rod, a second servo motor and a second sliding table, one end of the second rotating screw rod is installed at one end of the X-axis mechanical arm through a bearing, the other end of the X-axis mechanical arm is provided with the second servo motor, the output end of the second servo motor is connected with the other end of the second rotating screw rod, a threaded through hole matched with the second rotating screw rod is formed in the bottom of the second sliding table, the top of the second sliding table is fixedly connected with the support, and the second servo motor is electrically connected with the output end of the PLC.
Further, the mounting platform comprises a platform support, a connecting frame, three pneumatic hand grips and fingers, wherein the three pneumatic hand grips and fingers are mounted on the connecting frame, the connecting frame is fixedly connected with the platform support through an angle-shaped support, and a positioning pin is further arranged on the connecting frame.
The beneficial effects of the invention are as follows:
According to the automatic assembly equipment of the small rotor type oil pump, a camera vision component and a mechanical arm are adopted to replace manual work, the camera vision component is used for identifying the pose of parts of the oil pump, the parts are adjusted to the correct assembly positions through the rotary platform, and then the transfer and assembly procedures are completed through the relevant mechanical arm, so that the assembly efficiency and the assembly precision are greatly improved, and the oil pumps of different types can be assembled only through program adjustment, so that the flexibility of an assembly system is improved; the automatic production line has the advantages of high automation degree, stable production and high working efficiency, can effectively improve production and assembly efficiency in specific application, effectively reduces labor cost, has high consistency degree of product assembly, and has better production quality and higher product qualification rate.
Drawings
FIG. 1 is a schematic diagram of the overall structure of an automatic assembly device of a small rotor type oil pump of the present invention;
FIG. 2 is a schematic diagram of the overall structure of an automatic assembly device of a small rotor type oil pump of the present invention;
FIG. 3 is a schematic structural view of a feeding manipulator according to the present invention;
FIG. 4 is a schematic view of a transfer robot according to the present invention;
FIG. 5 is a schematic view of a rotary platform according to the present invention;
FIG. 6 is a schematic structural view of a clamping and conveying manipulator according to the present invention;
FIG. 7 is a schematic view of the structure of the assembly robot of the present invention;
FIG. 8 is a schematic view of the structure of the mounting platform of the present invention;
in the figure, a 1-equipment support, a 2-material platform, a 3-feeding manipulator, a 301-mounting seat, a 302-first rotating arm, a 303-second rotating arm, a 304-rotating arm, a 305-first pneumatic arm, a 306-first vacuum chuck, a 307-rotating shaft, a 308-fixed plate, a 4-rotating platform, a 401-rotating table, a 402-stepping motor, a 5-calibration assembly, a 6-transferring manipulator, a 601-longitudinal transferring arm, a 602-transverse transferring arm, a 603-transverse sliding table, a 604-longitudinal sliding table, a 7-mounting platform, a 701-platform support, a 702-connecting frame, a 703-three-grabbing pneumatic arm, a 704-finger, a 705-angular support, a 706-locating pin, an 8-clamping conveying manipulator, a 801-second pneumatic arm, a 802-second vacuum chuck, a 9-assembling manipulator, a 10-air batch, a 11-camera, a 12-first rotating screw, a 13-first servo motor, a 14-sliding connecting seat, a 15-light source connecting plate, a 16-back light source, a 17-X-axis arm, a 18-Y-axis arm, a 19-Z-axis, a second servo motor, a 19-Z-axis mechanical arm, a second servo motor, a 23-second screw, a second servo motor, a 23-second servo motor, and a second support.
Detailed Description
The technical solutions of the present invention will be clearly and completely described below with reference to the embodiments, and it is apparent that the described embodiments are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by a person skilled in the art without any inventive effort, are intended to be within the scope of the present invention, based on the embodiments of the present invention.
Example 1
Referring to fig. 1-8, the present invention provides a technical solution:
Referring to fig. 1-2, an automatic assembly device of a small rotor type oil pump comprises a device bracket 1, a material platform 2, a feeding manipulator 3, a rotary platform 4, a calibration assembly 5, a transferring manipulator 6, an installation platform 7, a clamping conveying manipulator 8, an assembly 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 conveying manipulator 8, the assembly manipulator 9 and the PLC main controller (not shown) are all installed on the device bracket 1, and the rotary platform 4 is fixedly installed on the transferring manipulator 6;
the feeding manipulator 3 is used for transferring the oil pump part to the rotary platform 4;
the correction component 5 is used for correcting deviation between a reference position and an 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 transferring 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 to be conveyed to the mounting platform 7, the assembling manipulator 9 comprises an air batch 10, and the air batch 10 completes fastening assembly among the oil pump parts;
The calibrating assembly 5 comprises a camera 11, the camera 11 is electrically connected with the input end of the PLC, and driving elements of the feeding manipulator 3, the rotating platform 4, the transferring manipulator 6, the clamping and conveying manipulator 8 and the assembling manipulator 9 are electrically connected with the output end of the PLC.
