CN111421332B - Self-pairing type intelligent assembling robot for electric power fasteners and assembling method - Google Patents

Abstract

The invention discloses a self-pairing intelligent assembly robot for an electric power fastener and an assembly method, and the robot comprises a robot main body, wherein two parts forming the electric power fastener are transferred and subjected to azimuth adjustment through a pairing seat assembled with the parts, the parts can be separated from the pairing seat under the action of external force, and both sides of the robot main body are provided with a manipulator for transferring the pairing seat loaded with the parts, a transfer pairing mechanism for performing azimuth adjustment on the pairing seat loaded with the parts and an automatic assembly mechanism for assembling the parts subjected to azimuth adjustment; the assembling method of the fastener comprises the steps of sequentially conveying and adjusting the direction of the pairing seat loaded with the parts through the manipulator and the transfer pairing mechanism, and then assembling the two parts through the automatic assembling mechanism, so that the aim of automatically assembling the fastener with a complex shape is fulfilled.

Description

Self-pairing type intelligent assembling robot for electric power fasteners and assembling method

Technical Field

The invention relates to the technical field of fastener assembly, in particular to a self-pairing type intelligent assembly robot for an electric fastener and an assembly method.

Background

In the field of electric power, fasteners made of metal materials such as bolts and hoops are commonly used for mounting and fixing electric power equipment, pipe fittings, cables, ropes and the like, and secondary processing including assembling, packaging and other processing steps is needed after the electric power fasteners made of the metal materials are produced.

For example, generally assemble bolt and nut through automatic screw locking machine, on the one hand, the packing of the bolt and nut of being convenient for, on the other hand, through packing again after assembling bolt and nut, can get rid of the bolt and nut in the packing and can't assemble the condition emergence because of reasons such as machining dimension error to the fastener quality of selling has been guaranteed, and the fastener such as iron tower bolt that is particularly useful for manufacturing cost is higher and staple bolt.

However, since fasteners with complicated shapes such as the anchor ear are inconvenient for automatic transfer and orientation adjustment, no automatic assembly equipment for fasteners with complicated shapes such as the anchor ear exists at present, and the fasteners in the package cannot be assembled due to processing errors.

Disclosure of Invention

Therefore, the invention provides a self-pairing intelligent assembling robot for electric fasteners and an assembling method, which aim to solve the problem that fasteners with complex shapes cannot be automatically assembled in the prior art, so that the problem that the fastener products cannot be assembled in actual use cannot be solved.

In order to achieve the above object, the embodiment of the present invention discloses the following technical solutions:

a self-pairing intelligent assembling robot for electric power fasteners comprises a robot main body, wherein two parts forming the electric power fasteners are transferred and subjected to orientation adjustment through a pairing seat assembled with the robot main body, the parts can be separated from the pairing seat under the action of external force, a Row storage device used for providing the parts is arranged on each of two sides of the robot main body, a manipulator used for transferring the pairing seat loaded with the parts is arranged on each of two sides of the robot main body, and an assembling mechanism arranged on the front face of the robot main body;

the assembling mechanism comprises a transfer pairing mechanism which is in functional butt joint with the manipulator, an automatic assembling mechanism which is in functional butt joint with the transfer pairing mechanism, and two pairing seats which are loaded with the parts, and the parts are subjected to orientation adjustment on the transfer pairing mechanism, are matched and then are transferred to the automatic assembling mechanism for assembling.

Further, the transfer pairing mechanism comprises a material receiving table and pairing grooves which are respectively arranged on two sides of the material receiving table and matched with the pairing seats, the automatic assembling mechanism is provided with a clamping piece which is located right above the pairing grooves and used for grabbing the pairing seats, jacking mechanisms used for conveying the pairing seats loaded with the parts to the clamping piece are installed in the pairing grooves, and positioning transfer mechanisms used for adjusting and conveying the pairing seats loaded with the parts to the corresponding jacking mechanisms are installed on two sides of the material receiving table.

Further, the positioning and transferring mechanism comprises a guide raised line arranged on the material receiving platform, the end of the guide raised line extends into the opening part of the matching groove, the bottom of the matching seat is provided with a raised line sliding groove matched with the profile of the guide raised line, the matching groove is far away from the groove wall on one side of the guide raised line, an electromagnetic device is embedded and installed, and a permanent magnet which is mutually attracted by the electromagnetic device and is electrified is arranged on one side of the matching seat.

Further, connect the material bench and be located both ends pair and install the electromagnetic shield board between the groove, connect the material platform to pass through the electromagnetic shield board separates into two and connects the material district, two connect the material district respectively with robot main part both sides the manipulator one-to-one.

Furthermore, two limiting and righting plates are slidably mounted on the two side surfaces of the receiving platform respectively, the two limiting and righting plates are symmetrical relative to the guide convex strip, and the plate surfaces of the limiting and righting plates are parallel to the guide convex strip;

the guide convex strip is arranged on the two sides of the paired groove opening parts, the two ends of the limiting righting plate are arranged on the slide rails in a sliding mode, the limiting blocks are arranged on the two sides of the paired groove opening parts, the distance between the limiting righting plate and the limiting blocks is equal to the width of the paired grooves, the two ends of the limiting righting plate are provided with compensating grooves matched with the limiting blocks, the two sides of the limiting righting plate are enabled to be respectively attached to the limiting blocks on the two sides through the compensating grooves, and the distance between the limiting righting plate on the two sides is equal to the width of the paired grooves.

