CN111618585A - Automatic assembling device for fingertip gyroscope - Google Patents
Automatic assembling device for fingertip gyroscope Download PDFInfo
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- CN111618585A CN111618585A CN202010625787.6A CN202010625787A CN111618585A CN 111618585 A CN111618585 A CN 111618585A CN 202010625787 A CN202010625787 A CN 202010625787A CN 111618585 A CN111618585 A CN 111618585A
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- 239000000463 material Substances 0.000 claims abstract description 114
- 238000001514 detection method Methods 0.000 claims description 15
- 230000006835 compression Effects 0.000 description 7
- 238000007906 compression Methods 0.000 description 7
- 238000009434 installation Methods 0.000 description 7
- 238000009987 spinning Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000003028 elevating effect Effects 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012856 packing Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P21/00—Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with programme control
- B23P21/004—Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with programme control the units passing two or more work-stations whilst being composed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/001—Article feeders for assembling machines
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/001—Article feeders for assembling machines
- B23P19/007—Picking-up and placing mechanisms
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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
- B23P19/02—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 connecting objects by press fit or for detaching same
- B23P19/027—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 connecting objects by press fit or for detaching same using hydraulic or pneumatic means
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- Engineering & Computer Science (AREA)
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- Automatic Assembly (AREA)
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Abstract
The invention relates to an automatic fingertip gyroscope assembling device which comprises an assembling table, a camera, a mechanical arm, a quick-change tool male disc and a quick-change tool mother disc, wherein the quick-change tool male disc is arranged on the mechanical arm; further comprising: the material grabbing device is arranged on the quick-change tool mother disc; the fixture positioning device is used for placing the material grabbing device; the material positioning device is used for placing materials, and the camera is positioned above the material positioning device; the first rotary pressing assembly device is used for mounting a gyro bearing and a threaded cover; the second rotary pressing assembly device is used for installing the upper end cover and the lower end cover; the mechanical arm, the clamp positioning device, the material positioning device, the first rotary pressing assembly device and the second rotary pressing assembly device are all fixed on the assembly table. The device simple structure, through the arm assembly pay-off, fix a position the material through material positioner, realize automatic assembly through two sets of rotatory assembly devices that compress tightly, work efficiency is high, and assembly quality is stable.
Description
Technical Field
The invention relates to a fingertip gyroscope assembling device, in particular to an automatic fingertip gyroscope assembling device.
Background
As shown in fig. 19 and 20, the fingertip gyroscope is assembled from a gyroscope body 90, an upper end cover 91, a gyroscope bearing 92, a screw cap 93, and a lower end cover 94. Wherein the outer ring of the gyro bearing 92 is fixed in a bearing hole 901 at the center of the gyro body 90, the bearing hole 901 is a stepped hole, and the top of the bearing hole 901 is provided with an internal thread. An upper connecting post 911 is arranged inside the upper end cover 91, an upper threaded hole 912 is arranged at the top of the upper connecting post 911, and the upper connecting post 911 of the upper end cover 91 is fixed on the inner ring of the gyro bearing 92. The screw cover 93 is provided with a connection ring 931, the connection ring 931 is provided with an external thread, the connection ring 931 is screwed on the bearing hole 901 through a thread, and the top bearing 92 is fixed on the top body 90 by the screw cover 93. The lower end cap 94 is provided with a lower connecting post 941 inside, the lower connecting post 941 is provided with an external thread, and the lower connecting post 941 is connected with the upper threaded hole 912.
The fingertip gyroscope has a large number of parts, manual assembly is mostly adopted at present, the manual assembly efficiency is low, the threaded cover 93 needs to be screwed down, the upper end cover 91 and the lower end cover 94 need to be screwed together, the workload is large, no proper workpiece is used for realizing the screwing, the manual screwing is adopted, and the assembly quality is unstable.
Disclosure of Invention
In order to solve the problems, the invention provides an automatic fingertip gyroscope assembling device with high assembling efficiency and stable assembling quality, and the specific technical scheme is as follows:
the automatic fingertip gyroscope assembling device comprises an assembling table, a camera, a mechanical arm, a quick-change tool male disc and a quick-change tool mother disc, wherein the quick-change tool male disc is installed on the mechanical arm; the quick-change tool mother disc is characterized by also comprising a material grabbing device, wherein the material grabbing device is arranged on the quick-change tool mother disc and is used for grabbing materials; the fixture positioning device is used for placing the material grabbing device; the material positioning device is used for placing materials, and the camera is positioned above the material positioning device; the first rotary pressing assembly device is used for mounting a gyro bearing and a threaded cover; the second rotary pressing and assembling device is used for installing the upper end cover and the lower end cover; the mechanical arm, the clamp positioning device, the material positioning device, the first rotary pressing assembly device and the second rotary pressing assembly device are all fixed on the assembly table.
