CN114393395B - Assembling equipment and assembling method - Google Patents
Assembling equipment and assembling method Download PDFInfo
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- CN114393395B CN114393395B CN202210236273.0A CN202210236273A CN114393395B CN 114393395 B CN114393395 B CN 114393395B CN 202210236273 A CN202210236273 A CN 202210236273A CN 114393395 B CN114393395 B CN 114393395B
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- assembly
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- material taking
- discharging
- receiving
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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
- B23P19/04—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
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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
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/50—Manufacturing or production processes characterised by the final manufactured product
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automatic Assembly (AREA)
- Manipulator (AREA)
Abstract
The invention provides an assembly device and an assembly method, which belong to the technical field of assembly devices and comprise the following steps: the box body is provided with a feeding end and a discharging end, and a feeding channel is arranged between the feeding end and the discharging end; the photographing assembly is positioned above the discharging end and is used for photographing the positions of the parts in the discharging end; the material taking assembly comprises a mechanical arm, and a material taking part for taking the parts on the material outlet end is arranged on the mechanical arm; the rechecking assembly is arranged on the moving track of the material taking part and is used for rechecking the positions of the parts on the material taking part; the transfer jig is used for receiving the parts on the material taking part and positioning the parts; and the discharging assembly is used for taking the parts on the transfer jig and loading the parts into products positioned on the assembly platform. The invention realizes the automatic state between the parts and the products, thereby improving the working efficiency and reducing the labor intensity.
Description
Technical Field
The invention belongs to the technical field of assembly equipment, and relates to assembly equipment and an assembly method.
Background
The fluorescent strip is a light-emitting element for generating light when the light is dark, so that a user can conveniently reach the fluorescent strip at the first time and find out the required product, such as a switch, a socket and the like. However, since the fluorescent strip has a small size, it is often assembled with other components by a manual method, and the assembly efficiency is low and the labor intensity is high.
Disclosure of Invention
The invention aims to solve the problems in the prior art and provides assembly equipment capable of automatically assembling parts.
The aim of the invention can be achieved by the following technical scheme: an assembly apparatus, comprising:
the box body is provided with a feeding end and a discharging end, and a feeding channel is arranged between the feeding end and the discharging end;
the photographing assembly is positioned above the discharging end and is used for photographing the positions of the parts in the discharging end;
the material taking assembly comprises a mechanical arm, and a material taking part for taking the parts on the material outlet end is arranged on the mechanical arm;
the rechecking assembly is arranged on the moving track of the material taking part and is used for rechecking the positions of the parts on the material taking part;
the transfer jig is used for receiving the parts on the material taking part and positioning the parts;
and the discharging assembly is used for taking the parts on the transfer jig and loading the parts into products positioned on the assembly platform.
In the above-mentioned assembly equipment, be provided with the discharge channel and connect the material passageway of intercommunication each other on the pay-off passageway, and be provided with the vibrator respectively on discharge channel and connect the material passageway, wherein, the vibrator that is located on the discharge channel makes spare part export one by one, and the vibrator that is located on the material passageway (the vibrator that connects on makes spare part reach appointed material position.
In the assembly equipment, the discharging assembly is arranged on the discharging channel and comprises a discharging box and a discharging plate, wherein the vibrator on the discharging channel is positioned below the discharging box; the discharge end is provided with the material subassembly that connects, and this material subassembly that connects includes the material board, wherein, connects the material passageway to be located between discharge plate and the material board, connects the vibrator on the material passageway to be located the below that connects the material board.
In the above-mentioned equipment, get material portion and pass through the arm and reciprocate between discharge end and transfer tool, with the spare part in the discharge end transfer to on the transfer tool in succession, and review the subassembly and be located between discharge end and the transfer tool, wherein, when getting material portion and move to the top of review the subassembly, review the subassembly and confirm the relative position of getting material portion and its last spare part through the mode of shooing.
