CN111300021B - Assembling mechanism and assembling method - Google Patents
Assembling mechanism and assembling method Download PDFInfo
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- CN111300021B CN111300021B CN201911243216.XA CN201911243216A CN111300021B CN 111300021 B CN111300021 B CN 111300021B CN 201911243216 A CN201911243216 A CN 201911243216A CN 111300021 B CN111300021 B CN 111300021B
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- sliding table
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- assembling
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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
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Abstract
The invention discloses an assembling mechanism and an assembling method, which are used for realizing automatic assembling. This equipment mechanism includes frame, first motor, slip table and equipment module. The first motor is fixedly connected with the frame. The output shaft of slip table and first motor is connected, and first motor is used for controlling the slip table to remove along vertical direction. The assembly module comprises a fixing plate, a second motor and a clamping jaw. The second motor is fixedly connected with the fixing plate, an output shaft of the second motor is connected with the clamping jaw, the fixing plate is connected with the rack in a sliding mode along the vertical direction, and a convex block is arranged on the fixing plate. In the vertical direction, the lug is located the slip table top. Thereby, the slip table can be used for through the butt lug, lifting equipment module in vertical direction. After the sliding table puts down the convex block, the assembly module descends. The clamping jaws are used for grabbing a target object. The target object rotates along with the clamping jaws, and the target object and another object can be assembled, so that automatic assembly is realized.
Description
Technical Field
The invention relates to the technical field of processing and manufacturing equipment, in particular to an assembling mechanism and an assembling method.
Background
In the field of manufacturing, it is necessary to assemble some devices, such as a lens and a lens frame, and a worker screws the lens and the lens frame by rotating the lens or the lens frame.
The existing assembly mode is usually realized through manual assembly, and the assembly mode has low efficiency and is not beneficial to large-scale production.
Disclosure of Invention
The invention aims to provide an assembling mechanism and an assembling method, which are used for realizing automatic assembling.
To achieve the purpose, the embodiment of the invention adopts the following technical scheme:
an assembly mechanism comprising:
a frame;
the first motor is fixedly connected with the rack;
the sliding table is connected with an output shaft of the first motor, and the first motor is used for controlling the sliding table to move along the vertical direction;
the assembling module comprises a fixing plate, a second motor and a clamping jaw;
the second motor is fixedly connected with the fixing plate, an output shaft of the second motor is connected with the clamping jaw, the fixing plate is connected with the rack in a sliding mode along the vertical direction, and a convex block is arranged on the fixing plate;
in the vertical direction, the lug is positioned above the sliding table;
the sliding table is used for lifting the assembly module by abutting against the convex block in the vertical direction;
the second motor is used for controlling the clamping jaw to rotate around an axis vertical to the horizontal plane;
the clamping jaw is used for grabbing a target object.
Optionally, the assembling mechanism further comprises a detection switch and a detection piece;
the detection piece is fixedly connected with the assembling module, and the detection piece is used for moving along with the assembling module in the vertical direction;
the detection switch is fixedly connected with the rack;
the detection switch is used for controlling the second motor to stop rotating when the detection piece is detected.
Optionally, the assembly module further comprises a coupler, a rotating shaft, a bearing seat and a housing;
the bearing seat is fixedly connected with the shell in the shell, the shell is fixedly connected with the fixed plate, the rotating shaft penetrates through an inner ring of the bearing seat, and the rotating shaft is fixedly connected with the inner ring of the bearing seat;
one end of the coupler is fixedly connected with an output shaft of the second motor, and the other end of the coupler is fixedly connected with the rotating shaft;
and one end of the rotating shaft, which is far away from the coupler, is connected with the clamping jaw.
Optionally, the assembly module further comprises a fine-pitch nut;
a boss is arranged at one end of the rotating shaft, which is far away from the coupler, and the boss extends outwards along the edge of the rotating shaft;
the fine-tooth nut is in threaded connection with the rotating shaft;
the bearing seat is clamped between the fine thread nut and the boss.
Optionally, the assembly module further comprises a manual sliding table, the manual sliding table comprises a control element, a first sliding table and a second sliding table, and the first sliding table and the second sliding table are connected in a sliding manner along a first direction and a second direction;
the control element is connected with the first sliding table and the second sliding table respectively and is used for controlling the relative displacement of the first sliding table and the second sliding table along the first direction and the second direction;
the first sliding table and the second sliding table are coaxially linked;
the first sliding table is fixedly connected with one end of the rotating shaft, and the second sliding table is connected with the clamping jaw;
the first direction and the second direction are perpendicular to each other, and the first direction and the second direction are parallel to a horizontal plane.
