CN111168389A - Automatic change equipment - Google Patents
Automatic change equipment Download PDFInfo
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- CN111168389A CN111168389A CN202010115597.XA CN202010115597A CN111168389A CN 111168389 A CN111168389 A CN 111168389A CN 202010115597 A CN202010115597 A CN 202010115597A CN 111168389 A CN111168389 A CN 111168389A
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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
- B23P21/004—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 the units passing two or more work-stations whilst being composed
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Abstract
The invention discloses automatic assembling equipment, and relates to the technical field of assembling equipment, and solves the problem of low production efficiency of an unmanned aerial vehicle. The technical key points are as follows: including total control cabinet unit, finish milling unit, rotor subassembly assembly unit, top cap assembly unit, screw assembly unit and visual detection laser marking unit, total control cabinet unit respectively with finish milling unit, rotor subassembly assembly unit, top cap assembly unit, screw assembly unit and visual detection laser marking unit electric connection, the finish milling unit includes numerically controlled fraise machine, top cap material loading robot subassembly, top cap discharge mechanism, jacking positioning mechanism, first conveyer belt mechanism, model tray discharge mechanism and first table. Can realize the automated processing and the assembly equipment of unmanned aerial vehicle frame and rotor subassembly, save cost of labor, raise the efficiency, guarantee the standard of product and the unity of standard, apply and can improve the quality of teaching in the teaching, also change in using widely.
Description
Technical Field
The invention relates to the technical field of assembling equipment, in particular to automatic assembling equipment.
Background
Unmanned aerial vehicles, i.e., pilotless airplanes, are widely used in the fields of agricultural plant protection, search and rescue, and under the trend that industrial unmanned aerial vehicles are gradually emphasized in developed countries in the world and the purposes are continuously explored and exploited, China also starts to explore and research in the field of unmanned aerial vehicles in recent years. With the development of industrial technology and the improvement of the living standard of people, the demand of the market for unmanned aerial vehicles is gradually increased.
Because the shape of the appearance structure of the unmanned aerial vehicle is complex, the production of the unmanned aerial vehicle is mainly manual assembly, and the production efficiency and the production quality achieved by the production mode of worker assembly line operation are difficult to meet the wide market demand and guarantee the unification of the product specification standard. So have the lower problem of unmanned aerial vehicle production efficiency among the prior art.
Disclosure of Invention
In order to overcome the above disadvantages of the prior art, the present invention provides an automated assembling apparatus, which has the advantage of high production efficiency.
The technical scheme adopted by the invention for solving the technical problems is as follows:
an automatic assembling device comprises a master control cabinet unit, a finish milling unit, a rotor wing assembly assembling unit, a top cover assembling unit, a screw assembling unit and a visual detection laser marking unit, wherein the master control cabinet unit is respectively electrically connected with the finish milling unit, the rotor wing assembly assembling unit, the top cover assembling unit, the screw assembling unit and the visual detection laser marking unit, the finish milling unit comprises a numerical control milling machine, a top cover feeding robot assembly, a top cover discharging mechanism, a jacking positioning mechanism, a first conveying belt mechanism, a model tray discharging mechanism and a first table body, the top cover discharging mechanism and the first conveying belt mechanism are both arranged on the first table body, the jacking positioning mechanism and the model tray discharging mechanism are both arranged on the first conveying belt mechanism, the model tray discharging mechanism is arranged above the conveying belt mechanism, the jacking positioning mechanism is arranged below the conveying belt, the model tray discharge mechanism comprises a tray storage rack and a tray cylinder, the tray storage rack is fixedly installed on the first conveying belt mechanism, a tray sliding groove matched with a rack tray is formed in the tray storage rack, the tray cylinder is fixedly installed on the tray storage rack, and a tray clamping block fixedly connected with a piston rod of the tray cylinder and clamped with the rack tray is fixedly connected with the piston rod of the tray cylinder.
As a further improvement of the invention: jacking positioning mechanism includes jacking cylinder and jacking locating plate, jacking cylinder fixed mounting is in first conveyer belt mechanism, the piston rod and the jacking locating plate fixed connection of jacking cylinder, jacking locating plate fixed mounting has the jacking locating pin with frame tray joint.
As a further improvement of the invention: the top cap discharge mechanism includes top cap storage frame and top cap push pedal, the top cap storage frame is equipped with top cap storage tank, top cap sliding tray and top cap blown down tank, top cap sliding tray both ends communicate with top cap storage tank and top cap blown down tank respectively, the height of top cap sliding tray is greater than top cap material thickness and is less than 2 times of top cap material thickness, top cap push pedal and top cap storage frame along the extending direction sliding connection of top cap sliding tray, be equipped with the top cap cylinder between top cap storage frame and the top cap push pedal, top cap cylinder both ends respectively with top cap storage frame and top cap push pedal fixed connection.
As a further improvement of the invention: the finish milling unit further comprises an extension tray frame fixedly installed on the first table body, and an extension tray groove matched with the rack tray is formed in the extension tray frame.
As a further improvement of the invention: rotor subassembly assembly unit includes second conveyer belt mechanism, the second table body, rotor subassembly feed mechanism, rotor subassembly assembly robot subassembly and rotor subassembly positioning device, second conveyer belt mechanism, rotor subassembly feed mechanism and rotor subassembly assembly robot subassembly are all installed in the second table body, second conveyer belt mechanism feed end concatenation is in first conveyer belt discharge end.
