CN213258008U - Automatic device for assembling or handling of compact products - Google Patents
Automatic device for assembling or handling of compact products Download PDFInfo
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- CN213258008U CN213258008U CN202021954576.9U CN202021954576U CN213258008U CN 213258008 U CN213258008 U CN 213258008U CN 202021954576 U CN202021954576 U CN 202021954576U CN 213258008 U CN213258008 U CN 213258008U
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Abstract
The utility model relates to an automatic device for the assembly or transport of intensive product, including the console mode frame, four-axis robot body, vision positioning system and vacuum adsorption system are installed to console mode frame upper portion, and this vision positioning system includes visual controller, just adorns visual device, flip-chip visual device, and just adorns visual device and installs in the execution front end of four-axis robot body, and flip-chip visual device is installed on the console mode frame in the backward direction, just adorns visual device, flip-chip visual device and visual controller electric connection; the vacuum adsorption system is arranged at an execution end of the four-axis robot and is used for grabbing and adsorbing products; the electric cabinet is installed on the lower portion of the floor type rack, the robot controller and the vision controller are arranged in the electric cabinet, data fed back by the upright vision device and the inverted vision device are transmitted to the robot controller through the vision controller, and the four-axis robot is controlled by the robot controller to complete accurate positioning and placement of products. The operation is simple, the structure is reasonable, and the working efficiency is effectively improved.
Description
Technical Field
The utility model belongs to the technical field of industrial robot, specifically speaking relates to an automatic device that is used for the equipment or transport of intensive product.
Background
Aiming at the assembly or transportation operation of some intensive products, especially when the arrangement or assembly angle is required, the manual operation efficiency is very low; some small products or electronic components need to be placed in special detection machine after production, detect qualified putting into the qualified dish, unqualified needs are chosen out, and manual work flow is a product of taking, and in another one placed the detection machine, the product after will detecting was placed in the dish of difference through observing the detection state, and efficiency is very low. Still some products are very little, need place the product with another kind of components and parts in, and when having the direction requirement, manual work flow is generally for placing the product under the microscope, presss from both sides another kind of components and parts to the product through tweezers or other instrument, and the rethread microscope is manual goes the angle of adjusting components and parts, makes it agree with the product, and this kind of mode operating efficiency is extremely low, can not satisfy the production needs far away.
Therefore, there is a need to provide a new type of automatic device for assembling or handling intensive products in response to the shortcomings of the prior art.
SUMMERY OF THE UTILITY MODEL
The utility model provides an automatic device that is used for equipment or transport of intensive product aims at solving the present problem that equipment or transport operating efficiency are low to intensive product.
In order to achieve the purpose, the technical scheme of the utility model is that an automatic device for assembling or carrying intensive products, including the floor type frame, four-axis robot body, vision positioning system and vacuum adsorption system are installed on the upper portion of the floor type frame, the vision positioning system includes a vision controller, a front-mounted vision device and an inverted vision device, the front-mounted vision device is installed at the front end of the four-axis robot body for scanning and positioning the position and angle of the object to be mounted, the inverted vision device is installed on the floor type frame in an inverted manner for identifying the characteristics of the object to be mounted, and the front-mounted vision device, the inverted vision device are electrically connected with the vision controller; the vacuum adsorption system comprises a guide rail, a compression spring, a suction nozzle and a vacuum generator, wherein the suction nozzle can slide up and down on the guide rail and is used for grabbing adsorbed products, the compression spring ensures the buffer effect when the suction nozzle grabs the adsorbed products, and the vacuum generator is used for improving the vacuum adsorption pressure of the suction nozzle; the electric cabinet is installed on the lower portion of the floor type rack, the robot controller and the vision controller are arranged in the electric cabinet, data fed back by the upright vision device and the inverted vision device are transmitted to the robot controller through the vision controller, and the four-axis robot is controlled by the robot controller to complete accurate positioning and placement of products.
Further, a workbench is arranged in the floor type rack, and the four-axis robot body is fixedly installed on the workbench.
Furthermore, the left side and the right side on the workbench are also provided with positioning tools, and the product is fixed on the workbench through the positioning tools.
Furthermore, the robot also comprises a man-machine operation interface, which is arranged on the right side of the floor type frame and is connected by a movable bracket, so that the position and the height can be conveniently adjusted.
Furthermore, a safety light curtain is installed on one side of the front end of the floor type rack, so that safety protection in the operation process of the device is increased, and safety of operators in the automatic operation process of the robot is protected.
