CN208992136U - A floating assembly system for robotic factory automation - Google Patents
A floating assembly system for robotic factory automation Download PDFInfo
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- CN208992136U CN208992136U CN201821465146.3U CN201821465146U CN208992136U CN 208992136 U CN208992136 U CN 208992136U CN 201821465146 U CN201821465146 U CN 201821465146U CN 208992136 U CN208992136 U CN 208992136U
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- floating
- factory automation
- pressing
- assembly system
- floating assembly
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Abstract
本实用新型属于机械设计技术领域，公开了一种用于机器人工厂自动化的浮动装配系统，包括底座、浮动系统、抱紧系统和压紧系统，浮动系统与底座连接，抱紧系统和压紧系统设置在浮动系统的外侧。本技术方案具有用于承载的底座、用于精密装配的浮动系统和用于实现同步夹紧的抱紧系统，抱紧系统能够升降，可实现夹持部的上下移动，用于克服电动扭力扳手拧紧扭力的压紧系统。结构简单、紧凑、合理，在借助机器视觉系统的基础上，能够主动适应视觉系统产生的误差，优质高效的完成大型、重型工业产品的自动化装配作业。
The utility model belongs to the technical field of mechanical design, and discloses a floating assembly system for robot factory automation, which comprises a base, a floating system, a holding system and a pressing system. The floating system is connected with the base, and the holding system and the pressing system are connected. Set on the outside of the floating system. The technical solution has a base for bearing, a floating system for precision assembly, and a clamping system for realizing synchronous clamping. The clamping system can be lifted and lowered, and the clamping part can be moved up and down, which is used to overcome the electric torque wrench. Compression system for tightening torque. The structure is simple, compact and reasonable. On the basis of the machine vision system, it can actively adapt to the errors generated by the vision system, and complete the automatic assembly of large and heavy industrial products with high quality and efficiency.
Description
Technical field
The utility model patent is related to technical field of mechanical design, the more particularly, to floating of robotized plant's automation
Assembly system.
Background technique
Assembly in robotized plant's automation to small parts such as electronic products, often uses machine vision system completely
System is to solve；But for large-scale, heavy duty industrial product, because its size is larger, the corresponding camera lens visual field is larger, existing machine view
Feel that product or solution its positioning accuracy are not enough to support high-accuracy assembling work.This just needs a kind of ancillary equipment, energy
Enough errors for actively adapting to vision system generation, the Automated assembly operation of high-quality and efficient completion large size, heavy duty industrial product.
Utility model content
The purpose of this utility model is that in view of the above technical problems, providing the floating dress for robotized plant's automation
Match system, the system can actively adapt to the error of vision system generation, high-quality height on the basis of by NI Vision Builder for Automated Inspection
The Automated assembly operation of the completion large size, heavy duty industrial product of effect, the technical scheme adopted is as follows:
For the floating assembly system of robotized plant's automation, including pedestal, floating system, holding system and compression system
System.The pedestal guarantees its normal work for carrying floating system, holding system and pressing system.Floating system is for real
Existing precision assembly.Holding system is for realizing the synchronous clamping to piece installing, while the system also has elevating function, it can be achieved that folder
Hold moving up and down for portion.Pressing system is equipped with multiple pressure heads, the torsion that can be used for that electric twisting spanner is overcome to generate when tightening.
When work, accessory one to be installed is placed on floating system top by industrial robot by vision system first.Then
Accessory two to be installed is placed in above accessory one to be installed by vision system by industrial robot and is hovered.Then system acting is held tightly,
Its clamping jaw portion synchronous relative motion clamps accessory two to be installed, and confirmation clamps postindustrial robot clamp and withdraws.Subsequently hold tightly
System drives accessory two to be installed to move to accessory one to be installed, after the big chamfering at the two assembly position has overlapping, floating system top
It rises, two accessories to be installed continue to move toward one another, not misplacing coaxially by the guiding role for cooperating big chamfering, by floating between the two
It is coaxial that the position that steel ball idler wheel in system adjusts accessory one to be installed in real time guarantees the two, to complete combination assembling work.So
Floating system return afterwards, pressing system work, the electric twisting spanner completion screw being mounted on industrial robot tighten work
Industry.Finally after the assembly is completed, which is transported to next work by vision system positioning crawl by another industrial robot
Position, subsequent floating assembly system reset prepare next assembling work.
The pedestal is welded by square tube and steel plate, stabilized structure.
