CN111230436A - Intelligent production line for multi-robot cooperative operation - Google Patents
Intelligent production line for multi-robot cooperative operation Download PDFInfo
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- CN111230436A CN111230436A CN201911333100.5A CN201911333100A CN111230436A CN 111230436 A CN111230436 A CN 111230436A CN 201911333100 A CN201911333100 A CN 201911333100A CN 111230436 A CN111230436 A CN 111230436A
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- 238000004519 manufacturing process Methods 0.000 title claims abstract description 25
- 230000007246 mechanism Effects 0.000 claims abstract description 139
- 230000009467 reduction Effects 0.000 claims abstract description 54
- 239000000463 material Substances 0.000 claims description 25
- 241000446313 Lamella Species 0.000 claims description 10
- 210000000078 claw Anatomy 0.000 claims description 10
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 2
- 239000000126 substance Substances 0.000 claims description 2
- 238000007599 discharging Methods 0.000 abstract description 4
- 238000003754 machining Methods 0.000 abstract description 2
- 230000000903 blocking effect Effects 0.000 description 10
- 230000007704 transition Effects 0.000 description 5
- 230000007723 transport mechanism Effects 0.000 description 3
- 208000012260 Accidental injury Diseases 0.000 description 2
- 208000014674 injury Diseases 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 206010019345 Heat stroke Diseases 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 239000011435 rock Substances 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/001—Article feeders for assembling machines
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/04—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for assembling or disassembling parts
- B23P19/06—Screw or nut setting or loosening machines
Abstract
The invention relates to the field of machining, and provides an intelligent production line for multi-robot cooperative operation, which is used for fastening nuts to a motor and a reduction gearbox and comprises: the automatic assembling equipment is used for realizing automatic operation, the feeding robot is used for carrying out feeding and carrying operation, the blanking robot is used for carrying out blanking operation, and the stepping conveying mechanism is used for moving objects; the feeding robot and the discharging robot are fixedly connected to automatic assembly equipment, and the stepping type conveying mechanism is located in the working range of the discharging robot. This intelligent production line of multirobot collaborative operation can reduce manual operation's step, practices thrift the cost of labor of assembly operation to can improve the precision of assembly, promote the quality of assembly.
Description
Technical Field
This patent is the divisional application, and the parent application number is: 201711264809.5. the invention relates to the field of machining, in particular to an intelligent production line for multi-robot cooperative operation.
Background
Among the prior art, motor assembly quality is influenced to the motor assembly quality that the motor assembly quality is low because of the manual operation usually, its degree of automation is low, and the manual operation step is loaded down with trivial details, and consequently the cost of labor of assembly is higher to manual operation leads to the assembly precision low easily.
Therefore, in order to solve the above problems, it is necessary to provide a new intelligent production line for multi-robot cooperative work.
Disclosure of Invention
The invention provides a novel intelligent production line for multi-robot cooperative operation, which can reduce the steps of manual operation, save the labor cost of assembly operation, improve the assembly precision and improve the assembly quality.
The invention provides an intelligent production line for multi-robot cooperative operation, which mainly comprises: the automatic assembling equipment is used for realizing automatic operation, the feeding robot is used for carrying out feeding and carrying operation, the blanking robot is used for carrying out blanking operation, and the stepping conveying mechanism is used for moving objects; the feeding robot and the blanking robot are fixedly connected to the automatic assembly equipment, and the stepping type conveying mechanism is located in the working range of the blanking robot;
the automatic assembly equipment is used for fastening the nut to the motor and the reduction box, and comprises: the device comprises a device base body, a nut pre-tightening mechanism, a reduction gearbox fixing mechanism, a motor pressing mechanism, a nut locking mechanism and an operating mechanism; wherein, the device pedestal includes: the device comprises a bracket and a table board, wherein a pre-tightening station and a locking station are arranged on the table board; the reduction gearbox fixing mechanism is used for fixing the reduction gearbox on the pre-tightening station; the nut pre-tightening mechanism is used for pre-tightening the nut to the reduction gearbox, and the motor pressing mechanism presses the motor on the locking station; the nut locking mechanism is used for locking the pre-tightened nut; the operating mechanism is used for controlling the reduction gearbox fixing mechanism, the nut pre-tightening mechanism, the motor pressing mechanism and the nut locking mechanism;
the step-by-step transport mechanism includes: the stepping type material loading platform comprises a shell support, a stepping type material loading platform, a circulating driver, a power output mechanism and a clamping device, wherein the shell support can be used for fixing, the stepping type material loading platform can be used for installing a tool, the circulating driver can be used for driving the stepping type material loading platform to move, the power output mechanism can be used for driving the circulating driver to move, the clamping device can be used for locking the stepping type material loading platform, the stepping type material loading platform and the circulating driver are movably connected to the shell support, and the power output mechanism and the clamping device are fixedly connected to the stepping type material loading platform; the stepping type material loading platform is movably connected with the circulating driver, and the power output mechanism is movably connected with the circulating driver.