As a further improvement of the invention: rotor subassembly positioning device includes rotor location cylinder and rotor locating piece, rotor location cylinder fixed mounting is in second conveyer belt mechanism, rotor locating piece and second conveyer belt mechanism sliding connection just with frame tray joint, the piston rod fixed connection of rotor locating piece and rotor location cylinder.
As a further improvement of the invention: the top cover assembly unit comprises a third conveying belt mechanism, a third table body, a top cover assembly positioning device and a top cover assembly robot assembly, the third conveying belt mechanism, the top cover assembly positioning device and the top cover assembly robot assembly are all installed on the third table body, and the top cover assembly positioning device is installed on the third conveying belt mechanism.
As a further improvement of the invention: the top cover positioning device comprises a top cover positioning cylinder and a top cover positioning plate, the top cover positioning cylinder is fixedly mounted on the third conveying belt mechanism, the top cover positioning plate is fixedly mounted on a piston rod of the top cover positioning cylinder, and the top cover positioning plate is fixedly connected with a top cover positioning pin clamped with the rack tray.
As a further improvement of the invention: the screw assembly unit comprises a fourth conveying belt mechanism, a fourth table body, a screw feeding device, a screw screwing robot assembly and a screw assembly positioning device, wherein the fourth conveying belt mechanism, the screw feeding device and the screw screwing robot assembly are all installed on the fourth table body, and the screw assembly positioning device is installed on the conveying belt mechanism.
As a further improvement of the invention: visual detection laser marking unit includes that fifth conveyer belt mechanism, the fifth table body, visual detection positioner, laser marking positioner, model tray transport mechanism, finished product deposit platform, storage platform, fifth conveyer belt mechanism, visual detection positioner, laser marking positioner and the equal fixed mounting of finished product deposit platform in the fifth table body, the storage platform is installed in fifth conveyer belt mechanism, the storage platform sets up in the discharge end of fifth conveyer belt mechanism, model tray transport mechanism connects respectively in fifth conveyer belt mechanism and finished product deposit the platform.
Compared with the prior art, the invention has the beneficial effects that:
this equipment can realize the automated processing and the assembly equipment of unmanned aerial vehicle frame and rotor subassembly, has effectively saved the cost of labor, raises the efficiency, can guarantee the standardization and the unified of standard of product simultaneously.
The assembling equipment combines the robot to perform feeding and discharging, automatic conveying, assembling, detecting, laser marking and sorting storage, covers multiple processes, and can effectively guarantee the operation stability, the functional applicability and the production precision reliability of the assembling equipment in the production process.
The equipment that will cover the multichannel process is applied to industrial teaching, enables the teaching and more presses close to actual production, also can practice multiple different processes at the teaching in-process, improves the quality of teaching, also changes in using widely.
Drawings
FIG. 1 is a schematic structural diagram of an automated assembly apparatus according to an embodiment of the present disclosure;
fig. 2 is a schematic structural diagram of a first conveyor belt mechanism, a second conveyor belt mechanism, a third conveyor belt mechanism, a fourth conveyor belt mechanism and a fifth conveyor belt mechanism in the embodiment of the present application;
FIG. 3 is a schematic structural diagram of a top cover discharging mechanism in the embodiment of the present application;
FIG. 4 is a schematic structural diagram of a jacking positioning mechanism in an embodiment of the present application;
FIG. 5 is a schematic structural diagram of a model tray discharging mechanism in an embodiment of the present application;
FIG. 6 is a schematic structural view of a rotor assembly positioning apparatus according to an embodiment of the present application;
FIG. 7 is a schematic structural diagram of a top cover assembling and positioning device in an embodiment of the present application;
FIG. 8 is a schematic structural diagram of a screw assembling and positioning device according to an embodiment of the present disclosure;
FIG. 9 is a schematic structural diagram of a visual inspection positioning device according to an embodiment of the present application;
FIG. 10 is a schematic structural diagram of a laser marking positioning device in an embodiment of the present application;
fig. 11 is a schematic structural view of a model pallet carrying mechanism in the embodiment of the present application.
