CN115922335A - Automatic assembly system and assembly method - Google Patents
Automatic assembly system and assembly method Download PDFInfo
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- CN115922335A CN115922335A CN202310122471.9A CN202310122471A CN115922335A CN 115922335 A CN115922335 A CN 115922335A CN 202310122471 A CN202310122471 A CN 202310122471A CN 115922335 A CN115922335 A CN 115922335A
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- 230000000007 visual effect Effects 0.000 claims abstract description 21
- 238000001514 detection method Methods 0.000 claims abstract description 15
- 238000003754 machining Methods 0.000 claims abstract description 15
- 238000007599 discharging Methods 0.000 claims abstract description 9
- 238000003825 pressing Methods 0.000 claims description 38
- 238000005259 measurement Methods 0.000 claims description 12
- 238000010330 laser marking Methods 0.000 claims description 8
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Abstract
The invention relates to an automatic assembly system which comprises a rotary machine table, wherein a grabbing robot and a plurality of assembly machining mechanisms are sequentially arranged on the periphery of the rotary machine table, a first feeding mechanism is arranged on one side of the grabbing robot, a first blanking mechanism is arranged on the other side of the grabbing robot, a grabbing clamp and a visual module are rotatably arranged on one end of the grabbing robot, and the grabbing clamp and the visual module are arranged vertically. The assembling and processing mechanism comprises an automatic measuring mechanism, the automatic measuring mechanism comprises a plurality of detection heads and a three-axis driving module used for driving the detection heads to move transversely, longitudinally and vertically, and a second discharging mechanism used for placing unqualified products is arranged on one side of the automatic measuring mechanism. The invention also provides an automatic assembly method based on the system, and the automatic assembly system and the assembly method can realize automatic assembly and processing operation of parts, reduce labor input, and are favorable for ensuring the stability of product processing and improving the qualification rate and the production efficiency of products.
Description
Technical Field
The invention relates to the technical field of automatic assembly, in particular to an automatic assembly system and an assembly method.
Background
At present, in a traditional mode, the automatic assembly of automobile parts is in single-station manual operation, the compatibility is poor, the quality of produced products is unstable and cannot be traced, and the operation efficiency is low. At present adopt gradually to snatch equipment such as mechanism equipment assistance realization mechanized assembly such as visual mechanism, however, in traditional visual snatch the operation, adopt visual mechanism and snatch the mechanism orientation and set up with one side usually to when snatching the mechanism and snatch the work piece, the position of work piece can directly be shot to visual mechanism. When the traditional mode is in actual grabbing operation, one of the vision mechanism and the grabbing mechanism is just opposite to the workpiece, usually, the grabbing mechanism is just opposite to the workpiece, and the vision mechanism shoots and obtains the position of the workpiece at the side so as to influence the grabbing mechanism to grab the workpiece and also avoid the grabbing mechanism from influencing the shooting of the vision mechanism on the workpiece. Due to the design, the vision mechanism can recognize the workpiece to generate certain deviation, when the grabbing mechanism is controlled to grab the workpiece, certain deviation value needs to be input to correct the position, data errors easily occur, and the workpiece cannot be grabbed accurately.
Disclosure of Invention
Therefore, in order to solve the above problems, it is necessary to provide an automatic assembly system and an assembly method, which can implement automatic assembly and processing operations of parts, reduce human input, and are beneficial to ensuring the stability of product processing and improving the yield and production efficiency of products.
The technical scheme is as follows:
on one hand, the automatic assembly system and the assembly method are provided, and the automatic assembly system comprises a rotary machine table, wherein a grabbing robot and a plurality of assembly machining mechanisms are sequentially arranged on one circle of the rotary machine table, a feeding station is arranged on the position, corresponding to the grabbing robot, of the rotary machine table, a plurality of machining stations are respectively arranged on the rotary machine table and corresponding to the assembly machining mechanisms, positioning trays for placing and positioning workpieces are respectively placed on the feeding station and the machining stations, a first feeding mechanism is arranged on one side of the grabbing robot, a first blanking mechanism is arranged on the other side of the grabbing robot, a grabbing clamp and a visual module are rotatably arranged on one end of the grabbing robot, and the grabbing clamp and the visual module are vertically arranged;
the assembly machining mechanism comprises an automatic measuring mechanism, the automatic measuring mechanism is connected with the grabbing robot, the automatic measuring mechanism comprises a plurality of detection heads and a three-axis driving module used for driving the detection heads to move transversely, longitudinally and vertically, a second discharging mechanism used for placing unqualified products is arranged on one side of the automatic monitoring mechanism, and one end of the second discharging mechanism is arranged in the motion range of the grabbing robot.
