CN208358229U - Robot flexibility integrates package system - Google Patents
Robot flexibility integrates package system Download PDFInfo
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- CN208358229U CN208358229U CN201820826203.XU CN201820826203U CN208358229U CN 208358229 U CN208358229 U CN 208358229U CN 201820826203 U CN201820826203 U CN 201820826203U CN 208358229 U CN208358229 U CN 208358229U
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Abstract
The utility model discloses robot flexibilities to integrate package system, including chain guide conveyer system, dress key station, detection station, dress half-finished product plate station, lock half-finished product plate screw station, dress motor station, dress bottom case station, lock bottom case screw station are disposed with around chain guide conveyer system and takes finished product station, and the dress key station, dress motor station, fills and is both provided with flexible manipulator and sighting device on bottom case station dress semi-finished product station；The robot flexibility of the application integrates package system, is controlled using flexible manipulator, cooperates sighting device, realizes the high accuracy positioning and flexible crawl function of material, realize automated production；It need to be manually only equipped with good material, the full automatic processing of unmanned aerial vehicle (UAV) control device can be completed, thus not only substantially increase production efficiency, allow to realize mass production, and can therefrom reduce a large amount of labours, this not only substantially reduces cost of labor, but also weakens artificial labor intensity.
Description
Technical field
The utility model relates to Automated assembly devices, and in particular to robot flexibility integrates package system.
Background technique
Currently, the subsequent installation technique of existing unmanned aerial vehicle (UAV) control device mostly uses manually to realize, including more keys
Installation, face-piece installation and the turn of the screw etc..Above-mentioned installment work is completed according to artificial, there can be high labor cost, manually
Large labor intensity, production efficiency is low, causes yield rate low, it is difficult to the deficiencies of being mass produced.
For the market demand for meeting multi items, be pilot, occur in modernization industry production with flexible manufacturing skill
Art and flexible assembly technology are a series of advanced manufacturing technologies of representative.And how by these Technology applications in unmanned aerial vehicle (UAV) control device
Installation in, reduce product cost, improve product quality, shorten the production cycle of product, be that the application mainly solves the problems, such as.
Utility model content
In view of the above-mentioned problems, the utility model is intended to provide a kind of robot for improving production efficiency, reducing product cost
Flexible integration package system.
To realize that the technical purpose, the embodiment of the utility model be: robot flexibility integrates package system, including chain is led
Rail conveying system is disposed with dress key station, detection station, dress half-finished product plate station, lock around chain guide conveyer system
Half-finished product plate screw station, dress bottom case station, locks bottom case screw station and takes finished product station, the dress key dress motor station
Station, dress semi-finished product station, dress motor station, dress bottom case station on be both provided with flexible manipulator and sighting device；
The chain guide conveyer system includes chain guide, transmission driving device, fixes device and retention device, described
Transmission driving device is photoelectric sensor, is mounted between chain guide.
Preferably, further including four for being connected the corner machine of chain guide, the chain guide conveyer system is formed
Toroid.
Preferably, being provided with feeding device and waste material box, the flexible manipulator and feeding by the dress key station
Waste material box is provided between device, the feeding device is made of hopper, vibrating disk, straight vibration track and electronic box, under the hopper
It is provided with vibrating disk, the vibrating disk is connected with straight vibration track, and the vibrating disk drive connection has electronic box.
Preferably, the flexible mechanical is provided with one for positioning the sighting device of feeding, the flexible machine on hand
Tool is at hand arranged with one for positioning the sighting device of blowing.
Preferably, the detection station includes laser displacement sensor and three Axle mould groups, the laser displacement sensor
It is mounted on the Z axis of three Axle mould groups.
Preferably, being provided with the foam panel and pallet for feeding by the dress motor station.
Preferably, the lock half-finished product plate screw station all includes electric screwdriver, spiral shell as lock bottom case screw station structure
Three Axle mould groups of silk, screw feeding machine and touch screen, the electric screwdriver includes rotary power part and screw pours into part, the electric screwdriver
It is mounted on the Z axis of three Axle mould group of screw.
Preferably, the fixed device includes cylinder upper pallet, positioning cylinder, positioning pin, active plate and follower plate, Gu
Determine to be provided with working plate on device, the active plate, follower plate are located at working plate both sides, are provided with cylinder pop-up below working plate
Plate, cylinder upper pallet are connected with positioning cylinder.