Further, the material gripping device comprises a three-jaw chuck; the automatic clamping jaws are symmetrically provided with two material clamping jaws; the quick-change tool mother disc clamp comprises a clamp connecting plate, wherein a three-jaw chuck and an automatic clamping jaw are respectively arranged at two ends of the clamp connecting plate, and the clamp connecting plate is arranged on the quick-change tool mother disc.
The quick-change tool mother disc clamp is characterized by further comprising clamp positioning plates, wherein the clamp positioning plates are arranged on the quick-change tool mother disc, and at least two clamp positioning pins are arranged on the clamp positioning plates; the fixture positioning device comprises a fixture seat, the fixture seat is installed on the assembly table, and a fixture hanging groove matched with the master disc of the quick-change tool and a fixture positioning hole corresponding to the fixture positioning pin are formed in the top of the fixture seat.
Further, the material positioning device comprises: the top of the material positioning plate is provided with a first positioning hole and a first positioning groove for positioning the gyroscope body, and the first positioning groove is provided with a first grabbing groove for inserting the clamping jaw; the bearing positioning column is used for positioning a gyro bearing, the screw cap positioning column is used for positioning a screw cap, the upper cap positioning column is used for positioning an upper end cap, and the lower cap positioning seat is used for positioning a lower end cap, and the bearing positioning column, the screw cap positioning column and the upper cap positioning column are all arranged at the top of the material positioning plate; the material positioning seat is fixed on the assembling table; the material positioning plates are not less than three and are arranged at the top of the material positioning seat, and the first positioning holes of the material positioning plates are movably inserted in the material positioning rods; the first detection device is arranged on the material positioning seat and used for detecting whether the material positioning plate is installed.
Further, a bearing positioning seat is arranged on the bearing positioning column and fixed on the material positioning plate; the top of the lower cover positioning seat is symmetrically provided with two lower cover positioning plates, the lower cover positioning plates are arc-shaped and are matched with the outer circular surface of the lower end cover, and the lower cover positioning plates are used for positioning the lower end cover; the top of material locating lever is equipped with the material reference column, the top of material reference column is the toper, the material reference column with first locating hole phase-match.
Furthermore, the first rotating, compressing and assembling device comprises a first assembling seat, the first assembling seat is fixed on the assembling table, and a first assembling groove matched with the gyroscope body is formed in the first assembling seat;
the assembling positioning column is arranged at the center of the first assembling groove; the bottom of the first rotary pressure head is provided with a first avoidance hole, and the first avoidance hole and the assembly positioning column are coaxially arranged; the first rotary driving device is provided with a first rotary pressure head; the first fixing plate is arranged on one side of the first assembling seat, and the first rotary driving device is slidably arranged on the first fixing plate; and the first lifting pressing device is arranged on the first fixing plate, is connected with the first rotary driving device and is used for pressing the first rotary pressure head on the threaded cover.
Further, the first rotary driving device comprises a first lifting seat, and the first lifting seat is slidably mounted on the first fixing plate; the first motor is fixed on the first lifting seat, and the first rotary pressure head is fixed on a motor shaft of the first motor.
Further, the first lifting and pressing device comprises a first pressing cylinder, and the first pressing cylinder is fixed on the first fixing plate; one end of the first linkage rod is fixed on a piston rod of the first pressing cylinder, and the other end of the first linkage rod is provided with a first limiting ring; the first linkage plate is fixed on the rotary driving device, and the first linkage rod is inserted on the first linkage plate in a sliding manner and is positioned above the first limiting ring; the first spring is movably inserted on the first linkage rod, one end of the first spring is pressed on the first linkage plate, and the other end of the first spring is pressed on a piston rod of the first pressing cylinder.
The fixture positioning device further comprises a guide sleeve, wherein the guide sleeve is used for being movably inserted on the assembly positioning column to guide the threaded cover, and the guide sleeve is movably inserted on the fixture positioning device when not used.
Further, the second rotary press-fitting apparatus includes: the second assembly seat is provided with a second assembly groove matched with the gyroscope body and fixed on the assembly table; the assembling positioning ring is used for positioning the upper end cover and is arranged at the center of the second assembling groove; the second fixing plate is arranged on one side of the second assembling seat; the second lifting seat is slidably mounted on the second fixing plate; the second motor is fixed on the second lifting seat; the second rotating pressure head is coaxially arranged with the assembling positioning ring and fixed on a motor shaft of the second motor; the second pressing air cylinder is fixed on the second fixing plate; one end of the second linkage rod is fixed on a piston rod of the second pressing cylinder, and the other end of the second linkage rod is provided with a second limiting ring; the second linkage plate is fixed on the second lifting seat, and is inserted on the second linkage plate in a sliding manner and positioned above the second limiting ring; and the second spring is movably inserted on the second linkage rod, one end of the second spring is pressed on the second linkage plate, and the other end of the second spring is pressed on a piston rod of the second pressing cylinder.