Further, climbing mechanism is including setting up it is relative to connect the material platform power device, one end on the another side of pairing groove are installed ejector pin on the power device, and install the support of the ejector pin other end rises the piece, connect the material bench to have seted up and run through the jacking passageway of pairing tank bottom, ejector pin axial sliding installs in the jacking passageway, just pair tank bottom has seted up the intercommunication the jacking passageway is used for support that rises the piece that sinks sink the groove, the thickness that supports the piece with the support rises the piece and sinks the degree of depth in groove the same.

Furthermore, the pairing seat comprises a square block body, a slot which is attached to the part of the part is formed in the center of one end of the square block body, a protruding strip sliding groove is formed in the other end of the square block body, and the permanent magnet is embedded and installed on one side of the square block body; wave-shaped clamping spring plates with two ends fixed on the slot walls are mounted on two sides of the slot, the parts are pushed into the space between the wave-shaped clamping spring plates on the two sides or pulled out from the space between the wave-shaped clamping spring plates on the two sides under the action of external force, a raised positioning block is arranged on the slot wall at the bottom of the slot, and a positioning groove matched with the positioning block for further positioning the parts is formed in the part of the parts inserted into the slot.

Furthermore, a supporting surface at the top of the lifting block is provided with a limiting convex strip positioned in the extending direction of the guide convex strip, spring ejecting beads are arranged on two sides of the limiting convex strip, a horizontal sliding groove and a vertical sliding groove which are matched with the spring ejecting beads are arranged on two side groove walls of the convex strip sliding groove, one end of the horizontal sliding groove is vertically connected with one end of the vertical sliding groove, the other end of the horizontal sliding groove penetrates through the side wall of the pairing seat, and the other end of the vertical sliding groove penetrates through the bottom of the pairing seat;

the horizontal sliding groove and the vertical sliding groove are connected through a positioning bead hole, the width of the horizontal sliding groove and the width of the vertical sliding groove are smaller than the diameter of an opening part of the positioning bead hole, and the size of the positioning bead hole is matched with the size of an exposed part of a spring top bead body.

Furthermore, clamping grooves matched with the clamping pieces are formed in the side walls of two opposite sides of the square block body.

An assembly method based on the power fastener self-pairing type intelligent assembly robot comprises the following steps:

s100, assembling and buckling two parts of the power fastener with the same specification on a pairing seat, sequentially installing the pairing seat buckled with the parts in a rowed storage device on two sides of a robot main body, placing the pairing seat with the parts at a position of a material receiving area close to an electromagnetic shielding plate, and electrifying an electromagnetic device to test the maximum sliding time of the pairing seat completely matched with a pairing groove;

setting the single-cycle moving time of limiting and righting plates arranged on two sides of the material receiving platform in a sliding mode and the single-time power-on time of the electromagnetic device to be equal to the single-time transfer time of the manipulator, enabling the power-on time of the electromagnetic device to be synchronous with the time of pushing the limiting and righting plates to the limiting blocks, and setting the power-on and power-off time interval of the electromagnetic device according to the maximum sliding time;

respectively installing the two matched parts on the two corresponding matched seats, and respectively installing the two matched seats carrying the electric fasteners into the Row storage devices on the two sides of the robot main body;

s200, synchronously taking out the pairing seat with the parts from the listing storage device by the two mechanical hands according to preset single transfer time, correspondingly conveying the pairing seat to two material receiving areas on a material receiving platform of a transfer pairing mechanism for combination and matching, and placing one end, provided with a permanent magnet, of the pairing seat towards the direction of the pairing groove by the mechanical hands;

when a group of pairing seats are sent into a material receiving area, the limiting righting plate moves inwards to enable a convex strip sliding groove at the bottom of the pairing seat to be matched with a guide convex strip on a material receiving platform so as to guide the pairing seat, when the limiting righting plate moves to a limiting block, single transfer is completed, the electromagnetic device is powered on at the moment, the pairing seat is matched to a pairing groove under the action of electromagnetic attraction to complete pairing of two parts of an electric power fastener, and the electromagnetic device is powered off after the power-on time interval;

s300, after the electromagnetic device is powered off, the jacking mechanism jacks the matched seat to the automatic assembling mechanism for automatic clamping, the jacking mechanism automatically resets to an initial position at the same time, and the automatic assembling mechanism assembles the two parts into a finished product of the electric power fastener;

and S400, after the jacking mechanism is reset, the two mechanical hands continue to grab the next group of matched seats buckled with the parts, and the step S200 and the step S300 are circularly performed.

The invention has the following advantages:

according to the invention, after two parts of the electric power fastener are assembled with the pairing seat, the pairing seat carrying the parts is sequentially conveyed and subjected to orientation adjustment through the manipulator and the pairing mechanism, then the two parts are assembled through the automatic assembling mechanism, and the purpose of automatically transferring and adjusting the orientation of the electric power fastener with a complicated shape is realized by clamping, transferring and adjusting the orientation of the pairing seat carrying the parts, so that the purpose of automatically assembling the electric power fastener with a complicated shape is realized.

