CN111923421A - Six-axis robot-based sealing body, insulating pad and ceramic core assembling manipulator, system and method - Google Patents

Six-axis robot-based sealing body, insulating pad and ceramic core assembling manipulator, system and method Download PDF

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Publication number
CN111923421A
CN111923421A CN202010475099.6A CN202010475099A CN111923421A CN 111923421 A CN111923421 A CN 111923421A CN 202010475099 A CN202010475099 A CN 202010475099A CN 111923421 A CN111923421 A CN 111923421A
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China
Prior art keywords
sealing body
insulating pad
axis robot
jig
depth
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CN202010475099.6A
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Chinese (zh)
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CN111923421B (en
Inventor
田军锋
杨娜
符磊
李西强
徐浩铖
郭宏宾
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Xian Aerospace Precision Electromechanical Institute
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Xian Aerospace Precision Electromechanical Institute
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Publication of CN111923421A publication Critical patent/CN111923421A/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C65/00—Joining or sealing of preformed parts, e.g. welding of plastics materials; Apparatus therefor
    • B29C65/48—Joining or sealing of preformed parts, e.g. welding of plastics materials; Apparatus therefor using adhesives, i.e. using supplementary joining material; solvent bonding
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
    • B07C5/02—Measures preceding sorting, e.g. arranging articles in a stream orientating
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
    • B07C5/04—Sorting according to size
    • B07C5/08—Sorting according to size measured electrically or electronically
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
    • B07C5/34—Sorting according to other particular properties
    • B07C5/3412—Sorting according to other particular properties according to a code applied to the object which indicates a property of the object, e.g. quality class, contents or incorrect indication
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
    • B07C5/36—Sorting apparatus characterised by the means used for distribution
    • B07C5/361—Processing or control devices therefor, e.g. escort memory
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
    • B07C5/36—Sorting apparatus characterised by the means used for distribution
    • B07C5/38—Collecting or arranging articles in groups
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C65/00—Joining or sealing of preformed parts, e.g. welding of plastics materials; Apparatus therefor
    • B29C65/56—Joining or sealing of preformed parts, e.g. welding of plastics materials; Apparatus therefor using mechanical means or mechanical connections, e.g. form-fits
    • B29C65/64—Joining a non-plastics element to a plastics element, e.g. by force

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

The invention provides a six-axis robot-based sealing body and insulating pad, and a ceramic core assembling manipulator, system and method, which solve the problems of low assembling efficiency, easy misjudgment, unstable manual assembly and influence on qualification rate in the existing sealing body and insulating pad/ceramic core assembling process. The manipulator comprises a six-axis robot and a glue injection jig assembly arranged on a working shaft of the six-axis robot; the glue injection jig assembly comprises a glue injection jig connecting plate, a suction jig, a sealing body grabbing jig, a vision system and a glue applying system, wherein the suction jig, the sealing body grabbing jig, the vision system and the glue applying system are connected to the glue injection jig connecting plate; the glue injection jig connecting plate is connected with a working shaft of the six-shaft robot through a connecting flange; the suction jig comprises a sucker mounting shaft and a sucker arranged at the lower end of the sucker mounting shaft; the sealing body grabbing jig comprises an air cylinder and 2 sealing body clamping heads driven by the air cylinder; the visual system comprises a camera mounting plate, a camera, an annular light source, a strip-shaped light source and a point light source; the glue applying system comprises a glue dispensing needle cylinder.

Description

Six-axis robot-based sealing body, insulating pad and ceramic core assembling manipulator, system and method
Technical Field
The invention relates to a technology for assembling a sealing body and an insulating pad/ceramic core, in particular to a six-axis robot-based mechanical arm, a system and a method for assembling the sealing body and the insulating pad and the ceramic core.
Background
The igniter is an important component of devices such as an engine, a rocket and the like, and plays a decisive role in judging whether the engine and the rocket can ignite. The igniter is prepared by the following steps: firstly, a sealing body is manufactured, then an insulating pad and a porcelain core are arranged at the position of a sealing body assembling hole (the position of a sealing body pole needle), and then the bridge band and the pole needle are welded to finally obtain the igniter.
The assembly process of the existing sealing body and the insulating pad/ceramic core is manually operated, and the assembly efficiency is low; the front side and the back side of the insulating pad/the ceramic core and the qualification judgment are manually screened, the judgment is carried out according to experience, the misjudgment is easy to cause, an operator is easy to fatigue, and the thickness and the diameter of the insulating pad/the ceramic core are not detected; glue in the assembly holes of the sealing bodies is manually smeared, the quantity of glue is more, glue wiping is needed after press mounting is completed, the labor intensity of work is high, and the qualification rate of igniter production is influenced by instability of manual assembly.
Disclosure of Invention
The invention provides a six-axis robot-based mechanical arm, system and method for assembling a sealing body and an insulating pad and a ceramic core, and aims to solve the technical problems that the assembly efficiency is low, misjudgment is easily caused on the front and back sides and the qualification rate of the insulating pad/ceramic core, the working labor intensity is high, and the qualification rate is influenced due to unstable manual assembly in the assembly process of the sealing body and the insulating pad/ceramic core.
In order to achieve the purpose, the technical scheme provided by the invention is as follows:
the utility model provides a body and insulating pad, porcelain core assembly machinery hand that seals based on six robots which characterized in that: the automatic glue injection device comprises a six-axis robot and a glue injection jig assembly arranged on a working shaft of the six-axis robot;
the glue injection jig assembly comprises a glue injection jig connecting plate, a connecting flange connected to the glue injection jig connecting plate, a suction jig, a sealing body grabbing jig, a vision system and a glue injection system;
the glue injection jig connecting plate is connected with a working shaft of the six-shaft robot through a connecting flange;
the sealing body grabbing jig, the vision system and the gluing system are uniformly distributed on the circumference by taking the suction jig as the center;
the sucking jig comprises a sucker mounting shaft arranged along the central shaft of the glue injection jig connecting plate and a sucker arranged at the lower end of the sucker mounting shaft;
the sealing body grabbing jig comprises an air cylinder and 2 sealing body clamping heads, wherein the air cylinder is arranged on the glue injection jig connecting plate, and the lower end of the air cylinder is inclined outwards;
the visual system comprises a camera mounting plate, a camera, an annular light source, a strip light source and a point light source, wherein the camera mounting plate is arranged on the glue injection jig connecting plate, the lower end of the camera mounting plate inclines outwards;
the glue dispensing system comprises a needle cylinder fixing plate and a glue dispensing needle cylinder, wherein the needle cylinder fixing plate is arranged on the glue dispensing jig connecting plate, the lower end of the needle cylinder fixing plate inclines outwards, and the glue dispensing needle cylinder is arranged on the needle cylinder fixing plate.
Furthermore, the inner side surfaces of the 2 sealing body chucks are provided with a first V-shaped groove and a second V-shaped groove which are used for clamping the sealing body, and the first V-shaped groove and the second V-shaped groove form a cross-shaped structure.
Furthermore, the sealing body grabbing jig also comprises a chuck support arranged on the lower end face of the cylinder;
the 2 sealing body chucks are arranged on the chuck support.