Compared with the prior art, the invention has the following beneficial effects:
the automatic fingertip gyroscope assembling device provided by the invention is simple in structure, and feeding for assembling the fingertip gyroscope is realized through the mechanical arm; through material positioner to the whole materials of one set of fingertip top fix a position, snatch the part when convenient assembly to change the material after convenient assembly, whether detect the material locating plate simultaneously and install in place, whether conveniently carry out the judgement of assembling, the reliability of work has been improved, realize threaded connection through the motor rotation, adopt cylinder and spring to provide pressure, guarantee that screw cap, upper end cover and lower end cover are reliable and fast installs on the top body, work efficiency is high, and assembly quality is stable.
Drawings
FIG. 1 is a schematic structural diagram of an automatic tip top assembling device;
FIG. 2 is a schematic structural view of a material positioning device;
FIG. 3 is a schematic view of a fingertip gyroscope component mounted on the material positioning device;
FIG. 4 is a schematic structural view of the material positioning seat, the material positioning rod and the first detection device;
FIG. 5 is a schematic view of the structure of the jig base;
FIG. 6 is a schematic view of the structure of the jig mounted on the jig base;
FIG. 7 is a schematic view of a clip attached to a clip web;
FIG. 8 is a cross-sectional view of the guide sleeve;
FIG. 9 is a perspective view of a first rotary compression fitting apparatus;
FIG. 10 is a front view of the first rotary compression fitting apparatus;
FIG. 11 is a cross-sectional view of a first rotary compression fitting apparatus;
FIG. 12 is a schematic view of a first mounting seat;
FIG. 13 is a schematic view of the construction of a first linkage rod;
FIG. 14 is a schematic view of the first rotary ram;
FIG. 15 is a perspective view of a second rotary compression fitting apparatus;
FIG. 16 is a front view of the second rotary compression fitting apparatus;
FIG. 17 is a cross-sectional view of a second rotary compression fitting apparatus;
FIG. 18 is a schematic view of a second mounting socket;
FIG. 19 is an exploded view of a tip top;
figure 20 is a cross-sectional view of a tip top.
Detailed Description
The invention will now be further described with reference to the accompanying drawings.
As shown in fig. 1 to 18, the automatic fingertip gyroscope assembling device includes an assembling table 81, a camera 85, a mechanical arm 82, a quick-change tool male disc 83 and a quick-change tool mother disc 37, wherein the quick-change tool male disc 83 is mounted on the mechanical arm 82; further comprising: the material grabbing device is arranged on the quick-change tool mother disc 37 and used for grabbing materials; the fixture positioning device is used for placing the material grabbing device; the material positioning device is used for placing materials, and the camera 85 is positioned above the material positioning device; a first rotary pressing and assembling device for installing the gyro bearing 92 and the screw cap 93; a second rotary pressing and assembling device for mounting the upper end cover 91 and the lower end cover 94; the mechanical arm 82, the clamp positioning device, the material positioning device, the first rotary pressing assembly device and the second rotary pressing assembly device are all fixed on the assembly table 81.
The material grabbing device includes: a three-jaw chuck 31; two automatic clamping jaws 33 are symmetrically arranged on the material clamping jaw 32 of each automatic clamping jaw 33; the clamp connecting plate 34 is provided with a three-jaw chuck 31 and an automatic clamping jaw 33 at two ends of the clamp connecting plate 34, and the clamp connecting plate 34 is arranged on a master disc 37 of a quick-change tool. The clamp connecting plate 34 realizes simultaneous work of two clamping, and improves the working efficiency.
The quick-change tool is characterized by further comprising a clamp positioning plate 35, wherein the clamp positioning plate 35 is installed on a quick-change tool master disc 37, clamp positioning pins 36 are arranged on the clamp positioning plate 35, and the number of the clamp positioning pins 36 is not less than two; the fixture positioning device comprises a fixture seat, the fixture seat is installed on the assembly table 81, and a fixture hanging groove 211 matched with the quick-change tool master disc 37 and a fixture positioning hole 212 corresponding to the fixture positioning pin 36 are arranged at the top of the fixture seat.
The mechanical arm 82 is wide in application range, capable of improving the practical ability of students and meeting the function of automatic feeding in teaching, wide in application range and capable of achieving different functions by replacing different clamps.
Specifically, the fixture base comprises a fixture base plate 21 and a fixture upright post 22, the fixture upright post 22 is fixed on the assembly table 81, the fixture base plate 21 is fixed on the fixture upright post 21, two fixture hanging grooves 211 are formed in the fixture base plate 21, fixture positioning holes 212 are further formed in the fixture base plate 21, and the fixture positioning holes 212 are arranged along the fixture hanging grooves 211.
