CN208992136U - A kind of floating assembly system for robotized plant's automation - Google Patents

A kind of floating assembly system for robotized plant's automation Download PDF

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Publication number
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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China
Prior art keywords
floating
assembly system
floating assembly
robotized
plant
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CN201821465146.3U
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Chinese (zh)
Inventor
赵奎
鄢西华
王华勇
豆张瑞
王鹏飞
王飞
刘常
尹帅
张兴凤
宋克志
姜高蕾
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Qingdao Jari Industrial Control Technology Co Ltd
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Qingdao Jari Industrial Control Technology Co Ltd
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Abstract

The utility model belongs to technical field of mechanical design, disclose a kind of floating assembly system for robotized plant's automation, it including pedestal, floating system, holds system and pressing system, floating system tightly and is connect with pedestal, the outside of floating system is arranged in holding system and pressing system.The technical program has pedestal, the floating system for precision assembly and the holding system for realizing synchronous clamping for carrying, and 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 the pressing system of torsion.Structure is simple, compact, reasonable, on the basis of by NI Vision Builder for Automated Inspection, can actively adapt to the error of vision system generation, the Automated assembly operation of high-quality and efficient completion large size, heavy duty industrial product.

Description

A kind of floating assembly system for robotized plant's automation
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)

1. a kind of floating assembly system for robotized plant's automation, it is characterised in that: including pedestal, floating system, embrace Clamping system and pressing system, floating system are connect with pedestal, and the outside of floating system is arranged in holding system and pressing system.
2. a kind of floating assembly system for robotized plant's automation according to claim 1, it is characterised in that: floating Dynamic system includes fixing seat, horizontal adjustment composition, jacking cylinder and jacking cylinder bracket, and jacking cylinder and horizontal adjustment composition connect It connecing, horizontal adjustment composition is radially movable, after jacking cylinder drives horizontal adjustment composition to retract, horizontal adjustment composition and fixing seat Relative motion does not occur for Cone fit.
3. a kind of floating assembly system for robotized plant's automation according to claim 2, it is characterised in that: water Heibei provincial opera whole group is at including idler wheel, roller mount and float plate, float plate and idler wheel point contact.
4. a kind of floating assembly system for robotized plant's automation according to claim 1 to 3, feature Be: holding system includes clamping jaw portion, lifting composition, translation composition, synchronization link mechanism and driving cylinder, and driving cylinder drives Synchronization link mechanism realizes moving synchronously for two clamping jaw portions.
5. a kind of floating assembly system for robotized plant's automation according to claim 4, it is characterised in that: folder Claw is v-shaped structure.
6. a kind of floating assembly system for robotized plant's automation according to claim 5, it is characterised in that: rise It comes down to a lower group into and/or translates composition and two linear guides are installed.
7. -3 or 5 or 6 any a kind of floating assembly system for robotized plant's automation according to claim 1, It is characterized by: synchronization link mechanism passes through the engaged transmission of transmission gear and idle wheel.
8. a kind of floating assembly system for robotized plant's automation according to claim 7, it is characterised in that: pressure Clamping system includes compression cylinder, compression bar and pressure head, and each pressure head is equipped with independent compression cylinder.
9. a kind of floating assembly system for robotized plant's automation according to claim 8, it is characterised in that: pressure There are two clamping systems or multiple.
10. -3 or 5 or 6 or 8 or 9 any a kind of floating dress for robotized plant's automation according to claim 1 Match system, it is characterised in that: pedestal is welded by square tube and steel plate.
CN201821465146.3U 2018-09-07 2018-09-07 A kind of floating assembly system for robotized plant's automation Active CN208992136U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201821465146.3U CN208992136U (en) 2018-09-07 2018-09-07 A kind of floating assembly system for robotized plant's automation

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201821465146.3U CN208992136U (en) 2018-09-07 2018-09-07 A kind of floating assembly system for robotized plant's automation

Publications (1)

Publication Number Publication Date
CN208992136U true CN208992136U (en) 2019-06-18

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Cited By (1)

* Cited by examiner, † Cited by third party
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

Cited By (1)

* Cited by examiner, † Cited by third party
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

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