Optionally, the assembly module further comprises a first cylinder;
the first air cylinder is connected with the clamping jaw, and an output shaft of the second motor is connected with the first air cylinder;
the first air cylinder is used for controlling the clamping jaws to clamp.
Optionally, the assembling mechanism further includes a second cylinder, and the second cylinder is fixedly connected to the frame;
in the vertical direction, the second cylinder is positioned below the lug;
the end part of the telescopic rod of the second air cylinder faces the lug, and the telescopic rod of the second air cylinder is used for abutting against the lug to provide a buffering effect when the assembling module descends.
Optionally, the number of the assembly modules is two;
two the equipment module interval sets up.
In order to achieve the purpose, the embodiment of the invention also adopts the following technical scheme:
an assembling method applied to the assembling mechanism of claim 1;
the assembling method comprises the following steps:
the first motor controls the sliding table to ascend in the vertical direction, so that the assembling module is lifted after the sliding table abuts against the protruding block;
the first motor controls the sliding table to descend along the vertical direction, so that the assembly module descends along the vertical direction under the action of the gravity of the assembly module;
when the camera lens that the clamping jaw snatched and picture frame butt, control the output shaft of second motor rotates to make the camera lens rotate for the picture frame, thereby camera lens with picture frame threaded connection.
Optionally, the assembling mechanism further comprises a detection switch and a detection piece;
the detection piece is fixedly connected with the assembling module, and the detection piece is used for moving along with the assembling module in the vertical direction;
the detection switch is fixedly connected with the rack;
the assembly method further comprises:
when the detection switch detects the detection piece, the detection switch controls the second motor to stop rotating.
The invention has the beneficial effects that:
the assembling mechanism comprises a rack, a first motor, a sliding table and an assembling module. Wherein, first motor and frame fixed connection. The output shaft of slip table and first motor is connected, and first motor is used for controlling the slip table to remove along vertical direction. The assembly module comprises a fixing plate, a second motor and a clamping jaw. The second motor is fixedly connected with the fixing plate, an output shaft of the second motor is connected with the clamping jaw, the fixing plate is connected with the rack in a sliding mode along the vertical direction, and a convex block is arranged on the fixing plate. In the vertical direction, the lug is located the slip table top. Thereby, the slip table can be used for through the butt lug, lifting equipment module in vertical direction. After the sliding table puts down the convex block, the assembly module descends. Since the jaws are used to grasp the target object. After the target article and another article are abutted, the assembly module is temporarily stopped from descending, and then the second motor can be used for controlling the clamping jaw to move in the vertical direction and controlling the clamping jaw to rotate around the axis of the vertical horizontal plane. Thus, the target article rotates with the holding jaws, and the assembly of the target article and another article can be realized, thus realizing the automatic assembly.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without inventive exercise.
FIG. 1 is a schematic structural diagram of an assembly mechanism according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of an assembly mechanism according to another embodiment of the present invention;
FIG. 3 is a schematic structural diagram of an assembly mechanism according to another embodiment of the present invention;
fig. 4 is a schematic structural diagram of an assembly module according to another embodiment of the present invention;
fig. 5 is a schematic structural view of a lens and a lens frame assembled according to another embodiment of the present invention;
fig. 6 is a flowchart of an assembling method according to another embodiment of the present invention.
In the figure:
1. a frame; 2. a first motor; 3. a sliding table; 4. a detection switch; 5. a detection member; 6. a second cylinder; 7. assembling a module; 71. a fixing plate; 72. a second motor; 73. a clamping jaw; 74. a bump; 75. a coupling; 76. a rotating shaft; 77. a bearing seat; 78. a housing; 79. a fine-toothed nut; 80. a boss; 81. a manual slide table; 82. a control member; 83. a first sliding table; 84. a second sliding table; 85. a first cylinder; 91. a lens; 92. a spectacle frame.
Detailed Description
The embodiment of the invention provides an assembling mechanism and an assembling method, which are used for realizing automatic assembling.
In order to make the objects, features and advantages of the present invention more obvious and understandable, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the embodiments described below are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The technical scheme of the invention is further explained by the specific implementation mode in combination with the attached drawings.
