CN113042986A - Intelligent assembling system - Google Patents
Intelligent assembling system Download PDFInfo
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- CN113042986A CN113042986A CN201911372192.8A CN201911372192A CN113042986A CN 113042986 A CN113042986 A CN 113042986A CN 201911372192 A CN201911372192 A CN 201911372192A CN 113042986 A CN113042986 A CN 113042986A
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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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Abstract
An intelligent assembly system comprises a composite robot, a sorting platform, a positioning platform and an assembly platform, wherein the sorting platform comprises a sorting robot and a vibrating disc, the positioning platform comprises a positioning assembly, and the assembly platform comprises an assembly robot and an assembly fixing platform; the composite robot is used for picking up parts and placing the parts into the vibration disc, the sorting robot is used for taking out the parts in the vibration disc and placing the parts on the positioning assembly, and the assembling robot is used for taking out the parts on the positioning assembly and placing the parts on the assembling fixing table for assembling. Therefore, the intelligent assembling system can improve the sorting speed by sorting after dispersion. After sorting, positioning is carried out, and after positioning, assembly is carried out after part identification, so that the assembly speed is effectively improved. The intelligent assembly system automatically finishes the assembly process by mutually linking the steps of picking, dispersing, sorting, positioning, identifying and assembling the parts, thereby effectively improving the assembly efficiency.
Description
Technical Field
The invention relates to the technical field of automatic intelligent assembly, in particular to an intelligent assembly system.
Background
Along with the promotion of industrial process development and automation level, the kind of speed reducer is more and more, and the application demand is bigger and bigger, but speed reducer assembly requires the precision height, and the assembly degree of difficulty is big, especially speed reducer gear assembly. Most of the existing assembly is finished manually, and the speed reducer finished manually has low assembly efficiency, high difficulty, low precision, poor reliability and severe working environment. The existing speed reducer assembling equipment is low in assembling efficiency and cannot meet the requirements of the existing speed reducer market on yield and quality.
Disclosure of Invention
In view of this, it is necessary to provide an intelligent assembling system with high assembling efficiency.
An intelligent assembly system comprises a composite robot, a sorting platform, a positioning platform and an assembly platform, wherein the sorting platform comprises a sorting robot and a vibrating disc, the positioning platform comprises a positioning assembly, and the assembly platform comprises an assembly robot and an assembly fixing platform;
the composite robot is used for picking up parts and placing the parts in the vibration disc, the sorting robot is used for taking out the parts in the vibration disc and placing the parts on the positioning component, and the assembling robot is used for taking out the parts on the positioning component and placing the parts on the assembling and fixing table for assembling.
In one embodiment, the sorting platform further comprises a camera frame and a camera, the camera is arranged on the camera frame, and the camera is arranged above the vibrating disk.
In one embodiment, the sorting robot comprises a sorting arm and a first electric clamping jaw, the first electric clamping jaw is fixedly arranged at one end of the sorting arm, and the first electric clamping jaw is detachable relative to the sorting arm.
In one embodiment, the positioning assembly includes a gear positioning stage, a cover positioning stage, and a housing positioning stage.
In one embodiment, the gear positioning table positions the part by pneumatically pushing the clamp.
In one embodiment, the gear positioning table comprises a gear cylinder, a gear fixing seat and a gear sliding seat, the gear fixing seat and the gear sliding seat are arranged oppositely, the gear sliding seat is fixedly connected with the driving end of the gear cylinder, and the gear cylinder is used for pushing the gear sliding seat to move towards the gear fixing seat so as to clamp a gear.
In one embodiment, the upper cover positioning table realizes part positioning through a chamfering mode.
In one embodiment, the upper cover positioning table is internally provided with a positioning groove, and the edge of the groove is provided with a chamfer.
In one embodiment, the housing positioning table positions the part by pneumatically pushing the clamp.
In one embodiment, the shell positioning table comprises a shell cylinder, a shell fixing seat and a shell movable seat, the shell fixing seat and the shell movable seat are arranged oppositely, the shell movable seat is connected with the driving end of the shell positioning cylinder, and the shell positioning cylinder is used for pushing the shell movable seat to move towards the direction close to the shell fixing seat so as to clamp the shell.
