CN211073618U

CN211073618U - Station robot capable of automatically assembling and detecting

Info

Publication number: CN211073618U
Application number: CN201921822964.9U
Authority: CN
Inventors: 曹卫明
Original assignee: Nanjing Fantaiqi Molding Co ltd
Current assignee: Nanjing Fantaiqi Molding Co ltd
Priority date: 2019-10-28
Filing date: 2019-10-28
Publication date: 2020-07-24
Anticipated expiration: 2029-10-28

Abstract

A station robot for automatic assembly detection is arranged on one side, perpendicular to a conveying direction, of a conveying device and comprises a supporting frame, a first mechanical arm, a second mechanical arm, a lifting device, a stop block, a first industrial camera and a screwing device; the first mechanical arm and the second mechanical arm are rotatably connected to the support frame; the first mechanical arm is arranged above the second supporting arm; a stop block is arranged on the second supporting arm; the first mechanical arm is provided with a first industrial camera; the first mechanical arm is provided with a lifting device; a rotary closing device is connected below the lifting device; the utility model discloses the utilization utilizes the vision to convey the quality of detecting interior trim part, utilizes to close soon the device and assembles interior trim part base to the detection of interior trim part base, has not only reduced the cost that detects and rigging equipment, has improved production efficiency simultaneously.

Description

Station robot capable of automatically assembling and detecting

Technical Field

The utility model relates to a station robot field, concretely relates to station robot that assembly detected.

Background

The automobile industry is a pillar type industry of national economy, key parts of the automobile are developed comprehensively from fifteen plans, the independent innovation capability is improved, the automobile industry is heavier and heavier in the national economy until thirteen-five plans, the automobile industry is developed vigorously along with the development of the automobile interior decoration industry, and the demand of the interior decoration is higher and higher; however, a great amount of human resources are needed for installing and detecting the interior trim parts, so that a station robot applied to the assembly and detection of the interior trim parts is urgently needed in social production.

SUMMERY OF THE UTILITY MODEL

Not enough to prior art, the utility model provides an automatic station robot that assembly detected has the characteristics of automated inspection, assembly.

The utility model provides a following technical scheme:

a station robot for automatic assembly detection is characterized in that an interior trim part base is arranged on a conveying device, the station robot is arranged on one side, perpendicular to the conveying direction, of the conveying device, and comprises a supporting frame, a first mechanical arm, a second mechanical arm, a lifting device, a stop block, a first industrial camera and a screwing device; the first mechanical arm and the second mechanical arm are rotatably connected to the support frame; the first mechanical arm is arranged above the second supporting arm; a stop block for stopping the movement of the base of the interior trim part is arranged on the second supporting arm; a first industrial camera for detecting the position of the interior trim part is arranged on the first mechanical arm; the first mechanical arm is provided with a lifting device; a rotary closing device is connected below the lifting device; the screwing device comprises a motor, a connecting cylinder, a top plate, a rotating block, an air pump, an air pressure sensor and a sucker; a top plate is arranged above the connecting cylinder; the top plate is connected with the lifting device; the motor is fixedly arranged in the connecting cylinder; a rotating block is connected below the output shaft of the motor; the rotating block is rotatably connected to the connecting cylinder through a bearing; a first air pump and a second air pump are arranged in the rotating block; the air inlet of the first air pump and the air outlet of the second air pump are communicated with the sucker; an air pressure sensor is arranged at the connecting port of the sucker; the sucker is arranged below the rotating block; the air inlet of the second air pump and the air outlet of the first air pump are communicated with the air exchange port; the air vent is arranged on the side wall of the rotating block.

Preferably, a supporting frame is arranged on one side of the conveying device perpendicular to the conveying direction; the interior trim part base to be detected is fixed at the detection position by a stop block, and the second industrial camera is arranged above the detection position.

Preferably, the baffle block is provided with a trapezoidal groove for fixing the base of the interior trim part; the trapezoidal groove is vertically arranged on the side wall of the stop block; the width of the opening of the trapezoid groove is larger than that of the bottom.

Preferably, the side wall of the connecting cylinder is provided with a vent hole.