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. It should be apparent that the drawings in the following description are merely exemplary, and that other embodiments can be derived from the drawings provided by those of ordinary skill in the art without inventive effort.

The structures, ratios, sizes, and the like shown in the present specification are only used for matching with the contents disclosed in the specification, so as to be understood and read by those skilled in the art, and are not used to limit the conditions that the present invention can be implemented, so that the present invention has no technical significance, and any structural modifications, changes in the ratio relationship, or adjustments of the sizes, without affecting the effects and the achievable by the present invention, should still fall within the range that the technical contents disclosed in the present invention can cover.

FIG. 1 is a schematic view of the overall structure of an embodiment of the present invention;

fig. 2 is a schematic structural view of a material receiving table in the embodiment of the invention;

FIG. 3 is a schematic view of a mating receptacle according to an embodiment of the present invention;

fig. 4 is a schematic diagram of a lifting block structure according to an embodiment of the present invention.

In the figure:

1-a robot body; 2-rank storage; 3-a manipulator; 4-assembling and assembling the mechanism; 5-parts; 6-a mating seat; 7-a jacking mechanism; 8-limiting convex strips; 9-spring top bead; 10-an electromagnetic shielding plate; 11-a limit righting plate; 12-an anti-deflection guide plate; 13-a compensation tank; 14-a slide block; 15-a limiting block; 16-a drive device; 17-jacking channels; 18-sinking the lifting block into the groove; 19-a material receiving area; 20-raised line chutes;

401-a transit pairing mechanism; 402-an automatic assembly mechanism; 403-positioning transfer mechanism;

4011-receiving table; 4012-mating grooves;

4021-a clamp;

4031-guide ribs; 4032-electromagnetic device; 4033-permanent magnet;

501-positioning grooves;

601-square block; 602-a slot; 603-positioning blocks: 604-wave shaped clamping reed;

701-a power plant; 702-a mandril; 703-lifting block;

2001-horizontal chute; 2002-vertical chute; 2003-positioning the bead holes.

Detailed Description

The present invention is described in terms of particular embodiments, other advantages and features of the invention will become apparent to those skilled in the art from the following disclosure, and it is to be understood that the described embodiments are merely exemplary of the invention and that it is not intended to limit the invention to the particular embodiments disclosed. 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.

As shown in fig. 1 and 2, the invention discloses an electric power fastener self-pairing type intelligent assembly robot, which comprises a robot main body 1, wherein two parts 5 forming an electric power fastener are transferred and subjected to orientation adjustment through a pairing seat 6 assembled with the parts, a list storage device 2 used for providing the parts 5 is arranged on each of two sides of the robot main body 1, a manipulator 3 used for transferring the pairing seat 6 carrying the parts 5 is arranged on each of two sides of the robot main body 1, and an assembly mechanism 4 arranged on the front surface of the robot main body 1.

The assembling and assembling mechanism 4 includes a transfer pairing mechanism 401 for functionally interfacing with the robot 3, an automatic assembling mechanism 402 for functionally interfacing with the transfer pairing mechanism 401, and two pairing seats 6 each carrying the component 5, and the components are adjusted in orientation on the transfer pairing mechanism 401, matched, and transferred to the automatic assembling mechanism 402 for assembling.

In this embodiment, the hoop is made of metal, and the hoop is composed of two identical parts (similar to a ring structure). The structure of the automatic assembling mechanism 402 is similar to the structure of the bolt assembling part of an automatic screw locking machine, and the automatic assembling mechanism 402 assembles the two parts 5 with the adjusted and matched orientation by the bolt, and the automatic screw locking machine is well known to those skilled in the art.

After two parts 5 of the electric power fastener are assembled with the pairing seat 6, the pairing seat 6 carrying the parts 5 is sequentially conveyed and subjected to direction adjustment through the manipulator 3 and the middle rotating pairing mechanism 401, then the two parts are assembled through the automatic assembling mechanism 402, and the pairing seat 6 carrying the parts 5 is clamped, transferred and subjected to direction adjustment, so that the purposes of automatically transferring and adjusting the direction of the electric power fastener with a complicated shape are achieved, the purpose of automatically assembling the electric power fastener with the complicated shape is achieved, and after the parts 5 are assembled, the empty pairing seat 6 is transferred to the rowed storage device 2 to be recycled.

Wherein, the transfer is mated the mechanism 401 and is including connecing material platform 4011 to and set up respectively in connecing material platform 4011 both sides and with pair the matching groove 4012 that seat 6 matches, pair seat 6 through transfer mechanism 403 automatic from connecing material platform 4011 match to pair in the groove 4012, automatic equipment mechanism 402 is including setting up the holder 4021 who pairs the groove 4012 top, is provided with the climbing mechanism 7 that is used for pairing seat 6 jack-up to holder 4021 in pairing groove 4012 bottom.

The manipulator 3 of both sides is respectively with two pairs of seats 6 of installing spare part 5, place between the pairing groove 4012 that is located the material receiving platform 4011 left and right sides, through transfer mechanism 403 with the both sides pair seat 6 remove to the corresponding pairing groove 4012 in both sides in to realize spare part 5's location, in order to carry out jacking and installation to follow-up spare part 5.

