CN214024460U - Automatic change equipment mechanism for equipment robot - Google Patents

Abstract

The utility model belongs to the technical field of the automatic equipment technique and specifically relates to an automatic change equipment robot and use equipment mechanism, equipment mechanism sets up a plurality of part equipment module on the equipment carousel including fixed equipment carousel and the interval that sets up on the workstation. The utility model discloses an equipment mechanism sets up a plurality of part equipment module on the equipment carousel including fixed equipment carousel and the interval that sets up on the workstation, and part equipment module is rotatory to each station along with the equipment carousel, receives first part and second part, realizes the automatic equipment of part, and work efficiency is high.

Description

Automatic change equipment mechanism for equipment robot

Technical Field

The utility model belongs to the technical field of the automatic equipment technique and specifically relates to an automatic change equipment robot with equipment mechanism.

Background

Automation refers to a process of realizing an expected target by automatic detection, information processing, analysis and judgment, and manipulation control of machine equipment, systems or processes (production and management processes) according to the requirements of people without direct participation of people or few people. Automation technology is widely used in industry, agriculture, military, scientific research, transportation, commerce, medical treatment, services, and home. The automatic technology can not only liberate people from heavy physical labor, partial mental labor and severe and dangerous working environments, but also expand the functions of human organs, greatly improve the labor productivity and enhance the ability of human to know the world and transform the world. Therefore, automation is an important condition and a significant sign for the modernization of industry, agriculture, national defense and scientific technology.

The parts are required to be assembled according to the specified requirements in the process of assembling the parts. Manual assembly is time-consuming and labor-consuming, and in some industries with higher precision requirements, manual assembly often cannot achieve the required precision, so that a large number of unqualified products are generated, the production efficiency is low, and a large amount of resources are wasted. Therefore, it is necessary to develop an automated assembly robot with high assembly accuracy.

SUMMERY OF THE UTILITY MODEL

The to-be-solved technical problem of the utility model is: in order to provide a device that can realize the part equipment automatically, high-efficiently for automatic equipment robot, the utility model provides an automatic change equipment robot is with equipment mechanism, including fixed equipment carousel and the interval setting a plurality of part equipment module on the equipment carousel that sets up on the workstation, part equipment module is rotatory to each station along with the equipment carousel, receives first part and second part, realizes the automatic equipment of part, and work efficiency is high.

The utility model provides a technical scheme that its technical problem adopted is:

the automatic assembly robot is with equipment mechanism, equipment mechanism is including the equipment carousel of fixed setting on the workstation and the interval sets up a plurality of part equipment module on the equipment carousel.

Preferably, the assembling machine includes a first part conveying device for conveying the first part to the assembling mechanism and a second part conveying device for conveying the second part to the assembling mechanism;

the assembling mechanism further comprises an assembling fixed disc, the assembling fixed disc is fixed on the workbench and located above the assembling rotary disc, the diameter of the assembling fixed disc is smaller than that of the assembling rotary disc, a first part sensor is arranged at a position corresponding to the first part conveying device of the assembling fixed disc, a second part sensor is arranged at a position corresponding to the second part conveying device of the assembling fixed disc, and the assembling fixed disc are respectively used for detecting whether the first part and the second part are arranged in the part assembling module or not.

Preferably, the first part sensor and the second part sensor each include a pair of photosensors, and the pair of photosensors are fixed to the assembly fixing plate through fixing plates and located on two sides of the first part and the second part, respectively.

Preferably, the assembly mechanism further includes a part type detection device provided between the first part transfer device and the second part transfer device, the part type detection device being fixed to the table and detecting a type of the first part.

Preferably, the assembly mechanism further comprises a first part pressing device fixed on the assembly fixing disc through the fixing plate, and used for pressing the first part when receiving the second part.

Preferably, the first part press device includes a first part press block and a press block driving cylinder for driving the first part press block to ascend or descend.

Preferably, the assembling machine further includes a discharge mechanism for discharging the assembled product to the assembling mechanism; the assembling mechanism further comprises an assembling pressing mechanism arranged between the second part conveying device and the discharging mechanism, and the assembling pressing mechanism is fixed on the assembling fixed disc and used for pressing the second part downwards to enable the first part and the second part to be matched in place.

Preferably, the assembly mechanism further includes a product quality detection mechanism disposed between the assembly pressing mechanism and the discharge mechanism, and the product quality detection mechanism is fixed to the table and configured to detect whether a height difference between the first part and the second part is good or not.

Preferably, the assembling means further includes a non-defective product marking means provided between the product non-defective detecting means and the discharging means, for marking a non-defective product on the non-defective product.