In the above-mentioned equipment, be provided with the location portion on the transfer tool, and the location portion includes at least one cavity, wherein, when spare part is placed in the cavity, there is the clearance between the inner wall of cavity and the edge of corresponding spare part.
In the above-mentioned equipment, the positioning portion includes an air pipe joint installed at the bottom of the cavity and communicated with the bottom of the cavity, wherein a negative pressure is formed in the cavity through the air pipe joint, and the component on the material taking portion is tightly attached to the bottom of the cavity while being received.
In the above-mentioned equipment, the blowing subassembly includes snatchs the structure, and wherein snatchs the spare part on the cavity through snatching the structure to insert the assembly position department of this spare part on the product in advance.
In the above-described assembly apparatus, the grasping structure includes a grasping portion for grasping the component in the cavity, and an ejector portion for inserting the component on the grasping portion into the product.
In the above assembly device, the assembly device further comprises a pressing assembly, and the pressing assembly comprises a pressing part for completely pressing the component into the product.
The invention also provides an assembly method, which comprises the following steps:
step one, parts in the discharging box enter a receiving plate through a discharging plate by a vibrator below the discharging box;
step two, adjusting parts on the material receiving plate to a proper position through a vibrator below the material discharging plate;
step three, shooting parts in the receiving plate through a forward shooting camera, comparing the shot image with a preset image, and entering a step four if the shot image is consistent with the preset image;
driving the material taking part to rotate through the mechanical arm, moving the material taking part to the position above the material receiving plate, and sucking the parts, which are on the material receiving plate and are consistent with the preset image in the step three;
step five, shooting the relative position of the material taking part and the parts in the rotating process through a reverse shooting camera, comparing the shot image with a preset image, and if the shot image is consistent with the preset image, entering step six;
step six, receiving the parts on the material taking part through negative pressure generated by the air pipe joint, so that the parts fall into the corresponding positioning parts;
step seven, the lifting cylinder drives the positioning plate where the positioning part is located to move upwards, so that the parts in the positioning part correspond to the initial positions of the grabbing parts, the grabbing parts are grabbed by the grabbing parts, and then the lifting cylinder drives the positioning plate to move downwards, so that the parts are separated from the corresponding positioning parts;
step eight, driving the grabbing part to rotate to a position where the part is required to be assembled on a product by a rotating motor in the discharging assembly, and then pre-inserting the part into the position by an ejection part;
and step nine, thoroughly loading the parts into the product through the pressing part, and completing the assembly between the parts and the product.
Compared with the prior art, the invention has the beneficial effects that:
(1) According to the assembling equipment provided by the invention, the automatic state between the parts and the products is realized through the cooperation of the discharging assembly, the receiving assembly, the photographing assembly, the taking assembly, the rechecking assembly, the transferring jig, the discharging assembly and the pressing assembly, so that the working efficiency is improved, and the labor intensity is reduced.
(2) By arranging the rechecking assembly, the shooting distance is tensioned, and the relative distance between the vacuum suction nozzle and the parts can be shot clearly, so that the parts on the vacuum suction nozzle can be placed in the acupuncture points of the transfer jig reliably.
(3) The size of the acupuncture point is larger than that of the part because burrs exist at the edge of the part which is formed by machining, and the burrs on the part can be contained in the gaps, so that the part can be horizontally placed in the acupuncture point, and the part in the acupuncture point can be reliably grasped by the grasping structure.
Drawings
Fig. 1 is a schematic view of an assembling apparatus according to the present invention.
Fig. 2 is a schematic view of the structure of fig. 1 from another view angle.
Fig. 3 is an enlarged view of a portion a in fig. 2.
Fig. 4 is a partial structural schematic diagram of fig. 1.
FIG. 5 is a schematic diagram of a transfer tool according to a preferred embodiment of the invention.
Fig. 6 is an enlarged view of a portion B in fig. 5.
