CN211889811U - Full-automatic key assembling machine - Google Patents
Full-automatic key assembling machine Download PDFInfo
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- CN211889811U CN211889811U CN202020393554.3U CN202020393554U CN211889811U CN 211889811 U CN211889811 U CN 211889811U CN 202020393554 U CN202020393554 U CN 202020393554U CN 211889811 U CN211889811 U CN 211889811U
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Abstract
The utility model discloses a full-automatic key assembling machine, which comprises a frame, and a plurality of automatic feeding mechanisms, a conveying mechanism, a plurality of visual positioning mechanisms and a plurality of transfer assembling mechanisms which are arranged on the frame; a plurality of assembling stations are arranged at intervals in the length direction of the conveying mechanism, and each assembling station corresponds to an automatic feeding mechanism, a visual positioning mechanism and a transfer assembling mechanism; the conveying mechanism is used for conveying the mobile phone shell body; the automatic feeding mechanism is positioned on one side of the assembling station; the transfer assembly mechanism is used for transferring the materials from the automatic feeding mechanism to the corresponding assembly stations for assembly operation; the vision positioning mechanism is used for correcting the position of the material grabbed by the corresponding transfer assembly mechanism. The utility model discloses an automatic upset counterpoint technique, visual positioning assembly technique of incessant feed technique, assembly line realize cell-phone button's automatic feeding, automatic equipment function, improve production efficiency, improve the assembly yield.
Description
Technical Field
The utility model relates to a cell-phone button equipment technical field especially relates to a full-automatic button kludge.
Background
Most of volume + keys, volume-keys and power keys of smart phones in the market adopt side key structural design, and in the production process, as key parts are small in structure and difficult to position, most of assembly processes adopt manual operation, and the production efficiency is not high; and the manual assembly difference is great, and the assembly quality can not be controlled. With the development of the technology, automatic assembling equipment is gradually adopted to replace manual operation, but the existing key assembling equipment in the market has some defects, such as:
(1) the storage bin cannot continuously feed;
(2) the key material cannot be automatically captured;
(3) the assembly position of the conveying line cannot be adjusted;
(4) the transfer chain can't adjust the linewidth.
SUMMERY OF THE UTILITY MODEL
The utility model aims at providing a full-automatic key assembling machine, which adopts the uninterrupted feeding technology, the assembly line automatic overturning and aligning technology and the visual positioning and assembling technology to realize the automatic feeding and automatic assembling functions of the mobile phone keys, thereby improving the production efficiency and the assembling yield; the whole structure of the equipment is compact, the occupied space is saved, the width of the conveying line is adjustable, and the equipment is suitable for assembling mobile phone keys of different models and specifications.
In order to realize the purpose, the following technical scheme is adopted:
a full-automatic key assembling machine comprises a rack, and a plurality of automatic feeding mechanisms, a conveying mechanism, a plurality of visual positioning mechanisms and a plurality of transferring and assembling mechanisms which are arranged on the rack; a plurality of assembling stations are arranged at intervals in the length direction of the conveying mechanism, and each assembling station corresponds to an automatic feeding mechanism, a visual positioning mechanism and a transfer assembling mechanism; the conveying mechanism is used for conveying the assembling main body and adjusting the assembling position of the assembling main body at the assembling station; the automatic feeding mechanism is positioned at one side of the assembly station and used for conveying the assembly parts to the lower part of the transfer assembly mechanism; the transfer assembly mechanism is erected above the corresponding automatic feeding mechanism and the corresponding assembly station and is used for transferring the assembly parts from the automatic feeding mechanism to the corresponding assembly station for assembly operation; the visual positioning mechanism is used for positioning the position of the assembly part which is grabbed by the corresponding transfer assembly mechanism so as to correct the deviation of the transfer assembly mechanism.
Furthermore, the automatic feeding mechanism comprises a feeding bin, a discharging bin, a feeding platform, a discharging platform and a material tray transfer module; the feeding bin and the discharging bin are arranged side by side, the feeding platform is arranged in the feeding bin and is in sliding connection with the bottom of the feeding bin, and the discharging platform is arranged in the discharging bin and is in sliding connection with the bottom of the discharging bin; the feeding platform is used for placing a material tray loaded with an assembly part, the material tray transfer module is used for transferring the material tray of the feeding bin to the discharging bin, and the discharging platform is used for recycling empty material trays.
Furthermore, the tray transfer module comprises two feeding lifting assemblies, two tray supporting arms, a feeding translation assembly and a tray clamping arm assembly; the two material tray supporting arms are respectively arranged on the periphery sides of the feeding platform and the discharging platform, and each feeding lifting assembly is used for driving one material tray supporting arm to support the material tray to lift in the feeding bin or the discharging bin; the feeding translation assembly is arranged from the feeding bin to the discharging bin and used for driving the charging tray clamping arm assembly to clamp the charging tray and then move from the top of the feeding bin to the top of the discharging bin.