After the pairing seat 6 enters the pairing groove 4012 in a matched mode, the pairing seat rises to the clamping piece 4021 of the automatic assembling mechanism 402 above under the driving of the jacking mechanism 7, after the pairing seat 6 is clamped by the clamping piece 4021, the jacking mechanism 7 resets, the automatic assembling mechanism 402 assembles parts 5 on the clamping pieces 4021 on two sides, after the parts 5 on two sides are assembled into an electric power fastener, the electric power fastener is separated from the two pairing seats 6, the two separated pairing seats 6 are recovered into the rowed storage device 2, and the recovered pairing seat 6 is loaded into a new part 5 in the rowed storage device 2 again.

The positioning and transferring mechanism 403 includes a guiding raised strip 4031 disposed on the material receiving table 4011, an end portion of the guiding raised strip 4031 extends into an opening portion of the mating groove 4012, a raised strip sliding groove 20 matched with the profile of the guiding raised strip 4031 is formed in the bottom of the mating seat 6, an electromagnetic device 4032 is embedded and mounted on a groove wall of one side of the mating groove 4012 away from the guiding raised strip 4031, and a permanent magnet 4033 capable of attracting each other when the electromagnetic device 4032 is energized is embedded and disposed on the other end portion of the mating seat 6 opposite to the component 5.

The mating seat 6 loaded with the component 5 is placed on the guiding protruding strip 4031, the guiding protruding strip 4031 is inserted into the protruding strip sliding groove 20 at the bottom of the mating seat 6 in a sliding manner, the mating seat 6 is guided by matching the guiding protruding strip 4031 with the protruding strip sliding groove 20, then the electromagnetic device 4032 in the mating groove 4012 drives the guided mating seat 6 to move into the mating groove 4012 by attracting the permanent magnet 4033 on the mating seat 6, so that the mating seat 6 loaded with the component 5 can be accurately butted with the jacking mechanism, and the component 5 can be accurately grabbed by the automatic assembling mechanism 402 under the driving of the jacking mechanism 7.

Through the mechanical positioning mode, the requirement on the high precision of the mechanical arm 3 is reduced, the cost and the automation control difficulty of the mechanical arm 3 are favorably reduced, the situation that the part 5 cannot be accurately matched with the automatic assembling mechanism 402 due to the error of the placing position of the mechanical arm 3 on the pairing seat 6 is avoided, and therefore the stability and the installation quality of the robot for installing the part 5 are guaranteed.

The top of the guide raised line 4031 is slightly higher than the surface of the material receiving table 4011, the vertical section of the guide raised line 4031 is arched, the surface of the guide raised line 4031 is smooth, and the inner contour of the raised line sliding groove 20 is matched with the guide raised line 4031. When the pairing seat 6 slightly deviates from the side of the guide protrusion 4031 due to the placement error of the manipulator 3, the pairing seat 6 moves along the inclined plane on the side opposite to the deviation direction of the guide protrusion 4031 under the action of the self gravity until the guide protrusion 4031 enters the protrusion sliding groove 20 at the bottom of the pairing seat 6.

Correspondingly, the material receiving platform 4011 is divided into a left material receiving area 19 and a right material receiving area 19 through the electromagnetic shielding plate 10, the two material receiving areas 19 are respectively in one-to-one correspondence with the manipulators 3 on the two sides of the robot main body 1, and the manipulators 3 on the two sides respectively grab the matching seats 6 carrying the parts 5 and are respectively placed in the material receiving areas 19 on the two sides.

For further avoiding the influence that causes because manipulator 3 error, connect each slidable mounting of material platform 4011's both sides surface to have a spacing board 11 of righting, two spacing boards 11 of righting are located the both sides of direction sand grip 4031 respectively, and both sides spacing board 11 of righting are symmetrical about direction sand grip 4031, and the face of spacing board 11 of righting is parallel with direction sand grip 4031, and both sides spacing board of righting all drives through actuating device 16 that have the equivalent function such as cylinder etc..

The manipulator 3 places the pairing seat 6 carrying the parts 5 between the two side limiting and righting plates 11, and the two side limiting and righting plates 11 synchronously move in opposite directions under the driving of the driving device 16 no matter whether the position of the pairing seat 6 deviates from the guide convex strip 4031. When the pairing seat 6 deviates or deflects towards the direction of the limiting and righting plate 11 on one side, along with the approaching of the limiting and righting plates 11 on the two sides to the pairing seat 6, the deviating pairing seat 6 can be preferentially contacted with the limiting and righting plate 11 on the deviating side and is gradually pushed towards the other side by the limiting and righting plate 11 on the deviating side until the limiting and righting plates 11 on the two sides clamp the pairing seat 6, the pairing seat 6 is righted by the limiting and righting plates 11 on the two sides, the guide convex strip 4031 just slides into the convex strip sliding groove 20 at the bottom of the pairing seat 6, and then the limiting and righting plates 11 on the two sides are driven to be away from each other, so that the butt joint of the pairing seat 6 and the automatic assembling mechanism 402 is influenced by the error of the placement position of the pairing seat 6 when the manipulator 3 places the pairing seat.