Reference numerals: 11. a main control cabinet unit; 21. a numerical control milling machine; 22. a first conveyor belt mechanism; 23. a first table body; 24. a top cover feeding robot assembly; 251. an extension tray rack; 252. an extension tray slot; 26. a top cover discharging mechanism; 261. a top cover storage rack; 262. a top cover storage tank; 263. a top cover sliding groove; 264. a top cover discharge chute; 265. a top cover push plate; 266. a top cover cylinder; 27. a jacking positioning mechanism; 271. jacking a cylinder; 272. jacking the positioning plate; 273. jacking a positioning pin; 28. a model tray discharging mechanism; 281. a tray storage rack; 282. a tray cylinder; 283. a tray chute; 284. a pallet clamping block; 31. a second conveyor belt mechanism; 32. a second table body; 33. assembling a robot component by the rotor component; 34. a rotor assembly feeding mechanism; 341. a rotor feeding frame; 35. assembling and positioning the rotor wing assembly; 351. a rotor positioning cylinder; 352. a rotor wing positioning block; 41. a third conveyor belt mechanism; 42. a third table body; 43. the top cover is provided with a robot assembly; 44. a top cover assembling and positioning device; 441. a positioning cylinder is assembled on the top cover; 442. the top cover is assembled with a positioning plate; 443. assembling a positioning pin on the top cover; 51. a fourth conveyor belt mechanism; 52. a fourth table body; 53. screwing robot components; 54. a screw feeding device; 55. assembling and positioning the device by the screw; 551. assembling a positioning cylinder by a screw; 552. assembling a positioning plate by screws; 553. assembling a positioning pin by a screw; 61. a fifth conveyor belt mechanism; 62. a fifth table body; 63. a finished product storage table; 64. a storage table; 65. a visual inspection positioning device; 651. a vision inspection rack; 652. a visual inspection camera; 653. visually detecting and positioning the air cylinder; 654. a visual inspection positioning plate; 655. a visual inspection positioning pin; 66. a laser marking positioning device; 661. laser marking machine; 662. a laser marking positioning cylinder; 663. laser marking a positioning plate; 664. marking a positioning pin by laser; 67. a model tray carrying mechanism; 671. a pallet carrying support frame; 672. a tray carrying cylinder; 673. carrying the push plate by the tray; 674. a track; 675. a lifting cylinder; 676. a lifting plate; 71. a rack tray.
Detailed Description
The invention will now be further described with reference to the accompanying description and examples:
example (b):
the utility model provides an automatic change equipment, as shown in fig. 1 and fig. 2, including total control cabinet unit 11, finish milling unit, rotor subassembly assembly unit, top cap assembly unit, screw assembly unit and visual detection laser marking unit, total control cabinet unit 11 respectively with finish milling unit, rotor subassembly assembly unit, top cap assembly unit, screw assembly unit and visual detection laser marking unit electric connection.
As shown in fig. 1, 2 and 4, the finish milling unit includes a numerically controlled milling machine 21, a top cover feeding robot assembly 24, a top cover discharging mechanism 26, a jacking positioning mechanism 27, a first conveying belt mechanism 22, a model tray discharging mechanism 28 and a first table body 23, the top cover discharging mechanism 26 and the first conveying belt mechanism 22 are both mounted on the first table body 23, the model tray discharging mechanism 28 is arranged above the conveying belt mechanism, and the jacking positioning mechanism 27 is arranged below the conveying belt. The jacking positioning mechanism 27 comprises a jacking cylinder 271 and a jacking positioning plate 272, the jacking cylinder 271 is fixedly installed on the first conveying belt mechanism 22, a piston rod of the jacking cylinder 271 is fixedly connected with the jacking positioning plate 272, and the jacking positioning plate 272 is fixedly provided with a jacking positioning pin 273 clamped with the rack tray 71. As shown in fig. 2 and 5, the model tray discharging mechanism 28 includes a tray storage rack 281 and a tray cylinder 282, the tray storage rack 281 is fixedly installed on the first conveyor belt mechanism 22, the tray storage rack 281 is provided with a tray chute 283 matched with the rack tray 71, the tray cylinder 282 is fixedly installed on the tray storage rack 281, and a tray fixture 284 clamped with the rack tray 71 is fixedly connected to a piston rod of the tray cylinder 282. As shown in fig. 1, fig. 2 and fig. 3, the top cover discharging mechanism 26 includes a top cover stock shelf 261 and a top cover push plate 265, the top cover stock shelf 261 is provided with a top cover stock trough 262, a top cover sliding trough 263 and a top cover discharging trough 264, two ends of the top cover sliding trough 263 are respectively communicated with the top cover stock trough 262 and the top cover discharging trough 264, the height of the top cover sliding trough 263 is 1.5 times of the thickness of the top cover material, the top cover push plate 265 and the top cover stock shelf 261 are slidably connected along the extending direction of the top cover sliding trough 263, a top cover cylinder 266 is arranged between the top cover stock shelf 261 and the top cover push plate 265, and two ends of the top cover cylinder 266 are respectively fixedly connected with the. The finish milling unit further comprises an extension tray frame 251 fixedly mounted on the first table body 23, and the extension tray frame 251 is provided with an extension tray groove 252 matched with the rack tray 71.
As shown in fig. 1, 2 and 6, the rotor assembly assembling unit includes a second conveyor belt mechanism 31, a second table body 32, a rotor assembly feeding mechanism 34, a rotor assembly assembling robot assembly 33 and a rotor assembly positioning device 35, and the second conveyor belt mechanism 31, the rotor assembly feeding mechanism 34 and the rotor assembly assembling robot assembly 33 are all mounted on the second table body 32.
Rotor subassembly assembly robot subassembly 33 includes ABB six-axis robot, rotor subassembly assembly camera and rotor subassembly assembly camera, and rotor subassembly assembly camera is installed on ABB six-axis robot, and rotor subassembly assembly camera is installed on rotor subassembly assembly camera. In this embodiment, the ABB six-axis robot is model IRB120, the rotor assembly mounted camera adopts a Taida PVS100-C05MGGAB, and the rotor assembly mounted lens adopts a Taida DMV-LN12M 05P. In the process of grabbing and installing rotor materials by the rotor component assembling robot component 33, visual photographing detection and positioning are carried out through a rotor component assembling camera installed on an ABB six-axis robot, and the assembling and positioning precision of the rotor component assembling robot component 33 is ensured.