The first clamp detection sensor 26 is mounted on the clamp base plate 21 and is used for detecting whether a clamp is arranged on the clamp hanging groove 211. The first detection sensor 26 may be a photoelectric sensor.
An annular light source 84 is arranged below the camera 85, so that the recognition rate of the camera 85 is improved.
The jaws 39 of the three-jaw chuck 31 are provided with circular arc-shaped first clamping grooves 391;
the material holding jaw 32 of the automatic holding jaw 33 is provided with a circular arc-shaped second holding groove 321.
The three-jaw chuck 31 is used for grabbing the spinning top body 90, and the automatic clamping jaws 33 are used for grabbing the upper end cover 91, the spinning top bearing 92, the threaded cover 93, the lower end cover 94 and the guide sleeve 20. The automatic jaws 33 may be electric or pneumatic jaws and the three-jaw chuck may be an electric or pneumatic chuck.
The arc-shaped clamping groove can increase the contact area or contact point with the material, can stably clamp the material, and avoids the material from loosening.
As shown in fig. 2 to 4, the material positioning device includes: the top of the material positioning plate 10 is provided with a first positioning hole 103 and a first positioning groove 101 for positioning the gyro body 90, and the first positioning groove 101 is provided with a first grabbing groove 102 for inserting a clamping jaw; a bearing positioning column 111 for positioning the gyro bearing 92, a screw cap positioning column 12 for positioning the screw cap 93, an upper cap positioning column 131 for positioning the upper end cap 91 and a lower cap positioning seat 14 for positioning the lower end cap 94, which are all arranged at the top of the material positioning plate 10; the material positioning seat 15 is used for fixing the material positioning seat 15 on the assembling table 81; the material positioning plates 16 are not less than three, the material positioning plates 16 are arranged at the tops of the material positioning seats 15, and the first positioning holes 103 of the material positioning plates 10 are movably inserted in the material positioning plates 16; first detection device 17, first detection device 17 installs on material positioning seat 15 for whether detect and be equipped with material locating plate 10.
The first positioning groove 101 is arranged on the material positioning plate 10, so that the structure is simple, and the processing is convenient. The first grasping slot 102 facilitates the jaw extending into the first positioning slot 101 to grasp the drop-off body 90.
Other parts of the fingertip gyroscope are fixed and positioned through the bearing positioning column 111, the screw cap positioning column 12, the upper cap positioning column 131 and the lower cap positioning seat 14, and the clamping jaw is convenient to grab.
The material positioning rod 16 facilitates replacement and positioning of the material positioning plate 10, and after all parts on the material positioning plate 10 are used, the new material positioning plate 10 provided with all parts of the fingertip gyroscope is replaced to assemble the next fingertip gyroscope.
The bearing positioning column 111 is provided with a bearing positioning seat 11, and the bearing positioning seat 11 is fixed on the material positioning plate 10. Bearing positioning seat 11 is used for supporting gyro bearing 92, makes gyro bearing 92 higher than material locating plate 10 and makes things convenient for the clamping jaw to snatch gyro bearing 92.
Two lower cover positioning plates 141 are symmetrically arranged at the top of the lower cover positioning seat 14, the lower cover positioning plates 141 are arc-shaped and are matched with the outer circular surface of the lower end cover 94, and the lower cover positioning plates 141 are used for positioning the lower end cover 94.
Lower cap positioning plate 141 constrains lower cap 94 on top of lower cap positioning seat 14 while facilitating gripping of lower cap 94 by the jaws.
The top of material locating lever 16 is equipped with material reference column 161, and the top of material reference column 161 is the toper, and material reference column 161 and first locating hole 103 phase-match.
The material positioning rod 161 is convenient for positioning the material positioning plate 10.
The first detection device 17 comprises a photoelectric sensor, and the photoelectric sensor is installed on the material positioning seat 15 and is located below the material positioning plate 10.
The photoelectric sensor is used for detecting whether the material positioning plate 10 is installed or not, so that whether the assembly is carried out or not is judged conveniently.
The top body 90 is movably inserted into the first positioning groove 101, and the surface of the top body 90 provided with the bearing hole 901 faces upwards. The gyro-bearing 92 is movably inserted on the bearing positioning column 111, and the inner ring is pressed on the bearing positioning seat 11. The screw cap 93 is movably inserted on the screw cap positioning column 12. The upper threaded hole 912 of the upper cover 91 is inserted into the upper cover positioning column 131. The outer surface of the lower end cover 94 is placed on the lower cover positioning seat 14, and the lower connecting column 941 faces upward. All parts of the fingertip gyroscope are arranged according to the assembly direction, and the parts do not need to be turned over after being grabbed, so that the assembly efficiency is greatly improved.