Preferably, the housing support comprises an annular chute of annular structure and a conveying guide rail of linear structure;
preferably, the circulation driver includes: the first chain wheel and the second chain wheel are movably connected to the shell support, the first chain wheel and the second chain wheel are movably connected through the chain drive, the chain drive is fixedly connected to the motion table, the motion table is movably connected to the transition plate through the third pin shaft, and the motion table and the transition plate are arranged at intervals; the motion platform is movably connected with the annular chute, and the stepping type material carrying platform is fixedly connected with the motion platform.
Preferably, the power output mechanism includes: the device comprises a driving cylinder, a sliding guide plate, a pawl, a motion table, a clamping machine, a first pin shaft, a second pin shaft, a reset spring and a triangular block, wherein a cylinder body of the driving cylinder is fixedly connected with a shell support, the sliding guide plate is movably connected with a conveying guide rail, the tail end of a piston rod of the driving cylinder is fixedly connected with the sliding guide plate, the pawl is movably connected to the lower part of the sliding guide plate through the first pin shaft, and the pushing surface of the pawl is matched with the motion table; the triangular block is fixedly connected with the end part of the sliding guide plate; the clamping machine is movably connected to the shell support through the second pin shaft, a return spring is arranged between the clamping machine and the shell support, and the return spring is in a tensioned state; the triangular block is arranged between the clamping machine and the shell support.
Preferably, the clamping device comprises a clamping convex plate and a clamping cylinder, wherein a cylinder body of the clamping cylinder is fixedly connected to the shell support, and the tail end of a piston rod of the clamping cylinder is fixedly connected to the clamping convex plate; the screens flange swing joint in shell support, be provided with on the motion platform with screens flange assorted screens recess.
Preferably, the reduction gearbox fixing mechanism comprises a slide rail fixedly arranged on the table top and a reduction gearbox fixing piece slidably connected on the slide rail, the reduction gearbox fixing piece comprises a fixing piece base slidably connected on the slide rail and a U-shaped fork fixedly connected on the fixing piece base, the reduction gearbox fixing mechanism further comprises a first cylinder arranged on the table top, the first cylinder comprises a telescopic first piston rod, the first piston rod is fixedly connected with the reduction gearbox fixing piece, and the axis direction of the first cylinder faces the pre-tightening station. So set up, the nut pretension mechanism of being convenient for carries out the pretension operation to the nut, when avoiding the pretension operation, the reducing gear box rocks because of the atress to the convenience of operation and the precision of assembly have been improved.
Preferably, the operating mechanism comprises a first operating knob for controlling the extension and retraction of the first piston rod.
Preferably, the nut pre-tightening mechanism comprises a vertical guide rod, the bottom end of the vertical guide rod is fixed on the table top, the nut pre-tightening mechanism further comprises a guide seat slidably arranged on the vertical guide rod, the guide seat 3 can slide up and down along the vertical guide rod, the nut pre-tightening mechanism further comprises a transverse guide rod slidably arranged on the guide seat, the transverse guide rod can slide transversely relative to the guide seat along the direction perpendicular to the vertical guide rod, the nut locking mechanism further comprises an electric spanner seat fixedly connected to the transverse guide rod, an electric spanner and a handle fixedly arranged on the electric spanner seat, the nut locking mechanism further comprises a balance hoisting device hoisted at the upper end of the vertical guide rod through a rope, the balance hoisting device comprises a telescopic rope, one end of the telescopic rope is fixedly connected to the guide seat, the telescopic rope is biased to pull the guide seat to move towards the direction far away from the table board. So set up, need not the manual power of operator and pull away from the electric spanner, reduced manual operation's step, the production efficiency of promotion has reduced the cost of labor of assembly.
Preferably, the second operating button is used for controlling the electric wrench to start and stop.
Preferably, the motor pressing mechanism comprises a supporting seat fixedly connected to the table-board and a second cylinder arranged on the supporting seat, the second cylinder comprises a telescopic second piston rod, the motor pressing mechanism further comprises a motor pressing piece fixedly connected to the second piston rod, the second piston rod can vertically extend and retract along the vertical direction, when the second piston rod extends downwards, the motor pressing piece is driven to press the motor positioned on the locking station, when the second piston rod retracts upwards, the motor pressing piece is driven to release the motor positioned on the locking station, the motor pressing mechanism further comprises a guide rod fixedly connected to the motor pressing piece, the guide rod penetrates through the through hole in the supporting seat and can vertically slide relative to the supporting seat, and the axis of the guide rod is parallel to the axis of the second air cylinder. The motor hold-down mechanism can prevent the motor and the reduction gearbox from shaking due to stress during locking operation, and prevent the reduction of assembly precision caused by shaking.