Furthermore, the charging tray clamping arm assembly comprises a lifting driving cylinder, a guide plate and two charging tray clamping arms; the bottom of the lifting driving cylinder is in driving connection with the feeding translation assembly, and the output end of the lifting driving cylinder is fixedly connected with the guide plate; the guide plate is provided with two symmetrical oblique guide holes; one side ends of the two charging tray clamping arms are respectively connected with the two inclined guide holes in a sliding mode, and the lifting driving cylinder is used for driving the guide plates to lift and drive the two charging tray clamping arms to outwards open or inwards clamp the charging tray.
Further, the conveying mechanism comprises a conveying line, a blocking cylinder and a jacking and overturning assembly, wherein the blocking cylinder and the jacking and overturning assembly are arranged on each assembling station; each jacking and overturning assembly is positioned in the middle of the conveying line and arranged at intervals along the advancing direction of the conveying line to form an assembly station for jacking the assembly main body to a set operation height and overturning the assembly main body to a set installation angle; each blocking cylinder is arranged on the conveying line and positioned on one side of the assembly station and used for blocking and positioning the assembly main body on the assembly station to work in cooperation with the jacking and overturning assembly; the conveying line is used for conveying the assembly main bodies to each assembly station one by one.
Furthermore, the jacking and overturning assembly comprises a jacking cylinder, an overturning fixed seat, an overturning driving motor and a rotating bottom plate; the output end of the jacking cylinder faces upwards and is fixedly connected with the overturning fixing seat; the rotary bottom plate is rotatably connected with the overturning fixing seat, and one end part of the rotary bottom plate is in driving connection with an overturning driving motor; the top of the rotating bottom plate is provided with a limiting block for fixing the assembling main body.
Further, the conveying line comprises a first section bar frame, a second section bar frame and two conveying belt modules; the first section bar frame and the second section bar frame are arranged in parallel, the first section bar frame is fixedly arranged on the rack, and the second section bar frame is connected with the rack through a sliding module; the second profile frame is close to or far away from the first profile frame through the sliding module so as to adjust the distance between the first profile frame and the second profile frame; the two conveyor belt modules are respectively arranged on the inner sides of the first section bar frame and the second section bar frame to form a conveying channel.
Furthermore, the vision positioning mechanism comprises an upper CCD vision positioning module arranged on the transfer assembly mechanism and a lower CCD vision positioning module correspondingly arranged below the upper CCD vision positioning module.
Furthermore, the transfer assembling mechanism comprises an X-axis material grabbing translation module, a Y-axis material grabbing translation module, a Z-axis material grabbing lifting module and a material grabbing mechanical arm erected above the corresponding assembling station and the automatic feeding mechanism through the X-axis material grabbing translation module, the Y-axis material grabbing translation module and the Z-axis material grabbing lifting module; the material grabbing mechanical arm grabs the material translation module through the X axle, grabs the material translation module through the Y axle, and the material lifting module is grabbed to the Z axle and drives and grab the material along X axle, Y axle, Z axle removal respectively.
Further, the material grabbing mechanical arm comprises a mechanical arm mounting seat, a material suction nozzle, a hollow connecting shaft, a rotary quick adapter, an angle adjusting synchronous wheel, an angle adjusting driving motor and an angle adjusting synchronous belt; the mechanical arm mounting seat is in driving connection with the Z-axis material grabbing lifting module; the connecting shaft is rotatably connected with the mechanical arm mounting seat, the bottom of the connecting shaft is hermetically connected with the material suction nozzle, the top of the connecting shaft is hermetically connected with the rotary quick adapter, and the middle of the connecting shaft is fixedly connected with the angle adjusting synchronizing wheel; the angle adjusting driving motor is in driving connection with the angle adjusting synchronous belt through the angle adjusting synchronous belt and is used for driving the connecting shaft to rotate so as to adjust the angle of the material suction nozzle; the rotary quick adapter is used for connecting an external vacuum air source.
Adopt above-mentioned scheme, the beneficial effects of the utility model are that:
1) the automatic feeding mechanism, the conveying mechanism and the visual positioning mechanism adopt an uninterrupted feeding technology, an assembly line automatic overturning alignment technology and a visual positioning assembly technology to realize the automatic feeding and automatic assembling functions of the mobile phone keys; the multiple assembling stations are operated simultaneously, so that the operating efficiency is improved;
2) the material tray transfer module can realize uninterrupted material tray carrying and material tray recovery, and realize the automatic feeding function; the feeding bin and the discharging bin are designed in a drawer type, and are not interfered with the material tray transfer module, so that an operator can conveniently feed materials;
3) the conveying line is provided with an assembling station, the handle shell body is automatically turned to an assembling angle in advance, and the assembling action of the mechanical arm is matched, so that the assembling yield is improved, and the production beat is saved;
4) the upper CCD visual positioning module and the lower CCD visual positioning module are adopted to carry out secondary correction on the assembly position, so that the assembly precision is improved;
5) the width of the conveying line is adjustable, the conveying line is suitable for assembling mobile phones of different specifications and models, and the application range is wide.