The technical solution is further explained below:
in one embodiment, the assembling and processing mechanism further comprises an automatic pin pressing mechanism, the automatic pin pressing mechanism comprises a press-fitting platform, a fixed press-fitting point and a first vibration disc member used for conveying a pin to the fixed press-fitting point are arranged on the press-fitting platform, a press-fitting member and a jacking rotary gripper used for gripping the workpiece on the rotary machine platform onto the press-fitting member are further arranged on the press-fitting platform, the press-fitting member comprises a press-fitting plate used for placing the workpiece, and the press-fitting plate is movably connected onto the press-fitting platform.
In one embodiment, the jacking rotary gripper comprises a jacking cylinder, a rotating frame is arranged on an output end of the jacking cylinder, a rotating rod is arranged on the rotating frame, jig grippers are arranged on two sides of the rotating rod respectively, and a rotary motor used for driving the rotating rod to rotate is further arranged on the rotating frame.
In one embodiment, the press-mounting platform is provided with a transverse guide rail, a sliding plate is slidably arranged on the transverse guide rail, a longitudinal guide rail perpendicular to the transverse guide rail is arranged on the sliding plate, and the press-mounting plate is slidably arranged on the longitudinal guide rail;
and the sliding plate, the press-mounting plate and the positioning tray are respectively provided with a first press-mounting hole, a second press-mounting hole and a third press-mounting hole for press-mounting the fixed press-mounting point.
In one embodiment, the assembly processing mechanism comprises a sensor assembly mechanism, the sensor assembly mechanism comprises a press-fitting robot, a second feeding mechanism used for feeding the sensor is arranged on one side of the press-fitting robot, an oil coating assembly used for coating oil on the sensor is further arranged between the second feeding mechanism and the rotating machine table and comprises an oil coating box and an oil pump used for supplying oil to the oil coating box, and an oil coating groove is formed in the top of the oil coating box.
In one embodiment, the assembling and processing mechanism further comprises a pressing mechanism, the pressing mechanism comprises a pressing robot, a plurality of second vibration disc components used for feeding fasteners are arranged on one side of the pressing robot, and a pressing component used for pressing the fasteners on the second vibration disc components onto the workpiece is arranged at one end of the pressing robot.
In one embodiment, the pressing member is detachably attached to the press-fitting robot.
In one embodiment, the triaxial drive module comprises a base, a cross beam is arranged on the base, a transverse slide rail is arranged on the cross beam, a longitudinal beam is connected onto the transverse slide rail in a sliding manner, a longitudinal slide rail is arranged on the longitudinal beam, a vertical beam is connected onto the longitudinal slide rail in a sliding manner, and a plurality of detection heads are arranged on the vertical beam.
In one embodiment, a laser marking machine is further arranged between the automatic measuring mechanism and the first blanking mechanism, and the laser marking machine is located in the motion range of the grabbing robot.
On the other hand, the invention also provides an assembly method based on the automatic assembly system, which further comprises the following steps:
s1, placing a workpiece to be machined on a first feeding mechanism for feeding, and stopping feeding and conveying after the workpiece at the forefront reaches a designated position;
s2, starting the grabbing robot, controlling the vision module to move to the position above a corresponding workpiece on the first feeding mechanism, and shooting the position information of the corresponding workpiece by the vision module;
s3, turning the vision module by 90 degrees, and simultaneously rotating the grabbing clamp along with the vision module so that the grabbing clamp is opposite to the workpiece;
s4, controlling a grabbing clamp to grab the workpiece and place the workpiece on a positioning tray of a feeding station by a grabbing robot according to the workpiece position information shot by the vision module;
s5, conveying the workpiece to a measuring station after the workpiece is processed by a plurality of assembling and processing mechanisms in sequence along with the rotation of the rotary machine table, measuring the corresponding part to be measured of the workpiece by a plurality of detection heads on the automatic measuring mechanism, and transmitting the measuring structure to a grabbing robot;
s6, the grabbing robot grabs and places the workpiece on the first blanking mechanism according to the measuring structure transmitted by the automatic measuring mechanism if the measuring result is qualified, and blanking of qualified products is completed; and if the measurement result is unqualified, the grabbing robot grabs the workpiece and places the workpiece on the second blanking mechanism to complete the blanking of the unqualified product.