Meanwhile, the invention provides a six-axis robot-based system for accurately assembling a sealing body, an insulating pad and a ceramic core, which comprises a press machine, a working platform, and a sealing body tray, a ceramic core tray, an insulating pad tray and a sealing body placing tool which are arranged on the working platform, and is characterized in that: the device also comprises a transfer table, a measuring mechanism, the six-axis robot-based sealing body, an insulating pad and a ceramic core assembling manipulator;
the sealing body material tray, the ceramic core material tray, the insulating pad material tray, the sealing body placing tool, the measuring mechanism, the transfer table and the press machine are all positioned in the working area of the manipulator;
the transfer table is arranged on the working platform and positioned at the inner side of the sealing body, and the transfer table is used for placing the sealing body to be injected with glue, the ceramic core and the insulating pad;
the visual system of the manipulator is used for photographing the sealing body, the insulating pad and the porcelain core;
the measuring mechanism is used for detecting the thicknesses of the porcelain core and the insulating pad and the depth of the assembling hole of the sealing body.
Further, the measuring mechanism includes a depth measuring unit and a thickness measuring unit;
the depth measuring unit comprises a depth measuring sliding table and a depth measuring assembly;
the depth measurement sliding table comprises a first pneumatic sliding table arranged on the working platform and a depth measurement clamping tool arranged on the first pneumatic sliding table, and the depth measurement clamping tool is used for clamping the sealing body;
the depth measuring assembly comprises a depth measuring support frame arranged on the working platform, a first air cylinder arranged on the depth measuring support frame, a first mounting frame driven by the first air cylinder and a depth measuring sensor vertically arranged on the first mounting frame;
a measuring head of the depth measuring sensor extends out of the depth measuring reference plate at the lower end of the first mounting frame and can move up and down relative to the first mounting frame; a measuring head of the depth measuring sensor is vertical to the depth measuring reference plate;
the first pneumatic sliding table is used for driving the depth measurement clamping tool to move to or out of the position below the first mounting frame, and the depth measurement sensor is located right above an assembling hole of the sealing body on the depth measurement clamping tool;
the thickness measuring unit comprises a thickness measuring sliding table and a thickness measuring assembly;
the thickness measuring sliding table comprises a second pneumatic sliding table arranged on the working platform and a thickness measuring clamping tool arranged on the second pneumatic sliding table, and the thickness measuring clamping tool is used for placing and clamping an insulating pad or a ceramic core;
the thickness measuring assembly comprises a height measuring support frame arranged on the working platform, a second air cylinder arranged on the height measuring support frame, a second mounting frame driven by the second air cylinder and a thickness measuring sensor vertically arranged on the second mounting frame;
a vertical reference plate is arranged on the lower end face of the second mounting frame, and a reference contact is arranged on the bottom face of the vertical reference plate;
the measuring head of the thickness measuring sensor is positioned below the second mounting frame and can move up and down relative to the second mounting frame;
the second pneumatic sliding table is used for driving the thickness measuring clamping tool to move to or out of the position below the second mounting frame, the measuring head of the thickness measuring sensor is over against the insulating pad or the ceramic core, and meanwhile the reference contact is over against the platform of the thickness measuring clamping tool.
Further, the sealing body placing tool comprises a tool mounting plate arranged on the working platform, a sealing body tray arranged on the tool mounting plate, a clamping cylinder and 2 clamping air claws driven by the clamping cylinder, wherein the 2 clamping air claws are used for clamping the sealing body on the sealing body tray.
Further, the device also comprises a scanning unit arranged on the working platform;
the scanning unit comprises a code scanner and a rotatable code scanning platform, wherein the code scanner is used for scanning the label of the seal body on the code scanning platform.
Furthermore, the working platform is an L-shaped platform and comprises a first working surface and a second working surface;
the first working surface and the press machine are arranged on two sides of the manipulator, and the second working surface is positioned between the first working surface and the press machine;
the sealing body material tray, the code scanner, the measuring mechanism, the insulating gasket material tray, the sealing body placing tool and the porcelain core material tray are sequentially arranged by taking a mechanical arm as a center, the sealing body material tray, the code scanner and the measuring mechanism are positioned on a first working surface, and the insulating gasket material tray, the sealing body placing tool and the porcelain core material tray are positioned on a second working surface;
the transfer table is arranged on the inner side of the second working surface and close to the first working surface.
Meanwhile, the invention also provides a method for accurately assembling the sealing body, the insulating pad and the ceramic core based on the six-axis robot, which is characterized by comprising the following steps of:
1) the six-axis robot drives the sealing body grabbing jig to move to the position above the sealing body material tray, and the sealing bodies in the sealing body material tray are grabbed and placed on the code scanning platform;
2) driving the code scanning table to rotate, and scanning the label of the sealing body on the code scanning table by the code scanner;
3) after the sealing body is scanned, stopping rotating the code scanning table, driving the vision system to move to the position above the code scanning table by the six-axis robot, photographing the polar needle of the sealing body by the vision system, detecting the quality of the polar needle, if the quality of the polar needle is qualified, executing the step 4), if the quality of the polar needle is unqualified, placing the sealing body in a waste material tray, and executing the step 1);
4) the six-axis robot drives the sealing body grabbing jig to grab the sealing body and move the sealing body to the depth measuring unit, the depth of an assembly hole in the sealing body is measured, and if the depth meets the requirement, the step 5 is executed; if not, the sealing body is placed in a waste material tray, and the step 1 is executed
5) The six-axis robot drives the sealing body grabbing jig to grab the sealing body and move the sealing body to the sealing body placing jig;
6) the six-axis robot drives the vision system to move to a sealing body placing tool position, and pictures are taken to obtain a sealing body pole needle position;
7) the six-axis robot drives the gluing system to move to the position of the assembling hole of the sealing body, and gluing is carried out on the assembling hole;
8) the six-axis robot drives the vision system to move to the position of the sealing body, the vision system detects the gluing quality of the assembling hole of the sealing body, and if the gluing quality is qualified, the step 9) is executed; if not, placing the sealing body in a waste material tray, and executing the step 1);
9) the six-axis robot drives the vision system to move above the insulating padding plate, the front side and the back side of the insulating padding to be assembled are detected, and if the front side and the back side are qualified, the step 10) is executed; if not, detecting the next insulating pad to be assembled;
10) a six-axis robot drives a suction jig to move above the insulating padding plate, sucks the insulating pad with qualified front and back sides in the step 9) and moves the insulating pad to a thickness measuring unit, the thickness of the insulating pad is measured, and if the thickness meets the requirement, the step 11 is executed); if the requirement is not met, placing the insulating pad in a waste material tray, and executing the step 9);
11) calculating the angle of the insulation pad needing to rotate according to the photographing result of the visual system in the step 9) and the position of the polar needle of the sealing body in the step 6), sucking the insulation pad on the thickness measuring unit by a jig, driving the insulation pad to rotate by a corresponding angle by a six-axis robot, and placing the insulation pad on a transfer table;
12) resetting the suction jig of the six-axis robot to the position before rotation in the step 11), taking a picture of the insulating pad on the centering turntable by the vision system again, judging whether the deviation angle between the theoretical position and the actual position meets the requirement or not according to the picture taking result, and if so, executing the step 13); if not, placing the insulating pad in a waste material tray, and executing the step 9);
wherein the theoretical position is the position of the polar needle of the sealing body, and the actual position is the position of a hole site matched with the polar needle on the insulating pad;
13) according to the deviation angle in the step 12), the six-axis robot drives the insulating pad to rotate by a corresponding angle, the insulating pad is installed in the assembling hole of the sealing body, and the polar needle of the sealing body penetrates through the through hole in the insulating pad;
14) mounting the ceramic core to be assembled in the ceramic core tray in the sealing body assembling hole with the insulating pad by using the same process as the steps 7) to 13);
15) the sealing body grabbing jig grabs the sealing body and places the sealing body in a working area of a press machine, and the press machine presses the insulating pad and the ceramic core in the sealing body to complete the press mounting of the ceramic core and the insulating pad;
16) after the press mounting is finished, the six-axis robot drives the sealing body grabbing jig to grab the sealing body to the depth measuring unit, and the depth of an assembling hole, provided with the insulating pad and the ceramic core, on the sealing body is measured; if qualified, executing step 17); if the sealing body is not qualified, placing the sealing body in a waste material tray;
17) the sealing body grabbing jig puts the sealing body provided with the insulating pad and the ceramic core back to the material disc, and the insulating pad, the ceramic core and the sealing body are assembled. .
