CN118162863A - Assembling equipment - Google Patents

Abstract

The utility model provides an equipment, including the support, first clamp and second clamp of grabbing are installed in the support, first clamp of grabbing includes first clamping jaw and second clamping jaw, first clamping jaw and second clamping jaw set up relatively, the second clamp of grabbing includes third clamping jaw and first drive part, first drive part includes first drive end, first drive end is located to the third clamping jaw, the second clamp of grabbing has the clamping area, the third clamping jaw is equipped with the clamping end, the third clamping jaw uses the clamping area to distribute as the center, and the clamping end is towards the clamping area. The first grabbing clamp picks up the article through the first clamping jaw and the second clamping jaw which are oppositely arranged, the second grabbing clamp picks up the article through the third clamping jaw which is distributed along the center of the clamping area, and the first grabbing clamp and the second grabbing clamp with different structures are arranged on the support, so that two different clamping structures are arranged on one support.

Description

Assembling equipment

Technical Field

The application relates to the field of production lines, in particular to an assembling device.

Background

In the manufacturing and assembling process of products, mechanical arms are mostly adopted for picking and distributing parts. In general, a specific mechanical arm is used to pick up a specific component, so most mechanical arms in an assembly line pick up only one type of component, so most of the mechanical arm pick-up structures are single grabbing structures matched with the component to be picked up, if two different components are required to be respectively picked up for assembly, two mechanical arms are generally required to pick up the different components, and the assembly efficiency is low.

Disclosure of Invention

The object of the present application is to provide an assembly device with two different gripping structures.

The utility model provides an equipment, includes support, first clamp and second clamp that grabs, first clamp with the second grab the clamp install in the support, first clamp that grabs includes first clamping jaw and second clamping jaw, first clamping jaw with the second clamping jaw sets up relatively, the second grabs the clamp and includes third clamping jaw and first drive part, first drive part includes first drive end, the third clamping jaw is located first drive end, the second grabs the clamp and has the clamping area, the third clamping jaw is equipped with the clamping end, the third clamping jaw with the clamping area is central distribution, just the clamping end orientation the clamping area.

The assembly equipment is characterized in that a first grabbing clamp and a second grabbing clamp are arranged on a bracket, the first grabbing clamp comprises a first clamping jaw and a second clamping jaw, the first clamping jaw and the second clamping jaw are oppositely arranged, the second grabbing clamp comprises a third clamping jaw and a first driving part, the first driving part comprises a first driving end, the third clamping jaw is arranged at the first driving end and distributed with a clamping area as the center, and the clamping end of the third clamping jaw faces the clamping area. The first grabbing clamp picks up the article through the first clamping jaw and the second clamping jaw which are oppositely arranged, the second grabbing clamp picks up the article through the third clamping jaw which is distributed along the center of the clamping area, and the first grabbing clamp and the second grabbing clamp with different structures are arranged on the support, so that two different clamping structures are arranged on one support.

Drawings

FIG. 1 is a perspective view of a pickup device of the present application;

FIG. 2 is an angular perspective view of the pickup device of the present application;

FIG. 3 is a perspective view of a first clip of the present application;

FIG. 4 is a perspective view of a first jaw of the present application;

FIG. 5 is a perspective view of a second jaw of the present application;

FIG. 6 is a perspective view of a second clip according to the present application;

FIG. 7 is another angular perspective view of the pickup device of the present application;

FIG. 8 is a schematic view of the assembly of the bracket, first clip, second clip, lifting member and scan piece of the present application;

FIG. 9 is a perspective view of a robotic arm of the present application;

fig. 10 is a schematic view of an assembly apparatus of the present application.

Detailed Description

For a better understanding of the technical solution of the present application, the following detailed description of the embodiments of the present application refers to the accompanying drawings.

It should be understood that the described embodiments are merely some, but not all, embodiments of the application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.