Preferably, the number of the part assembling modules is eight, and the eight part assembling modules are uniformly distributed along the circumferential direction of the assembling turntable.

An automatic assembly robot using the assembly mechanism comprises

A feeding mechanism comprising a first part supply and a first part delivery;

a second part feeding mechanism comprising a second part supply device and a second part conveying device;

an assembly mechanism for assembling the first part from the first part conveyor and the second part from the second part conveyor; and

and the discharging mechanism is used for discharging the assembled product out of the assembling mechanism.

Preferably, the first part supply device comprises a plastic suction pipe for storing the first part and a part pushing device, and the part pushing device is used for pushing the first part stored in the plastic suction pipe to the first part conveying device.

Preferably, the first part supply device further comprises a first part supply cabinet, a plastic uptake pipe accommodating device and a plastic uptake pipe transmission device are arranged in the first part supply cabinet, and the plastic uptake pipe transmission device is used for transmitting the plastic uptake pipes stored in the plastic uptake pipe accommodating device to a working position.

As preferred, above-mentioned plastic uptake pipe accommodate device includes a plurality of about to spacing splint and sets up about to spacing splint bottom both ends be used for preventing the upper and lower stop gear that the plastic uptake pipe dropped about every, every right spacing splint's one end is equipped with the plastic uptake pipe blend stop about, the other end is equipped with and is used for the plastic uptake pipe shutter of horizontal restriction between every about spacing splint with the plastic uptake pipe, the plastic uptake pipe shutter is articulated with every about a slice in the spacing splint, the top of plastic uptake pipe shutter is equipped with the shutter sensor for detect whether the plastic uptake pipe shutter closes.

Preferably, a pair of plastic suction pipe induction sensors are arranged at one ends, close to the plastic suction pipe stop door, of the bottoms of the left and right limiting clamping plates and used for detecting whether the plastic suction pipe filled with the first part needs to be supplemented between the left and right limiting clamping plates.

Preferably, the upper and lower limiting mechanisms comprise limiting strips and limiting cylinders for driving the limiting strips to be inserted into or withdrawn from the plastic suction pipes.

Preferably, the plastic uptake pipe conveying device comprises two vertical conveying mechanisms, a horizontal conveying mechanism and two horizontal conveying rails, wherein the vertical conveying mechanisms are used for descending the plastic uptake pipes positioned at the lowest part in the plastic uptake pipe containing device to the horizontal conveying rails, and the horizontal conveying mechanisms are used for horizontally conveying the plastic uptake pipes on the horizontal conveying rails to the working position.

Preferably, the two vertical transmission mechanisms are positioned between the two horizontal transmission rails, each vertical transmission mechanism comprises an upper vertical transmission device and a lower vertical transmission device, each upper vertical transmission device comprises an upper supporting plate and an upper cylinder for driving the upper supporting plate to ascend or descend, and each upper supporting plate is used for supporting the plastic suction pipe; the lower vertical transmission device comprises a lower cylinder and a lower cylinder fixing support, the lower cylinder is used for driving the whole upper vertical transmission device to ascend or descend, the lower cylinder fixing support is used for fixing the lower cylinder, and the lower cylinder fixing support is fixed on the workbench.

Preferably, the lower cylinder fixing bracket includes a plurality of bracket columns and a bracket fixing plate fixed above the bracket columns, and the lower cylinder is fixed on the lower surface of the bracket fixing plate.

Preferably, the upper vertical transfer device further includes an upper cylinder fixing plate, the upper cylinder is fixed to the upper cylinder fixing plate, and the lower cylinder drives the upper cylinder fixing plate to ascend or descend to drive the entire upper vertical transfer device to ascend or descend.

Preferably, the upper vertical transmission device further comprises a first height limiting plate, wherein the first height limiting plate is arranged above the upper cylinder fixing plate and used for limiting the descending height of the upper supporting plate;

the lower vertical transmission device further comprises a second height limiting plate, the second height limiting plate is L-shaped and comprises a second long portion and a second short portion which are perpendicular to each other, the second long portion penetrates through the support fixing plate and then is fixed on the upper cylinder fixing plate, and the rising height of the upper vertical transmission device is limited through interaction between the second short portion and the support fixing plate.

Preferably, the first height limiting plate is also L-shaped and comprises a first long part and a first short part which are perpendicular to each other, and the first short part is provided with a first height limiting and adjusting device for adjusting the limiting descending distance of the upper supporting plate; and a second height limiting and adjusting device is arranged on the second short part and used for adjusting the limited ascending distance of the upper vertical transmission device.