Rotor subassembly positioning device 35 includes rotor location cylinder 351 and rotor locating piece 352, and rotor location cylinder 351 fixed mounting is in second conveyer belt mechanism 31, rotor locating piece 352 with second conveyer belt mechanism 31 sliding connection and with frame tray 71 joint, rotor locating piece 352 and rotor location cylinder 351's piston rod fixed connection. Rotor assembly feed mechanism 34 includes rotor pay-off rack 341, and rotor pay-off rack 341 is installed in the second table body 32.
As shown in fig. 1, 2 and 7, the top cover assembling unit includes a third conveyor belt mechanism 41, a third table body 42, a top cover assembling and positioning device 44 and a top cover assembling robot assembly 43, and the third conveyor belt mechanism 41, the top cover assembling and positioning device 44 and the top cover assembling robot assembly 43 are all mounted on the third table body 42. The top cover positioning device 44 comprises a top cover positioning cylinder 441 and a top cover positioning plate 442, the top cover positioning cylinder 441 is fixedly mounted on the third conveying belt mechanism 41, the top cover positioning plate 442 is fixedly mounted on a piston rod of the top cover positioning cylinder 441, and the top cover positioning plate 442 is fixedly connected with a top cover positioning pin 443 clamped with the rack tray 71.
As shown in fig. 1, 2 and 8, the screw assembling unit includes a fourth conveyor belt mechanism 51, a fourth table 52, a screw feeding device 54, a screw screwing robot assembly 53 and a screw assembling and positioning device 55, wherein in the present embodiment, the screw feeding device 54 is a screw feeder of a type KFR-1050. The fourth conveyor belt mechanism 51, the screw feeding device 54, the screw screwing robot assembly 53 and the screw assembling and positioning device 55 are all mounted on the fourth table body 52. Screw assembly positioning device 55 includes screw assembly positioning cylinder 551 and screw assembly locating plate 552, and screw assembly positioning cylinder 551 fixed mounting is in fourth conveyer belt mechanism 51, screw assembly locating plate 552 and screw assembly positioning cylinder 551's piston rod fixed connection, screw assembly locating plate 552 fixed connection have with the screw assembly locating pin 553 of frame tray 71 joint.
The screwing robot assembly 53 includes a taida four-axis robot, a screwing camera and a screwing lens, the screwing camera is mounted on the taida four-axis robot, and the screwing lens is mounted on the screwing camera. In this embodiment, the model of the taida four-axis robot is DRS40L3SS1BN002, the taida PVS100-C05MGGAB is adopted for the screw-screwing camera, and the taida DMV-LNMH20-110AP is adopted for the screw-screwing lens. In the process of grabbing and installing rotor wing materials by the screw screwing robot component 53, visual photographing detection and positioning are carried out by the screw screwing camera installed on the platform-to-four-axis robot, and the assembly positioning precision of the screw screwing robot component 53 is ensured.
As shown in fig. 1, 2 and 9, the visual detection laser marking unit includes a fifth conveyor belt mechanism 61, a fifth table body 62, a visual detection positioning device 65, a laser marking positioning device 66, a model tray carrying mechanism 67, a finished product storage table 63, a storage table 64, the fifth conveyor belt mechanism 61, the visual detection positioning device 65, the laser marking positioning device 66 and the finished product storage table 63 are both fixedly mounted on the fifth table body 62, the storage table 64 is mounted on the fifth conveyor belt mechanism 61, the feed end of the fifth conveyor belt mechanism 61 is spliced with the discharge end of the fourth conveyor belt mechanism 51, the storage table 64 is arranged at the discharge end of the fifth conveyor belt mechanism 61, and the model tray carrying mechanism 67 is respectively connected to the fifth conveyor belt mechanism 61 and the finished product storage table 63. The visual inspection positioning device 65 comprises a visual inspection frame 651, a visual inspection camera 652, a visual inspection positioning cylinder 653 and a visual inspection positioning plate 654, wherein the visual inspection camera 652 is provided with a visual inspection lens. In the present embodiment, the vision inspection camera 652 employs a stage PVS100-C05MGGAB, and the screw-up lens employs a stage DMV-LN12M 05P.
The vision detection frame 651 is fixedly mounted on the fifth table body 62, the vision detection camera 652 is fixedly mounted on the vision detection frame 651 and faces the fifth conveyor belt mechanism 61, the vision detection positioning cylinder 653 is fixedly mounted on the fifth conveyor belt mechanism 61, the vision detection positioning plate 654 is fixedly mounted on a piston rod of the vision detection positioning cylinder 653, and the vision detection positioning plate 654 is fixedly connected with a vision detection positioning pin 655 clamped with the rack tray 71. As shown in fig. 1, 2 and 10, the laser marking positioning device 66 includes a laser marking machine 661, a laser marking positioning cylinder 662 and a laser marking positioning plate 663, the laser marking machine 661 is fixedly mounted on the fifth table 62, the laser marking positioning cylinder 662 is fixedly mounted on the fifth conveying belt mechanism 61, and the laser marking positioning plate 663 is fixedly connected with a laser marking positioning pin 664 clamped with the rack tray 71. As shown in fig. 1, 2 and 11, the model tray carrying mechanism 67 includes a tray carrying support 671, a tray carrying cylinder 672 and a tray carrying push plate 673, the tray carrying support 671 is fixedly mounted on the fifth table 62, the tray carrying cylinder 672 is slidably connected to the tray carrying support 671, a piston rod of the tray carrying cylinder 672 is fixedly connected to the tray carrying support 671, the tray carrying push plate 673 is fixedly connected to the tray carrying cylinder 672, and the tray carrying support 671 is provided with a rail 674 whose two ends are fixedly connected to the fifth conveyor mechanism 61 and the finished product storage 63, respectively. The track 674 is higher than the fifth conveying belt mechanism 61, a lifting cylinder 675 is fixedly installed on the fifth conveying belt mechanism 61, and a lifting plate 676 abutted against the rack tray 71 is fixedly connected to a piston rod of the lifting cylinder 675.