In order to avoid that when the opposite movement of the two side limit centralizing plates 11 stops due to the error of the driving device 16, the two side limit centralizing plates 11 are no longer symmetrical with respect to the guide convex strip 4031, that is, the convex strip sliding grooves 20 at the bottom of the mating seat 6 clamped by the two side limit centralizing plates 11 deviate from the guide convex strip 4031, the invention has the following embodiments:

both sides edge to the direction of perpendicular to direction sand grip 4031 of the matching groove 4012 opening in both sides all is provided with slide rail 12, the both ends of board 11 are right in spacing all through slider 14 slidable mounting on slide rail 12, install the stopper 15 that the interval equals with matching groove 4012 width in the both sides of matching groove 4012 opening, both ends of board 11 are right in spacing all be provided with stopper 15 matched with compensation groove 13, when making the spacing board 11 of right in both sides paste with both sides stopper 15 respectively mutually through compensation groove 13, the interval of the spacing board 11 of right in both sides is the same with matching groove 4012 width.

The two ends of the limiting and righting plate 11 are respectively slidably mounted in the sliding grooves 13 of the sliding rails 12 at the two ends through the sliding blocks 14, so that the limiting and righting plate 11 is prevented from deflecting due to uneven stress at the two ends in contact with the mating seat 6 in the moving process, the stop positions of the limiting and righting plates 11 at the two sides during opposite movement are limited by the limiting blocks 15 at the two sides, when the limiting and righting plates 11 at the two sides stop moving oppositely, the two limiting and righting plates are still symmetrical with respect to the guide raised line 4031, and under the effect of eliminating negative effects caused by the thickness of the limiting blocks 15 of the compensation groove 13, when the limiting and righting plates 11 at the two sides are attached to the corresponding limiting blocks 15, the distance between the limiting and righting plates 11 at the two sides is the same as the width of the mating seat 6 and the width of the mating groove 4012, and accurate positioning.

In addition, in order to avoid the thickness of the limiting block 15 from causing that the limiting righting plate 11 can not push the pairing seat 6 to a preset position, the limiting block 15 is made of a thin plate with smaller thickness, or a compensation groove for the limiting block 15 to be just embedded is formed in the surface of the limiting righting plate 11 contacted with the limiting block 15, so that when the limiting righting plates 11 on the two sides move oppositely and stop, the distance between the limiting righting plates and the pairing seat 6 is the same as the thickness of the pairing seat.

The left and right manipulators 3 simultaneously place the mating seats 6 loaded with the components 5 respectively clamped by the manipulators in the material receiving area 19, and then simultaneously drive the corresponding mating seats 6 loaded with the components 5 to act through the electromagnetic devices 4032 on the left and right sides. In order to avoid mutual cancellation of the suction forces of the electromagnetic devices 4032 on the two sides to the mating seat 6 when the electromagnetic devices 4032 on the two sides work simultaneously, the electromagnetic shielding plate 10 is installed on the material receiving table 4011 and located between the guide protruding strips 4031 on the left side and the right side, the electromagnetic shielding plate 10 is made of electromagnetic shielding materials such as metal meshes and metal plates, and magnetic fields formed by the electromagnetic devices 4032 on the two sides are isolated, so that mutual negative effects between the electromagnetic devices 4032 on the two sides are avoided.

The material receiving table 4011 in the matching groove 4012 is provided with a jacking channel 17, one end of the jacking channel 17, which is close to the matching groove 4012, is provided with a supporting block sinking groove 18 with a radius larger than that of the jacking channel 17, the material receiving table 4011 is provided with a jacking mechanism 7, the jacking mechanism 7 comprises a power device 701 arranged on the other side face, opposite to the matching groove 4012, of the material receiving table 4011 and a jacking rod 702 penetrating through the jacking channel 17 to the matching groove 4012, one end of the jacking rod 702 is connected with a telescopic end of the power device 701, the other end of the jacking rod 702 is fixedly connected with a supporting block 703 matched with the supporting block sinking groove 18, and in the non-working state of the power device 701, the surface of the supporting block 703 embedded into the supporting block sinking groove 18 is flush with the surface of the material receiving table 4011 so as to ensure that the matching seat 6 is supported on the supporting block 703 after entering the matching groove 4012.

The power device 701 is an air cylinder or other driving components with the same function, when the mating seat 6 carrying the component 5 enters the mating groove 4012 and is supported on the lifting block 703, the power device 701 drives the lifting block 703 and the mating seat 6 carrying the component 5 to ascend until the mating seat 6 ascends to the clamping position of the clamping member 4021 and then stops, and when the clamping member 4021 clamps the mating seat 6 carrying the component 5, the power device 701 drives the lifting block 703 to reset into the mating groove 4012 through the ejector rod 702.

As shown in fig. 3 and 4, the mating seat 6 includes a square block 601, a slot 602 attached to the part 5 is disposed in the center of one end of the square block 601, a protruding strip sliding slot 20 is disposed at the other end of the square block 601, and a permanent magnet 4033 is embedded in one side of the square block 601; wave-shaped clamping spring plates 604 with two ends fixed on the groove walls of the slot 602 are mounted on two sides of the slot 602, the part 5 is pushed into the space between the wave-shaped clamping spring plates 604 on the two sides or pulled out from the space between the wave-shaped clamping spring plates 604 on the two sides under the action of external force, a raised positioning block 603 is arranged on the groove wall at the bottom of the slot 602, and a positioning groove 501 matched with the positioning block 603 for further positioning the part 5 is arranged on the part 5.