Preferably, the first height limiting and adjusting device and the second height limiting and adjusting device each comprise a height limiting and adjusting bolt, a height limiting and adjusting nut and a height limiting and ejecting block, the height limiting and ejecting block is fixed on the lower surface of the upper supporting plate or the bracket fixing plate, the height limiting and adjusting bolt sequentially penetrates through the height limiting and adjusting nut and the first short part or the height limiting and adjusting nut and the second short part, then is fixed on the first short part or the second short part through the height limiting and adjusting nut, and limits the descending height of the upper supporting plate or the ascending height of the upper vertical transmission device through the contact between the height limiting and adjusting bolt and the height limiting and ejecting block in the descending or ascending process.

Preferably, each vertical transmission mechanism further comprises a vertical transmission balancing device, the vertical transmission balancing device comprises a balancing plate and two balancing rods, one end of each balancing rod is fixed at each of the two ends of the upper supporting plate, and the other end of each balancing rod penetrates through the upper cylinder fixing plate and the bracket fixing plate in sequence to be fixedly connected with the two ends of the balancing plate located below the lower cylinder.

Preferably, the horizontal transmission mechanism is located between the two vertical transmission mechanisms and comprises a plastic suction pipe supporting device and a horizontal driving electric cylinder, wherein the horizontal driving electric cylinder is used for driving the plastic suction pipe supporting device to move forwards or backwards, and a plastic suction pipe in the plastic suction pipe supporting device is transmitted to a working position along a horizontal transmission track.

Preferably, said plastic suction pipe support device comprises a support base plate and at least one u-shaped support plate fixed to the support base plate for limiting the position of the plastic suction pipe.

Preferably, a plastic suction pipe detecting sensor is further disposed in the first part supplying cabinet, and is configured to detect whether the plastic suction pipe reaches a working position.

Preferably, at least one plastic uptake pipe fixing device is further arranged in the first part supply cabinet, the plastic uptake pipe fixing device comprises a plastic uptake pipe pressing device, a plastic uptake pipe clamping device and a plastic uptake pipe fixing cylinder, and the plastic uptake pipe fixing cylinder is used for driving the plastic uptake pipe pressing device and the plastic uptake pipe clamping device to ascend or descend.

Preferably, the two plastic suction pipe fixing devices are respectively used for fixing two ends of the plastic suction pipe;

the plastic uptake pipe fixing device further comprises a fixing cylinder connecting plate, and the fixing cylinder connecting plate is fixed on the plastic uptake pipe fixing cylinder and used for fixing the plastic uptake pipe pressing device and the plastic uptake pipe clamping device.

Preferably, the plastic uptake pipe pressing device comprises a plastic uptake pipe pressing drive plate, two plastic uptake pipe pressing springs, two plastic uptake pipe pressing guide pillars and a plastic uptake pipe pressing plate, and the plastic uptake pipe pressing device is fixed on the fixed cylinder connecting plate through the plastic uptake pipe pressing drive plate; the two plastic suction pipe pressing guide columns respectively penetrate through the plastic suction pipe pressing plate and the plastic suction pipe pressing spring in sequence and then are slidably connected with the plastic suction pipe pressing driving plate, so that the plastic suction pipe pressing spring is positioned between the plastic suction pipe pressing driving plate and the plastic suction pipe pressing plate;

the plastic uptake pipe clamping device comprises two plastic uptake pipe clamping blocks, and the two plastic uptake pipe clamping blocks are fixed on the fixed cylinder connecting plate and are connected with the plastic uptake pipe fixed cylinder through the fixed cylinder connecting plate.

Preferably, the plastic uptake pipe fixing device further comprises a plastic uptake pipe anti-reversal device connected with the plastic uptake pipe fixing cylinder through a fixing cylinder connecting plate, plug holes for fixing a first part in the plastic uptake pipe are formed in two ends of the upper side wall of the plastic uptake pipe in the length direction, and the distances from the plug holes to two side faces of the plastic uptake pipe are unequal; the plastic uptake pipe anti-reverse device comprises an anti-reverse insertion sheet and an anti-reverse sensor, the plastic uptake pipe fixing cylinder drives the anti-reverse insertion sheet to descend and insert into the plug hole or ascend and leave the plug hole, if the anti-reverse sensor detects the anti-reverse insertion sheet, the situation that the anti-reverse insertion sheet cannot be inserted into the plug hole is indicated, and the plastic uptake pipe is reversely placed.