The main control cabinet unit 11 is used for realizing the control of a main power supply, the control of a main network and the control of a main PLC of the equipment, thereby controlling the finish milling unit, the rotor assembly assembling unit, the top cover assembling unit, the screw assembling unit and the visual detection laser marking unit. The numerical control milling machine 21, the first conveyor belt mechanism 22, the top cover feeding robot assembly 24, the jacking cylinder 271, the tray cylinder 282, the second conveyor belt mechanism 31, the rotor assembly assembling robot assembly 33, the rotor positioning cylinder 351, the third conveyor belt mechanism 41, the top cover assembling robot assembly 43, the top cover assembling positioning cylinder 441, the fourth conveyor belt mechanism 51, the screw screwing robot assembly 53, the screw assembling positioning cylinder 551, the fifth conveyor belt mechanism 61, the visual detection camera 652, the visual detection positioning cylinder 653, the laser marking machine 661, the laser marking positioning cylinder 662, the tray carrying cylinder 672 and the jacking cylinder 675 are all electrically connected with the main control cabinet unit 11.
First conveyer belt mechanism 22, second conveyer belt mechanism 31, third conveyer belt mechanism 41, fourth conveyer belt mechanism 51 and fifth conveyer belt mechanism 61 all include the crossbeam, 2 guide pulleys, conveying motor and conveyer belt, first conveyer belt mechanism 22, second conveyer belt mechanism 31, third conveyer belt mechanism 41, the crossbeam of fourth conveyer belt mechanism 51 and fifth conveyer belt mechanism 61 is fixed connection respectively in first table body 23, second table body 32, third table body 42, fourth table body 52 and fifth table body 62, the guide pulley rotates with the crossbeam to be connected, conveying motor fixed mounting is in the crossbeam, be connected through the belt between conveying motor's output shaft and the guide pulley, the conveyer belt is around locating the guide pulley. The conveying motor drives the guide wheel to rotate on the cross beam through the belt, so that the conveying belt rotates, the rack tray 71 is placed on the conveying belt, and the function of conveying the rack tray 71 through the conveying belt is achieved.
The jacking positioning mechanism 27 and the model tray discharging mechanism 28 are both arranged on the cross beam of the first conveying belt mechanism 22; the rotor assembly positioning device 35 is mounted on the cross beam of the second conveyor belt mechanism 31; the top cover assembling and positioning device 44 is arranged on a cross beam of the third conveying belt mechanism 41; the screw assembling and positioning device 55 is arranged on a cross beam of the conveying belt mechanism; the storage table 64, the visual detection positioning cylinder 653, and the laser marking positioning cylinder 662 are all mounted on the cross beam of the fifth conveyor belt mechanism 61.
The specific working process is as follows:
be equipped with in the tray spout 283 and store frame 281 sliding connection's frame tray 71 with the tray, the frame base of unmanned aerial vehicle has been placed in the frame tray 71, frame tray 71 slides down and with tray fixture block 284 joint on the tray stores frame 281 along with the action of gravity, tray cylinder 282 drives tray fixture block 284 and removes to the direction of keeping away from frame tray 71, makes tray fixture block 284 break away from frame tray 71 to make frame tray 71 drop down on first conveyer belt mechanism 22. The first conveyor belt mechanism 22 drives the rack tray 71 without the top cover material to move to the upper part of the jacking positioning mechanism 27. The jacking cylinder 271 pushes the jacking positioning plate 272 to move upwards, and the jacking positioning plate 272 drives the jacking positioning pin 273 to move upwards and be clamped with the rack tray 71, so that the rack tray 71 is positioned. The top cover material that has stored in top cover stock chest 262 with top cover stock chest 261 sliding connection, the top cover material slides down to top cover sliding tray 263 along with the action of gravity in, and top cover cylinder 266 drives top cover push pedal 265 and slides on top cover stock chest 261 to the top cover material that promotes in the top cover sliding tray 263 slides to top cover stock chest 262 in. The top cover material in the top cover stock chest 262 is carried to the numerically controlled fraise machine 21 by the top cover material loading robot subassembly 24, and after the top cover material is processed by the numerically controlled fraise machine 21, the top cover material on the numerically controlled fraise machine 21 is carried to the rack tray 71 after being positioned by the jacking locating pin 273 by the top cover material loading robot subassembly 24. The jacking cylinder 271 drives the jacking positioning plate 272 and the jacking positioning pin 273 to move downwards and return to the original position, and the first conveyor belt mechanism 22 conveys the rack tray 71 to the second conveyor belt mechanism 31.
