CN112440104B - Automatic product assembling equipment and method - Google Patents
Automatic product assembling equipment and method Download PDFInfo
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- CN112440104B CN112440104B CN201910797136.2A CN201910797136A CN112440104B CN 112440104 B CN112440104 B CN 112440104B CN 201910797136 A CN201910797136 A CN 201910797136A CN 112440104 B CN112440104 B CN 112440104B
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- 238000000034 method Methods 0.000 title claims abstract description 14
- 238000012216 screening Methods 0.000 claims description 6
- 238000012163 sequencing technique Methods 0.000 claims description 3
- 238000004519 manufacturing process Methods 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 7
- 230000000694 effects Effects 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P21/00—Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with programme control
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/001—Article feeders for assembling machines
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/04—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for assembling or disassembling parts
- B23P19/06—Screw or nut setting or loosening machines
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automatic Assembly (AREA)
Abstract
The invention relates to the technical field of automatic production, in particular to automatic product assembling equipment and method. The automatic product assembling apparatus includes: a plurality of feeding units for providing respective parts; the grabbing unit is arranged around the plurality of feeding units and comprises a mechanical arm and a machine head connected to the mechanical arm; the working table is arranged at one side of the grabbing unit, and the grabbing unit sequentially places 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, wherein the screw feeding machine provides screws for the screw locking machine, and the screw locking machine locks screws on parts placed on the workbench. The automatic product assembling equipment and method replace a manual operation mode, solve the problems that manual assembly is easy to misplace and workers are easy to fatigue, and improve the working efficiency.
Description
[ Field of technology ]
The invention relates to the technical field of automatic production, in particular to automatic product assembling equipment and method.
[ Background Art ]
Products such as automotive products, if composed of several parts, require the required assembly of the individual parts during use. Referring to fig. 1 to 3, fig. 1 is a schematic diagram of a product before assembly, fig. 2 is a schematic diagram of the product during assembly, and fig. 3 is a schematic diagram 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 when the product is assembled, 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 is 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, and a screw 16 is locked in a screw hole of the fifth part 15, so that the part assembly of the whole product 10 is completed.
However, in assembling the parts of the product 10, the prior art is assembled by manual operation, which is not only easy to be misplaced, but also easy to be tired by workers, and has low working efficiency.
In view of this, there is a need to develop an automatic product assembling apparatus to solve the above problems of easy assembly by manual work and easy fatigue of staff.
[ Invention ]
It is therefore an object of the present invention to provide an automatic product assembling apparatus which is capable of assembling individual parts of a product instead of a manual operation.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
an automatic product assembling apparatus, the product having a plurality of parts, the automatic product assembling apparatus comprising:
the feeding units are respectively used for providing various parts and comprise a vibration disc and a dislocation unit, the vibration disc is used for sequencing the parts in a vibration mode, and the dislocation unit is used for enabling the parts to be fed out singly;
The grabbing unit is arranged around the plurality of feeding units and comprises 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 at one side of the grabbing unit, and the grabbing unit sequentially places 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, wherein the screw feeding machine provides screws for the screw locking machine, and the screw locking machine locks screws on parts placed on the workbench;
And the control unit is used for controlling the actions of the feeding unit, the grabbing unit and the screw locking unit.
Further, the dislocation unit comprises a dislocation cylinder and a sliding block, a clamping groove for accommodating 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 clamping groove, of the outlet of the vibrator of the vibration disc, and the parts enter the clamping groove.
Still further, dislocation unit still includes ejecting cylinder and ejecting platform, the straight shake ware of vibration dish is connected to ejecting platform, and the part on the straight shake ware shakes to ejecting platform, ejecting cylinder is ejecting platform and part, make things convenient for dislocation unit's draw-in groove to push out the part.