Preferably, the operating mechanism comprises a third operating knob for controlling the extension or retraction of the second piston rod
Preferably, the nut locking mechanism is arranged below the table board, the nut locking mechanism comprises a support frame fixedly connected below the table board and a third cylinder fixedly arranged on the support frame, the third cylinder comprises a third piston rod capable of extending along the vertical direction, an intermediate plate is fixedly connected to the third piston rod, a sleeve is arranged on the intermediate plate and can be rotatably arranged on the intermediate plate through a first bearing, the nut locking mechanism further comprises a servo motor fixedly arranged on the support frame and a clamping jaw capable of being driven by the servo motor to rotate, the clamping jaw is arranged in the sleeve, the bottom end of the clamping jaw is connected with the servo motor, the top end of the clamping jaw extends out of the top end of the sleeve and is of a three-piece jaw structure, and a through hole is formed in the table board, the top of clamping jaw can be followed upwards stretch out in the through-hole of mesa, three lamella formula claw type structures include the slope, three lamella formula claw type structures can draw close or separate each other, works as during sleeve upward movement, telescopic top supports and leans on the slope makes three lamella formula claw type structures draw close each other and are used for pressing from both sides tightly the nut, works as during sleeve downward movement, telescopic top is loosened the slope makes three lamella formula claw type structures separate each other in order to loosen the nut, the clamping jaw passes through the second bearing and rotationally connects on the support frame. The nut locking mechanism arranged in this way can realize automatic clamping and automatic accurate locking of the nut, reduces the steps of manual operation, and can also improve the precision of nut locking.
Preferably, the nut locking mechanism further comprises a limiting part arranged on the support frame, the limiting part is arranged above the third piston rod and used for limiting the upward movement distance of the middle plate, the support frame comprises three layers of supports, the three layers of supports are fixedly connected together through connecting columns, a sheath is fixedly arranged on the middle plate, and the sheath is sleeved outside the sleeve. So set up, the locating part can restrict the distance of intermediate lamella upward movement, avoids the damage that causes the excessive clamp of nut, and the sheath also can prevent that the user from contacting the sleeve when the sleeve is rotatory and causing accidental injury.
Preferably, the operating mechanism comprises a fourth operating button, and the fourth operating button is used for controlling the third piston rod to extend and retract and controlling the servo motor to rotate and stop.
Drawings
FIG. 1 is a schematic perspective view of an automated assembly facility of an intelligent production line for multi-robot collaborative operations according to an embodiment of the present invention;
FIG. 2 is a perspective view of the robotic assembly machine of FIG. 1 with the hidden frame;
FIG. 3 is a front view of the robotic assembly machine of FIG. 1 shown hidden from view;
FIG. 4 is a perspective view of a nut pretensioning mechanism of the automated assembly apparatus shown in FIG. 1;
FIG. 5 is a schematic perspective view of a motor hold down mechanism of the automated assembly machine of FIG. 1;
FIG. 6 is a perspective view of the nut lock mechanism of the automated assembly machine of FIG. 1;
FIG. 7 is a cross-sectional view of the nut locking mechanism shown in FIG. 6;
FIG. 8 is a schematic perspective view of an intelligent production line for multi-robot cooperative work according to an embodiment of the present invention;
FIGS. 9 and 10 are schematic structural views of the step-by-step conveying mechanism;
FIG. 11 is a schematic structural view of a housing of the step transfer mechanism of the present invention;
FIG. 12 is a schematic view of the structure of the gripper of the step-by-step transport mechanism of the present invention;
FIG. 13 is a schematic view of the driving mechanism of the step-by-step type transport mechanism of the present invention;
fig. 14, 15, 16 and 17 are schematic structural views of the step-by-step conveying mechanism of the present invention. Wherein the content of the first and second substances,
1. automatic assembling equipment 10, motor 20 and reduction gearbox
30. Device base 40, nut pre-tightening mechanism 50 and motor pressing mechanism
60. Nut locking mechanism 70, operating mechanism 80 and fan
90. Reduction gearbox fixing mechanism 201, nut 301 and support
303. Table 305, lower support 307, upper support
309. Top support 311, pre-tightening station 313, locking station
401. Vertical guide rod 403, guide seat 405, and transverse guide rod
407. Electric wrench seat 409, electric wrench 411 and handle
413. Balance lifting device 415, telescopic rope 501 and support seat
503. Second cylinder 505, second piston rod 507, motor hold down piece
509. Guide rod 601, support frame 603 and third cylinder
605. Third piston rod 607, intermediate plate 609 and sleeve
611. First bearing 613, servo motor 615 and clamping jaw
617. Three-jaw structure 619, second bearing 621 stopper
623. Connecting post 625, sheath 701, first operating button
702. Second 703, third 704 and fourth 703 operating buttons
901. Sliding rail 903 reduction gearbox fixing part 905 fixing part base
907U-shaped fork 909, first cylinder 911 and first piston rod
Detailed Description
The present invention will be described in detail below with reference to specific embodiments shown in the drawings of the specification. These embodiments are not intended to limit the present invention, and simple modifications made by those skilled in the art according to these embodiments are included in the scope of the present invention.
