CN208304351U - A kind of automatic package system of four axis robots - Google Patents
A kind of automatic package system of four axis robots Download PDFInfo
- Publication number
- CN208304351U CN208304351U CN201820546325.3U CN201820546325U CN208304351U CN 208304351 U CN208304351 U CN 208304351U CN 201820546325 U CN201820546325 U CN 201820546325U CN 208304351 U CN208304351 U CN 208304351U
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- manipulator
- rack
- working plate
- inspection apparatus
- cylinder
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- 238000007689 inspection Methods 0.000 claims abstract description 22
- 239000002699 waste material Substances 0.000 claims description 9
- 230000035515 penetration Effects 0.000 claims description 8
- 239000011521 glass Substances 0.000 claims description 4
- 239000000463 material Substances 0.000 abstract description 31
- 238000004519 manufacturing process Methods 0.000 abstract description 4
- 230000010355 oscillation Effects 0.000 abstract description 2
- 238000000034 method Methods 0.000 description 6
- 238000001514 detection method Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 238000012797 qualification Methods 0.000 description 3
- 230000033001 locomotion Effects 0.000 description 2
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000033228 biological regulation Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000002950 deficient Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
- 230000007257 malfunction Effects 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Abstract
The utility model discloses a kind of automatic package systems of four axis robots comprising rack, the rack side are provided with load module and manipulator, are provided with feeding module in the rack；This practical feeding module utilizes the electric and magnetic oscillation of circular vibration disk and output track, to ensure that efficiently and accurately transmits material part, and ensures that material is crawled with correct position；Manipulator assembles vision inspection apparatus, facilitates and judges whether intact material and orientation and position；Load module is positioned using many places sensor, is guaranteed the accuracy of working plate, while jacking up working plate using cylinder, with this regular worker's loading board, is improved mounting stability；The application vision inspection apparatus of two sets of precise positionings and direction identification, it can be with automatic identification in certain deviation range, whole assembly is not influenced, is reduced because matching requirements generate increased costs to consumer product required precision, be can adapt to large batch of production.
Description
Technical field
The utility model relates to mechanical devices, and in particular to a kind of automatic package system of four axis robots.
Background technique
Engineering goods are typically all to be made of many part components.According to the technical requirements of regulation, by several zero
Part group and at component, component or by the component of several parts, part form product process, referred to as assemble or assemble.Factory
When carrying out assembling work, need that multiple parts are installed mostly, and process is tedious.It is to use manual work mostly at present,
The qualification rate of higher cost, difficult management and product not can guarantee.And existing automatic assembling module, to part and workpiece
Placement position requires harshness, and error is difficult to make up, greatly reduces the qualification rate of product.
Existing automatic assembling module is primarily present following problems: 1, feeding is too simple, causes to pick process very big
Trouble reduces production efficiency；2, manipulator mostly uses greatly motor driven, and structure is complicated, expensive, and crawl accuracy is not high；
3, transmission device accuracy is low, and stationarity is bad.
Utility model content
In view of the above-mentioned problems, the utility model be intended to provide a kind of precise positioning and provide four axis robot of direction identification from
Dynamic package system can not influence whole assembly in certain deviation range with automatic identification, reduce because to Product Precision requirement
And the increased costs generated.
To realize that the technical purpose, the embodiment of the utility model be: a kind of automatic package system of four axis robots, including machine
Frame, the rack side are provided with load module and manipulator, are provided with feeding module in the rack；
The feeding module includes hopper, circular vibration disk, output track, and the circular vibration disk is fixedly mounted on rack
The bottom of top, the hopper is connected to circular vibration disk entrance, the outlet of the circular vibration disk to output track, institute
State hopper, output track lower section is provided with straight vibration；
The load module includes assembly rack, working plate, guide rail, active plate, follower plate, cylinder, cylinder upper pallet, stands
Formula stopper and alignment sensor, the guide rail are fixedly mounted on the rack, are provided among the guide rail and are disposed with master
Movable plate, working plate and follower plate are additionally provided with multiple alignment sensors on the guide rail, are further fixed on gas in the assembly rack
Cylinder, the cylinder are connected to cylinder upper pallet, and the active plate is equipped with vertical stopper.
Preferably, the manipulator includes manipulator base, manipulator support, mechanical arm, penetration pipe, limit
Seat, gripper, vision inspection apparatus and waste material box are provided with manipulator base, the manipulator bottom on the manipulator support
Mechanical arm is installed, mechanical arm top, which is drivingly connected, gripper, is also equipped with vision-based detection by the manipulator support on seat
Device and waste material box.