Second conveyer belt mechanism 31 drives frame tray 71 and removes to rotor subassembly positioning device 35, and the location cylinder drives rotor locating piece 352 and removes to frame tray 71 to make rotor locating piece 352 and frame tray 71 joint, thereby realize the effect of location frame tray 71. Rotor material has been stored in rotor pay-off frame 341, and rotor subassembly assembly robot subassembly 33 is with on the rotor material transport frame base on frame tray 71 in the rotor pay-off frame 341 to the equipment of completion rotor material. Rotor positioning cylinder 351 drives rotor positioning block 352 to move in a direction away from rack tray 71, so that rotor positioning block 352 is separated from rack tray 71, and then rack tray 71 is conveyed to third conveyor belt mechanism 41 by second conveyor belt mechanism 31.
The third conveying belt mechanism 41 drives the rack tray 71 to move to the top cover positioning device 44, the top cover positioning cylinder 441 drives the top cover positioning plate 442 to move towards the rack tray 71, and the top cover positioning pin 443 is clamped with the rack tray 71, so that the rack tray 71 is positioned. The top cover assembly robot assembly 43 clamps the top cover materials on the rack tray 71 onto the rack base on the rack tray 71, and completes assembly of the top cover materials. The top cover positioning cylinder 441 drives the top cover positioning plate 442 and the top cover positioning pin 443 to separate from the rack tray 71, and the rack tray 71 is conveyed to the fourth conveyor belt mechanism 51 through the third conveyor belt mechanism 41.
The fourth conveyor belt mechanism 51 drives the rack tray 71 to move to the screw assembling and positioning device 55, the screw assembling and positioning cylinder 551 drives the screw assembling and positioning plate 552 and the screw assembling and positioning pin 553 to move in a direction close to the rack tray 71, and the screw assembling and positioning pin 553 is clamped with the rack tray 71, so that the rack tray 71 is positioned. The screw screwing robot component 53 sequentially sucks the screw materials output by the screw feeding device 54, sequentially installs the screw materials into the tray component, drives the screws to rotate, and screws the screws tightly, thereby completing the assembly of the screw materials. Then, the screw fitting positioning cylinder 551 drives the screw fitting positioning plate 552 and the screw fitting positioning pin 553 to move away from the rack tray 71, so that the screw fitting positioning pin 553 is disengaged from the rack tray 71, and the fourth conveyor belt mechanism 51 conveys the rack tray 71 to the fifth conveyor belt mechanism 61.
The fifth conveyor belt mechanism 61 drives the rack tray 71 to move to the visual detection positioning device 65, and the visual detection positioning cylinder 653 drives the visual detection positioning plate 654 and the visual detection positioning pin 655 to move upwards, so that the visual detection positioning pin 655 is clamped with the rack tray 71, and the rack tray 71 is positioned. Visual photographing detection is performed through the visual detection camera 652, and whether assembly of the unmanned aerial vehicle rack product on the rack tray 71 is qualified or not is judged. If the detection of the visual detection positioning device 65 is judged to be qualified, the visual detection positioning cylinder 653 drives the visual detection positioning plate 654 and the visual detection positioning pin 655 to separate from the rack tray 71, and the fifth conveying belt mechanism 61 drives the rack tray 71 to move towards the laser marking positioning device 66. The laser marking positioning cylinder 662 drives the laser marking positioning plate 663 and the laser marking positioning pin 664 to move upwards, so that the laser marking positioning pin 664 is clamped with the rack tray 71, and the effect of positioning the rack tray 71 is achieved. Carry out the laser marking operation to the unmanned aerial vehicle frame on the frame tray 71 through laser marking machine 661, then laser marking location cylinder 662 drives laser marking locating plate 663 and laser marking locating pin 664 and breaks away from frame tray 71, and fifth conveyer belt mechanism 61 drives frame tray 71 and removes to model tray handling mechanism 67. The lift cylinder 675 drives the lift plate 676 to push the rack tray 71 upward so that the height of the rack tray 71 is not lower than the rail 674. The tray carrying cylinder 672 drives the tray carrying push plate 673 to move on the tray carrying support frame 671, and the tray carrying push plate 673 pushes the rack tray 71 to move towards the rail 674 and move to the finished product storage platform 63 along the extending direction of the rail 674, so that the finished product storage platform 63 stores the products, and the processing and assembly of the products are completed. If the vision detection positioning device 65 detects that the products are unqualified, the fifth conveyor belt mechanism 61 conveys the rack tray 71 to the storage table 64, the storage table 64 stores the products judged to be unqualified by the vision detection, so that the qualified products and the unqualified products are stored respectively, and the unqualified products are prevented from being mixed into the qualified products.
The embodiment has the following advantages:
this equipment can realize the automated processing and the assembly equipment of unmanned aerial vehicle frame and rotor subassembly, has effectively saved the cost of labor, raises the efficiency, can guarantee the standardization and the unified of standard of product simultaneously. This equipment has combined the robot and has gone up unloading, automatic transport, the assembly, detect, laser marking and letter sorting storage, multi-process has been covered, can effectively guarantee the operational stability of this equipment in process of production, functional applicability and production precision reliability, the equipment that will cover multi-process is applied to industrial teaching, enable the teaching and more press close to actual production, also can practice multiple different processes at the teaching in-process, improve the teaching quality, also change in using widely.
