CN111168389B - Automatic change equipment - Google Patents
Automatic change equipment Download PDFInfo
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- CN111168389B CN111168389B CN202010115597.XA CN202010115597A CN111168389B CN 111168389 B CN111168389 B CN 111168389B CN 202010115597 A CN202010115597 A CN 202010115597A CN 111168389 B CN111168389 B CN 111168389B
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- 230000008859 change Effects 0.000 title description 3
- 230000007246 mechanism Effects 0.000 claims abstract description 169
- 238000010330 laser marking Methods 0.000 claims abstract description 49
- 238000001514 detection method Methods 0.000 claims abstract description 32
- 238000003801 milling Methods 0.000 claims abstract description 24
- 238000011179 visual inspection Methods 0.000 claims description 31
- 238000007599 discharging Methods 0.000 claims description 28
- 238000004519 manufacturing process Methods 0.000 abstract description 25
- 230000000007 visual effect Effects 0.000 abstract description 25
- 238000000034 method Methods 0.000 description 19
- 230000000694 effects Effects 0.000 description 15
- 230000008569 process Effects 0.000 description 15
- 230000006872 improvement Effects 0.000 description 10
- 238000010586 diagram Methods 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 230000001174 ascending effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 230000003340 mental effect Effects 0.000 description 1
- 238000006748 scratching Methods 0.000 description 1
- 230000002393 scratching effect Effects 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P21/00—Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with programme control
- 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 assembly equipment, which relates to the technical field of assembly equipment, and solves the problem of lower production efficiency of unmanned aerial vehicles. The technical key points are as follows: including total switch board unit, finish milling unit, rotor assembly unit, top cap assembly unit, screw assembly unit and visual detection laser marking unit, total switch board unit respectively with finish milling unit, rotor assembly unit, top cap assembly unit, screw assembly unit and visual detection laser marking unit electric connection, finish milling unit includes numerically controlled fraise machine, top cap material loading robot subassembly, top cap discharge mechanism, jacking positioning mechanism, first conveyor belt mechanism, model tray discharge mechanism and first table. Can realize unmanned aerial vehicle frame and rotor subassembly's automated processing and assembly, save the cost of labor, raise the efficiency, guarantee the standardization of product and standard, apply to the teaching on can improving the teaching quality, also more easily use widely.
Description
Technical Field
The invention relates to the technical field of assembly equipment, in particular to automatic assembly equipment.
Background
Unmanned aerial vehicles, namely unmanned aerial vehicles, are widely applied to the fields of agricultural plant protection, search and rescue and the like, and under the trend that industrial unmanned aerial vehicles are paid attention to gradually in developed countries of the world and the purposes are continuously explored and developed, exploration and research in the unmanned aerial vehicle field are also started in China in recent years. Along 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 appearance structure shape of the unmanned aerial vehicle is complex, the production of the unmanned aerial vehicle still takes manual assembly as the main part at present, and the production efficiency and the production quality achieved by the production mode of the worker pipelining work are difficult to meet the wide market demands, and the unification of the product specification standard is difficult to ensure. Therefore, the problem of lower production efficiency of the unmanned aerial vehicle exists in the prior art.
Disclosure of Invention
In order to overcome the above disadvantages of the prior art, the present invention aims to provide an automated assembly device, which has the advantage of higher production efficiency.
The technical scheme adopted for solving the technical problems is as follows:
The utility model provides an automatic change equipment, includes total switch board unit, finish milling unit, rotor subassembly assembly unit, top cap assembly unit, screw assembly unit and vision detection laser marking unit, total switch board unit respectively with finish milling unit, rotor subassembly assembly unit, top cap assembly unit, screw assembly unit and vision detection laser marking unit electric connection, the finish milling unit includes numerically controlled fraise machine, top cap material loading robot subassembly, top cap discharging mechanism, jacking positioning mechanism, first conveyer belt mechanism, model tray discharging mechanism and first table body, top cap discharging mechanism and first conveyer belt mechanism all install in first table body, jacking positioning mechanism, model tray discharging mechanism all install in first conveyer belt mechanism, and model tray discharging mechanism sets up in conveyer belt mechanism top, jacking positioning mechanism sets up in the conveyer belt below, model tray discharging mechanism includes tray storage frame and tray cylinder, tray storage frame fixed mounting is in first conveyer belt mechanism, tray storage frame has with frame tray matched with tray chute, tray clamping and tray cylinder clamping frame, tray clamping frame and tray clamping cylinder clamping device have the piston rod clamping block.