Preferably, the lifting device is a piston cylinder; the cylinder body of the piston cylinder is connected with the first mechanical arm, and the piston rod of the piston cylinder is connected with the connecting rod; the axis of the connecting rod is in the vertical direction; the lower end of the connecting rod is connected with the screwing device.

Preferably, a top plate of the screwing device is provided with a threaded hole in the vertical direction, and the threaded hole is connected to the connecting rod.

Preferably, the conveying device is a conveyor belt.

Preferably, an illuminating lamp is arranged on one side of the conveying device perpendicular to the conveying direction.

Preferably, the first mechanical arm, the second mechanical arm, the first air pump, the second air pump, the air pressure sensor, the motor and the lifting device are connected to the processor.

Compared with the prior art, the utility model has the advantages of it is following and effect:

(1) the utility model discloses utilize the air pump to extract the gas in the sucking disc, utilize pressure sensor to detect the atmospheric pressure in the sucking disc and give the treater with data transfer, the staff passes through the atmospheric pressure in the treater regulation sucking disc according to interior trim's material.

(2) The utility model discloses utilize the sucking disc to absorb interior trim part, the motor drives the turning block and rotates, and the turning block passes through the sucking disc and drives interior trim part rotation to realize interior trim part and interior trim part base close soon, this device with interior trim part base the effectual combination of assembly of interior trim part base, not only reduced the cost of detecting and rigging equipment, improved production efficiency simultaneously.

(3) The utility model discloses utilize the bearing to make the turning block rotate to be connected in the connecting cylinder, not only reduced the rotation resistance of turning block, avoided the effort of turning block to the vertical direction of motor in the course of the work moreover, improved and closed device job stabilization nature soon.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention, and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.

Fig. 1 is a three-dimensional diagram of the station robot for automatic assembly and detection of the present invention.

Fig. 2 is a front view of the screwing device of the present invention.

Fig. 3 is a top view of a stop block of the station robot for automatic assembly detection.

In the figure: the camera comprises a first mechanical arm 1, a support frame 2, a second mechanical arm 3, a conveyor belt 4, a stop block 5, a first threaded hole 51, a trapezoidal groove 52, a support frame 6, a screwing device 7, a top plate 71, a connecting cylinder 72, a vent hole 73, a vent hole 74, a ventilation port 75, a first air pump 76, a suction cup 76, an air pressure sensor 77, a bearing 78, a second air pump 79, a rotating block 710, a motor 711, a mounting plate 712, a second threaded hole 713, an illuminating lamp 8, an interior trim part base 9, a sliding rail 10, a connecting rod 11, a piston cylinder 12, a second industrial camera 13 and a first industrial camera 14.

Detailed Description

The utility model discloses a concrete implementation way does:

referring to fig. 1-3, in a station robot for automatic assembly and detection, an interior trim part base 9 is arranged on a conveyor belt 4; two sides of the conveyor belt 4 perpendicular to the conveying direction are provided with slide rails 10; the slide rails 10 are parallel to the conveying direction of the conveyor belt 4; the illuminating lamp 8 is connected to the sliding rail 10 in a sliding manner, so that the illuminating position of the illuminating lamp 8 can be adjusted in real time; the station robot is arranged on one side, perpendicular to the conveying direction, of the conveyor belt 4, and a support frame 6 is arranged on the other side, perpendicular to the conveying direction, of the conveyor belt 4; a second industrial camera 13 is arranged above the support frame 6, the base 9 of the interior trim part to be detected is fixed at the detection position through a stop block 5, and the second industrial camera 13 is arranged above the detection position, so that the second industrial camera 13 can observe the motion state of the base of the interior trim part and transmit the observed data to the processor.

