CN113618350B

CN113618350B - Material grabbing and mounting equipment and method

Info

Publication number: CN113618350B
Application number: CN202010376363.0A
Authority: CN
Inventors: 夏贤武; 陈海博; 夏雨; 王桃; 何秋飞; 申旭东
Original assignee: Fu Ding Electronical Technology Jiashan Co Ltd
Current assignee: Fu Ding Electronical Technology Jiashan Co Ltd
Priority date: 2020-05-07
Filing date: 2020-05-07
Publication date: 2022-11-01
Anticipated expiration: 2040-05-07
Also published as: CN113618350A

Abstract

The utility model provides a grab material erection equipment, connects in the manipulator for install the part on the product that is located positioning jig, including grabbing the material module, be used for snatching the part, still include the frame with install in positioning module in the frame and push down the module, the positioning module includes fine setting subassembly and locating component, fine setting subassembly connect in frame and locating component are used for right locating component carries out horizontal adjustment, so that locating component and positioning jig's position relatively fixed, locating component still connect in grab the material module, it is used for the extrusion to push down the module locating component, so that grab the part of material module and install on the product. According to the grabbing mounting equipment and the grabbing mounting method, the fine adjustment assembly and the positioning assembly are arranged, so that the grabbing mounting equipment can adjust the position of the positioning assembly, the positioning assembly is conveniently fixed on the positioning jig, the difference of the positions of the positioning jig is self-adapted, and the mounting precision and the product quality of parts are guaranteed.

Description

Material grabbing and mounting equipment and method

Technical Field

The application relates to the field of mechanical production, in particular to grabbing and installing equipment and a grabbing and installing method.

Background

With the continuous development of society, the mechanical automation is applied more and more in production and processing. In the online assembly automatic production process, the product is fixed on the positioning jig, and the positioning jig moves along with the production line to complete the assembly of the product. Because the positioning jig has poor repeatability, the positions of the positioning jig stopping at the same station at each time are different, and the assembly of the product is influenced. Especially for the tiny parts, due to the position difference of the positioning jig, the parts assembled on the product are positioned inaccurately, the condition that the assembly is not in place occurs, and the product quality is influenced.

Disclosure of Invention

In view of the above, it is necessary to provide a material grabbing and mounting apparatus and a mounting method, which are accurate in positioning and high in mounting accuracy.

The embodiment of the application provides a grab material erection equipment, connects in the manipulator for install the part on the product that is located positioning jig, including grabbing the material module, be used for snatching the part, grab material erection equipment still include the frame with install in location module in the frame and push down the module, the location module includes fine setting subassembly and locating component, the fine setting subassembly connect in frame and locating component are used for right locating component carries out horizontal regulation, so that locating component and positioning jig's position relatively fixed, locating component still connect in grab the material module, it is used for the extrusion to push down the module locating component, so that the part installation of grabbing the material module is on the product.

Further, in some embodiments of the present application, the fine adjustment assembly includes a connecting rod and a second elastic member, the connecting rod penetrates through the positioning assembly and is fixed to the frame, and the second elastic member is sleeved on the connecting rod.

Further, in some embodiments of the present application, the positioning assembly includes a centering plate and a positioning plate connected to the centering plate, the centering plate is slidably sleeved on the connecting rod and located between the second elastic members, and the positioning plate is provided with a fixing hole for being sleeved on the positioning column of the fixing jig.

Further, in some embodiments of this application, the die set includes drive arrangement and connects in drive arrangement's pressure head, the pressure head runs through the frame and just right the centering plate, drive arrangement is used for the drive the pressure head top leans on the centering plate, with right the position of locating component resets.

Further, in some embodiments of the present application, a centering groove is formed in the centering plate, and the pressing head is movably disposed in the centering groove.

Further, in some embodiments of this application, the module that pushes down still includes fly leaf and ejector pin, the fly leaf cover is located between drive arrangement and the pressure head, ejector pin one end is fixed in on the fly leaf, the other end runs through the frame extends to the locating plate is used for compressing tightly locating component.

Further, in some embodiments of the present application, the pressing module further includes a stopper fixed to the frame, and the movable plate is disposed between the stoppers and used for limiting a moving distance of the movable plate.