As a further improvement of the invention: the jacking positioning mechanism comprises a jacking cylinder and a jacking positioning plate, the jacking cylinder is fixedly arranged on the first conveying belt mechanism, a piston rod of the jacking cylinder is fixedly connected with the jacking positioning plate, and the jacking positioning plate is fixedly provided with a jacking positioning pin which is clamped with the rack tray.
As a further improvement of the invention: the top cap discharge mechanism includes top cap storage rack and top cap push pedal, top cap storage rack has top cap storage tank, top cap sliding tray and top cap blown down tank, top cap sliding tray both ends respectively with top cap storage tank and top cap blown down tank intercommunication, top cap sliding tray highly be greater than top cap material thickness and be less than 2 times of top cap material thickness, top cap push pedal and top cap storage rack follow top cap sliding tray's extending direction sliding connection, be equipped with the top cap cylinder between top cap storage rack and the top cap push pedal, top cap cylinder both ends respectively with top cap storage rack and top cap push pedal fixed connection.
As a further improvement of the invention: the finish milling unit further comprises an expansion tray frame fixedly mounted on the first table body, and expansion tray grooves matched with the rack tray are formed in the expansion tray frame.
As a further improvement of the invention: the rotor assembly unit comprises a second conveying belt mechanism, a second table body, a rotor assembly feeding mechanism, a rotor assembly assembling robot assembly and a rotor assembly assembling positioning device, wherein the second conveying belt mechanism, the rotor assembly feeding mechanism and the rotor assembly assembling robot assembly are all installed on the second table body, and the feeding end of the second conveying belt mechanism is spliced at the discharging end of the first conveying belt.
As a further improvement of the invention: rotor subassembly assembly positioner includes rotor positioning cylinder and rotor locating piece, rotor positioning cylinder fixed mounting is in second conveyer belt mechanism, rotor locating piece and second conveyer belt mechanism sliding connection and with frame tray joint, rotor locating piece and rotor positioning cylinder's piston rod fixed connection.
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, wherein 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 assembly positioning device comprises a top cover assembly positioning cylinder and a top cover assembly positioning plate, wherein the top cover assembly positioning cylinder is fixedly arranged on the third conveying belt mechanism, the top cover assembly positioning plate is fixedly arranged on a piston rod of the top cover assembly positioning cylinder, and the top cover assembly positioning plate is fixedly connected with a top cover assembly positioning pin which is 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 arranged on the fourth table body, and the screw assembly positioning device is arranged on the conveying belt mechanism.
As a further improvement of the invention: the visual inspection laser marking unit comprises a fifth conveying belt mechanism, a fifth table body, a visual inspection positioning device, a laser marking positioning device, a model tray carrying mechanism, a finished product storage table and a storage table, wherein the fifth conveying belt mechanism, the visual inspection positioning device, the laser marking positioning device and the finished product storage table are fixedly arranged on the fifth table body, the storage table is arranged on the fifth conveying belt mechanism, the storage table is arranged at the discharge end of the fifth conveying belt mechanism, and the model tray carrying mechanism is respectively connected with the fifth conveying belt mechanism and the finished product storage table.
Compared with the prior art, the invention has the beneficial effects that:
The automatic processing and assembly equipment of unmanned aerial vehicle frame and rotor subassembly can be realized to this equipment, has effectively saved the cost of labor, raise the efficiency, can guarantee the standardization of product and standard simultaneously.
The assembly equipment combines the robot loading and unloading, automatic conveying, assembling, detecting, laser marking and sorting storage, covers multiple working procedures, and can effectively ensure the operation stability, functional applicability and production precision reliability of the assembly equipment in the production process.
The assembly equipment covering multiple working procedures is applied to industrial teaching, so that the teaching is closer to actual production, multiple different working procedures can be practiced in the teaching process, the teaching quality is improved, and the popularization and the use are easier.