As shown in fig. 9 to 14, the first rotary press-fitting apparatus includes: a first assembling seat 41, wherein a first assembling groove 411 matched with the top body 90 is arranged on the first assembling seat 41; an assembly positioning column 42, the assembly positioning column 42 being installed at the center of the first assembly groove 411; the guide sleeve 20 is movably inserted on the assembly positioning column 42; the bottom of the first rotating pressure head 48 is provided with a first avoiding hole 481, and the first avoiding hole 481 is coaxial with the assembly positioning column 42; a first rotary driving device, on which a first rotary pressure head 48 is mounted; a first fixing plate 44, the first fixing plate 44 being installed at one side of the first assembling seat 41, the first rotation driving means being slidably installed on the first fixing plate 44; and the first lifting and pressing device is arranged on the first fixing plate 44 and is connected with the first rotary driving device, and is used for pressing the first rotary pressing head 48 on the threaded cover 93.
First rotary driving device drives first rotatory pressure head 48 and rotates, and first rotatory pressure head 48 drives screw cap 93 and rotates, realizes screw cap 93's installation, continuously provides the packing force through first lift closing device when rotatory screw cap 93, guarantees that first rotatory pressure head 48 compresses tightly all the time on screw cap 93, avoids taking place sliding friction between first rotatory pressure head 48 and the screw cap 93.
Meanwhile, rotation and compression are realized, the installation efficiency is greatly improved, and the assembly quality is stable.
The first rotary driving device comprises a first lifting seat 46, and the first lifting seat 46 is slidably mounted on the first fixing plate 44; the first motor 47, the first motor 47 is fixed on the first lifting seat 46, and the first rotary pressure head 48 is fixed on the first motor 47. The motor can conveniently drive the first rotary pressure head 48 to rotate, and the structure is simple. Can adopt servo motor, servo motor can control the torsion size of output to guarantee that assembly quality is unanimous. Or a common stepping motor can be adopted to control the magnitude of the output force.
The device further comprises a first thrust ball bearing 45, the first thrust ball bearing 45 is installed on a motor shaft of a first motor 47, and a first rotary pressure head 48 is pressed on the first thrust ball bearing 45. The first thrust ball bearing 45 can reduce the influence on the motor.
The lifting pressing device comprises a first pressing air cylinder 51, and the first pressing air cylinder 51 is fixed on the first fixing plate 44; one end of the first linkage rod 521 is fixed on a piston rod of the first pressing cylinder 51, and the other end of the first linkage rod 521 is provided with a first limit ring 522; the first linkage plate 55 is fixed on the rotary driving device, and the first linkage rod 521 is inserted on the first linkage plate 55 in a sliding manner and is positioned above the first limiting ring 522; the first spring 53, the first spring 53 is movably inserted on the first linkage rod 521, one end of the first spring 53 is pressed on the first linkage plate 55, and the other end is pressed on the piston rod of the first pressing cylinder 51. The cylinder speed is fast, and control is simple. The first spring 53 continues to provide a compressive force to ensure that the first rotary ram 48 does not separate from the threaded cap 93.
The first fitting groove 411 is provided with a second catching groove 413 matched with the three-jaw chuck. The second catching groove 413 facilitates insertion of the spinning top body 90 into the first fitting groove 411.
The first assembling seat 41 is provided with a first detecting hole 412, a first assembling detecting sensor is installed in the first detecting hole 412, and the first assembling detecting sensor is used for detecting whether the gyro body 90 is installed in the first assembling groove 411. The first assembly detection sensor can ensure normal operation of assembly.
The first friction pressing ring 49 is further included, and the first friction pressing ring 49 is fixed at the bottom of the first rotating pressing head 48 and is arranged coaxially with the first avoiding hole 481. The first friction collar 49 serves to increase the friction while avoiding crushing the screw cap 93. The first friction collar 49 is a rubber ring. The rubber ring is soft and has large friction force, so that the threaded cover 93 can be protected, and the threaded cover 93 can be driven to rotate to realize the installation of the threaded cover 93.
The first assembling seat 41 is installed on the first fixing seat 43, the first fixing seat 43 is installed on the assembling table, and the first fixing plate 44 is installed on one side of the first fixing seat 43. The first elevating base 46 is installed on the first fixing plate 44 through a pair of linear guides.
An upper positioning plate 24 is arranged on the clamp bottom plate 21, a first clamp detection sensor 26 is arranged between the upper positioning plate 24 and the clamp bottom plate 21, and a guide sleeve positioning column 23 is arranged on the upper positioning plate 24. The guide sleeve positioning column 23 can ensure accurate positioning.
The guide sleeve positioning device further comprises a guide sleeve detection sensor 25, wherein the guide sleeve detection sensor 25 is a correlation photoelectric sensor, is symmetrically arranged on two sides of the guide sleeve positioning column 23 and is used for detecting whether the guide sleeve positioning column 23 is provided with the guide sleeve 20 or not. The correlation photoelectric sensor detection guide sleeve 20 is accurate and reliable, and does not interfere with a clamp.