All offer the centre gripping groove 605 that suits with holder 4021 on the relative both sides lateral wall of square block 601, holder 605 is favorable to increasing the stability of holder 4021 to pairing seat 6 centre gripping, prevents to pair seat 6 and takes place to drop.

The wavy clamping spring plates 604 are oppositely arranged, grooves for accommodating and clamping the parts 5 are formed between wave troughs of the wavy clamping spring plates 604 on the two sides, bayonets for preventing the parts 5 from being separated are formed between wave crests on the two sides of one side of the opening of the slot 602, and the wavy clamping spring plates 604 with elasticity on the two sides are mutually far away when the parts 5 are inserted or pulled out, so that the bayonets are opened to allow the parts 5 to be inserted or pulled out of the slot 602. After the component 5 is inserted into the wavy clamping spring plates 604 on the two sides, the positioning block 603 protruding from the bottom of the slot 602 is inserted into the positioning groove 501 at the bottom of the component 5, so that the component 5 is prevented from swinging along the trough of the wavy clamping spring plate 604, further positioning of the wavy clamping spring plate 604 is realized, and the component 5 is ensured to be firmly installed on the mating seat 6.

Moreover, the shape of the wave-shaped clamping spring plate 604 is adjusted according to the shape of the component 5 to be clamped, for example, when the component 5 is an anchor ear, the wave trough of the wave-shaped clamping spring plate 604 is curved in the length direction to be in an arc shape corresponding to the anchor ear profile in order to adapt to the arc profile of the anchor ear.

As shown in fig. 4, a supporting surface at the top of the lifting block 703 is provided with a limiting convex strip 8 located in the extending direction of the guiding convex strip 4031, two sides of the limiting convex strip 8 are both provided with spring top beads 9, two side walls of the convex strip sliding groove 20 are both provided with a horizontal sliding groove 2001 and a vertical sliding groove 2002 which are matched with the spring top beads 9, one end of the horizontal sliding groove 2001 is vertically connected with one end of the vertical sliding groove 2002, the other end of the horizontal sliding groove 2001 penetrates through the side wall of the square block 601, and the other end of the vertical sliding groove 2002 penetrates through the bottom of the square block;

the horizontal sliding groove 2001 and the vertical sliding groove 2002 are connected through a positioning ball hole 2003, the widths of the horizontal sliding groove 2001 and the vertical sliding groove 2002 are both smaller than the diameter of an opening part of the positioning ball hole 2003, and the size of the positioning ball hole 2003 is matched with the size of a ball body exposed part of the spring top ball 9.

The height of the spring top bead 9 from the top of the lifting block 703 is the same as the height of the horizontal sliding groove 2001 from the bottom of the pairing seat 6, and when the pairing seat 6 gradually slides into the pairing groove 4012, the limiting convex strip 8 at the top of the lifting block 703 gradually slides into the convex strip sliding groove 20 at the bottom of the pairing seat 6. In the process, the bead bodies of the spring ejecting beads 9 on the two sides of the limiting convex strip 8 slide into the horizontal sliding groove 2001 and are pushed and retracted under the counterforce of the groove wall of the horizontal sliding groove 2001 until the bead bodies of the spring ejecting beads 9 slide into the positioning bead holes 2003 with the sizes matched with the bead bodies and are ejected again by the springs. At this time, the pairing seat 6 is fixed on the supporting block 703 under the horizontal limiting effect of the limiting convex strip 8 and the vertical limiting effect of the spring top bead 9, so that the pairing seat 6 is prevented from moving in the ascending process of the supporting block 703, and the pairing seat 6 can be accurately butted with the clamping piece 4021. After the matching seat 6 is clamped by the clamping piece 4021, the matching seat 6 makes the bead body of the spring top bead 9 slide out of the vertical sliding groove 2002 under the action of upward pulling force, so that the matching seat 6 is separated from the lifting block 703.

Based on the robot, the invention also provides an assembling method of the electric power fastening self-pairing type intelligent assembling robot, which comprises the following steps:

s100, assembling and buckling two parts of the power fastener with the same specification on a pairing seat, sequentially installing the pairing seat buckled with the parts in a rowed storage device on two sides of a robot main body, placing the pairing seat with the parts at a position of a material receiving area close to an electromagnetic shielding plate, and electrifying an electromagnetic device to test the maximum sliding time of the pairing seat completely matched with a pairing groove;

setting the single-period moving time of the limiting and righting plates on the two sides of the receiving platform and the single-time power-on time of the electromagnetic device to be equal to the single-time transfer time of the manipulator, synchronizing the power-on time of the electromagnetic device with the time of pushing the limiting and righting plates to the limiting blocks, and setting the power-on and power-off time interval of the electromagnetic device according to the maximum sliding time;

and respectively installing the two matched parts on the two corresponding matched seats, and respectively installing the two matched seats carrying the electric fasteners into the arraying storage devices on two sides of the robot main body.