The retention device is solenoid valve, and the retention device is mounted on active plate side.
Preferably, described take finished product station to include uniaxial slide unit and suction nozzle, the single shaft slide unit is chain-type slide unit, institute
Suction nozzle is stated to be arranged under uniaxial slide unit.
Preferably, further including having for entrance chain guide conveyer system across ladder.
The robot flexibility of the beneficial effects of the utility model, the application integrates package system, using flexible mechanical manual control
System cooperates sighting device, realizes the high accuracy positioning and flexible crawl function of material, realize automated production；It only needs artificial
It is equipped with good material, the full automatic processing of unmanned aerial vehicle (UAV) control device can be completed, thus not only substantially increases production efficiency,
Allow to realize mass production, and can therefrom reduce a large amount of labours, this not only substantially reduces cost of labor, but also weakens
Artificial labor intensity.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the utility model；
Fig. 2 is the structural schematic diagram of chain guide conveyer system；
Fig. 3 is the component drawings of unmanned aerial vehicle (UAV) control device on working plate；
Fig. 4 is the structural schematic diagram of detection station；
Fig. 5 is dress half-finished product plate/bottom case station structural schematic diagram；
Fig. 6 is lock half-finished product plate/bottom case screw station structural schematic diagram；
Fig. 7 is the structural schematic diagram for filling left/right motor station；
Fig. 8 is the structural schematic diagram for taking finished product station；
Fig. 9 is the structural schematic diagram for filling key station and feeding device.
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 1-9, specific embodiment described in the utility model is that robot flexibility integrates package system, including chain
Guide rail conveyer system 1 is disposed with dress key station 2, detection station 3, dress half-finished product plate around chain guide conveyer system 1
Station 4, dress motor station 6, dress bottom case station, locks bottom case screw station and takes finished product station 7 lock half-finished product plate screw station 5,
The dress key station 2, dress semi-finished product station 4, dress motor station 6, dress bottom case station on be both provided with flexible manipulator 8 and view
Feel device 9；
The chain guide conveyer system 1 includes chain guide 101, transmission driving device 102, fixed device 103 and resistance
Blocking means 104, the transmission driving device 102 are photoelectric sensor, are mounted between chain guide 101.
It further include four for being connected the corner machine 10 of chain guide, chain guide transmission system to improve efficiency
System 1 forms toroid.Toroid has not only saved space, but also can work in ring, more efficient, safer.
In order to facilitate feeding, feeding device 11 and waste material box 12, the flexible mechanical are provided with by the dress key station 2
Be provided with waste material box 12 between hand 8 and feeding device 11, the feeding device 11 by hopper 1101, vibrating disk 1102, directly shake rail
Road 1103 and electronic box 11 form, and the hopper 1101 is arranged with vibrating disk 1102, and the vibrating disk 1102 is connected with straight vibration rail
Road 1103, the drive connection of vibrating disk 1102 have electronic box 11.Material is put into from hopper, and hopper vibrates under the action of straight vibration,
So that material is entered circular vibration disk successively, then under the action of electromagnetic vibrator, moves material along helical orbit, and
Auto arrangement is neat, and material enters straight vibration track along helical orbit, limits material in directly vibration track end card slot, makes it successively
Specified feeding position is reached via straight vibration track, grabs and uses for manipulator.
It is more accurate in order to position, the sighting device 9 for being used to position feeding is provided on the flexible manipulator 8,
One is provided under the flexible manipulator 8 for positioning the sighting device 9 of blowing.Manipulator grabs object from feeding device
Material is automatically moved to above sighting device, is taken pictures and material element image detection, if there is material mistake, machine occur
Tool hand is automatically moved to waste material box and abandons material, grabs material from feeding device again；Manipulator continues to move if detection is normal
It moves at working plate, second sighting device is accurately positioned the position put on working plate, and then material is accurately installed
On working plate designated position.
In order to detect to key installation, the detection station 3 includes laser displacement sensor 301 and three Axle mould groups
302, the laser displacement sensor 301 is mounted on the Z axis of three Axle mould groups 302.To the peace of the station before detection machine station
Dress work carries out accuracy detection one by one.