Fig. 1 to 6 show an intelligent production line for multi-robot cooperative work according to an embodiment of the present invention. Specifically, referring to fig. 1, an intelligent production line for multi-robot cooperative work mainly includes: an automatic assembling apparatus 1 for realizing an automated operation, a feeding robot 2 for performing a feeding and a carrying operation, a discharging robot 3 for performing a discharging operation, a step-by-step conveying mechanism 100 for performing a moving object; the feeding robot 2 and the blanking robot 3 are fixedly connected to the automatic assembly equipment 1, and the stepping type conveying mechanism 100 is located in the working range of the blanking robot 3.
The automatic assembling apparatus 1 is used for performing assembling work on the motor 10 and the reduction gearbox 20. The automatic assembling equipment 1 comprises a device base 30, a nut pre-tightening mechanism 40, a reduction gearbox fixing mechanism 90, a motor pressing mechanism 50, a nut locking mechanism 60 and an operating mechanism 70. Wherein, the device housing 30 comprises a support 301 and a table 303. The support 301 includes at least four lower supports 305 for supporting the table 303. The stand 301 also includes four upper stands 307 supported on the table 303 and a top stand 309 disposed atop the upper stands 307. The table top 303 is provided with a pre-tightening station 311 and a locking station 313. The pre-tightening station 311 and the locking station 313 are used for placing the motor 10 and the reduction gearbox 20. The pre-tightening station 311 and the locking station 313 are both in shapes which can be matched with the outer surfaces of the motor 10 and the reduction gearbox 20. The pre-tightening station 311 is used for placing the motor 10 and the reduction gearbox 20 when the nut 201 is pre-tightened, and the locking station 313 is used for placing the motor 10 and the reduction gearbox 20 when the nut 201 is locked. When the nut 201 is pre-tightened, the reduction gearbox fixing mechanism 90 is used for fixing the reduction gearbox on the pre-tightening station 311. When the nut 201 is locked, the motor pressing mechanism 50 presses the motor on the locking station 313. The nut pre-tightening mechanism 40 is used for pre-tightening the nut 201 onto the reduction gearbox 20. The nut lock mechanism 60 is used to lock the nut 201 that has been pre-tightened. The operating mechanism 70 is used for controlling the reduction box fixing mechanism 90, the nut pre-tightening mechanism 40, the motor pressing mechanism 50 and the nut locking mechanism 60. The operation mechanism 70 includes a first operation knob 701, a second operation knob 702, a third operation knob 703 and a fourth operation knob 704. Wherein the first operating button 701 is used for controlling the reduction gearbox compacting mechanism 90. The second operating knob 702 is used to control the nut pretensioning mechanism 40. The third operating button 703 is used to control the motor pressing mechanism 50. The fourth operating knob 704 is used to control the nut lock mechanism 60.
Referring to fig. 2-4, the gearbox fixing mechanism 90 comprises a slide rail 901 fixedly arranged on the table-board 303 and a gearbox fixing member 903 slidably connected to the slide rail 901. The reduction gearbox fixing member 903 comprises a fixing member base 905 slidably connected to the slide rail 901 and a U-shaped fork 907 fixedly connected to the fixing member base 905. The reduction gearbox fixing mechanism 90 also includes a first cylinder 909 provided on the table top. The first cylinder 909 includes a telescopic first piston rod 911. The first piston rod 911 is fixedly connected with the reduction gearbox fixing member 903. Specifically, the first piston rod 911 is fixedly connected to the fixing base 905. The axial direction of the first cylinder 909 is set toward the pretensioning station 311. When the first piston rod 911 extends out, the reduction gearbox fixing part 903 is driven to move towards the pre-tightening station 311, so that the reduction gearbox 20 is fixed on the pre-tightening station 311 by the U-shaped fork, the nut pre-tightening mechanism 40 can conveniently perform pre-tightening operation on the nut 201, the situation that the reduction gearbox 20 shakes due to stress during the pre-tightening operation is avoided, and convenience in operation and accuracy in assembly are improved. When the first piston rod 911 retracts, the reduction gearbox fixing part 903 is driven to move away from the pre-tightening station 311, so that the U-shaped fork loosens the reduction gearbox 20. At this point, the reduction gearbox 20 and motor 10 can be removed from the pretensioning station 311. The first operation knob 701 is used to control the first piston rod 911 to extend and retract.
