CN111376036B - Robot assembly working section of box and front frame of sterilizing cabinet production line - Google Patents
Robot assembly working section of box and front frame of sterilizing cabinet production line Download PDFInfo
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- CN111376036B CN111376036B CN201911417775.8A CN201911417775A CN111376036B CN 111376036 B CN111376036 B CN 111376036B CN 201911417775 A CN201911417775 A CN 201911417775A CN 111376036 B CN111376036 B CN 111376036B
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- front frame
- positioning
- cylinder
- box
- box body
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- 238000004519 manufacturing process Methods 0.000 title claims abstract description 23
- 230000001954 sterilising effect Effects 0.000 title claims abstract description 14
- 230000007246 mechanism Effects 0.000 claims description 43
- 238000003825 pressing Methods 0.000 claims description 24
- 238000004659 sterilization and disinfection Methods 0.000 claims description 4
- 238000000034 method Methods 0.000 claims 3
- 230000037431 insertion Effects 0.000 description 2
- 238000003780 insertion Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
Abstract
The invention relates to a robot assembly working section of a box body and a front frame of a sterilizing cabinet production line. The front frame feeding robot is used for grabbing a front frame on a front frame tooling vehicle onto a front frame positioning table. The face frame positioning table is used for positioning the front face frame. The front frame feeding robot grabs the front frame on the front frame positioning table onto a box on the box follower. And the box body assembly line is used for conveying the box body to the box body follower. The box body follow-up machine is used for positioning the box body and the front frame and conveying the box body to the screw driving robot. The screw driving robot is used for driving screws on the front frame on the box body, so that the front frame is fixed on the box body. According to the front frame automatic assembly machine, the front frame automatic assembly machine is used for automatically assembling the front frame of the sterilizing frame through the front frame feeding robot, the front frame positioning table, the box assembly line, the box follow-up machine and the screw driving robot, so that the production efficiency is effectively improved, the production cost is reduced, and the automation degree is high.
Description
Technical Field
The invention relates to the technical field of sterilizing cabinet production lines, in particular to a robot assembly working section of a box body and a front frame of a sterilizing cabinet production line.
Background
The screw work of going up of preceding frame on the current sterilizer production line all adopts the manual work to go up the screw, but the production efficiency of manual work to go up the screw is low, degree of automation is low. Therefore, the existing production line of the disinfection cabinet needs to be further improved.
Disclosure of Invention
The invention aims to provide a robot assembly working section of a box body and a front frame of a sterilizing cabinet production line, which has high front frame screw driving efficiency, high assembly efficiency and high degree of automation.
The purpose of the invention is realized in the following way:
The utility model provides a box and preceding frame's robot assembly workshop section of sterilizer production line, includes preceding frame frock car, preceding frame feeding robot, face frame locating bench, box assembly line, box follow-up machine and screw driving robot.
The front frame tooling vehicle is used for placing the front frame.
The front frame feeding robot is used for grabbing a front frame on the front frame tooling vehicle onto the front frame positioning table.
The top of the face frame positioning table is provided with a plurality of first positioning cylinders for positioning the front face frame.
The front frame feeding robot grabs the front frame on the front frame positioning table onto a box on the box follow-up machine.
The box assembly line is used for conveying the box to the box follower, a feeding tooling plate is arranged on the box assembly line, and the box is arranged on the feeding tooling plate.
The box body follow-up machine is used for positioning the box body and the front frame and conveying the box body to the screw driving robot.
The screw driving robot is used for driving screws on the front frame on the box body, so that the front frame is fixed on the box body.
As a more specific technical scheme of the invention.
The box follower comprises a frame, a left positioning conveying mechanism and a right positioning conveying mechanism, wherein the left positioning conveying mechanism and the right positioning conveying mechanism are respectively arranged on the left side and the right side of the frame in a sliding mode, the left positioning conveying mechanism and the right positioning conveying mechanism respectively comprise a horizontal movement servo motor, a horizontal sliding seat, a box front positioning cylinder, a box rear positioning cylinder, a lifting sliding seat, a pushing inserting rod cylinder, a height positioning cylinder, a rotary lower pressing cylinder and a lifting cylinder, the horizontal sliding seat is horizontally arranged on the side wall of the frame in a sliding mode, the horizontal movement servo motor drives the horizontal sliding seat to horizontally slide, the lifting sliding seat is arranged on the horizontal sliding seat in a sliding mode, the lifting cylinder is arranged on the horizontal sliding seat and is in driving connection with the lifting sliding seat, the cylinder rods of the box front positioning cylinder and the box rear positioning cylinder are respectively arranged on the left side and the right side of the lifting sliding seat, the cylinder rods of the rotary lower pressing cylinder are arranged on the lifting sliding seat, and the cylinder rods of the rotary lower pressing cylinder are vertically arranged on the lifting sliding seat, and the upper pressing blocks are arranged on the cylinder rods of the rotary lower pressing cylinder.