Further, in some embodiments of the present application, the pressing head includes a connecting portion and a supporting portion connected to the connecting portion, the connecting portion penetrates through the frame and is connected to the driving device, and the supporting portion is clamped to a side of the frame away from the driving device.

Further, in some embodiments of the present application, the indenter further includes a stabilizing member fixed to the frame, and the connecting portion penetrates through the stabilizing member.

The embodiment of the application also provides an installation method adopting the grabbing and installing equipment, which comprises the following steps:

controlling a manipulator to drive the material grabbing and mounting equipment to move, grabbing the part to be mounted through the material grabbing module, and enabling the positioning plate to be sleeved on the positioning column;

the driving device is controlled to drive the pressure head to move, so that the pressure head abuts against the rack, and the ejector rod moves to press the positioning plate to enable the part to be installed on the product;

the manipulator is controlled to drive the grabbing mounting equipment to move, so that the positioning column is pulled out of the positioning plate, the driving device controls the pressure head to abut against the centering groove, the ejector rod, the movable plate and the driving device are made to be far away from the positioning plate until the movable plate abuts against the stop block, and the driving device stops working and waits for a next mounting process.

Above-mentioned grab material erection equipment is through setting up fine setting subassembly and locating component, makes to grab material erection equipment and can adjust locating component's position, is convenient for locating component is fixed in on the positioning jig to the difference of self-adaptation positioning jig position guarantees the installation accuracy and the product quality of part.

Drawings

Fig. 1 is a schematic structural diagram of a material grabbing and mounting device in an embodiment of the present application.

Fig. 2 is a schematic cross-sectional view of a material grabbing and mounting device according to an embodiment of the present application.

Fig. 3 is a schematic structural diagram of a positioning module according to an embodiment of the disclosure.

Description of the main elements

The following detailed description will further illustrate the present application in conjunction with the above-described figures.

Detailed Description

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

It will be understood that when an element is referred to as being "mounted on" another element, it can be directly on the other element or intervening elements may also be present. When a component is referred to as being "disposed on" another component, it can be directly on the other component or intervening components may also be present.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein in the description of the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used herein, the term "or/and" includes any and all combinations of one or more of the associated listed items.

The embodiment of the application provides a grab material erection equipment, connect in the manipulator for install the part on the product that is located positioning jig, including grabbing the material module, be used for snatching the part, grab material erection equipment still include the frame with install in location module in the frame and push down the module, the location module is including fine setting subassembly and locating component, the fine setting subassembly connect in frame and locating component are used for right locating component carries out horizontal adjustment, so that locating component and positioning jig's position relatively fixed, locating component still connect in grab the material module, it is used for the extrusion to push down the module locating component, so that the part of grabbing the material module is installed on the product.

controlling a manipulator to drive the grabbing and installing equipment to move, grabbing the part to be installed through the grabbing module, and sleeving the positioning plate on the positioning column;

the control manipulator drives the grabbing mounting equipment to move, so that the positioning column is pulled out of the positioning plate, the driving device controls the pressure head to abut against the centering groove, the ejector rod, the movable plate and the driving device are kept away from the positioning plate until the movable plate abuts against the stop block, the driving device stops working, and the installation process is waited for.

The material grabbing mounting equipment is provided with the fine adjustment assembly and the positioning assembly, so that the position of the positioning assembly can be adjusted by the material grabbing mounting equipment, the positioning assembly is fixed on the positioning jig, the position difference of the positioning jig is self-adaptive, and the mounting accuracy and the product quality of parts are guaranteed by the aid of the mounting method of the material grabbing mounting equipment.

Some embodiments of the present application will be described in detail below with reference to the accompanying drawings.

Referring to fig. 1, the material grabbing and mounting apparatus 100 shown in fig. 1 is used for grabbing parts and mounting the parts on a product located in a positioning jig in one embodiment. The material grabbing and installing equipment 100 comprises a rack 10, a pressing module 20, a positioning module 30 and a material grabbing module 40. The pressing module 20 and the positioning module 30 are mounted on the frame 10, and the material grabbing module 40 is fixed on the positioning module 30.