With continued reference to fig. 2-4, the nut pretensioning mechanism 40 includes a vertical guide rod 401. The bottom end of the vertical guide bar 401 is fixed on the table top 303. The nut pretensioning mechanism 401 further comprises a guide seat 403 slidably disposed on the vertical guide bar 401. The guide 403 can slide up and down along the vertical guide 401. The nut pre-tightening mechanism 40 further includes a transverse guide rod 405 slidably disposed on the guide seat 403. The lateral guide 405 can slide laterally relative to the guide holder 403 in a direction perpendicular to the vertical guide. The nut locking mechanism 40 further comprises an electric wrench base 407 fixedly connected to the transverse guide rod 405, and an electric wrench 409 and a handle 411 fixedly arranged on the electric wrench base 407. The nut locking mechanism 40 further comprises a balance hanging device 413 hung at the upper end of the vertical guide rod 401 through a rope. The balance sling 415 comprises a telescopic string 415. One end of the telescopic rope 415 is fixedly connected to the guide holder 403. The extension cord 415 is biased to pull the shoe 403 in a direction away from the playing surface 303. When a user holds the handle 411 and pulls the handle downwards, the guide seat 403 moves towards the direction of the table-board 303 against the pulling force of the balance hanging device 415, so that the electric wrench 409 approaches to the nut 201 to be pre-tightened. When the user releases the handle 411, the guide 403 is pulled away from the table 303 by the counterweight 415. So set up, need not the manual electric spanner 409 that pulls away of operator, reduced manual operation's step, the production efficiency of promotion has reduced the cost of labor of assembly. The second operating button 702 is used to control the start and stop of the electric wrench 409.
Referring to fig. 2, 3 and 5, the motor pressing mechanism 50 includes a support base 501 fixedly attached to the table 303 and a second cylinder 503 disposed on the support base 501. The second cylinder 503 comprises a telescopic second piston rod 505. The motor pressing mechanism 50 further includes a motor pressing member 507 fixedly coupled to the second piston rod 505. The second piston rod 505 can be extended and retracted up and down in the vertical direction. When the second piston rod 505 extends downward, the motor pressing member 507 is driven to press the motor 10 located at the locking station 313. When the second piston rod 505 retracts upwards, the motor pressing member 507 is driven to release the motor 10 located at the locking station 313. The motor pressing mechanism 50 further includes a guide rod 509 fixedly connected to the motor pressing member 507. The guide rod 509 passes through a through hole in the support base 501 and is vertically slidable with respect to the support base 501. The axis of the guide rod 509 is parallel to the axis of the second cylinder 503. With the arrangement, the stability of the motor pressing mechanism 50 can be improved, and the motor 10 on the locking station 313 can be pressed more firmly. The third operation knob 703 is used to control the extension or retraction of the second piston rod 505. The motor pressing mechanism 50 can prevent the motor 10 and the reduction gearbox 20 from shaking due to stress during locking operation, and prevent the assembly precision from being reduced due to shaking.
Referring to fig. 2 and 3, the nut locking mechanism 60 is disposed below the table 303. As further shown in fig. 6 and 7, the nut locking mechanism 60 includes a support bracket 601 fixedly connected to the underside of the table 303 and a third actuating cylinder 10603 fixedly disposed on the support bracket 601. In the present embodiment, the number of the third master cylinders 10603 is two. The third master cylinder 10603 includes a third piston rod 605 that is vertically extendable and retractable. An intermediate plate 607 is fixedly connected to the third piston rod 605. A sleeve 609 is provided on the intermediate plate 607. Specifically, the sleeve 609 is rotatably disposed on the intermediate plate 607 via a first bearing 611. The nut locking mechanism 60 further comprises a servo motor 613 fixedly arranged on the support frame 601 and a clamping jaw 615 which can be driven to rotate by the servo motor 613. The clamping jaw 615 is arranged in the sleeve, the bottom end of the clamping jaw 615 is connected with the servo motor 613, and the top end of the clamping jaw 615 extends out of the top end of the sleeve 609 and is in a three-jaw type claw structure 617. The table-board 303 is provided with a through hole, and the top end of the clamping jaw 615 can extend upwards from the through hole of the table-board 303. The three-lobed claw-like structure 617 comprises a ramped surface. May be brought together or separated from each other. As the sleeve 609 moves upward, the top end of the sleeve 609 bears against the ramp surfaces bringing the three-jaw type structures together for clamping the nut. As the sleeve 609 moves downward, the top end of the sleeve 609 releases the ramp surfaces to separate the three-pronged pawl structures from each other to release the nut. In addition, the clamping jaw 615 is rotatably connected to the support frame 601 through a second bearing 619. The nut lock mechanism 60 further includes a stopper 621 provided on the support frame 601. A stopper 621 is disposed above the third piston rod 605 to limit the upward movement distance of the middle plate 607. The support frame 601 comprises three layers of supports which are fixedly connected with each other through a connecting column 623. The fourth operation knob 704 is used to control the third piston rod to extend and retract and to control the servo motor 613 to rotate and stop. A jacket 625 is also fixedly disposed on the intermediate plate 607. Sheath 625 is disposed on the exterior of sleeve 609 to prevent accidental injury by a user contacting sleeve 609 when sleeve 609 is rotated. More preferably, first bearing 611 is disposed between sleeve 609 and sheath 625. The nut locking mechanism 60 arranged in this way can realize automatic clamping and automatic accurate locking of the nut, reduces the steps of manual operation, and can also improve the precision of nut locking.