Compared with the prior art, the invention has the advantages that:
1. the manipulator is integrated with a suction jig, a sealing body grabbing jig, a vision system and a glue beating system, wherein the glue beating system, the sealing body grabbing jig and the vision system are positioned on the outer side of the glue injection jig connecting plate and are circumferentially and uniformly distributed by taking the suction jig as a center, so that when one jig is in a working process, the rest jigs cannot influence parts to be assembled; the vision system photographs the sealing body polar needle, the insulating pad and the ceramic core, and identifies the position of the sealing body, the position and the position degree of the polar needle, the position of the circle center of the ceramic core/the insulating pad and the position degree of the hole, so that the detection precision and the accuracy are high; arranging the suction jig in the middle of the connecting plate of the glue injection jig, so that the suction jig can rotate conveniently, and further the ceramic core/the insulating pad can rotate until the hole position on the ceramic core/the insulating pad just corresponds to the position of the electrode pin of the sealing body; the sealing body grabbing jig is positioned on the outer side of the glue injection jig connecting plate and is obliquely arranged, so that the sealing body is convenient to grab, and meanwhile, the oblique arrangement is used for preventing the jig from damaging other parts in the material tray in the grabbing process; the glue dispensing system is used for dispensing glue to the sealing body assembling hole through the glue dispensing needle cylinder, and the precision of the glue dispensing process is high; the manipulator can realize the processes of grabbing the sealing body, sucking the insulating pad/ceramic core, visually detecting and dispensing by using a six-axis robot, realizes the automation of operation, has high working efficiency and reduces errors caused by manual operation.
2. The manipulator of the invention uses a six-axis robot to realize the functions of absorbing the insulating pad/ceramic core, grabbing the sealing body, dispensing and visual detection, thus the cost is lower and the occupied space is small.
3. The V-shaped groove with a cross-shaped structure is arranged on the inner side surface of the sealing body chuck, so that the sealing body can be clamped in 2 modes, namely the first V-shaped groove and the second V-shaped groove can realize the grabbing of the sealing body.
4. The assembly system and the method adopt a six-axis robot sealing body grabbing jig to realize the transportation of the sealing body and the placement of the sealing body on a sealing body placement jig, and a suction jig realizes the suction, rotation and loading of an insulating pad/ceramic core into the position of a sealing body pole needle; the vision system identifies the position of the sealing body, the position and the position degree of the polar needle, the circle center position of the ceramic core/the insulating pad and the position degree of the hole, matches the rotation angle of the ceramic core/the insulating pad through a vision algorithm, and guides the six-axis robot to adjust the position of the insulating pad/the ceramic core and assemble the insulating pad/the ceramic core; the measuring mechanism is used for detecting the thicknesses of the ceramic core and the insulating pad and the depth of the assembling hole of the sealing body; the insulating pad and the ceramic core are pressed in the sealing body by the press. The assembly system and the method form a complete automatic line production, have high working efficiency and simultaneously avoid misoperation caused by artificial fatigue.
5. The assembly system and the assembly method adopt visual identification and robot high-precision positioning technologies to realize automatic assembly of the insulating pad/ceramic core tiny parts, carry out quality detection and position adjustment on the insulating pad/ceramic core before assembly, ensure accurate assembly of the insulating pad/ceramic core and the sealing body, realize automatic assembly of the sealing body and the insulating pad/ceramic core, and improve the qualification rate of products.
6. The assembly system also comprises a scanning unit for scanning the label of the sealing body, thereby realizing the technical process, quality record and traceability.
Drawings
FIG. 1 is a schematic structural diagram of a six-axis robot-based sealing body, an insulating pad and a porcelain core assembling manipulator (a base only shows a part);
FIG. 2 is a first schematic structural diagram of a glue injection jig assembly in a six-axis robot-based manipulator for assembling a sealing body, an insulating pad and a ceramic core;
FIG. 3 is a second structural diagram of a glue injection jig assembly in a six-axis robot-based manipulator for assembling a sealing body, an insulating pad and a ceramic core according to the present invention;
FIG. 4 is a third structural diagram of a glue injection jig assembly in a six-axis robot-based manipulator for assembling a sealing body, an insulating pad and a ceramic core;
FIG. 5 is a schematic structural diagram I of a six-axis robot-based precise assembly system for a sealing body, an insulating pad and a porcelain core;
FIG. 6 is a schematic structural diagram II of a six-axis robot-based precise assembly system for a sealing body, an insulating pad and a porcelain core;
FIG. 7 is a schematic structural diagram I of a sounding sliding table in a six-axis robot-based precise assembly system of a sealing body, an insulating pad and a ceramic core of the invention;
FIG. 8 is a schematic structural diagram II of a depth sounding sliding table in a six-axis robot-based precise assembly system for a sealing body, an insulating pad and a ceramic core;
FIG. 9 is a schematic structural diagram of a depth measuring assembly in the six-axis robot-based precise assembly system of the sealing body, the insulating pad and the porcelain core;
FIG. 10 is a schematic structural diagram I of a thickness measuring sliding table in a six-axis robot-based precise assembly system for a sealing body, an insulating pad and a ceramic core according to the present invention;
FIG. 11 is a schematic structural diagram II of a thickness measuring sliding table in a six-axis robot-based precise assembly system for a sealing body, an insulating pad and a ceramic core;
FIG. 12 is a third schematic structural view of a thickness measuring slide table in the six-axis robot-based precise assembly system for a sealing body, an insulating pad and a ceramic core of the present invention;
FIG. 13 is a schematic structural diagram of a thickness measuring assembly in a six-axis robot-based precise assembly system for a sealing body, an insulating pad and a ceramic core according to the present invention;
FIG. 14 is a first schematic structural diagram of a sealing body placing tool in a six-axis robot-based sealing body, insulating pad and ceramic core precise assembly system according to the present invention;
FIG. 15 is a schematic structural diagram II of a sealing body placing tool in a six-axis robot-based sealing body, insulating pad and ceramic core precise assembly system according to the present invention;
FIG. 16 is a third schematic structural diagram of a sealing body placing tool in a six-axis robot-based sealing body, insulating pad and ceramic core precise assembly system according to the present invention;
FIG. 17 is a flow chart of the precise assembly method of the sealing body, the insulating pad and the porcelain core based on a six-axis robot according to the invention;
FIG. 18 is a schematic view of the assembled sealing body with the insulating pad and the porcelain core;
wherein the reference numbers are as follows:
01-a mechanical arm, 1-a six-axis robot, 11-a first axis, 12-a second axis, 13-a third axis, 14-a fourth axis, 15-a fifth axis, 16-a working axis, 17-a base, 2-a glue injection jig component, 21-a glue injection jig connecting plate, 22-a connecting flange, 23-a suction jig, 231-a sucker mounting shaft, 232-a sucker, 24-a sealing body grabbing jig, 241-an air cylinder, 242-a chuck support, 243-a sealing body chuck, 244-an air cylinder support, 2441-a first flat plate, 2442-a second flat plate, 25-a vision system, 251-a camera mounting plate, 252-a camera, 253-an annular light source, 254-a bar light source, 255-a point light source and 256-a bar light source support, 257-annular light source support, 26-gluing system, 261-needle cylinder fixing plate, 262-glue dispensing needle cylinder, 263-needle cylinder fixing clamp, 3-press, 4-working platform, 41-first working surface, 42-second working surface, 51-sealing body material disc, 52-insulating pad material disc, 53-ceramic core material disc, 6-scanning unit, 61-code scanner, 62-code scanner, 71-screw, 72-inner hexagon bolt, 8-sealing body placing tool, 81-tool mounting plate, 82-sealing body tray, 83-clamping cylinder, 84-clamping air claw, 85-bolt, 9-transfer table, 10-measuring mechanism, 101-depth measuring unit, 1010-hexagon head bolt, 1011-first pneumatic sliding table, 1012-a first movable table board, 1013-a first air claw, 1014-a depth measurement clamping tool, 1015-a depth measurement supporting frame, 1016-a first air cylinder, 1017-a first mounting frame, 1018-a depth measurement sensor, 1019-a depth measurement reference plate, 102-a thickness measurement unit, 1020-a thickness measurement baffle mounting plate, 1021-a second pneumatic sliding table, 1022-a second movable table board, 1023-a thickness measurement clamping tool, 10231-a small pneumatic sliding table, 10232-a thickness measurement baffle, 1024-a height measurement supporting frame, 1025-a second air cylinder, 1026-a second mounting frame, 1027-a thickness measurement sensor, 1028-a vertical reference plate, 1029-a height measurement pad, 02-a polar needle, 03-an insulating pad and 04-a ceramic core.
