CN112440104A

CN112440104A - Automatic product assembling equipment and method

Info

Publication number: CN112440104A
Application number: CN201910797136.2A
Authority: CN
Inventors: 胡传明
Original assignee: Suzhou Mitac Precision Technology Co Ltd
Current assignee: Suzhou Mitac Precision Technology Co Ltd
Priority date: 2019-08-27
Filing date: 2019-08-27
Publication date: 2021-03-05
Anticipated expiration: 2039-08-27
Also published as: CN112440104B

Abstract

The invention relates to the technical field of automatic production, in particular to automatic product assembling equipment and a method. The automatic product assembling apparatus includes: a plurality of supply units for supplying respective parts; the plurality of feeding units are arranged around the grabbing unit, and the grabbing unit comprises a mechanical arm and a machine head connected to the mechanical arm; the working table is arranged on one side of the grabbing unit, and the grabbing unit is used for sequentially placing the grabbed parts on the working table; the screw locking unit is arranged on one side of the workbench and comprises a screw feeding machine and a screw locking machine, the screw feeding machine provides screws for the screw locking machine, and the screw locking machine locks screws for parts placed on the workbench. The automatic product assembling device and method provided by the invention replace a manual operation mode, not only solve the problems that manual assembly is easy to be mistakenly assembled and workers are easy to fatigue, but also improve the working efficiency.

Description

Automatic product assembling equipment and method

[ technical field ] A method for producing a semiconductor device

The invention relates to the technical field of automatic production, in particular to automatic product assembling equipment and a method.

[ background of the invention ]

When a product, such as a vehicle product, is composed of a plurality of parts, the parts are required to be assembled as required during use. Referring to fig. 1 to 3, fig. 1 is a schematic view of a product before assembly, fig. 2 is a schematic view of the product during assembly, and fig. 3 is a schematic view of the product after assembly. The product 10 mainly comprises five parts, namely a first part 11, a second part 12, a third part 13, a fourth part 14 and a fifth part 15, wherein during assembly, the second part 12 is required to be firstly installed in the first part 11, then the fourth part 14 is installed in the first part 11, then the third part 13 is installed in the first part 11 and is sleeved on the periphery of the fourth part 14, finally the fifth part 15 is covered on the first part 11, a screw 16 is locked in a screw hole of the fifth part 15, and the assembly of the parts of the whole product 10 is completed.

However, when assembling the parts of the product 10, the prior art is to assemble the parts by manual work, which is not only easy to be assembled by mistake, but also easy to be fatigued by workers and has low working efficiency.

In view of the above, there is a need to develop an automatic product assembling apparatus, which solves the above problems of easy assembly error and fatigue of workers.

[ summary of the invention ]

Therefore, an object of the present invention is to provide an automatic product assembling apparatus capable of assembling respective parts of a product instead of a manual work.

In order to achieve the purpose, the invention adopts the following technical scheme:

an automated product assembly apparatus, the product having a plurality of parts, the automated product assembly apparatus comprising:

the feeding units are respectively used for providing each part and comprise a vibration disc and a dislocation unit, the vibration disc vibrates to sort the parts, and the dislocation unit enables the parts to be fed out singly;

the grabbing units are arranged around the grabbing unit and comprise a mechanical arm and a machine head connected to the mechanical arm, the machine head is provided with a plurality of grabbing structures, and the grabbing structures grab all parts in sequence;

the working table is arranged on one side of the grabbing unit, and the grabbing unit is used for sequentially placing the grabbed parts on the working table;

the screw locking unit is arranged on one side of the workbench and comprises a screw feeding machine and a screw locking machine, the screw feeding machine provides screws for the screw locking machine, and the screw locking machine locks screws for parts placed on the workbench;

and the control unit controls the feeding unit, the grabbing unit and the screw locking unit to act.

Further, the dislocation unit comprises a dislocation cylinder and a sliding block, a clamping groove for containing parts is formed in the sliding block, the dislocation cylinder pushes the sliding block to move, the sliding block moves to the position, corresponding to the straight vibrator outlet of the vibration disc, of the clamping groove, and the parts enter the clamping groove.