The frame 10 includes a connecting plate 11, a side plate 12 and a baffle 13. The both ends of connecting plate 11 all connect in curb plate 12, be equipped with on the connecting plate 11 and run through the mounting hole of connecting plate 11 for connect the manipulator, in order to control grab material erection equipment 100 and remove. Both ends of the baffle 13 are respectively connected to the side plates 12. In one embodiment, the side plate 12 is perpendicular to the connecting plate 11 and the baffle 13, and the baffle 13 is parallel to the connecting plate 11. The rack 10 further includes fixing plates 14, the fixing plates 14 are respectively fixed to the side of the baffle 13 far away from the connecting plate 11, the fixing plates 14 are perpendicular to the baffle 13 and substantially aligned with the side plates 12, and the fixing plates 14 are used for fixing the positioning module 30.

Referring to fig. 2, the pressing module 20 includes a stopper 21, a rod 22, a movable plate 23, a driving device 24, and a pressing head 25. The stoppers 21 are respectively disposed at opposite sides of the side plate 12 for controlling the position of the movable plate 23. In one embodiment, the stop 21 is substantially L-shaped.

One end of the ejector rod 22 penetrates through the baffle 13 and is movably connected to the baffle 13, and the other end of the ejector rod is fixed on the movable plate 23. The top bar 22 extends through one end of the baffle 13 to a position adjacent to the positioning module 30. The top rod 22 is sleeved with a first elastic member 221, and the first elastic member 221 is located between the movable plate 23 and the baffle 13 and used for resetting the top rod 22 and the driving device 24. In one embodiment, the top rod 22 is substantially cylindrical, and the first elastic member 221 is a spring. It is understood that the first elastic member 221 is not limited to the above limitation, and may be other elastic members, such as a rubber-like elastic member, as long as the push rod 22 and the driving device 24 can be restored. In one embodiment, the number of the push rods 22 is two, and the two push rods are respectively fixed at two ends of the movable plate 23 and penetrate through the baffle 13. In an embodiment, an end of the top rod 22 penetrating through the baffle 13 is provided with a top block, and a cross-sectional area of the top block is larger than that of the top rod 22, so as to increase a contact area with the positioning module 30 and increase stability of pressing against the positioning module 30.

The movable plate 23 is arranged between the two stop blocks 21 in a floating manner, the driving device 24 is arranged on one side of the movable plate 23, which is far away from the top rod 22, and a connecting shaft of the driving device 24 penetrates through the movable plate 23 and is connected to the pressure head 25 to drive the pressure head 25 to move. In one embodiment, the driving device 24 is an air cylinder, and the air cylinder controls the pressure relief or the punching state through an electromagnetic valve. It will be appreciated that the drive means 24 is not limited to the cylinder described above, and may be other drive arrangements, such as a cylinder or the like.

The pressure head 25 includes a connecting portion 251 and a holding portion 252 connected to the connecting portion 251, the connecting portion 251 penetrates through the baffle 13 and is connected to the driving device 24, and a cross-sectional area of the holding portion 252 is larger than that of the connecting portion 251 and is used for being held on a side of the baffle 13 away from the driving device 24. In one embodiment, the abutting portion 252 has a substantially hemispherical structure, a plane of the abutting portion 252 abuts against the baffle 13, and the spherical surface movably abuts against the positioning module 30. In one embodiment, the connecting portion 251 is provided with a fixing member 253 at one end, the fixing member 253 is fixed on the barrier 13, the connecting portion 251 is connected to the driving device 24 through the fixing member 253, and the fixing member 253 is used for improving the stability of movement and preventing shaking during the movement of the ram 25.

When the pressing module 20 is used, the driving device 24 drives the pressing head 25 to move to a side close to the driving device 24, so that the pressing head abuts against the baffle 13, at this time, the pressing head 25 cannot move upwards, the driving device 24 is controlled to retract continuously, and due to the reaction force of the force, the driving device 24, the movable plate 23 and the ejector rod 22 move downwards, so that the ejector rod 22 abuts against the positioning module 30.