The operation and principle of the automatic assembling apparatus 1 will be described in detail with reference to fig. 1 to 7. First, the motor 10 and the reduction gearbox 20 are placed in the pretensioning station 311. The first operating button 701 is operated to control the first piston rod 911 of the first cylinder 909 to move transversely, so as to drive the reduction gearbox fixing member 903 to move transversely along the slide rail 901 to fix the reduction gearbox 20 on the pre-tightening station 311. Further, the electric wrench 409 is close to the nut 201 on the reduction gearbox through the pull-down handle 411. The second operating button 702 is operated to start the electric wrench 409 to pre-tighten the nut 201. After the pre-tightening operation is completed, the handle is loosened, and the electric wrench 409 is lifted up and away from the pre-tightening station 311 under the action of the balance lifting device 413. Then, the first operating knob 701 is operated to retract the first piston rod 911 to release the reduction gear box 20 and the motor 10 at the pretensioning station. Then, the reduction box 20 and the motor 10 on the pre-tightening station are taken down, turned over by 180 degrees and placed on the locking station 313. Then, the third operation knob 703 is operated to lower the second piston rod 505. The second piston rod 505 drives the motor pressing member 507 to press the motor 10 on the locking station 313. The fourth operating knob 704 is then operated to control the third piston rod 611 to extend. The third piston rod 611 is raised to move the socket 609 upwards via the intermediate plate 607. The top end of the sleeve 609 bears against the ramped surfaces of the jaws 615 causing the three-lobed jaw formation 617 to grip the nut 201. After the nut 201 is clamped by the jaws 615, the servo motor 613 drives the jaws 615 to rotate, thereby locking the nut. The servo motor 613 achieves precise locking of the nut 201 through torque control. Therefore, the low assembly precision caused by manual operation can be avoided, and the assembly quality is improved.
The automatic assembly machine 1 also comprises at least one fan 80. In a preferred embodiment, the fan 80 is disposed on the bracket 301. In a preferred embodiment, the fan 80 is disposed on the top bracket 309. In the above embodiment, it is more preferable that two fans 80 are provided, and the two fans may be separately turned on. In the above embodiment, it is more preferable that the fan 80 is disposed to face downward. When the air temperature is high, the fan 80 is started to avoid heatstroke of the operator and avoid the over-high temperature of the electric wrench and the servo motor to burn the machine.
The invention relates to a stepping type conveying mechanism 100 of an intelligent production line for multi-robot cooperative operation, which comprises: the device comprises a shell support 101, a stepping type material loading platform 102, a circulating driver 104, a power output mechanism 103 and a blocking device 105, wherein the shell support 101 can be used for fixing, the stepping type material loading platform 102 can be used for installing a tool, the circulating driver 104 can be used for driving the stepping type material loading platform 102 to move, the power output mechanism 103 can be used for driving the circulating driver 104 to move, the blocking device 105 can be used for blocking the stepping type material loading platform 102, the stepping type material loading platform 102 and the circulating driver 104 are movably connected to the shell support 101, and the power output mechanism 103 and the blocking device 105 are fixedly connected to the stepping type material loading platform 102; the stepping type material loading platform 102 is movably connected to the circulating driver 104, and the power output mechanism 103 is movably connected to the circulating driver 104;
the housing support 101 comprises an annular chute 28 in an annular structure and a conveying guide rail 107 in a linear structure;
the loop driver 104 includes: the moving table 112, the transition plate 120, the third pin shaft 121, the chain drive 122, the first chain wheel 123, and the second chain wheel 124, the first chain wheel 123 and the second chain wheel 124 are movably connected to the casing support 101, the first chain wheel 123 and the second chain wheel 124 are movably connected through the chain drive 122, the chain drive 122 is fixedly connected to the moving table 112, the moving table 112 is movably connected to the transition plate 120 through the third pin shaft 121, and the moving table 112 and the transition plate 120 are arranged at intervals; the moving table 112 is movably connected to the annular chute 28, and the step-type material loading table 102 is fixedly connected to the moving table 112.