Furthermore, the dislocation unit further comprises an ejection cylinder and an ejection platform, the ejection platform is connected with a straight vibrator of the vibration disc, a part on the straight vibrator vibrates to the ejection platform, and the ejection cylinder ejects the ejection platform and the part, so that the part can be conveniently pushed out by a clamping groove of the dislocation unit.

Furthermore, for parts with front and back requirements, one side of the dislocation unit is provided with a screening unit, the screening unit comprises a CCD camera and a pushing-out part, the pushing-out part comprises a pushing-out cylinder and a pushing block, the CCD camera takes pictures of the parts, the control unit comprises a storage unit and a processing unit, the storage unit stores standard pictures of the parts, the processing unit compares the pictures taken by the CCD camera with the standard pictures and judges whether the parts are placed backwards, and if the parts are placed backwards, the pushing block of the pushing-out part pushes out the parts.

Further, to having the part that snatchs the angle, snatch structural being connected with the motor, the motor rotation drives and snatchs the structure rotation, the angle of adjustment part.

Further, the screw locking unit further comprises a positioning cylinder for driving the positioning block to move up and down, the positioning block is arranged on the workbench, and parts placed on the workbench are pressed by the positioning block, so that screws of the screw locking machine are conveniently locked.

Further, the lock screw unit still includes the drive lock screw machine level and the drive structure who reciprocates, the structural structure of still being equipped with of drive gets puts the structure, get and put the structure and snatch the product of accomplishing the post assembling from the workstation.

Furthermore, the automatic product assembling equipment further comprises a blanking track and a collecting box, the blanking track is arranged on one side of the screw locking unit, the collecting box is connected with the blanking track, and the picking and placing structure is used for placing the assembled products into the blanking track.

In addition, the invention also provides an automatic product assembling method, which is applied to the equipment and comprises the following steps:

(1) the plurality of feeding units respectively provide each part;

(2) the grabbing unit grabs each part from the feeding unit respectively;

(3) the grabbing unit places the grabbed parts on a workbench;

(4) and locking screws on the parts by the screw locking units to finish the assembly of the product.

Further, in the step (2), for a part requiring precision in angle, the method further includes the steps of:

(2-1) photographing the part before grabbing by a CDD camera;

(2-2) the grabbing unit grabs the part;

(2-3) putting down the part by the grabbing unit, taking a picture of the put-down part by the CCD camera, and comparing the picture before grabbing with the put-down picture;

and (2-4) adjusting the grabbing unit according to the photo comparison result, and grabbing the part again by the grabbing unit.

Compared with the prior art, the automatic product assembling equipment and the automatic product assembling method have the advantages that the feeding unit, the grabbing unit, the workbench, the screw locking unit, the control unit and the like are arranged, the feeding unit is used for providing each part, the grabbing unit is used for grabbing each part and placing each part on the workbench, the screw locking unit locks the screw on the part, automatic product assembling is completed, a manual operation mode is replaced, the problems that manual assembling is easy to install in a wrong mode and workers are easy to fatigue are solved, and working efficiency is improved.

[ description of the drawings ]

Fig. 1 is a schematic diagram of a product before assembly.

Fig. 2 shows a schematic view of the product in assembly.

Fig. 3 shows a schematic view of the product after assembly.

FIG. 4 is a schematic view of an automatic assembly apparatus for products according to the present invention.

FIG. 5 is a schematic view of a feeding unit for a first part of an automatic assembly apparatus for products according to the present invention.

FIG. 6 is a schematic view of a feeding unit for a second part of the automatic assembly apparatus of the present invention.

FIG. 7 is a schematic view of an angle of a feeding unit of a third component of the automatic assembly apparatus for products according to the present invention.

Fig. 8 is a partially enlarged view of fig. 7.

FIG. 9 is a schematic view of another angle of the feeding unit of the third component of the automatic assembling apparatus for products according to the present invention.

FIG. 10 is a schematic view of an angle of a feeding unit of a fourth component of the automatic assembly apparatus for products according to the present invention.

Fig. 11 is a partially enlarged view of fig. 10.

FIG. 12 is a schematic view of another angle of the feeding unit of the fourth component of the automatic assembling apparatus for products according to the present invention.

FIG. 13 is a schematic view of a feeding unit of a fifth component of the automatic assembly apparatus for products according to the present invention.