Drawings
Fig. 1 is a perspective view of the present invention;
FIG. 2 is a perspective view of the present invention with the transfer assembly mechanism omitted;
fig. 3 is a perspective view of the automatic feeding mechanism, the conveying mechanism, the vision positioning mechanism, and the transfer assembly mechanism of the present invention;
fig. 4 is a perspective view of the automatic feeding mechanism of the present invention;
fig. 5 is a perspective view of the feeding lifting assembly of the automatic feeding mechanism of the present invention;
fig. 6 is a perspective view of the clamping arm assembly of the automatic feeding mechanism of the present invention;
fig. 7 is a perspective view of the conveying mechanism of the present invention;
fig. 8 is a perspective view of the jacking and overturning assembly of the present invention;
fig. 9 is a perspective view of the transfer assembly mechanism of the present invention;
fig. 10 is a perspective view of the material grasping mechanical arm of the present invention;
wherein the figures identify the description:
1-a frame, 2-an automatic feeding mechanism,
3-conveying mechanism, 4-visual positioning mechanism,
5-a transfer assembly mechanism, 21-a feeding bin,
22-a discharge bin, 23-a feeding platform,
24-a discharging platform, 25-a tray transferring module,
251, a feeding lifting component, 252, a tray supporting arm,
253-a feeding translation component, 254-a tray clamping arm component,
2511-a feeding lifting driving motor, 2512-a ball screw,
2513-screw nut, 2514-synchronous belt drive assembly,
2541-a lifting driving cylinder, 2542-a guide plate,
2543, a tray clamping arm, 31, a conveying line,
32-a blocking cylinder, 33-a jacking and overturning assembly,
331-jacking cylinder, 332-overturning fixed seat,
333-a turnover drive motor, 334-a rotating bottom plate,
335 a limiting block, 336 a telescopic positioning cylinder,
311-a first profile frame, 312-a second profile frame,
313-a conveyor belt module, 3121-a fixed block,
41-an upper CCD visual positioning module, 42-a lower CCD visual positioning module,
a 51-X axis material grabbing and translating module, a 52-Y axis material grabbing and translating module,
53-Z-axis material grabbing lifting module, 54-material grabbing mechanical arm,
541-a mechanical arm mounting seat, 542-a material suction nozzle,
543 connecting shaft, 544 rotary quick-acting adapter,
545-angle adjusting synchronizing wheel, 546-angle adjusting driving motor,
547-angle adjusting synchronous belt, 548-pressure sensor.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.
Referring to fig. 1 to 10, a full-automatic key assembling machine includes a frame 1, and a plurality of automatic feeding mechanisms 2, a conveying mechanism 3, a plurality of visual positioning mechanisms 4, and a plurality of transfer assembling mechanisms 5 mounted on the frame 1; a plurality of assembling stations are arranged on the conveying mechanism 3 at intervals in the length direction, and each assembling station corresponds to an automatic feeding mechanism 2, a visual positioning mechanism 4 and a transfer assembling mechanism 5; the conveying mechanism 3 is used for conveying the assembling main body and adjusting the assembling position of the assembling main body at an assembling station; the automatic feeding mechanism 2 is positioned at one side of the assembly station and used for conveying the assembly parts to the lower part of the transfer assembly mechanism 5; the transfer assembly mechanism 5 is erected above the corresponding automatic feeding mechanism 2 and the corresponding assembly station, and is used for transferring the assembly parts from the automatic feeding mechanism 2 to the corresponding assembly station for assembly operation; the visual positioning mechanism 4 is used for positioning the position of the assembly part grabbed by the corresponding transfer assembly mechanism 5 so as to correct the deviation of the transfer assembly mechanism 5.
In a specific embodiment, the assembly main body is a mobile phone shell body, the assembly parts are a volume + key, a volume-key and a power key of a smart phone, the conveying mechanism 3 is used for conveying the mobile phone shell body, and the automatic feeding mechanism 2 is used for feeding the volume + key, the volume-key and the power key; and three assembling stations on the conveying line are arranged and are respectively used for assembling the volume + key, the volume-key and the power key.