Fig. 1 is a schematic structural diagram of an assembly mechanism according to an embodiment of the present invention, fig. 2 is a schematic structural diagram of an assembly mechanism according to another embodiment of the present invention, and fig. 3 is a schematic structural diagram of an assembly mechanism according to another embodiment of the present invention.
Referring to fig. 1, 2 and 3, the assembly mechanism according to the embodiment of the present invention includes a frame 1, a first motor 2, a sliding table 3, and an assembly module 7.
Wherein, the first motor 2 is fixedly connected with the frame 1. The first motor 2 is mounted on the frame 1, and the frame 1 can provide a supporting function. Wherein the first motor 2 may be a servo motor.
The sliding table 3 is connected with an output shaft of the first motor 2, and the first motor 2 is used for controlling the sliding table 3 to move along the vertical direction.
For example, the output shaft of the first motor 2 can extend and retract, and after the output shaft of the first motor 2 is connected in a sliding manner, the first motor 2 can control the sliding table 3 to move in the vertical direction.
For another example, the output shaft of the first motor 2 is connected with a screw rod, and the sliding table 3 is arranged on the screw rod. Under the drive of the output shaft of the first motor 2, the screw rod rotates, and the rotating screw rod can control the sliding table 3 to move along the vertical direction. Wherein, the screw rod rotates along a rotating direction, and the sliding table 3 moves downwards; the screw rod rotates along the opposite direction, and the sliding table 3 moves upwards.
Fig. 4 shows a schematic structural diagram of an assembly module 7, wherein the assembly module 7 comprises a fixing plate 71, a second motor 72, and a clamping jaw 73.
As shown in fig. 3, the second motor 72 is fixedly connected to the fixing plate 71, and an output shaft of the second motor 72 is connected to the holding jaw 73.
The fixed plate 71 is slidably connected to the frame 1 in the vertical direction. Specifically, a slide rail and a slide groove are arranged between the fixing plate 71 and the frame 1, and the slide rail can be slidably connected with the slide groove. The fixing plate 71 and the frame 1 can be slidably connected in the vertical direction through a sliding rail and a sliding groove.
As shown in fig. 1 and 2, the fixing plate 71 is provided with a projection 74. The projection 74 is located above the slide table 3 in the vertical direction. Thus, when the slide table 3 moves upward in the vertical direction, the slide table 3 abuts the boss 74. Thus, the slide table 3 serves to lift the assembly module 7 by abutting the boss 74 in the vertical direction.
The second motor 72 is used to control the jaw 73 to rotate about an axis perpendicular to the horizontal plane. Specifically, when the output shaft of the second motor 72 rotates, the holding jaw 73 is driven to rotate. Wherein the second motor 72 may be a stepper motor.
The gripper jaw 73 is used to grip the target object. When the gripping claw 73 rotates, the gripped object article is rotated. The target object is, for example, a lens 91 shown in fig. 5.
Thus, after the gripping jaw 73 grips the target article, the first motor 2 controls the slide table 3 to move upward in the vertical direction. The slide table 3 lifts the assembly module 7 in the vertical direction by abutting the projection 74. After the equipment mechanism moved the equipment station, first motor 2 control slip table 3 moved down along vertical direction to equipment module 7 moved down under self action of gravity. The slide table 3 can be controlled to move down lower than the lowest downward movement position of the assembly module 7. That is, the slide table 3 is lowered by a height exceeding the end position where the assembly module 7 is lowered. When the target article abuts against another article placed at the assembling station, the downward movement of the assembling module 7 is stopped, and the height of the assembling module 7 is temporarily fixed. Then, the second motor 72 controls the jaw 73 to rotate around the axis perpendicular to the horizontal plane to rotate the target object, so that the thread of the target object and the thread of another object are screwed together. During the screwing of the target article and the other article, the target article and the assembling module 7 are gradually moved down until the assembling of the target article and the other article is completed.
In order to achieve accurate control of the downward movement position of the assembly module 7, the assembly mechanism optionally further comprises a detection switch 4 and a detection member 5.
The detection switch 4 is, for example, a photoelectric switch, and the detector 5 is, for example, a micrometer. The photoelectric switch can generate a detection signal when detecting the micrometer.
The detection piece 5 is fixedly connected with the assembling module 7, and the detection piece 5 is used for moving along with the assembling module 7 in the vertical direction. For example, the detecting member 5 is disposed on the fixing plate 71 so that the detecting member 5 moves in the vertical direction with the fixing plate 71.