The invention discloses automatic assembly equipment of a small rotor type oil pump, which mainly comprises a feeding manipulator 3, a transferring manipulator 6, a rotating platform 4, a clamping and conveying manipulator 8, an assembly manipulator 9 and the like, wherein the feeding manipulator 3 is responsible for clamping and conveying the transferring oil pump part to the rotating platform 4, a camera 11 shoots image information of the actual position of the oil pump part, the image information can be transmitted to a PLC main controller for storage through a wireless network, the rotating platform 4 completes calibration of a reference position according to the comparison difference between the actual position and the reference position, the oil pump part is conveyed to a joint with the mounting platform 7 by the transferring manipulator 6 after the calibration is error-free, the clamping and conveying manipulator 8 clamps or adsorbs the base part to the mounting platform 7, a pneumatic clamp on the mounting platform 7 fixes the base part, the processes are repeated to complete the fixation of all the base parts on the mounting platform 7, and finally a wind batch 10 of the assembly manipulator 9 completes screw fastening among the base parts.
The automatic assembly equipment of the small rotor type oil pump adopts the camera vision component and the mechanical arm to replace manual work, the camera vision component is used for identifying the pose of the oil pump part, the parts are adjusted to the correct assembly position through the rotary platform 4, and then the transfer and assembly process is completed through the relevant mechanical arm, so that the assembly precision is high, the speed is high, and the oil pumps of different types can be assembled only through program adjustment, so that the flexibility of an assembly system is improved.
Referring to fig. 3, the feeding manipulator 3 includes a mounting base 301, a first radial arm 302, a second radial arm 303, a rotating support arm 304, a first pneumatic gripper 305 and a first vacuum chuck 306, where the first radial arm 302 is rotatably mounted on the mounting base 301, the second radial arm 303 is rotatably mounted on the first radial arm 302, one end of the rotating support arm 304 is rotatably mounted on the mounting base 301, the other end of the rotating support arm 304 is fixedly connected with the top of the second radial arm 303, a rotating shaft 307 is slidably mounted on the second radial arm 303, a fixing plate 308 is disposed at the end of the rotating shaft 307, the first vacuum chuck 306 is mounted on the bottom end face of the fixing plate 308, the first pneumatic gripper 305 is mounted on the side wall of the fixing plate 308, and the mounting base 301 is fixedly mounted on the equipment 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 which are used for gripping parts on the surface of an inner circle or an outer circle; the first vacuum chuck 306 is used for adsorbing thin plate parts such as cover plate parts, the first pneumatic gripper 305 and the first vacuum chuck 306 cannot act simultaneously, and if the first pneumatic gripper 305 and the first vacuum chuck 306 need to be switched, the rotating shaft 307 needs to be rotated by 90 degrees; the first radial arm 302 can rotate around the mounting seat 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 seat 301 under the drive of the rotating support arm 304, so that parts can be transported from the material platform 2 positioned outside the feeding manipulator 3.
The feeding manipulator 3 may be driven by a driving element in the prior art, which is not described 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 transferring arm 601 through a sliding assembly, and the rotating platform 4 is mounted on the transverse transferring arm 602 through a sliding assembly, and the sliding assemblies are identical in structure.
Further, the mounting structure of the lateral slipway 603 and the longitudinal transfer arm 601 is as follows: the sliding assembly 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 rod 12 is installed at one end of a longitudinal transferring arm 601 through a bearing, the other end of the longitudinal transferring 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, a threaded through hole matched with the first rotating screw rod 12 is formed in the sliding connecting seat 14, the top end of the sliding connecting seat 14 is fixedly connected with the bottom end face of a transverse sliding table 603, the top end of the transverse sliding table 603 is fixedly connected with a transverse transferring 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 a PLC main controller.
The mounting structure between the rotary platform 4 and the lateral transfer arm 602 is the same 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 further the engine oil pump part can be smoothly transferred to the butt joint position of the mounting platform 7.
Referring to fig. 5, the rotary platform 4 includes a turntable 401 and a stepper motor 402, the turntable 401 is rotatably mounted on the longitudinal sliding table 604, the stepper motor 402 is connected with a driving member of the turntable 401, the stepper motor 402 is a driving member of the rotary platform 4, and the stepper motor 402 is electrically connected with 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 engine oil pump parts.