The horizontal movement servo motor is arranged on the horizontal sliding seat, a rack is arranged on the side wall of the frame along the feeding direction, a gear is arranged on a motor shaft of the horizontal movement servo motor, the gear is meshed with the rack, and when the horizontal movement servo motor rotates forward or reversely, the horizontal movement servo motor drives the horizontal sliding seat, the whole positioning conveying mechanism, the box body and the front frame to slide back and forth.
The compressing block is elastically and movably arranged on the cylinder rod of the rotary pressing cylinder, so that the compressing block is prevented from crushing the front frame.
The lifting sliding seat is arranged on the lifting sliding seat, the cylinder rod of the pushing inserting rod cylinder faces downwards vertically, the inserting rod is arranged on the cylinder rod of the pushing inserting rod cylinder, and the inserting holes are formed in the feeding tool plate corresponding to the inserting rods, so that when the whole positioning conveying mechanism slides forwards and backwards, the inserting rod drives the feeding tool plate and the box body to slide forwards and backwards together.
The height positioning cylinder is horizontally arranged on the horizontal sliding seat, the cylinder rod of the height positioning cylinder is horizontally arranged, the cylinder rod of the height positioning cylinder is provided with a height positioning pin, the lifting sliding seat is provided with a height positioning jack, and the height positioning pin is spliced with the height positioning jack.
The positioning blocks of the box body front positioning cylinder and the box body rear positioning cylinder are arranged on cylinder rods of the box body front positioning cylinder and the box body rear positioning cylinder, and the whole box body is fixed.
The two sides of the frame are provided with guide rails along the feeding direction of the box body follower, and the left and right positioning conveying mechanisms are arranged on the guide rails in a sliding manner, so that the left and right positioning conveying mechanisms are enabled to feed stably.
The front frame feeding robot and the screw driving robot are six-axis robots.
The screw feeding mechanism and the robot vision system are arranged on the screw driving robot, and the screw driving robot is used for driving screws on the front frame through the robot vision system, so that the screw driving device is accurate in screw driving and high in efficiency.
The beneficial effects of the invention are as follows:
According to the invention, through the front frame feeding robot, the front frame positioning table, the box assembly line, the box follow-up machine and the screw driving robot, the automatic assembly of the front frame of the sterilizing frame is realized, and the automatic assembly of products is realized, so that the production efficiency is effectively improved, the production cost is reduced, and the automation degree is high.
In addition, the screw driving robot has the advantages of high screw driving efficiency, accurate front frame installation and high assembly efficiency.
Drawings
Fig. 1 is a schematic structural view of a robot assembly station of a cabinet and a front frame of a sterilizing cabinet production line of the present invention.
Fig. 2 is a top view of the robotic assembly station of the cabinet and front frame of the sterilizer production line of the present invention.
Fig. 3 is a schematic structural view of the case follower of the present invention.
Fig. 4 is a schematic view of another angle of the case follower of the present invention.
Fig. 5 is a front view of fig. 3.
Fig. 6 is a cross-sectional view at A-A in fig. 5.
Fig. 7 is a schematic view of the structure of the box and the front frame of the box with the following positioning.
Fig. 8 is a schematic view of another angle of fig. 7.
Fig. 9 is a schematic structural view of a left positioning and conveying mechanism (right positioning and conveying mechanism) of the box follower of the present invention.
Fig. 10 is a schematic view of another angle of fig. 9.
Fig. 11 is a side view of fig. 9.
Detailed Description
The invention is further described below with reference to the drawings and examples.
In a first embodiment, as shown in fig. 1 to 11, a robot assembly section for a box and a front frame of a sterilizing cabinet production line includes a front frame tooling vehicle 5, a front frame feeding robot 4, a front frame positioning table 3, a box assembly line 8, a box follower 1 and a screw driving robot 2.
The front frame tooling vehicle 5 is used for placing a plurality of front frames 7 to be assembled.
The front frame feeding robot 4 is used for grabbing a front frame 7 on the front frame tooling vehicle 5 onto the front frame positioning table 3.