As shown in fig. 1-10, the present application proposes an assembling apparatus, which includes a bracket 1, a first gripper 2 and a second gripper 3, the first gripper 2 and the second gripper 3 are mounted on the bracket 1, the first gripper 2 includes a first clamping jaw 21 and a second clamping jaw 22, the first clamping jaw 21 and the second clamping jaw 22 are oppositely disposed, the second gripper 3 includes a third clamping jaw 31 and a first driving component 32, the first driving component 32 includes a first driving end 321, at least three third clamping jaws 31 are disposed, the third clamping jaw 31 is disposed on the first driving end 321, the second gripper 3 has a clamping area S, the third clamping jaw 31 is disposed with a clamping end 312, the third clamping jaw 31 is distributed with the clamping area S as a center, and the clamping end 312 faces the clamping area S. In the present application, three third clamping jaws 31 are provided, the three third clamping jaws 31 are distributed around the clamping area S, and the clamping ends 312 of the three third clamping jaws 31 are disposed toward the clamping area S.

The assembling device of the application is provided with a first grabbing clamp 2 and a second grabbing clamp 3 on a bracket 1, wherein the first grabbing clamp 2 comprises a first clamping jaw 21 and a second clamping jaw 22, the first clamping jaw 21 and the second clamping jaw 22 are oppositely arranged, the second grabbing clamp 3 comprises a third clamping jaw 31 and a first driving part 32, the first driving part 32 comprises a first driving end 321, the third clamping jaw 31 is distributed by taking a clamping area S as a center, a clamping end 312 of the third clamping jaw 31 is arranged towards the clamping area S, the first grabbing clamp 2 picks up an article through the oppositely arranged first clamping jaw 21 and second clamping jaw 22, the second grabbing clamp 3 picks up the article through the oppositely arranged third clamping jaw 31 which is distributed towards the center of the clamping area S, and the bracket 1 is provided with the first grabbing clamp 2 and the second grabbing clamp 3 with different structures so as to realize two different clamping structures on one bracket.

As shown in fig. 1-5, the first pinch clamp 2 includes a second driving member 24, a first clamping jaw 21 is connected to one end of the second driving member 24, and a second clamping jaw 22 is connected to the other end of the second driving member 24. As shown in fig. 2, defining a first direction along the width direction of the second driving component 24, the first clamping jaw 21 includes a first supporting portion 211 and a first limiting portion 212 disposed on the first supporting portion 211, the first supporting portion 211 extends toward a direction away from the bracket 1, the first limiting portion 212 is disposed in a protruding manner along the direction away from the first supporting portion 211, the second clamping jaw 22 includes a second supporting portion 221 and a second limiting portion 222 disposed on the second supporting portion 221, the second supporting portion 221 extends toward the direction away from the bracket 1, the second limiting portion 222 is disposed in a protruding manner along the direction away from the second supporting portion 221, at least two second supporting portions 221 are disposed side by side along the first direction.

The first clamping jaw 21 is provided with a first supporting portion 211 extending towards the direction away from the bracket 1, the first supporting portion 211 is provided with a first limiting portion 212, the first limiting portion 212 is arranged in a protruding mode towards the direction away from the first supporting portion 211, the second clamping jaw 22 is provided with a second supporting portion 221 extending towards the direction away from the bracket 1, the second supporting portion 221 is provided with a second limiting portion 222, and the second limiting portion 222 is arranged in a protruding mode towards the direction away from the second supporting portion 221. In the present application, two second supporting portions 221 are provided, the two second supporting portions 221 are arranged side by side along the first direction, the two second supporting portions 221 can increase contact between the clamping jaw and the article, the first supporting portion 211 of the first clamping jaw 21 is matched with the two second supporting portions 221 arranged side by side of the second clamping jaw 22, so that the first clamping jaw 21 and the second clamping jaw 22 are oppositely arranged, a three-contact type clamping structure can be formed, when the first grabbing clamp 2 picks up the article, the article is clamped between the first supporting portion 211 and the second supporting portion 221, and further movement of the article is limited by the first limiting portion 212 and the second limiting portion 222 which are arranged in a protruding mode. It is understood that the second supporting portion 221 may further be provided with three or more, and may be matched according to the structure or the shape profile of the article.