The lock half-finished product plate screw station 5 all includes electric screwdriver 501, screw three as lock bottom case screw station structure
Axle mould group 502, screw feeding machine 503 and touch screen 504, the electric screwdriver 501 include that rotary power part and screw pour into part,
The electric screwdriver 501 is mounted on the Z axis of three Axle mould group 502 of screw.Touch screen such as runs for realizing all operations of system,
Monitoring etc.；
Preferably, the fixed device 103 includes cylinder upper pallet 1031, positioning cylinder 1032, positioning pin 1033, master
Movable plate 1034 and follower plate 1035 are fixed on device 103 and are provided with working plate 16, the active plate 1034, follower plate 1035
In 16 both sides of working plate, it is provided with cylinder upper pallet 1031 below working plate, cylinder upper pallet 1031 is connected with positioning cylinder
1032.The retention device 104 is solenoid valve, and the retention device 104 is mounted on 1034 side of active plate.Retention device is vertical
Formula stopper solenoid valve, when the operation of previous working plate does not complete also, the photoelectric sensor issues signal, the vertical resistance
Lug-latch can stop the transport of working plate, carry out waiting operation.
The foam panel 13 and pallet 14 for feeding are provided with by the dress motor station 6.It is described to take the finished product station 7 to include
Uniaxial slide unit 701 and suction nozzle 702, the single shaft slide unit 701 is chain-type slide unit, and the suction nozzle 702 is arranged in uniaxial slide unit 701
Under.
It is operated in order to facilitate entrance toroid, further includes having for entrance chain guide conveyer system 1 across ladder 15.
Entire robot flexibility integrates package system assembling flow path and includes the following steps:
A. component face-piece, bottom case and the half-finished product plate of unmanned aerial vehicle (UAV) control device are manually put into the position specified on working plate
(as shown in Figure 3) makes working plate flow to dress key station by chain guide conveyer system；
B. partitioned signal is issued by photoelectric sensor, solenoid valve rises, and the positioning cylinder below working plate utilizes positioning
It sells and carries out precise positioning to working plate, after the completion of positioning, cylinder upper pallet fixes working plate, while this station receives plate
Signal.Using feeding device, cooperate the sighting device in four axis robots, four axis robot suction nozzles are first by X key from unloading position
It grabs out, is automatically moved on pedestal sighting device, carry out X key and take pictures detection, if there is X key mistake occur, manipulator is automatic
It is moved to waste material box and abandons material, then manipulator grabs X key from feeding device again；Manipulator continues to move if detection is normal
It moves at working plate, X key is accurately packed into tooling to being accurately positioned on working plate face-piece by the sighting device by mechanical arm
The specified position for putting X key on plate face shell；Then manipulator automatically returns to crawl Y key at feeding again, and process is as X key, Y
Key is accurately packed into the position specified on working plate face-piece and put Y key.X, after Y key is installed, the decline of cylinder upper pallet issues ejecting plate
Working plate is sent to next station by signal, solenoid valve decline, chain guide, this station continues the next piece of work that job transfer comes
Loading board；Two key stations of A/B, two key stations of LB/RB, cross key station, HOME/SELECT are successively installed according to the above process
Two key stations issue partitioned signal by photoelectric sensor, and solenoid valve rises, and the positioning cylinder below working plate utilizes positioning
It sells and carries out precise positioning to working plate, after the completion of positioning, cylinder upper pallet fixes working plate, while this station receives plate
Signal.