During assembly, the guide sleeve 20 is taken down, the gyro body 90 is inserted into the first assembly groove 411, the gyro body 90 is fixed in the first assembly groove 411, then the gyro bearing 92 is installed, the assembly positioning column 42 guides the gyro bearing 92 to ensure that the gyro bearing 92 can be accurately installed in the bearing hole 901, then the guide sleeve 20 is installed, finally the threaded cover 93 is installed, the guide sleeve 20 enables the axis of the threaded cover 93 to be coincident with the axis of the gyro bearing 92, then the first pressing cylinder 51 is started, the first pressing cylinder 51 drives the first lifting seat 46 to descend through the first linkage plate 55, the first lifting seat 46 drives the first motor 47 and the first rotary pressure head 48 to descend, when the first rotary pressure head 48 presses the threaded cover 93, the first spring 53 is compressed, the first spring 53 presses the threaded cover 93 on the gyro bearing 92, then the first motor 47 is started, the first rotary pressure head 48 drives the threaded cover 93 to rotate through the first friction pressure ring 49, the screw cap 93 is screwed on the internal thread above the bearing hole 901, the first spring 53 continuously provides pressure when the screw cap 93 is screwed, the first friction pressing ring 49 is ensured to drive the screw cap 93 to rotate, after the screw cap 93 is installed, the first pressing cylinder 51 retracts, the first rotary pressure head 48 leaves, the fingertip gyroscope with the gyroscope bearing 92 and the screw cap 93 assembled is taken out, and the next procedure is put into to continue assembling other parts.
As shown in fig. 15 to 18, the second rotary press-fitting device includes: a second assembly seat 61, wherein a second assembly groove 611 matched with the top body 90 is arranged on the second assembly seat 61, a third grabbing groove 613 matched with the three-jaw chuck is arranged on the second assembly groove 611, the second assembly seat 61 is fixed on a second fixed seat 62, and the second fixed seat 62 is installed on the assembly table 81; an assembly positioning ring 69 for positioning the upper end cap 91, the assembly positioning ring 69 being installed at the center of the second assembly groove 611; a second fixing plate 63, the second fixing plate 63 being installed at one side of the second assembling seat 61; the second lifting seat 64 is arranged on the second fixing plate 63 in a sliding manner through a linear guide rail pair; the second motor 65, the second motor 65 is fixed on the second lifting seat 64; the second rotating pressure head 66 is coaxially arranged with the assembling positioning ring 69, the bottom of the second rotating pressure head 66 is provided with a friction pressing sheet 67 made of rubber, and the second rotating pressure head 66 is fixed on a motor shaft of the second motor 65; and a second thrust ball bearing 68, wherein the second thrust ball bearing 68 is installed on the motor shaft of the second motor 65, and the second rotary ram 66 is pressed on the second thrust ball bearing 68.
The second pressing cylinder 71, the second pressing cylinder 71 is fixed on the second fixing plate 63; one end of the second linkage rod 721 is fixed on the piston rod of the second compacting cylinder 71, and the other end of the second linkage rod 721 is provided with a second limit ring 722; a second linkage plate 75, wherein the second linkage plate 75 is fixed on the second lifting seat 64, and the second linkage rod 721 is slidably inserted on the second linkage plate 75 and is positioned above the second limit ring 722; and a second spring 73, wherein the second spring 73 is movably inserted into the second linkage rod 721, one end of the second spring 73 is pressed against the second linkage plate 75, and the other end is pressed against a piston rod of the second pressing cylinder 71.
The second assembling seat 61 is provided with a second detecting hole 614, a second assembling detecting sensor is installed in the second detecting hole 614, and the second assembling detecting sensor is used for detecting whether the gyro body 90 is installed in the second assembling groove 611.
During assembly, the upper end cover 91 is inserted into the assembly positioning ring 69, then the top body 90 is inserted into the second assembly groove 611, the inner ring of the top bearing 92 is inserted into the connecting post 911, then the lower end cover 94 is placed, the connecting post 941 on the lower end cover 94 is inserted into the threaded hole 912 on the connecting post 911, then the second pressing cylinder 71 is started, the second pressing cylinder 71 drives the second lifting seat 64 to descend through the second linkage plate 75, the second lifting seat 64 drives the second motor 65 and the second rotary press head 66 to descend, when the second rotary press head 66 presses the lower end cover 94, the second spring 73 is compressed, the lower end cover 94 is pressed onto the connecting post 911 by the second spring 73, then the second motor 65 is started, the second rotary press head 66 drives the lower end cover 94 to rotate through the first friction press sheet 67, the lower connecting post 941 is screwed into the threaded hole 912, when the second rotary press head 66 rotates, the second rotary press head 73 continuously provides pressure, guarantee that friction preforming 67 can drive upper end cover 94 and rotate, after upper end cover 94 installation, the second compresses tightly cylinder 71 withdrawal, and second rotary pressure head 66 leaves, takes out the assembled fingertip top.