Preferably, the plastic suction pipe anti-reflection device further comprises an anti-reflection fixing plate, an anti-reflection pressing block, an anti-reflection pressing spring and an anti-reflection sensor fixing plate, and the plastic suction pipe anti-reflection device is fixed on the fixed cylinder connecting plate through the anti-reflection fixing plate; the anti-reverse pressing block is of a right-angle structure, one side of the right-angle structure is fixed on the anti-reverse fixing plate, and two pressing spring blind holes are arranged on one side of the other side of the right-angle structure close to the anti-reverse fixing plate at intervals; the anti-reverse inserting sheet is L-shaped and comprises an inserting sheet long part and an inserting sheet short part which are perpendicular to each other, the inserting sheet long part penetrates through the anti-reverse fixing plate and is clamped on the anti-reverse fixing plate through the inserting sheet short part, one end of the anti-reverse pressing spring is inserted into the pressing spring blind hole, and the other end of the anti-reverse pressing spring presses the inserting sheet short part; the anti-reverse sensor fixing plate is fixed on the anti-reverse fixing plate, and the anti-reverse sensor penetrates through the anti-reverse fixing plate and is used for detecting the short part of the inserting sheet.

Preferably, the part pushing device comprises a first part pushing block, a first part pushing steel wire rope, a pushing driving wheel, a pushing pressing wheel and a pushing driving motor, the first part pushing block is fixedly connected with the first part pushing steel wire rope, the first part pushing steel wire rope is pressed between the pushing driving wheel and the pushing pressing wheel, and the pushing driving motor is used for driving the pushing driving wheel to rotate, so that the first part pushing steel wire rope drives the first part pushing block to push the first parts stored in the plastic suction pipes to the first part conveying device.

Preferably, a steel wire rope accommodating hole is formed in the side wall of the first part pushing block along the pushing direction, and a plurality of steel wire rope fixing holes arranged at intervals are formed in the side wall of the first part pushing block from top to bottom and are used for fixedly connecting the first part pushing steel wire rope with the first part pushing block.

Preferably, the part pushing device further comprises a pushing block pushing sensor, wherein the pushing block pushing sensor is arranged at one end, close to the plastic suction pipe, of the first part conveying device and used for detecting whether the first part pushing block pushes all first parts in the plastic suction pipe to the first part conveying device or not.

Preferably, the part pushing device further comprises a pushing block withdrawing sensor, and the pushing block withdrawing sensor is arranged on one side, close to the plastic suction pipe, of the part pushing device and is used for detecting whether the first part pushing block has been withdrawn from the plastic suction pipe.

Preferably, the part pushing device further comprises a pushing device fixing support, the bottom of the pushing device fixing support is fixed on the workbench, the top of the pushing device fixing support is used for fixing the pushing driving wheel and the pushing pressing wheel, a pre-pushing track is arranged between the pushing driving wheel and the plastic suction pipe at the top of the pushing device fixing support and used for containing the first part pushing block before the first part pushing block enters the plastic suction pipe, and a notch is formed in one side, close to the pushing driving wheel, of the pre-pushing track, so that the first part pushing steel wire rope can conveniently penetrate through and be fixedly connected with the first part pushing block; the pushing block withdrawing sensor is arranged on the side wall of the pre-pushing track.

Preferably, a steel wire rope limiting plate is arranged at one end, away from the plastic suction pipe, of the top of the pushing device fixing support, a steel wire rope limiting hole is formed in the steel wire rope limiting plate, and the first part pushing steel wire rope penetrates through the steel wire rope limiting hole and then is arranged between the pushing driving wheel and the pushing pressing wheel in a pressing mode.

Preferably, the part pushing device further comprises a steel wire rope sleeve, one end of the steel wire rope sleeve is fixed on the steel wire rope limiting hole, the other end of the steel wire rope sleeve naturally hangs down and inclines towards the bottom of the workbench, and one section of the first part pushing steel wire rope, which is close to the pushing driving wheel, is contained in the steel wire rope sleeve, so that the first part pushing steel wire rope is convenient to arrange.

Preferably, the feeding mechanism further comprises a plastic suction pipe recovery device, and the plastic suction pipe recovery device is arranged at one end, far away from the plastic suction pipe containing device, of the horizontal conveying track and used for recovering the plastic suction pipe with the first part discharged completely.

Preferably, the second part supplying device includes a second part supplying cabinet, and a second part vibration tray and an ion fan which are arranged in the second part supplying cabinet, the ion fan is used for removing static electricity of the second part in the second part vibration tray, and the second part vibration tray is used for discharging the second part to the second part conveying device in a certain direction.

Preferably, the first part conveying device and the second part conveying device each comprise a part conveying belt, a belt driving device and a belt support, the belt support is fixed on the workbench and used for supporting the part conveying belt, and the belt driving device is fixed on the belt support and used for driving the part conveying belt to work.

