CN112935795A - Mechanical arm multi-station cooperation automatic feeding device - Google Patents
Mechanical arm multi-station cooperation automatic feeding device Download PDFInfo
- Publication number
- CN112935795A CN112935795A CN202110167359.8A CN202110167359A CN112935795A CN 112935795 A CN112935795 A CN 112935795A CN 202110167359 A CN202110167359 A CN 202110167359A CN 112935795 A CN112935795 A CN 112935795A
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- Prior art keywords
- mechanical arm
- compressor
- chassis
- arm
- nut screwing
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- 239000000463 material Substances 0.000 claims description 33
- 230000002265 prevention Effects 0.000 claims description 3
- 206010020649 Hyperkeratosis Diseases 0.000 claims 1
- 238000000034 method Methods 0.000 description 5
- 230000000007 visual effect Effects 0.000 description 3
- 238000007599 discharging Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000007704 transition Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 239000006260 foam Substances 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000006386 memory function Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
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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
- B23P21/004—Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with programme control the units passing two or more work-stations whilst being composed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/001—Article feeders for assembling machines
- B23P19/007—Picking-up and placing mechanisms
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Automatic Assembly (AREA)
Abstract
The invention discloses a mechanical arm multi-station cooperation automatic feeding device, which is used for automatic feeding assembly of a heat pump outdoor unit and comprises an upper chassis mechanical arm (1), an upper foot pad mechanical arm (4), an upper compressor mechanical arm (6), a one-nut screwing mechanical arm (8) and a two-nut screwing mechanical arm (9), wherein the upper chassis mechanical arm (1), the upper foot pad mechanical arm (4) and the upper compressor mechanical arm (6) respectively comprise corresponding mechanical arm bodies and clamps connected through a flange plate, and the one-nut screwing mechanical arm (8) and the two-nut screwing mechanical arm (9) respectively comprise corresponding mechanical arm bodies and electric guns fixed on the flange plate; the workpiece conveying belt (5) conveys workpieces from the upper chassis mechanical arm (1), the upper foot pad mechanical arm (4), the upper compressor mechanical arm (6) and the one-nut screwing mechanical arm (8) to the two-nut screwing mechanical arm (9) in sequence, and the corresponding mechanical arm bodies complete feeding and assembling through the clamp and the electric gun. The invention improves the precision, increases the stroke and prevents interference.
Description
Technical Field
The invention relates to the technical field of automatic feeding, in particular to a mechanical arm multi-station cooperation automatic feeding device.
Background
Traditional arm material loading automation line, the mechanical position that its work piece was put is all fixed, and the skew error of allowability is very little, and the clamping jaw just can't snatch a bit slightly more to the skew. The main reasons are that: firstly, because the arrangement of some workpieces is dense, the stroke of the clamping jaw is relatively small, and if the arrangement position deviation of the workpieces is too large, the clamping jaw of the mechanical arm cannot accurately clamp the workpieces and can collide; secondly, because some work pieces are put into the tool carrier, the placing positions of the work pieces are random, and if the stroke of the clamping jaw is not long enough, the work pieces can not be accurately grabbed. Based on the technical problems, the automatic feeding of the mechanical arm in the prior art still has great limitation, and the requirement of modern production cannot be met.
Disclosure of Invention
In view of this, the invention aims to provide a mechanical arm multi-station cooperation automatic feeding device adopting a multi-station design and a vision system, which improves the precision and prevents interference.
The technical scheme provided by the invention is that the mechanical arm multi-station cooperation automatic feeding device with the following structure is provided and is used for automatic feeding and assembling of a heat pump outdoor unit, and the mechanical arm multi-station cooperation automatic feeding device comprises an upper chassis mechanical arm, an upper foot pad mechanical arm, an upper compressor mechanical arm, a one-nut screwing mechanical arm and a two-nut screwing mechanical arm, wherein the upper chassis mechanical arm, the upper foot pad mechanical arm and the upper compressor mechanical arm respectively comprise corresponding mechanical arm bodies and clamps connected through flange plates, and the one-nut screwing mechanical arm and the two-nut screwing mechanical arm respectively comprise corresponding mechanical arm bodies and electric guns fixed on the flange plates; the workpiece conveying belt conveys workpieces from the upper chassis mechanical arm, the upper foot pad mechanical arm, the upper compressor mechanical arm and the one-nut screwing mechanical arm to the two-nut screwing mechanical arm in sequence, and the corresponding mechanical arm bodies complete feeding and assembling through the clamp and the electric gun.