The power output mechanism 103 includes: the device comprises a driving cylinder 106, a sliding guide plate 108, a pawl 109, a motion table 112, a clamping machine 115, a first pin 116, a second pin 117, a return spring 118 and a triangular block 119, wherein a cylinder body of the driving cylinder 106 is fixedly connected to the shell support 101, the sliding guide plate 108 is movably connected to the conveying guide rail 107, the tail end of a piston rod of the driving cylinder 106 is fixedly connected to the sliding guide plate 108, the pawl 109 is movably connected to the lower part of the sliding guide plate 108 through the first pin 116, and a pushing surface 11 of the pawl 109 is matched with the motion table 112; the triangular block 119 is fixedly connected to the end of the sliding guide plate 108; the clamping machine 115 is movably connected to the shell support 101 through the second pin shaft 117, a return spring 118 is arranged between the clamping machine 115 and the shell support 101, and the return spring 118 is in a tension state; the triangular block 119 is arranged between the clamping machine 115 and the shell support 101.
The blocking device 105 comprises a blocking convex plate 126 and a blocking cylinder 127, wherein a cylinder body of the blocking cylinder 127 is fixedly connected to the shell support 101, and the tail end of a piston rod of the blocking cylinder 127 is fixedly connected to the blocking convex plate 126; the clamping convex plate 126 is movably connected to the shell support 101, and a clamping groove 125 matched with the clamping convex plate 126 is arranged on the moving table 112.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present invention should be subject to the claims.
Claims (10)
1. An intelligent production line for multi-robot cooperative work is characterized by comprising: the automatic assembling equipment is used for realizing automatic operation, the feeding robot is used for carrying out feeding and carrying operation, the blanking robot is used for carrying out blanking operation, and the stepping conveying mechanism is used for moving objects; the feeding robot and the blanking robot are fixedly connected to the automatic assembly equipment, and the stepping type conveying mechanism is located in the working range of the blanking robot; the automatic assembling device comprises: the device comprises a device base body, a nut pre-tightening mechanism, a reduction gearbox fixing mechanism, a motor pressing mechanism, a nut locking mechanism and an operating mechanism; wherein the content of the first and second substances,
the device pedestal includes: the device comprises a bracket and a table board, wherein a pre-tightening station and a locking station are arranged on the table board;
the reduction gearbox fixing mechanism is used for fixing the reduction gearbox on the pre-tightening station;
the nut pre-tightening mechanism is used for pre-tightening the nut to the reduction gearbox;
the motor pressing mechanism presses the motor on the locking station;
the nut locking mechanism is used for locking the pre-tightened nut;
the operating mechanism is used for controlling the reduction gearbox fixing mechanism, the nut pre-tightening mechanism, the motor pressing mechanism and the nut locking mechanism;
the nut pre-tightening mechanism comprises a vertical guide rod, the bottom end of the vertical guide rod is fixed on the table board, the nut pre-tightening mechanism further comprises a guide seat which is slidably arranged on the vertical guide rod, the guide seat 3 can slide up and down along the vertical guide rod, the nut pre-tightening mechanism further comprises a transverse guide rod which is slidably arranged on the guide seat, the transverse guide rod can transversely slide along the direction which is perpendicular to the vertical guide rod relative to the guide seat, and the nut locking mechanism further comprises an electric wrench seat which is fixedly connected to the transverse guide rod, and an electric wrench and a handle which are fixedly arranged on the electric wrench seat.
2. The intelligent production line with the cooperation of multiple robots as claimed in claim 1, wherein the reduction gearbox fixing mechanism comprises a slide rail fixedly arranged on the table top and a reduction gearbox fixing member slidably connected to the slide rail, the reduction gearbox fixing member comprises a fixing member base slidably connected to the slide rail and a U-shaped fork fixedly connected to the fixing member base, the reduction gearbox fixing mechanism further comprises a first cylinder arranged on the table top, the first cylinder comprises a telescopic first piston rod, the first piston rod is fixedly connected with the reduction gearbox fixing member, and the axial direction of the first cylinder is arranged towards the pre-tightening station;
the nut locking mechanism further comprises a balance lifting device arranged at the upper end of the vertical guide rod in a lifting mode through a rope, the balance lifting device comprises a telescopic rope, one end of the telescopic rope is fixedly connected to the guide seat, and the telescopic rope is inclined to pull the guide seat to move towards the direction far away from the table board.
3. The multi-robot cooperative intelligent production line according to claim 2, wherein the operating mechanism comprises a first operating knob for controlling the first piston rod to extend and retract.