The full-automatic key assembling machine also comprises a control system, wherein the control system is used for controlling the automatic feeding mechanism 2, the conveying mechanism 3, the visual positioning mechanism 4 and the transferring and assembling mechanism 5 to work in a matched manner; the recycling cycle of the feeding platform 23 and the discharging platform 24 of the automatic feeding mechanism 2 is continuous, and the work of the transfer assembling mechanism 5 is not interfered, so that the uninterrupted automatic feeding is realized; the transfer assembly mechanism 5 automatically and circularly grabs and assembles, and realizes the functions of automatic feeding and automatic assembly.
The automatic feeding mechanism 2 comprises a feeding bin 21, a discharging bin 22, a feeding platform 23, a discharging platform 24 and a tray transferring module 25; the feeding bin 21 and the discharging bin 22 are arranged side by side, the feeding platform 23 is arranged in the feeding bin 21 and is in sliding connection with the bottom of the feeding bin 21, and the discharging platform 24 is arranged in the discharging bin 22 and is in sliding connection with the bottom of the discharging bin 22; the feeding platform 23 is used for placing a material tray loaded with an assembly part, the material tray transferring module 25 is used for transferring the material tray of the feeding bin 21 to the discharging bin 22, and the discharging platform 24 is used for recycling empty material trays.
The tray transfer module 25 comprises two feeding lifting assemblies 251, two tray supporting arms 252, a feeding translation assembly 253 and a tray clamping arm assembly 254; the two tray supporting arms 252 are respectively arranged on the periphery of the feeding platform 23 and the discharging platform 24, and each feeding lifting component 251 is used for driving one tray supporting arm 252 to support a tray to lift in the feeding bin 21 or the discharging bin 22; the feeding translation assembly 253 is arranged from the feeding bin 21 to the discharging bin 22 and is used for driving the tray clamping arm assembly 254 to clamp a tray and then move from the top of the feeding bin 21 to the top of the discharging bin 22.
The tray clamping arm assembly 254 comprises a lifting driving cylinder 2541, a guide plate 2542 and two tray clamping arms 2543; the bottom of the lifting driving cylinder 2541 is in driving connection with the feeding translation assembly 253, and the output end of the lifting driving cylinder 2541 is fixedly connected with the guide plate 2542; the guide plate 2542 is provided with two symmetrical oblique guide holes; one side ends of the two tray clamping arms 2543 are respectively connected with the two inclined guide holes in a sliding manner, and the lifting driving cylinder 2541 is used for driving the guide plate 2542 to lift and drive the two tray clamping arms 2543 to outwards open or inwards clamp a tray.
The feeding bin 21 and the discharging bin 22 can be formed into square frames connected in parallel by adopting section bars; the feeding platform 23 and the discharging platform 24 are designed by adopting a drawer structure. The material tray supporting arm 252 comprises two supporting plates, four sliding rails and four sliding blocks; two ends of each supporting plate are connected with the inner side of the feeding bin 21 (the discharging bin 22) in a sliding way through two sliding rails and two sliding blocks.
The feeding lifting component 251 comprises a feeding lifting driving motor 2511, two ball screws 2512, two screw nuts 2513 and a synchronous belt transmission component 2514. The two ball screws are distributed on two sides of the feeding bin 21 (discharging bin 22), two ends of the two ball screws are respectively connected with the top and the bottom of the feeding bin 21 (discharging bin 22) in a rotating mode, and the bottoms of the two ball screws penetrate through the lower portion of the bottom of the feeding bin 21 and are respectively fixedly connected with a synchronizing wheel. The feeding lifting driving motor is arranged on the feeding bin 21 (the discharging bin 22), and the output end of the feeding lifting driving motor extends to the bottom of the feeding bin 21 (the discharging bin 22) and is connected with two synchronous wheels through a synchronous belt so as to drive the two ball screws to rotate; each screw nut is sleeved on a ball screw, and one side end of each screw nut is fixedly connected with a supporting plate so as to drive the supporting plates to move up and down.
The feeding translation assembly 253 is positioned on one side of the feeding bin 21 and the discharging bin 22 in the width direction and comprises a feeding translation driving motor, a slide rail, a slide block, a lifting cylinder mounting seat, a synchronous belt pressing block, a synchronous belt and a synchronous wheel; the feeding translation driving motor and the synchronous wheels are arranged along the width direction of the feeding bin 21 and the discharging bin 22 and are connected through the synchronous belt in a transmission way; the lifting cylinder mounting seat is connected with the bottoms of the feeding bin 2 and the discharging bin 22 in a sliding mode through a sliding rail and a sliding block and is positioned on one side of the synchronous belt; one end of the synchronous belt fixing pressing block is fixedly connected with the synchronous belt, and the other end of the synchronous belt fixing pressing block is fixedly connected with the lifting cylinder mounting seat so as to drive the lifting cylinder mounting seat to move horizontally along with the movement of the synchronous belt; the lifting driving cylinder 2541 is arranged at the top of the lifting cylinder mounting seat; the feeding translation assembly 253 further comprises two linear guide rails arranged along the width directions of the feeding bin and the discharging bin; the two tray clamping arms 2542 are connected with the two sides of the top of the feeding bin 21 and the discharging bin 22 in a sliding manner through two linear guide rails.