Still further, to the part that has the positive and negative requirement, dislocation unit one side is equipped with the screening unit, the screening unit includes CCD camera and ejecting part, and ejecting part includes ejecting cylinder and ejector pad, the CCD camera is shot the part, the control unit includes storage unit and processing unit, store the standard photo of part in the storage unit, processing unit compares the CCD camera is shot photo and standard photo, judges whether the part is put in reverse, if put in reverse, the ejector pad of ejecting part is ejecting the part.
Further, to the part that has the angle of snatching, snatch structural motor that is connected with, the motor rotation drives snatch structural rotation, adjusts the angle of part.
Further, 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 is conveniently locked by the screw locking machine.
Further, the screw locking unit further comprises a driving structure for driving the screw locking machine to horizontally and vertically move, the driving structure is further provided with a picking and placing structure, and the picking and placing structure picks the assembled product from the workbench.
Still further, automatic equipment of product still includes blanking track and collecting box, blanking track locates lock screw unit one side, the collecting box with blanking track connects, gets to put the structure and puts the product after accomplishing the equipment in 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) A plurality of feeding units respectively providing each part;
(2) The grabbing units grab all parts from the feeding units respectively;
(3) The grabbing unit places each grabbed part on a workbench;
(4) And the screw locking unit locks screws on the parts to complete the assembly of the product.
Further, in the step (2), the method further includes the steps of:
(2-1) the CDD camera taking a photograph of the part before gripping;
(2-2) the gripping unit gripping the part;
(2-3) the grabbing unit puts down the part, the CCD camera photographs the put down part, and compares the photo before grabbing with the photo put down;
(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 method provided by the invention have the advantages that 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 screws on the parts to complete automatic product assembling, a manual operation mode is replaced, the problems that the manual assembly is easy to misplace and the staff is easy to fatigue are solved, and the working efficiency is improved.
[ Description of the drawings ]
FIG. 1 is a schematic diagram of a product before assembly.
FIG. 2 shows a schematic diagram of the product assembly.
FIG. 3 is a schematic diagram of the assembled product.
FIG. 4 is a schematic diagram of an automatic product assembling apparatus according to the present invention.
FIG. 5 is a schematic view of a feeding unit of a first part of the automatic product assembling apparatus according to the present invention.
FIG. 6 is a schematic view of a feeding unit of a second part in the automatic product assembling apparatus according to the present invention.
FIG. 7 is a schematic view showing an angle of a feeding unit of a third component in the automatic product assembling apparatus according to the present invention.
Fig. 8 shows a partial enlarged view of fig. 7.
FIG. 9 is another schematic view of the feeding unit of the third component of the automatic product assembling apparatus according to the present invention.
FIG. 10 is a schematic view showing an angle of a feeding unit of a fourth component in the automatic product assembling apparatus according to the present invention.
Fig. 11 shows a partial enlarged view of fig. 10.
FIG. 12 is another schematic view of the feeding unit of the fourth component of the automatic product assembling apparatus according to the present invention.
FIG. 13 is a schematic view of a feeding unit of a fifth component of the automatic product assembling apparatus according to the present invention.
Fig. 14 is a schematic view of a gripping unit in the automatic product assembling apparatus according to the present invention.
Fig. 15 is a schematic view of a screw locking unit in the automatic product assembling device of the present invention.
Fig. 16 is a schematic view showing a positioning block in a screw locking unit in the automatic product assembling device of the present invention.
FIG. 17 is a flow chart of an automatic assembly method of the product of the present invention.
[ Detailed description ] of the invention
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 accompanying drawings.
In this embodiment, referring to fig. 1 to 4, the automatic product assembling apparatus of the present invention is used for assembling a product 10, the product 10 may be a vehicle product, and the product 10 mainly includes five parts, namely 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 is required to be installed in the first part 11, the fourth part 14 is required to be installed in the first part 11, the third part 13 is required to be installed in the first part 11 and sleeved on the periphery of the fourth part 14, and finally the fifth part 15 is required to be covered on the first part 11, and the screw 16 is locked, so that 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 in assembly, both the front side and the back side cannot be assembled reversely, and the angles cannot be misplaced.