Detailed Description
The invention is described in further detail below with reference to the figures and specific embodiments.
As shown in fig. 1, a six-axis robot-based manipulator for assembling a sealing body, an insulating pad and a porcelain core comprises a base, a six-axis robot 1 arranged on the base and a glue injection jig assembly 2 arranged on a working shaft of the six-axis robot 1; six axes of the six-axis robot 1 are a first axis 11, a second axis 12, a third axis 13, a fourth axis 14, a fifth axis 15, and a working axis 16, respectively.
As shown in fig. 2 to 4, the glue injection jig assembly 2 includes a glue injection jig connection plate 21, and a connection flange 22, a suction jig 23, a sealing body grasping jig 24, a vision system 25, and a glue dispensing system 26 connected to the glue injection jig connection plate 21; connecting flange 22 is located injecting glue tool connecting plate 21 upper surface middle part, and it is located injecting glue tool connecting plate 21 lower surface middle part to absorb tool 23, and the sealing body snatchs tool 24, vision system 25, beats gluey system 26 and uses absorption tool 23 as central circumference equipartition, and injecting glue tool subassembly 2 can realize that the sealing body snatchs, insulating pad and ceramic core absorb, sealing body utmost point needle quality testing, injecting glue work.
The connecting flange 22 is used for connecting the glue injection jig connecting plate 21 with the working shaft of the six-axis robot 1, specifically, one end of the connecting flange 22 is arranged in the middle of the upper surface of the glue injection jig connecting plate 21, and the other end of the connecting flange is connected with the working shaft 16 of the six-axis robot 1.
The suction jig 23 comprises a suction cup mounting shaft 231 vertically arranged in the middle of the lower surface of the glue injection jig connecting plate 21 and a suction cup 232 arranged at the lower end of the suction cup mounting shaft 231, the upper end of the suction cup mounting shaft 231 is connected with the glue injection jig connecting plate 21 through a flange, and the flange is fixed with the glue injection jig connecting plate 21 through an inner hexagon bolt 72.
The sealing body grabbing jig 24 comprises an air cylinder frame 244, an air cylinder 1 which is arranged on the glue injection jig connecting plate 21 and the lower end of which inclines outwards, a chuck support 242 which is arranged on the lower end face of the air cylinder 241 and 2 sealing body chucks 243 driven by the air cylinder 241; the air cylinder frame 244 comprises a first flat plate 2441 and a second flat plate 2442, the first flat plate 2441 is vertically connected with the glue injection jig connecting plate 21, the upper end of the second flat plate 2442 is connected with the lower end of the first flat plate, an included angle between the first flat plate 2441 and the second flat plate 2442 is an obtuse angle, and the air cylinder 241 is arranged on the lower surface of the second flat plate; the lower end face of the chuck support 242 is provided with a sliding guide rail, 2 sealing body chucks 243 are arranged in the sliding guide rail, and the 2 sealing body chucks 243 can move in the sliding guide rail in the opposite direction or move in the opposite direction under the driving of an external air source to clamp or loosen the sealing body. The inner side surfaces of the 2 sealing body chucks 243 are provided with a first V-shaped groove and a second V-shaped groove which are used for clamping the sealing body, and the first V-shaped groove and the second V-shaped groove form a cross-shaped structure; the 2 first V-grooves can realize the clamping of the sealing body, and the 2 second V-grooves can also realize the clamping of the sealing body, so as to realize the clamping function in two ways, in the figure, the 2 clamping heads 243 of the sealing body are shown as being in a grabbed state, and further clamp the sealing body.
The vision system 25 comprises a camera mounting plate 251 which is arranged on the glue injection jig connecting plate 21 and the lower end of which is inclined outwards, a camera 252 and an annular light source 253 which are sequentially arranged on the outer surface of the camera mounting plate 251 from top to bottom, a strip-shaped light source 254 arranged on the inner surface of the camera mounting plate 251, and a point light source 255 which is arranged between the camera 252 and the annular light source 253 and arranged on the camera 252; the annular light source 253 is arranged on the camera mounting plate 251 through an annular light source bracket 257, and the annular light source bracket 257 and the camera mounting plate 251 are fixed through screws 71; the strip-shaped light source 254 is arranged on the camera mounting plate 251 through a strip-shaped light source bracket 256, and the strip-shaped light source bracket 256 and the camera mounting plate 251 are fixed through screws; the vision system 25 identifies the position of the sealing body, the position and position degree of the polar needle, the position of the center of the circle of the porcelain core/insulating pad and the position and position degree of the hole, matches the rotation angle of the porcelain core/insulating pad through a vision algorithm, and guides the robot to adjust the position of the porcelain core insulating pad and assemble the porcelain core insulating pad. The point light source 255 is used for photographing the inside of the sealing body assembling hole, identifying the position of the sealing body, the position and the position degree of the polar needle, and detecting the quality of the polar needle and the quality of the assembling hole after dispensing; the annular light source 253 is used for the circle center position of the insulating pad/ceramic core and the position degree of the hole; the strip light source 254 is used to detect the front and back sides of the insulating pad/ceramic core.