S200, synchronously taking the pairing seat with the parts from the row storage device by the two mechanical hands according to preset single transfer time, correspondingly conveying the pairing seat to the two material receiving areas on the material receiving platform of the transfer pairing mechanism for combination and matching, and placing one end, provided with the permanent magnet, of the pairing seat towards the direction of the pairing groove by the mechanical hands;

in a set of pair seat sent into and connect the material district, the inboard motion of board is right in order to make to pair the sand grip spout of seat bottom and connect the direction sand grip on the material bench to cooperate and lead in order to pair the seat, accomplishes the single and shifts when the board removes to the stopper is right in spacing, and electromagnetic means circular telegram this moment matches the seat and matches to pair two spare parts of a groove completion electric power fastener under the electromagnetic attraction effect, and the outage behind the electromagnetic means circular telegram at break-make electricity time interval.

S300, after the electromagnetic device is powered off, the jacking mechanism jacks the matched seat to the automatic assembling mechanism for automatic clamping, the jacking mechanism automatically resets to an initial position at the same time, and the automatic assembling mechanism assembles the two parts into a finished product of the electric power fastener.

And S400, after the jacking mechanism is reset, the two mechanical hands continue to grab the next group of matched seats with the parts, and the steps S200 and S300 are performed in a circulating mode.

According to the invention, after two parts of the electric power fastener are assembled with the pairing seat, the direction of the pairing seat loaded with the parts is adjusted through the transfer pairing mechanism so as to realize the pairing of the two parts, and then the two adjusted parts are synchronously conveyed to the automatic assembly mechanism for assembly, so that the purposes of automatic transfer, direction adjustment and assembly of the electric power fastener with a complex shape are realized.

Although the invention has been described in detail above with reference to a general description and specific examples, it will be apparent to one skilled in the art that modifications or improvements may be made thereto based on the invention. Accordingly, such modifications and improvements are intended to be within the scope of the invention as claimed.

Claims (6)

1. The self-pairing type intelligent assembling robot for the electric power fasteners comprises a robot main body (1) and is characterized in that two parts (5) forming the electric power fasteners are transferred and subjected to orientation adjustment through a pairing seat (6) assembled with the parts, the parts (5) can be separated from the pairing seat (6) under the action of external force, a row storage device (2) used for providing the parts (5) is arranged on each of two sides of the robot main body (1), a manipulator (3) used for transferring the pairing seat (6) loaded with the parts (5) is arranged on each of two sides of the robot main body (1), and an assembling mechanism (4) arranged on the front face of the robot main body (1);

the assembling and assembling mechanism (4) comprises a transfer pairing mechanism (401) in functional butt joint with the manipulator (3), an automatic assembling mechanism (402) in functional butt joint with the transfer pairing mechanism (401), and two pairing seats (6) which are loaded with the parts (5), and the parts are subjected to orientation adjustment on the transfer pairing mechanism (401), matched and then transferred to the automatic assembling mechanism (402) for assembling;

the transfer pairing mechanism (401) comprises a material receiving table (4011) and pairing grooves (4012) which are arranged on two sides of the material receiving table (4011) and matched with the pairing seats (6), the automatic assembling mechanism (402) is provided with clamping pieces (4021) which are located right above the pairing grooves (4012) and used for grabbing the pairing seats (6), jacking mechanisms (7) used for conveying the pairing seats (6) loaded with the parts (5) to the clamping pieces (4021) are installed in the pairing grooves (4012), and positioning transfer mechanisms (403) used for adjusting the pairing seats (6) loaded with the parts (5) and conveying the pairing seats (6) to the corresponding jacking mechanisms (7) are installed on two sides of the material receiving table (4011);

the positioning and transferring mechanism (403) comprises a guide raised strip (4031) arranged on the receiving table (4011), the end part of the guide raised strip (4031) extends into the opening part of the matching groove (4012), a raised strip sliding groove (20) matched with the profile of the guide raised strip (4031) is formed in the bottom of the matching seat (6), an electromagnetic device (4032) is embedded and mounted on the groove wall of one side, away from the guide raised strip (4031), of the matching groove (4012), and a permanent magnet (4033) attracted to the electromagnetic device (4032) which is electrified is arranged on one side of the matching seat (6);

an electromagnetic shielding plate (10) is arranged on the material receiving platform (4011) and positioned between the pairing grooves (4012) at two ends, the material receiving platform (4011) is divided into two material receiving areas (19) through the electromagnetic shielding plate (10), and the two material receiving areas (19) are respectively in one-to-one correspondence with the mechanical arms (3) on two sides of the robot main body (1);

two limiting and righting plates (11) are respectively installed on the two side surfaces of the receiving platform (4011) in a sliding mode, the two limiting and righting plates (11) are symmetrical relative to the guide convex strip (4031), and the plate surface of each limiting and righting plate (11) is parallel to the guide convex strip (4031);

both sides the both sides edge of pairing groove (4012) opening to perpendicular to the direction of direction sand grip (4031) all is provided with slide rail (12), the both ends of spacing board (11) are all in through slider (14) slidable mounting on slide rail (12) the both sides of pairing groove (4012) opening are installed the interval with pair stopper (15) that groove (4012) width equals spacing the both ends of spacing board (11) all be provided with stopper (15) matched with compensating groove (13), through compensating groove (13) make both sides spacing board (11) are right with both sides respectively when stopper (15) paste mutually and lean on, both sides spacing board (11) of righting the interval with pair groove (4012) width is the same.

