CN117564664A - Stud roller sleeve bonding robot - Google Patents
Stud roller sleeve bonding robot Download PDFInfo
- Publication number
- CN117564664A CN117564664A CN202311162456.3A CN202311162456A CN117564664A CN 117564664 A CN117564664 A CN 117564664A CN 202311162456 A CN202311162456 A CN 202311162456A CN 117564664 A CN117564664 A CN 117564664A
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- Prior art keywords
- stud
- plate
- feeding
- spinning
- camera
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- 238000009987 spinning Methods 0.000 claims abstract description 135
- 238000005498 polishing Methods 0.000 claims abstract description 105
- 238000004140 cleaning Methods 0.000 claims abstract description 101
- 238000007664 blowing Methods 0.000 claims abstract description 84
- 230000007246 mechanism Effects 0.000 claims abstract description 47
- 238000001514 detection method Methods 0.000 claims abstract description 29
- 239000000758 substrate Substances 0.000 claims description 73
- 239000003292 glue Substances 0.000 claims description 54
- 239000000463 material Substances 0.000 claims description 17
- 230000005540 biological transmission Effects 0.000 claims description 16
- 230000009471 action Effects 0.000 claims description 12
- 238000012216 screening Methods 0.000 claims description 10
- 238000009434 installation Methods 0.000 claims description 9
- 210000000078 claw Anatomy 0.000 claims description 7
- 238000005507 spraying Methods 0.000 claims description 7
- 230000002457 bidirectional effect Effects 0.000 claims description 4
- 239000003638 chemical reducing agent Substances 0.000 claims description 4
- 239000012459 cleaning agent Substances 0.000 claims description 4
- 210000001503 joint Anatomy 0.000 claims description 3
- 238000012545 processing Methods 0.000 abstract description 2
- 208000012886 Vertigo Diseases 0.000 description 99
- 238000007605 air drying Methods 0.000 description 9
- 238000000034 method Methods 0.000 description 8
- 239000007921 spray Substances 0.000 description 8
- 230000008569 process Effects 0.000 description 5
- 230000000007 visual effect Effects 0.000 description 5
- 230000000875 corresponding effect Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 238000000227 grinding Methods 0.000 description 3
- 239000000956 alloy Substances 0.000 description 2
- 229910045601 alloy Inorganic materials 0.000 description 2
- 239000007788 liquid Substances 0.000 description 2
- 238000003825 pressing Methods 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 241001079814 Symphyotrichum pilosum Species 0.000 description 1
- 235000004224 Typha angustifolia Nutrition 0.000 description 1
- 239000000853 adhesive Substances 0.000 description 1
- 230000001070 adhesive effect Effects 0.000 description 1
- 230000001680 brushing effect Effects 0.000 description 1
- 239000002131 composite material Substances 0.000 description 1
- 238000005520 cutting process Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000005553 drilling Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000001179 sorption measurement Methods 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
Classifications
-
- 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
- B23P19/02—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 connecting objects by press fit or for detaching same
- B23P19/027—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 connecting objects by press fit or for detaching same using hydraulic or pneumatic means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C—APPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C7/00—Apparatus specially designed for applying liquid or other fluent material to the inside of hollow work
- B05C7/02—Apparatus specially designed for applying liquid or other fluent material to the inside of hollow work the liquid or other fluent material being projected
-
- 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
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a stud roller sleeve bonding robot, which comprises a lathe bed, a cooperative robot base arranged on the lathe bed, and a stud grabbing mechanism and a stud pad grabbing mechanism arranged on the cooperative robot; the lathe bed is provided with a dispensing device, a spinning device and a detecting device; the detection device is used for detecting positions of the stud and the stud pad; the lathe bed is provided with a 2D camera and a 3D camera which are used for shooting the actual position of a certain stud hole on the stud roller sleeve; the polishing, cleaning and blowing device is used for polishing and cleaning the stud holes of the stud roller sleeve before dispensing; the cooperative robot side is also provided with a feeding platform, and the feeding platform is provided with a column nail feeding unit and a column nail pad feeding unit which are mutually independent; and a carrier roller assembly is arranged on the side surface of the lathe bed and used for supporting the column nail roller sleeve. Under the mutual cooperation, the invention realizes the post binding operation of the post roller sleeve and the post, has high degree of automation, improves the processing efficiency of the post roller sleeve and ensures the quality of the binding.
Description
The invention relates to a split application of Chinese patent application CN202211730761.3, the application date of the original application is 2022, 12 months and 30 days, and the invention creates a stud roller sleeve bonding robot.
Technical Field
The invention belongs to the technical field of stud roller sleeves, and particularly relates to a stud roller sleeve bonding robot.
Background
As is well known, the stud roller is used as one of core fittings of the roller press, provides the roller press with the characteristics of high wear resistance and high compressive strength, and can meet the use requirements of different working conditions. After the post nail roller sleeve adopts the wear-resistant alloy composite roller sleeve and carries out the drilling and reaming procedures, the working roller surface is manufactured in a manner of embedding hard alloy post nails, the post nail roller sleeve surface is required to be embedded and assembled, the number of post nails is very large, and the technological process mainly comprises the following steps: cleaning a stud hole, dispensing, placing a pad, dispensing, placing a stud, spinning, detecting and the like; because the traditional mode adopts manual cleaning, dispensing and inserting, then hammering assembly is adopted; this conventional process has the following drawbacks:
1. the nailing process is complex, and the manual operation error rate is high; for example, forgetting to dispense glue, the problems of unstable installation and falling of column nails are caused, and excessive dispensing glue is caused to cause gummosis;
1. the labor intensity is high, and thousands of studs are required to be embedded in the stud roller sleeve, so that a large amount of time and labor are required to be consumed in a manual embedding mode;
2. The accident of omission is easy to occur in manual operation; because of the large number of the stud holes, missing accidents are unavoidable;
during manual operation, the dynamics of hammering is difficult to grasp, consequently leads to the firm degree of post nail different, and the difference in height influences final quality.
Disclosure of Invention
Aiming at the problems existing in the prior art, the invention provides a stud roller sleeve bonding robot capable of realizing automatic feeding, cleaning, dispensing and spinning of studs and stud pads.
The invention is realized in such a way that a stud roller sleeve bonding robot is characterized in that: the automatic nailing machine comprises a machine body, wherein the machine body comprises a machine body frame, an automatic nailing machine frame assembly is arranged on the machine body frame, the automatic nailing machine frame assembly comprises an upper layer moving guide rail and a lower layer moving guide rail, and an upper layer transmission rack is arranged on the side surface of the upper layer moving guide rail in the machine body frame; a lower-layer transmission rack is arranged on the side surface of the lower-layer moving guide rail in the machine body frame; a cooperative robot base is arranged on the upper-layer moving guide rail, a robot walking motor is arranged on the cooperative robot base, and a robot walking gear meshed with the upper-layer rack is arranged at the output end of the robot walking motor; the cooperative robot base is provided with a cooperative robot, the end part of a mechanical arm of the cooperative robot is provided with a manipulator flange base plate, and the manipulator flange base plate is provided with a stud grabbing mechanism and a stud pad grabbing mechanism; the upper layer movable guide rail is provided with a glue dispensing device and a spinning device, wherein the glue dispensing device is used for injecting glue into a box column nail hole before placing a column nail and a column nail pad; the spinning device compresses the stud and the stud pad which are grabbed by the cooperative robot into a stud hole of the stud roller sleeve; a 3D camera acquisition device and a polishing, cleaning and blowing device are arranged on the lower layer moving guide rail, wherein the 3D camera acquisition device is used for shooting the actual position of a certain stud hole on the stud roller sleeve; the polishing, cleaning and blowing device is used for polishing and cleaning the stud holes of the stud roller sleeve before dispensing; the cooperative robot side is also provided with a feeding platform, and the feeding platform is provided with a column nail feeding unit and a column nail pad feeding unit which are mutually independent; and a carrier roller assembly is arranged on the side surface of the lathe bed and used for supporting the column nail roller sleeve.
Preferably, the column nail pad grabbing mechanism comprises an upper clamping block, wherein an electromagnet mounting block is mounted on the upper clamping block, an electromagnet is embedded in the electromagnet mounting block, and a column nail pad positioning groove is formed in the electromagnet mounting block close to the feeding side; the manipulator flange base plate is provided with a pushing mechanism; the pushing mechanism comprises a double-rod air cylinder, a piston rod of the double-rod air cylinder is connected with a pushing plate, and six pushing rods are arranged on the pushing plate.