Drawings
FIG. 1 is a schematic view of an automated assembly apparatus according to an embodiment of the present application;
FIG. 2 is a schematic view of the first, second, third, fourth and fifth conveyor mechanisms according to an embodiment of the present application;
FIG. 3 is a schematic view of a top cover discharging mechanism in an embodiment of the application;
FIG. 4 is a schematic structural diagram of a lifting and positioning mechanism according to an embodiment of the present application;
FIG. 5 is a schematic view of a discharging mechanism of a model tray in an embodiment of the present application;
FIG. 6 is a schematic view of a rotor assembly positioning device according to an embodiment of the present application;
FIG. 7 is a schematic view of a top cover assembly positioning device according to an embodiment of the present application;
FIG. 8 is a schematic view of a screw assembly positioning device according to an embodiment of the present application;
FIG. 9 is a schematic diagram of a visual inspection positioning device according to an embodiment of the present application;
FIG. 10 is a schematic diagram of a laser marking device according to an embodiment of the present application;
fig. 11 is a schematic structural view of a handling mechanism for a model tray according to an 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. expanding a tray frame; 252. expanding the 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 cap discharge chute; 265. a top cover push plate; 266. a top cover cylinder; 27. a jacking positioning mechanism; 271. jacking the air cylinder; 272. jacking the positioning plate; 273. jacking the 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. rotor assembly robot assembly; 34. rotor assembly feed mechanism; 341. a rotor feeding frame; 35. the rotor wing assembly is provided with a positioning device; 351. a rotor wing positioning cylinder; 352. a rotor wing positioning block; 41. a third conveyor belt mechanism; 42. a third table body; 43. the top cover is assembled with the robot assembly; 44. the top cover is assembled with the positioning device; 441. the top cover is assembled with a positioning cylinder; 442. the top cover is provided 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. a screw-driving robot assembly; 54. screw feeding device; 55. a screw assembling and positioning device; 551. a screw assembly positioning cylinder; 552. assembling a positioning plate by a screw; 553. assembling a locating pin by a screw; 61. a fifth conveyor belt mechanism; 62. a fifth table body; 63. a finished product storage table; 64. a storage station; 65. visual detection positioning device; 651. a visual detection frame; 652. a visual inspection camera; 653. visual detection positioning cylinder; 654. visual detection positioning plate; 655. visual detection of the locating pin; 66. a laser marking positioning device; 661. a laser marking machine; 662. positioning a cylinder by laser marking; 663. positioning a plate by laser marking; 664. positioning pins by laser marking; 67. a model tray carrying mechanism; 671. carrying a supporting frame by a tray; 672. a tray carrying cylinder; 673. carrying a push plate by a 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 drawings and examples:
examples:
An automatic assembly device is shown in fig. 1 and 2, and comprises a main 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 main control cabinet unit 11 is 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 respectively.
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 lifting positioning mechanism 27, a first conveying belt mechanism 22, a model tray discharging mechanism 28 and a first table body 23, wherein the top cover discharging mechanism 26 and the first conveying belt mechanism 22 are both installed on the first table body 23, the model tray discharging mechanism 28 is arranged above the conveying belt mechanism, and the lifting positioning mechanism 27 is arranged below the conveying belt. The lifting positioning mechanism 27 comprises a lifting cylinder 271 and a lifting positioning plate 272, the lifting cylinder 271 is fixedly arranged on the first conveying belt mechanism 22, a piston rod of the lifting cylinder 271 is fixedly connected with the lifting positioning plate 272, and the lifting positioning plate 272 is fixedly provided with a lifting positioning pin 273 which is 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 mounted 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 mounted on the tray storage rack 281, and a piston rod of the tray cylinder 282 is fixedly connected with a tray clamping block 284 clamped with the rack tray 71. As shown in fig. 1, 2 and 3, the top cover discharging mechanism 26 includes a top cover storage rack 261 and a top cover push plate 265, the top cover storage rack 261 is provided with a top cover storage tank 262, a top cover sliding groove 263 and a top cover discharging groove 264, two ends of the top cover sliding groove 263 are respectively communicated with the top cover storage tank 262 and the top cover discharging groove 264, the height of the top cover sliding groove 263 is 1.5 times of the thickness of the top cover material, the top cover push plate 265 is slidably connected with the top cover storage rack 261 along the extending direction of the top cover sliding groove 263, a top cover air cylinder 266 is arranged between the top cover storage rack 261 and the top cover push plate 265, and two ends of the top cover air cylinder 266 are respectively fixedly connected with the top cover storage rack 261 and the top cover push plate 265. The finish milling unit further includes an extension tray holder 251 fixedly installed to the first table body 23, the extension tray holder 251 being provided with an extension tray groove 252 engaged with the frame 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 assembling 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 six robots of ABB, rotor subassembly assembly camera and rotor subassembly assembly camera, and rotor subassembly assembly camera installs on six robots of ABB, and rotor subassembly assembly camera installs on rotor subassembly assembly camera. In this embodiment, the ABB six-axis robot is IRB120, the rotor assembly mount camera is up to PVS100-C05MGGAB, and the rotor assembly mount lens is up to DMV-LN12M05P. In the process of grabbing and installing rotor materials by the rotor assembly assembling robot assembly 33, visual photographing detection positioning is carried out through a rotor assembly assembling camera installed on the ABB six-axis robot, and the assembling positioning precision of the rotor assembly assembling robot assembly 33 is ensured.