Furthermore, a warning lamp is arranged on the upper portion of the safety light curtain.
Has the advantages that: the utility model discloses the device fungible manual work carries out production processes such as clamp, angular adjustment, product equipment of intensive product, can effectively improve the efficiency and the goodness rate of production assembly, realizes the automatic technique of accomplishing the operation flow, and easy operation, and the structure is reasonable.
Drawings
Fig. 1 is a schematic view of the structure of the device of the present invention.
Fig. 2 is a schematic structural diagram of the robot body in fig. 1.
The reference numbers illustrate: 1-a floor type frame; 2-a four-axis robot body; 3-a visual positioning system; 4-an electrical cabinet; 5-vacuum adsorption system; 6, positioning a tool; 7-a human-machine interface; 8-a safety light curtain; 9-J1 axis; 10-J2 axis; 11-J3 axis; 12-J4 axis; 13-warning light.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings, and it is obvious that the described embodiments are only some embodiments of the present invention, but not all embodiments, and all other embodiments obtained by a person of ordinary skill in the art without creative work belong to the protection scope of the present invention based on the embodiments of the present invention.
As shown in fig. 1 to 2, an automatic device for assembling or transporting intensive products includes a floor-type frame 1, a four-axis robot body 2, a vision positioning system 3, an electrical cabinet 4, a vacuum adsorption system 5, a positioning tool 6, a human-machine interface 7, a safety light curtain 8, etc., wherein the four-axis robot body may adopt an existing four-axis robot structure, the movement of the robot is completed by four axes of a J1 axis 9, a J2 axis 10, a J3 axis 11 and a J4 axis 12, wherein the J1 axis and the J2 axis are matched to complete movement in the same plane range, and the J3 axis is an up-down movement axis to complete movement in the three-dimensional space height direction; the axis J4 is a rotating axis, and the angular rotation of the product grabbed by the robot is completed.
The vacuum adsorption system is composed of a guide rail, a compression spring, a suction nozzle, a vacuum generating device and other components, is mainly used for grabbing and adsorbing products, and the compression spring can ensure that the products cannot be forced to be crushed when the height of the discharging positions is inconsistent and has a buffering effect.
The vision positioning system is mainly used for shooting the position and the angle of a product, can adopt the existing industrial camera, is not repeated in the structure of the vision positioning system, transmits accurate position data to the four-axis robot through the vision positioning system, and completes accurate positioning and placement of the product through the four-axis robot.
The four-axis robot body is fixed on a platform of a floor type rack through fastening screws, so that a moving shaft is prevented from loosening in the moving process, and the rapid movement of the four-axis robot is ensured; the upright mounting vision of the vision positioning system is mounted at the executing tail end of the four-axis robot, is used for carrying out vision identification positioning on the mounted object, including identification of angles, positions and bad marks, automatically skips the bad positions in subsequent operation, and is inversely mounted on a platform of the rack in a vision mode, is used for identifying the component sucked by the suction nozzle, correcting the angle of the component and ensures the accuracy of assembling the component on the mounted object;
the suction nozzle buffer structure is composed of a guide rail, a compression spring and a structural part, the suction nozzle is arranged in a connecting sleeve of the structural part and can be quickly replaced according to different requirements, the suction nozzle can slide up and down on the guide rail and is used for grabbing an adsorbed product, the compression spring is arranged at the upper end of the structural part and ensures the buffer effect when the suction nozzle grabs the adsorbed product, a vacuum generation device is used for improving the adsorption pressure of the suction nozzle, the vacuum generation device of the embodiment comprises a filtering device, a vacuum electromagnetic valve, a vacuum generator and a vacuum pressure detection switch, the suction nozzle is communicated with a pipeline of the vacuum generator, the vacuum pressure detection switch is arranged on a pipeline between the vacuum generator and the suction nozzle and is used for detecting whether the vacuum value meets the requirement or not, when the vacuum electromagnetic valve is opened, an air path is unblocked, the suction nozzle can carry out vacuum adsorption operation, the output air is ensured to be clean and dry, thereby avoiding polluting products and blocking the vacuum generator. The buffering design can not damage product and suction nozzle under the different operation condition of thickness appear in the product, also can guarantee that the dynamics of pushing down is suitable when the equipment.