Through frame tray 71 bearing unmanned aerial vehicle's frame base to can protect the frame base through frame tray 71, prevent that the frame base from colliding with other objects and by fish tail and rupture in handling, play the effect of protection product, can play the effect that improves production quality. Through fixing a position frame tray 71 to can fix a position the frame base on frame tray 71, and can prevent that the frame base from being fish tail in the positioning process, play the effect that improves production quality. The supporting force is provided for the frame base through the frame tray 71, so that the frame base is kept stable in the assembling process, the frame base is prevented from moving to influence the assembling, and the effect of improving the production quality is achieved.
After the top cover material is finely milled by the numerical control milling machine 21, the top cover material is directly placed on the rack tray 71 through the top cover feeding robot assembly 24, so that the time for carrying the top cover material is effectively shortened, the effect of improving the production efficiency is achieved, the top cover material can be prevented from being scratched in the carrying process, and the effect of improving the production quality is achieved.
The rack tray 71 is respectively positioned through the jacking positioning pin 273, the rotor wing positioning block 352, the top cover assembling positioning plate 442, the screw assembling positioning pin 553, the visual inspection positioning pin 655 and the laser marking positioning pin 464, and the rack tray 71 is ensured to be in a proper position in the assembling process, so that the rack tray 71 can be accurately assembled, the assembling accuracy is improved, and the effect of improving the production quality is achieved. The frame base is prevented from being clamped in the assembling process and being incapable of being assembled continuously, so that the assembling efficiency can be guaranteed.
Through jacking locating plate 272, top cap assembly locating plate 442, screw assembly locating plate 552, visual detection locating plate 654 and laser marking locating plate 663 respectively with frame tray 71 lower extreme butt to provide ascending holding power for frame tray 71, prevent that frame tray 71 from removing downwards in the assembling process, thereby play the degree of accuracy that improves the assembly, reach the effect that improves production quality.
When the rack tray 71 below the tray storage rack 281 is not moved out by the first conveyor mechanism 22, the tray cylinder 282 drives the tray clamping block 284 to move towards the direction close to the rack tray 71, so that the tray clamping block 284 is clamped with the rack tray 71, thereby preventing the rack tray 71 on the tray storage rack 281 from continuously dropping downwards, further preventing the rack tray 71 on the tray storage rack 281 and the rack tray 71 on the first conveyor mechanism 22 from colliding with each other and being clamped, and achieving the effect of ensuring the production efficiency. The rack trays 71 are prevented from colliding with each other and scratching the rack base, so that the material is protected, and the effect of improving the production quality is achieved.
The height of top cap sliding tray 263 is greater than top cap material thickness and is less than 2 times of top cap material thickness, makes the in-process that top cap push pedal 265 promoted the top cap material of bottom slide in top cap sliding tray 263, and other materials are blocked in top cap stock chest 262 to the realization is carried the function of top cap blown down tank 264 one by one with the top cap material.
The extension tray groove 252 of the extension tray frame 251 is stored with the frame tray 71, when the model tray discharging mechanism 28 is not provided with the frame tray 71, the model tray discharging mechanism 28 can be conveniently supplemented by the frame tray 71 in the extension tray groove 252, and the effects of facilitating production and improving production efficiency are achieved.
The height of the rail 674 is higher than that of the fifth conveyor belt mechanism 61, so that the rack tray 71 can be clamped by the rail 674 when the fifth conveyor belt mechanism 61 drives the rack tray 71 to move towards the storage table 64, the effect of improving the running stability of the equipment is achieved, and the effect of improving the production efficiency is achieved.
In summary, after reading the present disclosure, those skilled in the art can make various other corresponding changes without creative mental labor according to the technical solutions and concepts of the present disclosure, and all of them are within the protection scope of the present disclosure.
Claims (10)
1. An automated assembly apparatus, characterized in that: the device comprises a master control cabinet unit (11), a finish milling unit, a rotor assembly unit, a top cover assembly unit, a screw assembly unit and a visual detection laser marking unit, wherein the master control cabinet unit (11) is respectively electrically connected with the finish milling unit, the rotor assembly unit, the top cover assembly unit, the screw assembly unit and the visual detection laser marking unit, the finish milling unit comprises a numerical control milling machine (21), a top cover feeding robot assembly (24), a top cover discharging mechanism (26), a jacking positioning mechanism (27), a first conveying belt mechanism (22), a model tray discharging mechanism (28) and a first table body (23), the top cover discharging mechanism (26) and the first conveying belt mechanism (22) are both arranged on the first table body (23), the jacking positioning mechanism (27) and the model tray discharging mechanism (28) are both arranged on the first conveying belt mechanism (22), model tray discharge mechanism (28) set up in conveyer belt mechanism top, jacking positioning mechanism (27) set up in the conveyer belt below, model tray discharge mechanism (28) store frame (281) and tray cylinder (282) including the tray, tray storage frame (281) fixed mounting in first conveyer belt mechanism (22), tray storage frame (281) are equipped with frame tray (71) complex tray spout (283), tray cylinder (282) fixed mounting stores frame (281) in the tray, the piston rod fixedly connected with of tray cylinder (282) has tray fixture block (284) with frame tray (71) joint.