During automatic assembly, all parts of the fingertip gyroscope are placed on the material positioning plate 10, then the material positioning plate 10 is inserted on the material positioning rod 16, the first detection device 17 detects the material positioning plate 10, the first clamp detection sensor 26 detects a clamp, the mechanical arm 82 is started, the clamp is firstly installed, then the gyroscope body 90 is moved from the material positioning plate 10 to the first assembly groove 411 through the three-jaw chuck 31, then the gyroscope bearing 92 is installed in the bearing hole 901 through the automatic clamping jaw 33, then the guide sleeve 20 is inserted on the assembly positioning column 42 through the automatic clamping jaw 33, then the threaded cover 93 is installed through the automatic clamping jaw 33, the threaded cover 33 is movably inserted on the guide sleeve 20, then the first rotary pressing assembly device is started to install the threaded cover 93, when the threaded cover 93 is assembled, the mechanical arm 82 inserts the upper end cover 91 into the assembly positioning ring 69 through the automatic clamping jaw 33, when the installation of the threaded cover 93 is completed, the mechanical arm 82 moves into the second assembling groove 611 through the gyroscope body 90 in the first assembling groove 411 of the three-jaw chuck 31, the inner ring of the gyroscope bearing 92 is inserted into the connecting column 911, the mechanical arm 82 inserts the connecting column 941 on the lower end cover 94 into the threaded hole 912 on the connecting column 911 through the automatic clamping jaw 33, the second rotary pressing assembling device is started, the upper end cover 91 and the lower end cover 94 are screwed together, and the assembly of the fingertip gyroscope is completed.
When the upper end cover 91 and the lower end cover 94 are assembled, the material plates 10 can be replaced, the material plates 10 filled with parts are placed on the material positioning rods 16, the next round of installation is carried out, and the installation efficiency is greatly improved.
Claims (10)
1. The automatic fingertip gyroscope assembling device comprises an assembling table, a camera, a mechanical arm, a quick-change tool male disc and a quick-change tool mother disc, wherein the quick-change tool male disc is installed on the mechanical arm; it is characterized by also comprising:
the material grabbing device is arranged on the quick-change tool mother disc and used for grabbing materials;
the fixture positioning device is used for placing the material grabbing device;
the material positioning device is used for placing materials, and the camera is positioned above the material positioning device;
the first rotary pressing assembly device is used for mounting a gyro bearing and a threaded cover;
the second rotary pressing and assembling device is used for installing the upper end cover and the lower end cover;
the mechanical arm, the clamp positioning device, the material positioning device, the first rotary pressing assembly device and the second rotary pressing assembly device are all fixed on the assembly table.
2. The automatic fingertip gyroscope assembling device according to claim 1,
the material grabbing device comprises:
a three-jaw chuck;
the automatic clamping jaws are symmetrically provided with two material clamping jaws;
the quick-change tool mother disc clamp comprises a clamp connecting plate, wherein a three-jaw chuck and an automatic clamping jaw are respectively arranged at two ends of the clamp connecting plate, and the clamp connecting plate is arranged on the quick-change tool mother disc.
3. The automatic fingertip gyroscope assembling device according to claim 2,
the quick-change tool mother disc clamping device is characterized by further comprising a clamp positioning plate, wherein the clamp positioning plate is arranged on the quick-change tool mother disc, and the clamp positioning plate is provided with at least two clamp positioning pins;
the fixture positioning device comprises a fixture seat, the fixture seat is installed on the assembly table, and a fixture hanging groove matched with the master disc of the quick-change tool and a fixture positioning hole corresponding to the fixture positioning pin are formed in the top of the fixture seat.
4. The automatic fingertip gyroscope assembling device according to claim 1,
the material positioning device comprises:
the top of the material positioning plate is provided with a first positioning hole and a first positioning groove for positioning the gyroscope body, and the first positioning groove is provided with a first grabbing groove for inserting the clamping jaw;
the bearing positioning column is used for positioning a gyro bearing, the screw cap positioning column is used for positioning a screw cap, the upper cap positioning column is used for positioning an upper end cap, and the lower cap positioning seat is used for positioning a lower end cap, and the bearing positioning column, the screw cap positioning column and the upper cap positioning column are all arranged at the top of the material positioning plate;
the material positioning seat is fixed on the assembling table;
the material positioning plates are not less than three and are arranged at the top of the material positioning seat, and the first positioning holes of the material positioning plates are movably inserted in the material positioning rods;
the first detection device is arranged on the material positioning seat and used for detecting whether the material positioning plate is installed.