FIG. 14 is a schematic view of a grabbing unit of the automatic product assembling apparatus according to the present invention.

FIG. 15 is a schematic view of a screw locking unit in the automatic assembly apparatus for products according to the present invention.

FIG. 16 is a schematic view of a positioning block of a screw locking unit in the automatic assembly apparatus for products according to the present invention.

FIG. 17 is a flow chart of the method for automatically assembling the product according to the present invention.

[ detailed description ] embodiments

For a further understanding of the objects, technical effects and technical means of the present invention, reference will now be made in detail to the following description taken in conjunction with the accompanying drawings.

In the present embodiment, referring to fig. 1 to 4, the automatic product assembling apparatus of the present invention is used for assembling a product 10, where the product 10 may be a vehicle product, and the product 10 mainly includes five parts, which are a first part 11, a second part 12, a third part 13, a fourth part 14, and a fifth part 15. During assembly, the second part 12 needs to be installed in the first part 11, the fourth part 14 needs to be installed in the first part 11, the third part 13 needs to be installed in the first part 11 and is sleeved on the periphery of the fourth part 14, the fifth part 15 covers the first part 11, the screw 16 needs to be locked, and the part assembly of the whole product 10 is completed. The third part 13 and the fourth part 14 are respectively an external gear and an internal gear, and when the assembly is carried out, the front surface and the back surface cannot be assembled reversely, and the angle cannot be misplaced.

Therefore, in this embodiment, the automatic product assembling apparatus of the present invention includes:

five feeding units 100, as shown in fig. 5 to 13, for respectively providing a first part 11, a second part 12, a third part 13, a fourth part 14, and a fifth part 15, wherein the feeding units 100 include a vibrating tray 101 and a dislocation unit 102, the vibrating tray 101 vibrates to sort the parts, and the dislocation unit 102 enables the parts to be fed out individually;

a gripping unit 200, as shown in fig. 12, the plurality of feeding units 100 are disposed around the gripping unit 200, the gripping unit 200 includes a robot arm 201 and a head 202 connected to the robot arm 201, the head 202 has a plurality of gripping structures 203, and the plurality of gripping structures 203 sequentially grip each part; the grabbing structure 203 comprises a clamping hand 204, and the clamping hand 204 is used for clamping the part;

a workbench 300, as shown in fig. 15, disposed at one side of the grabbing unit 200, wherein the grabbing unit 200 sequentially places the grabbed parts on the workbench 300;

a screw locking unit 400, as shown in fig. 15, disposed at one side of the worktable 300, wherein the screw locking unit 400 includes a screw feeder 401 and a screw locking machine 402, the screw feeder 401 supplies screws 16 to the screw locking machine 402, and the screw locking machine 402 locks the screws 16 to the parts placed on the worktable 300;

and a control unit for controlling the operations of the feeding unit 100, the grabbing unit 200 and the screw locking unit 400.

Further, as shown in fig. 5 to 13, the misalignment unit 102 includes a misalignment cylinder 103 and a slider 104, a slot 105 for accommodating a part is formed on the slider 104, the misalignment cylinder 103 pushes the slider 104 to move, the slider 104 moves to an outlet of the slot 105 corresponding to the straight vibrator 106 of the vibration disk 101, and the part enters the slot 105. Referring to fig. 5 to 11, due to the irregular shape of each part, when the dislocation unit 102 is specifically configured, the parts can be positioned by vertical dislocation (as shown in fig. 9), left dislocation, right dislocation, and the like according to actual conditions; moreover, because the shapes of the components are different, the shapes of the sliding block 104 and the clamping groove 105 can be different when the components are specifically arranged, but the working principle is basically the same.

Specifically, as shown in fig. 10, in order to realize the vertical dislocation of the dislocation unit 102, the dislocation unit 102 further includes an ejection cylinder 107 and an ejection platform 108, the ejection platform 108 is connected to the straight vibrator 106 of the vibration plate 101, the fourth part 14 on the straight vibrator 106 vibrates to the ejection platform 108, and the ejection cylinder 107 ejects the ejection platform 108 and the fourth part 14, so as to facilitate the pushing out of the fourth part 14 by the engaging groove 105 of the dislocation unit 102.