Referring to fig. 3, the positioning module 30 includes a fine-tuning assembly 31 and a positioning assembly 32 connected to the fine-tuning assembly 31. The fine adjustment assembly 31 includes a connecting rod 311 and a second elastic member 312 sleeved on the connecting rod 311. The connecting rod 311 runs through the positioning assembly 32, the two ends of the connecting rod 311 are fixed on the fixing plate 14 respectively, the two ends of the connecting rod 311 are both provided with the second elastic piece 312 in a sleeved mode, and the second elastic piece 312 is located between the fixing plate 14 and the positioning assembly 32 and used for resetting the position of the positioning assembly 32. In one embodiment, the second elastic member 312 is a spring. It is understood that the second elastic member 312 is not limited to the above limitation, and may be other elastic members, such as rubber-like elastic members, as long as the positioning assembly 32 can be restored. In one embodiment, the fine tuning assembly 31 includes two of the links 311, and the two links 311 are disposed in parallel.

The positioning assembly 32 includes a centering plate 321 and a positioning plate 322 connected to the centering plate 321. The centering plate 321 is slidably disposed on the connecting rod 311 and located between the second elastic members 312. The centering plate 321 is provided with a centering groove 3211, and the position of the centering groove 3211 is opposite to the abutting portion 252, so that the abutting portion 252 abuts against the centering groove 3211, and the positioning assembly 32 returns to the original position. In one embodiment, the centering plate 321 and the positioning plate 322 are integrally formed, and the centering plate 321 has a substantially rectangular parallelepiped structure. One side of the positioning plate 322 is provided with a positioning hole 3221, and the positioning hole 3221 is used for clamping the positioning column 3222. In an embodiment, the positioning column 3222 is disposed on the fixing fixture or at a position of the processing position adjacent to the production line, and a distance from the positioning hole 3221 to the product is the same as a distance from the positioning column 3222 to the part to be mounted, so that the part to be mounted can be accurately mounted on the product only by sleeving the positioning hole 3221 on the positioning column 3222. In an embodiment, the diameter of the end of the positioning post 3222 is smaller than that of the other positions, so that the positioning post is conveniently clamped in the positioning hole 3221. In one embodiment, a portion of the ore amount exists between the centering plate 321 and the connecting rod 311, so that the pressing module 20 presses the positioning plate 322 to move the positioning assembly 32 toward the product. In another embodiment, a mineral volume is present between the link 311 and the fixed plate 14. In one embodiment, the volume of ore may be created by pressing a rubber pad provided at the connection.

The material grabbing module 40 is fixed on one side of the positioning plate 322 far away from the centering plate 321, and the material grabbing module 40 includes a vacuum suction nozzle and an air pipe joint, and the air pipe joint is used for being connected with external pneumatic equipment and grabbing the part 101 to be mounted through the vacuum suction nozzle.

The mounting method of the grabbing mounting device 100 specifically comprises the following steps:

controlling a manipulator to drive the material grabbing and mounting equipment to grab the part to be mounted in a moving mode, and enabling the positioning plate to be sleeved on the positioning column; specifically, the manipulator is controlled to move to grab the part to be mounted through the material grabbing module 40, and then move downwards, and the fine adjustment assembly 31 moves the positioning assembly 32 in the horizontal direction, so that the positioning column 3222 is inserted into the positioning hole 3221 to fix the position of the positioning assembly 32, and at this time, the position of the part to be mounted aligns with the mounting position of the product. It can be understood that positioning column 3222 is disposed to align with positioning hole 3221, and when there is a deviation, a portion of positioning column 3222 can touch positioning hole 3221, and cannot be accurately inserted into positioning hole 3221 at this time, positioning plate 322 is moved along link 311 by the downward force of the manipulator, so that positioning column 3222 is accurately inserted into positioning hole 3221.

The driving device is controlled to drive the pressure head to move, so that the pressure head abuts against the baffle plate, and the ejector rod moves to press the positioning plate to enable the part to be installed on the product; specifically, the driving device 24 retracts to enable the pressing head to abut against the baffle 13, at this time, the driving device 24 continues to work, and under the interaction of the forces, the driving device 24, the movable plate 23 and the ejector rod 22 move downwards, and the ejector rod 22 abuts against and presses the positioning plate 322, so that the part to be mounted on the material grabbing module 40 is mounted on the product. In the initial state, the driving device 24 is in a pressure relief state, the driving device 24 extends downwards under the influence of the gravity of the pressure head 25, and the pressure head 25 abuts against the centering groove 3211 of the centering plate 321 to ensure that the positioning assembly 32 returns to the initial position.