Rotor subassembly assembly positioner 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 and second conveyer belt mechanism 31 sliding connection and with frame tray 71 joint, rotor locating piece 352 and the piston rod fixed connection of rotor location cylinder 351. Rotor subassembly feed mechanism 34 includes rotor pay-off frame 341, and rotor pay-off frame 341 installs in second table 32.
As shown in fig. 1,2 and 7, the top cover assembly unit includes a third conveyor belt mechanism 41, a third table 42, a top cover assembly positioning device 44 and a top cover assembly robot assembly 43, and the third conveyor belt mechanism 41, the top cover assembly positioning device 44 and the top cover assembly robot assembly 43 are all mounted to the third table 42. The top cover assembling and positioning device 44 includes a top cover assembling and positioning cylinder 441 and a top cover assembling and positioning plate 442, the top cover assembling and positioning cylinder 441 is fixedly mounted on the third conveyor mechanism 41, the top cover assembling and positioning plate 442 is fixedly mounted on a piston rod of the top cover assembling and positioning cylinder 441, and the top cover assembling and positioning plate 442 is fixedly connected with a top cover assembling and 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 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, and in this embodiment, the screw feeding device 54 adopts a screw feeder of a model KFR-1050. The fourth conveyor belt mechanism 51, the screw feeding device 54, the screw-driving robot assembly 53, and the screw-assembling positioning device 55 are mounted to the fourth table body 52. The screw assembling and positioning device 55 comprises a screw assembling and positioning cylinder 551 and a screw assembling and positioning plate 552, the screw assembling and positioning cylinder 551 is fixedly arranged on the fourth conveying belt mechanism 51, the screw assembling and positioning plate 552 is fixedly connected with a piston rod of the screw assembling and positioning cylinder 551, and the screw assembling and positioning plate 552 is fixedly connected with a screw assembling and positioning pin 553 which is clamped with the rack tray 71.
The screw-driving robot assembly 53 includes a stage-up four-axis robot, a screw-driving camera mounted on the stage-up four-axis robot, and a screw-driving lens mounted on the screw-driving camera. In the embodiment, the model of the bench four-axis robot is DRS40L3SS1BN002, the bench PVS100-C05MGGAB is adopted by a screw screwing camera, and the bench DMV-LNMH-110 AP is adopted by a screw screwing lens. In the process of grabbing and installing rotor materials by the screw screwing robot assembly 53, visual photographing detection positioning is performed through a screw screwing camera installed on the platform reaching four-axis robot, and the assembly positioning accuracy of the screw screwing robot assembly 53 is ensured.
As shown in fig. 1,2 and 9, the visual inspection laser marking unit includes a fifth conveyor belt mechanism 61, a fifth table body 62, a visual inspection positioning device 65, a laser marking positioning device 66, a model tray carrying mechanism 67, a finished product storage table 63, and a storage table 64, wherein the fifth conveyor belt mechanism 61, the visual inspection positioning device 65, the laser marking positioning device 66 and the finished product storage table 63 are fixedly mounted on the fifth table body 62, the storage table 64 is mounted on the fifth conveyor belt mechanism 61, the feeding end of the fifth conveyor belt mechanism 61 is spliced with the discharging end of the fourth conveyor belt mechanism 51, the storage table 64 is disposed at the discharging end of the fifth conveyor belt mechanism 61, and the model tray carrying mechanism 67 is connected to the fifth conveyor belt mechanism 61 and the finished product storage table 63 respectively. The visual inspection positioning device 65 includes a visual inspection rack 651, a visual inspection camera 652, a visual inspection positioning cylinder 653, and a visual inspection positioning plate 654, and the visual inspection camera 652 is mounted with a visual inspection lens. In this embodiment, the vision inspection camera 652 is mounted on PVS100-C05MGGAB, and the screw-on lens is mounted on DMV-LN12M05P.