Preferably, the vision inspection apparatus includes camera fixing support, CCD camera and light source, the vision inspection
It surveys device and is provided with two sets.
Preferably, the alignment sensor is connected with the vertical stopper that working plate can be stopped to transport, the positioning
Sensor is connected with cylinder, and cylinder upper pallet is made to be capable of fixing working plate.
Preferably, being vertically installed with penetration pipe and mechanical arm in the manipulator base, one end of penetration pipe is provided with
Gas-tpe fitting, the gas-tpe fitting are connect with limit base top, and the mechanical arm is connect with limit base bottom, on the limit base
It is provided with Z axis limit, the limit base is connected with gripper.
Preferably, the bottom of the manipulator support is provided with shockproof footed glass.
The beneficial effects of the utility model, this practical feeding module utilize the electromagnetic vibration of circular vibration disk and output track
It is dynamic, to ensure that efficiently and accurately transmits material part, and ensure that material is crawled with correct position；Manipulator assembles vision
Detection device facilitates and judges whether intact material and orientation and position；Load module is positioned using many places sensor, is guaranteed
The accuracy of working plate, while working plate is jacked up using cylinder, with this regular worker's loading board, improve mounting stability；The application uses
The vision inspection apparatus of two sets of precise positionings and direction identification, can not be influenced whole in certain deviation range with automatic identification
Body assembly, reduces because matching requirements generate increased costs to consumer product required precision, can adapt to large batch of production.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the utility model；
Fig. 2 is the structural schematic diagram of the utility model feeding module；
Fig. 3 is the structural schematic diagram of the utility model load module；
Fig. 4 is the structural schematic diagram of the utility model manipulator.
Specific embodiment
The utility model is described in further details in the following with reference to the drawings and specific embodiments.
As shown in Figs 1-4, specific embodiment described in the utility model is a kind of automatic package system of four axis robots, packet
Including rack 1,1 side of rack are provided with load module 2 and manipulator 3, are provided with feeding module 4 in the rack 1；
As shown in Fig. 2, the feeding module 4 includes hopper 401, circular vibration disk 403, output track 404, the circle
Vibrating disk 403 is fixedly mounted on 1 top of rack, and the bottom of the hopper 401 is connected to 403 entrance of circular vibration disk, the circle
The outlet of shape vibrating disk 403 is provided with straight vibration below the hopper 401, output track 404 to output track 404
402；Material is put by hopper, and hopper vibrates under the action of straight vibration, so that material is entered circular vibration disk successively, in circular vibration
Under the action of disc vibration device, vibrating disk makees torsional mode up-down vibration, moves material along helical orbit, and auto arrangement is whole
Together, vibrating disk connects output track, and material enters output track along helical orbit, in output track end card slot limiter
Material makes it reach designated position via output track successively, uses so that gripper grabs.
The load module 2 includes assembly rack 201, working plate 202, guide rail 203, active plate 204, follower plate 205, gas
Cylinder 206, cylinder upper pallet 207, vertical stopper 208 and alignment sensor 209, the guide rail 203 are fixedly mounted on rack 201
On, it is provided among the guide rail 203 and is disposed with active plate 204, working plate 202 and follower plate 205, the guide rail 203
On be additionally provided with multiple alignment sensors 209, be further fixed on cylinder 206 in the assembly rack 201, the cylinder 206 connects
To cylinder upper pallet 207, the active plate 204 is equipped with vertical stopper 208.
The alignment sensor 209 is connected with the vertical stopper 208 that working plate can be stopped to transport, the orientation sensing
Device 809 is connected with cylinder 206, and cylinder upper pallet 207 is made to be capable of fixing working plate 202.
Active plate is used for installing motor and fixing seat, and follower plate is for fixing guide supporting seat；Working plate is along leading
Rail enters assembly station, has first sensor at this time and detects that vertical stopper can stop the transport of working plate, guide rail
Intermediate sensor meeting positioning board, so that manipulator can be working properly；Cylinder upper pallet rises simultaneously, and working plate is lifted
Height, and regular worker's loading board.
After manipulator assembles the process, working plate continues to transport forward.The movement rail of manipulator is set before operation
Mark can be automatically corrected by vision inspection apparatus；Manipulator grabs material from feeding module, is automatically moved to vision-based detection
Material is placed on above light source above device, is taken pictures and vision determines that, if there is material mistake occur, manipulator is automatic
It is moved to waste material box and abandons material, then manipulator grabs material from feeding module again；Vision determine normal then manipulator after
Continuous to be moved at working plate, the vision inspection apparatus beside manipulator is accurately positioned the position of working plate, then accurately
Fine tuning is mounted on material on working plate.