The manipulator drives the grabbing mounting equipment to move, so that the positioning column is pulled out of the positioning plate, the driving device controls the pressure head to be far away from the baffle and abut against the centering groove, the ejector rod, the movable plate and the driving device are far away from the positioning plate until the movable plate abuts against the stop block, and the driving device stops working and waits for a next mounting process. Specifically, the manipulator drives the material grabbing and mounting device 100 to move upwards, so that the positioning column 3222 is pulled out of the positioning hole 3221, the pressure head 25 abuts against the centering groove 3211 of the centering plate 321, and cannot move downwards continuously, at this time, the driving device 24 continues to work, and under the interaction of force, the driving device 24, the movable plate 23 and the ejector rod 22 move upwards until the movable plate 23 abuts against the stop block 21, the driving device 24 stops working, and each component returns to an initial position to wait for a next action flow.

Since the position of the positioning assembly 32 changes during the adaptive positioning process, in order to ensure that the next component to be mounted can be grasped, the positioning assembly 32 needs to return to the most original position, and therefore, after the positioning post 3222 is pulled out of the positioning hole 3221, the driving device 24 needs to drive the pressing head 25 to press down, so that the pressing head is abutted against the centering plate 321, so that the pressing head 25 is abutted against the centering groove 3211, and the positioning assembly 32 returns to the most original position.

It should be understood by those skilled in the art that the above embodiments are only for illustrating the present application and are not to be taken as limiting the present application, and that suitable changes and modifications of the above embodiments are within the scope of the disclosure claimed in the present application as long as they are within the spirit and scope of the present application.

Claims

1. The utility model provides a grab material erection equipment, connects in the manipulator for install the part on the product that is located positioning jig, including grabbing the material module, be used for snatching the part, its characterized in that: the grabbing and installing equipment further comprises a frame, and a positioning module and a pressing module which are arranged on the frame, wherein the frame comprises a baffle plate, the positioning module comprises a fine adjustment component and a positioning component, the fine adjustment component comprises a connecting rod and a second elastic piece, the second elastic piece is sleeved on the connecting rod, the connecting rod is fixed on the frame, the positioning component comprises a centering plate and a positioning plate connected with the centering plate, the centering plate is sleeved on the connecting rod in a sliding manner and positioned between the second elastic pieces, the positioning plate is provided with a fixing hole for being sleeved on a positioning column of a fixing jig so as to relatively fix the positions of the positioning plate and the positioning jig, the grabbing module is connected with the positioning plate, the pressing module comprises a driving device, a pressing head connected with the driving device, a movable plate and a push rod, the pressing head comprises a connecting part and a supporting part connected with the connecting part, the connecting part penetrates through the baffle and is connected with the driving device, the supporting part is clamped at one side of the baffle far away from the driving device, the supporting part is of a hemispherical structure, the movable plate is arranged between the driving device and the pressing head, one end of the ejector rod is fixed on the movable plate, the other end of the ejector rod penetrates through the rack and extends to the positioning plate, the driving device drives the pressing head to abut against the rack to drive the movable plate and the ejector rod to move downwards, so that the ejector rod abuts against and presses the positioning plate, parts of the material grabbing module are installed on a product, a centering groove is arranged on the centering plate, the parts of the material grabbing module are installed on the product, the driving device drives the supporting part to be arranged in the centering groove, and the centering plate and the positioning plate return to initial positions, and the driving device, the movable plate and the ejector rod move upwards to return to the initial position.

2. The material handling installation of claim 1, wherein: the pressing module further comprises stop blocks, the stop blocks are fixed on the rack, and the movable plate is arranged between the stop blocks and used for limiting the moving distance of the movable plate.

3. The material handling installation of claim 1, wherein: the pressure head further comprises a fixing piece, the fixing piece is fixed on the rack, and the connecting portion penetrates through the fixing piece.

4. A method of installation using the grapple installation apparatus of claim 2,

the method comprises the following steps:

the control driving device drives the pressure head to move, so that the pressure head abuts against the rack, and the ejector rod moves to press the positioning plate, so that the part to be installed is installed on a product;