Preferably, the stud grabbing mechanism comprises a material taking plate, the material taking plate is connected with the manipulator flange base plate through a connecting rod, six flexible claws are arranged on the material taking plate, each flexible claw comprises two clamping blocks which are oppositely arranged, and the clamping blocks are connected with a bidirectional cylinder to realize clamping action; and a 2D camera mounting plate is arranged at one end of the material taking plate, a 2D camera is arranged on the 2D camera mounting plate, and the 2D camera is used for collecting the positions of the column nail holes on the column nail roller sleeve.
Preferably, the manipulator flange base plate is further provided with a sticking nail protection bracket, and a detection sensor for detecting the limit position of the push rod position is arranged on the sticking nail protection bracket, so that the flexible protection function is realized, and the overstroke pushing of the column nail pad and the column nail is prevented. Preferably, the linear rail sliding seat on the upper layer moving guide rail; a traveling motor is arranged on the side surface of the linear track sliding seat, and a traveling gear meshed with the upper layer of rack is arranged at the output end of the traveling motor; a dispensing spinning feeding substrate, a mounting point glue device on the dispensing spinning feeding substrate and a spinning device are arranged above the linear track sliding seat; a linear track is arranged between the dispensing spinning feeding substrate and the linear track sliding seat, a dispensing spinning feeding travelling motor is arranged on the dispensing spinning feeding substrate and provided with a dispensing spinning feeding travelling gear, and a rack meshed with the dispensing spinning feeding travelling gear is arranged between the dispensing spinning feeding substrate and the linear track sliding seat; a rotary lifting mechanism is arranged on one side of the dispensing spinning feeding substrate; the rotary lifting mechanism comprises four lifting columns which are perpendicular to the dispensing spinning feeding substrate, a lifting motor is arranged below the dispensing spinning feeding substrate, the lifting motor is connected with the rotary lifting substrate through a screw nut pair, and a rotary device is arranged on one side of the rotary lifting substrate.
The rotating device comprises a through shaft screw type stepping motor, the output end of the stepping motor is connected with a rack, the rack is installed on a sliding block of the linear sliding rail, a driven gear is meshed with the upper portion of the rack and installed on a driven shaft, the driven shaft is installed on a rotating bearing seat, the rotating bearing seat is installed on a rotating lifting base plate, and the installation point on the rotating lifting base plate is glued and spun to feed the base plate. Preferably, the dispensing device comprises a dispensing substrate, a mounting point glue cylinder is arranged on the dispensing substrate, a connecting point glue pushing plate is arranged at the output end of the dispensing cylinder, a connecting point glue valve fixing plate is arranged at the connecting point glue pushing plate, a pneumatic dispensing valve capable of pneumatically adjusting flow is arranged on the connecting point glue valve fixing plate, a pneumatic dispensing valve connecting point glue barrel and a high-pressure air source are arranged on the dispensing spinning feeding substrate, the dispensing barrel is connected with the high-pressure air source, and glue is conveyed to the pneumatic dispensing valve through the high-pressure air source.
Preferably, the spinning device comprises a spinning substrate, a linear guide rail is arranged between the spinning substrate and a dispensing spinning feeding substrate, a buffer seat is arranged on the dispensing spinning feeding substrate at the rear end of the spinning substrate, a buffer rod is arranged on the buffer seat vertically to the spinning substrate, and a buffer spring is arranged on the buffer rod; the spinning base plate is provided with a spinning motor seat, a spinning motor is arranged on the spinning motor seat, a driving gear is arranged on an output shaft of the spinning motor, the driving gear is meshed with a driven gear group, each driven gear of the driven gear group is arranged on an independent spinning shaft, the spinning shaft is arranged on a spinning bearing seat, the spinning bearing seat is arranged on the spinning base plate, and a spinning head is arranged at the end part of the spinning shaft.
Preferably, a detection device is fixedly installed on a support of the linear track sliding seat and used for detecting the spinning height of the stud, the detection device comprises a support, the upper end of the support extends towards the direction of the roller sleeve of the stud, and a ranging sensor is installed at the end part of the support.
Preferably, the 3D camera acquisition device comprises a 3D camera walking plate matched with the lower-layer movable guide rail, a 3D camera acquisition device walking motor is arranged on the side surface of the 3D camera walking plate, a walking gear is arranged at the output end of the 3D camera acquisition device walking motor, and the walking gear is meshed with a lower-layer transmission rack arranged on the inner side of the lower-layer movable guide rail; and the 3D camera walking board is provided with a 3D camera, and the 3D camera is connected with a display.
Preferably, a 3D camera lifting feeding plate is arranged on the upper surface of the 3D camera walking plate, and linear guide rails are arranged on the 3D camera lifting feeding plate and the 3D camera walking plate; the 3D camera lifting feeding plate is provided with a 3D camera feeding walking motor, the output end of the walking motor is provided with a 3D camera feeding walking gear, and the 3D camera feeding walking gear is meshed with a 3D camera feeding rack arranged on the upper surface of the 3D camera walking plate; enabling the 3D camera acquisition device to move along the axial direction of the vertical column nail roller sleeve; and the 3D lifting base is provided with a 3D camera lifting mechanism.
Preferably, the 3D camera lifting mechanism comprises a 3D camera lifting guide plate, a through shaft type screw rod stepping motor arranged below the 3D camera lifting guide plate, the output end of the motor is connected with a screw rod, the upper end of the screw rod is connected with the 3D camera lifting plate, and the 3D camera is arranged on the 3D camera lifting plate; a guide column is arranged between the 3D camera lifting plate and the 3D camera lifting guide plate.
Preferably, the polishing, cleaning and blowing device comprises a polishing, cleaning and blowing traveling plate arranged on the lower-layer movable guide rail, a traveling motor is arranged on the side surface of the polishing, cleaning and blowing traveling plate, a traveling gear is arranged at the output end of the traveling motor, and the traveling gear is meshed with a lower-layer transmission rack arranged on the outer side of the lower-layer movable guide rail; the polishing, cleaning and blowing traveling plate is arranged on the polishing, cleaning and blowing base, a linear guide rail is arranged between the polishing, cleaning and blowing base and the polishing, cleaning and blowing traveling plate, a polishing, cleaning and blowing feeding motor is arranged on the polishing, cleaning and blowing feeding motor, a feeding gear is arranged at the output end of the polishing, cleaning and blowing feeding motor, and the feeding gear is meshed with the feeding rack; the feeding rack is arranged on the upper surface of the polishing, cleaning and blowing travelling plate; a lifting guide plate is arranged on the polishing, cleaning and blowing lifting substrate close to the side of the stud roller sleeve, a through shaft type screw rod stepping motor is arranged below the lifting guide plate, the output end of the stepping motor is connected with a screw rod, the upper end of the screw rod is connected with the polishing, cleaning and blowing lifting plate, and a polishing assembly and a cleaning and blowing assembly are arranged on the polishing, cleaning and blowing lifting plate; a guide column is arranged between the polishing, cleaning and blowing lifting plate and the lifting guide plate.
Preferably, the polishing assembly comprises three polishing motors arranged on the polishing cleaning blowing lifting plate, and the output end of each polishing motor is connected with a polishing wheel.
Preferably, the cleaning and blowing assembly comprises a cylinder arranged on a polishing and cleaning and blowing lifting plate, a piston rod of the cylinder is connected with a polishing and cleaning and blowing seat, a spraying substrate is arranged on the polishing and cleaning and blowing seat, and six spraying valves connected with cleaning agents and high-pressure air sources are arranged on the spraying substrate.
Preferably, the stud feeding unit comprises a stud baffle plate arranged at the tail end of a conveying track of the stud vibration screening machine, a stud feeding moving assembly is arranged along the vertical direction, the stud feeding moving assembly comprises a plurality of stud feeding blocks, the stud feeding blocks are arranged on a stud moving supporting plate in a straight-line layout, the stud moving supporting plate is arranged on a sliding block of a linear sliding rail, the stud baffle plate is connected with a push plate at the end part of a piston rod of a cylinder, stud guide blocks are arranged on stand columns at the lower end of the stud baffle plate, and stud guide holes are formed in the stud guide blocks; two column nails are arranged in-place detection sensors for detecting whether the column nails incline, and a blanking detection sensor is arranged on the lower surface of the column nail guide block and used for detecting whether blanking is carried out.