The backlight source 16 is used for placing the engine oil pump parts, the backlight source 16 is arranged on the rotary table 401 of the rotary platform 4 through the light source connecting plate 15, the rotary table 401 rotates when the stepping motor 402 is driven, and the rotary platform 4 can be adjusted along with the transverse and longitudinal positions of the transfer manipulator 6in the three-dimensional space, so that the engine oil pump parts can be smoothly adjusted to the reference position and transferred to the butt joint position of the mounting platform 7.
Referring to fig. 6-7, the clamping and conveying manipulator 8 and the assembling manipulator 9 each include the same three-dimensional freedom moving assembly, a second pneumatic gripper 801 and a second vacuum chuck 802 are mounted on the three-dimensional freedom moving assembly of the clamping and conveying manipulator 8, and the air batch 10 is mounted on the three-dimensional freedom moving assembly of the assembling manipulator 9.
The three-dimensional degree-of-freedom moving assembly can realize position adjustment in three directions of X, Y, Z shafts, so that the two pneumatic grippers, the second vacuum chuck 802 or the air conditioner 10 are driven to adjust in three-dimensional space, and grabbing, adsorbing and installing of engine oil pump parts can be accurately realized.
Further, the three-dimensional 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 installed 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 installed on the Z-axis mechanical arm 19;
The X-axis mechanical arm 17 is slidably connected with the support 20, the Y-axis mechanical arm 18 is slidably connected with the support 20, the mounting plate 21 is slidably connected with the Z-axis mechanical arm 19 through the same moving assembly; the mounting plate 21 is provided with a second pneumatic hand grip 801, a second vacuum chuck 802 or a wind mill 10.
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 also realize relative sliding, and the mounting plate 21 can slide along the Z-axis mechanical arm 19, so that the second pneumatic gripper 801, the second vacuum chuck 802 or the air batch 10 on the mounting plate 21 can realize position adjustment in three directions of X, Y, Z axes.
Further, the moving assembly comprises a second rotating screw 22, a second servo motor 23 and a second sliding table 24, one end of the second rotating screw 22 is installed at one end of the X-axis mechanical arm 17 through a bearing, the other end of the X-axis mechanical arm 17 is provided with the second servo motor 23, the output end of the second servo motor 23 is connected with the other end of the second rotating screw 22, a threaded through hole matched with the second rotating screw 22 is formed in the bottom of the second sliding table 24, the top of the second sliding table 24 is fixedly connected with the support 20, and the second servo motor 23 is electrically connected with the output end of the PLC.
The moving assembly of the invention is 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 realized.
Referring to fig. 8, the mounting platform 7 includes a platform bracket 701, a connecting frame 702, a three-grip pneumatic hand grip 703 and a finger 704, wherein the three-grip pneumatic hand grip 703 and the finger 704 are both mounted on the connecting frame 702, the connecting frame 702 is fixedly connected with the platform bracket 701 through an angle bracket 705, and the connecting frame 702 is further provided with a positioning pin 706.
The mounting platform 7 is used for positioning and clamping the oil pump base parts, and is convenient for mounting other subsequent parts. The three-jaw pneumatic hand grab is fixedly connected with the angle bracket 705 through a screw, and keeps a certain distance with the angle bracket 705 by utilizing a connecting ring so as to ensure that the three jaws can act, the three-jaw pneumatic hand grab is used for clamping the oil pump base, the angle bracket 705 is fixedly connected with the platform bracket 701 through the screw, and the angle bracket 705 is provided with a positioning pin 706 for positioning the base on the mounting platform 7.
The foregoing is merely a preferred embodiment of the invention, and it is to be understood that the invention is not limited to the form disclosed herein but is not to be construed as excluding other embodiments, but is capable of numerous other combinations, modifications and environments and is capable of modifications within the scope of the inventive concept, either as taught or as a matter of routine skill or knowledge in the relevant art. And that modifications and variations which do not depart from the spirit and scope of the invention are intended to be within the scope of the appended claims.