In the present application, at least two first limiting portions 212 are provided, the two first limiting portions 212 are arranged at intervals along the extending direction of the first supporting portion 211, each second supporting portion 221 is provided with at least two second limiting portions 222, and the two second limiting portions 222 are arranged at intervals along the extending direction of the second supporting portion 221. The first clamping jaw 21 is provided with two first limiting portions 212, the two first limiting portions 212 are arranged at intervals along the extending direction of the first supporting portion 211, the second clamping jaw 22 is provided with four second limiting portions 222, each second supporting portion 221 is at least provided with two second limiting portions 222, the two second limiting portions 222 are arranged at intervals along the extending direction of the second supporting portion 221, the two first limiting portions 212 arranged at intervals along the extending direction and the two second limiting portions 222 arranged at intervals along the extending direction increase the contact degree or limiting degree of articles at different heights, and the stability of clamping articles is improved.

The first gripper 2 includes a second driving member 24, the second driving member 24 includes a first telescopic end 241 and a second telescopic end 242, the first telescopic end 241 and the second telescopic end 242 are disposed opposite to each other, the first gripper jaw 21 is connected to the first telescopic end 241, and the second gripper jaw 22 is connected to the second telescopic end 242. As shown in fig. 4 and 5, the first clamping jaw 21 includes a first connecting portion 213, the first connecting portion 213 extends in a direction away from the first supporting portion 211, and the first connecting portion 213 is fixedly connected to the first telescopic end 241. The second clamping jaw 22 comprises a second connecting portion 223, the second connecting portion 223 extends towards a direction away from the second supporting portion 211, and the second connecting portion 223 is fixedly connected with the second telescopic end 242. The second driving member 24 drives the first telescopic end 241 and the second telescopic end 242 away from each other or toward each other to drive the first jaw 21 and the second jaw 22 to move laterally to grip the article. The second driving member 24 is an air cylinder, and the fixing manner between the first connecting portion 213 and the second connecting portion 223 and the first telescopic end 241 and the second telescopic end 242 may be screw-fixed or slot-fitted, which is not particularly limited herein.

As shown in fig. 6, the second gripper 3 includes a third jaw 31 and a first driving member 32, the first driving member 32 includes a first driving end 321, at least three third jaws 31 are provided, the third jaws 31 are provided on the first driving end 32, the second gripper 3 has a clamping area S, and the third jaws 31 are distributed centering on the clamping area S. The third clamping jaw 31 includes a third connecting end 311 and a clamping end 312, and the first driving member 32 further includes a third telescopic portion, where the third connecting end 311 is fixedly connected to the third telescopic portion. The first driving part 32 drives the third telescopic parts to move away from or close to each other so as to realize the telescopic movement of the third clamping jaw 31 to clamp the article. Specifically, the first driving member 32 is a three-jaw cylinder, the holding end 312 is provided with a plate clip 3121 recessed toward the third connecting end 311, and when the second gripper 3 grips an article, the plate clip 3121 approaches toward the center of the holding area S to grip the article.

As shown in fig. 7 to 9, the assembly apparatus further includes a robot arm 10 and a pickup device 10, the pickup device 10 includes a bracket 1, a first grip 2 and a second grip 3, the bracket 1 is provided with a rotating portion 101, the robot arm 20 includes a rotating portion 201, and the pickup device 10 is rotatably mounted to the robot arm 20 in connection with the rotating portion 201. One end fixed connection in support 1 of rotation portion 101, the other end is connected in the rotation portion 201 of arm 20, and rotation portion 201 can drive rotation portion 101 rotation, makes things convenient for pickup assembly 10 to pick up the object from diversified, multi-angle, promotes the flexibility ratio of pickup assembly 10.

As shown in fig. 7 and 8, the pickup device 10 further includes a lifting member 5, the rack 1 includes a first frame 11 and a second frame 12, the second gripper 3 and the lifting member 5 are both mounted on the first frame 11, the second frame 12 is mounted on the lifting member 5, and the first gripper 2 is mounted on the second frame 12. The lifting member 5 includes a lifting end 51 and a fixed end 52, the fixed end 52 is fixedly connected with the first frame 11, the lifting end 51 is fixedly connected with the second frame 12, and the first clip 1 can move relative to the first frame 11 along the lifting direction of the lifting member 5.