The top of the face frame positioning table 3 is provided with a plurality of first positioning cylinders for positioning the front face frame 7.
The front frame feeding robot 4 grabs a front frame 7 on the front frame positioning table 3 onto a box 6 on the box follower 1.
The box assembly line 8 is used for conveying the box to the box follower 1, a feeding tooling plate 9 is arranged on the box assembly line, and the box 6 is arranged on the feeding tooling plate 9.
The box body follower 1 is used for positioning the box body 6 and the front frame 7 and conveying the box body 6 to the screw driving robot.
The screw driving robot 2 is used for driving screws to the front frame 7 on the box body 6, so that the front frame 7 is fixed on the box body 6.
As a more specific technical scheme of the invention.
The box body follower 1 comprises a frame 11, a left positioning and conveying mechanism 12 and a right positioning and conveying mechanism 13, the left positioning and conveying mechanism 12 and the right positioning and conveying mechanism 13 are respectively arranged on the left side and the right side of the frame 11 in a sliding way, the left positioning and conveying mechanism 13 and the right positioning and conveying mechanism 13 respectively comprise horizontal moving servo motors 141 and 151, horizontal sliding seats 132 and 122, box body front positioning air cylinders 134 and 124, box body rear positioning air cylinders 135 and 125, lifting sliding seats 131 and 121, pushing inserted rod air cylinders 136 and 126, height positioning air cylinders 133 and 123, rotary pressing air cylinders 130 and 120 and lifting air cylinders 138 and 128, the horizontal sliding seats 132 and 122 are horizontally arranged on the side wall of the frame 11 in a sliding way, the horizontal moving servo motors 141 and 151 drive the horizontal sliding seats 132 and 122 to horizontally slide, the lifting sliding seats 131 and 121 are arranged on the horizontal sliding seats 132 and 122 in a vertical sliding manner, the lifting cylinders 138 and 128 are arranged on the horizontal sliding seats 132 and 122 and are in driving connection with the lifting sliding seats 131 and 121, the box front positioning cylinders 134 and 124 and the box rear positioning cylinders 135 and 125 are respectively arranged on the left side and the right side of the lifting sliding seats 131 and 121, the box front positioning cylinders 134 and 124 and the box rear positioning cylinders 135 and 125 are horizontally arranged on cylinder rods, the rotary pressing cylinders 130 and 120 are arranged on the lifting sliding seats 131 and 121, cylinder rods of the rotary pressing cylinders 130 and 120 face upwards vertically, and the cylinder rods of the rotary pressing cylinders 130 and 120 are provided with pressing blocks 144 and 154.
The horizontal moving servo motors 141 and 151 are arranged on the horizontal sliding seats 132 and 122, racks 147 and 157 are arranged on the side wall of the frame 11 along the feeding direction, gears 142 and 152 are arranged on motor shafts of the horizontal moving servo motors 141 and 151, the gears 142 and 152 are meshed with the racks 147 and 157, and when the horizontal moving servo motors 141 and 151 rotate forward or reversely, the horizontal moving servo motors 141 and 151 drive the horizontal sliding seats 132 and 122, the whole positioning and conveying mechanism, the box 6 and the front frame 7 to slide back and forth.
The pressing blocks 144, 154 are elastically movably arranged on the cylinder rods of the rotary pressing cylinders 130, 120, so that the pressing blocks 144, 154 are ensured not to crush the front frame 7.
The pushing plunger cylinders 136 and 126 are arranged on the lifting sliding seats 131 and 121, the cylinder rods of the pushing plunger cylinders 136 and 126 face downwards vertically, plunger rods are arranged on the cylinder rods of the pushing plunger cylinders 136 and 126, inserting holes 91 are formed in the feeding tooling plates 9 corresponding to the plunger rods, and the pushing plunger cylinders 136 and 126 drive the plunger rods to descend and insert into the inserting holes 91, so that when the whole positioning conveying mechanism slides forwards and backwards, the plunger rods 139 and 129 drive the feeding tooling plates 9 and the box 6 to slide forwards and backwards together.
The height positioning cylinders 133 and 123 are horizontally arranged on the horizontal sliding seats 132 and 122, the cylinder rods of the height positioning cylinders 133 and 123 are horizontally arranged, the cylinder rods of the height positioning cylinders 133 and 123 are provided with height positioning pins 137 and 127, the lifting sliding seats 131 and 121 are provided with height positioning jacks 146 and 156, and the height positioning pins 137 and 127 are spliced with the height positioning jacks 146 and 156.