The invention has the beneficial effects that:
compared with the prior art, the automatic assembly system has the advantages that the grabbing robot and the plurality of assembly machining mechanisms are arranged on one circle of the rotary machine table at one time, and the feeding station and the plurality of machining stations are correspondingly arranged, so that feeding and discharging operations and all assembly machining operations of workpieces can be sequentially realized on the rotary machine table, automatic assembly machining of the workpieces is realized, and the procedures are free of intermittent continuity, high in integration level and compact in space. Meanwhile, the quality of the processed product is ensured to be stable, the labor intensity of operators is reduced, and the qualification rate and the processing efficiency of the product are improved. Moreover, when assembling and processing operations of different workpieces are carried out, rotating machine tables with different sizes and specifications and assembling and processing mechanisms with different types and numbers can be replaced according to operation requirements, and assembling operations of various different parts can be realized.
Furthermore, the grabbing robot comprises the grabbing fixture and the visual module which are perpendicular to each other, when the workpiece is grabbed, one side of the visual module faces the workpiece, the workpiece is photographed and identified, then the grabbing fixture is rotated by 90 degrees to the position of the original visual module, and the grabbing fixture is controlled to accurately grab the workpiece according to the position information of the workpiece photographed by the visual module. Compared with the prior art, the grabbing robot is rotated to the position of the original vision module after the position information of the workpiece is shot and acquired by the vision module, so that the grabbing robot can directly face the workpiece, the workpiece is directly and accurately grabbed according to the position information recognized by the vision module, certain deviation value correction is not needed like the prior art, grabbing accuracy is higher, accurate grabbing of the workpiece is guaranteed, and smooth assembly and processing operation is guaranteed.
In addition, based on the automatic assembly system, the automatic assembly method can realize the automatic assembly and processing operation of the workpiece, is favorable for ensuring the stable quality of the processed product, reducing the labor intensity of operators, improving the qualification rate and the processing efficiency of the product, and is also favorable for ensuring the accurate grabbing of the workpiece and ensuring the smooth assembly and processing operation.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the invention and, together with the description, serve to explain the invention and not to limit the invention.
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a top view of an automated assembly system and method of assembly in one embodiment;
FIG. 2 is a schematic view of a rotary platen according to an embodiment;
FIG. 3 is a schematic diagram of the grasping robot in one embodiment;
FIG. 4 is a schematic diagram of the automatic pinning mechanism in one embodiment;
FIG. 5 is a schematic diagram of the press-fitting platform in one embodiment;
FIG. 6 is a schematic diagram of a jacking swivel gripper in one embodiment;
FIG. 7 is a schematic diagram of the structure of an oiling assembly in one embodiment;
fig. 8 is a schematic structural view of an automatic measuring mechanism in one embodiment.
Description of reference numerals:
100. rotating the machine table; 110. a feeding station; 120. a processing station; 130. positioning the tray; 200. a grabbing robot; 140. a measuring station; 210. grabbing a clamp; 220. a vision module; 221. a camera; 300. a protective fence; 310. an operating door; 400. a first feeding mechanism; 500. a first blanking mechanism; 600. an automatic measuring mechanism; 610. a detection head; 620. a three-axis drive module; 621. a base; 622. a cross beam, 623, a transverse slide rail; 624. a longitudinal beam; 625. a longitudinal slide rail; 626. erecting a beam; 630. a second blanking mechanism; 710. an automatic pin pressing mechanism; 711. pressing a platform; 7111. a transverse guide rail;
7112. a sliding plate; 7113. a first press-fitting hole; 7114. a longitudinal guide rail; 712. fixing a press mounting point;
713. a first vibrating disk member; 714. a material conveying structure; 715. pressing the component; 7151. pressing and mounting the plate;
716. jacking the rotary gripper; 7161. jacking a cylinder; 7162. a rotating frame; 7163. rotating the rod;
7164. a jig gripper; 7165. a rotating electric machine; 720. a press-fitting robot; 730. a second feeding mechanism; 731. supporting the box; 732. a sensor; 740. an oiling component; 741. an oiling box; 742. an oil pump; 743. an oil coating groove; 750. a compacting robot; 751. a pressing member; 760. a second vibrating disk member; 800. laser marking machine; 900. and (5) a workpiece.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein.
In the description of the present invention, it should be noted that the terms "inside", "outside", "upper", "lower", "horizontal", etc. indicate orientations or positional relationships based on orientations or positional relationships shown in the drawings or orientations or positional relationships conventionally placed when the products of the present invention are used, and are only used for convenience of description and simplification of the description, but do not indicate or imply that the devices or elements referred to must have specific orientations, be constructed in specific orientations, and operate, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," "third," "fourth," and the like are used merely to distinguish one description from another, and are not to be construed as indicating or implying relative importance.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," "attached," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood according to specific situations by those of ordinary skill in the art.