Floating system includes floating fixing seat, horizontal adjustment composition, jacking cylinder and jacking cylinder bracket.Jacking cylinder will
After horizontal adjustment composition jacks up, horizontal adjustment composition can be radially moved.After jacking cylinder drives horizontal adjustment composition to retract, water
At with floating fixing seat Cone fit occurs for Heibei provincial opera whole group, and horizontal adjustment composition is completely fixed, and can not carry out relative motion.
Horizontal adjustment composition includes steel ball idler wheel, steel ball roller mount (2-2-2), float plate.Float plate and steel ball idler wheel point
Contact, thus the resistance that steel ball roller mount moves horizontally is very small.
Holding system includes clamping jaw portion, lifting composition, translation composition, synchronization link mechanism, driving cylinder.Drive cylinder band
Dynamic synchronization link mechanism is, it can be achieved that two clamping jaw portions move synchronously, to guarantee the repetitive positioning accuracy after clamping.
Clamping jaw portion uses v-shaped structure, can guarantee that accessory position to be installed is constant after clamping with self-centering.
Lifting composition, translation composition are mounted on two linear guides, guarantee to run smoothly.
Synchronization link mechanism passes through the engaged transmission of transmission gear and idle wheel, realizes two translation compositions and synchronizes opposite fortune
It is dynamic, to realize the synchronous clamping in two clamping jaw portions.
Pressing system includes compression cylinder, compression bar and rubber squeeze head.To guarantee that each rubber squeeze head can conduct pressure
Power avoids pressure uneven, so each rubber squeeze head is equipped with independent compression cylinder.
The technical program has the pedestal for carrying, for the floating system of precision assembly and for realizing synchronous clamping
Holding system, holding system can be gone up and down, it can be achieved that clamping part moves up and down, for overcoming electric twisting spanner to tighten torsion
The pressing system of power.Structure is simple, compact, reasonable, on the basis of by NI Vision Builder for Automated Inspection, can actively adapt to vision system
The error that system generates, the Automated assembly operation of high-quality and efficient completion large size, heavy duty industrial product.
Detailed description of the invention
A kind of Fig. 1: structural schematic diagram (one) of the floating assembly system for robotized plant's automation of the utility model；
A kind of Fig. 2: structural schematic diagram (two) of the floating assembly system for robotized plant's automation of the utility model；
Fig. 3: Fig. 2 Section A-A figure；
A kind of Fig. 4: floating system schematic diagram of the floating assembly system for robotized plant's automation of the utility model；
Fig. 5: the collocation schematic diagram of the utility model floating assembly system and electric twisting spanner；
A kind of Fig. 6: accessory to be assembled signal of the floating assembly system for robotized plant's automation of the utility model
Figure；
Fig. 7: Fig. 6 section B-B figure；
Fig. 8: the collocation schematic diagram of the utility model floating assembly system and industrial robot.
Wherein: 1. pedestals；2. floating system；2-1. fixing seat；2-2. horizontal adjustment composition；2-2-1. idler wheel；2-2-2.
Roller mount；2-2-3. float plate；2-3. jacking cylinder；2-4. air cylinder support；3. the system of holding tightly；3-1. clamping jaw portion；3-2. lifting
Composition；3-3. translation composition；3-4. synchronization link mechanism；3-4-1: transmission gear；3-4-2. idle wheel；3-5. drives cylinder；4.
Pressing system；4-1. compression cylinder；4-2. compression bar；5. industrial robot of 4-3. pressure head；6. electric twisting spanner；7. accessory to be installed
One；8. accessory two to be installed；9. cooperating chamfering.
Specific embodiment
The utility model is described in further detail with example with reference to the accompanying drawing.
As shown in Fig. 1 to Fig. 8, the floating assembly system for robotized plant's automation includes: pedestal 1, floating system
2, system 3 and pressing system 4 are held tightly.
The pedestal 1 guarantees its normal work for carrying floating system 2, holding system 3 and pressing system 4.It floats and is
System 2 is for realizing precision assembly.Holding system 3 is for realizing the synchronous clamping to piece installing, while the system also has lifting function
It can be, it can be achieved that clamping part moves up and down.Pressing system 4 is equipped with multiple pressure heads, when can be used for that electric twisting spanner is overcome to tighten
The torsion of generation.
Pedestal 1 is welded by square tube and steel plate, stabilized structure.
Floating system 2 includes floating fixing seat 2-1, horizontal adjustment composition 2-2, jacking cylinder 2-3 and jacking cylinder bracket
2-4.After jacking cylinder 2-3 jacks up horizontal adjustment composition 2-2, horizontal adjustment composition 2-2 can be radially moved.Jacking cylinder 2-
After 3 drive horizontal adjustment composition 2-2 to retract, horizontal adjustment forms 2-2 and floating fixing seat 2-1 and Cone fit occurs, and level is adjusted
Whole group is completely fixed at 2-2, can not carry out relative motion.