The working steps of the automatic feeding mechanism 2 are as follows:
1) an operator draws out the feeding platform 23, places a material tray loaded with the assembly parts, and pushes the feeding platform 23 into the feeding bin 21;
2) the feeding lifting component 251 in the feeding bin 21 drives the tray supporting arms 252 on two sides of the feeding bin 21 to lift and support the trays and reach the top of the feeding bin 21, the lifting driving cylinder 2541 descends, the two tray clamping arms 2543 approach each other and clamp the trays under the action of the guide plate 2542, and the mechanical arm 54 to be grabbed grabs the trays for assembly; after the tray clamping arm component 254 clamps the tray, the feeding lifting component 251 can recover to the descending position, and at the moment, the operator can continue to feed;
3) after the material of the material tray is used up, the feeding translation assembly 254 drives the material tray clamping arms 2543 to move to the top of the discharging bin 22 along the top of the feeding bin 21, the lifting of the discharging bin 22 drives the air cylinder 2541 to ascend, the two material tray clamping arms 2543 are mutually separated and loosen the material tray under the action of the guide plate 2542, and the material tray is supported by the material tray supporting arms 252 in the discharging bin 22 and descends to the discharging platform 24 through the feeding lifting assembly 251 in the discharging bin 22; the tray clamping arm assembly 254 can continue to transfer to the top of the feed bin to continue to clamp the tray after the tray is unloaded from the top of the discharge bin 22;
4) the operator pulls out the discharge platform 24 loaded with empty trays and retrieves the trays.
The conveying mechanism comprises a conveying line 31, a blocking cylinder 32 and a jacking and overturning assembly 33 which are arranged on each assembling station; each jacking and overturning assembly 33 is positioned in the middle of the conveying line 31 and is arranged at intervals along the advancing direction of the conveying line 31 to form an assembly station for jacking the assembly main body to a set operation height and overturning the assembly main body to a set installation angle; each blocking cylinder 32 is arranged on the conveying line 31 and located on one side of the assembly station and used for blocking and positioning the assembly main body on the assembly station to work in cooperation with the jacking turnover assembly 33; the conveying line 31 is used for conveying the assembly main bodies one by one to each assembly station. The jacking and overturning component 33 comprises a jacking cylinder 331, an overturning fixing seat 332, an overturning driving motor 333 and a rotating bottom plate 334; the output end of the jacking cylinder 331 faces upwards and is fixedly connected with the overturning fixing seat 332; the rotary bottom plate 334 is rotatably connected with the turnover fixing seat 332, and one end part of the rotary bottom plate is in driving connection with a turnover driving motor 333; the top of the rotating bottom plate 334 is provided with a limiting block 335 for fixing the assembling body. The conveying line 31 comprises a first profile frame 311, a second profile frame 312 and two conveying belt modules 313; the first section bar frame 311 and the second section bar frame 312 are arranged in parallel, the first section bar frame 311 is fixedly arranged on the machine frame 1, and the second section bar frame 312 is connected with the machine frame 1 through a sliding module; the second profile frame 312 is close to or far away from the first profile frame 311 through a sliding module so as to adjust the distance between the first profile frame 311 and the second profile frame 312; the two conveyor belt modules 313 are respectively installed at the inner sides of the first profile frame 311 and the second profile frame 312 to form a conveying channel.
The blocking cylinder 32 is installed on the first profile frame 311 or the second profile frame 312, and blocks when the mobile phone shell body flows to the assembling station; the jacking cylinder 331 is arranged between the first profile frame 311 and the second profile frame 312; one end of the rotating bottom plate 334 is connected with a synchronizing wheel; the turnover driving motor 333 is in transmission connection with a synchronous wheel through a synchronous belt so as to drive the rotating bottom plate 334 to rotate; jacking upset subassembly 33 still includes a plurality of flexible location cylinders 336, and each flexible location cylinder 336 is installed on first section bar frame 311 or second section bar frame 312 to be located the one side of equipment station, be used for when rotatory bottom plate 334 overturns to the equipment angle the extension in order to compress tightly fixed cell-phone shell body. The blocking cylinder 32, the jacking cylinder 331 and the telescopic positioning cylinder 336 are all connected to an external air source.