5. The automatic fingertip gyroscope assembling device according to claim 4,
a bearing positioning seat is arranged on the bearing positioning column and is fixed on the material positioning plate;
the top of the lower cover positioning seat is symmetrically provided with two lower cover positioning plates, the lower cover positioning plates are arc-shaped and are matched with the outer circular surface of the lower end cover, and the lower cover positioning plates are used for positioning the lower end cover;
the top of material locating lever is equipped with the material reference column, the top of material reference column is the toper, the material reference column with first locating hole phase-match.
6. The automatic fingertip gyroscope assembling device according to claim 1,
the first rotary pressing assembly device comprises
The first assembling seat is fixed on the assembling table, and a first assembling groove matched with the gyroscope body is formed in the first assembling seat;
the assembling positioning column is arranged at the center of the first assembling groove;
the bottom of the first rotary pressure head is provided with a first avoidance hole, and the first avoidance hole and the assembly positioning column are coaxially arranged;
the first rotary driving device is provided with a first rotary pressure head;
the first fixing plate is arranged on one side of the first assembling seat, and the first rotary driving device is slidably arranged on the first fixing plate;
and the first lifting pressing device is arranged on the first fixing plate, is connected with the first rotary driving device and is used for pressing the first rotary pressure head on the threaded cover.
7. The automatic fingertip gyroscope assembling device according to claim 6,
the first rotary drive device comprises
The first lifting seat is slidably mounted on the first fixing plate;
the first motor is fixed on the first lifting seat, and the first rotary pressure head is fixed on a motor shaft of the first motor.
8. The automatic fingertip gyroscope assembling device according to claim 6,
the first lifting and pressing device comprises
The first pressing air cylinder is fixed on the first fixing plate;
one end of the first linkage rod is fixed on a piston rod of the first pressing cylinder, and the other end of the first linkage rod is provided with a first limiting ring;
the first linkage plate is fixed on the rotary driving device, and the first linkage rod is inserted on the first linkage plate in a sliding manner and is positioned above the first limiting ring;
the first spring is movably inserted on the first linkage rod, one end of the first spring is pressed on the first linkage plate, and the other end of the first spring is pressed on a piston rod of the first pressing cylinder.
9. The automatic fingertip gyroscope assembling device according to claim 6,
also comprises
The guide sleeve is movably inserted on the assembling positioning column to guide the threaded cover, and the guide sleeve is movably inserted on the fixture positioning device when not used.
10. The automatic fingertip gyroscope assembling device according to claim 1,
the second rotary press-fitting apparatus includes:
the second assembly seat is provided with a second assembly groove matched with the gyroscope body and fixed on the assembly table;
the assembling positioning ring is used for positioning the upper end cover and is arranged at the center of the second assembling groove;
the second fixing plate is arranged on one side of the second assembling seat;
the second lifting seat is slidably mounted on the second fixing plate;
the second motor is fixed on the second lifting seat;
the second rotating pressure head is coaxially arranged with the assembling positioning ring and fixed on a motor shaft of the second motor;
the second pressing air cylinder is fixed on the second fixing plate;
one end of the second linkage rod is fixed on a piston rod of the second pressing cylinder, and the other end of the second linkage rod is provided with a second limiting ring;
the second linkage plate is fixed on the second lifting seat, and is inserted on the second linkage plate in a sliding manner and positioned above the second limiting ring;
and the second spring is movably inserted on the second linkage rod, one end of the second spring is pressed on the second linkage plate, and the other end of the second spring is pressed on a piston rod of the second pressing cylinder.
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|---|---|---|---|
| CN202010625787.6A CN111618585B (en) | 2020-07-02 | 2020-07-02 | Automatic assembling device for fingertip gyroscope |
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|---|---|---|---|
| CN202010625787.6A CN111618585B (en) | 2020-07-02 | 2020-07-02 | Automatic assembling device for fingertip gyroscope |
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| CN111618585A true CN111618585A (en) | 2020-09-04 |
| CN111618585B CN111618585B (en) | 2024-08-06 |
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| CN112706185A (en) * | 2020-12-30 | 2021-04-27 | 常州多博特机器人科技股份有限公司 | Double-station quick-change flexible tool |
| CN113146532A (en) * | 2020-12-15 | 2021-07-23 | 兰州空间技术物理研究所 | Ion thruster assembling device and method capable of rotating at multiple angles |
| CN113601163A (en) * | 2021-07-07 | 2021-11-05 | 北京工业大学 | Flexible wrist joint for assembling fingertip gyroscope |
| CN113751989A (en) * | 2021-10-08 | 2021-12-07 | 南京航空航天大学 | Ultrasonic motor stator positioning device based on machine vision and working method thereof |
| CN114769063A (en) * | 2022-03-31 | 2022-07-22 | 东阳市联宜机电有限公司 | Box cover bearing detection refueling device |
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