Optionally, the anchor clamps of going up chassis arm include tank chain, eccentric telescoping cylinder, chassis centre gripping jar and turn-ups jar and constitute, and wherein the tank chain is used for walking the line, and eccentric telescoping cylinder brings the chassis centre gripping jar into chassis frock car when stretching out in to snatch in proper order the chassis in the chassis frock car, the turn-ups jar stretches out to catch the landing that the chassis prevention arouses because of the motion.
Optionally, a visual positioning system is arranged on the upper compressor mechanical arm, the clamp of the upper compressor mechanical arm comprises a model changing cylinder and a compressor clamping cylinder, the compressor clamping cylinder is arranged on the model changing cylinder, and the model changing cylinder controls the stroke of the compressor clamping cylinder by moving up and down to clamp different upper compressors.
Optionally, the upper compressor mechanical arm drives the clamp to move to a material taking and photographing position, an industrial camera in the camera box photographs a compressor material pile and compares the photographed compressor material pile with a standard library, and a compressor deviation value is sent to the upper compressor mechanical arm so as to correct the position of the upper compressor mechanical arm, so that the compressor clamping cylinder can accurately grab the upper compressor.
Optionally, before the upper chassis mechanical arm, the upper foot pad mechanical arm and the upper compressor mechanical arm start working, whether a material exists on the corresponding clamp or not needs to be checked, if no material exists, the corresponding mechanical arm body drives the clamp to return to an original position, if a material exists, the material is firstly put back, and the material is loaded and assembled when the workpiece is conveyed to the corresponding station.
Compared with the prior art, the invention has the following advantages: according to the design scheme, a visual positioning system is introduced, an industrial camera is arranged on a mechanical arm clamping jaw, the industrial camera runs above a workpiece to take a picture, the accurate position of the actual workpiece can be identified, the difference is made by comparing the accurate position with the workpiece coordinate of a standard position in the system, the obtained deviation value is transmitted to the mechanical arm to correct the position, and the workpiece is accurately grabbed; secondly the upper chassis clamping jaw of this scheme designs for the combination of eccentric jar and centre gripping jar, can increase and snatch the stroke, has eliminated the influence of locating position.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a mechanical schematic of the upper chassis robot arm clamp of the present invention;
FIG. 3 is a flow chart of the automatic control of the present invention;
the machine comprises an upper chassis mechanical arm 1, a left chassis tooling vehicle 2, a right chassis tooling vehicle 3, an upper foot pad mechanical arm 4, a workpiece conveying belt 5, an upper compressor mechanical arm 6, a nut vibrating disk I and 8, a nut screwing mechanical arm 9, a nut screwing mechanical arm 10, a nut vibrating disk II and 11, a tank chain 12, an eccentric telescopic cylinder 13, a chassis clamping cylinder 14 and a flanging cylinder.
Detailed Description
Preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings, but the present invention is not limited to only these embodiments. The invention is intended to cover alternatives, modifications, equivalents and alternatives which may be included within the spirit and scope of the invention.
In the following description of the preferred embodiments of the present invention, specific details are set forth in order to provide a thorough understanding of the present invention, and it will be apparent to those skilled in the art that the present invention may be practiced without these specific details.
The invention is described in more detail in the following paragraphs by way of example with reference to the accompanying drawings. It should be noted that the drawings are in simplified form and are not to precise scale, which is only used for convenience and clarity to assist in describing the embodiments of the present invention.