In one embodiment, the assembly robot comprises an assembly arm and a vision clamping jaw, wherein the vision clamping jaw is fixedly arranged at one end of the assembly arm, and the vision clamping jaw is detachable relative to the assembly arm.
In one embodiment, the vision clamping jaw comprises a second electric clamping jaw, a torque sensor, a vision flange, a camera assembly and a light source assembly, wherein the vision flange is fixedly connected with the tail end of the assembling arm, the torque sensor is fixed on the vision flange, the second electric clamping jaw is fixedly connected with the torque sensor, the camera assembly is fixedly connected with the vision flange, and the light source assembly is fixedly connected with the camera assembly.
In one embodiment, the automatic sorting machine further comprises a base, and the sorting robot, the vibration disc, the positioning assembly, the assembling robot and the assembling fixed table are all arranged on the base.
Above-mentioned intelligence assembly system, compound robot picks up the part and puts the part in the vibration dish, and the vibration dish is through the vibration with the part dispersion. The sorting robot is used for sorting the dispersed parts in the vibration disc and placing the parts on the positioning assembly of the positioning platform for positioning. And the assembly robot identifies the parts on the positioning assembly and takes out the parts to be placed on the assembly fixing table for assembly. Therefore, the intelligent assembling system can improve the sorting speed by sorting after dispersion, positions after sorting, and then assembles through part identification after positioning, thereby effectively improving the assembling speed. Therefore, the intelligent assembly system can automatically complete the assembly process by mutually linking the steps of picking, dispersing, sorting, positioning, identifying and assembling the parts, thereby effectively improving the assembly efficiency.
In addition, above-mentioned intelligent assembly system, the vibration dish can carry out effective dispersion with the part through the vibration. Because the dispersion treatment has been carried out between each spare part, the interval between each spare part is great, when the spare part in the sorting machine people letter sorting vibration dish, can effectively provide the letter sorting speed of letter sorting machine people to assembly efficiency.
Drawings
FIG. 1 is a schematic diagram of an embodiment of an intelligent assembly system;
FIG. 2 is a schematic structural view of the sorting assembly platform shown in FIG. 1;
FIG. 3 is a schematic structural diagram of a positioning stage according to an embodiment;
fig. 4 is a schematic structural view of a vision jaw of an embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more clear, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. The fixed connection in the present invention includes direct fixed connection and indirect fixed connection.
As shown in fig. 1 and 2, an intelligent assembling system of an embodiment includes a compound robot 2, a sorting platform 3, a positioning platform 4, and an assembling platform 5. The sorting platform 3 comprises a sorting robot and a vibratory pan 301. The positioning platform 4 comprises a positioning assembly. The assembly platform 5 includes an assembly robot and an assembly fixture 503.
The composite robot 2 is used for picking up parts and placing the parts into the vibration disc 301, the sorting robot is used for taking out the parts in the vibration disc 301 and placing the parts on the positioning component, and the assembly robot is used for identifying the parts on the positioning component, taking out the parts and placing the parts on the assembly fixing table 503 for assembly.
In the intelligent assembling system, the composite robot 2 picks up the parts and places the parts in the vibration disc 301, and the vibration disc 301 disperses the parts through vibration. The sorting robot is used for sorting the dispersed parts in the vibration disc 301 and placing the parts on the positioning components of the positioning platform 4 for positioning. The assembly robot recognizes the parts on the positioning assembly and takes out and places the parts on the assembly fixing table 503 for assembly. Therefore, the intelligent assembling system can improve the sorting speed by sorting after dispersion, positions after sorting, and then assembles through part identification after positioning, thereby effectively improving the assembling speed. Therefore, the intelligent assembly system can automatically complete the assembly process by mutually linking the steps of picking, dispersing, sorting, positioning, identifying and assembling the parts, thereby effectively improving the assembly efficiency.
In addition, in the intelligent assembling system, the vibration plate 301 can effectively disperse parts through vibration. Because the dispersion treatment has been carried out between each spare part, the interval between each spare part is great, when the spare part in the sorting machine people letter sorting vibration dish 301, can effectively improve the letter sorting speed of sorting machine people to assembly efficiency.
The intelligent assembling system further comprises a controller, and the compound robot 2, the sorting robot and the assembling robot are respectively connected with the controller. The controller is used for controlling the compound robot 2, the sorting robot and the assembling robot to act cooperatively.