Thus, in this embodiment, the product automatic assembly apparatus of the present invention comprises:
Five feeding units 100, as shown in fig. 5 to 13, for providing a first part 11, a second part 12, a third part 13, a fourth part 14, and a fifth part 15, respectively, wherein the feeding units 100 include a vibration plate 101 and a dislocation unit 102, the vibration plate 101 is used for vibrating and sequencing the parts, and the dislocation unit 102 is used for feeding out the parts individually;
the grabbing unit 200, as shown in fig. 12, the multiple feeding units 100 are disposed around the grabbing unit 200, the grabbing unit 200 includes a mechanical arm 201 and a machine head 202 connected to the mechanical arm 201, the machine head 202 has multiple grabbing structures 203, and the multiple grabbing structures 203 grab each part in turn; the grabbing structure 203 comprises a clamping hand 204, wherein the clamping hand 204 is used for clamping the part;
As shown in fig. 15, a table 300 is provided at one side of the gripping unit 200, and the gripping unit 200 sequentially places the gripped parts on the table 300;
as shown in fig. 15, a screw locking unit 400 is provided on one side of the workbench 300, the screw locking unit 400 includes a screw feeder 401 and a screw locking machine 402, the screw feeder 401 provides screws 16 to the screw locking machine 402, and the screw locking machine 402 locks the screws 16 on the parts placed on the workbench 300;
and a control unit for controlling the feeding unit 100, the grabbing unit 200 and the screw locking unit 400 to act.
Further, as shown in fig. 5 to 13, the dislocation unit 102 includes a dislocation cylinder 103 and a slider 104, a clamping groove 105 for accommodating a part is formed in the slider 104, the dislocation cylinder 103 pushes the slider 104 to move, the slider 104 moves to a position where the clamping groove 105 corresponds to an outlet of the vibrator 106 of the vibration disk 101, and the part enters the clamping groove 105. Referring to fig. 5 to 11, due to irregular shapes of the parts, when the dislocation unit 102 is specifically arranged, the dislocation unit can realize positioning of the parts according to the fact that the parts are dislocated up and down (as shown in fig. 9), dislocated left, dislocated right, and the like; moreover, since the shapes of the respective parts are different, the shapes of the slider 104 and the card slot 105 may be different in a specific setting, 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 with a vibrator 106 of the vibration disc 101, the fourth part 14 on the vibrator 106 vibrates onto the ejection platform 108, the ejection cylinder 107 ejects the ejection platform 108 and the fourth part 14, so that the clamping groove 105 of the dislocation unit 102 is convenient to push out the fourth part 14.
Further, as shown in fig. 7 and 10, for the parts having the requirements of the front and back surfaces, for example, the third part 13 and the fourth part 14, in order to screen the parts having the errors on the front and back surfaces supplied by the vibration disc 101, a screening unit is disposed on one side of the dislocation unit 102, the screening unit includes a CCD camera 109 and a pushing portion, the pushing portion includes a pushing cylinder 110 and a pushing block 111, the CCD camera 109 photographs the parts, the control unit includes a storage unit and a processing unit, the storage unit stores standard photographs of the parts, the processing unit compares the photographs of the CCD camera 109 with the standard photographs, and determines whether the front and back surfaces of the parts are reversed, if the photographs are reversed, the control unit controls the pushing cylinder 110 to act, the pushing block 111 of the pushing cylinder 110 pushes the parts out, the parts may drop or slide into the receiving box through the slide rail 112, if the photographs are not reversed, the pushing cylinder 110 does not act, and the gripping unit 200 waits for gripping the parts.
Further, for the parts with grabbing angles, such as the third part 13 and the fourth part 14, because the external gear and the internal gear need to be matched with each other at a proper angle when assembled, in order to achieve the angle needed by the parts when assembled, 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 position the parts and avoid shifting the parts when the screw 16 is locked, as shown in fig. 16, the screw locking unit 400 further includes a positioning block 403 and a positioning cylinder 404 driving the positioning block 403 to move up and down, the positioning block 403 and the positioning cylinder 404 are disposed on the workbench 300, and when in operation, the positioning cylinder 404 drives the positioning block 403 to move until the positioning block 403 presses the parts placed on the workbench 300, so that the screw locking machine 402 is convenient for locking screws.