Fig. 7 is a schematic view of the structure of the discharging assembly in an initial state according to a preferred embodiment of the invention.
Fig. 8 is an enlarged view of a portion C in fig. 7.
Fig. 9 is a schematic structural view of the discharging assembly in a terminated state according to a preferred embodiment of the present invention.
100, a box body; 110. a feed channel; 111. a discharge channel; 112. a material receiving channel; 120. a discharge assembly; 121. a discharging box; 122. a discharge plate; 130. a receiving assembly; 131. a second vibrator; 132. a receiving plate; 200. a photographing component; 210. a forward shooting camera; 220. a support rod; 230. a support plate; 240. a square light source; 300. a material taking assembly; 310. a mechanical arm; 320. a material taking part; 400. rechecking the component; 410. rechecking the bracket; 420. a circular light source; 430. a reverse shooting camera; 500. a transfer jig; 510. a positioning part; 511. a cavity; 512. an air pipe joint; 513. a baffle; 520. a discharging bracket; 530. a driving structure; 531. a driving motor; 532. a screw rod; 540. translating the bracket; 550. a lifting cylinder; 560. a positioning plate; 570. a slide rail; 580. a slide block; 600. a discharging assembly; 610. an assembly platform; 620. a housing; 621. an arc groove; 630. a grabbing structure; 631. a connecting rod; 632. a gripping part; 6321. grabbing an air cylinder; 6322. a claw; 633. an ejection part; 6331. an ejection cylinder; 6332. an ejection block; 6333. a push rod; 640. a rotating electric machine; 700. a pressing assembly; 710. a pressing part; 711. a first linear motor; 712. a first moving plate; 713. a second linear motor; 714. a second moving plate; 715. pressing a pressing rod; 720. a support plate; 800. rack
Detailed Description
The following are specific embodiments of the present invention and the technical solutions of the present invention will be further described with reference to the accompanying drawings, but the present invention is not limited to these embodiments.
It should be noted that all directional indicators (such as up, down, left, right, front, and rear … …) in the embodiments of the present invention are merely used to explain the relative positional relationship, movement, etc. between the components in a particular posture (as shown in the drawings), and if the particular posture is changed, the directional indicator is changed accordingly.
As shown in fig. 1 to 9, the present invention provides an assembling apparatus comprising:
a case 100 having a feed end and a discharge end provided thereon, and a feed passage 110 provided between the feed end and the discharge end;
the photographing assembly 200 is positioned above the discharging end and is used for photographing the positions of the parts in the discharging end;
the material taking assembly 300 comprises a mechanical arm 310, and a material taking part 320 for taking the parts on the material outlet end is arranged on the mechanical arm 310;
the rechecking assembly 400 is arranged on the moving track of the material taking part 320 and is used for rechecking the positions of the parts on the material taking part 320;
the transfer jig 500 is configured to receive the component on the material taking part 320 and locate the component;
the discharging assembly 600 is used for taking the parts on the transferring jig 500 and loading the parts into the products on the assembling platform 610;
a pressing assembly 700, and the pressing assembly 700 includes a pressing part 710 for completely pressing the component into the product in the vertical direction;
the frame 800, wherein the transferring jig 500, the discharging assembly 600 and the pressing assembly 700 are all installed on the frame 800.
Preferably, the feeding channel 110 is provided with a discharging component 120 and a receiving component 130 which are mutually communicated, and the feeding channel 110 comprises a discharging channel 111 in the discharging component 120 and a receiving channel 112 in the receiving component 130, wherein vibrators for promoting vibration of parts are respectively arranged below the discharging channel 111 and the receiving channel 112, namely a first vibrator (not shown in the figure) and a second vibrator 131, and the first vibrator below the discharging channel 111 promotes the parts to be output one by one, and the second vibrator 131 below the receiving channel 112 promotes the parts to reach a specified material taking position.