The glue dispensing system 26 comprises a syringe fixing plate 261 which is arranged on the glue injection jig connecting plate 21 and the lower end of which is inclined outwards, and a glue dispensing syringe 262 which is arranged on the syringe fixing plate 261; the needle cylinder fixing plate 261 is fixed on the glue jig connecting plate through the hexagon socket head cap screw 72, the needle cylinder fixing clamp 263 used for installing the glue dispensing needle cylinder 262 is fixed on the needle cylinder fixing plate 261, the glue dispensing system 26 can set glue dispensing time according to requirements, accurate control of glue dispensing amount is guaranteed, and the glue dispensing time can be automatically adjusted at any time according to glue characteristics.
The manipulator 01 of the embodiment further comprises an air source, which is used for providing power sources for components such as the sealing body grabbing jig 24 and the suction jig 23 which need power sources, and realizing the functions of grabbing and sucking parts.
Based on the assembly manipulator 01, the embodiment provides a system for accurately assembling a six-axis robot-based sealing body, an insulating pad and a ceramic core, as shown in fig. 5 and 6, the system comprises a press machine 3, a working platform 4, a sealing body tray 51, a ceramic core tray 53, an insulating pad tray 52, a sealing body placing tool 8, a scanning unit 6, a transfer table 9, a measuring mechanism 10, the six-axis robot-based sealing body, the insulating pad and the ceramic core assembly manipulator, wherein the sealing body tray 51, the ceramic core tray 53, the insulating pad tray 52, the sealing body placing tool 8, the scanning unit 6, the transfer table 9 and the measuring;
the sealing body tray 51, the porcelain core tray 53, the insulating gasket tray 52, the sealing body placing tool 8, the scanning unit 6, the measuring mechanism 10, the transfer table 9 and the press machine 3 are all positioned in the working area of the manipulator 01;
the transfer table 9 is arranged on the working platform 4 and is positioned on the inner side of the sealing body placing tool 8, and the transfer table 9 is used for placing a sealing body to be injected with glue, a ceramic core and an insulating pad;
the vision system 25 of the manipulator 01 is used for photographing the sealing body, the insulating pad and the porcelain core;
the measuring mechanism 10 is used for detecting the thickness of the porcelain core and the insulating pad and the depth of the assembling hole of the sealing body.
The measuring mechanism 10 includes a depth measuring unit 101 and a thickness measuring unit 102 arranged side by side; as shown in fig. 7 and 8, the depth measuring unit 101 includes a depth measuring slide and a depth measuring assembly; the depth measurement sliding table comprises a first pneumatic sliding table 1011 arranged on the working platform 4, a first air claw 1013 arranged on a first moving table top 1012 of the first pneumatic sliding table 1011 and a depth measurement clamping tool 1014 driven by the first air claw 1013, wherein the depth measurement clamping tool 1014 is used for clamping a sealing body; as shown in fig. 9, the depth measuring assembly includes a depth measuring support 1015 vertically disposed on the working platform 4, a first cylinder 1016 disposed on the depth measuring support 1015, a first mounting bracket 1017 driven by the first cylinder 1016, and a depth measuring sensor 1018 vertically disposed on the first mounting bracket 1017; the lower end of the first mounting frame 1017 is connected with a depth measurement reference plate 1019 through a hexagon bolt 1010, and a measuring head of the depth measurement sensor 1018 extends out of the depth measurement reference plate 1019 at the lower end of the first mounting frame 1017 and can move up and down relative to the first mounting frame 1017; the measuring head of the depth measuring sensor 1018 is perpendicular to the depth measurement reference plate 1019; the first pneumatic sliding table 1011 is used for driving the depth measurement clamping tool 1014 to move to or out of the position below the first mounting rack 1017, and the depth measurement sensor 1018 is positioned right above an assembling hole of a sealing body on the depth measurement clamping tool 1014; when the depth measurement clamping tool 1014 moves to the lower side of the first mounting frame 1017, the first air cylinder 1016 drives the first mounting frame 1017 to move downwards, and then the depth measurement sensor 1018 is driven to move downwards until the depth measurement reference plate 1019 at the lower end of the first mounting frame 1017 contacts with the sealing body assembling hole, then the measuring head of the depth measurement sensor 1018 is driven to move downwards until the measuring head contacts with the bottom surface of the sealing body assembling hole, and the distance between the measuring head of the depth measurement sensor 1018 and the depth measurement reference plate 1019 is the depth of the assembling hole, so that the depth of the sealing body assembling hole is obtained.
The thickness measuring unit 102 comprises a thickness measuring sliding table and a thickness measuring assembly; as shown in fig. 10 to 12, the thickness measuring slide table includes a second pneumatic slide table 1021 arranged on the work platform 4, and a thickness measuring clamping tool 1023 arranged on a second moving table surface 1022 of the second pneumatic slide table 1021, wherein the thickness measuring clamping tool 1023 is used for placing and clamping an insulating pad or a ceramic core; the thickness measuring clamping tool 1023 comprises a thickness measuring baffle mounting plate 1020, a small pneumatic sliding table 10231 and a thickness measuring baffle 10232, the thickness measuring baffle mounting plate 1020 is fixed on a second movable table surface 1022 through bolts 85, the small pneumatic sliding table 10231 is arranged on the thickness measuring baffle mounting plate 1020, a height measuring pad 1029 is arranged on the upper end surface of the small pneumatic sliding table 10231, the height measuring pad 1029 is fixed with the small pneumatic sliding table 10231 through bolts, a V-shaped groove is formed in the upper surface of one end, close to the thickness measuring baffle 10232, of the height measuring pad to form a space for placing an insulating pad or a ceramic core, the upper end surface of the thickness measuring baffle 10232 is higher than the upper end surface of the height measuring pad, and the groove wall of the V-shaped groove and the thickness measuring baffle 10232 clamp the insulating pad or the ceramic core through the sliding of the small pneumatic sliding table 10231; as shown in fig. 13, the thickness measuring assembly includes a height measuring support 1024 vertically disposed on the working platform 4, a second cylinder 1025 disposed on the height measuring support 1024, a second mounting bracket 1026 driven by the second cylinder 1025, and a thickness measuring sensor 1027 vertically disposed on the second mounting bracket 1026; a vertical reference plate 1028 is arranged on the lower end face of the second mounting frame 1026, and a reference contact is arranged on the bottom face of the vertical reference plate 1028; the measuring head of the thickness measuring sensor 1027 is located below the second mounting frame 1026 and can move up and down relative to the second mounting frame 1026; the second pneumatic slipway 1021 is used for driving the thickness measurement clamping tool 1023 to move to or out of the lower part of the second mounting frame 1026, the measuring head of the thickness measurement sensor 1027 is right opposite to the insulating pad or the ceramic core, and meanwhile, the reference contact is right opposite to the platform of the thickness measurement clamping tool 1023. When thickness measurement presss from both sides tight frock 1023 and moves to the below of second mounting bracket 1026, second cylinder 1025 drives second mounting bracket 1026 and moves down, and then drives thickness measurement sensor 1027 and moves down, and the platform of pressing from both sides tight frock 1023 is pressed from both sides in the contact of benchmark contact, then drives thickness measurement sensor 1027's measuring head and moves down, until it with insulating pad or porcelain core upper surface contact, the distance between thickness measurement sensor 1027's measuring head and the benchmark contact is the thickness of insulating pad or porcelain core this moment.