Preferably, the column nail pad feeding unit comprises a column nail pad material pickup device arranged at the tail end of a conveying track of a column nail pad of the column nail pad vibration screening machine, a column nail pad feeding assembly is arranged along the vertical direction, the column nail pad feeding assembly comprises a plurality of column nail pad feeding blocks, the column nail pad feeding blocks are arranged on a column nail pad moving plate in a straight-line layout, the column nail pad moving plate is arranged on a sliding block of a linear sliding rail, the column nail pad pickup device comprises a vertically arranged frame, a lifting mechanism is arranged on the frame and comprises a through type lifting motor, a magnet installation sleeve is arranged on an output shaft of the through type lifting motor, and an electromagnetic block is arranged in the magnet installation sleeve; the frame is also provided with a post nail pad supporting plate, the post nail pad supporting plate is in butt joint with the post nail pad bolting track, and the post nail pad supporting plate is connected with a post nail pad supporting cylinder; a first infrared sensor is arranged on the frame and used for detecting whether the electromagnetic block returns to the original point initial position or not; the two stud pad position detection sensors are arranged at the upper part, and the position detection sensors are used for detecting whether the stud pad is in place or not; the position detection sensor positioned at the lower part is used for detecting the falling of the stud pad.
Preferably, the roller assembly is used for supporting column nail roller sleeve, and comprises a base connected with a foundation, wherein roller devices are symmetrically arranged on the base, each roller device comprises a roller frame, two rollers are arranged on the roller frame, and a private clothes driving motor and a speed reducer for driving the rollers to rotate are respectively arranged on the two rollers of the roller device on one side.
Preferably, a linear guide rail is arranged on the base along the axis direction of the vertical column nail roller sleeve, the roller frames are movably arranged on the linear guide rail, each roller frame is connected with each other through a screw rod, and each screw rod is independently connected with a private clothes motor.
The invention has the advantages and technical effects that:
according to the invention, through cooperation with a robot, automatic feeding of the stud pad and the stud is completed, and the polishing, cleaning and blowing device is used for polishing and cleaning the stud holes of the stud roller sleeve before dispensing; injecting glue solution into the column nail holes of the box before the column nails and the column nail pads are placed through the glue dispensing device; the column nails and column nail pads which are grabbed by the cooperative robot are pressed in column nail holes of the column nail roller sleeve by the spinning device; the detection device is used for detecting positions of the stud and the stud pad; the invention realizes the post binding operation of the post roller sleeve and the post under the mutual cooperation by adopting the 3D camera and the 2D visual positioning pick-up and delivery function, has high automation degree, improves the processing efficiency of the post roller sleeve and ensures the binding quality.
Drawings
FIG. 1 is a front view of the present invention;
FIG. 2 is a top view;
FIG. 3 is a left side view;
FIG. 4 is a schematic perspective view of the present invention;
FIG. 5 is a front view of the fuselage;
FIG. 6 is a schematic perspective view of a fuselage;
FIG. 7 is a schematic diagram of a machine frame structure of the machine bed;
FIG. 8 is a schematic perspective view of a stud feeding unit;
FIG. 9 is a schematic perspective view of a stud pad loading unit;
fig. 10 and 11 are schematic views of a mounting perspective structure of the cooperative robot;
fig. 12 and 13 are schematic views of mounting perspective structures of the dispensing device and the spinning device;
fig. 14 and 15 are schematic perspective views of a 3D camera acquisition device;
fig. 16 to 18 are schematic perspective views of a polishing, cleaning and blowing device;
fig. 19 and 20 are schematic perspective views of a carrier roller assembly.
1. 1-1 parts of column nail rod sleeve and column nails; 1-2, a column nail pad;
100. a bed body; 110. a bed frame; 120. an automatic nailing machine frame assembly;
121. an upper layer moving guide rail; 1210. a linear rail sliding seat; 1211. a walking motor; 1212. a traveling gear; 1213. dispensing, spinning and feeding the substrate; 1214. a linear rail; 1215. dispensing spinning feeding travelling motor; 1216. dispensing, spinning and feeding a travelling gear; 1217. a rack; 1218. a rotary lifting mechanism; 1219. lifting columns; 1220. a lifting motor; 1221. rotating the lifting substrate; 1230. a rotating device; 1231. a stepping motor; 1232. a rack; 1233. a linear slide rail; 1234. a slide block; 1235. a driven gear; 1236. a driven shaft; 1237. a rotary bearing seat;
122. A lower layer moving guide rail; 123. an upper layer transmission rack;
200. a collaborative robot base; 210. a robot walking motor is arranged; 220. a robot walking gear; 230. a collaborative robot; 240. a robot flange substrate;
250. a post nail grasping mechanism; 251. a material taking plate; 252. a connecting rod; 253. a flexible claw; 2531. a clamping block; 2532. a bidirectional cylinder; 254. a 2D camera mounting plate; 255. a 2D camera;
260. a post pad grabbing mechanism; 262. an electromagnet mounting block; 263. an electromagnet; 264. a stud pad positioning groove; 265. a pushing mechanism; 2651. a double-rod cylinder; 2652. a push plate; 2653. a push rod;
270. a sticking nail protection bracket; 271. a detection sensor;
300. a dispensing device; 301. dispensing a substrate; 302. dispensing cylinder; 303. dispensing push plates; 304. a dispensing valve fixing plate; 305. pneumatic dispensing valve; 306. dispensing barrels;
400. a spinning device; 401. spinning the substrate; 402. a linear guide rail; 403. a buffer seat; 404. a buffer rod; 405. a buffer spring; 406. a spinning motor; 407. a spinning motor; 408. a drive gear; 409. a driven gear; 410. spinning the shaft; 411. spinning the bearing seat; 412. a spinning head;
500. a detection device; 501. a bracket; 502. a ranging sensor;
600. A 3D camera acquisition device; 601. 3D camera walking board; 602. a 3D camera acquisition device walking motor; 603. a traveling gear; 605. a 3D camera; 606. lifting and lowering a feeding plate of the 3D camera; 607. a linear guide rail; 608. feeding a walking motor for the 3D camera; 609. feeding a walking gear by a 3D camera; 610. feeding racks by a 3D camera; 611. a 3D camera lifting mechanism; 6110. lifting guide plates of the 3D camera; 6111. a stepping motor; 6112. a screw rod; 6113. a 3D camera lifting plate; 6114. a guide post;
700. polishing, cleaning and blowing devices; 701. polishing, cleaning and blowing the walking plate; 702. a walking motor is arranged on the side face; 703. a traveling gear; 705. polishing, cleaning and blowing the base; 706. a linear guide rail; 707. polishing, cleaning and blowing a feeding motor; 708. a feed gear; 709. a feed rack; 710. lifting the guide plate; 711. a stepping motor; 712. a screw rod; 713. polishing, cleaning and blowing a lifting plate; 714. a polishing assembly; 7140. polishing a motor; 7141. grinding wheel; 715. cleaning the blowing component; 7150. a cylinder; 7151. polishing and cleaning the blowing seat; 7152. spraying the substrate; 7153. a spray valve; 716. a guide post;
800. a feeding platform;
810. a stud feeding unit; 811. a stud vibratory screening machine; 812. a stud baffle; 813. a stud loading moving assembly; 814. feeding a column nail; 815. the column nails move the supporting plate; 816. a linear slide rail; 817. a slide block; 818. a cylinder piston rod; 819. a push plate; 8110. a stud guide block; 8111. a stud guide hole; 8112. an in-place detection sensor; 8113. a blanking detection sensor; 8114. a column;
820. A column nail pad feeding unit; 821. a column nail pad vibration screening machine; 822. a column nail pad material pickup device; 823. a stud pad feeding assembly; 824. feeding a material block on the column nail pad; 825. a stud pad moving plate; 826. a linear slide rail; 827. a slide block; 828. a frame; 829. a lifting mechanism; 8210. a through type lifting motor; 8211. a magnet mounting sleeve; 8212. a first infrared sensor; 8213. a position detection sensor;
900. a carrier roller assembly; 910. a base; 920. a carrier roller device; 921. a roller frame; 922. a carrier roller; 923. a private clothing driving motor; 924. a speed reducer; 930. a linear guide rail; 940. a screw rod; 941. a private clothes motor;
1000. a bracket; 1001. and (5) wiping the rubber roller.