Further preferably, the discharging assembly 120 is arranged on the discharging channel 111, and the discharging assembly 120 comprises a discharging box 121 and a discharging plate 122, wherein a vibrator on the discharging channel 111 is positioned below the discharging box 121; the discharge end is provided with a receiving assembly 130, and the receiving assembly 130 comprises a receiving plate 132, wherein the receiving channel 112 is located between the discharge plate 122 and the receiving plate 132, and a vibrator on the receiving channel 112 is located below the receiving plate 132.
According to the assembly equipment provided by the invention, the automatic state between parts and products is realized through the cooperation of the discharging assembly 120, the receiving assembly 130, the photographing assembly 200, the taking assembly 300, the rechecking assembly 400, the transit jig 500, the discharging assembly 600 and the pressing assembly 700, so that the working efficiency is improved, and the labor intensity is reduced.
Preferably, the photographing assembly 200 includes a photographing bracket, and the forward photographing camera 210 is mounted on the photographing bracket, wherein the photographing bracket includes two struts 220 located at two sides of the discharging plate 122 and fixed on the case 100, and the two struts 220 are connected through a support plate 230, and a square light source 240 is connected to the support plate 230, wherein the forward photographing camera 210 is aligned to the receiving plate 132 through the square light source 240.
It should be noted that, when the material taking assembly 300 horizontally rotates back and forth between the material receiving plate 132 and the transferring jig 500, in order to avoid interference collision between the material taking assembly 300 and the photographing assembly 200 in the horizontal rotation process, the distance between the forward photographing camera 210 and the material receiving plate 132 is relatively large, and the size of the parts is relatively small, so that when the forward photographing camera 210 photographs the parts on the material receiving plate 132, the photographed photo is relatively blurred, whether the material taking part 320 is right opposite to the center position of the parts cannot be accurately obtained, so that the rechecking assembly 400 is arranged on the track in the horizontal rotation process of the material taking part 320, the reverse photographing camera 430 in the rechecking assembly 400 photographs the parts on the material taking part 320 from bottom to top, and the distance between the reverse photographing camera 430 and the parts on the material taking part 320 is relatively close, and the relative distance between the photographed parts 320 and the parts can be clearly achieved, if the positions of the material taking part 320 and the parts deviate, the device can automatically perform parameter trimming, so that the parts on the material taking part 320 can be reliably placed in the transferring jig 510.
Preferably, the material taking part 320 reciprocates between the material outlet end and the transferring jig 500 through the mechanical arm 310, continuously transfers the parts in the material outlet end to the transferring jig 500, and the rechecking assembly 400 is located between the material outlet end and the transferring jig 500, wherein when the material taking part 320 moves above the rechecking assembly 400, the rechecking assembly 400 confirms the relative position between the material taking part 320 and the parts thereon through shooting.
Further preferably, the material taking part 320 is preferably a vacuum nozzle. That is, by means of "vacuuming", a "negative pressure" is formed at the nozzle opening of the vacuum nozzle, so that the components on the material receiving plate 132 are reliably sucked.
Preferably, the rechecking assembly 400 includes a rechecking stand 410 mounted on the case 100, and a circular light source 420 mounted on the rechecking stand 410, wherein a reverse photographing camera 430 is mounted on the rechecking stand 410, and the reverse photographing camera 430 is aligned with a moving track of the vacuum nozzle through the circular light source 420.
Preferably, the transferring jig 500 is provided with a positioning portion 510, and the positioning portion 510 includes at least one cavity 511, and an opening for receiving a component on the material taking portion 320 is provided on one side of the cavity 511, wherein when the component is placed in the cavity 511, a gap exists between an inner wall of the cavity 511 and an edge of the corresponding component.
In this embodiment, a gap exists between the inner wall of the positioning portion 510 and the edge of the corresponding component, because burrs exist at the edge of the machined component, and the existence of the gap can accommodate the burrs on the component, so that the component can be placed in the positioning portion 510 horizontally, and the discharging assembly 600 can reliably grasp the component in the positioning portion 510.