As shown in fig. 1 to 8, in one embodiment, an automatic assembling system and an assembling method are provided, which includes a rotary machine 100, a grabbing robot 200 and a plurality of assembling mechanisms are sequentially disposed on a circumference of the rotary machine 100, and a protective fence 300 is further disposed outside the rotary machine 100, the grabbing robot 200 and the assembling mechanisms, so as to prevent the assembling process from being interfered by the outside and prevent equipment and personnel outside the protective fence 300 from being affected when an accident occurs in the assembling process. Moreover, an operation door 310 is provided on the protective fence 300 corresponding to each assembly processing mechanism, so that an operator can enter the operation door 310 to perform maintenance, debugging and the like on the corresponding assembly processing mechanism.
Be equipped with material loading station 110 on the position that corresponds on the rotary machine platform 100 and snatchs robot 200, be equipped with a plurality of processing stations 120 respectively corresponding each assembly machining mechanism on the rotary machine platform 100, place the location tray 130 that is used for placing and fixing a position of work piece 900 on material loading station 110 and the processing station 120 respectively, be equipped with first feed mechanism 400 on the one side of snatching robot 200, be equipped with first unloading mechanism 500 on the opposite side of snatching robot 200, it is provided with on one end of snatching robot 200 and snatchs anchor clamps 210 and visual module 220 to rotate, it sets up with visual module 220 mutually perpendicular to snatch anchor clamps 210, wherein visual module 220 includes camera 221, be used for shooting the positional information who acquires work piece 900 and give and snatch robot 200, the rethread snatchs robot 200 control and snatchs anchor clamps 210 and press from both sides accurate work piece 900.
The assembly processing mechanism comprises an automatic measuring mechanism 600, the automatic measuring mechanism 600 is connected with the grabbing robot 200, the automatic measuring mechanism 600 comprises a plurality of detecting heads 610 and a triaxial driving module 620 used for driving the detecting heads 610 to move transversely, longitudinally and vertically, a second blanking mechanism 630 used for placing unqualified products is arranged on one side of the automatic measuring mechanism, and the second blanking mechanism 630 is arranged in a motion range of the grabbing robot 200.
In this embodiment, the grabbing robot 200 and the plurality of assembling and processing mechanisms are arranged on the rotary machine 100 for one circle, and the feeding station 110 and the plurality of processing stations 120 are correspondingly arranged, so that the feeding and discharging operation and each assembling and processing operation of the workpiece 900 can be sequentially realized on the rotary machine 100, the automatic assembling and processing of the workpiece 900 are realized, and the procedures are continuous, high in integration level and compact in space. Meanwhile, the quality of the processed product is ensured to be stable, the labor intensity of operators is reduced, and the qualification rate and the processing efficiency of the product are improved. Moreover, when assembling and processing operations of different workpieces 900 are performed, the rotary machine table 100 and the assembling and processing mechanisms of different types and numbers with different sizes and specifications can be replaced according to operation requirements, and assembling operations of various different parts can be realized.
Further, in the embodiment, the grabbing robot 200 includes the grabbing fixture 210 and the vision module 220 which are perpendicular to each other, when grabbing the workpiece 900, first, one side of the vision module 220 faces the workpiece 900, the camera 221 photographs and identifies the workpiece 900, then the grabbing fixture 210 is rotated by 90 ° to the position of the original vision module 220, and the grabbing fixture 210 is controlled to accurately grab the workpiece 900 according to the position information of the workpiece 900 photographed by the vision module 220. Compared with the prior art, the grabbing robot 200 is rotated to the position of the original vision module 220 after the vision module 220 shoots and acquires the position information of the workpiece 900, so that the grabbing robot 200 can directly face the workpiece 900, the workpiece 900 is directly and accurately grabbed according to the position information recognized by the vision module 220, certain deviation value correction is not needed like the prior art, the grabbing accuracy is higher, the workpiece 900 is guaranteed to be accurately grabbed, and the whole assembly and processing operation is guaranteed to be smooth.
In one embodiment, the assembly machine further comprises an automatic pin press 710 for performing a pin press on the workpiece 900. Specifically, the automatic pin pressing mechanism 710 includes a press mounting platform 711, a fixed press mounting point 712 and a first vibration disc member 713 used for conveying pins to the fixed press mounting point 712 are arranged on the press mounting platform 711, specifically, the conveying of the pins is realized through a conveying structure 714, one end of the conveying structure 714 is connected with the first vibration disc member 713, and the other end of the conveying structure 714 is connected with the fixed press mounting point 712, so that the pins screened out by vibration in the first vibration disc member 713 are conveyed to the fixed press mounting point 712. The press-fitting platform 711 is further provided with a press-fitting member 715 and a jacking rotary gripper 716 for gripping the workpiece 900 on the rotary machine table 100 onto the press-fitting member 715, the press-fitting member 715 comprises a press-fitting plate 7151 for placing the workpiece 900, the press-fitting plate 7151 is movably connected to the press-fitting platform 711, when the press-fitting platform 711 is in operation, the workpiece 900 is placed on the rotary machine table 100 after being fed by the gripping robot 200, the workpiece 900 is rotated to the press-pin station through the rotation of the rotary machine table 100, then the workpiece 900 and the positioning tray 130 on the press-pin station are gripped together through the jacking rotary gripper 716, the workpiece 900 on the rotary machine table 100 is transferred to the press-fitting member 715 after being rotated by 180 degrees, and finally the press-fitting member 715 drives the workpiece 900 to move to a position, corresponding to the press-fitting platform 711, so that the press-fitting of the pin is completed.