The pick-up device further comprises a scanning member 4, the scanning member 4 being mounted to the holder 1, the first grip clamp 2, the second grip clamp 3 and the scanning member 4 being located at different positions of the holder 1. The scanning element 4 may be a camera or a scanner, and before the picking device 10 picks up an article, the scanning element 4 is used to scan and identify the article to be picked up, so as to determine the article to be picked up. The first grabbing clamp 2, the second grabbing clamp 3 and the scanning piece 4 are respectively arranged at different positions of the bracket, interference can not be caused between the first grabbing clamp and the second grabbing clamp, and the picking work of the picking device is facilitated.

The second grabbing clamp 3 and the lifting component 5 are mounted on the first frame 11, the first grabbing clamp 1 is mounted on the second frame 12, the second frame 12 is mounted on the lifting component 5, the first grabbing clamp 1 is mounted on the lifting component 5 through the second frame 12, and the first grabbing clamp 1 can move relative to the first frame 11 along the lifting direction of the lifting component 5. Specifically, the lifting component 5 includes a lifting end 51 and a fixed end 52, the fixed end 52 is fixedly connected to the first frame 11, and the second frame 12 is fixedly connected to the second frame 12, so that when the first pinch-grip 1 grips an article, if the lifting height of the bracket 1 is insufficient to enable the first pinch-grip 1 to grip the article, the lifting component 5 can control the lifting of the first pinch-grip 1 to compensate for the insufficient height of the bracket 1.

As shown in fig. 10, the assembly apparatus further includes a material stage 30, a first camera 61, a turntable 7, a first platform 81 and a second platform 82, where the first platform 81 and the second platform 82 are mounted on the material stage 30, the material stage 30 has a first photographing position 301 and an adjusting position 302, the first platform 81 is located at the first photographing position 301, the first camera 61 is inversely mounted on the first platform 81, the first photographing position 301 is located in the photographing range of the first camera 61, the second platform 82 is located at the adjusting position 302, and the turntable 7 is rotatably mounted on the second platform 82. The assembly device further comprises a second camera 62 and a third platform 83, the third platform 83 is mounted on the material platform 30, the material platform 30 is provided with a second photographing position 303, the third platform 83 is located at the second photographing position 303, the second camera 62 is arranged close to the second photographing position 303, and the second photographing position 303 is located in the photographing range of the second camera.

The assembly equipment comprises a material platform 30, wherein the material platform 30 is provided with a first photographing position 301, a second photographing position 303 and an adjusting position 302, the first platform 81 is positioned at the first photographing position 301, the second platform 82 is positioned at the adjusting position 302, the third platform 83 is positioned at the second photographing position 303, the first camera 61 is inversely arranged on the first platform 81, the second camera 62 is suspended on the third platform 83, the turntable 7 is rotatably arranged on the second platform 82, the application further comprises a fourth platform 84, the fourth platform 84 is also positioned at the second photographing position 303, and the third platform 83 and the fourth platform 84 are oppositely arranged. The second camera 62 is disposed near the second photographing position 303, the first photographing position 301 is located within the photographing range of the first camera 61, and the second photographing position 302 is located within the photographing range of the second camera 62.

The first gripper 2 of the pick-up device 10 of the mechanical arm 20 grips the first article to the first photographing position 301, the first camera 61 at the first photographing position 301 photographs the first article, the photographed first article is placed on the turntable 7 of the second platform 82 of the adjusting position 203, the turntable 7 drives the first article to rotate and adjust the first article to a preset fixed angle in combination with photographing information at the first photographing position 301, then the first article placed on the turntable 7 is moved to the fourth platform 84 of the second photographing position 303 at the fixed angle, the second camera 62 photographs the first article located on the fourth platform 84, finally the second gripper 3 of the pick-up device 20 of the mechanical arm 20 grips the second article to the first photographing position 301, the first camera 61 photographs the second article, the mechanical arm 20 transfers the second article to the fourth platform 84 after photographing, and the first article is assembled with the second article at the fixed angle at the fourth platform 84.

The above embodiments are only for illustrating the present application and not for limiting the technical solutions described in the present application, and the understanding of the present specification should be based on the description of directionality such as "front", "rear", "left", "right", "upper", "lower", etc. by the skilled person, only for describing the relationship between the objects, and not for limiting the nature, "a plurality" means at least two or more.