Furthermore, as shown in fig. 7 and 10, for the parts having front and back requirements, such as the third part 13 and the fourth part 14, in order to screen out the parts which are fed out from the vibration plate 101 and have wrong placement on the front and back sides, one side of the dislocation unit 102 is provided with a screening unit, the screening unit comprises a CCD camera 109 and a pushing part, the pushing part comprises a pushing cylinder 110 and a pushing block 111, the CCD camera 109 takes a picture of the parts, the control unit comprises a storage unit and a processing unit, the storage unit stores a standard picture of the parts, the processing unit compares the picture taken by the CCD camera 109 with the standard picture and judges whether the front and back sides of the parts are reversed, if reversed, the control unit controls the pushing cylinder 110 to operate, the pushing block 111 of the pushing cylinder 110 pushes out the parts, the parts can fall or slide down into the material receiving box through the slide rail 112, if not reversed, the push-out cylinder 110 does not operate and waits for the grasping unit 200 to grasp the part.

Further, for parts with a grabbing angle, such as the third part 13 and the fourth part 14, since the external gear and the internal gear need to be matched with each other at a proper angle during assembly, in order to achieve the angle required by the parts during assembly, the grabbing structure 203 is connected with the motor 205, and the motor 205 rotates to drive the grabbing structure 203 to rotate, so as to adjust the angle of the parts.

In order to fix a position the part, the part aversion when avoiding locking screw 16, as shown in fig. 16, lock screw unit 400 still includes locating piece 403 and the location cylinder 404 of drive locating piece 403 up-and-down motion, locating piece 403 and location cylinder 404 are located on workstation 300, and during operation, location cylinder 404 drive locating piece 403 moves until locating piece 403 is pressing the part of placing on the workstation 300, makes things convenient for lock screw machine 402 to lock the screw.

The illustrated work table 300 is provided with a sliding table 301 that can slide along the work table 300, for example, along the Y-axis direction of the work table, and the positioning block 403 and the positioning cylinder 404 are both provided on the sliding table.

The screw locking unit 400 further includes a driving structure 405 for driving the screw locking machine 402 to move horizontally and vertically, for example, along the X-axis direction and the Z-axis direction, in a preferred embodiment, the driving structure 405 may be a structure in which a screw stepping motor is matched with an air cylinder, wherein the screw stepping motor drives the screw locking machine 402 to move horizontally, the air cylinder drives the screw locking machine 402 to move vertically, when locking the screw 16, the screw stepping motor first drives the screw locking machine 402 to a suitable horizontal position, then the air cylinder drives the screw locking machine 402 to move vertically to a suitable position, the screw locking machine 402 locks the screw 16 to the part, the screw locking machine 402 may be an electrically controlled screw locking machine 402, and the torque force is stable; still be equipped with on the drive structure 405 and get and put structure 406, the drive structure 405 drive is got and is put structure 406 level and reciprocate, get and put structure 406 and snatch the product 10 after accomplishing the equipment from workstation 300, adopt the mode of above-mentioned drive structure 405 drive lock screw machine 402 and get and put structure 406 simultaneously, simplified the structure, practice thrift the cost.

Furthermore, the automatic product assembling equipment further includes a blanking track 500 and a collection box 501, the blanking track 500 is disposed on one side of the screw locking unit 400, the collection box 501 is connected to the blanking track 500, and the picking and placing structure 406 places the assembled product 10 into the blanking track 500.

In addition, the present invention also provides an automatic product assembling method, which is applied to the above apparatus, as shown in fig. 17, the assembling method includes the following steps:

step S100: a plurality of supply units 100 respectively supply the respective parts;

step S200: the grasping unit 200 grasps the respective parts from the supply unit 100, respectively;

step S300: the grasping unit 200 places the grasped parts on the work table 300;

step S400: the locking screw unit 400 locks the screws 16 to the part to complete the assembly of the product 10.