Further preferably, the positioning portion 510 includes an air pipe connector 512 mounted at the bottom of the cavity 511 and communicated with the bottom of the cavity 511, wherein a "negative pressure" is formed in the cavity 511 by the air pipe connector 512, and the components on the material taking portion 320 are tightly attached to the bottom of the cavity 511 while being received.
In this embodiment, the air pipe connector 512 is connected to a vacuum pump (not shown in the figure), and a "negative pressure" is formed in the cavity 511 by the vacuum pump, so that when the components in the material taking part 320 are aligned to the cavity 511, the components are reliably fed into the cavity 511 under the action of the "negative pressure" along with the separation between the material taking part 320 and the components, so as to realize reliable material receiving.
Further preferably, an opening is provided on the side of the cavity 511 facing the discharging assembly 600, so as to facilitate the discharging assembly 600 to take materials from the cavity 511. However, since the opening is provided, there is a risk of dropping the component, the positioning portion 510 further includes a shutter 513 for preventing the component from dropping.
Preferably, the transfer fixture 500 comprises a discharging bracket 520 mounted on the frame 800, and a driving structure 530 is arranged on the discharging bracket 520, wherein the driving structure 530 comprises a driving motor 531, and an output end of the driving motor 531 is connected with a screw rod 532 through a speed reducer; the translation bracket 540 is arranged in an L shape, one end of the translation bracket 540 is in threaded connection with the screw rod 532, and the translation bracket 540 is driven to move along the axial direction of the screw rod 532 through the rotation of the screw rod 532; the lifting cylinder 550 is installed at the other end of the translation bracket 540, and the output direction of the lifting cylinder 550 is perpendicular to the moving direction of the translation bracket 540, wherein the output end of the lifting cylinder 550 is connected with the positioning plate 560, and the positioning part 510 is arranged on the positioning plate 560.
It should be noted that, in order to ensure the flatness of the positioning plate 560 when moving under the action of the lifting cylinder 550, a sliding structure is disposed between the positioning plate 560 and the translation bracket 540, and the sliding structure includes a sliding rail 570 connected to the translation bracket 540, and a sliding block 580 slidably engaged with the sliding rail 570, wherein the sliding block 580 is connected to the positioning plate 560.
Preferably, the discharging assembly 600 includes a housing 620, and an arc slot 621 is provided on the housing 620 for the grabbing structure 630 to swing in a vertical plane, wherein the housing 620 is mounted on the frame 800 through a column; the rotating motor 640 is mounted on the housing 620, and an output end of the rotating motor 640 is inserted into the housing 620 and connected to the gripping structure 630, wherein the component on the cavity 511 is gripped by the gripping structure 630 and is pre-inserted into the product at the assembly position of the component.
It should be noted that, in the initial state, the grabbing structure 630 is horizontally disposed, and the components horizontally disposed in the cavity 511 are grabbed by the grabbing structure 630; then drive through rotating electrical machines 640 and snatch structure 630 rotatory for snatch structure 630 is vertical setting, snatch the spare part on the structure 630 and be vertical setting equally this moment, in inserting the product that is located on assembly platform 610 in advance through snatch structure 630 at last, wherein, this assembly platform 610 installs on frame 800, and snatch structure 630 just is located the assembly platform 610 directly over after rotatory 90.
Further preferably, the grabbing structure 630 includes a connecting rod 631 connected to an output end of the rotating motor 640, and a grabbing portion 632 on the connecting rod 631 for grabbing components in the cavity 511, and an ejector portion 633 for pre-inserting the components on the grabbing portion 632 into a product, where the grabbing portion 632 includes a grabbing cylinder 6321, and two relatively movable claws 6322 are connected to the output end of the grabbing cylinder 6321; the ejection part 633 comprises an ejection cylinder 6331, and an ejection block 6332 is connected to an output end of the ejection cylinder 6331, wherein an ejector rod 6333 is disposed on the ejection block 6332, and the ejector rod 6333 is located between two clamping jaws 6322.