The visual inspection rack 651 is fixedly mounted on the fifth table body 62, the visual inspection camera 652 is fixedly mounted on the visual inspection rack 651 and faces the fifth conveyor belt mechanism 61, the visual inspection positioning cylinder 653 is fixedly mounted on the fifth conveyor belt mechanism 61, the visual inspection positioning plate 654 is fixedly mounted on a piston rod of the visual inspection positioning cylinder 653, and the visual inspection positioning plate 654 is fixedly connected with a visual inspection 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 conveyor 61, and the laser marking positioning plate 663 is fixedly connected with a laser marking positioning pin 664 which is clamped with the rack tray 71. As shown in fig. 1, 2 and 11, the model tray conveying mechanism 67 includes a tray conveying support frame 671, a tray conveying cylinder 672 and a tray conveying push plate 673, the tray conveying support frame 671 is fixedly mounted on the fifth table body 62, the tray conveying cylinder 672 is slidably connected to the tray conveying support frame 671, a piston rod of the tray conveying cylinder 672 is fixedly connected to the tray conveying support frame 671, the tray conveying push plate 673 is fixedly connected to the tray conveying cylinder 672, and the tray conveying support frame 671 is provided with a track 674 with two ends fixedly connected to the fifth conveying belt mechanism 61 and the finished product storage table 63 respectively. The track 674 is higher than the fifth conveyor belt mechanism 61, the fifth conveyor belt mechanism 61 is fixedly provided with a lifting cylinder 675, and a piston rod of the lifting cylinder 675 is fixedly connected with a lifting plate 676 which is abutted with the rack tray 71.
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 (programmable logic controller) of equipment, so as to control a finish milling unit, a rotor assembly assembling unit, a top cover assembling unit, a screw assembling unit and a visual detection laser marking unit. The numerically controlled milling machine 21, the first conveyor 22, the top cover loading robot assembly 24, the jacking cylinder 271, the tray cylinder 282, the second conveyor 31, the rotor assembly assembling robot assembly 33, the rotor positioning cylinder 351, the third conveyor 41, the top cover assembling robot assembly 43, the top cover assembling positioning cylinder 441, the fourth conveyor 51, the screw screwing robot assembly 53, the screw assembling positioning cylinder 551, the fifth conveyor 61, the visual inspection camera 652, the visual inspection positioning cylinder 653, the laser marking machine 661, the laser marking positioning cylinder 662, the tray conveying cylinder 672, and the jacking cylinder 675 are electrically connected to the total control cabinet unit 11.
The first belt conveyor 22, the second belt conveyor 31, the third belt conveyor 41, the fourth belt conveyor 51 and the fifth belt conveyor 61 comprise a cross beam, 2 guide wheels, a conveying motor and a conveyor belt, the cross beams of the first belt conveyor 22, the second belt conveyor 31, the third belt conveyor 41, the fourth belt conveyor 51 and the fifth belt conveyor 61 are fixedly connected to the first table body 23, the second table body 32, the third table body 42, the fourth table body 52 and the fifth table body 62 respectively, the guide wheels are rotatably connected with the cross beam, the conveying motor is fixedly installed on the cross beam, an output shaft of the conveying motor is connected with the guide wheels through belts, and the conveyor belt is wound on the guide wheels. The conveyor motor drives the guide wheel to rotate on the cross beam through the belt, so that the conveyor belt rotates, the rack tray 71 is placed on the conveyor belt, and the function of conveying the rack tray 71 through the conveyor belt is realized.
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 mounting and positioning device 35 is mounted to the cross beam of the second conveyor belt mechanism 31; the top cover assembly positioning device 44 is mounted to the cross beam of the third conveyor belt mechanism 41; the screw assembly positioning device 55 is arranged on the cross beam of the conveying belt mechanism; the storage table 64, the visual inspection positioning cylinder 653, and the laser marking positioning cylinder 662 are all mounted to the cross beam of the fifth conveyor mechanism 61.
The specific working process comprises the following steps:
the tray chute 283 is internally provided with a rack tray 71 which is in sliding connection with the tray storage rack 281, the rack tray 71 is internally provided with a rack base of the unmanned aerial vehicle, the rack tray 71 slides downwards on the tray storage rack 281 along with the action of gravity and is clamped with the tray clamping block 284, the tray cylinder 282 drives the tray clamping block 284 to move in a direction away from the rack tray 71, so that the tray clamping block 284 is separated from the rack tray 71, and the rack tray 71 falls down onto the first conveying belt mechanism 22. The first conveyor mechanism 22 moves the rack tray 71, on which the top cover material is not placed, to above the jacking and 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 pins 273 to move upwards and be clamped with the rack tray 71, so that the function of positioning the rack tray 71 is realized. Top cover material is stored in the top cover storage tank 262 and is in sliding connection with the top cover storage frame 261, the top cover material slides downwards into the top cover sliding tank 263 along with the action of gravity, and the top cover cylinder 266 drives the top cover push plate 265 to slide on the top cover storage frame 261 and pushes the top cover material in the top cover sliding tank 263 to slide into the top cover storage tank 262. The top cover loading robot assembly 24 carries the top cover material in the top cover storage tank 262 onto the numerical control milling machine 21, and after the top cover material is processed by the numerical control milling machine 21, the top cover material on the numerical control milling machine 21 is carried onto the rack tray 71 positioned by the jacking positioning pins 273 by the top cover loading robot assembly 24. The lifting cylinder 271 drives the lifting positioning plate 272 and the lifting positioning pins 273 to move downward 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.