The table 300 is provided with a sliding table 301 that can slide along the table 300, for example, along the Y-axis direction of the table, and the positioning block 403 and the positioning cylinder 404 are both disposed 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 up and down, for example, along the X-axis direction and the Z-axis direction, in a preferred embodiment, the driving structure 405 may be a structure of a screw rod stepper motor and an air cylinder, wherein the screw rod stepper motor drives the screw locking machine 402 to move horizontally, the air cylinder drives the screw locking machine 402 to move up and down, when the screw 16 is locked, the screw rod stepper motor drives the screw locking machine 402 to a proper horizontal position first, then the air cylinder drives the screw locking machine 402 to move up and down to a proper position, the screw locking machine 402 locks the screw 16 on a component, and the screw locking machine 402 may be an electrically controlled screw locking machine 402 with stable torque force; the driving structure 405 is further provided with a picking and placing structure 406, the driving structure 405 drives the picking and placing structure 406 to move horizontally and vertically, the picking and placing structure 406 picks the assembled product 10 from the workbench 300, and the driving structure 405 drives the screw locking machine 402 and the picking and placing structure 406 simultaneously, so that the structure is simplified, and the cost is saved.
Still further, the automatic product assembling apparatus further includes a blanking track 500 and a collecting box 501, the blanking track 500 is disposed at one side of the screw locking unit 400, the collecting box 501 is connected with the blanking track 500, and the taking and placing structure 406 places the assembled product 10 into the blanking track 500.
In addition, the invention also provides an automatic product assembling method which is applied to the equipment, as shown in fig. 17, and comprises the following steps:
step S100: a plurality of feeding units 100 respectively provide respective parts;
step S200: the gripping units 200 grip the respective parts from the feeding unit 100, respectively;
Step S300: the gripping unit 200 places each gripped part on the table 300;
Step S400: the screw locking unit 400 locks the screw 16 to the part to complete the assembly of the product 10.
Further, since the gripping unit 200 is, for example, a three-jaw cylinder, when gripping the part, the grip 204 of the gripping unit 200 is easy to have one jaw contacting the part first and the other jaw contacting the part later, which causes the part to be concentric with the gripping unit 200, and the part is easy to change angle during gripping, the step S200 specifically includes the following steps for the part requiring accurate angle, so that the angle of the part is not changed before and after gripping:
step S201: the CDD camera 109 photographs the part before gripping;
Step S202: the gripping unit 200 grips the part;
Step S203: the grabbing unit 200 is used for placing the part, the CCD camera 109 is used for photographing the placed part, and comparing the photo before grabbing with the placed photo, so that the change of angles before grabbing and after grabbing can be obtained;
Step S204: according to the photo comparison result, the angle, the force and the like of the grabbing unit 200 are adjusted, so that the clamping hand 204 of the grabbing unit 200 is concentric with the part, and the grabbing unit 200 grabs the part again, so that the angle of the part before and after grabbing is unchanged, and grabbing is more accurate.
In summary, according to the automatic product assembling apparatus and method of the present invention, by providing the feeding unit 100, the grabbing unit 200, the workbench 300, the screw locking unit 400, the control unit, etc., 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, and the screw locking unit 400 locks the screw 16 on the part, thereby completing the automatic assembly of the product 10, replacing the manual operation mode, not only solving the problems of easy error in manual assembly and easy fatigue of the staff, but also improving the working efficiency.