It should be noted that the grabbing portion 632 and the ejecting portion 633 are located at the same end of the connecting rod 631 and located at two sides of the connecting rod 631, wherein the moving direction of the two claws 6322 is perpendicular to the moving direction of the ejector rod 6333.
In addition, the cooperation principle of the transfer jig 500 and the discharging assembly 600 is as follows: when a part is located in the cavity 511, the lifting cylinder 550 drives the positioning plate 560 to move upwards, so that the part in the cavity 511 aligns to a position between the two clamping claws 6322, then the two clamping claws 6322 move oppositely through the grabbing cylinder 6321, the part on the cavity 511 is clamped, then the lifting cylinder 550 drives the positioning plate 560 to move downwards, the part is separated from the cavity 511, the rotating motor 640 drives the connecting rod 631 to rotate 90 degrees, the part on the two clamping claws 6322 corresponds to a product position on the assembly platform 610, and finally the ejection cylinder 6331 drives the ejector rod 6333 to push out, so that the part is pre-inserted into the product.
Preferably, the pressing assembly 700 includes a support plate 720 connected to the frame 800, and the pressing part 710 is mounted on the support plate 720, wherein the pressing part 710 includes a first linear motor 711 mounted on the support plate 720, and a first moving plate 712 is mounted on the first linear motor 711, and the first moving plate 712 is moved in a vertical direction by the first linear motor 711; and a second linear motor 713 mounted on the first moving plate 712, wherein a second moving plate 714 is mounted on the second linear motor 713, and a pressing rod 715 is connected to the second moving plate 714, and the second moving plate 714 is driven to move in the horizontal direction by the second linear motor 713.
The invention also comprises an assembly method of the parts, which comprises the following steps:
step one, parts in the discharging box 121 enter a receiving plate 132 through a discharging plate 122 by a first vibrator below the discharging box 121;
step two, the parts on the material receiving plate 132 are adjusted to a proper position through a second vibrator 131 below the material discharging plate 122;
step three, shooting the parts in the material receiving plate 132 through the forward shooting camera 210, comparing the shot image with a preset image, and if the shot image is consistent with the preset image, entering a step four;
step four, the material taking part 320 is driven to rotate by the mechanical arm 310, the material taking part 320 is moved to the upper part of the material receiving plate 132, and parts, which are matched with the preset image in the step three, on the material receiving plate 132 are sucked;
step five, shooting the relative position of the material taking part 320 and the parts in the process of rotating through the reverse shooting camera 430, comparing the shot image with a preset image, and if the shot image is consistent with the preset image, entering step six;
step six, receiving the parts on the material taking part 320 through the negative pressure generated by the air pipe connector 512, so that the parts fall into the corresponding positioning parts 510;
step seven, the lifting cylinder 550 drives the positioning plate 560 where the positioning part 510 is positioned to move upwards, so that the parts in the positioning part 510 correspond to the initial positions of the grabbing parts 632, the parts are grabbed by the grabbing parts 632, and then the lifting cylinder 550 drives the positioning plate 560 to move downwards, so that the parts are separated from the corresponding positioning parts 510;
step eight, driving the connecting rod 631 to rotate through the rotating motor 640, so that the parts on the grabbing part 632 synchronously rotate to the position where the parts are required to be assembled on the product, and then pre-inserting the parts into the position through the ejection part (633);
step nine, the components are thoroughly loaded into the product through the pressing part 710, and the assembly between the components and the product is completed.