The sliding module comprises a sliding groove perpendicular to the conveying direction of the conveying line 31, and the second profile frame 312 slides and translates along the sliding groove; second section bar frame 312 bottom one side fixedly connected with fixed block has seted up a plurality of waist holes on the fixed block 3121, has seted up a plurality of locating holes on the spout, through this waist hole and locating hole, can adjust the fixed position of second section bar frame 312 in the spout, realizes the function of interval adjustment.
The assembly station of the conveying mechanism 3 turns the mobile phone shell body by 90 degrees (or other set angles) in advance, so that the assembly operation angle of the material grabbing mechanical arm 54 is adapted, and the production beat is saved. The working steps of the conveying mechanism 3 are as follows:
1) the conveying line 31 conveys the mobile phone shell body along the conveying direction, the mobile phone shell body is blocked by the blocking cylinder 32 when passing through an assembly station and is jacked by the jacking cylinder 331, so that the mobile phone shell body is supported by the rotating bottom plate 334 and rises to a set operation height;
2) the turnover driving motor 333 drives the rotating bottom plate 334 to rotate 90 degrees, and the telescopic positioning cylinder 335 extends, extrudes and abuts tightly to fix the mobile phone shell body to wait for the assembly of the material grabbing mechanical arm 54.
The vision positioning mechanism 4 includes an upper CCD vision positioning module 41 mounted on the transfer assembly mechanism 5, and a lower CCD vision positioning module 42 correspondingly disposed below the upper CCD vision positioning module 41.
The transfer assembling mechanism 5 comprises an X-axis material grabbing translation module 51, a Y-axis material grabbing translation module 52, a Z-axis material grabbing lifting module 53 and a material grabbing mechanical arm 54 which is arranged above the corresponding assembling station and the automatic feeding mechanism 2 through the X-axis material grabbing translation module 51, the Y-axis material grabbing translation module 52 and the Z-axis material grabbing lifting module 53; the material grabbing mechanical arm 54 is driven by the X-axis material grabbing translation module 51, the Y-axis material grabbing translation module 52 and the Z-axis material grabbing lifting module 53 to move along the X axis, the Y axis and the Z axis respectively to grab materials.
The material grabbing mechanical arm 54 comprises a mechanical arm mounting seat 541, a material suction nozzle 542, a hollow connecting shaft 543, a rotary quick adapter 544, an angle adjusting synchronous wheel 545, an angle adjusting driving motor 546 and an angle adjusting synchronous belt 547; the mechanical arm mounting seat 541 is in driving connection with the Z-axis material grabbing lifting module 53; the connecting shaft 543 is rotatably connected with the mechanical arm mounting seat 541, the bottom of the connecting shaft is hermetically connected with the material suction nozzle 542, the top of the connecting shaft is hermetically connected with the rotary quick adapter 544, and the middle of the connecting shaft is fixedly connected with the angle adjusting synchronizing wheel 545; the angle adjusting driving motor 546 is in driving connection with the angle adjusting synchronous wheel 545 through the angle adjusting synchronous belt 547, and is used for driving the connecting shaft 543 to rotate so as to adjust the angle of the material suction nozzle 542; the rotary quick-change adapter 544 is adapted to be connected to an external vacuum source.
The X-axis material grabbing and translating module 51 and the Y-axis material grabbing and translating module 52 can adopt a lead screw sliding table. The Y-axis material grabbing and translating module frame 52 is arranged above the conveying mechanism 3 and the automatic feeding mechanism 2, is in driving connection with the X-axis material grabbing and translating module 51 and is used for driving the X-axis material grabbing and translating module 51 to move along the Y-axis direction; the X-axis material grabbing translation module 51 is in driving connection with the Z-axis material grabbing lifting module 53 and is used for driving the Z-axis material grabbing lifting module 53 to move along the X-axis direction; the Z-axis material grabbing lifting module 53 is in driving connection with the material grabbing mechanical arm 54 and is used for driving the material grabbing mechanical arm 54 to lift along the Z-axis direction. The Z-axis material grabbing lifting module 53 comprises a mounting bottom plate, a slide rail, a first slide block, a second slide block, a material grabbing lifting driving motor, a material grabbing lifting synchronous wheel, a lifting synchronous belt and a lifting synchronous belt pressing block; the mounting bottom plate is in driving connection with the X-axis material grabbing and translating module 51; the material grabbing lifting driving motor and the material grabbing lifting synchronizing wheel are arranged along the Z-axis direction, the material grabbing lifting driving motor is positioned above the material grabbing lifting synchronizing wheel, and the material grabbing lifting driving motor and the material grabbing lifting synchronizing wheel are in transmission connection through a lifting synchronous belt; one end of the lifting synchronous belt pressing block is fixedly connected with the synchronous belt, and the other end of the lifting synchronous belt pressing block is connected with the mounting bottom plate in a sliding mode through the sliding rail and the first sliding block; the mechanical arm mounting seat 541 is connected with the mounting base plate in a sliding manner through a sliding rail and a second sliding block. The material grabbing mechanical arm 54 further comprises a pressure sensor 548; the pressure sensor 548 is arranged at the top of the mechanical arm mounting seat 541, and meanwhile, the detection end of the pressure sensor 548 is connected to the lifting synchronous belt pressing block; when the material grabbing lifting driving motor drives the synchronous belt to move, the lifting synchronous belt pressing block moves up and down along with the synchronous belt pressing block, and the material grabbing mechanical arm 54 is driven to move up and down through the pressure sensor 548; when the pressure sensor 548 reaches a certain pressure value, a signal is fed back, and the Z-axis material grabbing lifting module 53 stops pressing down. The angle adjusting synchronizing wheel 545 is connected with the mounting bottom plate of the material grabbing lifting module 53; a key groove is formed in the outer side of the connecting shaft 543, the connecting shaft 543 is in transmission connection with the angle adjusting synchronizing wheel 445 through the key groove, and the connecting shaft 543 can ascend and descend and slide relative to the angle adjusting synchronizing wheel 545 through the key groove.