Detailed Description
The present invention will be described in further detail with reference to the following examples in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
Referring to fig. 1 to 7, a stud roller sleeve bonding robot comprises a lathe bed 100, wherein the lathe bed comprises a lathe bed frame 110, an automatic bonding machine frame assembly 120 is mounted on the lathe bed frame, the automatic bonding machine frame assembly comprises an upper layer moving guide rail 121 and a lower layer moving guide rail 122, and an upper layer transmission rack 123 is mounted on the side surface of the upper layer moving guide rail in the lathe bed frame; a lower-layer transmission rack 124 is arranged on the side surface of the lower-layer moving guide rail in the machine body frame; the upper layer transmission rack 123 and the lower layer transmission rack 124 provide running runways for realizing spinning, dispensing, pattern acquisition and the like, and ensure that the equipment runs according to a preset track.
A cooperative robot base 200 is mounted on the upper-layer moving guide rail 121, a robot walking motor 210 is mounted on the cooperative robot base, and a robot walking gear 220 meshed with the upper-layer rack is mounted at the output end of the robot walking motor; the cooperative robot base is provided with a cooperative robot 230, and an end mechanical flange base plate 240 of a mechanical arm of the cooperative robot is provided with a stud grasping mechanism 250 and a stud pad grasping mechanism 260; the cooperative robot can realize the grabbing and releasing operations of the stud pad 1-2 and the stud 1-1, replaces the traditional manual work, and improves the stud sticking efficiency; the cooperative robot adopts a six-axis multi-azimuth robot, and the working principle of the cooperative robot belongs to the known technology and is not repeated.
The upper layer movable guide rail is provided with a glue dispensing device 300 and a spinning device 400, wherein the glue dispensing device 300 is used for injecting glue solution into a box column nail hole before placing a column nail and a column nail pad so as to replace manual glue brushing; the spinning device 400 compresses the stud and the stud pad which are grabbed by the cooperative robot in the stud hole of the stud roller sleeve, replaces manual hammering and mounting of the stud, improves the stud sticking efficiency, and ensures the consistency of the stud sticking height;
a 3D camera acquisition device 600 and a polishing, cleaning and blowing device 700,3D camera acquisition device 600 are installed on the lower layer movable guide rail 122 and are used for shooting the actual position of a certain stud hole on the stud roller sleeve; providing position coordinates for installing the stud pad and the stud, and realizing the effect of automatically sticking the stud;
The polishing, cleaning and blowing device 700 is used for polishing and cleaning the stud holes of the stud roller sleeve before dispensing; the cleaning in the stud holes is ensured, and the difference of installation precision caused by foreign matters is avoided;
a loading platform 800 is further arranged on the side of the cooperative robot, and a stud loading unit 810 and a stud pad loading unit 820 which are mutually independent are installed on the loading platform; realizing the automatic feeding of the column nail pad and the column nails;
the carrier roller assembly 900 is arranged on the side surface of the lathe bed and is used for supporting the column nail roller sleeve, so that on one hand, the column nail roller sleeve is kept relatively static when the same row is arranged, and on the other hand, the column nail roller sleeve can rotate when the next row is arranged, so that the labor intensity is reduced.
Referring to fig. 8, a stud feeding unit 810 includes a stud baffle 812 installed at the end of a transfer rail of a stud vibration screening machine 811, a stud feeding moving assembly 813 installed along a vertical direction, the stud feeding moving assembly including a plurality of stud feeding blocks 814 installed on a stud moving tray 815 in a straight-line layout, the stud moving tray installed on a slider 817 of a linear slide rail 816, the stud baffle 812 connected to a push plate 819 at the end of a cylinder piston rod 818, a stud guide block 8110 installed on a stud 8114 at the lower end of the stud baffle, and a stud guide hole 8111 provided on the stud guide block; two stud in-place detection sensors 8112 are also arranged, two sides are provided with one surface to prevent stud inclination, a blanking detection sensor 8113 is also arranged on the lower surface of the stud guide block and is used for detecting blanking, and after detecting blanking, a stud feeding block advances one station along the track; the column nails are conveyed through the conveying track after the column nail vibration screening machine is arranged, the column nails are stopped when meeting the column nail baffle plate, then released under the action of the pushing plate, enter column nail feeding blocks under the guiding action of the column nail guide blocks, one column nail is placed in each column nail feeding block on the column nail moving supporting plate in such an operation, 6 column nail feeding blocks are arranged, and after placement is completed, the column nails are conveyed to the column nail feeding station under the driving of the electric linear track and wait for the cooperative robot to grasp the column nails.
Referring to fig. 9, a stud pad feeding unit 820: the device comprises a column nail pad material pickup device 822 arranged at the tail end of a conveying track of a column nail pad vibration screening machine 821, a column nail pad feeding assembly 823 arranged along the vertical direction, a plurality of column nail pad feeding blocks 824 arranged on a column nail pad moving plate 825 in a straight-line layout, a column nail pad moving plate arranged on a sliding block 827 of a linear sliding rail 826, a column nail pad pickup device 822 comprising a vertically arranged frame 828, a lifting mechanism 829 arranged on the frame, a through type lifting motor 8210 arranged on an output shaft of the through type lifting motor, a magnet mounting sleeve 8211 arranged on an output shaft of the through type lifting motor, and an electromagnetic block arranged in the magnet mounting sleeve; the frame is also provided with a post nail pad supporting plate 8214 which is a groove with a section consistent with the conveying track of the post nail pad; the post nail pad forming supporting plate is in butt joint with the post nail pad bolting track, the post nail pad forming supporting plate is connected with the post nail pad supporting cylinder 8215, and a first infrared sensor 8212 is arranged on the frame and used for detecting whether the electromagnetic block returns to the original point initial position or not; two stud pad position detection sensors 8213 are provided, wherein the upper position detection sensor is used for detecting whether the stud pad is in place; the position detection sensor positioned at the lower part is used for detecting the falling of the stud pad.
The stud is conveyed by a conveying track after being lowered by a stud pad vibrating screening machine, when the stud pad moves to a stud pad supporting plate at the tail end when meeting the stud pad supporting plate, a magnet mounting sleeve and a magnet descending adsorption stud pad are arranged on an output shaft of the through type lifting motor, then the stud pad is placed in a stud pad feeding block to pick up the stud pad, the invention is provided with 6 column nail pad feeding blocks, and the column nail pad feeding blocks are moved to a column nail pad feeding station under the drive of an electric linear rail after being placed, and wait for a cooperative robot to grasp the column nail pad.
Referring to fig. 10 and 11, in the above technical solution, preferably, the stud pad grabbing mechanism 260 includes an electromagnet mounting block 262, an electromagnet 263 is embedded in the electromagnet mounting block, and a stud pad positioning groove 264 is disposed on the electromagnet mounting block near the feeding side; the pushing mechanism 265 is mounted on the robot flange base 240; the pushing mechanism comprises a double-rod air cylinder 2651, a piston rod of the double-rod air cylinder is connected with a pushing plate 2652, six pushing rods 2653 are arranged on the pushing plate, the electromagnet mounting blocks 262 are fixedly arranged on two sides of a clamping block 2531 of the stud grasping mechanism 250, after being electrified, stud pads are sucked, and the electromagnet is moved to the stud hole position to cut off the power of the stud pads for release; when the column nail pad is required to be placed into the column nail roller, the cooperative robot is started, the cooperative robot grabs the column nail pad from the column nail pad feeding unit, the grabbing mode is magnetic attraction, and the column nail pad is placed in a column nail hole of the column nail roller after grabbing. And then, moving a station to enable the push rod stud pad to be aligned with the stud hole on the stud roller sleeve and pushing the push rod stud pad into the stud hole so as to realize the installation of the stud pad.
Referring to fig. 10 and 11, in the above technical solution, preferably, the post grasping mechanism 250 includes a material taking plate 251, the material taking plate is connected to the manipulator flange base plate 240 through a connecting rod 252, six flexible claws 253 are mounted on the material taking plate, the flexible claws include two oppositely arranged clamping blocks 2531, and the clamping blocks are connected to a bidirectional cylinder 2532 to realize a clamping action; a 2D camera mounting plate 254,2D is mounted at one end of the take out plate 251, and a 2D camera 255,2D is mounted on the camera mounting plate for collecting the positions of the stud holes on the stud roller sleeve.