It should be noted that the description of the present invention as it relates to "first", "second", "a", etc. is for descriptive purposes only and is not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present invention, the meaning of "plurality" means at least two, for example, two, three, etc., unless specifically defined otherwise. The terms "coupled," "secured," and the like are to be construed broadly, and may be fixedly coupled, detachably coupled, or integrally formed, for example; can be mechanically or electrically connected; either directly or indirectly, through intermediaries, or both, may be in communication with each other or in interaction with each other, unless expressly defined otherwise. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
In addition, the technical solutions of the embodiments of the present invention may be combined with each other, but it is necessary to be based on the fact that those skilled in the art can implement the technical solutions, and when the technical solutions are contradictory or cannot be implemented, the combination of the technical solutions should be considered as not existing, and not falling within the scope of protection claimed by the present invention.
The specific embodiments described herein are offered by way of example only to illustrate the spirit of the invention. Those skilled in the art may make various modifications or additions to the described embodiments or substitutions thereof without departing from the spirit of the invention or exceeding the scope of the invention as defined in the accompanying claims.
Claims (7)
1. An assembly apparatus, comprising:
the box body (100) is provided with a feeding end and a discharging end, and a feeding channel (110) is arranged between the feeding end and the discharging end;
the photographing assembly (200) is positioned above the discharging end and is used for photographing the positions of the parts in the discharging end;
the material taking assembly (300) comprises a mechanical arm (310), and a material taking part (320) for taking out parts on a material end is arranged on the mechanical arm (310);
the rechecking assembly (400) is arranged on the moving track of the material taking part (320) and is used for rechecking the positions of the parts on the material taking part (320);
the transfer jig (500) is used for receiving the parts on the material taking part (320) and positioning the parts;
the discharging assembly (600) is used for taking the parts on the transfer jig (500) and loading the parts into products positioned on the assembly platform;
the rechecking assembly (400) shoots the parts on the material taking part (320) from bottom to top;
the feeding channel (110) is provided with a discharging channel (111) and a receiving channel (112) which are mutually communicated, and vibrators are respectively arranged on the discharging channel (111) and the receiving channel (112), wherein the vibrators on the discharging channel (111) promote the parts to be output one by one, and the vibrators on the receiving channel (112) promote the parts to reach a specified material taking position;
the transfer jig (500) is provided with a positioning part (510), and the positioning part (510) comprises at least one cavity (511), wherein when a part is placed in the cavity (511), a gap exists between the inner wall of the cavity (511) and the edge of the corresponding part;
the positioning part (510) comprises an air pipe joint (512) which is arranged at the bottom of the cavity (511) and communicated with the bottom of the cavity (511), wherein negative pressure is formed in the cavity (511) through the air pipe joint (512), and parts on the material taking part (320) are tightly attached to the bottom of the cavity (511) while being received.
2. Assembly device according to claim 1, characterized in that the tapping assembly (120) is arranged on the tapping channel (111), and that the tapping assembly (120) comprises a tapping tank (121) and a tapping plate (122), wherein a vibrator on the tapping channel (111) is located below the tapping tank (121); the discharge end is provided with a receiving component (130), and the receiving component (130) comprises a receiving plate (132), wherein a receiving channel (112) is positioned between the discharge plate (122) and the receiving plate (132), and a vibrator on the receiving channel (112) is positioned below the receiving plate (132).
3. The assembly device according to claim 1, wherein the material taking part (320) reciprocates between the material outlet end and the transfer jig (500) through the mechanical arm (310), parts in the material outlet end are continuously transferred to the transfer jig (500), and the rechecking assembly (400) is located between the material outlet end and the transfer jig (500), wherein when the material taking part (320) moves above the rechecking assembly (400), the rechecking assembly (400) confirms the relative position between the material taking part (320) and the parts thereon through shooting.
4. Assembly device according to claim 1, characterized in that the blanking assembly (600) comprises a gripping structure (630), wherein the component on the cavity (511) is gripped by the gripping structure (630) and pre-inserted in the product at the assembly position of the component.
5. The assembly device according to claim 4, wherein the gripping structure (630) comprises a gripping portion (632) for gripping the component in the cavity (511), and an ejector portion (633) for inserting the component on the gripping portion (632) into the product.