The detection switch 4 is fixedly connected with the frame 1. The detection switch 4 is used for controlling the second motor 72 to stop rotating when the detection member 5 is detected.
Thus, when the target object and the assembling module 7 are gradually moved downward in the process of screwing the target object and another object, the detecting member 5 is also moved downward in the vertical direction along with the assembling module 7. When the object article and the other article move downwards to a certain distance, the detection switch 4 detects the detection piece 5 to indicate that the assembly is completed, the detection switch 4 generates a signal, and the controller controls the second motor 72 to stop rotating, so that the assembly is stopped, and the object article and the other article are assembled to a proper position, so that the assembly height error can be reduced.
As can be seen from the above, in the embodiment of the present invention, the first motor 2 can drive the assembly module 7 to ascend, and the descending of the assembly module 7 can be divided into two stages, one stage is descending under the gravity of the assembly module 7, the other stage is assembling the target object and another object by rotating the second motor 72, and the assembly module 7 continues descending during the assembling process.
In order to control the descending distance of the second stage and reduce the assembly height error, the detection switch 4 and the detection piece 5 are matched, the detection switch 4 detects the detection piece 5 to indicate that the target object is assembled, and therefore the second motor 72 is controlled to stop rotating.
In order to make the assembly block 7 have a high concentricity, optionally, as shown in fig. 4, the assembly block 7 further includes a coupling 75, a rotation shaft 76, a bearing housing 77, and a housing 78.
The bearing block 77 is fixedly connected to the housing 78 in the housing 78, and the housing 78 is fixedly connected to the fixing plate 71.
The rotation shaft 76 penetrates through an inner ring of the bearing housing 77, and the rotation shaft 76 and the inner ring of the bearing housing 77 are fixedly connected.
One end of the coupling 75 is fixedly connected to the output shaft of the second motor 72, and the other end of the coupling 75 is fixedly connected to the rotating shaft 76. So that the coupling 75 can transmit the torque of the output shaft of the second motor 72 to the rotating shaft 76.
The end of the rotating shaft 76 far away from the coupler 75 is connected with the clamping jaw 73, and the clamping jaw 73 can be driven to rotate through the rotating shaft 76.
Thus, the bearing seat 77 can stabilize the position of the rotating shaft 76 and prevent the rotating shaft 76 from shaking in the horizontal direction, so that the whole assembly module 7 has higher concentricity, the assembly precision is improved, and the assembly height error is reduced.
In order to avoid the shaking of the rotating shaft 76 in the vertical direction, the assembly module 7 optionally further comprises a fine-pitch nut 79.
As shown in fig. 4, a boss 80 is provided at an end of the rotating shaft 76 away from the coupling 75, and the boss 80 extends outward along an edge of the rotating shaft 76. Wherein the fine thread nut 79 is screwed with the rotation shaft 76.
The bearing seat 77 is clamped between the fine thread nut 79 and the boss 80.
Through the fine-toothed nut 79 and the boss 80, and the lower end and the upper end of the bearing seat 77 are limited respectively, the rotating shaft 76 can be prevented from shaking in the vertical direction, and therefore the assembling precision is improved.
In order to ensure concentricity of a target article with another article, the other article is an object assembled with the target article. Optionally, as shown in fig. 2 and 4, the assembly module 7 further includes a manual sliding table 81, the manual sliding table 81 includes a control member 82, a first sliding table 83 and a second sliding table 84, and the first sliding table 83 and the second sliding table 84 are slidably connected along the first direction and the second direction.
The control member 82 is connected to the first and second slide tables 83 and 84, respectively, and the control member 82 is configured to control relative displacement of the first and second slide tables 83 and 84 in the first and second directions. In other words, the control member 82 may control the relative displacement of the first and second slips 83, 84 in the first direction, and the control member 82 may control the relative displacement of the first and second slips 83, 84 in the second direction.
The first sliding table 83 and the second sliding table 84 are coaxially linked, so that torque can be transmitted between the first sliding table 83 and the second sliding table 84.
The first sliding table 83 is fixedly connected with one end of the rotating shaft 76, and the second sliding table 84 is connected with the clamping jaw 73. Thus, the torque of the rotating shaft 76 is transmitted to the clamping jaw 73 through the first and second sliding tables 83 and 84 to rotate the clamping jaw 73.
The first direction and the second direction are perpendicular to each other, and the first direction and the second direction are parallel to a horizontal plane.