Above-mentioned technical scheme is preferred, still installs on the manipulator flange base plate 240 and glues nail protection support 270, it is used for detecting push rod position extreme position's detection sensor 271 to glue the nail protection support to install, has played flexible guard action, prevents that the surperficial propelling movement post nail of overtravel from filling up and post nail, snatchs the post nail through post nail grabbing mechanism in the post nail hole after placing the post nail and grabs the post nail to place, and the snatch of post nail adopts the mode of two-way centre gripping, guarantees the stability of post nail centre gripping.
Referring to fig. 12 and 13, a linear rail runner 1210 mounted on the upper moving rail 121 is preferable; a traveling motor 1211 is arranged on the side surface of the linear track sliding seat, and a traveling gear 1212 meshed with the upper layer rack is arranged at the output end of the traveling motor; a dispensing spinning feeding substrate 1213, a mounting point glue device 300 on the dispensing spinning feeding substrate and a spinning device 400 are arranged above the linear track sliding seat; a linear track 1214 is arranged between the dispensing spinning feeding substrate and the linear track sliding seat, a dispensing spinning feeding travelling motor 1215 is arranged on the dispensing spinning feeding substrate and provided with a dispensing spinning feeding travelling gear 1216, and a rack 1217 meshed with the dispensing spinning feeding travelling gear 1216 is arranged at the output end of the dispensing spinning feeding travelling motor; a rotary lifting mechanism 1218 is arranged on one side of the dispensing spinning feeding substrate 1213; the rotary lifting mechanism comprises four lifting columns 1219 which are perpendicular to the dispensing spinning feeding substrate, a lifting motor 1220 is arranged below the dispensing spinning feeding substrate, the lifting motor is connected with a rotary lifting substrate 1221 through a screw nut pair, and a rotary device 1230 is arranged on one side of the rotary lifting substrate; the rotating device 1230 comprises a stepping motor 1231, the output end of the stepping motor is connected with a rotating shaft 1232, the rotating shaft is installed on a rotating bearing seat 1233, the rotating bearing is installed on a rotating lifting substrate 1221, and the mounting point on the rotating lifting substrate is glued to spin the substrate 1234. The glue dispensing device and the spinning device can move along the axial direction of the stud roller, the whole stud roller is covered by the moving stroke, feeding is realized by feeding in the direction perpendicular to the direction of the stud roller, and the glue dispensing and the spinning of the stud are completed.
Referring to fig. 12 and 13, in the above technical solution, the dispensing device 300 includes a dispensing substrate 301, a dispensing cylinder 302 is mounted on the dispensing substrate, an output end of the dispensing cylinder is connected to a dispensing push plate 303, the dispensing push plate is connected to a dispensing valve fixing plate 304, a pneumatic dispensing valve 305 capable of pneumatically adjusting flow is mounted on the dispensing valve fixing plate, a pneumatic dispensing valve is connected to a dispensing barrel 306 and a high-pressure air source, the dispensing barrel is mounted on a dispensing spinning feeding substrate 1213, the dispensing barrel is connected to the high-pressure air source, and glue is delivered to the pneumatic dispensing valve by the high-pressure air source. The dispensing push plate and the dispensing valve fixing plate are driven by the dispensing cylinder to feed towards the stud roller, and dispensing operation in each stud hole is realized by position coordinates given by the 3D camera.
Referring to fig. 12 and 13, in the above technical solution, the spinning device 400 includes a spinning substrate 401, a linear guide rail 402 is disposed between the spinning substrate and a dispensing spinning feeding substrate, a buffer seat 403 is mounted on the dispensing spinning feeding substrate at the rear end of the spinning substrate, a buffer rod 404 is disposed on the buffer seat and perpendicular to the spinning substrate, and a buffer spring 405 is disposed on the buffer rod; the spinning base plate is provided with a spinning motor seat 406, a spinning motor 407 is arranged on the spinning motor seat, a driving gear 408 is arranged on an output shaft of the spinning motor, the driving gear is meshed with a driven gear 409, the driven gear is arranged on a spinning shaft 410, the spinning shaft is arranged on a spinning bearing seat 411, the spinning bearing seat is arranged on the spinning base plate, and a spinning head 412 is arranged at the end part of the spinning shaft. And the placed column nails are driven by the spinning motor to spin.
Referring to fig. 12 and 13, in the above technical solution, preferably, a detecting device 500 is fixedly installed on a support of the linear rail sliding seat, and is used for detecting the spinning height of the stud, the detecting device includes a bracket 501, the upper end of the bracket extends toward the direction of the stud roller sleeve, and a ranging sensor 502 is installed at the end of the bracket; the detected position characteristics are fed back to the general control center, and whether spinning to the set position is determined.
Referring to fig. 12 and 13, a rubber wiping roller 1001 is further disposed below the spinning device and on one side of the glue dispensing device through a bracket 1000, and is used for wiping off excessive residual glue, the rubber wiping roller on the side of the glue dispensing device is vertically disposed, and the rubber wiping roller below the spinning device is horizontally disposed, so that rubber wiping can be achieved in both horizontal and vertical directions.
Referring to fig. 14 and 15, in the above technical solution, preferably, the 3D camera acquisition device 600 includes a 3D camera walking board 601,3D matched with the lower moving rail, a 3D camera acquisition device walking motor 602,3D mounted on a side surface of the 3D camera walking board, a walking gear 603 mounted at an output end of the camera acquisition device walking motor, and a lower transmission rack 124 mounted on an inner side of the lower moving rail in a meshing manner; the 3D camera walking board is provided with a 3D camera 605,3D camera connection display, the 3D camera acquisition device 600 walks along the lower layer transmission rack under the drive of the 3D camera acquisition device walking motor, and the acquired position information is transmitted to the general control center.
In the above technical solution, preferably, a 3D camera lifting feeding plate 606,3D is mounted on the upper surface of the 3D camera walking plate, and a linear guide 607 is mounted on the 3D camera lifting feeding plate and the 3D camera walking plate; the 3D camera lifting feeding plate is provided with a 3D camera feeding walking motor 608,3D, the output end of the camera feeding walking motor is provided with a 3D camera feeding walking gear 609,3D, and the 3D camera feeding rack 610 is arranged on the upper surface of the 3D camera walking plate in a meshing manner; enabling the 3D camera acquisition device to move along the axial direction of the vertical column nail roller sleeve; the 3D lifting base is mounted with a 3D camera lifting mechanism 611.
In the above technical solution, preferably, the 3D camera lifting mechanism 611 includes a 3D camera lifting guide plate 6110, a through shaft type screw rod stepping motor 6111 installed below the 3D camera lifting guide plate, an output end of the motor is connected with a screw rod 6112, and an upper end of the screw rod is connected with a 3D camera lifting plate 6113,3D, and the 3D camera 605 is installed on the camera lifting plate; a guide post 6114 is arranged between the 3D camera lifting plate and the 3D camera lifting guide plate. The 3D camera lifting mechanism 611 realizes the up-and-down lifting of the 3D camera, and satisfies the adjustment of the up-and-down angle, so that the accurate position coordinates of the stud hole are obtained.
Referring to fig. 16 to 18, in the above technical solution, the polishing, cleaning and blowing device 700 includes a polishing, cleaning and blowing traveling plate 701 mounted on a lower moving rail, a traveling motor 702 mounted on a side of the polishing, cleaning and blowing traveling plate, and a traveling gear 703 mounted at an output end of the traveling motor, wherein the traveling gear engages with a lower driving rack 124 mounted on an outer side of the lower moving rail; the polishing, cleaning and blowing device is driven by the traveling motor 702 to move along the lower-layer transmission rack 124, so that the axial travel direction movement of the stud roller is met.