In one embodiment, the jacking rotary gripper 716 includes a jacking cylinder 7161, a rotating frame 7162 is disposed on an output end of the jacking cylinder 7161, a rotating rod 7163 is disposed on the rotating frame 7162, jig grippers 7164 are disposed on two sides of the rotating rod 7163, and a rotating motor 7165 for driving the rotating rod 7163 to rotate is further disposed on the rotating frame 7162. In actual operation, the jig gripper 7164 on one side grips the workpiece 900 on the rotary table 100, and the lifting cylinder 7161 lifts the rotary frame 7162, so that the jig gripper 7164 grips the workpiece 900 from the rotary table 100. Then, the rotating rod 7163 is driven by the rotating motor 7165 to rotate 180 degrees, the jig gripper 7164 and the workpiece 900 facing one side of the rotating machine table 100 are rotated to one side of the press-fitting member 715, and at the moment, the jacking cylinder 7161 lowers the rotating frame 7162, so that the jig gripper 7164 places the workpiece 900 on the press-fitting member 715 for press-fitting operation. In the process of continuous operation, the jig gripper 7164 on one side grabs the workpiece 900 on the rotary machine table 100 and puts the workpiece into the press-fitting component 715, and the jig gripper 7164 on the other side puts the workpiece 900 which is press-fitted on the press-fitting component 715 back onto the rotary machine table 100, and the rotary machine table 100 rotates to send the workpiece to the next process, and conveys a new workpiece 900 to be press-fitted, so that continuous and automatic press-fitting operation can be performed, and the operation efficiency is high.
In one embodiment, the press-fitting platform 711 is provided with a transverse guide rail 7111, the transverse guide rail 7111 is slidably provided with a sliding plate 7112, the sliding plate 7112 is provided with a longitudinal guide rail 7114 perpendicular to the transverse guide rail 7111, and the press-fitting plate 7151 is slidably arranged on the longitudinal guide rail 7114. The design of the transverse guide rails 7111 and the longitudinal guide rails 7114 allows the press-fitting members 715 to be moved on the press-fitting platform 711 to bring the workpiece 900 placed on the press-fitting plate 7151 to a position where the press-fitting points 712 are fixed for press-fitting of the pins. Of course, in addition to the present embodiment, the positions of the transverse guide 7111 and the longitudinal guide 7114 may be interchanged, or other movable structures may be adopted, as long as the press-fitting member 715 can be movably disposed on the press-fitting platform 711, and such a design also falls within the scope of the present invention.
Specifically, the sliding plate 7112, the press-fitting plate 7151 and the positioning tray 130 are respectively provided with a first press-fitting hole 7113, a second press-fitting hole and a third press-fitting hole for press-fitting the fixed press-fitting point 712, so that when the pin is press-fitted, the pin can pass through the first press-fitting hole 7113, the second press-fitting hole and the third press-fitting hole to be press-fitted on the workpiece 900 placed on the positioning tray 130.
In one embodiment, the assembling mechanism comprises a sensor 732 assembling mechanism, the sensor 732 assembling mechanism comprises a press-fitting robot 720, and a second feeding mechanism 730 for feeding the sensor 732 is arranged on one side of the press-fitting robot 720. Specifically, the second feeding mechanism 730 adopts a speed-multiplying chain conveying belt, a supporting box 731 for containing the sensor 732 is arranged on the speed-multiplying chain conveying belt, and a plurality of slots for placing the sensor 732 are uniformly distributed on the supporting box 731, so that the press-fitting robot 720 can automatically and accurately grab the sensor 732 in the supporting box 731 according to a fixed program. Further, in actual operation, the press-fitting robot 720 may further be provided with a visual recognition device, and the visual recognition device may be used to recognize the position of the sensor 732, which may be beneficial to improve the accuracy of the press-fitting robot 720 in grasping the sensor 732.