C. detection station: three Axle mould groups are cooperated to move along the x-axis detection front end work using CMOS miniature laser displacement sensor
Whether the key of position installation accurately enters in each slot, if there is the key for being not mounted to position, which can be sounded an alarm, and carry out people
Work processing；If detection is normal, chain guide conveyer system transmits working plate toward next station.This station is passed through to next station
Two corner machines are crossed, working plate is transmitted on corner machine, and corner machine, which receives upper end, partitioned signal, and then rotation direction is through chain
Guide rail is transmitted to next corner machine；
D. automatically dress half-finished product plate station: by corner machine transmission come working plate, by photoelectric sensor issue plate believe
Number, solenoid valve rises, and the positioning cylinder below working plate carries out precise positioning to working plate using positioning pin, after the completion of positioning,
Cylinder upper pallet fixes working plate, while this station receives partitioned signal.Sighting device by cooperative mechanical arm is to work
It is accurately positioned on loading board face-piece, the half-finished product plate positioning crawl on working plate is put into face-piece using four axis robots and is specified
On position.Chain guide conveyer system transmits working plate toward next station；
E. it locks half-finished product plate screw station: partitioned signal being issued by photoelectric sensor, solenoid valve rises, below working plate
Positioning cylinder using positioning pin give working plate carry out precise positioning, after the completion of positioning, cylinder upper pallet fixes working plate, together
When this station receive partitioned signal.Using three Axle mould group automatic locking screw machines, while positioning cylinder being installed above filature, lock
Half-finished product plate is pushed down before screw, supplies screw to electric screwdriver by feeding machine, electric screwdriver is with three Axle mould groups along Z axis to the spiral shell of half-finished product plate
It completes quickly to be accurately positioned locking in wire hole position；Chain guide conveyer system transmits working plate toward next station；
F. it fills left motor station: partitioned signal being issued by photoelectric sensor, solenoid valve rises, the positioning below working plate
Cylinder carries out precise positioning to working plate using positioning pin, and after the completion of positioning, cylinder upper pallet fixes working plate, while this work
Position receives partitioned signal.Left motor is taken out from foam panel using four axis robots, is automatically moved to pedestal sighting device
On, it carries out left motor and takes pictures detection, if mistake occurs in left motor image detection, manipulator is automatically moved to waste material box Litter
Material, then manipulator grabs left motor from foam panel again；Manipulator continues to move at working plate if detection is normal, mechanical
Sighting device by arm is accurately positioned the point position on working plate face-piece, and left motor is accurately packed on working plate
The specified position for putting left motor of face-piece.After left motor is installed, chain guide conveyer system passes working plate toward next station
It send；
G. fill right motor station: installation steps cooperate sighting device by right motor with above-mentioned steps f, using four axis robots
From the specified position for putting right motor of face-piece taken out in foam panel on accurate loading working plate；Chain guide conveyer system is by tooling
Plate is transmitted toward next station；
H. fill bottom case station 11: installation steps with above-mentioned steps d, using four axis robots cooperation sighting device by bottom case from
It takes out and is attached on face-piece in working plate；Chain guide conveyer system transmits working plate toward next station；
I. lock bottom case outside nut station: installation steps are with above-mentioned steps e, using three Axle mould group automatic locking screw machines to bottom case
Screw hole location complete quickly be accurately positioned locking；Chain guide conveyer system transmits working plate toward next station；
J. it takes finished product station: finished product being grabbed using suction nozzle, is put in specified containers through uniaxial slide unit.
Above-mentioned steps are the installation of the unmanned aerial vehicle (UAV) control device of one piece of working plate, in actual production, one piece of tooling of every station
Plate gives a upper station one signal after the completion of next station, and upper station working plate flows to next station, each same luck of station
Make, loops back and forth like this.
The application uses flexible manipulator, and thread-changing only needs 1 hour after program setting；Entirety can use an integrated control system
System, acquisition data are simply accurate, and analytical statement is accurate, can be attached directly to system management software ERP system, greatly mention
The high working efficiency of management, reduces management cost.
The robot flexibility of the application integrates package system, is controlled using flexible manipulator, cooperates sighting device, realizes object
The high accuracy positioning and flexible crawl function of material, realize automated production；It need to be manually only equipped with good material, nobody can be completed
The full automatic processing of machine controller, thus production efficiency is not only substantially increased, allow to realize mass production,
And can therefrom reduce a large amount of labours, this not only substantially reduces cost of labor, but also weakens artificial labor intensity.
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 (10)
1. robot flexibility integrates package system, it is characterised in that: including chain guide conveyer system, transmit system around chain guide
System be disposed with dress key station, detection station, dress half-finished product plate station, lock half-finished product plate screw station, dress motor station,
Dress bottom case station, lock bottom case screw station and take finished product station, the dress key station, dress semi-finished product station, fill motor station,
Flexible manipulator and sighting device are both provided on dress bottom case station；
The chain guide conveyer system includes chain guide, transmission driving device, fixed device and retention device, the transmission
Driving device is photoelectric sensor, is mounted between chain guide.