The positioning tools are placed on the left side and the right side of the workbench surface, the product is fixed on the workbench through the positioning tools, and the design of quick replacement is adopted, so that the product can be quickly replaced after the product operation is finished, and the operation is simpler and more convenient;
the human-machine operation interface is arranged on the right side of the floor type frame and is connected by a movable support, so that the position and the height can be conveniently adjusted;
the safety light curtain is installed in front of the frame in an opposite mode and used for protecting safety of operators in the automatic operation process of the robot.
The safety light curtain of the embodiment is provided with a warning lamp 13 at the upper part.
The electrical cabinet of this embodiment is located floor type frame below, and interior installation robot controller, vision controller, light source controller and various other electrical accessories can with above-mentioned part interconnect with the cable.
The working mode of the device is as follows: according to the preset program and the visual information, after the system is started, the formal dress visual system scans and identifies the loaded object and records the information such as position angle and the like. After the scanning recognition is completed, the suction nozzle sucks the component from the component tray and moves to the inverted visual position, the inverted visual part recognizes the component, records and transmits information such as angles, the identification data of the two groups of visual systems in the system is calculated, and the robot accurately installs the component in the object to be mounted. In the automatic operation process, if the safety light curtain detects an object, the device can be automatically stopped, and the safety of an operator is ensured.
This device one-key formula starts, accomplishes discernment location and equipment voluntarily, and efficiency is higher, and it is more simple and convenient to operate.
The above is only the preferred embodiment of the present invention, and not the scope of the present invention, all the equivalent structures or equivalent flow changes made by the contents of the specification and the drawings or the direct or indirect application in other related technical fields are included in the patent protection scope of the present invention.
Claims (6)
1. An automatic device for assembling or carrying intensive products comprises a floor type rack, and is characterized in that a four-axis robot body, a vision positioning system and a vacuum adsorption system are mounted at the upper part of the floor type rack, the vision positioning system comprises a vision controller, a front-mounted vision device and an inverted vision device, the front-mounted vision device is mounted at the front execution end of the four-axis robot body, the inverted vision device is mounted on the floor type rack in an inverted manner, and the front-mounted vision device, the inverted vision device and the vision controller are electrically connected; the vacuum adsorption system is arranged at an execution end of the four-axis robot and is used for grabbing and adsorbing products; the electric cabinet is installed on the lower portion of the floor type rack, the robot controller and the vision controller are arranged in the electric cabinet, data fed back by the upright vision device and the inverted vision device are transmitted to the robot controller through the vision controller, and the four-axis robot is controlled by the robot controller to complete accurate positioning and placement of products.
2. The automatic assembly or handling device for intensive products according to claim 1, wherein a workbench is arranged in the floor-type frame, and the four-axis robot body is fixedly mounted on the workbench.
3. The automatic device for assembling or carrying intensive products according to claim 2, wherein positioning tools are further arranged on the left side and the right side of the workbench, and the products are fixed on the workbench through the positioning tools.
4. The automated apparatus for the assembly or handling of compact products as claimed in claim 3, wherein said robot further comprises a human machine interface mounted on the right side of the floor-standing frame.
5. The automated assembly or handling of compact products of claim 4, wherein a safety light curtain is installed at one side of the front end of the floor stand.
6. The automated assembly or handling of compact products of claim 5, wherein a warning light is provided above the safety light curtain.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021954576.9U CN213258008U (en) | 2020-09-08 | 2020-09-08 | Automatic device for assembling or handling of compact products |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021954576.9U CN213258008U (en) | 2020-09-08 | 2020-09-08 | Automatic device for assembling or handling of compact products |
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| Publication Number | Publication Date |
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| CN213258008U true CN213258008U (en) | 2021-05-25 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202021954576.9U Active CN213258008U (en) | 2020-09-08 | 2020-09-08 | Automatic device for assembling or handling of compact products |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115057204A (en) * | 2022-06-27 | 2022-09-16 | 武汉筑梦科技有限公司 | Automatic Luban lock assembly flexible production line and method based on visual recognition robot |
-
2020
- 2020-09-08 CN CN202021954576.9U patent/CN213258008U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115057204A (en) * | 2022-06-27 | 2022-09-16 | 武汉筑梦科技有限公司 | Automatic Luban lock assembly flexible production line and method based on visual recognition robot |
| CN115057204B (en) * | 2022-06-27 | 2024-03-08 | 武汉筑梦科技有限公司 | Automatic Luban lock assembly method based on visual recognition robot |
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