Specifically, the control member 82 may include a screw that is screwed to the first slide table 83 and a projection that is fixedly connected to the second slide table 84, and the first slide table 83 and the second slide table 84 slide by abutment of the screw and the projection.
The control member 82 may further include another screw threadedly coupled to the second slide table 84 and another projecting member fixedly coupled to the first slide table 83, so that sliding in different directions between the first slide table 83 and the second slide table 84 is achieved by abutment of the screw and the projecting member.
In order to achieve an automatically controlled gripping operation of the gripping jaws 73, the assembly module 7 optionally further comprises a first cylinder 85. The first cylinder 85 is, for example, a single-acting cylinder.
The first cylinder 85 is connected to the holding jaw 73, and the output shaft of the second motor 72 is connected to the first cylinder 85. For example, as shown in fig. 4, an output shaft of the second motor 72 is connected to the coupling 75, the rotating shaft 76, the first slide table 83, the second slide table 84, the first cylinder 85, and the holding jaw 73 in this order.
The first cylinder 85 is used to control the gripping claw 73 to perform the gripping operation. And in particular the gripping members of the control jaws 73, move inwardly and outwardly to grip the target object.
In order to provide a cushioning force when the assembly block 7 is lowered to prevent the target object from being violently collided due to an excessively high lowering speed, optionally, as shown in fig. 1 and 2, the assembly mechanism further includes a second cylinder 6,
the second cylinder 6 is fixedly connected with the frame 1. The second cylinder 6 may be a pen cylinder.
The second cylinder 6 is located below the projection 74 in the vertical direction.
The end of the telescopic rod of the second cylinder 6 faces the bump 74, and the telescopic rod of the second cylinder 6 is used for providing a buffering effect by abutting against the bump 74 when the assembly module 7 descends, so as to prevent the assembly module 7 from descending too fast.
In some embodiments of the invention, the assembly mechanism may be a multi-station apparatus, for example, as shown in fig. 1, the number of assembly modules 7 is two. The two assembly modules 7 are arranged at intervals. The two assembly modules 7 may be identical in structure. Each assembly module 7 includes a projection 74, and the sliding table 3 can lift up the two assembly modules 7 by abutting against the two projections 74 in the vertical direction. Thus, the assembling mechanism can assemble two target objects simultaneously, and the efficiency is improved.
According to the assembling mechanism provided by the embodiment of the invention, when the lens 91 is grabbed by the clamping jaw 73 and the assembling mechanism is used for assembling the lens 91 on the lens frame 92, the assembling height of the lens 91 and the lens frame 92 can meet a preset value, and the error is small.
Particularly, the concentricity of the rotating parts of the assembly module 7 is improved by the cooperation of the bearing seat 77, the fine nut 79 and the manual sliding table 81, and the use of the detection switch 4 and the detection piece 5 can ensure that the assembly height of the target object and another object falls within a preset range, so that the error of the assembly height can be reduced.
It should be appreciated that in some embodiments of the present invention, a height block may be provided below the first cylinder 85, such that the height block may be pressed against the top surface of the target object, ensuring a consistent height of material gripped by the gripper jaws 73 each time.
In summary, the assembly mechanism of the embodiment of the invention includes a frame 1, a first motor 2, a sliding table 3, and an assembly module 7. Wherein, the first motor 2 is fixedly connected with the frame 1. The sliding table 3 is connected with an output shaft of the first motor 2, and the first motor 2 is used for controlling the sliding table 3 to move along the vertical direction. The assembly module 7 includes a fixing plate 71, a second motor 72, and a jaw 73. The second motor 72 is fixedly connected with the fixing plate 71, an output shaft of the second motor 72 is connected with the clamping jaw 73, the fixing plate 71 is connected with the machine frame 1 in a sliding mode along the vertical direction, and a bump 74 is arranged on the fixing plate 71. The projection 74 is located above the slide table 3 in the vertical direction. Thereby, the slide table 3 can be used to lift the assembly module 7 in the vertical direction by abutting the boss 74. After the slide table 3 lowers the projection 74, the assembly module 7 is lowered. Since the gripper jaw 73 is used to grip the target object. After the target object and another object are abutted, the assembly module 7 is temporarily stopped from descending, and then the second motor 72 can be used to control the jaw 73 to move in the vertical direction and control the jaw 73 to rotate around the axis of the vertical horizontal plane. Thus, the target article rotates with the holding jaws 73, and the assembling of the target article and another article can be achieved, and thus, the automated assembling is achieved.