The polishing, cleaning and blowing traveling plate is provided with a polishing, cleaning and blowing base 705, a linear guide rail 706 is arranged between the polishing, cleaning and blowing base and the polishing, cleaning and blowing traveling plate, a polishing, cleaning and blowing feed motor 707 is arranged on the polishing, cleaning and blowing feed motor, a feed gear 708 is arranged at the output end of the polishing, cleaning and blowing feed motor, and the feed gear is meshed with a feed rack 709; the feeding rack is arranged on the upper surface of the polishing, cleaning and blowing travelling plate; a lifting guide plate 710 is installed on the polishing, cleaning and blowing lifting substrate close to the side of the stud roller sleeve, a through shaft type screw rod stepping motor 711 is installed below the lifting guide plate, the output end of the stepping motor is connected with a screw rod 712, the upper end of the screw rod is connected with a polishing, cleaning and blowing lifting plate 713, and a polishing component 714 and a cleaning and blowing component 715 are installed on the polishing, cleaning and blowing lifting plate; a guide column 716 is arranged between the polishing, cleaning and blowing lifting plate and the lifting guide plate, and the feeding and lifting of the polishing, cleaning and blowing operation for different holes can be realized by adopting the technical scheme.
Preferably, the polishing assembly 714 comprises three polishing motors 7140 mounted on the polishing cleaning and blowing lifting plate, the output end of each polishing motor is connected with a polishing wheel 7141, and polishing wheels are driven by the polishing motors to polish the inside of the stud holes.
Preferably, the cleaning and blowing assembly 715 comprises a cylinder 7150 installed on a polishing and cleaning and blowing lifting plate, a piston rod of the cylinder is connected with a polishing and cleaning and blowing seat 7151, a spray substrate 7152 is installed on the polishing and cleaning and blowing seat, six spray valves 7153 connected with cleaning agents and high-pressure air sources are installed on the spray substrate, and the cleaning agents are blown on the cylinder spray valves.
Referring to fig. 19, the foregoing technical solution is preferable, in which the carrier roller assembly 900 is used for supporting a post nail roller sleeve, and can drive the post nail roller sleeve to rotate in the actual nailing process, and specifically includes a base 910 connected with a foundation, on which carrier roller devices 920 are symmetrically provided, the carrier roller devices include a carrier roller frame 921, two carrier rollers 922 are installed on the carrier roller frame, two carrier rollers of one side of the carrier roller device are respectively provided with a private clothing driving motor 923 and a speed reducer 924 for driving the post nail roller to rotate, and the post nail roller is supported and rotated by adopting the foregoing technical solution.
Referring to fig. 20, in the above technical scheme, a linear guide 930 is preferably disposed on the base 910 along the axis direction of the vertical column nail roller sleeve, the roller frames are movably mounted on the linear guide, each roller frame is connected through a screw 940, each screw is independently connected with a private clothes motor 941, the technical scheme can satisfy the nail sticking operation of different column nail roller sleeve diameters, the nail sticking operation of driving rollers with different diameters can be realized by adopting the above technical scheme, and the distance between the roller frames on the same side can be adjusted through the screws.
The application method of the invention comprises the following steps:
working principle: an automatic control method for a stud roller sleeve comprises the following steps:
s1, inputting process parameters into a control system through a man-machine dialogue module;
s2, the control system firstly transmits a rotating action instruction to the carrier roller assembly; the rotation action instruction comprises a rotation time parameter and a rotation angle parameter; then the carrier roller assembly executes a rotating action instruction;
s3, a visual control system formed by a 2D camera and a 3D camera acquires position information of a target stud hole on a stud roller sleeve, judges whether a carrier roller assembly rotates in place through the position information, if so, executes S4, otherwise, feeds back the position information to the control system, and outputs adjustment rotation parameters through difference operation, the carrier roller assembly executes corresponding actions according to the adjustment rotation parameters, and after the execution, the visual control system judges again until the carrier roller assembly rotates in place;
S4, the control system firstly sends a polishing and cleaning parameter instruction to the polishing, cleaning and blowing device; the polishing, cleaning and blowing device executes a polishing and cleaning parameter instruction so as to polish and clean the target stud hole;
s5, the control system sends dispensing parameter instructions to the dispensing device; the glue dispensing device executes a glue dispensing parameter instruction so as to perform one-time glue dispensing operation on the target stud hole;
s6, the control system sends a command of grabbing the column nail pad to the cooperative robot system; executing a column nail pad grabbing instruction by cooperating with a robot system, and placing a column nail pad in a target column nail hole;
s7, the control system sends dispensing parameter instructions to the dispensing device; the glue dispensing device executes a glue dispensing parameter instruction so as to perform secondary glue dispensing operation on the target stud hole;
s8, the control system sends a post grabbing nail instruction to the system robot system; executing a grabbing post nail instruction by a cooperative robot system, and spinning the grabbing post nail into a target post nail hole;
s9, the control system issues a rotating action instruction to the carrier roller assembly; the carrier roller assembly executes the rotating action instruction, the vision control system redetermines the target post nail hole, and then the steps S1-S8 are circulated.
Wherein, each time the target stud holes are 3-10 stud holes positioned on the same horizontal line.
The polishing and cleaning parameter instruction sequentially comprises: 5s air drying, 30s polishing, 5s air drying, 3s cleaning and 5s air drying.
In the preferred embodiment described above: working principle of polishing, cleaning and blowing device: the pneumatic control spray valve and the air drying air tap are integrated into a whole, the timing spray and the air drying can be realized, the time is adjustable, the spray cleaning and the air drying operation of cleaning liquid are carried out on the stud holes, and the customized steel wire grinding wheel integrated on the closed-loop stepping motor can carry out the efficient and thorough cleaning operation on the residual cutting liquid in the stud holes. The working flow is as follows: air drying (5 s) -grinding (30 s) -air drying (5 s) -cleaning (3 s) -air drying (5 s) (remark: the above time is the working time of the mechanism, and does not contain various movement time in place);
the working principle of the dispensing device is as follows: the special dispensing valve for the 6 groups of anaerobic adhesives can perform dispensing operation on the hole sites of the stud roller sleeves at a time, the dispensing operation is that before the stud pads are placed in, dispensing is performed, the dispensing pressure and the dispensing time are controllable, the stud spinning device is a non-calibrated 6-group stud simultaneous spinning device, and the 6-group spinning device is provided with a buffer mechanism respectively, so that the spinning effect is prevented from being influenced by stud height errors. Beat of work: post pad dispensing (3 s), post nail dispensing (6 s), spinning beat (primary pressing stop 5s, primary spinning 7s, secondary pressing stop 5s, secondary spinning 7 s) (remark: the above time is the mechanism working time, and does not contain various movement time in place).
The automatic post nail pad of snatching of cooperation robot, the post nail, release post nail pad, release post nail, cooperation robot drives 2D camera and post nail pad post nail and snatchs the subassembly and carry out the location to the post nail pad and the post nail that screen grader divides, put the cushion to the post nail roller shell and put the nail before the corresponding position of placing of post nail roller shell and shoot the location and with the result feedback to PLC that will compensate, carry out corresponding position adjustment to the robot through PLC feedback again, in order to eliminate the influence of the comprehensive error in every aspect to putting the cushion, put the nail, 6 groups snatch clamping jaw in the post pad post nail snatch the subassembly in addition and be provided with flexible module respectively, can carry out flexible compensation to + -0.1 mm's position error, further increase the accuracy that post pad, post nail put into. Beat of work: grab pad (6S), pillar pad visual positioning (2S), pillar pad put in (7S), pillar pad push in (5S), grab nail (6S), pillar nail visual positioning (2S), pillar nail push in (7S).
Working principle of a column nail roller sleeve rotary positioning system: the 2D and 3D cameras are mutually matched to carry out circumferential direction rotary positioning on the stud roller sleeve, the 3D camera is used for loading a positioning angle, the 2D camera is responsible for positioning positions, the overall theoretical positioning precision is +/-0.02 mm of the plane direction precision of the stud hole, and in order to ensure that the 2D camera plane positioning precision is +/-0.3 mm on the premise of ensuring the use precision, the work efficiency and the work stability to the greatest extent, the 2D camera plane positioning precision is set to +/-0.3 mm in field use, and the working beat is as follows: when the positioning precision is +/-0.3 mm, the positioning time of two adjacent rows of holes in the circumferential direction is 30s.
And S10, detecting the height of the stud, and further judging whether the stud is spun in place or not. Working principle of height detection: and after each group of studs are pasted, the height of the pasted studs is detected, if the height exceeds a set height value, a warning is given to indicate that the stud pasting height is unqualified.
Sensor principle: and (3) detecting the height by adopting a high-precision laser displacement sensor, wherein the detection precision is +/-0.13 mm. The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, and alternatives falling within the spirit and principles of the invention.