As shown in figure 3, the manipulator 3 includes manipulator base 301, manipulator support 302, mechanical arm 303, wears
Spool 304, limit base 305, gripper 306, vision inspection apparatus 307 and waste material box 308 are set on the manipulator support 302
It is equipped with manipulator base 301, mechanical arm 303 is installed, 303 top of mechanical arm, which is drivingly connected, to be had in the manipulator base 301
Gripper 306 is also equipped with vision inspection apparatus 307 and waste material box 308 by the manipulator support 302.
Penetration pipe 304 and mechanical arm 303,304 one end setting of penetration pipe are vertically installed in the manipulator base 301
There is gas-tpe fitting 309, the gas-tpe fitting 309 is connect with 305 top of limit base, the mechanical arm 303 and 305 bottom of limit base
It connects, Z axis limit 310 is provided on the limit base 305, the limit base 305 is connected with gripper 306.The vision inspection
Surveying device 307 includes camera fixing support 3071, CCD camera 3072 and light source 3073, and the vision inspection apparatus 307 is arranged
There are two sets.A set of vision inspection apparatus is responsible for taking pictures and vision determines, another set of vision inspection apparatus is responsible for tooling Board position
It is positioned.
The motion profile of gripper is set before operation, can be automatically corrected by vision inspection apparatus；It is mechanical
Pawl grabs material from feeding module, is automatically moved to above vision inspection apparatus and material is placed on above light source, take pictures with
And vision determines, if there is material mistake occur, gripper is automatically moved to waste material box and abandons material, then gripper again from
Feeding module grabs material；Vision determines that normal then gripper continues to move at working plate, the vision-based detection beside gripper
Device is accurately positioned the position of working plate, and then precise fine-adjustment is mounted on material on working plate.
In order to improve assembly precision, the bottom of the manipulator support 302 is provided with shockproof footed glass 311.Shockproof footed glass makes
Manipulator support reduces vibration amplitude at work, and gripper assembling process is more stable, and assembly effect is more perfect.
Material passes through hopper, is transmitted to output track, vision-based detection after arrangement under the action of circular vibration disk and straight vibration
Device is positioned and is detected, if material malfunctions, four axis robots crawl material is mechanical if material is correct to waste material box
Hand then grabs on material to working plate, and working plate is run in assembly rack, receives alignment sensor induction rear vertical type and stops
Device, which lifts, stops working plate to advance, and cylinder upper pallet holds up working plate in the presence of cylinder, is stuck in working plate on guide rail, and four
Axis robot completes the automatic assembling to material on working plate.
Present application addresses a series of problems that traditional manual assembly occurs, manual assembly inefficiency, manual assemblies
Speed is the 1/5 of automatic assembling speed, and manual assembly can not identify the quality of components quality, causes output fraction defective excessively high,
Qualification rate is less than 95%, automatic setup system, and by visual identifying system, the spare and accessory parts of selection are absolutely qualified, output
Product qualified rate reaches 99.8%, produces similar product again, ultrahigh in efficiency, recalling last time used system data can be complete
At automatic setup system programming count data do not need manually to count, and the data of statistics are absolutely accurate, can directly connect
To system management software ERP system, the working efficiency of management is greatly mentioned, management cost is reduced.
This practical feeding module utilizes the electric and magnetic oscillation of circular vibration disk and output track, to ensure that efficiently and accurately transmits object
Expect part, and ensures that material is crawled with correct position；Manipulator assembles vision inspection apparatus, facilitates and judges that material is
No intact and orientation and position；Load module is positioned using many places sensor, is guaranteed the accuracy of working plate, is used simultaneously
Cylinder jacks up working plate, with this regular worker's loading board, improves mounting stability；The application two sets of precise positionings and direction identification
Vision inspection apparatus, can not influence whole assembly in certain deviation range with automatic identification, reduce because of matching requirements pair
Consumer product required precision and generate increased costs, can adapt to large batch of production.
The above, the only preferred embodiment of the utility model, are not intended to limit the utility model, all according to this
The technical spirit of utility model any trickle amendment, equivalent replacement and improvement to the above embodiments should be included in this
Within the protection scope of utility model technical solution.