As shown in fig. 14 to 16, the sealing body placing tool 8 includes a tool mounting plate 81 disposed on the work platform 4, a sealing body tray 82 and a clamping cylinder 83 disposed on the tool mounting plate 81, and 2 clamping air claws 84 driven by the clamping cylinder 83, the sealing body tray 82 is fixed on the tool mounting plate 81 through bolts 85, a sliding guide rail is disposed on the clamping cylinder 83, 2 brackets capable of sliding in the sliding guide rail are disposed on the sliding guide rail, the 2 clamping air claws 84 are respectively connected with the 2 brackets through bolts 85, and the 2 clamping air claws 84 can move toward or away from each other in the sliding guide rail under the driving of an external air source, and are used for clamping or loosening the sealing body on the sealing body tray 82. And a press-fitting position of the press machine 3 is provided with a positioning tool with the same structure as the sealing body placing tool 8 and used for clamping the sealing body.
As shown in fig. 5, the scanning unit 6 includes a code scanner 61 and a rotatable code scanner 62, which are disposed on the working platform 4, the code scanner 62 is used for placing the seal picked by the robot 01 from the seal tray 51, the code scanner 62 drives the seal thereon to rotate, and the code scanner 61 is used for scanning the label of the seal on the code scanner 62.
The working platform 4 is an L-shaped platform and comprises a first working surface 41 and a second working surface 42; the first working surface 41 and the press machine 3 are arranged on two sides of the manipulator 01 in parallel, and the second working surface 42 is positioned between the first working surface 41 and the press machine 3; the sealing body material disc 51, the code scanner 61, the measuring mechanism 10, the insulating gasket material disc 52, the sealing body placing tool 8 and the porcelain core material disc 53 are sequentially arranged by taking a mechanical arm 01 as a center, the sealing body material disc 51, the code scanner 61 and the measuring mechanism 10 are positioned on a first working surface 41, and the insulating gasket material disc 52, the sealing body placing tool 8 and the porcelain core material disc 53 are positioned on a second working surface 42; the relay table 9 is disposed inside the second work surface 42 and close to the first work surface 41.
The assembly system of the present embodiment further includes a control unit for controlling the actions of the six-axis robot 1, the press 3, the scanning unit 6, and the measuring mechanism 10.
The assembly system of the present embodiment is composed of a six-axis robot 1, a press 3, a vision system 25, a scanner 61, a depth measuring sensor 1018, a thickness measuring sensor 1027, a table, a control unit, and the like. Six robots 1 have four sets of tools, and press 3 accomplishes the pressure equipment of porcelain core insulating pad, and vision system 25 carries out the appearance quality detection of part, positive and negative differentiation, the demarcation of assembly position, and code bar record is swept in the completion of bar code scanner 61, and degree of depth measuring transducer 1018 accomplishes works such as the degree of depth detection that porcelain core insulating pad and some firearm assembly were accomplished, realizes the automation of operation, and work efficiency is high simultaneously, reduces the error that manual operation brought.
Based on the assembly system, as shown in fig. 17, the embodiment further provides a method for accurately assembling the sealing body, the insulating pad and the ceramic core based on a six-axis robot, which includes the following steps:
1) manually feeding, and respectively placing the sealing body to be assembled, the insulating pad and the porcelain core in a sealing body material tray 51, an insulating pad material tray 52 and a porcelain core material tray 53; the six-axis robot 1 is at an initial position, and the initial position is that the glue injection jig assembly 2 is positioned above the sealing body tray 51;
2) the six-axis robot 1 drives the sealing body grabbing jig 24 to grab the sealing body in the sealing body tray 51 and place the sealing body on the code scanning table 62; driving the code scanning table 62 to rotate, and scanning the label of the sealing body on the code scanning table 62 by the code scanner 61 in the rotation process of the code scanning table 62;
3) after the sealing body is scanned, stopping rotation of the code scanning platform 62, driving the vision system 25 to move to the position above the code scanning platform 62 by the six-axis robot 1, photographing the polar needle of the sealing body by the vision system 25 and detecting the quality of the polar needle, if the quality of the polar needle is qualified, executing the step 4), if the quality of the polar needle is unqualified, placing the sealing body in a waste material tray, and executing the step 1);
4) the six-axis robot 1 drives the sealing body grabbing jig 24 to grab the sealing body on the code scanning table 62 and move to the depth measuring unit 101, the depth of the assembling hole at the position of the polar needle on the sealing body is measured, and if the depth meets the requirement, the step 5 is executed); if not, the sealing body is placed in a waste material tray, and the step 1 is executed
5) The six-axis robot 1 drives the sealing body grabbing jig 24 to grab the sealing body on the depth measuring unit 101 and move the sealing body to the sealing body placing jig 8;
6) the six-axis robot 1 drives the vision system 25 to move to the position of the sealing body on the sealing body placing tool 8, photographs the circle center position of the sealing body and the position of the polar needle and calculates the position of the polar needle of the sealing body;
7) after the photographing of the polar needle of the sealing body is completed, the six-axis robot 1 drives the glue beating system 26 to move to the position of the assembly hole of the sealing body, and glue is dispensed inside the assembly hole;
8) the six-axis robot 1 drives the vision system 25 to move to the sealing body position on the sealing body placing tool 8, the vision system 25 detects the gluing quality of the sealing body assembling hole, and if the gluing quality is qualified, the step 9) is executed; if not, placing the sealing body in a waste material tray, and executing the step 1);
9) the six-axis robot 1 drives the vision system 25 to move above the insulating pad material disc 52, detects the front and back surfaces of the insulating pad to be assembled, and executes the step 10 if the quality of the front and back surfaces is qualified; if not, detecting the next insulating pad to be assembled;
10) the six-axis robot 1 drives the suction jig 23 to move above the insulating pad material disc 52, sucks the insulating pad detected on the front side and the back side in the step 9) and moves the insulating pad to the thickness measuring unit 102, the thickness of the insulating pad is measured, and if the thickness meets the requirement, the step 11) is executed; if the requirement is not met, placing the insulating pad in a waste material tray, and executing the step 9);
11) according to the photographing result of the vision system 25 in the step 9) and the position of the seal body polar needle in the step 6), the diameter and the hole position of the insulating pad are photographed and calculated through the vision system 25, the required adjusting angle when the insulating pad is installed is calculated, the suction jig 23 sucks the insulating pad on the thickness measuring unit 102, and the sixth shaft of the six-shaft robot 1 drives the insulating pad to rotate by a corresponding angle and is placed on the transfer table 9;
12) resetting the suction jig 23 of the six-axis robot 1 to the position before rotation in the step 11), taking a picture of the insulating pad on the centering turntable 9 again by the vision system 25, judging whether the deviation between the theoretical size and position and the actual size and position meets the requirement or not according to the picture taking result, and executing the step 13 if the deviation range is within 5 degrees); if the deviation is more than 5 degrees, placing the insulating pad in a waste material tray, and executing the step 9);
the theoretical size and position are the aperture of the assembly hole of the sealing body and the position of the polar needle, and the actual size and position are the diameter of the insulating pad and the position of the hole position;
13) according to the deviation angle in the step 12), the six-axis robot 1 drives the insulating pad to rotate by a corresponding angle, the insulating pad is arranged in the assembly of the sealing body after the posture of the insulating pad is adjusted, the insulating pad is arranged in an assembly hole of the sealing body, and a pole needle of the sealing body penetrates through the hole position on the insulating pad;
14) after the insulating pad is installed, installing the ceramic core to be assembled in the ceramic core tray 53 in the assembling hole of the sealing body by adopting the same process steps as the steps 8) to 13), wherein the ceramic core is positioned above the insulating pad and clings to the upper surface of the insulating pad;
15) after the ceramic core is installed, the six-axis robot 1 drives the sealing body grabbing jig 24 to grab the sealing body and place the sealing body in a press-fitting area of the press machine 3, and the press machine 3 presses the insulating pad and the ceramic core in the sealing body to complete press-fitting of the ceramic core and the insulating pad;
16) after the press mounting is finished, the six-axis robot 1 drives the sealing body grabbing jig 24 to grab the sealing body to the depth measuring unit 101, and the depth of an assembling hole, provided with an insulating pad and a ceramic core, on the sealing body is measured; if qualified, executing step 17); if the sealing body is not qualified, placing the sealing body in a waste material tray;
17) the sealing body grabbing jig 24 puts the sealing body provided with the insulating pad and the ceramic core back to the material disc to finish the assembly of the insulating pad, the ceramic core and the sealing body, the structure provided with the insulating pad 03 and the ceramic core 04 on the polar needle 02 of the sealing body is shown in figure 18, and the six-axis robot 1 resets to an initial position (original point).