In the process of press-fitting the sensor 732, the sensor 732 needs to be oiled, so an oiling assembly 740 for oiling the sensor 732 is further disposed between the second feeding mechanism 730 and the rotary machine 100, the oiling assembly 740 includes an oiling tank 741 and an oil pump 742 for supplying oil to the oiling tank 741, and an oiling groove 743 is disposed at a top of the oiling tank 741. After the press-fitting robot 720 picks up the sensor 732 from the box 731, the sensor 732 is inserted into the oil coating groove 743 to complete the oil coating operation, and then the oil-coated sensor 732 is press-fitted to the corresponding position of the workpiece 900, and finally the press-fitting of the sensor 732 is completed. The whole operation process is independently completed through the press-fitting robot 720, the sensor 732 and the workpiece 900 are respectively conveyed to the right position through the second feeding mechanism 730 and the rotary machine table 100, the press-fitting operation of the sensor 732 is easily completed through cooperation with the press-fitting robot 720, the automation degree is high, and the operation efficiency is high.
In one embodiment, the assembling and processing mechanism further comprises a pressing mechanism, the pressing mechanism comprises a pressing robot 750, one side of the pressing robot 750 is provided with a plurality of second vibrating disk members 760 for feeding fasteners, and one end of the pressing robot 750 is provided with a pressing member 751 for pressing the fasteners on the second vibrating disk members 760 onto the workpiece 900. Specifically, the second vibration plate member 760 is used for loading screws, bolts and other fasteners, the operation is simple and convenient, and the corresponding screws, bolts and other fasteners are grabbed and pressed on corresponding positions of the workpiece 900 through the pressing members 751 by the pressing robot 750. Further, in actual operation, the pressing robot 750 may further be provided with a visual recognition device, and the visual recognition device is used to recognize the position of the sensor 732, which may be beneficial to improving the accuracy of the pressing robot 750 in grasping the fastener and performing the fastener pressing process.
Furthermore, the compressing member 751 can be detachably connected to the press-fitting robot 720, and different compressing members 751 can be replaced to be compatible with the compressing operation of workpieces 900 with different specifications according to the compressing requirements of different workpieces 900, so that the compatibility of the whole assembly system can be improved.
In one embodiment, the three-axis driving module 620 includes a base 621, a cross beam 622 is disposed on the base 621, a transverse slide rail 623 is disposed on the cross beam 622, a longitudinal beam 624 is slidably connected to the transverse slide rail 623, a longitudinal slide rail 625 is disposed on the longitudinal beam 624, a vertical beam 626 is slidably connected to the longitudinal slide rail 625, and a plurality of detection heads 610 are disposed on the vertical beam 626, so that the plurality of detection heads 610 can perform three-axis movement relative to the base 621, and thus the plurality of detection heads 610 can move to the workpiece 900 to correspond to points to be detected for measurement. In actual operation, according to different product measurement requirements, the detection head 610 may be disposed on the longitudinal beam 624, and the detection head 610 on the longitudinal beam 624 may measure a position of the workpiece 900 at a fixed horizontal height position.
Of course, in the present invention, the specific structure of the three-axis driving module 620 is not limited to the above-mentioned embodiment, and other three-axis driving modules 620 may be adopted besides the above-mentioned embodiment, or the slide rails and the beams of the three-axis driving module 620 may be replaced, as long as the three-axis movement of the detection head 610 on the base 621 can be realized, and such design all belongs to the protection scope of the present invention.
In one embodiment, a laser marking machine 800 is further disposed between the automatic measuring mechanism 600 and the first blanking mechanism 500, the laser marking machine 800 is located in a movement range of the grabbing robot 200, when the workpiece 900 is measured by the automatic measuring mechanism 600, if a measurement result is qualified, the workpiece 900 qualified in measurement is grabbed into the laser marking machine 800 by the grabbing robot 200 to be marked, and then the workpiece is grabbed and placed on the first blanking mechanism 500 to perform qualified product blanking. If the workpiece 900 is unqualified in measurement result by the automatic measurement mechanism 600, the grabbing robot 200 directly grabs the unqualified workpiece 900 to the second blanking mechanism 630 for unqualified product blanking rework.