Claims (6)
1. a kind of automatic package system of four axis robots, it is characterised in that: including rack, the rack side is provided with fit drawing die
Block and manipulator are provided with feeding module in the rack；
The feeding module includes hopper, circular vibration disk, output track, and the circular vibration disk is fixedly mounted on the rack
Side, the bottom of the hopper are connected to circular vibration disk entrance, and the outlet of the circular vibration disk is described to output track
Straight vibration is provided with below hopper, output track；
The load module includes assembly rack, working plate, guide rail, active plate, follower plate, cylinder, cylinder upper pallet, vertical resistance
Lug-latch and alignment sensor, the guide rail are fixedly mounted on the rack, be provided among the guide rail be disposed with active plate,
Working plate and follower plate are additionally provided with multiple alignment sensors on the guide rail, are further fixed on cylinder in the assembly rack, institute
It states cylinder and is connected to cylinder upper pallet, the active plate is equipped with vertical stopper.
2. the automatic package system of four axis robots according to claim 1, it is characterised in that: the manipulator includes
Manipulator base, manipulator support, mechanical arm, penetration pipe, limit base, gripper, vision inspection apparatus and waste material box, the machine
It is provided with manipulator base on tool hand bracket, mechanical arm is installed, mechanical arm top, which is drivingly connected, to be had in the manipulator base
Gripper is also equipped with vision inspection apparatus and waste material box by the manipulator support.
3. the automatic package system of four axis robots according to claim 2, it is characterised in that: the vision inspection apparatus packet
Camera fixing support, CCD camera and light source are included, the vision inspection apparatus is provided with two sets.
4. the automatic package system of four axis robots according to claim 1, it is characterised in that: the alignment sensor connection
There is the vertical stopper that working plate can be stopped to transport, the alignment sensor is connected with cylinder, is capable of fixing cylinder upper pallet
Firmly working plate.
5. the automatic package system of four axis robots according to claim 2, it is characterised in that: hang down in the manipulator base
It is directly provided with penetration pipe and mechanical arm, one end of penetration pipe is provided with gas-tpe fitting, and the gas-tpe fitting and limit base top connect
It connects, the mechanical arm is connect with limit base bottom, and Z axis limit is provided on the limit base, and the limit base is connected with machinery
Pawl.
6. the automatic package system of four axis robots according to claim 1, it is characterised in that: the bottom of the manipulator support
Portion is provided with shockproof footed glass.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820546325.3U CN208304351U (en) | 2018-04-17 | 2018-04-17 | A kind of automatic package system of four axis robots |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820546325.3U CN208304351U (en) | 2018-04-17 | 2018-04-17 | A kind of automatic package system of four axis robots |
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| Publication Number | Publication Date |
|---|---|
| CN208304351U true CN208304351U (en) | 2019-01-01 |
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ID=64719957
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820546325.3U Active CN208304351U (en) | 2018-04-17 | 2018-04-17 | A kind of automatic package system of four axis robots |
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| Country | Link |
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| CN (1) | CN208304351U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108237400A (en) * | 2018-04-17 | 2018-07-03 | 深圳市广晟德科技发展有限公司 | A kind of automatic package system of four axis robots |
| CN110124953A (en) * | 2019-05-17 | 2019-08-16 | 深圳市智致物联科技有限公司 | Automotive glass bracket automatic charging device and its process flow |
| CN110682271A (en) * | 2019-09-03 | 2020-01-14 | 贵州航天电器股份有限公司 | Equipment and method for replacing pins of carriers in circular connector production line |
-
2018
- 2018-04-17 CN CN201820546325.3U patent/CN208304351U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108237400A (en) * | 2018-04-17 | 2018-07-03 | 深圳市广晟德科技发展有限公司 | A kind of automatic package system of four axis robots |
| CN110124953A (en) * | 2019-05-17 | 2019-08-16 | 深圳市智致物联科技有限公司 | Automotive glass bracket automatic charging device and its process flow |
| CN110682271A (en) * | 2019-09-03 | 2020-01-14 | 贵州航天电器股份有限公司 | Equipment and method for replacing pins of carriers in circular connector production line |
| CN110682271B (en) * | 2019-09-03 | 2023-04-04 | 贵州航天电器股份有限公司 | Equipment and method for replacing pins of carriers in circular connector production line |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of utility model: A Four Axis Robot Automatic Assembly System Effective date of registration: 20231129 Granted publication date: 20190101 Pledgee: China Construction Bank Co.,Ltd. Shenzhen Branch Pledgor: SHENZHEN GRANDSEED TECHNOLOGY DEVELOPMENT Co.,Ltd. Registration number: Y2023980068225 |
|
| PE01 | Entry into force of the registration of the contract for pledge of patent right |