2. The self-pairing intelligent assembly robot of claim 1, characterized in that the jacking mechanism (7) comprises a power device (701) arranged on the other side surface of the receiving platform (4011) opposite to the matching groove (4012) and a mandril (702) with one end arranged on the power device (701), and a supporting and lifting block (703) arranged at the other end of the ejector rod (702), wherein a jacking channel (17) penetrating through the bottom of the matching groove (4012) is arranged on the receiving platform (4011), the ejector rod (702) is axially and slidably arranged in the jacking channel (17), and the bottom of the matching groove (4012) is provided with a supporting block sinking groove (18) which is communicated with the jacking channel (17) and is used for sinking the supporting block (703), the thickness of the lifting block (703) is the same as the depth of the lifting block sinking into the groove (18).

3. The self-pairing intelligent assembly robot for the electric power fastener according to claim 2, wherein the pairing seat (6) comprises a square block body (601), a slot (602) partially attached to the component (5) is formed in the center of one end of the square block body (601), the raised strip sliding groove (20) is formed in the other end of the square block body (601), and the permanent magnet (4033) is embedded in one side of the square block body (601); both ends are all installed in the both sides of slot (602) and are fixed wave centre gripping spring plate (604) on slot (602) cell wall, spare part (5) are pushed both sides under the exogenic action between wave centre gripping spring plate (604), or from both sides by being pulled out between wave centre gripping spring plate (604), just be provided with bellied locating piece (603) on slot (602) bottom cell wall, spare part (5) insert set up on the position of slot (602) with locating piece (603) cooperate right locating slot (501) that spare part (5) further positioned.

4. The self-pairing intelligent assembly robot for the electric power fastener is characterized in that a limiting convex strip (8) located in the extending direction of the guide convex strip (4031) is installed on a supporting surface of the top of the lifting block (703), spring top beads (9) are installed on two sides of the limiting convex strip (8), a horizontal sliding groove (2001) and a vertical sliding groove (2002) which are matched with the spring top beads (9) are formed in groove walls of two sides of the convex strip sliding groove (20), one end of the horizontal sliding groove (2001) is vertically connected with one end of the vertical sliding groove (2002), the other end of the horizontal sliding groove (2001) penetrates through the side wall of the square block body (601), and the other end of the vertical sliding groove (2002) penetrates through the bottom of the square block body (601);

the horizontal sliding groove (2001) and the vertical sliding groove (2002) are connected through a positioning bead hole (2003), the width of each of the horizontal sliding groove (2001) and the vertical sliding groove (2002) is smaller than the diameter of an opening part of the positioning bead hole (2003), and the size of the positioning bead hole (2003) is matched with the size of a bead body exposed part of the spring top bead (9).

5. The self-pairing intelligent assembling robot for the electric power fasteners as claimed in claim 4, wherein the automatic assembling mechanism (402) comprises a clamping member (4021) arranged above the pairing groove (4012), and clamping grooves (605) corresponding to the clamping member (4021) are formed in the side walls of two opposite sides of the square block body (601).

6. An assembling method for the self-pairing type intelligent assembling robot for the electric power fastener according to any one of claims 1 to 5, characterized by comprising the following steps:

s100, assembling and buckling two parts of the power fastener with the same specification on a pairing seat, sequentially installing the pairing seat buckled with the parts in a rowed storage device on two sides of a robot main body, placing the pairing seat with the parts at a position of a material receiving area close to an electromagnetic shielding plate, and electrifying an electromagnetic device to test the maximum sliding time of the pairing seat completely matched with a pairing groove;

setting the single-cycle moving time of the limiting and righting plates on the two sides of the receiving table and the single-time power-on time of the electromagnetic device to be equal to the single-time transfer time of the manipulator, synchronizing the power-on time of the electromagnetic device with the time of pushing the limiting and righting plates to the limiting blocks, and setting the power-on and power-off time interval of the electromagnetic device according to the maximum sliding time;

respectively installing the two matched parts on the two corresponding matched seats, and respectively installing the two matched seats carrying the electric fasteners into the Row storage devices on the two sides of the robot main body;

s200, synchronously taking out the pairing seat with the parts from the listing storage device by the two mechanical hands according to preset single transfer time, correspondingly conveying the pairing seat to two material receiving areas on a material receiving platform of a transfer pairing mechanism for combination and matching, and placing one end, provided with a permanent magnet, of the pairing seat towards the direction of the pairing groove by the mechanical hands;

when a group of pairing seats are sent into a material receiving area, the limiting righting plate moves inwards to enable a convex strip sliding groove at the bottom of the pairing seat to be matched with a guide convex strip on a material receiving platform so as to guide the pairing seat, when the limiting righting plate moves to a limiting block, single transfer is completed, the electromagnetic device is powered on at the moment, the pairing seat is matched to a pairing groove under the action of electromagnetic attraction to complete pairing of two parts of an electric power fastener, and the electromagnetic device is powered off after the power-on time interval;

s300, after the electromagnetic device is powered off, the jacking mechanism jacks the matched seat to the automatic assembling mechanism for automatic clamping, the jacking mechanism automatically resets to an initial position at the same time, and the automatic assembling mechanism assembles the two parts into a finished product of the electric power fastener;

and S400, after the jacking mechanism is reset, the two mechanical hands continue to grab the next group of matched seats buckled with the parts, and the step S200 and the step S300 are circularly performed.

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