The station robot comprises a support frame 2, a first mechanical arm 1, a second mechanical arm 3, a piston cylinder 12, a stop block 5, a first industrial camera 14 and a screwing device 7; the first mechanical arm 1 and the second mechanical arm 3 are rotatably connected to the support frame 2; the first mechanical arm 1 is arranged above the second supporting arm 3 to prevent the movement of the first mechanical arm 1 from interfering with the movement of the second supporting arm 3; a stop block 5 for stopping the movement of the base of the interior trim part is arranged on the second supporting arm 3; the block 5 is provided with a trapezoidal groove 52 for fixing the base 9 of the interior trim part; the trapezoid-shaped groove 52 is vertically arranged on the side wall of the block 5, and the width of the opening of the trapezoid-shaped groove 52 is larger than that of the bottom of the trapezoid-shaped groove, so that the conveyed interior trim part base 9 can be captured more easily; the side wall of the stop block 5 is provided with a first threaded hole 51, and the first threaded hole 51 is connected to the second mechanical arm 3, so that the stop block which is suitable for different kinds of interior trim part bases can be replaced.

The first industrial camera 14 for determining the position of the base or the interior trim part is arranged on the first mechanical arm 1, and the position of the base or the interior trim part can be obtained in real time by the first industrial camera 14 along with the movement of the first mechanical arm 1 so as to assist the first mechanical arm 1 in grabbing the interior trim part; a piston cylinder 12 is arranged on the first mechanical arm 1 and used for adjusting the position of the screwing device 7 in the vertical direction; the motion direction of the piston cylinder 12 is vertical; the cylinder body of the piston cylinder 12 is connected to the first mechanical arm 1, and the piston rod of the piston cylinder 12 is connected to the connecting rod 11; the axis of the connecting rod 11 is in the vertical direction; the lower end of the connecting rod 11 is connected with the screwing device 7.

The screwing device 7 comprises a motor 711, a connecting cylinder 72, a top plate 71, a rotating block 710, a first air pump 75, a second air pump 79, an air pressure sensor 77 and a suction cup 76; a top plate 71 is arranged above the connecting cylinder 72; the top plate 71 is provided with a second threaded hole 713 in the vertical direction, and the second threaded hole 713 is connected to the connecting rod 11 so as to replace the screwing device 7 suitable for the type of the base of the interior trim part; the motor 711 is fixedly arranged in the connecting cylinder 72 through a mounting plate 712; a rotating block 710 is connected below the output shaft of the motor 711; the side wall of the rotating block 710 is connected with the inner ring of the bearing 78, and the outer ring of the bearing 78 is connected with the connecting cylinder 72; the lower end of the connecting cylinder 72 is provided with a bulge for fixing the bearing 78 so as to prevent the bearing 78 and the rotating block 710 from sliding out of the connecting cylinder 72; the rotating block 710 is rotatably connected with the connecting cylinder 72 through the bearing 78, so that the rotating block 710 is fixed on the connecting cylinder 72; a first air pump 75 and a second air pump 79 are arranged in the rotating block 710; the air inlet of the first air pump 75 and the air outlet of the second air pump 79 are communicated with the suction cup 76, and the suction state of the suction cup 76 and the interior trim part is controlled; an air pressure sensor 77 is arranged at the connecting port of the suction cup 76, and air pressure in the suction cup 76 is detected through the air pressure sensor 77; the suction cup 76 is arranged below the rotating block 710; the air inlet of the second air pump 79 and the air outlet of the first air pump 75 are communicated with the air exchange port 74; the transfer ports 74 are provided on the side wall of the rotating block 710. The first mechanical arm 1, the second mechanical arm 3, the first air pump 75, the second air pump 79, the air pressure sensor 77, the motor 711 and the piston cylinder 12 are connected to the processor.

The working principle is as follows: the worker switches on the power supply for the device, and the conveyor belt 4 drives the interior trim part base 9 to move; the second industrial camera 13 observes the motion condition of the interior trim part base 9 and transmits the observed data to the processor; the processor processes and analyzes the data observed by the second industrial camera 13; the processor controls the second mechanical arm 3 to rotate along the conveying direction of the conveyor belt 4; the second mechanical arm 3 drives the stop block 5 to move to the front side of the base 9 of the interior trim part; the trapezoidal recess 52 of the stop 5 limits the position of the trim base 9 and prevents the trim base 9 from moving with the conveyor belt.