Referring to fig. 2, in one embodiment, the sorting platform 3 further includes a camera frame 302 and a camera, the camera is disposed on the camera frame 302, and the camera is disposed above the vibrating plate 301. Specifically, the camera is a three-dimensional camera 305. The camera 302 is used to identify the position of the parts in the vibratory pan 301 for precise sorting by the sorting robot. Specifically, camera 302 and controller are connected, and camera 302 sends the positional information of part to the controller, and the controller is according to the positional information of part, and control letter sorting robot carries out accurate letter sorting to improve letter sorting efficiency.
In one embodiment, the sorting robot includes a sorting arm 304 and a first motorized gripper 303, the first motorized gripper 303 is fixedly disposed at one end of the sorting arm 304, and the first motorized gripper 303 is detachable with respect to the sorting arm 304.
In one embodiment, the positioning assembly includes more than two part positioning tables.
Specifically, when the intelligent assembling system is used for assembling a speed reducer, the positioning assembly comprises a gear positioning table 401, an upper cover positioning table 402 and a shell positioning table 403.
Further, the gear positioning table 401 positions the parts by pneumatically pushing the clamps. Specifically, referring to fig. 3, the gear positioning table 401 includes a gear cylinder 408, a gear fixing seat 409 and a gear moving seat 407. The gear fixing seat 409 and the gear movable seat 407 are arranged oppositely, the gear movable seat 407 is fixedly connected with the driving end of the gear cylinder 408, and the gear cylinder 408 is used for pushing the gear movable seat 407 to move towards the gear fixing seat 409 so as to clamp a gear. Specifically, the gear fixing seat 409 is fixed on the base 6, and the gear cylinder 408 is fixed with the base 6. After the gear is placed in the middle of the gear positioning table 401, the gear cylinder 408 pushes the gear movable seat 407 to move, so as to clamp the gear, thereby fixing the gear.
Further, the upper cover positioning table 402 realizes the positioning of the parts by a chamfering method. Specifically, referring to fig. 3, a positioning groove is formed in the upper cover positioning table 402, a chamfer is formed on the edge of the positioning groove, and the gear slides into the positioning groove by gravity to realize the positioning of the upper cover.
Further, the housing positioning table 403 positions the parts by pneumatically pushing the clamps. Specifically, referring to fig. 3, the housing positioning table 403 includes a housing cylinder 404, a housing fixing seat 406, and a housing movable seat 405, the housing fixing seat 406 and the housing movable seat 405 are disposed opposite to each other, the housing movable seat 405 is connected to a driving end of the housing positioning cylinder 404, and the housing positioning cylinder 404 is configured to push the housing movable seat 405 to move toward a direction close to the housing fixing seat 406, so as to clamp the housing. Specifically, the housing fixing seat 406 is fixed on the base 6, and the housing positioning cylinder 404 is fixed to the base 6. After the housing is placed in the middle of the housing positioning table 403, the housing positioning cylinder 404 pushes the housing movable seat 405 to move towards the direction close to the gear fixing seat 406, so as to clamp the housing, thereby fixing the housing.
In one embodiment, the assembly robot includes an assembly arm 501 and a vision gripper 502. Specifically, referring to fig. 4, the vision gripper includes a second motorized gripper 504, a torque sensor 506, a vision flange 507, a camera assembly, and a light source assembly. The vision flange 507 is fixedly connected with the tail end of the assembling arm 501, the torque sensor 506 is fixed on the vision flange 507, the second electric clamping jaw 504 is fixedly connected with the torque sensor 506, the camera component is fixedly connected with the vision flange 507, and the light source component is fixedly connected with the camera component. Further, in the above-mentioned case,
the vision gripper also includes a gripper plate 505, a housing 508, and a trace joint 509. The camera assembly includes two camera fixing plates 510 and a camera 511. The light source assembly comprises two light source plates 512 and light sources 513. Specifically, a torque sensor 506 is fixed to a visual flange 507, a jaw plate 505 is fixed to the front end of the torque sensor 506, and a second electric jaw 504 is fixed to the jaw plate 505. The two camera fixing plates 510 are fixed to the vision flange 507, the camera 511 is fixed to the two camera fixing plates 510, the upper ends of the two light source plates 512 are fixed to the camera fixing plates 510, and the light sources 513 are fixed to the lower ends of the light source plates 512.