The cylinder rods of the box front positioning cylinders 134 and 124 and the box rear positioning cylinders 135 and 125 are provided with positioning blocks 143 and 153, and the positioning blocks 143 and 153 of the box front positioning cylinders 134 and 124 and the box rear positioning cylinders 135 and 125 fix the whole box.
The two sides of the frame 11 are provided with guide rails 14 along the feeding direction of the box follower 1, and the left and right positioning and conveying mechanisms 13 are slidably arranged on the guide rails 14, so that the left and right positioning and conveying mechanisms 13 are enabled to feed stably.
The front frame feeding robot 4 and the screw driving robot 2 are six-axis robots.
The screw driving robot 2 is a six-axis robot. The screw feeding mechanism and the robot vision system are arranged on the screw driving robot, and the screw driving robot is used for driving screws on the front frame through the robot vision system, so that the screw driving device is accurate in screw driving and high in efficiency.
The working principle of the invention is as follows:
When the front frame feeding robot 4 starts to work, the front frame 7 on the front frame tooling vehicle 5 is grabbed onto the front frame positioning table 3, then the front frame 7 is positioned by the plurality of first positioning cylinders 71 on the front frame positioning table 3, meanwhile, the feeding tooling plate 9 of the box assembly line 8 conveys the box to the box follower 1, the box follower 1 is started, the actions of the left positioning conveying mechanism 12 and the right positioning conveying mechanism 13 are the same, the left positioning conveying mechanism 12 and the right positioning conveying mechanism 13 respectively slide to the left side and the right side of the box, and the lifting cylinders 138 and 128 of the left positioning conveying mechanism 13 drive the lifting sliding seats 131 and 121 to descend until the height positioning jacks 146 and 156 of the lifting sliding seats 131 and 121 are aligned with the height positioning pins 137 and 127. Pushing the plunger cylinders 136, 126 also drives the plungers 139, 129 to descend, the plungers 139, 129 are inserted into the insertion holes 91 of the feeding tooling plate 9 downward, thereby positioning the feeding tooling plate 9, then the case front positioning cylinders 134, 124 and the case rear positioning cylinders 135, 125 of the left and right positioning and conveying mechanisms 13 drive the respective positioning blocks 143, 153 to move toward the case, and at the same time, the four positioning blocks 143, 153 position the case 6 at four corners of the case, and at the same time, the height positioning cylinders 133, 123 drive the height positioning pins 137, 127 thereof to horizontally insert into the height positioning insertion holes 146, 156 of the lifting slide blocks 131, 121, thereby realizing fixing of the lifting slide blocks 131, 121.
Then, the front frame feeding robot 4 grabs the front frame on the front frame positioning table 3 to the top of the box on the box follower 1, and then the rotary pressing cylinders 130 and 120 drive the pressing blocks 144 and 154 to rotate to the upper side of the front frame and drive the pressing blocks 144 and 154 to descend, and the pressing blocks 144 and 154 press the front frame on the box to be abutted to the box.
Then, the horizontal movement servo motors 141 and 151 drive the gears 142 and 152 to rotate forward, and the horizontal movement servo motors 141 and 151 drive the whole positioning and conveying mechanism, the box body and the front frame to slide forward until the box body slides to the lower part of the screw driving robot 2, and then the screw driving robot 2 starts to screw the front frame.
After the screws are driven, the cylinders of the left positioning and conveying mechanism 12 and the right positioning and conveying mechanism 13 are separated from the box body, the front frame and the feeding tooling plate 9, the box body and the feeding tooling plate 9 are conveyed downwards by a box body assembly line, the left positioning and conveying mechanism 13 and the right positioning and conveying mechanism 13 move forwards and return to the original positions, and preparation is made for driving the screws on the front frame of the next box body.