Claims (8)
1. An automatic assembly equipment of small-size rotor formula oil pump, its characterized in that: the automatic feeding device comprises an equipment support (1), a material platform (2), a feeding manipulator (3), a rotating platform (4), a calibration assembly (5), a transferring manipulator (6), a mounting 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 mounting platform (7), the clamping and conveying manipulator (8), the assembling manipulator (9) and the PLC main controller are all mounted on the equipment support (1), and the rotating platform (4) is fixedly mounted on the transferring manipulator (6);
The feeding manipulator (3) is used for transferring the oil pump part to the rotary platform (4);
the correction component (5) is used for correcting deviation between a reference position and an 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 transferring manipulator (6) is used for transferring oil pump parts to the butt joint position of the mounting platform (7), the clamping and conveying manipulator (8) clamps or adsorbs the oil pump parts to be conveyed to the mounting platform (7), the assembling manipulator (9) comprises an air batch (10), and the air batch (10) completes fastening assembly among the oil pump parts;
The calibrating assembly (5) comprises a camera (11), the camera (11) is electrically connected with the input end of the PLC main controller, and 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 feeding manipulator (3) comprises a mounting seat (301), a first radial arm (302), a second radial arm (303), a rotary support arm (304), a first pneumatic gripper (305) and a first vacuum chuck (306), wherein the first radial arm (302) is rotatably mounted on the mounting seat (301), the second radial arm (303) is rotatably mounted on the first radial arm (302), one end of the rotary support arm (304) is rotatably mounted on the mounting seat (301), the other end of the rotary support arm (304) is fixedly connected with the top of the second radial arm (303), a rotary shaft (307) is slidably mounted on the second radial arm (303), a fixed plate (308) is arranged at the tail end of the rotary shaft (307), the first vacuum chuck (306) is mounted on the bottom end face of the fixed plate (308), the first pneumatic gripper (305) is mounted on the side wall of the fixed plate (308), and the mounting seat (301) is fixedly mounted on the equipment support (1);
The transfer manipulator (6) comprises a longitudinal transfer arm (601) and a transverse transfer arm (602), wherein 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).
2. The automatic assembly equipment of a small rotor oil pump according to claim 1, wherein: 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 component.
3. The automatic assembly equipment of the small rotor type oil pump according to claim 2, wherein: the sliding assembly comprises a first rotating screw (12), a first servo motor (13) and a sliding connecting seat (14), one end of the first rotating screw (12) is installed at one end of a longitudinal transferring arm (601) through a bearing, the other end of the longitudinal transferring arm (601) is provided with the first servo motor (13), the output end of the first servo motor (13) is connected with the other end of the first rotating screw (12), a threaded through hole matched with the first rotating screw (12) is formed in the sliding connecting seat (14), the top end of the sliding connecting seat (14) is fixedly connected with the bottom end face of a transverse sliding table (603), the top end of the transverse sliding table (603) is fixedly connected with a transverse transferring 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 a PLC.
4. The automatic assembly equipment of a small rotor oil pump according to claim 1, wherein: the rotary platform (4) comprises a rotary table (401) and a stepping motor (402), the rotary table (401) is rotatably arranged 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 the output end of the PLC main controller;
the rotary table (401) is provided with a light source connecting plate (15), a backlight source (16) is arranged on the light source connecting plate (15), and the backlight source (16) is used for placing engine oil pump parts.
5. The automatic assembly equipment of a small rotor oil pump according to claim 1, wherein: the clamping and conveying manipulator (8) and the assembling manipulator (9) comprise identical three-dimensional freedom degree moving assemblies, a second pneumatic gripper (801) and a second vacuum chuck (802) are arranged on the three-dimensional freedom degree moving assemblies of the clamping and conveying manipulator (8), and the air batch (10) is arranged on the three-dimensional freedom degree moving assemblies of the assembling manipulator (9).
6. The automatic assembly equipment of a small rotor oil pump according to claim 5, wherein: the three-dimensional 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 arranged 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 arranged on the Z-axis mechanical arm (19);
The X-axis mechanical arm (17) is connected with the support (20) in a sliding manner, and the Y-axis mechanical arm (18) is connected with the support (20) and the mounting plate (21) is connected with the Z-axis mechanical arm (19) in a sliding manner through the same moving assembly;
The mounting plate (21) is provided with a second pneumatic hand grip (801), a second vacuum chuck (802) or a wind mill (10).
7. The automatic assembly equipment of a small rotor oil pump according to claim 6, wherein: the movable assembly comprises a second rotating screw (22), a second servo motor (23) and a second sliding table (24), one end of the second rotating screw (22) is installed at one end of the X-axis mechanical arm (17) through a bearing, the other end of the X-axis mechanical arm (17) is provided with the second servo motor (23), the output end of the second servo motor (23) is connected with the other end of the second rotating screw (22), a threaded through hole matched with the second rotating screw (22) is formed in the bottom of the second sliding table (24), the top of the second sliding table (24) is fixedly connected with the support (20), and the second servo motor (23) is electrically connected with the output end of the PLC main controller.
8. The automatic assembly equipment of a small rotor oil pump according to claim 1, wherein: the mounting platform (7) comprises a platform support (701), a connecting frame (702), a three-grabbing pneumatic hand gripper (703) and fingers (704), wherein the three-grabbing pneumatic hand gripper (703) and the fingers (704) are mounted on the connecting frame (702), the connecting frame (702) is fixedly connected with the platform support (701) through an angle-shaped support (705), and positioning pins (706) are further arranged on the connecting frame (702).
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