As shown in fig. 1, the mechanical arm multi-station cooperation automatic feeding device is used for automatic feeding assembly of a heat pump outdoor unit, and comprises an upper chassis mechanical arm 1, an upper foot pad mechanical arm 4, an upper compressor mechanical arm 6, a one-nut-screwing mechanical arm 8 and a two-nut-screwing mechanical arm 9, wherein the upper chassis mechanical arm 1, the upper foot pad mechanical arm 4 and the upper compressor mechanical arm 6 respectively comprise corresponding mechanical arm bodies and clamps connected through flange plates, and the one-nut-screwing mechanical arm 8 and the two-nut-screwing mechanical arm 9 respectively comprise corresponding mechanical arm bodies and electric guns fixed on the flange plates; the workpiece conveying belt 5 conveys workpieces from the upper chassis mechanical arm 1, the upper foot pad mechanical arm 4, the upper compressor mechanical arm 6 and the one-nut screwing mechanical arm 8 to the two-nut screwing mechanical arm 9 in sequence, and the corresponding mechanical arm bodies complete feeding and assembling through the clamp and the electric gun.
Go up anchor clamps of chassis arm 1 and include tank chain 11, eccentric telescoping cylinder 12, chassis centre gripping jar 13 and turn-ups jar 14 and constitute, wherein tank chain 11 is used for walking the line, and eccentric telescoping cylinder 12 brings chassis centre gripping jar 13 into in the chassis frock car when stretching out to snatch in proper order to the chassis in the chassis frock car, turn-ups jar 14 stretches out to catch the landing that the chassis prevention arouses because of the motion.
The upper compressor mechanical arm 6 is provided with a visual positioning system, the clamp of the upper compressor mechanical arm 6 comprises a model changing cylinder and a compressor clamping cylinder, the compressor clamping cylinder is arranged on the model changing cylinder, the model changing cylinder controls the stroke of the compressor clamping cylinder by moving up and down, and different upper compressors are clamped.
Go up compressor arm 6 and take anchor clamps to move to getting the material and shoot the position, the industry camera in the camera box shoots the compressor stockpile and contrasts with the standard storehouse, sends the compressor deviant for last compressor arm to carry out the position to last compressor arm and revise, make compressor centre gripping jar can accurately snatch the compressor.
Before the upper chassis mechanical arm 1, the upper foot pad mechanical arm 4 and the upper compressor mechanical arm 6 start working, whether materials exist on corresponding fixtures or not needs to be checked, if the materials do not exist, the corresponding mechanical arm body drives the fixtures to return to the original positions, if the materials exist, the materials are firstly put back, and the workpieces are fed and assembled when being transmitted to corresponding stations.
The invention realizes the multi-station cooperative feeding of the mechanical arm to finish the automatic assembly of the workpiece. As shown in fig. 1, the front loading automatic assembly line has five loading arms. The specific implementation will be described in detail with reference to the upper chassis clamp of fig. 2 and the control flow shown in fig. 3. The first station is an upper chassis, and when the robot arm is in an automatic mode, the automatic operation program judges whether the clamp is filled or not, as shown in fig. 2, the clamp of the robot arm of the upper chassis is provided. If the clamp has materials, the automatic program directly jumps to the discharging program, the mechanical arm drives the clamp to move to a discharging transition position, the flanging cylinder 14 retracts firstly, then the chassis clamping cylinder 13 works and extends out, and at the moment, the chassis is loosened and placed into bottom support foam on the wire body. If no material is judged on the clamp, the original point program is executed first, and the mechanical arm is ensured not to collide. And then executing a counting judgment program, wherein each chassis in the chassis tooling vehicles 2 and 3 corresponds to a unique number N, the mechanical arm controller has a memory function, and the number 1 is added after one chassis is grabbed. The mechanical arm drives the clamp to firstly move to a material taking transition position, then the eccentric telescopic cylinder 12 extends out, the chassis clamping cylinder 13 also extends out, then the clamp moves downwards to a grabbing position, the chassis clamping cylinder 13 retracts, the chassis is locked in the clamping cylinder, the flanging cylinder 14 works, the chassis is caught to prevent loosening, the eccentric telescopic cylinder 12 retracts, and the material placing process is executed.