Claims (6)
1. The robot assembly working section of the box body and the front frame of the sterilizing cabinet production line is characterized by comprising a front frame tooling vehicle, a front frame feeding robot, a front frame positioning table, a box body assembly line, a box body follow-up machine and a screw driving robot;
The front frame tooling vehicle is used for placing the front frame;
the front frame feeding robot is used for grabbing a front frame on the front frame tooling vehicle onto the front frame positioning table;
the top of the face frame positioning table is provided with a plurality of first positioning cylinders for positioning the front face frame;
The front frame feeding robot grabs the front frame on the front frame positioning table onto a box on the box follower;
The box assembly line is used for conveying the box to the box follower, a feeding tooling plate is arranged on the box assembly line, and the box is arranged on the feeding tooling plate;
the box body follow-up machine is used for positioning the box body and the front frame and conveying the box body to the screw driving robot;
the screw driving robot comprises a screw feeding mechanism and a robot vision system and is used for driving screws on a front frame on the box body to fix the front frame on the box body;
The box body servo machine comprises a frame, a left positioning conveying mechanism and a right positioning conveying mechanism, wherein the left positioning conveying mechanism and the right positioning conveying mechanism are respectively arranged on the left side and the right side of the frame in a sliding mode, the left positioning conveying mechanism and the right positioning conveying mechanism respectively comprise a horizontal movement servo motor, a horizontal sliding seat, a box body front positioning cylinder, a box body rear positioning cylinder, a lifting sliding seat, a rotary lower pressing cylinder and a lifting cylinder, the horizontal sliding seat is arranged on the side wall of the frame in a sliding mode, the horizontal movement servo motor drives the horizontal sliding seat to horizontally slide, the lifting sliding seat is arranged on the horizontal sliding seat in a sliding mode, the lifting cylinder is arranged on the horizontal sliding seat and is in driving connection with the lifting sliding seat, the box body front positioning cylinder and the box body rear positioning cylinder are respectively arranged on the left side and the right side of the lifting sliding seat, the cylinder rod of the box body front positioning cylinder and the box body rear positioning cylinder are horizontally arranged, the rotary lower pressing cylinder is arranged on the lifting sliding seat, the cylinder rod of the rotary lower pressing cylinder is vertically upwards, and the cylinder rod of the rotary lower pressing cylinder is provided with a pressing block;
the compressing block is elastically and movably arranged on a cylinder rod of the rotary pressing cylinder;
The box follower further comprises a pushing inserted bar cylinder, the pushing inserted bar cylinder is arranged on the lifting sliding seat, a cylinder rod of the pushing inserted bar cylinder faces downwards vertically, an inserted bar is arranged on the cylinder rod of the pushing inserted bar cylinder, and a jack is arranged on the feeding tooling plate corresponding to the inserted bar.
2. The robot assembly process of the box body and the front frame of the disinfection cabinet production line according to claim 1, wherein the horizontal movement servo motor is arranged on the horizontal sliding seat, a rack is arranged on the side wall of the frame along the feeding direction, a gear is arranged on a motor shaft of the horizontal movement servo motor, and the gear is meshed with the rack.
3. The robot assembly process of the box and the front frame of the disinfection cabinet production line according to claim 1, wherein the box follower further comprises a height positioning cylinder, the height positioning cylinder is horizontally arranged on the horizontal sliding seat, a cylinder rod of the height positioning cylinder is horizontally arranged, a height positioning pin is arranged on a cylinder rod of the height positioning cylinder, a height positioning jack is arranged on the lifting sliding seat, and the height positioning pin is spliced with the height positioning jack.
4. A robot assembly section for a cabinet and a front frame of a sterilizing cabinet production line according to claim 3, wherein the cylinder rods of the front positioning cylinder and the rear positioning cylinder of the cabinet are provided with positioning blocks.
5. The robot assembly process of the box and the front frame of the sterilizing cabinet production line according to claim 4, wherein guide rails are arranged on two sides of the frame along the feeding direction of the box follower, and the left and right positioning and conveying mechanisms are arranged on the guide rails in a sliding manner.
6. The robot assembly station of a cabinet and front frame of a sterilization cabinet production line of claim 5, wherein the front frame feeding robot and the screw driving robot are six-axis robots.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911417775.8A CN111376036B (en) | 2019-12-31 | Robot assembly working section of box and front frame of sterilizing cabinet production line |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911417775.8A CN111376036B (en) | 2019-12-31 | Robot assembly working section of box and front frame of sterilizing cabinet production line |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111376036A CN111376036A (en) | 2020-07-07 |
| CN111376036B true CN111376036B (en) | 2024-06-21 |
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Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN211565059U (en) * | 2019-12-31 | 2020-09-25 | 佛山市顺德区凯硕精密模具自动化科技有限公司 | Robot assembly workshop section of box and front frame of disinfection cabinet production line |
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN211565059U (en) * | 2019-12-31 | 2020-09-25 | 佛山市顺德区凯硕精密模具自动化科技有限公司 | Robot assembly workshop section of box and front frame of disinfection cabinet production line |
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