The second conveyor belt mechanism 31 drives the rack tray 71 to move to the rotor assembly assembling and positioning device 35, and the positioning cylinder drives the rotor positioning block 352 to move towards the rack tray 71 and enables the rotor positioning block 352 to be clamped with the rack tray 71, so that the effect of positioning the rack tray 71 is achieved. Rotor material has been stored to rotor pay-off frame 341 in, and rotor subassembly assembly robot subassembly 33 carries the rotor material in the rotor pay-off frame 341 to the frame base on the frame tray 71 to accomplish the equipment of rotor material. The rotor positioning cylinder 351 drives the rotor positioning block 352 to move in a direction away from the rack tray 71, so that the rotor positioning block 352 is separated from the rack tray 71, and the rack tray 71 is conveyed to the third conveyor belt mechanism 41 through the second conveyor belt mechanism 31.
The third conveyor belt mechanism 41 drives the rack tray 71 to move to the top cover assembly positioning device 44, and the top cover assembly positioning cylinder 441 drives the top cover assembly positioning plate 442 to move toward the rack tray 71, and makes the top cover assembly positioning pin 443 to be clamped with the rack tray 71, thereby achieving the effect of positioning the rack tray 71. The top cover assembly robot assembly 43 clamps the top cover material on the rack tray 71 onto the rack base on the rack tray 71 and completes the assembly of the top cover material. The top cover assembly positioning plate 442 and the top cover assembly positioning pin 443 are driven to be separated from the rack tray 71 by the top cover assembly positioning cylinder 441, and the rack tray 71 is conveyed to the fourth conveyor belt mechanism 51 by the third conveyor belt mechanism 41.
The fourth conveyor belt mechanism 51 drives the rack tray 71 to move to the screw assembling positioning device 55, the screw assembling positioning cylinder 551 drives the screw assembling positioning plate 552 and the screw assembling positioning pin 553 to move in a direction approaching the rack tray 71, and the screw assembling positioning pin 553 is clamped with the rack tray 71, thereby realizing the positioning of the rack tray 71. The screw screwing robot assembly 53 sequentially absorbs screw materials output by the screw feeding device 54, sequentially installs the screw materials into the tray assembly, drives the screws to rotate, and screws the screws tightly, so that the assembly of the screw materials is completed. Then, the screw fitting positioning cylinder 551 drives the screw fitting positioning plate 552 and the screw fitting positioning pin 553 to move in a direction 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 upward, so that the visual detection positioning pin 655 is clamped with the rack tray 71, thereby realizing the function of positioning the rack tray 71. Visual photographing detection is performed through the visual detection camera 652, and whether the unmanned aerial vehicle rack product on the rack tray 71 is assembled 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 conveyor mechanism 61 drives the rack tray 71 to move toward 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. The laser marking operation is performed on the unmanned aerial vehicle frame on the frame tray 71 through the laser marking machine 661, then the laser marking positioning cylinder 662 drives the laser marking positioning plate 663 and the laser marking positioning pin 664 to separate from the frame tray 71, and the fifth conveying belt mechanism 61 drives the frame tray 71 to move to the model tray conveying mechanism 67. The lifting cylinder 675 drives the lifting 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 conveying cylinder 672 drives the tray conveying pushing plate 673 to move on the tray conveying supporting frame 671, and enables the tray conveying pushing plate 673 to push the rack tray 71 to move towards the track 674 and move to the finished product storage table 63 along the extending direction of the track 674, and products are stored through the finished product storage table 63, so that the processing and the assembly of the products are completed. If the detection of the visual inspection positioning device 65 is judged to be unqualified, the fifth conveyor mechanism 61 conveys the rack tray 71 to the storage table 64, and the storage table 64 stores the products judged to be unqualified by the visual inspection, thereby realizing the storage of the qualified and unqualified products, respectively, and preventing the unqualified products from being mixed into the qualified products.