Fig. 6 is a flow chart of an assembly method according to another embodiment of the present invention, which can be applied to the assembly mechanisms of the above embodiments, for example, the assembly mechanisms shown in fig. 1, fig. 2 and fig. 3.
As shown in fig. 6, the assembling method of the embodiment of the present invention includes:
step 601: the sliding table is controlled to ascend in the vertical direction through the first motor, so that the assembling module is lifted after the sliding table is abutted to the protruding block.
The slipway 3 is connected with the output shaft of the first motor 2, and the first motor 2 can control the slipway 3 to move along the vertical direction.
When the clamping jaw 73 grabs the lens 91 at the material taking station, the clamping jaw 73 needs to be moved to the assembling station, and particularly, the assembling mechanism can be moved to realize the assembling. At this time, the holding jaw 73 needs to be lifted first.
For this reason, the first motor 2 controls the slide table 3 to ascend in the vertical direction, and then the slide table 3 abuts against the projection 74, since the projection 74 is provided on the fixing plate 71 of the assembly module 7, and the fixing plate 71 and the chassis 1 are slidably connected in the vertical direction, so that the slide table 3 can lift the assembly module 7 to ascend the holding jaw 73 and the lens 91.
Step 602: the sliding table is controlled to descend along the vertical direction through the first motor, so that the assembling module descends along the vertical direction under the action of self gravity.
The controllable slip table 3 of first motor 2 removes along vertical direction, and the equipment module 7 is lifted to a take the altitude by slip table 3 after, moves clamping jaw 73 to the equipment station, then, puts down clamping jaw 73. For this reason, the first motor 2 controls the slide table 3 to descend in the vertical direction. Because the sliding table 3 and the projection 74 are in abutting action, the assembly module 7 descends along the vertical direction under the action of self gravity, and the clamping jaw 73 and the lens 91 descend along with the descending action.
Step 603: when camera lens and the picture frame butt that the clamping jaw snatched, the output shaft of control second motor rotated to make the relative picture frame of camera lens rotate, thereby camera lens and picture frame threaded connection.
Because of the camera lens 91 that the clamping jaw 73 snatched is located the picture frame 92 top, equipment module 7 descends certain distance back along vertical direction under self action of gravity, and camera lens 91 and the picture frame 92 butt that the clamping jaw 73 snatched are assembled module 7 and are stopped descending. Then, the output shaft of the second motor 72 rotates, and the control jaw 73 rotates about the axis of the vertical horizontal plane.
Because the lens 91 and the lens frame 92 can be connected by screw threads, the clamping jaw 73 drives the lens 91 to rotate, and then the screw thread connection between the lens 91 and the lens frame 92 is realized. In the process of realizing the threaded connection between the lens 91 and the lens frame 92 through the relative rotation, the lens 91 can move downwards due to the force generated by the threads of the lens 91 and the lens frame 92, so that the assembly module 7 continues to descend, and thus, the assembly of the lens 91 and the lens frame 92 can be realized.
Optionally, the assembly mechanism further comprises a detection switch 4 and a detection piece 5. The detection piece 5 is fixedly connected with the assembling module 7, and the detection piece 5 is used for moving along with the assembling module 7 in the vertical direction. The detection switch 4 is fixedly connected with the frame 1.
The assembling method of the embodiment of the invention also comprises the following steps: when the detection switch 4 detects the detection member 5, the detection switch 4 controls the second motor 72 to stop rotating.
In order to achieve accurate control of the downward movement position of the assembly module 7, the assembly mechanism optionally further comprises a detection switch 4 and a detection member 5. The detection switch 4 is, for example, a photoelectric switch, and the detector 5 is, for example, a micrometer. The photoelectric switch can generate a detection signal when detecting the micrometer.
In the process of realizing the threaded connection of the lens 91 and the lens frame 92 through the relative rotation, when the assembly height of the lens 91 and the lens frame 92 reaches a preset value, the detection switch 4 detects the detection piece 5, the detection switch 4 controls the second motor 72 to stop rotating, so that the lens 91 and the lens frame 92 stop being in threaded connection, and the assembly of the lens 91 and the lens frame 92 is completed.
It should be understood that the lens 91 and the frame 92 are connected in a screw thread manner in the embodiment of the present invention.
In some embodiments of the invention, the assembly process may be divided into two processes, pre-assembly and assembly.