Claims (18)
1. The utility model provides a post nail roller cover glues nail robot which characterized in that: the automatic nailing machine comprises a machine body, wherein the machine body comprises a machine body frame, an automatic nailing machine frame assembly is arranged on the machine body frame, the automatic nailing machine frame assembly comprises an upper layer moving guide rail and a lower layer moving guide rail, and an upper layer transmission rack is arranged on the side surface of the upper layer moving guide rail in the machine body frame; a lower-layer transmission rack is arranged on the side surface of the lower-layer moving guide rail in the machine body frame;
a cooperative robot base is arranged on the upper-layer moving guide rail, a robot walking motor is arranged on the cooperative robot base, and a robot walking gear meshed with the upper-layer rack is arranged at the output end of the robot walking motor; the cooperative robot base is provided with a cooperative robot, the end part of a mechanical arm of the cooperative robot is provided with a manipulator flange base plate, and the manipulator flange base plate is provided with a stud grabbing mechanism and a stud pad grabbing mechanism;
A glue dispensing device and a spinning device are arranged on the upper layer movable guide rail, wherein the glue dispensing device is used for injecting glue into a box column nail hole before a column nail and a column nail pad are placed; the spinning device compresses the stud and the stud pad which are grabbed by the cooperative robot into a stud hole of the stud roller sleeve;
a 3D camera acquisition device and a polishing, cleaning and blowing device are arranged on the lower layer moving guide rail, wherein the 3D camera acquisition device is used for shooting the actual position of a certain stud hole on the stud roller sleeve; the polishing, cleaning and blowing device is used for polishing and cleaning the stud holes of the stud roller sleeve before dispensing;
the cooperative robot side is also provided with a feeding platform, and the feeding platform is provided with a column nail feeding unit and a column nail pad feeding unit which are mutually independent;
a carrier roller assembly is arranged on the side surface of the lathe bed and used for supporting the column nail roller sleeve;
the polishing, cleaning and blowing device comprises a polishing, cleaning and blowing traveling plate arranged on a lower-layer movable guide rail, a traveling motor is arranged on the side surface of the polishing, cleaning and blowing traveling plate, a traveling gear is arranged at the output end of the traveling motor, and the traveling gear is meshed with a lower-layer transmission rack arranged on the outer side of the lower-layer movable guide rail; the polishing, cleaning and blowing traveling plate is arranged on the polishing, cleaning and blowing base, a linear guide rail is arranged between the polishing, cleaning and blowing base and the polishing, cleaning and blowing traveling plate, a polishing, cleaning and blowing feeding motor is arranged on the polishing, cleaning and blowing feeding motor, a feeding gear is arranged at the output end of the polishing, cleaning and blowing feeding motor, and the feeding gear is meshed with the feeding rack; the feeding rack is arranged on the upper surface of the polishing, cleaning and blowing travelling plate; a lifting guide plate is arranged on the polishing, cleaning and blowing base close to the side of the stud roller sleeve, a through shaft type screw rod stepping motor is arranged below the lifting guide plate, the output end of the stepping motor is connected with a screw rod, the upper end of the screw rod is connected with a polishing, cleaning and blowing lifting plate, and a polishing assembly and a cleaning and blowing assembly are arranged on the polishing, cleaning and blowing lifting plate; a guide column is arranged between the polishing, cleaning and blowing lifting plate and the lifting guide plate.
2. The stud roller sleeve tack robot of claim 1, wherein: the polishing assembly comprises three polishing motors arranged on the polishing cleaning blowing lifting plate, and the output end of each polishing motor is connected with a polishing wheel.
3. The stud roller sleeve tack robot of claim 1, wherein: the cleaning and blowing assembly comprises a cylinder arranged on a polishing and cleaning and blowing lifting plate, a piston rod of the cylinder is connected with a polishing and cleaning and blowing seat, a spraying substrate is arranged on the polishing and cleaning and blowing seat, and six spraying valves connected with cleaning agents and high-pressure air sources are arranged on the spraying substrate.
4. The stud roller sleeve tack robot of claim 1, wherein: the column nail pad grabbing mechanism comprises an upper clamping block, wherein an electromagnet mounting block is mounted on the upper clamping block, an electromagnet is embedded in the electromagnet mounting block, and a column nail pad positioning groove is formed in the electromagnet mounting block close to the feeding side; the manipulator flange base plate is provided with a pushing mechanism; the pushing mechanism comprises a double-rod air cylinder, a piston rod of the double-rod air cylinder is connected with a pushing plate, and six pushing rods are arranged on the pushing plate.
5. The stud roller sleeve tack robot of claim 1, wherein: the column nail grabbing mechanism comprises a material taking plate, the material taking plate is connected with a manipulator flange base plate through a connecting rod, six flexible claws are arranged on the material taking plate, each flexible claw comprises two clamping blocks which are oppositely arranged, and the clamping blocks are connected with a bidirectional air cylinder to realize clamping action; and a 2D camera mounting plate is arranged at one end of the material taking plate, a 2D camera is arranged on the 2D camera mounting plate, and the 2D camera is used for collecting the positions of the column nail holes on the column nail roller sleeve.
6. The stud roller sleeve tack robot of claim 5, wherein: still install on the manipulator flange base plate and glue the nail protection support, glue and install the detection sensor who is used for detecting push rod position extreme position on the nail protection support, played flexible guard action, prevented that the overtravel from pushing post nail pad and post nail.
7. The stud roller sleeve tack robot of claim 1, wherein: a linear track sliding seat is arranged on the upper layer moving guide rail; a traveling motor is arranged on the side surface of the linear track sliding seat, and a traveling gear meshed with the upper layer of rack is arranged at the output end of the traveling motor; a dispensing spinning feeding substrate, a mounting point glue device on the dispensing spinning feeding substrate and a spinning device are arranged above the linear track sliding seat; a linear track is arranged between the dispensing spinning feeding substrate and the linear track sliding seat, a dispensing spinning feeding travelling motor is arranged on the dispensing spinning feeding substrate and provided with a dispensing spinning feeding travelling gear, and a rack meshed with the dispensing spinning feeding travelling gear is arranged between the dispensing spinning feeding substrate and the linear track sliding seat; a rotary lifting mechanism is arranged on one side of the dispensing spinning feeding substrate; the rotary lifting mechanism comprises four lifting columns which are perpendicular to the dispensing spinning feeding substrate, a lifting motor is arranged below the dispensing spinning feeding substrate, the lifting motor is connected with the rotary lifting substrate through a screw nut pair, and a rotary device is arranged on one side of the rotary lifting substrate.
8. The stud roller sleeve tack robot of claim 7, wherein: the rotating device comprises a through shaft screw type stepping motor, the output end of the stepping motor is connected with a rack, the rack is installed on a sliding block of the linear sliding rail, a driven gear is meshed with the upper portion of the rack and installed on a driven shaft, the driven shaft is installed on a rotating bearing seat, the rotating bearing seat is installed on a rotating lifting base plate, and the installation point on the rotating lifting base plate is glued and spun to feed the base plate.
9. The stud roller sleeve tack robot of claim 7, wherein: the dispensing device comprises a dispensing substrate, a mounting point glue cylinder is arranged on the dispensing substrate, a glue pushing plate is connected to an output end of the glue dispensing cylinder, a glue valve fixing plate is connected to the glue pushing plate, a pneumatic glue dispensing valve with pneumatic flow adjusting function is arranged on the glue dispensing valve fixing plate, a glue barrel and a high-pressure air source are connected to the pneumatic glue dispensing valve, the glue barrel is arranged on a dispensing spinning feeding substrate, the glue barrel is connected with the high-pressure air source, and glue is conveyed to the pneumatic glue dispensing valve through the high-pressure air source.
10. The stud roller sleeve tack robot of claim 7, wherein: the spinning device comprises a spinning substrate, a linear guide rail is arranged between the spinning substrate and a dispensing spinning feeding substrate, a buffer seat is arranged on the dispensing spinning feeding substrate at the rear end of the spinning substrate, a buffer rod is arranged on the buffer seat vertically to the spinning substrate, and a buffer spring is arranged on the buffer rod; the spinning base plate is provided with a spinning motor seat, a spinning motor is arranged on the spinning motor seat, a driving gear is arranged on an output shaft of the spinning motor, the driving gear is meshed with a driven gear group, each driven gear of the driven gear group is arranged on an independent spinning shaft, the spinning shaft is arranged on a spinning bearing seat, the spinning bearing seat is arranged on the spinning base plate, and a spinning head is arranged at the end part of the spinning shaft.