And (5) repeating the steps 1) to 17) to finish the assembly of all the sealing bodies on the whole tray, the insulating pads and the porcelain cores.
In this embodiment sealing body and insulating pad/porcelain core assembling process, adopt visual system to detect the sealing body utmost point needle quality, the assembly hole degree of depth of sealing body carries out a lot of measurements (before the point is glued, after assembling insulating pad/porcelain core), insulating pad and porcelain core thickness quality detect, with the high accuracy location technique of robot, realize the small part automatic assembly of insulating pad/porcelain core, realize sealing body and insulating pad/porcelain core automatic assembly, the qualification rate of insulating pad and porcelain core and sealing body installation back product has been improved.
The above description is only for the purpose of describing the preferred embodiments of the present invention and does not limit the technical solutions of the present invention, and any known modifications made by those skilled in the art based on the main technical concepts of the present invention fall within the technical scope of the present invention.

Claims (9)

1. The utility model provides a sealing body and insulating pad, porcelain core assembly manipulator based on six robots which characterized in that: comprises a six-axis robot (1) and a glue injection jig assembly (2) arranged on a working shaft (16) of the six-axis robot (1);
the glue injection jig assembly (2) comprises a glue injection jig connecting plate (21), a connecting flange (22) connected to the glue injection jig connecting plate (21), a suction jig (23), a sealing body grabbing jig (24), a vision system (25) and a glue applying system (26);
the glue injection jig connecting plate (21) is connected with a working shaft (16) of the six-shaft robot (1) through a connecting flange (22);
the sealing body grabbing jig (24), the vision system (25) and the gluing system (26) are uniformly distributed on the circumference by taking the suction jig (23) as the center;
the suction jig (23) comprises a sucker mounting shaft (231) arranged along the central shaft of the glue injection jig connecting plate (21) and a sucker (232) arranged at the lower end of the sucker mounting shaft (231);
the sealing body grabbing jig (24) comprises an air cylinder (241) and 2 sealing body clamping heads (243), wherein the air cylinder (241) is arranged on the glue injection jig connecting plate (21) and the lower end of the air cylinder (241) inclines outwards;
the visual system (25) comprises a camera mounting plate (251) which is arranged on the glue injection jig connecting plate (21) and the lower end of which inclines outwards, a camera (252) and an annular light source (253) which are sequentially arranged on the outer surface of the camera mounting plate (251) from top to bottom, a strip-shaped light source (254) which is arranged on the lower part of the inner surface of the camera mounting plate (251) and a point light source (255) which is arranged between the camera (252) and the annular light source (253) and is arranged on the camera (252);
the glue injecting system (26) comprises a needle cylinder fixing plate (261) which is arranged on the glue injecting jig connecting plate (21) and the lower end of which inclines outwards and a glue injecting needle cylinder (262) which is arranged on the needle cylinder fixing plate (261).
2. The six-axis robot-based sealing body and insulating pad and porcelain core assembling manipulator of claim 1, wherein: the inner side surfaces of the 2 sealing body chucks (243) are provided with a first V-shaped groove and a second V-shaped groove which are used for clamping the sealing body, and the first V-shaped groove and the second V-shaped groove form a cross structure.
3. The six-axis robot-based sealing body and insulating pad and porcelain core assembling manipulator according to claim 1 or 2, characterized in that: the sealing body grabbing jig (24) further comprises a chuck support (242) arranged on the lower end face of the air cylinder (241);
the 2 sealing body chucks (243) are arranged on the chuck support (242).
4. The utility model provides a frock (8) is placed to sealing body and insulating pad, porcelain core accurate assembly system based on six robots, includes press (3), work platform (4) and sets up sealing body charging tray (51), porcelain core charging tray (53), insulating pad charging tray (52), the sealing body on work platform (4), its characterized in that: further comprising a transfer table (9), a measuring mechanism (10) and a six-axis robot based capsule and insulator pad, porcelain core assembly robot according to any of claims 1 to 3;
the sealing body tray (51), the porcelain core tray (53), the insulating pad tray (52), the sealing body placing tool (8), the measuring mechanism (10), the transfer table (9) and the press machine (3) are all located in the working area of the manipulator (01);
the transfer table (9) is arranged on the working platform (4) and is positioned on the inner side of the sealing body placing tool (8), and the transfer table (9) is used for placing a sealing body to be injected with glue, a ceramic core and an insulating pad;
the visual system (25) of the manipulator (01) is used for photographing the sealing body, the insulating pad and the porcelain core;
the measuring mechanism (10) is used for detecting the thicknesses of the porcelain core and the insulating pad and the depth of an assembling hole of the sealing body.
5. The six-axis robot-based sealing body and insulating pad and porcelain core precise assembly system according to claim 4, wherein: the measuring mechanism (10) comprises a depth measuring unit (101) and a thickness measuring unit (102);
the depth measuring unit (101) comprises a depth measuring sliding table and a depth measuring assembly;
the depth measurement sliding table comprises a first pneumatic sliding table (1011) arranged on the working platform (4) and a depth measurement clamping tool (1014) arranged on the first pneumatic sliding table (1011), and the depth measurement clamping tool (1014) is used for clamping a sealing body;
the depth measuring assembly comprises a depth measuring support frame (1015) arranged on the working platform (4), a first air cylinder (1016) arranged on the depth measuring support frame (1015), a first mounting frame (1017) driven by the first air cylinder (1016), and a depth measuring sensor (1018) vertically arranged on the first mounting frame (1017);
a measuring head of the depth measuring sensor (1018) extends out of a depth measuring reference plate (1019) at the lower end of the first mounting frame (1017) and can move up and down relative to the first mounting frame (1017); a measuring head of the depth measuring sensor (1018) is vertical to the depth measuring reference plate (1019);
the first pneumatic sliding table (1011) is used for driving the depth measurement clamping tool (1014) to move to or out of the position below the first mounting frame (1017), and the depth measurement sensor (1018) is located right above an assembling hole of a sealing body on the depth measurement clamping tool (1014);
the thickness measuring unit (102) comprises a thickness measuring sliding table and a thickness measuring assembly;
the thickness measuring sliding table comprises a second pneumatic sliding table (1021) arranged on the working platform (4) and a thickness measuring clamping tool (1023) arranged on the second pneumatic sliding table (1021), and the thickness measuring clamping tool (1023) is used for placing and clamping an insulating pad or a ceramic core;
the thickness measuring assembly comprises a height measuring support frame (1024) arranged on the working platform (4), a second air cylinder (1025) arranged on the height measuring support frame (1024), a second mounting frame (1026) driven by the second air cylinder (1025), and a thickness measuring sensor (1027) vertically arranged on the second mounting frame (1026);
a vertical reference plate (1028) is arranged on the lower end face of the second mounting frame (1026), and a reference contact is arranged on the bottom face of the vertical reference plate (1028);
the measuring head of the thickness measuring sensor (1027) is positioned below the second mounting frame (1026) and can move up and down relative to the second mounting frame (1026);
second pneumatic slip table (1021) are used for driving thickness measurement and press from both sides the below that presss from both sides tight frock (1023) and move out second mounting bracket (1026), and thickness measurement sensor (1027)'s measuring head is just to insulating pad or porcelain core, and the benchmark contact is just to the platform that the thickness measurement pressed from both sides tight frock (1023) simultaneously.