After the chassis feeding is completed, the workpiece reaches the foot pad mechanical arm 4 along with the conveying belt 5, whether the clamp is fed or not is judged firstly similarly to the chassis feeding mechanical arm 1, the feeding procedure is directly executed when the clamp is fed, the material is taken when the clamp is not fed, the position of the foot pad is fixed and is not counted, and the procedure is relatively simple. After the foot pad is loaded, the workpiece is conveyed to the upper compressor mechanical arm 6 along with the conveying belt. After the upper compressor station detects that the workpiece is in place, the mechanical arm firstly carries out clamping material-free judgment, and under the condition of no material, the mechanical arm firstly returns to the original point to execute a counting judgment program. The left and right sides of the compressor material pile are placed in an S-shaped mode, so that two teaching positions are required to be arranged on each side, and the rear position is obtained by offsetting an accurate distance. The compressor arm 6 takes anchor clamps to move to getting the material and shoot the position, and the camera in the camera box shoots the contrast to the compressor stockpile, sends the compressor deviant for the arm, and then the arm carries out the position correction for the compressor centre gripping jar can accurately snatch the compressor. The nut screwing station is provided with two mechanical arms, a pair of electric guns for screwing nuts are arranged at the flange plate, the mechanical structures of the two mechanical arms and the electric guns are the same, the difference is that one nut screwing mechanical arm 8 only screws one nut on the inner side, and two nuts on the outer side need to be screwed by the two nut screwing mechanical arms 9. The process is that a nut mechanical arm 8 drives an electric gun to move to a nut vibration disc 7 to take a material level, the electric gun is turned on and rotated for one second to take the material, the mechanical arm is turned to take the material level after the time is up, the mechanical arm stops for 0.5 second to prevent the vibration after the material level is reached, and the electric gun rotates to screw the nut on the stud. The action flow of the two-nut screwing mechanical arm 9 is basically similar to that of the one-nut screwing mechanical arm 8, and the difference is that after the first nut on the outer side is screwed, the material needs to be taken again, and the second nut on the outer side is screwed, so that a material discharging completion signal can be sent.
Although the embodiments have been described and illustrated separately, it will be apparent to those skilled in the art that some common techniques may be substituted and integrated between the embodiments, and reference may be made to one of the embodiments not explicitly described, or to another embodiment described.
The foregoing is illustrative of the preferred embodiments of the present invention only and is not to be construed as limiting the claims. The present invention is not limited to the above embodiments, and the specific structure thereof is allowed to vary. In general, all changes which come within the scope of the invention as defined by the independent claims are intended to be embraced therein.
Claims (5)
1. The utility model provides an automatic loading attachment of arm multistation cooperation for the automatic feeding equipment of outer machine of heat pump, its characterized in that: the electric gun assembling machine comprises an upper chassis mechanical arm (1), an upper foot pad mechanical arm (4), an upper compressor mechanical arm (6), a one-nut screwing mechanical arm (8) and a two-nut screwing mechanical arm (9), wherein the upper chassis mechanical arm (1), the upper foot pad mechanical arm (4) and the upper compressor mechanical arm (6) respectively comprise corresponding mechanical arm bodies and clamps connected through a flange plate, and the one-nut screwing mechanical arm (8) and the two-nut screwing mechanical arm (9) respectively comprise corresponding mechanical arm bodies and electric guns fixed on the flange plate; the workpiece conveying belt (5) conveys workpieces from the upper chassis mechanical arm (1), the upper foot pad mechanical arm (4), the upper compressor mechanical arm (6) and the one-nut screwing mechanical arm (8) to the two-nut screwing mechanical arm (9) in sequence, and the corresponding mechanical arm bodies complete feeding and assembling through the clamp and the electric gun.
2. The robotic arm multi-station cooperative automated feeding device of claim 1, wherein: go up anchor clamps of chassis arm (1) and include tank chain (11), eccentric telescoping cylinder (12), chassis centre gripping jar (13) and turn-ups jar (14) and constitute, wherein tank chain (11) are used for walking the line, and eccentric telescoping cylinder (12) bring chassis centre gripping jar (13) into in the chassis frock car when stretching out to snatch in proper order to the chassis in the chassis frock car, turn-ups jar (14) are stretched out to catch the landing that the chassis prevention arouses because of the motion.
3. The robotic arm multi-station cooperative automated feeding device of claim 2, wherein: the vision positioning system is arranged on the upper compressor mechanical arm (6), the clamp of the upper compressor mechanical arm (6) comprises a model changing cylinder and a compressor clamping cylinder, the compressor clamping cylinder is arranged on the model changing cylinder, the model changing cylinder controls the stroke of the compressor clamping cylinder by moving up and down, and different upper compressors are clamped.