In addition, based on the automatic assembly system, an automatic assembly method is also provided, which further comprises the following steps:
s1, placing a workpiece 900 to be machined on a first feeding mechanism 400 for feeding, and stopping feeding and conveying after the workpiece 900 at the forefront reaches a designated position;
s2, starting the grabbing robot 200, controlling the vision module 220 to move to the upper part of the corresponding workpiece 900 on the first feeding mechanism 400, and shooting the position information of the corresponding workpiece 900 by the vision module 220;
s3, turning the vision module 220 by 90 degrees, and simultaneously enabling the grabbing clamp 210 to rotate along with the vision module 220 so that the grabbing clamp 210 is over against the workpiece 900;
s4, the grabbing robot 200 controls the grabbing fixture 210 to grab the workpiece 900 and place the workpiece 900 on the positioning tray 130 of the feeding station 110 according to the position information of the workpiece 900 shot by the vision module 220;
s5, after the workpiece 900 is processed by the assembling and processing mechanisms in sequence along with the rotation of the rotary machine table 100, the workpiece 900 is conveyed to the measuring station 140, the corresponding part to be measured of the workpiece 900 is measured by the detecting heads 610 on the automatic measuring mechanism 600, and the measuring structure is transmitted to the grabbing robot 200;
s6, the grabbing robot 200 grabs and places the workpiece 900 on the first blanking mechanism 500 according to the measurement structure transmitted by the automatic measurement mechanism 600, and finishes blanking of qualified products if the measurement result is qualified; if the measurement result is not qualified, the grabbing robot 200 grabs the workpiece 900 and places the workpiece on the second discharging mechanism 630, so as to complete discharging of unqualified products.
Of course, in actual practice, the assembling work is performed for different workpieces 900, and the specific assembling method is performed according to the specific assembling method of the specific assembling mechanism, such as the assembling work for the workpiece 900 according to the above-mentioned embodiment, and the corresponding assembling method is as described in the above-mentioned embodiment.
In this embodiment, by adopting the assembly method, the automatic assembly and processing operation of the workpiece 900 can be realized, which is beneficial to ensuring the stable quality of the processed product, reducing the labor intensity of the operating personnel, improving the qualification rate and the processing efficiency of the product, and also beneficial to ensuring the accurate grabbing of the workpiece 900 and ensuring the smooth assembly and processing operation. Meanwhile, through full-process automatic assembly, the operation process can be monitored in real time and recorded, so that the source tracing can be performed subsequently.
The above examples only show several embodiments of the present invention, and the description thereof is specific and detailed, but not to be construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. The automatic assembly system is characterized by comprising a rotary machine table (100), wherein a grabbing robot (200) and a plurality of assembly machining mechanisms are sequentially arranged on one circle of the rotary machine table (100), a feeding station (110) is arranged on the position, corresponding to the grabbing robot (200), of the rotary machine table (100), a plurality of machining stations (120) are respectively arranged on the rotary machine table (100) corresponding to the assembly machining mechanisms, positioning trays (130) used for placing and positioning workpieces (900) are respectively placed on the feeding station (110) and the machining stations (120), a first feeding mechanism (400) is arranged on one side of the grabbing robot (200), a first blanking mechanism (500) is arranged on the other side of the grabbing robot (200), a grabbing clamp (210) and a visual module (220) are rotatably arranged on one end of the grabbing robot (200), and the grabbing clamp (210) and the visual module (220) are arranged perpendicular to each other;
the assembly processing mechanism comprises an automatic measuring mechanism (600), the automatic measuring mechanism (600) is connected with the grabbing robot (200), the automatic measuring mechanism (600) comprises a plurality of detection heads (610) and is further used for driving a plurality of the detection heads (610) to move transversely, longitudinally and vertically, a triaxial driving module (620) is arranged on one side of the automatic measuring mechanism, a second discharging mechanism (630) used for placing unqualified products is arranged on one side of the automatic measuring mechanism, and one end of the second discharging mechanism (630) is arranged in a motion range of the grabbing robot (200).
2. The automatic assembling system of claim 1, wherein the assembling mechanism further comprises an automatic pin pressing mechanism (710), the automatic pin pressing mechanism (710) comprises a press-fitting platform (711), the press-fitting platform (711) is provided with a fixed press-fitting point (712) and a first vibrating disc member (713) for conveying pins to the fixed press-fitting point (712), the press-fitting platform (711) is further provided with a press-fitting member (715) and a lifting rotary gripper (716) for gripping the workpiece (900) on the rotary machine table (100) onto the press-fitting member (715), the press-fitting member (715) comprises a press-fitting plate (7151) for placing the workpiece (900), and the press-fitting plate (7151) is movably connected to the press-fitting platform (711).
3. The automatic assembly system of claim 2, wherein the jacking rotary gripper (716) comprises a jacking cylinder (7161), a rotary frame (7162) is arranged at an output end of the jacking cylinder (7161), a rotary rod (7163) is arranged on the rotary frame (7162), jig grippers (7164) are respectively arranged on two sides of the rotary rod (7163), and a rotary motor (7165) for driving the rotary rod (7163) to rotate is further arranged on the rotary frame (7162).