6. The assembly device of claim 1, further comprising a pressing assembly (700), and the pressing assembly (700) includes a pressing portion (710) for fully pressing the component into the product.
7. A method of assembling an assembly apparatus according to any one of claims 1 to 6, comprising:
step one, parts in a discharging box (121) enter a receiving plate (132) through a discharging plate (122) by a vibrator below the discharging box (121);
step two, adjusting parts on the material receiving plate (132) to a proper position through a vibrator below the material discharging plate (122);
shooting parts in the receiving plate (132) through a shooting assembly (200), comparing the shot image with a preset image, and entering a step four if the shot image is consistent with the preset image;
driving the material taking part (320) to rotate through the mechanical arm (310), moving the material taking part (320) to the position above the material receiving plate (132), and sucking the parts, which are on the material receiving plate (132) and are consistent with the preset images in the third step;
shooting the relative positions of the material taking part (320) and the parts on the material taking part through the rechecking assembly (400), comparing the shot image with a preset image, and if the shot image is consistent with the preset image, entering a step six;
step six, receiving the parts on the material taking part (320) through negative pressure generated by the air pipe connector (512) so that the parts fall into the corresponding positioning parts (510);
step seven, grabbing the parts in the positioning part (510) through the grabbing part (632);
step eight, driving the grabbing part (632) to rotate to a position on a product where the part is required to be assembled by a rotating motor in the discharging assembly (600), and then pre-inserting the part into the position by the ejection part (633);
and step nine, thoroughly loading the parts into the product through the pressing part (710) to complete the assembly between the parts and the product.
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| DE102021108645A1 (en) * | 2020-04-07 | 2021-10-14 | TE Connectivity Services Gmbh | Visual inspection system and procedure for inspecting parts |
| DE102021114192A1 (en) * | 2020-06-03 | 2021-12-09 | TE Connectivity Services Gmbh | Product assembly machine with visual inspection station |
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| JP2970979B2 (en) * | 1993-04-26 | 1999-11-02 | 富士写真フイルム株式会社 | Automatic assembly method and apparatus and method for assembling photographic film cartridge |
| CN104858643B (en) * | 2015-05-28 | 2017-03-01 | 吴中区木渎蒯斌模具加工厂 | The contact pin assembling mechanism of LED kludge |
| CN108390236A (en) * | 2018-05-02 | 2018-08-10 | 东莞理工学院 | A kind of Full-automatic assembling machine of spring fastener |
| CN108907641A (en) * | 2018-07-12 | 2018-11-30 | 温州职业技术学院 | Fibre core and silica gel ring kludge |
| CN109367187A (en) * | 2018-12-13 | 2019-02-22 | 深圳市诺峰光电设备有限公司 | A kind of automatic on-line deaeration machine and its deaeration technique |
| CN110639848A (en) * | 2019-11-06 | 2020-01-03 | 深圳市大程智控科技有限公司 | Code testing machine is swept to electricity core |
| CN112027647A (en) * | 2020-08-28 | 2020-12-04 | 湛江德利车辆部件有限公司 | Feeding method |
| CN214982720U (en) * | 2021-06-07 | 2021-12-03 | 苏州精爪机器人有限公司 | Automatic feeding and discharging equipment for injection molding |
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| EP0164990A2 (en) * | 1984-06-06 | 1985-12-18 | Westinghouse Electric Corporation | Robotic clamp and index tool |
| JP2019217625A (en) * | 2018-06-15 | 2019-12-26 | 广州大学 | Shaft part processing device |
| DE102021108645A1 (en) * | 2020-04-07 | 2021-10-14 | TE Connectivity Services Gmbh | Visual inspection system and procedure for inspecting parts |
| DE102021114192A1 (en) * | 2020-06-03 | 2021-12-09 | TE Connectivity Services Gmbh | Product assembly machine with visual inspection station |
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