Claims (6)
1. An automatic product assembling apparatus, the product having a plurality of parts, the automatic product assembling apparatus comprising:
the feeding units are respectively used for providing various parts and comprise a vibration disc and a dislocation unit, the vibration disc is used for sequencing the parts in a vibration mode, and the dislocation unit is used for enabling the parts to be fed out singly;
The grabbing unit is arranged around the plurality of feeding units and comprises 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 at one side of the grabbing unit, and the grabbing unit sequentially places the grabbed parts on the working table so as to assemble a plurality of parts together;
The screw locking unit is arranged on one side of the workbench and comprises a screw feeding machine and a screw locking machine, wherein the screw feeding machine provides screws for the screw locking machine, and the screw locking machine locks screws on parts placed on the workbench;
the control unit is used for controlling the actions of the feeding unit, the grabbing unit and the screw locking unit;
the dislocation unit comprises a dislocation cylinder and a sliding block, a clamping groove for accommodating a part 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 outlet of the vibrator, of the clamping groove, of the vibration disc, and the part enters the clamping groove;
The dislocation unit further comprises an ejection cylinder and an ejection platform, the ejection platform is connected with a direct vibrator of the vibration disc, a part on the direct vibrator vibrates to the ejection platform, the ejection cylinder ejects the ejection platform and the part, and a clamping groove of the dislocation unit is convenient to push out the part;
For parts with front and back requirements, a screening unit is arranged on one side of the dislocation unit, the screening unit comprises a CCD camera and a pushing part, the pushing part comprises a pushing cylinder and a pushing block, the CCD camera photographs the parts, the control unit comprises a storage unit and a processing unit, standard photographs of the parts are stored in the storage unit, the processing unit compares the photographed photographs of the CCD camera with the standard photographs, whether the parts are reversely placed or not is judged, and if so, the pushing block of the pushing part pushes the parts out;
The CCD camera photographs the part before grabbing and the part put down after grabbing, the processing unit compares the photo before grabbing with the photo put down after grabbing, and the control unit adjusts the grabbing unit according to the photo comparison result to enable the grabbing unit to be concentric with the part;
The grabbing device is used for grabbing parts with grabbing angles, a motor is connected to the grabbing structure, the motor rotates to drive the grabbing structure to rotate, and the angles of the parts are adjusted.
2. The automatic product assembling device according to 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 is conveniently locked by the screw locking machine.
3. The automatic product assembling apparatus according to claim 1 or 2, wherein the screw locking unit further comprises a driving structure for driving the screw locking machine to move horizontally and vertically, and a picking and placing structure is further arranged on the driving structure and used for picking and placing the assembled product from the workbench.
4. The automatic product assembling device according to claim 1, further comprising a blanking rail and a collecting box, wherein the blanking rail is arranged on one side of the screw locking unit, the collecting box is connected with the blanking rail, and the taking and placing structure places the product after assembly into the blanking rail.
5. A method of automatic assembly of a product, for use in an apparatus according to any one of claims 1 to 4, the method comprising:
(1) A plurality of feeding units respectively providing each part;
(2) The grabbing units grab all parts from the feeding units respectively;
(3) The grabbing unit places each grabbed part on a workbench;
(4) And the screw locking unit locks screws on the parts to complete the assembly of the product.
6. The automatic product assembling method according to claim 5, wherein in the step (2), the parts requiring precision for angles include the steps of:
(2-1) the CDD camera taking a photograph of the part before gripping;
(2-2) the gripping unit gripping the part;
(2-3) the grabbing unit puts down the part, the CCD camera photographs the put down part, and compares the photo before grabbing with the photo put down;
(2-4) adjusting the grabbing unit according to the photo comparison result, and grabbing the part again by the grabbing unit.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910797136.2A CN112440104B (en) | 2019-08-27 | 2019-08-27 | Automatic product assembling equipment and method |
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|---|---|---|---|
| CN201910797136.2A CN112440104B (en) | 2019-08-27 | 2019-08-27 | Automatic product assembling equipment and method |
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| CN112440104A CN112440104A (en) | 2021-03-05 |
| CN112440104B true CN112440104B (en) | 2024-05-14 |
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