4. The intelligent production line for multi-robot cooperative work according to claim 1, wherein the step-by-step conveying mechanism comprises: the stepping type material loading platform comprises a shell support, a stepping type material loading platform, a circulating driver, a power output mechanism and a clamping device, wherein the shell support can be used for fixing, the stepping type material loading platform can be used for installing a tool, the circulating driver can be used for driving the stepping type material loading platform to move, the power output mechanism can be used for driving the circulating driver to move, the clamping device can be used for locking the stepping type material loading platform, the stepping type material loading platform and the circulating driver are movably connected to the shell support, and the power output mechanism and the clamping device are fixedly connected to the stepping type material loading platform; the stepping type material loading platform is movably connected with the circulating driver, and the power output mechanism is movably connected with the circulating driver.
5. The intelligent production line with multi-robot cooperative operation as claimed in claim 4, wherein the second operation button is used for controlling the start and stop of the electric wrench.
6. The intelligent production line with multi-robot cooperative operation as claimed in claim 1, wherein the motor pressing mechanism comprises a supporting seat fixedly connected to the table-board, a second cylinder disposed on the supporting seat, the second cylinder comprises a second telescopic piston rod, the motor pressing mechanism further comprises a motor pressing member fixedly connected to the second piston rod, the second piston rod can be vertically extended and retracted, when the second piston rod is extended downward, the motor pressing member is driven to press the motor located on the locking station, when the second piston rod is extended upward, the motor pressing member is driven to release the motor located on the locking station, the motor pressing mechanism further comprises a guide rod fixedly connected to the motor pressing member, the guide rod passes through the through hole on the supporting seat and can vertically slide relative to the supporting seat, the axis of the guide rod is parallel to the axis of the second cylinder.
7. The multi-robot cooperative intelligent production line as claimed in claim 6, wherein the operating mechanism comprises a third operating button for controlling the extension or retraction of the second piston rod.
8. The intelligent production line with multi-robot cooperative operation as claimed in claim 6, wherein the nut locking mechanism is disposed under the table top, the nut locking mechanism comprises a support frame fixedly connected under the table top and a third cylinder fixedly disposed on the support frame, the third cylinder comprises a third piston rod capable of extending and retracting along a vertical direction, a middle plate is fixedly connected to the third piston rod, a sleeve is disposed on the middle plate, the sleeve is rotatably disposed on the middle plate through a first bearing, the nut locking mechanism further comprises a servo motor fixedly disposed on the support frame and a clamping jaw capable of being driven by the servo motor to rotate, the clamping jaw is disposed inside the sleeve, a bottom end of the clamping jaw is connected with the servo motor, and a top end of the clamping jaw extends out of a top end of the sleeve, and be three lamella formula claw type structures, be provided with the through-hole on the mesa, the top of clamping jaw can be followed upwards stretch out in the through-hole of mesa, three lamella formula claw type structures include the slope, three lamella formula claw type structures can draw close each other or separate, works as during sleeve upward movement, telescopic top supports and leans on the slope makes three lamella formula claw type structures draw close each other and are used for pressing from both sides tightly the nut, works as during the sleeve downward movement, telescopic top is loosened the slope makes three lamella formula claw type structures separate each other in order to loosen the nut, the clamping jaw passes through the second bearing and rotationally connects on the support frame.
9. The intelligent production line with multi-robot cooperative operation as claimed in claim 6, wherein the nut locking mechanism further comprises a limiting member disposed on the supporting frame, the limiting member is disposed above the third piston rod for limiting the upward movement distance of the middle plate, the supporting frame comprises three layers of brackets, and the three layers of brackets are fixedly connected with each other through a connecting column.
10. The intelligent production line with multi-robot cooperative operation as claimed in claim 6, wherein the operating mechanism comprises a fourth operating button for controlling the extension and retraction of the third piston rod and controlling the rotation and stop of the servo motor.
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| CN201911333100.5A CN111230436A (en) | 2017-11-22 | 2017-11-22 | Intelligent production line for multi-robot cooperative operation |
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| CN201711264809.5A CN107803656B (en) | 2017-11-22 | 2017-11-22 | industrial robot collaborative production assembly line |
| CN201911333100.5A CN111230436A (en) | 2017-11-22 | 2017-11-22 | Intelligent production line for multi-robot cooperative operation |
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| CN109027022B (en) * | 2018-09-30 | 2023-09-01 | 安徽工程大学 | Operating device for cooperatively assembling bearings by double robots |
| CN110217593A (en) * | 2019-06-24 | 2019-09-10 | 苏州天目光学科技有限公司 | A kind of liquid crystal module AOI detection charging positioning mechanism |
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| CN107803656B (en) | 2019-12-10 |
| CN107803656A (en) | 2018-03-16 |
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