1) Preassembling;
the first motor 2 lifts the assembling module 7 through the sliding table 3, then the first motor 2 controls the sliding table 3 to descend along the vertical direction, and the assembling module 7 descends to a preassembly position by self weight. In the pre-assembly position, the lens 91 and the frame 92 abut, and at this time, the frame 92 can support the weight of the assembly module 7. In this process, the first motor 2 controls the slide table 3 to move below the lowest position of the assembly module 7.
In the preassembling process, after the lens 91 is abutted to the frame 92, the second motor 72 can control the clamping jaw 73 to rotate around the axis vertical to the horizontal plane, and the tooth mouths are not necessarily corresponding when the lens 91 is contacted with the frame 92, so that the lens 91 can be ensured to be twisted into the frame 92 by rotating the lens 91 in a circle.
2) Assembling;
the second motor 72 controls the jaw 73 to rotate about an axis perpendicular to the horizontal plane, so that the lens 91 rotates, and thus, the screw threads of the lens 91 and the screw threads of the lens frame 92 are connected. At this time, the lens frame 92 is fixed to the mounting position, and the assembly module 7 can be moved downward by the force between the screw threads of the lens 91 and the screw threads of the lens frame 92.
When the detection switch 4 detects the detection piece 5, the detection switch 4 controls the second motor 72 to stop rotating, so that the lens 91 and the lens frame 92 stop being connected by screw threads, and the lens 91 and the lens frame 92 are assembled.
According to the assembling mechanism and the assembling method provided by the embodiment of the invention, when the lens 91 is grabbed by the clamping jaw 73 and the assembling mechanism is used for assembling the lens 91 on the lens frame 92, the assembling height of the lens 91 and the lens frame 92 can be in accordance with a preset value, and the error is small. Wherein the assembly height is the distance between the top end of the lens 91 and the bottom end of the lens frame 92. The assembly height of the lens 91 and the frame 92 meets a preset value, and the torque force between the lens 91 and the frame 92 can meet requirements. The torsional force between the lens 91 and the frame 92 represents the force required to rotate the lens 91 while the frame 92 is fixed.
It should be understood that the assembly method of the embodiment of the present invention may be used to assemble other materials besides the lens 91 and the lens frame 92.
In summary, in the assembling method according to the embodiment of the invention, the first motor 2 controls the sliding table 3 to ascend along the vertical direction, so that the assembling module 7 is lifted after the sliding table 3 abuts against the bump 74. Then, the sliding table 3 is controlled to descend in the vertical direction by the first motor 2, so that the assembly module 7 descends in the vertical direction under the action of self gravity. When the lens 91 grasped by the gripper 73 abuts against the lens frame 92, the output shaft of the second motor 72 is controlled to rotate so that the lens 91 rotates relative to the lens frame 92, and the lens 91 and the lens frame 92 are screwed. Thus, the lens 91 is rotated with the holding jaw 73, and the assembling of the object article and another article can be realized, and thus, the automated assembling is realized.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. An assembly mechanism, comprising:
a frame;
the first motor is fixedly connected with the rack;
the sliding table is connected with an output shaft of the first motor, and the first motor is used for controlling the sliding table to move along the vertical direction;
the assembling module comprises a fixing plate, a second motor and a clamping jaw;
the second motor is fixedly connected with the fixing plate, an output shaft of the second motor is connected with the clamping jaw, the fixing plate is connected with the rack in a sliding mode along the vertical direction, and a convex block is arranged on the fixing plate;
in the vertical direction, the lug is positioned above the sliding table;
the sliding table is used for lifting the assembly module by abutting against the convex block in the vertical direction;
the second motor is used for controlling the clamping jaw to rotate around an axis vertical to the horizontal plane;
the clamping jaw is used for grabbing a target object.
2. The assembly mechanism of claim 1,
the assembling mechanism further comprises a detection switch and a detection piece;
the detection piece is fixedly connected with the assembling module, and the detection piece is used for moving along with the assembling module in the vertical direction;
the detection switch is fixedly connected with the rack;
the detection switch is used for controlling the second motor to stop rotating when the detection piece is detected.
3. The assembly mechanism of claim 1,
the assembly module further comprises a coupler, a rotating shaft, a bearing seat and a shell;
the bearing seat is fixedly connected with the shell in the shell, the shell is fixedly connected with the fixed plate, the rotating shaft penetrates through an inner ring of the bearing seat, and the rotating shaft is fixedly connected with the inner ring of the bearing seat;
one end of the coupler is fixedly connected with an output shaft of the second motor, and the other end of the coupler is fixedly connected with the rotating shaft;
one end of the rotating shaft, which is far away from the coupler, is connected with the clamping jaw.