It includes steel ball idler wheel 2-2-1, steel ball roller mount 2-2-2, float plate 2-2-3 that horizontal adjustment, which forms 2-2,.Float plate 2-
2-3 and steel ball idler wheel 2-2-1 point contact, thus the resistance that steel ball roller mount 2-2-2 is moved horizontally is very small.
Holding system 3 includes clamping jaw portion 3-1, lifting composition 3-2, translation composition 3-3, synchronization link mechanism 3-4, driving gas
Cylinder 3-5.Driving cylinder 3-5 drives synchronization link mechanism 3-4, it can be achieved that two clamping jaw portion 3-1's moves synchronously, to guarantee to press from both sides
Next repetitive positioning accuracy.
Clamping jaw portion 3-1 uses v-shaped structure, can guarantee that accessory position to be installed is constant after clamping with self-centering.
Lifting composition 3-2, translation composition 3-3 are mounted on two linear guides, guarantee to run smoothly.
Synchronization link mechanism 3-4 passes through the engaged transmission of transmission gear 3-4-1 and idle wheel 3-4-2, makes two translation compositions
3-3 realizes synchronous relative motion, to realize the synchronous clamping of two clamping jaw portion 3-1.
Pressing system 4 includes compression cylinder 4-1, compression bar 4-2 and rubber squeeze head 4-3.To guarantee each rubber squeeze head
4-3 energy conducting pressure, avoids pressure uneven, so each rubber squeeze head 4-3 is equipped with independent compression cylinder 4-1.
As shown in figure 8, accessory one to be installed is placed on floating system top by industrial robot by vision system.Then by work
Accessory two to be installed is placed in above accessory one to be installed by vision system and hovers by industry robot.Hold system acting, clamping jaw portion tightly
Synchronous relative motion clamps accessory two to be installed, and confirmation clamps postindustrial robot clamp and withdraws.
As shown in fig. 6-7, holding system tightly drives accessory two to be installed to move to accessory one to be installed.Accessory two to be installed is vertically downward
Movement, accessory one to be installed can be moved left and right due to floating system steel ball idler wheel.When the big chamfering at the two assembly position has overlapping
Afterwards, floating system jacks up, and two accessories to be installed continue to move toward one another, the guiding that the not coaxial error between the two passes through the big chamfering of cooperation
Effect guarantees that the two is coaxial by the position that the steel ball idler wheel 2-2-1 in floating system adjusts accessory one to be installed in real time, thus complete
Assembling work is closed in groups.
As shown in figure 5, floating system return, pressing system work.The electric twisting spanner being mounted on industrial robot
Complete the tightening operation of screw.Finally after the assembly is completed, another industrial robot is grabbed by vision system positioning by the group
Component is transported to next station, and then entire floating assembly system reset, prepares next assembling work.
Embodiment only illustrates the technical solution of the utility model, rather than carries out any restrictions to it；Although referring to aforementioned reality
Example is applied the utility model is described in detail, it for those of ordinary skill in the art, still can be to aforementioned
Technical solution documented by embodiment is modified or equivalent replacement of some of the technical features；And these are modified
Or replacement, the spirit and model of the utility model technical solution claimed that it does not separate the essence of the corresponding technical solution
It encloses.
Claims (10)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821465146.3U CN208992136U (en) | 2018-09-07 | 2018-09-07 | A floating assembly system for robotic factory automation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821465146.3U CN208992136U (en) | 2018-09-07 | 2018-09-07 | A floating assembly system for robotic factory automation |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208992136U true CN208992136U (en) | 2019-06-18 |
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ID=66798513
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821465146.3U Expired - Fee Related CN208992136U (en) | 2018-09-07 | 2018-09-07 | A floating assembly system for robotic factory automation |
Country Status (1)
| Country | Link |
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| CN (1) | CN208992136U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109175979A (en) * | 2018-09-07 | 2019-01-11 | 青岛杰瑞工控技术有限公司 | A kind of floating assembly system for robotized plant's automation |
-
2018
- 2018-09-07 CN CN201821465146.3U patent/CN208992136U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109175979A (en) * | 2018-09-07 | 2019-01-11 | 青岛杰瑞工控技术有限公司 | A kind of floating assembly system for robotized plant's automation |
| CN109175979B (en) * | 2018-09-07 | 2024-07-05 | 青岛杰瑞工控技术有限公司 | Floating assembly system for robot factory automation |
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| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190618 |