The processor controls the first mechanical arm 1 to rotate, so that the screwing device 7 is positioned above the interior trim part; acquiring an image and an accurate position of the interior trim part by the first industrial camera 14, and transmitting data to the processor; the processor judges whether the interior trim part has quality problems or not through the image detected by the first industrial camera 14; the processor controls the piston cylinder 12 to work so as to adjust the position of the screwing device 7 in the vertical direction and enable the suction cup 76 of the screwing device 7 to be attached to the interior trim part; the processor controls the first air pump to work 75 to pump out air in the suction cup 76, so that the suction cup 76 is adsorbed on the interior trim part; when a problem with the interior trim part is detected, the processor sends the interior trim part to a waste storage place by controlling the first mechanical arm 1 and the piston cylinder 12.

When no problem of the interior trim part is detected, the interior trim part is attached to the base opening of the interior trim part; the processor controls the motor 711 to rotate; the motor 711 drives the rotating block 710 to rotate; the rotating block 710 drives the interior trim part to rotate through the suction disc 76, and the interior trim part is screwed with the interior trim part base; the processor controls the second air pump 79 to work, so that air is injected into the suction cup 76, and the suction cup 76 is separated from the interior trim part; the processor controls the second mechanical arm 3 to rotate along the conveying direction of the conveyor belt 4; the conveying belt 4 drives the installed interior trim part base 9 to move to the next station; the device detects and assembles the next interior trim part base 9.

Although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments described in the foregoing embodiments, or equivalents may be substituted for elements thereof. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. The utility model provides an automatic station robot that assembly detected, interior gadget base sets up on conveyer, and station robot sets up in one side of conveyer perpendicular to direction of transfer, its characterized in that: the station robot comprises a support frame, a first mechanical arm, a second mechanical arm, a lifting device, a stop block, a first industrial camera and a screwing device; the first mechanical arm and the second mechanical arm are rotatably connected to the support frame; the first mechanical arm is arranged above the second supporting arm; a stop block for stopping the movement of the base of the interior trim part is arranged on the second supporting arm; a first industrial camera for detecting the position of the interior trim part is arranged on the first mechanical arm; the first mechanical arm is provided with a lifting device; a rotary closing device is connected below the lifting device; the screwing device comprises a motor, a connecting cylinder, a top plate, a rotating block, an air pump, an air pressure sensor and a sucker; a top plate is arranged above the connecting cylinder; the top plate is connected with the lifting device; the motor is fixedly arranged in the connecting cylinder; a rotating block is connected below the output shaft of the motor; the rotating block is rotatably connected to the connecting cylinder through a bearing; a first air pump and a second air pump are arranged in the rotating block; the air inlet of the first air pump and the air outlet of the second air pump are communicated with the sucker; an air pressure sensor is arranged at the connecting port of the sucker; the sucker is arranged below the rotating block; the air inlet of the second air pump and the air outlet of the first air pump are communicated with the air exchange port; the air vent is arranged on the side wall of the rotating block.

2. The station robot for automatic assembly detection according to claim 1, wherein: a supporting frame is arranged on one side of the conveying device, which is perpendicular to the conveying direction; a second industrial camera is arranged above the supporting frame; the base of the interior trim part to be detected is fixed at the detection position through a stop block, and the second industrial camera is arranged above the detection position.

3. The station robot for automatic assembly detection according to claim 1, wherein: the baffle block is provided with a trapezoidal groove for fixing the base of the interior trim part; the trapezoidal groove is vertically arranged on the side wall of the stop block; the width of the opening of the trapezoid groove is larger than that of the bottom.

4. The station robot for automatic assembly detection according to claim 1, wherein: and the side wall of the connecting cylinder is provided with a vent hole.

5. The station robot for automatic assembly detection according to claim 1, wherein: the lifting device is a piston cylinder; the cylinder body of the piston cylinder is connected with the first mechanical arm, and the piston rod of the piston cylinder is connected with the connecting rod; the axis of the connecting rod is in the vertical direction; the lower end of the connecting rod is connected with the screwing device.

6. The station robot for automatic assembly detection according to claim 5, wherein: and a threaded hole in the vertical direction is formed in a top plate of the screwing device and is connected to the connecting rod.

7. The station robot for automatic assembly detection according to claim 1, wherein: the first mechanical arm, the second mechanical arm, the first air pump, the second air pump, the air pressure sensor, the motor and the lifting device are connected to the processor.