4. The mechanical arm multi-station cooperative automatic feeding device as claimed in claim 3, wherein: go up compressor arm (6) and take anchor clamps to move to getting and expect the position of shooing, the industry camera in the camera box shoots the compressor stockpile and contrasts with the standard storehouse, sends the compressor deviant for last compressor arm to carry out position correction to last compressor arm, make compressor centre gripping jar can accurately snatch the compressor.
5. The mechanical arm multi-station cooperative automatic feeding device as claimed in claim 2 or 3, wherein: go up chassis arm (1), go up callus on the sole arm (4) and go up compressor arm (6) before beginning work, all need to inspect whether have the material on the corresponding anchor clamps, if do not have the material, corresponding arm body takes anchor clamps to get back to primary importance, if have the material, the material is put back earlier to carry out material loading and assembly when the work piece transmits to corresponding station.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110167359.8A CN112935795A (en) | 2021-02-07 | 2021-02-07 | Mechanical arm multi-station cooperation automatic feeding device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110167359.8A CN112935795A (en) | 2021-02-07 | 2021-02-07 | Mechanical arm multi-station cooperation automatic feeding device |
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| Publication Number | Publication Date |
|---|---|
| CN112935795A true CN112935795A (en) | 2021-06-11 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110167359.8A Pending CN112935795A (en) | 2021-02-07 | 2021-02-07 | Mechanical arm multi-station cooperation automatic feeding device |
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Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103935758A (en) * | 2014-02-21 | 2014-07-23 | 珠海格力电器股份有限公司 | Device for carrying compressor onto assembly line |
| CN106031989A (en) * | 2015-03-11 | 2016-10-19 | 浙江易锋机械有限公司 | An automatic loading and unloading mechanism for automobile air conditioner compressor pistons |
| JP2017001125A (en) * | 2015-06-09 | 2017-01-05 | しげる工業株式会社 | Automatic screw fastening device |
| CN110587302A (en) * | 2019-10-17 | 2019-12-20 | 中船重工鹏力（南京）智能装备系统有限公司 | Automatic assembly production line for automotive air conditioning compressor movable fixed plate |
| CN209954169U (en) * | 2019-04-18 | 2020-01-17 | 青岛海启星自动化科技股份有限公司 | Automatic wire feeding device and production line |
| CN210362185U (en) * | 2019-05-20 | 2020-04-21 | 江阴名旭模塑有限公司 | Automatic production equipment for automobile injection molding parts |
| CN212049382U (en) * | 2019-12-31 | 2020-12-01 | 斯德拉马机械(太仓)有限公司 | ECU assembly station capable of realizing eccentric overturning of product |
-
2021
- 2021-02-07 CN CN202110167359.8A patent/CN112935795A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103935758A (en) * | 2014-02-21 | 2014-07-23 | 珠海格力电器股份有限公司 | Device for carrying compressor onto assembly line |
| CN106031989A (en) * | 2015-03-11 | 2016-10-19 | 浙江易锋机械有限公司 | An automatic loading and unloading mechanism for automobile air conditioner compressor pistons |
| JP2017001125A (en) * | 2015-06-09 | 2017-01-05 | しげる工業株式会社 | Automatic screw fastening device |
| CN209954169U (en) * | 2019-04-18 | 2020-01-17 | 青岛海启星自动化科技股份有限公司 | Automatic wire feeding device and production line |
| CN210362185U (en) * | 2019-05-20 | 2020-04-21 | 江阴名旭模塑有限公司 | Automatic production equipment for automobile injection molding parts |
| CN110587302A (en) * | 2019-10-17 | 2019-12-20 | 中船重工鹏力（南京）智能装备系统有限公司 | Automatic assembly production line for automotive air conditioning compressor movable fixed plate |
| CN212049382U (en) * | 2019-12-31 | 2020-12-01 | 斯德拉马机械(太仓)有限公司 | ECU assembly station capable of realizing eccentric overturning of product |
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| PB01 | Publication | ||
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| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20210611 |
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| RJ01 | Rejection of invention patent application after publication |