This embodiment has the following advantages:
The automatic processing and assembly equipment of unmanned aerial vehicle frame and rotor subassembly can be realized to this equipment, has effectively saved the cost of labor, raise the efficiency, can guarantee the standardization of product and standard simultaneously. This equipment has combined unloading, automatic transportation, assembly, detection, laser marking and letter sorting storage on the robot, has covered the multichannel process, can effectively guarantee the operational stability, functional suitability and the production precision reliability of this equipment in the production process, will cover the equipment of multichannel process and apply to industry teaching, enable the teaching and more press close to actual production, also can practice multiple different processes in the teaching process, improve the teaching quality, also more easily use widely.
The rack base of the unmanned aerial vehicle is supported by the rack tray 71, so that the rack base can be protected by the rack tray 71, the rack base is prevented from being collided with other objects and scratched and broken in the carrying process, the effect of protecting products is achieved, and the effect of improving the production quality can be achieved. Through the location to frame tray 71 to can fix a position the frame base on the frame tray 71, and can prevent that the frame base from being scratched in the location in-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 assembly process, the frame base is prevented from moving to influence the assembly, and the effect of improving the production quality is achieved.
After finish milling is carried out on the top cover material through 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 reduced, 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 frame tray 71 is respectively positioned through the jacking positioning pins 273, the rotor wing positioning blocks 352, the top cover assembling positioning plate 442, the screw assembling positioning pins 553, the visual detection positioning pins 655 and the laser marking positioning pins 464, so that the frame tray 71 is ensured to be at a proper position in the assembling process, the frame tray 71 can be accurately assembled, the assembling accuracy is improved, and the production quality is improved. The frame base is prevented from being blocked in the assembly process and can not be assembled continuously, so that the effect of ensuring the assembly efficiency can be achieved.
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 moving downwards in the assembly process, thereby play the degree of accuracy that improves the assembly, reach the effect that improves production quality.
When the rack tray 71 is not moved out by the first conveyor mechanism 22 under the tray storage rack 281, the tray cylinder 282 drives the tray clamping block 284 to move in a direction close to the rack tray 71, so that the tray clamping block 284 is clamped with the rack tray 71, and the rack tray 71 on the tray storage rack 281 is prevented from continuously falling down, and further the rack tray 71 on the tray storage rack 281 and the rack tray 71 on the first conveyor mechanism 22 are prevented from being mutually collided and clamped, so that the effect of ensuring the production efficiency is achieved. The frame trays 71 are prevented from colliding with each other and scratching the frame base, so that the effect of protecting materials is achieved, and the effect of improving the production quality is achieved.
The top cap sliding chute 263 is higher than the top cap material thickness and is less than 2 times of the top cap material thickness, so that the top cap push plate 265 pushes the top cap material at the bottom to slide into the top cap sliding chute 263, and other materials are clamped in the top cap storage chute 262, thereby realizing the function of conveying the top cap materials to the top cap discharge chute 264 one by one.
The extension tray groove 252 of the extension tray rack 251 stores the rack tray 71 therein, and when the rack tray 71 is not arranged in the model tray discharging mechanism 28, the model tray discharging mechanism 28 can be conveniently supplemented through the rack tray 71 in the extension tray groove 252, thereby achieving the effects of facilitating production and improving production efficiency.
The height of the track 674 is higher than that of the fifth conveyor belt mechanism 61, and the track 674 can be clamped in the process that the fifth conveyor belt mechanism 61 drives the rack tray 71 to move towards the storage table 64, so that the stability of equipment operation is improved, and the production efficiency is improved.
In view of the above, after reading the present document, those skilled in the art should make various other corresponding changes without creative mental effort according to the technical scheme and the technical conception of the present invention, which are all within the scope of the present invention.