The vision gripper 502 is fixedly arranged at one end of the assembly arm 501, and the vision gripper 502 is detachable relative to the assembly arm 501. The assembly robot recognizes the position of the part on the positioning platform 4 by the vision gripper 502 and then assembles the part using the vision gripper 502.
In one embodiment, the intelligent mounting system further comprises a base 6. The sorting robot, the vibration disc 301, the positioning assembly, the assembly robot and the assembly fixing table 503 are all arranged on the base 6.
Specifically, the vibration plate 301 is fixed to the base 6 by bolts. The camera frame 302 and the sorting robot are fixedly connected with the upper surface of the base 6, and the three-dimensional camera 305 is fixed on the camera frame 302 through bolts and is positioned right above the vibrating disk 301.
Specifically, the gear positioning table 401, the upper cover positioning table 402 and the housing positioning table 403 are all fixedly connected with the base 6 through bolts.
Specifically, the assembly robot and the assembly fixing table 503 are fixedly connected to the base 6.
The intelligent assembling system can be used for assembling the speed reducer. The work flow of the intelligent assembly system for assembling the speed reducer is that a person controls the system to open through the display screen 601 on the base 6, the composite robot 2 firstly picks up the speed reducer part tray on the shelf 1 through the arm and transports the speed reducer part tray to the position near the base 6, and then the speed reducer part tray is dumped into the vibration disc 301 through the arm. The vibration disc 301 vibrates and disperses the parts, then the three-dimensional camera 305 recognizes the speed reducer parts in the vibration disc 301, and the first electric clamping jaw 303 at the tail end of the sorting robot takes out the parts and puts the parts on the positioning platform 4. Three kinds of parts inside the speed reducer are placed in the positioning platform 4 through a sorting robot, the upper cover positioning table 402 is positioned in a chamfering mode, and the gear positioning table 401 and the shell positioning table 403 are pneumatically pushed and clamped to position the parts. After the positioning platform 4 positions the part, the assembly robot identifies the position of the speed reducer part of the positioning platform 4 through the vision clamping jaw 502, and then the gear and the upper cover are assembled in the speed reducer by the vision clamping jaw 502 to realize the assembly of the speed reducer part. And finally, the composite robot 2 puts the assembled speed reducer into a tray on the vehicle, transports the speed reducer to the goods shelf 1, and puts the speed reducer on the goods shelf 1 to finish the automatic assembly process of the speed reducer. 1
Above-mentioned machine intelligence assembly system adopts compound robot 2, letter sorting platform 3, positioning platform 4 and assembly platform 5 to combine together, then through the signal transmission between the robot, and whole system utilizes vision letter sorting, and visual positioning reaches high accuracy robot and realizes automatic assembly, has high accuracy, high adaptability, advantage such as security height. The problems of low assembly efficiency, poor quality, poor safety and poor adaptability of the existing speed reducer are well solved. And can adapt to the automatic assembly of different speed reducers fast through reforming transform anchor clamps, improve quick-witted intelligent assembly system's adaptability.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (13)
1. The intelligent assembling system is characterized by comprising a composite robot, a sorting platform, a positioning platform and an assembling platform, wherein the sorting platform comprises a sorting robot and a vibrating disc, the positioning platform comprises a positioning assembly, and the assembling platform comprises an assembling robot and an assembling fixing platform;
the composite robot is used for picking up parts and placing the parts in the vibration disc, the sorting robot is used for taking out the parts in the vibration disc and placing the parts on the positioning component, and the assembling robot is used for taking out the parts on the positioning component and placing the parts on the assembling and fixing table for assembling.
2. The intelligent assembly system of claim 1, wherein the sorting platform further comprises a camera rack and a camera, the camera being disposed on the camera rack, the camera being disposed above the vibratory pan.
3. The intelligent assembly system of claim 2, wherein the sorting robot comprises a sorting arm and a first motorized gripper jaw, the first motorized gripper jaw is fixedly disposed at one end of the sorting arm, and the first motorized gripper jaw is detachable with respect to the sorting arm.
4. The intelligent assembly system of claim 1, wherein the positioning assembly comprises a gear positioning stage, a cover positioning stage, and a housing positioning stage.
5. The intelligent assembly system of claim 4, wherein the gear positioning stage positions the part by pneumatically pushing the clamp.