11. The stud roller sleeve tack robot of claim 7, wherein: the detecting device is fixedly arranged on the support of the linear track sliding seat and used for detecting the spinning height of the stud, the detecting device comprises a support, the upper end of the support extends towards the direction of the roller sleeve of the stud, and a ranging sensor is arranged at the end part of the support.
12. The stud roller sleeve tack robot of claim 1, wherein: the 3D camera acquisition device comprises a 3D camera walking plate matched with the lower-layer movable guide rail, a 3D camera acquisition device walking motor is arranged on the side surface of the 3D camera walking plate, a walking gear is arranged at the output end of the 3D camera acquisition device walking motor, and the walking gear is meshed with a lower-layer transmission rack arranged on the inner side of the lower-layer movable guide rail; and the 3D camera walking board is provided with a 3D camera, and the 3D camera is connected with a display.
13. The stud roller sleeve tack robot of claim 12, wherein: the upper surface of the 3D camera walking plate is provided with a 3D camera lifting feeding plate, and the 3D camera lifting feeding plate and the 3D camera walking plate are provided with linear guide rails; the 3D camera lifting feeding plate is provided with a 3D camera feeding walking motor, the output end of the walking motor is provided with a 3D camera feeding walking gear, and the 3D camera feeding walking gear is meshed with a 3D camera feeding rack arranged on the upper surface of the 3D camera walking plate; enabling the 3D camera acquisition device to move along the axial direction of the vertical column nail roller sleeve; and the 3D camera lifting feeding plate is provided with a 3D camera lifting mechanism.
14. The stud roller sleeve tack robot of claim 13, wherein: the 3D camera lifting mechanism comprises a 3D camera lifting guide plate, a through shaft type screw rod stepping motor arranged below the 3D camera lifting guide plate, the output end of the motor is connected with a screw rod, the upper end of the screw rod is connected with the 3D camera lifting plate, and the 3D camera is arranged on the 3D camera lifting plate; a guide column is arranged between the 3D camera lifting plate and the 3D camera lifting guide plate.
15. The stud roller sleeve tack robot of claim 1, wherein: the column nail feeding unit comprises a column nail baffle plate arranged at the tail end of a conveying track of the column nail vibration screening machine, a column nail feeding moving assembly is arranged along the vertical direction, the column nail feeding moving assembly comprises a plurality of column nail feeding blocks which are arranged on a column nail moving supporting plate in a straight-line layout, the column nail moving supporting plate is arranged on a sliding block of a linear sliding rail, the column nail baffle plate is connected with a push plate at the end part of a cylinder piston rod, a column nail guide block is arranged on a column at the lower end of the column nail baffle plate, and column nail guide holes are formed in the column nail guide block; two column nails are arranged in-place detection sensors for detecting whether the column nails incline, and a blanking detection sensor is arranged on the lower surface of the column nail guide block and used for detecting whether blanking is carried out.
16. The stud roller sleeve tack robot of claim 1, wherein: the column nail pad feeding unit comprises a column nail pad material pickup device arranged at the tail end of a conveying track of a column nail pad of the column nail pad vibration screening machine, a column nail pad feeding assembly is arranged along the vertical direction, the column nail pad feeding assembly comprises a plurality of column nail pad feeding blocks, the column nail pad feeding blocks are arranged on a column nail pad moving plate in a straight-line layout, the column nail pad moving plate is arranged on a sliding block of a linear sliding rail, the column nail pad pickup device comprises a vertical rack, a lifting mechanism is arranged on the rack and comprises a through type lifting motor, a magnet installation sleeve is arranged on an output shaft of the through type lifting motor, and an electromagnetic block is arranged in the magnet installation sleeve; the frame is also provided with a post nail pad supporting plate which is in butt joint with the post nail pad bolting track, and the post nail pad supporting plate is connected with a post nail pad supporting cylinder; a first infrared sensor is arranged on the frame and used for detecting whether the electromagnetic block returns to the original point initial position or not; the two stud pad position detection sensors are arranged at the upper part, and the position detection sensors are used for detecting whether the stud pad is in place or not; the position detection sensor positioned at the lower part is used for detecting the falling of the stud pad.
17. The stud roller sleeve tack robot of claim 1, wherein: the roller assembly is used for supporting column nail roller sleeve and comprises a base connected with a foundation, roller devices are symmetrically arranged on the base and comprise a roller frame, two rollers are arranged on the roller frame, and a private clothes driving motor and a speed reducer for driving the rollers to rotate are respectively arranged on the two rollers of the roller device on one side.
18. The post pin roll cover bonding robot of claim 17, wherein: the base is provided with a linear guide rail along the axis direction of the vertical column nail roller sleeve, the roller frames are movably arranged on the linear guide rail, each roller frame is connected with the corresponding servo motor through a screw rod, and each screw rod is independently connected with the servo motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311162456.3A CN117564664A (en) | 2022-12-30 | 2022-12-30 | Stud roller sleeve bonding robot |
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211730761.3A CN116214121B (en) | 2022-12-30 | 2022-12-30 | Stud roller sleeve bonding robot |
| CN202311162456.3A CN117564664A (en) | 2022-12-30 | 2022-12-30 | Stud roller sleeve bonding robot |
Related Parent Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211730761.3A Division CN116214121B (en) | 2022-12-30 | 2022-12-30 | Stud roller sleeve bonding robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN117564664A true CN117564664A (en) | 2024-02-20 |
Family
ID=86581638
Family Applications (3)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311162456.3A Pending CN117564664A (en) | 2022-12-30 | 2022-12-30 | Stud roller sleeve bonding robot |
| CN202311167417.2A Pending CN117359263A (en) | 2022-12-30 | 2022-12-30 | Automatic control method for stud roller sleeve and stud roller sleeve bonding robot |
| CN202211730761.3A Active CN116214121B (en) | 2022-12-30 | 2022-12-30 | Stud roller sleeve bonding robot |
Family Applications After (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311167417.2A Pending CN117359263A (en) | 2022-12-30 | 2022-12-30 | Automatic control method for stud roller sleeve and stud roller sleeve bonding robot |
| CN202211730761.3A Active CN116214121B (en) | 2022-12-30 | 2022-12-30 | Stud roller sleeve bonding robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (3) | CN117564664A (en) |
Family Cites Families (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6935546B2 (en) * | 2001-11-29 | 2005-08-30 | Imaginal Systematics, Llc | Box spring stapler apparatus |
| CN102848187B (en) * | 2011-06-30 | 2014-07-09 | 常州铭赛机器人科技有限公司 | Automatic assembly production line of buzzers |
| CN107187851A (en) * | 2017-05-19 | 2017-09-22 | 天津市热处理研究所有限公司 | Heat treated part charging basket transfer robot |
| CN108857410B (en) * | 2018-06-29 | 2024-01-12 | 武汉和盛汽车零部件有限公司 | Automobile tail wing gluing and welding assembly production line |
| CN209829446U (en) * | 2019-04-18 | 2019-12-24 | 湖南思威博恒智能科技有限责任公司 | Intelligent robot is glued to glass rubber coating point |
| CN111922693B (en) * | 2020-06-24 | 2022-02-08 | 武汉锐科光纤激光技术股份有限公司 | Automatic welding system for pump source |
| CN112296672B (en) * | 2020-12-31 | 2021-04-16 | 佛山市顺德区凯硕精密模具自动化科技有限公司 | Flexible automatic stamping assembly production line for embedded disinfection cabinet |
| CN114770141A (en) * | 2022-06-06 | 2022-07-22 | 苏州天奇安激光设备有限公司 | New forms of energy vehicle-mounted wireless terminal assemblage test wire |
| CN115283964B (en) * | 2022-09-06 | 2024-04-05 | 浙江大学台州研究院 | Automatic assembling equipment for rotor bearing |
-
2022
- 2022-12-30 CN CN202311162456.3A patent/CN117564664A/en active Pending
- 2022-12-30 CN CN202311167417.2A patent/CN117359263A/en active Pending
- 2022-12-30 CN CN202211730761.3A patent/CN116214121B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN117359263A (en) | 2024-01-09 |
| CN116214121A (en) | 2023-06-06 |
| CN116214121B (en) | 2023-09-01 |
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