Claims (4)
1. An automated assembly device, characterized in that: including total switch board unit (11), finish milling unit, rotor assembly unit, top cap assembly unit, screw assembly unit and vision detection laser marking unit, total switch board unit (11) respectively with finish milling unit, rotor assembly unit, top cap assembly unit, screw assembly unit and vision detection laser marking unit electric connection, the finish milling unit includes numerically controlled fraise machine (21), top cap material loading robot subassembly (24), top cap discharge mechanism (26), jacking positioning mechanism (27), first conveyer belt mechanism (22), model tray discharge mechanism (28) and first table body (23), top cap discharge mechanism (26) and first conveyer belt mechanism (22) are all installed in first table body (23), jacking positioning mechanism (27), model tray discharge mechanism (28) are all installed in first conveyer belt mechanism (22), and model tray discharge mechanism (28) set up in conveyer belt mechanism top, jacking positioning mechanism (27) set up in conveyer belt below, model tray discharge mechanism (28) are including tray storage rack (281) and first conveyer belt mechanism (282), be equipped with in first rack (281) and fixed tray (282) in first rack (281) and fixed tray (281) are installed in first rack (282), a piston rod of the tray cylinder (282) is fixedly connected with a tray clamping block (284) which is clamped with the rack tray (71);
the jacking positioning mechanism (27) comprises a jacking cylinder (271) and a jacking positioning plate (272), the jacking cylinder (271) is fixedly arranged 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) which is clamped with the rack tray (71);
The top cover discharging mechanism (26) comprises a top cover storage rack (261) and a top cover pushing plate (265), the top cover storage rack (261) is provided with a top cover storage groove (262), a top cover sliding groove (263) and a top cover discharging groove (264), two ends of the top cover sliding groove (263) are respectively communicated with the top cover storage groove (262) and the top cover discharging groove (264), the height of the top cover sliding groove (263) is greater than the thickness of a top cover material and is smaller than 2 times of the thickness of the top cover material, the top cover pushing plate (265) is in sliding connection with the top cover storage rack (261) along the extending direction of the top cover sliding groove (263), a top cover cylinder (266) is arranged between the top cover storage rack (261) and the top cover pushing plate (265), and two ends of the top cover cylinder (266) are respectively fixedly connected with the top cover storage rack (261) and the top cover pushing plate (265);
The rotor assembly unit comprises a second conveying 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 assembling positioning device (35), wherein the second conveying belt mechanism (31), the rotor assembly feeding mechanism (34) and the rotor assembly assembling robot assembly (33) are all arranged on the second table body (32), and the feeding end of the second conveying belt mechanism (31) is spliced at the discharging end of the first conveying belt;
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 arranged on the third table body (42), and the top cover assembly positioning device (44) is arranged on the third conveying belt mechanism (41);
The screw assembling 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 assembling and positioning device (55), wherein the fourth conveying belt mechanism (51), the screw feeding device (54) and the screw screwing robot assembly (53) are all arranged on the fourth table body (52), and the screw assembling and positioning device (55) is arranged on the conveying belt mechanism;
The visual inspection laser marking unit comprises a fifth conveying belt mechanism (61), a fifth table body (62), a visual inspection positioning device (65), a laser marking positioning device (66), a model tray carrying mechanism (67), a finished product storage table (63) and a storage table (64), wherein the fifth conveying belt mechanism (61), the visual inspection positioning device (65), the laser marking positioning device (66) and the finished product storage table (63) are fixedly installed on the fifth table body (62), the storage table (64) is installed on the fifth conveying belt mechanism (61), the storage table (64) is arranged at the discharge end of the fifth conveying belt mechanism (61), and the model tray carrying mechanism (67) is connected to the fifth conveying belt mechanism (61) and the finished product storage table (63) respectively.
2. An automated assembly device according to claim 1, wherein: the finish milling unit further comprises an expansion tray frame (251) fixedly mounted on the first table body (23), and the expansion tray frame (251) is provided with an expansion tray groove (252) matched with the rack tray (71).
3. An automated assembly device according to claim 1, wherein: rotor subassembly assembly positioner (35) are including 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 the piston rod fixed connection of rotor location cylinder (351).
4. An automated assembly device according to claim 1, wherein: the top cover assembly positioning device (44) comprises a top cover assembly positioning cylinder (441) and a top cover assembly positioning plate (442), the top cover assembly positioning cylinder (441) is fixedly arranged on the third conveying belt mechanism (41), the top cover assembly positioning plate (442) is fixedly arranged on a piston rod of the top cover assembly positioning cylinder (441), and the top cover assembly positioning plate (442) is fixedly connected with a top cover assembly positioning pin (443) which is clamped with the rack tray (71).
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| CN204780491U (en) * | 2015-05-29 | 2015-11-18 | 昆明中铁大型养路机械集团有限公司 | Portable rail mills finish milling device of car |
| CN106485758B (en) * | 2016-10-31 | 2023-08-22 | 成都通甲优博科技有限责任公司 | Unmanned aerial vehicle camera calibration device, calibration method and assembly line calibration implementation method |
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