2. robot flexibility according to claim 1 integrates package system, it is characterised in that: further include four for being connected
The corner machine of chain guide, the chain guide conveyer system form toroid.
3. robot flexibility according to claim 1 integrates package system, it is characterised in that: set by the dress key station
Be equipped with feeding device and waste material box, be provided with waste material box between the flexible manipulator and feeding device, the feeding device by
Hopper, vibrating disk, straight vibration track and electronic box composition, the hopper are arranged with vibrating disk, and the vibrating disk is connected with straight vibration rail
Road, the vibrating disk drive connection have electronic box.
4. robot flexibility according to claim 1 integrates package system, it is characterised in that: the flexible mechanical is set on hand
One is equipped with for positioning the sighting device of feeding, the flexible mechanical is provided with one for positioning the vision of blowing at hand
Device.
5. robot flexibility according to claim 1 integrates package system, it is characterised in that: the detection station includes swashing
Optical displacement sensor and three Axle mould groups, the laser displacement sensor are mounted on the Z axis of three Axle mould groups.
6. robot flexibility according to claim 1 integrates package system, it is characterised in that: the lock half-finished product plate screw
Station is described all including electric screwdriver, three Axle mould group of screw, screw feeding machine and touch screen as lock bottom case screw station structure
Electric screwdriver includes rotary power part and screw pours into part, and the electric screwdriver is mounted on the Z axis of three Axle mould group of screw.
7. robot flexibility according to claim 1 integrates package system, it is characterised in that: set by the dress motor station
It is equipped with the foam panel and pallet for feeding.
8. robot flexibility according to claim 1 integrates package system, it is characterised in that: the fixed device includes gas
Cylinder upper pallet, positioning cylinder, positioning pin, active plate and follower plate, are provided with working plate on fixed device, the active plate, from
Movable plate is located at working plate both sides, is provided with cylinder upper pallet below working plate, cylinder upper pallet is connected with positioning cylinder, the resistance
Blocking means are solenoid valve, and the retention device is mounted on active plate side.
9. robot flexibility according to claim 1 integrates package system, it is characterised in that: described to take the finished product station to include
Uniaxial slide unit and suction nozzle, the single shaft slide unit is chain-type slide unit, and the suction nozzle is arranged under uniaxial slide unit.
10. robot flexibility according to claim 1 integrates package system, it is characterised in that: further include having for entering
Chain guide conveyer system across ladder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820826203.XU CN208358229U (en) | 2018-05-31 | 2018-05-31 | Robot flexibility integrates package system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820826203.XU CN208358229U (en) | 2018-05-31 | 2018-05-31 | Robot flexibility integrates package system |
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| Publication Number | Publication Date |
|---|---|
| CN208358229U true CN208358229U (en) | 2019-01-11 |
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ID=64930805
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
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| CN201820826203.XU Active CN208358229U (en) | 2018-05-31 | 2018-05-31 | Robot flexibility integrates package system |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110834186A (en) * | 2019-12-17 | 2020-02-25 | 郑州瑞盛德机械设备有限公司 | Material centralized distribution system for equipment assembly and centralized distribution method thereof |
| CN112320209A (en) * | 2020-11-12 | 2021-02-05 | 合肥长安汽车有限公司 | Centralized feeding and conveying mechanism |
| CN113500389A (en) * | 2021-07-19 | 2021-10-15 | 汕头大学 | Automatic assembly production line for electric hair dryer |
-
2018
- 2018-05-31 CN CN201820826203.XU patent/CN208358229U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110834186A (en) * | 2019-12-17 | 2020-02-25 | 郑州瑞盛德机械设备有限公司 | Material centralized distribution system for equipment assembly and centralized distribution method thereof |
| CN110834186B (en) * | 2019-12-17 | 2024-06-04 | 郑州瑞盛德机械设备有限公司 | Material collecting and distributing system for equipment assembly and collecting and distributing method thereof |
| CN112320209A (en) * | 2020-11-12 | 2021-02-05 | 合肥长安汽车有限公司 | Centralized feeding and conveying mechanism |
| CN113500389A (en) * | 2021-07-19 | 2021-10-15 | 汕头大学 | Automatic assembly production line for electric hair dryer |
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