4. The assembly mechanism of claim 3,
the assembly module further comprises a fine-tooth nut;
a boss is arranged at one end of the rotating shaft, which is far away from the coupler, and the boss extends outwards along the edge of the rotating shaft;
the fine-tooth nut is in threaded connection with the rotating shaft;
the bearing seat is clamped between the fine thread nut and the boss.
5. The assembly mechanism of claim 3,
the assembling module further comprises a manual sliding table, the manual sliding table comprises a control part, a first sliding table and a second sliding table, and the first sliding table and the second sliding table are connected in a sliding mode along a first direction and a second direction;
the control element is connected with the first sliding table and the second sliding table respectively and is used for controlling the relative displacement of the first sliding table and the second sliding table along the first direction and the second direction;
the first sliding table and the second sliding table are coaxially linked;
the first sliding table is fixedly connected with one end of the rotating shaft, and the second sliding table is connected with the clamping jaw;
the first direction and the second direction are perpendicular to each other, and the first direction and the second direction are parallel to a horizontal plane.
6. The assembly mechanism of claim 1,
the assembly module further comprises a first cylinder;
the first air cylinder is connected with the clamping jaw, and an output shaft of the second motor is connected with the first air cylinder;
the first air cylinder is used for controlling the clamping jaws to clamp.
7. The assembly mechanism of claim 1,
the assembly mechanism further comprises a second air cylinder, and the second air cylinder is fixedly connected with the rack;
in the vertical direction, the second cylinder is positioned below the lug;
the end part of the telescopic rod of the second air cylinder faces the lug, and the telescopic rod of the second air cylinder is used for abutting against the lug to provide a buffering effect when the assembling module descends.
8. The assembly mechanism of claim 1,
the number of the assembling modules is two;
two the equipment module interval sets up.
9. An assembly method, wherein the assembly method is applied to the assembly mechanism of claim 1;
the assembling method comprises the following steps:
the first motor controls the sliding table to ascend in the vertical direction, so that the assembling module is lifted after the sliding table abuts against the protruding block;
the first motor controls the sliding table to descend along the vertical direction, so that the assembly module descends along the vertical direction under the action of the gravity of the assembly module;
when the camera lens that the clamping jaw snatched and picture frame butt, control the output shaft of second motor rotates to make the camera lens rotate for the picture frame, thereby camera lens with picture frame threaded connection.
10. The method of assembling of claim 9,
the assembling mechanism further comprises a detection switch and a detection piece;
the detection piece is fixedly connected with the assembling module, and the detection piece is used for moving along with the assembling module in the vertical direction;
the detection switch is fixedly connected with the rack;
the assembly method further comprises:
when the detection switch detects the detection piece, the detection switch controls the second motor to stop rotating.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911243216.XA CN111300021B (en) | 2019-12-06 | 2019-12-06 | Assembling mechanism and assembling method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911243216.XA CN111300021B (en) | 2019-12-06 | 2019-12-06 | Assembling mechanism and assembling method |
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| Publication Number | Publication Date |
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| CN111300021A CN111300021A (en) | 2020-06-19 |
| CN111300021B true CN111300021B (en) | 2021-07-06 |
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Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20080272009A1 (en) * | 2007-05-01 | 2008-11-06 | Coon Jonathan C | Systems and Methods for Identifying Expiration of a Secondary Contact Lens Case |
| CN207272654U (en) * | 2017-07-26 | 2018-04-27 | 西安理工大学 | A kind of precompressed bolt assembly equipment |
| CN207447833U (en) * | 2017-10-20 | 2018-06-05 | 苏州艾微视图像科技有限公司 | A kind of prelock of threaded camera pays mechanism |
| CN208623506U (en) * | 2018-08-24 | 2019-03-19 | 无锡进和技研科技有限公司 | A kind of stator assembling structure for motor stator assembly equipment |
| CN209570757U (en) * | 2019-02-01 | 2019-11-01 | 深圳鸿辅科技有限公司 | A kind of lens assembly assembling device monitored |
| CN209648082U (en) * | 2019-03-13 | 2019-11-19 | 东莞市宇瞳光学科技股份有限公司 | A kind of lens lock pair device |
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