6. The six-axis robot-based sealing body and insulating pad and porcelain core precise assembly system according to claim 5, wherein: the sealing body placing tool (8) comprises a tool mounting plate (81) arranged on the working platform (4), a sealing body tray (82) arranged on the tool mounting plate (81), a clamping cylinder (83) and 2 clamping air claws (84) driven by the clamping cylinder (83), wherein the 2 clamping air claws (84) are used for clamping the sealing body on the sealing body tray (82).
7. The six-axis robot-based sealing body and insulating pad and porcelain core precise assembly system according to claim 6, wherein: the device also comprises a scanning unit (6) arranged on the working platform (4);
the scanning unit (6) comprises a code scanner (61) and a rotatable code scanning platform (62), wherein the code scanner (61) is used for scanning the label of the sealing body on the code scanning platform (62).
8. The six-axis robot-based sealing body and insulating pad and porcelain core precise assembly system according to claim 7, wherein: the working platform (4) is an L-shaped platform and comprises a first working surface (41) and a second working surface (42);
the first working surface (41) and the press machine (3) are arranged on two sides of the manipulator (01), and the second working surface (42) is positioned between the first working surface (41) and the press machine (3);
the sealing body material tray (51), the code scanner (61), the measuring mechanism (10), the insulating pad material tray (52), the sealing body placing tool (8) and the porcelain core material tray (53) are sequentially arranged by taking a mechanical arm (01) as a center, the sealing body material tray (51), the code scanner (61) and the measuring mechanism (10) are positioned on a first working surface (41), and the insulating pad material tray (52), the sealing body placing tool (8) and the porcelain core material tray (53) are positioned on a second working surface (42);
the transfer table (9) is arranged on the inner side of the second working surface (42) and close to the first working surface (41).
9. A method for accurately assembling a sealing body, an insulating pad and a ceramic core based on a six-axis robot is characterized by comprising the following steps:
1) the six-axis robot (1) drives the sealing body grabbing jig (24) to move to the position above the sealing body tray (51), and the sealing bodies in the sealing body tray (51) are grabbed and placed on the code scanning table (62);
2) driving the code scanning platform (62) to rotate, and scanning the label of the sealing body on the code scanning platform (62) by the code scanner (61);
3) after the sealing body finishes scanning the code, stopping rotating the code scanning platform (62), driving a vision system (25) to move to the position above the code scanning platform (62) by a six-axis robot (1), photographing a pole needle of the sealing body by the vision system (25) and carrying out pole needle quality detection, if the pole needle quality is qualified, executing the step 4), and if the pole needle quality is unqualified, placing the sealing body in a waste material tray and executing the step 1);
4) the six-axis robot (1) drives a sealing body grabbing jig (24) to grab the sealing body and move to a depth measuring unit (101), the depth of an assembly hole in the sealing body is measured, and if the depth meets the requirement, the step 5 is executed; if not, the sealing body is placed in a waste material tray, and the step 1 is executed
5) The six-axis robot (1) drives the sealing body grabbing jig (24) to grab the sealing body and move the sealing body to the sealing body placing tool (8);
6) the six-axis robot (1) drives the vision system (25) to move to the position of the sealing body placing tool (8), and photographs are taken to obtain the position of a sealing body pole needle;
7) the six-axis robot (1) drives the gluing system (26) to move to the position of the assembly hole of the sealing body, and gluing is carried out on the assembly hole;
8) the six-axis robot (1) drives the vision system (25) to move to the position of the sealing body, the vision system (25) detects the gluing quality of the assembly hole of the sealing body, and if the gluing quality is qualified, the step 9 is executed; if not, placing the sealing body in a waste material tray, and executing the step 1);
9) the six-axis robot (1) drives the vision system (25) to move to the position above the insulating pad material tray (52), the front side and the back side of the insulating pad to be assembled are detected, and if the front side and the back side are qualified, the step 10 is executed; if not, detecting the next insulating pad to be assembled;
10) the six-axis robot (1) drives the suction jig (23) to move to the position above the insulating pad material disc (52), sucks the insulating pad with the qualified front and back surfaces in the step 9) and moves the insulating pad to the thickness measuring unit (102), the thickness of the insulating pad is measured, and if the thickness meets the requirement, the step 11 is executed; if the requirement is not met, placing the insulating pad in a waste material tray, and executing the step 9);
11) calculating the angle of the insulation pad needing to rotate according to the photographing result of the vision system (25) in the step 9) and the position of the polar needle of the sealing body in the step 6), sucking the insulation pad on the thickness measuring unit (102) by a sucking jig (23), driving the insulation pad to rotate by a corresponding angle by a six-axis robot (1), and placing the insulation pad on a transfer table (9);
12) resetting a suction jig (23) of the six-axis robot (1) to the position before rotation in the step 11), photographing the insulating pad on the centering turntable (9) again by a vision system (25), judging whether the deviation angle between the theoretical position and the actual position meets the requirement or not according to the photographing result, and if so, executing the step 13); if not, placing the insulating pad in a waste material tray, and executing the step 9);
the theoretical position is the position of the polar needle of the sealing body, and the actual position is the position of a hole position matched with the polar needle on the insulating pad;
13) according to the deviation angle in the step 12), the six-axis robot (1) drives the insulating pad to rotate by a corresponding angle, and the insulating pad is arranged in an assembly hole of the sealing body;
14) mounting the porcelain core to be assembled in the porcelain core tray (53) in the sealing body assembling hole with the insulating pad by using the same process as the steps 7) to 13);
15) the sealing body grabbing jig (24) grabs the sealing body and places the sealing body in a working area of the press machine (3), and the press machine (3) presses the insulating pad and the ceramic core in the sealing body to complete the press mounting of the ceramic core and the insulating pad;
16) after the press mounting is finished, the six-axis robot drives the sealing body grabbing jig to grab the sealing body to the depth measuring unit, and the depth of an assembling hole, provided with the insulating pad and the ceramic core, on the sealing body is measured; if qualified, executing step 17); if the sealing body is not qualified, placing the sealing body in a waste material tray;
17) the sealing body grabbing jig puts the sealing body provided with the insulating pad and the ceramic core back to the material disc, and the insulating pad, the ceramic core and the sealing body are assembled.
CN202010475099.6A 2020-05-29 2020-05-29 Six-axis robot-based sealing body, insulating pad and ceramic core assembling manipulator, system and method Active CN111923421B (en)

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