2. An automated assembly apparatus according to claim 1, wherein: jacking positioning mechanism (27) are including jacking cylinder (271) and jacking locating plate (272), jacking cylinder (271) fixed mounting is in first conveyer belt mechanism (22), the piston rod and jacking locating plate (272) fixed connection of jacking cylinder (271), jacking locating plate (272) fixed mounting has jacking locating pin (273) with frame tray (71) joint.
3. An automated assembly apparatus according to claim 1, wherein: top cap discharge mechanism (26) include top cap storage rack (261) and top cap push pedal (265), top cap storage rack (261) is equipped with top cap stock chest (262), top cap sliding tray (263) and top cap blown down tank (264), top cap sliding tray (263) both ends communicate with top cap stock chest (262) and top cap blown down tank (264) respectively, the height of top cap sliding tray (263) is greater than top cap material thickness and is less than 2 times of top cap material thickness, the extending direction sliding connection of top cap sliding tray (263) is followed with top cap storage rack (261), be equipped with top cap cylinder (266) between top cap storage rack (261) and top cap push pedal (265), top cap cylinder (266) both ends respectively with top cap storage rack (261) and top cap push pedal (265) fixed connection.
4. An automated assembly apparatus according to claim 1, wherein: the finish milling unit further comprises an extension tray frame (251) fixedly installed on the first table body (23), and an extension tray groove (252) matched with the rack tray (71) is formed in the extension tray frame (251).
5. An automated assembly apparatus according to claim 1, wherein: rotor subassembly assembly unit includes second conveyer belt mechanism (31), the second table body (32), rotor subassembly feed mechanism (34), rotor subassembly assembly robot subassembly (33) and rotor subassembly assembly positioner (35), second conveyer belt mechanism (31), rotor subassembly feed mechanism (34) and rotor subassembly assembly robot subassembly (33) are all installed in the second table body (32), second conveyer belt mechanism (31) feed end concatenation is in first conveyer belt discharge end.
6. An automated assembly apparatus according to claim 5, wherein: rotor subassembly positioning device (35) include rotor location cylinder (351) and rotor locating piece (352), rotor location cylinder (351) fixed mounting is in second conveyer belt mechanism (31), rotor locating piece (352) and second conveyer belt mechanism (31) sliding connection and with frame tray (71) joint, rotor locating piece (352) and rotor location cylinder (351)'s piston rod fixed connection.
7. An automated assembly apparatus according to claim 1, wherein: the top cover assembly unit comprises a third conveying belt mechanism (41), a third table body (42), a top cover assembly positioning device (44) and a top cover assembly robot assembly (43), wherein the third conveying belt mechanism (41), the top cover assembly positioning device (44) and the top cover assembly robot assembly (43) are all installed on the third table body (42), and the top cover assembly positioning device (44) is installed on the third conveying belt mechanism (41).
8. An automated assembly apparatus according to claim 7, wherein: top cap positioning device (44) include top cap positioning cylinder (441) and top cap positioning plate (442), top cap positioning cylinder (441) fixed mounting is in third conveyer belt mechanism (41), top cap positioning plate (442) fixed mounting is in the piston rod of top cap positioning cylinder (441), top cap positioning plate (442) fixedly connected with top cap positioning pin (443) of frame tray (71) joint.
9. An automated assembly apparatus according to claim 1, wherein: the screw assembly unit comprises a fourth conveying belt mechanism (51), a fourth table body (52), a screw feeding device (54), a screw screwing robot assembly (53) and a screw assembly positioning device (55), wherein the fourth conveying belt mechanism (51), the screw feeding device (54) and the screw screwing robot assembly (53) are all installed on the fourth table body (52), and the screw assembly positioning device (55) is installed on the conveying belt mechanism.
10. An automated assembly apparatus according to claim 1, wherein: visual detection laser marking unit includes that fifth conveyer belt mechanism (61), the fifth table body (62), visual detection positioner (65), laser marking positioner (66), model tray transport mechanism (67), finished product deposit platform (63), storage platform (64), fifth conveyer belt mechanism (61), visual detection positioner (65), laser marking positioner (66) and finished product deposit the equal fixed mounting in the fifth table body (62) of platform (63), install in fifth conveyer belt mechanism (61) storage platform (64), storage platform (64) set up in the discharge end of fifth conveyer belt mechanism (61), model tray transport mechanism (67) is connected respectively in fifth conveyer belt mechanism (61) and finished product deposit platform (63).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010115597.XA CN111168389A (en) | 2020-02-25 | 2020-02-25 | Automatic change equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010115597.XA CN111168389A (en) | 2020-02-25 | 2020-02-25 | Automatic change equipment |
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| Publication Number | Publication Date |
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| CN111168389A true CN111168389A (en) | 2020-05-19 |
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| CN202010115597.XA Pending CN111168389A (en) | 2020-02-25 | 2020-02-25 | Automatic change equipment |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112207780A (en) * | 2020-10-21 | 2021-01-12 | 湖南德力重工有限公司 | Assembling auxiliary device for excavator and using method thereof |
-
2020
- 2020-02-25 CN CN202010115597.XA patent/CN111168389A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112207780A (en) * | 2020-10-21 | 2021-01-12 | 湖南德力重工有限公司 | Assembling auxiliary device for excavator and using method thereof |
| CN112207780B (en) * | 2020-10-21 | 2021-12-21 | 湖南德力重工有限公司 | Assembling auxiliary device for excavator and using method thereof |
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