6. The intelligent assembling system of claim 5, wherein the gear positioning table comprises a gear cylinder, a gear fixing seat and a gear sliding seat, the gear fixing seat and the gear sliding seat are oppositely arranged, the gear sliding seat is fixedly connected with the driving end of the gear cylinder, and the gear cylinder is used for pushing the gear sliding seat to move towards the gear fixing seat so as to clamp the gear.
7. The intelligent assembly system of claim 5, wherein the upper cover positioning table realizes part positioning by chamfering.
8. The intelligent assembly system of claim 7, wherein the positioning groove is formed in the upper cover positioning table, and a chamfer is designed on the edge of the positioning groove.
9. The intelligent assembly system of claim 5, wherein the housing positioning stage positions the part via a pneumatic push clamp.
10. The intelligent assembling system of claim 9, wherein the housing positioning table comprises a housing cylinder, a housing fixing seat and a housing sliding seat, the housing fixing seat and the housing sliding seat are disposed opposite to each other, the housing sliding seat is connected to the driving end of the housing positioning cylinder, and the housing positioning cylinder is used for pushing the housing sliding seat to move towards a direction close to the housing fixing seat to clamp the housing.
11. The smart fitting system of claim 1, wherein the fitting robot comprises a fitting arm and a vision gripper, the vision gripper being fixedly disposed at one end of the fitting arm, the vision gripper being detachable with respect to the fitting arm.
12. The smart mounting system of claim 11, wherein the vision gripper comprises a second motorized gripper, a torque sensor, a vision flange, a camera assembly, and a light source assembly, the vision flange fixedly coupled to the distal end of the mounting arm, the torque sensor secured to the vision flange, the second motorized gripper fixedly coupled to the torque sensor, the camera assembly fixedly coupled to the vision flange, and the light source assembly fixedly coupled to the camera assembly.
13. The intelligent assembly system of claim 1, further comprising a base, wherein the sorting robot, the vibratory pan, the positioning assembly, the assembly robot, and the assembly fixture are all disposed on the base.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911372192.8A CN113042986A (en) | 2019-12-27 | 2019-12-27 | Intelligent assembling system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911372192.8A CN113042986A (en) | 2019-12-27 | 2019-12-27 | Intelligent assembling system |
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| CN113042986A true CN113042986A (en) | 2021-06-29 |
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104057290A (en) * | 2014-06-24 | 2014-09-24 | 中国科学院自动化研究所 | Method and system for assembling robot based on visual sense and force feedback control |
| CN107438357A (en) * | 2016-05-25 | 2017-12-05 | 富泰华工业（深圳）有限公司 | Automatic assembling device |
| JP2018183832A (en) * | 2017-04-25 | 2018-11-22 | 川崎重工業株式会社 | Robot system, and production line comprising the same |
| CN109048862A (en) * | 2018-09-03 | 2018-12-21 | 天津永兴泰科技股份有限公司 | A kind of components sorting machine people based on machine vision |
| CN109571008A (en) * | 2018-12-27 | 2019-04-05 | 武汉华中数控股份有限公司 | Accurate positioning intelligent assembly system |
| CN110103000A (en) * | 2019-06-10 | 2019-08-09 | 珠海格力智能装备有限公司 | assembling device |
-
2019
- 2019-12-27 CN CN201911372192.8A patent/CN113042986A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104057290A (en) * | 2014-06-24 | 2014-09-24 | 中国科学院自动化研究所 | Method and system for assembling robot based on visual sense and force feedback control |
| CN107438357A (en) * | 2016-05-25 | 2017-12-05 | 富泰华工业（深圳）有限公司 | Automatic assembling device |
| JP2018183832A (en) * | 2017-04-25 | 2018-11-22 | 川崎重工業株式会社 | Robot system, and production line comprising the same |
| CN109048862A (en) * | 2018-09-03 | 2018-12-21 | 天津永兴泰科技股份有限公司 | A kind of components sorting machine people based on machine vision |
| CN109571008A (en) * | 2018-12-27 | 2019-04-05 | 武汉华中数控股份有限公司 | Accurate positioning intelligent assembly system |
| CN110103000A (en) * | 2019-06-10 | 2019-08-09 | 珠海格力智能装备有限公司 | assembling device |
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Application publication date: 20210629 |
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