The upper CCD visual positioning module is arranged on the installation bottom plate of the Z-axis material grabbing lifting module 53 and is positioned on one side of the Z-axis material grabbing lifting module.
The working steps of the transferring and assembling module 5 are as follows:
1) the material grabbing mechanical arm 54 moves to the position above the material tray through the X-axis material grabbing translation module 51 and the Y-axis material grabbing translation module 52, and is driven to descend through the Z-axis material grabbing lifting module 53 under the coordination of the upper CCD visual positioning module 41, and the material suction nozzle 542 performs vacuum adsorption material grabbing;
2) the material grabbing mechanical arm 54 moves to the position above the lower CCD visual positioning module 42, and after secondary judgment and correction, the angle adjusting driving motor 546 is driven according to the visual shooting result, and the angle of the material suction nozzle 542 is adjusted to adjust the assembling position;
3) the material grabbing mechanical arm 54 moves to the position above the assembly station, is accurately pressed into the assembly position under the matching of the upper CCD visual positioning module 41, and is used for sensing the pressing pressure by a pressure sensor 548;
4) after the assembly is completed, the material grabbing mechanical arm 54 returns to the original position, and the material grabbing and assembling actions are repeated.
The above description is only exemplary of the present invention and should not be construed as limiting the present invention, and any modifications, equivalents and improvements made within the spirit and principles of the present invention are intended to be included within the scope of the present invention.
Claims (10)
1. A full-automatic key assembling machine is characterized by comprising a rack, and a plurality of automatic feeding mechanisms, a conveying mechanism, a plurality of visual positioning mechanisms and a plurality of transferring and assembling mechanisms which are arranged on the rack; a plurality of assembling stations are arranged at intervals in the length direction of the conveying mechanism, and each assembling station corresponds to an automatic feeding mechanism, a visual positioning mechanism and a transfer assembling mechanism; the conveying mechanism is used for conveying the assembling main body and adjusting the assembling position of the assembling main body at the assembling station; the automatic feeding mechanism is positioned at one side of the assembly station and used for conveying the assembly parts to the lower part of the transfer assembly mechanism; the transfer assembly mechanism is erected above the corresponding automatic feeding mechanism and the corresponding assembly station and is used for transferring the assembly parts from the automatic feeding mechanism to the corresponding assembly station for assembly operation; the visual positioning mechanism is used for positioning the position of the assembly part which is grabbed by the corresponding transfer assembly mechanism so as to correct the deviation of the transfer assembly mechanism.
2. The full-automatic key assembling machine according to claim 1, wherein the automatic feeding mechanism comprises a feeding bin, a discharging bin, a feeding platform, a discharging platform, and a tray transferring module; the feeding bin and the discharging bin are arranged side by side, the feeding platform is arranged in the feeding bin and is in sliding connection with the bottom of the feeding bin, and the discharging platform is arranged in the discharging bin and is in sliding connection with the bottom of the discharging bin; the feeding platform is used for placing a material tray loaded with an assembly part, the material tray transfer module is used for transferring the material tray of the feeding bin to the discharging bin, and the discharging platform is used for recycling empty material trays.
3. The full-automatic key assembling machine according to claim 2, wherein the tray transferring module comprises two feeding lifting assemblies, two tray supporting arms, a feeding translation assembly, a tray clamping arm assembly; the two material tray supporting arms are respectively arranged on the periphery sides of the feeding platform and the discharging platform, and each feeding lifting assembly is used for driving one material tray supporting arm to support the material tray to lift in the feeding bin or the discharging bin; the feeding translation assembly is arranged from the feeding bin to the discharging bin and used for driving the charging tray clamping arm assembly to clamp the charging tray and then move from the top of the feeding bin to the top of the discharging bin.