4. The automatic assembling system of claim 2, characterized in that, the press-fitting platform (711) is provided with a transverse guide rail (7111), the transverse guide rail (7111) is slidably provided with a sliding plate (7112), the sliding plate (7112) is provided with a longitudinal guide rail (7114) perpendicular to the transverse guide rail (7111), and the press-fitting plate (7151) is slidably arranged on the longitudinal guide rail (7114);
the sliding plate (7112), the press-fitting plate (7151) and the positioning tray (130) are respectively provided with a first press-fitting hole (7113), a second press-fitting hole and a third press-fitting hole which are used for press-fitting the fixed press-fitting point (712).
5. The automatic assembly system of claim 1, wherein the assembly mechanism comprises a sensor (732) assembly mechanism, the sensor (732) assembly mechanism comprises a press-fitting robot (720), a second feeding mechanism (730) for feeding the sensor (732) is arranged on one side of the press-fitting robot (720), an oiling component (740) for oiling the sensor (732) is further arranged between the second feeding mechanism (730) and the rotary machine table (100), the oiling component (740) comprises an oiling box (741) and an oil pump (742) for supplying oil to the oiling box (741), and an oiling groove (743) is arranged at the top of the oiling box (741).
6. The automatic assembly system of claim 1, wherein the assembly mechanism further comprises a pressing mechanism, the pressing mechanism comprises a pressing robot (750), one side of the pressing robot (750) is provided with a plurality of second vibrating disk members (760) for feeding fasteners, one end of the pressing robot (750) is provided with a pressing member (751) for pressing the fasteners on the second vibrating disk members (760) onto the workpiece (900).
7. An automated assembly system according to claim 6, wherein the pressing member (751) is detachably attached to the press-fitting robot (720).
8. The automatic assembly system of claim 1, wherein the three-axis driving module (620) comprises a base (621), a cross beam (622) is disposed on the base (621), a transverse slide rail (623) is disposed on the cross beam (622), a longitudinal beam (624) is slidably connected to the transverse slide rail (623), a longitudinal slide rail (625) is disposed on the longitudinal beam (624), a vertical beam (626) is slidably connected to the longitudinal slide rail (625), and a plurality of the detecting heads (610) are disposed on the vertical beam (626).
9. An automatic assembly system according to claim 1, characterized in that a laser marking machine (800) is further arranged between the automatic measuring mechanism (600) and the first blanking mechanism (500), and the laser marking machine (800) is located in the motion range of the grabbing robot (200).
10. An assembling method of an automatic assembling system according to any one of the preceding claims 1 to 9, further comprising the steps of:
s1, placing a workpiece (900) to be machined on a first feeding mechanism (400) for feeding, and stopping feeding and conveying after the workpiece (900) at the forefront reaches a designated position;
s2, starting the grabbing robot (200), controlling the vision module (220) to move to the upper side of the corresponding workpiece (900) on the first feeding mechanism (400), and shooting the position information of the corresponding workpiece (900) by the vision module (220);
s3, turning the vision module (220) for 90 degrees, and simultaneously enabling the grabbing clamp (210) to rotate along with the vision module (220) so that the grabbing clamp (210) is opposite to the workpiece (900);
s4, controlling a grabbing clamp (210) to grab the workpiece (900) and place the workpiece on a positioning tray (130) of the feeding station (110) by the grabbing robot (200) according to the position information of the workpiece (900) shot by the vision module (220);
s5, after the workpiece (900) is processed by the assembling and processing mechanisms in sequence along with the rotation of the rotary machine table (100), the workpiece is conveyed to a measuring station (140), the corresponding part to be measured of the workpiece (900) is measured by a plurality of detecting heads (610) on the automatic measuring mechanism (600), and a measuring structure is transmitted to the grabbing robot (200);
s6, the grabbing robot (200) grabs and places the workpiece (900) on the first blanking mechanism (500) according to the measuring structure transmitted by the automatic measuring mechanism (600) if the measuring result is qualified, and blanking of qualified products is completed; if the measurement result is unqualified, the grabbing robot (200) grabs the workpiece (900) and places the workpiece on the second blanking mechanism (630) to finish blanking of the unqualified product.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202310122471.9A CN115922335A (en) | 2023-02-14 | 2023-02-14 | Automatic assembly system and assembly method |
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| CN202310122471.9A CN115922335A (en) | 2023-02-14 | 2023-02-14 | Automatic assembly system and assembly method |
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| CN115922335A true CN115922335A (en) | 2023-04-07 |
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| CN205594419U (en) * | 2016-04-15 | 2016-09-21 | 国家电网公司 | Automatic testing arrangement of burden accuse terminal remote communication module |
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Application publication date: 20230407 |