Although the application has been described in detail with reference to the above embodiments, it will be understood by those skilled in the art that the modifications and equivalents may be made thereto without departing from the spirit and scope of the application and its modifications and equivalents are intended to be included in the scope of the appended claims.

Claims (10)

1. The utility model provides an equipment, its characterized in that includes support (1), first grab clamp (2) and second grab clamp (3), first grab clamp (2) with second grab clamp (3) install in support (1), first grab clamp (2) including first clamping jaw (21) and second clamping jaw (22), first clamping jaw (21) with second clamping jaw (22) set up relatively, second grab clamp (3) including third clamping jaw (31) and first drive part (32), first drive part includes first drive end (321), third clamping jaw (31) are located first drive end (321), second grab clamp (3) have clamping area (S), third clamping jaw (31) are equipped with clamping end (312), third clamping jaw (31) are used clamping area (S) are the center distribution, just clamping end (312) orientation clamping area (S).

2. Assembly device according to claim 1, characterized in that the first grip clamp (2) comprises a second drive member (24), defining the width direction of the second drive member (24) as a first direction, the first jaw (21) comprises a first support (211), the first support (211) extends in a direction away from the holder (1), the second jaw (22) comprises a second support (221), the second support (221) extends in a direction away from the holder (1), the second support (221) is provided with at least two, the second supports (221) being arranged side by side in the first direction.

3. The assembly device according to claim 2, wherein the first clamping jaw (21) comprises a first limiting portion (212) provided at the first supporting portion (211), the first limiting portion (212) is arranged to protrude in a direction away from the first supporting portion (211), and the second clamping jaw (22) comprises a second limiting portion (222) provided at the second supporting portion (221), and the second limiting portion (222) is arranged to protrude in a direction away from the second supporting portion (221).

4. The assembly device according to claim 3, wherein at least two first limiting portions (212) are provided, the first limiting portions (212) are arranged at intervals along the extending direction of the first supporting portion (211), each second supporting portion (221) is provided with at least two second limiting portions (222), and the second limiting portions (222) are arranged at intervals along the extending direction of the second supporting portion (221).

5. Assembly device according to claim 1, characterized in that the second gripper (3) comprises at least three third gripping jaws (31), the assembly device further comprising a robot arm (20) and a pick-up means (10), the pick-up means (10) comprising the support (1), the first gripper (2) and the second gripper (3), the support being provided with a rotating part (101), the robot arm (20) comprising a rotating part (201), the rotating part (101) being connected to the rotating part (201).

6. Assembly device according to claim 5, characterized in that the pick-up means (10) further comprise a scanning member (4), the scanning member (4) being mounted to the holder (1), the first grip clamp (2), the second grip clamp (3) and the scanning member (4) being located at different positions of the holder (1).

7. The assembly device according to claim 5, wherein the pick-up means (10) further comprises a lifting member (5), the support (1) comprises a first frame body (11) and a second frame body (12), the second gripper (3) and the lifting member (5) are both mounted to the first frame body (11), the first gripper (2) is mounted to the second frame body (12), and the second frame body (12) is mounted to the lifting member (5).

8. Assembly device according to claim 7, characterized in that the lifting member (5) comprises a lifting end (51) and a fixed end (52), the fixed end (52) being fixedly connected to the first frame body (11), the lifting end (51) being fixedly connected to the second frame body (12).

9. The assembly device according to any one of claims 1-8, further comprising a material table (30), a first camera (61), a turntable (7), a first platform (81) and a second platform (82), the first platform (81) and the second platform (82) being mounted to the material table (30), the material table (30) having a first photographing position (301) and an adjustment position (302), the first platform (81) being located at the first photographing position (301), the first camera (61) being mounted to the first platform (81), the second platform (82) being located at the adjustment position (302), the turntable (7) being rotatably mounted to the second platform (82).

10. The assembly device according to claim 9, further comprising a second camera (62) and a third platform (83), the third platform (83) being mounted to the material table (30), the material table (30) having a second photographing position (303), the third platform (83) being located at the second photographing position (303), the second camera (62) being located close to the second photographing position (303).