4. The full-automatic key assembling machine according to claim 3, wherein the tray clamping arm assembly comprises a lifting driving cylinder, a guide plate and two tray clamping arms; the bottom of the lifting driving cylinder is in driving connection with the feeding translation assembly, and the output end of the lifting driving cylinder is fixedly connected with the guide plate; the guide plate is provided with two symmetrical oblique guide holes; one side ends of the two charging tray clamping arms are respectively connected with the two inclined guide holes in a sliding mode, and the lifting driving cylinder is used for driving the guide plates to lift and drive the two charging tray clamping arms to outwards open or inwards clamp the charging tray.
5. The full-automatic key assembling machine according to claim 1, wherein the conveying mechanism comprises a conveying line, and a blocking cylinder and a jacking turnover assembly which are arranged on each assembling station; each jacking and overturning assembly is positioned in the middle of the conveying line and arranged at intervals along the advancing direction of the conveying line to form an assembly station for jacking the assembly main body to a set operation height and overturning the assembly main body to a set installation angle; each blocking cylinder is arranged on the conveying line and positioned on one side of the assembly station and used for blocking and positioning the assembly main body on the assembly station to work in cooperation with the jacking and overturning assembly; the conveying line is used for conveying the assembly main bodies to each assembly station one by one.
6. The full-automatic key assembling machine according to claim 5, wherein the jacking-overturning assembly comprises a jacking cylinder, an overturning fixing seat, an overturning driving motor and a rotating bottom plate; the output end of the jacking cylinder faces upwards and is fixedly connected with the overturning fixing seat; the rotary bottom plate is rotatably connected with the overturning fixing seat, and one end part of the rotary bottom plate is in driving connection with an overturning driving motor; the top of the rotating bottom plate is provided with a limiting block for fixing the assembling main body.
7. The full-automatic key assembling machine according to claim 5, wherein the conveying line comprises a first profile frame, a second profile frame, two conveyor belt modules; the first section bar frame and the second section bar frame are arranged in parallel, the first section bar frame is fixedly arranged on the rack, and the second section bar frame is connected with the rack through a sliding module; the second profile frame is close to or far away from the first profile frame through the sliding module so as to adjust the distance between the first profile frame and the second profile frame; the two conveyor belt modules are respectively arranged on the inner sides of the first section bar frame and the second section bar frame to form a conveying channel.
8. The machine according to claim 1, wherein the visual positioning mechanism comprises an upper CCD visual positioning module mounted on the transfer assembly mechanism, and a lower CCD visual positioning module correspondingly disposed below the upper CCD visual positioning module.
9. The full-automatic key assembling machine according to claim 8, wherein the transfer assembling mechanism comprises an X-axis material grabbing translation module, a Y-axis material grabbing translation module, a Z-axis material grabbing lifting module, and a material grabbing mechanical arm erected above the corresponding assembling station and the automatic feeding mechanism through the X-axis material grabbing translation module, the Y-axis material grabbing translation module, and the Z-axis material grabbing lifting module; the material grabbing mechanical arm grabs the material translation module through the X axle, grabs the material translation module through the Y axle, and the material lifting module is grabbed to the Z axle and drives and grab the material along X axle, Y axle, Z axle removal respectively.
10. The full-automatic key assembling machine according to claim 9, wherein the material grabbing mechanical arm comprises a mechanical arm mounting seat, a material suction nozzle, a hollow connecting shaft, a rotary quick adapter, an angle adjusting synchronous wheel, an angle adjusting driving motor and an angle adjusting synchronous belt; the mechanical arm mounting seat is in driving connection with the Z-axis material grabbing lifting module; the connecting shaft is rotatably connected with the mechanical arm mounting seat, the bottom of the connecting shaft is hermetically connected with the material suction nozzle, the top of the connecting shaft is hermetically connected with the rotary quick adapter, and the middle of the connecting shaft is fixedly connected with the angle adjusting synchronizing wheel; the angle adjusting driving motor is in driving connection with the angle adjusting synchronous belt through the angle adjusting synchronous belt and is used for driving the connecting shaft to rotate so as to adjust the angle of the material suction nozzle; the rotary quick adapter is used for connecting an external vacuum air source.
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| CN202020393554.3U CN211889811U (en) | 2020-03-24 | 2020-03-24 | Full-automatic key assembling machine |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113695876A (en) * | 2021-09-08 | 2021-11-26 | 东莞拓斯达技术有限公司 | Automatic assembling equipment for carrier |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113695876A (en) * | 2021-09-08 | 2021-11-26 | 东莞拓斯达技术有限公司 | Automatic assembling equipment for carrier |
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