Further, when the grabbing unit 200 grabs a part, for example, the gripper 204 of the grabbing unit 200 is a three-jaw cylinder, when grabbing, a phenomenon that one jaw contacts the part first and the other jaws contact the part later causes the part to be eccentric from the grabbing unit 200, and the part is easy to generate an angle change when grabbing, so that the part requiring an accurate angle is a part, and in order to make the angle before and after grabbing the part unchanged, the step S200 specifically includes the following steps:

step S201: the CDD camera 109 photographs the part before grasping;

step S202: the grasping unit 200 grasps the part;

step S203: the part is placed down by the grabbing unit 200, the CCD camera 109 shoots the placed part, and the picture before grabbing is compared with the placed picture, so that the change of the angle before and after grabbing can be obtained;

step S204: the angle, the force and the like of the grabbing unit 200 are adjusted according to the photo comparison result, so that the clamping hands 204 of the grabbing unit 200 are concentric with the part, the grabbing unit 200 grabs the part again, the angle of the part before and after grabbing is unchanged, and grabbing is more accurate.

In summary, according to the automatic product assembling device and method of the present invention, the feeding unit 100, the grabbing unit 200, the workbench 300, the screw locking unit 400, the control unit, and the like are provided, the feeding unit 100 is used for providing each part, the grabbing unit 200 is used for grabbing each part and placing each part on the workbench 300, the screw 16 is locked on the part by the screw locking unit 400, so as to complete automatic assembly of the product 10, which replaces a manual operation mode, not only solves the problems of easy misassembly and easy fatigue of workers, but also improves the work efficiency.

Claims

1. An automatic product assembly apparatus, the product having a plurality of parts, the automatic product assembly apparatus comprising:

2. The automatic product assembling equipment according to claim 1, wherein the dislocation unit comprises a dislocation cylinder and a slide block, a clamping groove for accommodating a part is formed in the slide block, the dislocation cylinder pushes the slide block to move, the slide block moves to an outlet of a straight vibrator of the clamping groove corresponding to the vibration disc, and the part enters the clamping groove.

3. The automatic product assembling equipment of claim 2, wherein the dislocation unit further comprises an ejection cylinder and an ejection platform, the ejection platform is connected with a straight vibrator of the vibration disc, a part on the straight vibrator is vibrated onto the ejection platform, and the ejection cylinder ejects the ejection platform and the part, so that the part can be conveniently ejected out of the clamping groove of the dislocation unit.

4. The automatic product assembling equipment of claim 1, wherein for parts with front and back requirements, a screening unit is arranged on one side of the dislocation unit and comprises a CCD camera and a pushing-out portion, the pushing-out portion comprises a pushing-out cylinder and a pushing block, the CCD camera takes pictures of the parts, the control unit comprises a storage unit and a processing unit, standard pictures of the parts are stored in the storage unit, the processing unit compares the pictures taken by the CCD camera with the standard pictures and judges whether the parts are reversed, and if the parts are reversed, the pushing block of the pushing-out portion pushes out the parts.

5. The automatic product assembling equipment according to claim 1, wherein a motor is connected to the grabbing structure for a part with a grabbing angle, and the motor rotates to drive the grabbing structure to rotate so as to adjust the angle of the part.

6. The automatic product assembling equipment of claim 1, wherein the screw locking unit further comprises a positioning block and a positioning cylinder for driving the positioning block to move up and down, the positioning block is arranged on the workbench, and the positioning block presses a part placed on the workbench, so that a screw of the screw locking machine is conveniently locked.

7. The automatic product assembling equipment according to claim 1 or 6, wherein the screw locking unit further comprises a driving structure for driving the screw locking machine to move horizontally and vertically, the driving structure is further provided with a taking and placing structure, and the taking and placing structure is used for grabbing assembled products from the workbench.

8. The automatic product assembling equipment of claim 1, further comprising a blanking track and a collecting box, wherein the blanking track is disposed on one side of the screw locking unit, the collecting box is connected to the blanking track, and the picking and placing structure puts the assembled product into the blanking track.

9. An automatic assembly method of products, applied to the apparatus of any one of claims 1 to 8, characterized in that it comprises:

(1) the plurality of feeding units respectively provide each part;

(2) the grabbing unit grabs each part from the feeding unit respectively;

(3) the grabbing unit places the grabbed parts on a workbench;

10. The automatic product assembling method according to claim 9, wherein in the step (2), the part requiring precision in terms of angle comprises the steps of:

(2-1) photographing the part before grabbing by a CDD camera;

(2-2) the grabbing unit grabs the part;