Preferably, a belt supporting plate is arranged between the two transmission wheels of the part conveying belt, part barrier strips are arranged on two sides of the part conveying belt and fixed on the belt supporting plate to prevent the parts from falling.

Preferably, above-mentioned first part conveyor and second part conveyor still include the part limiting plate, the part limiting plate is fixed on the part blend stop, makes to form the space of marcing that is convenient for the part to go forward between part limiting plate and the part conveyer belt, the space of marcing can guarantee that the part is placed the direction and can not change in transmission process.

Preferably, the first part conveying device and the second part conveying device further comprise part cleaning devices, the part cleaning devices are fixed on the belt supporting plate and comprise air blowing devices and air suction devices, the air blowing devices are used for blowing air to the parts to clean the parts, and the air suction devices are used for sucking away the air blown to the parts by the air blowing devices.

Preferably, the blowing device comprises a blowing nozzle fixed on the belt supporting plate or the part limiting plate, one end of the blowing nozzle is provided with a strip-shaped air outlet, and the other end of the blowing nozzle is connected with a blowing air pipe joint for connecting blowing equipment;

the air suction device comprises an air suction nozzle fixed at the bottom of the belt supporting plate and an air suction cover fixed on the air suction nozzle and used for covering the air blowing device and the air blowing section part conveying belt, the upper portion of the air suction nozzle is of an open structure, and the lower portion of the air suction nozzle is connected with an air suction pipe connector and used for being connected with air suction equipment.

Preferably, the blowing device blows air to the part from the upper side or the side.

Preferably, the first part conveying device and the second part conveying device further comprise a part pressing device, and the part pressing device is arranged above the part conveying belt and used for pressing the parts to help the parts to smoothly advance along with the part conveying belt.

Preferably, the part pressing device comprises two part pressing wheels arranged at intervals, a pressing leather strip sleeved on the two part pressing wheels and a pressing wheel fixing plate, the pressing wheel fixing plate is fixed on the part limiting plate or the part barrier strip, and the part pressing wheels are fixed at two ends of the pressing wheel fixing plate.

Preferably, above-mentioned part closing device is still including compressing tightly high adjusting device, it includes height adjustment rocking handle, first rotation axis, second rotation axis and two stay bolts to compress tightly high adjusting device, first rotation axis passes the one end after-fixing of height adjustment rocking handle in the belt backup pad, makes height adjustment rocking handle can be rotatory around first rotation axis, the other end after-fixing that the second rotation axis passed height adjustment rocking handle makes the pinch roller fixed plate can be rotatory around the second rotation axis, two stay bolt supports after passing the pinch roller fixed plate respectively and leans on part limiting plate or part blend stop for the messenger compresses tightly the leather strap and keeps parallel with part conveyer belt.

Preferably, the first part conveyor and the second part conveyor further include a pair of sensing photosensors for sensing a coming part disposed near the assembly mechanism to detect whether a part is about to be sent to the assembly mechanism, the pair of sensing photosensors for sensing a coming part are disposed at two sides of the part conveyor in a staggered manner, and the part barrier is provided with a through hole for passing light emitted by the sensing photosensors for sensing a coming part.

Preferably, the first part conveying device and the second part conveying device further include a pair of feeding limiting photoelectric sensors disposed near the feeding mechanism or the second feeding mechanism and used for detecting whether parts on the part conveying belt are full, the pair of feeding limiting photoelectric sensors are disposed on two sides of the part conveying belt in a staggered manner, and the part barrier strip is provided with a through hole for allowing a coming part to pass through and detecting light emitted by the photoelectric sensors.

Preferably, the automated assembly robot further includes a parts transfer mechanism provided between the first or second parts transfer device and the assembly mechanism, and configured to transfer the first or second parts transferred by the first or second parts transfer device to the assembly mechanism for assembly.

Preferably, the component transfer mechanism includes a component cutting device, a component transfer device, and a component transfer rack, the component cutting device and the component transfer device are fixed on the workbench through the component transfer rack, the component cutting device is communicated with the first component transfer device or the second component transfer device, and is used for receiving the components transferred by the first component transfer device or the second component transfer device and cutting the components transversely to a longitudinal track deviated from the transferred components, and the component transfer device is used for transferring the components cut by the component cutting device to the assembly mechanism.

Preferably, said element-cutting means comprise a "U-shaped" element-holder and a cutting cylinder for driving the "U-shaped" element-holder back and forth in the transverse direction.

Preferably, said part-cutting means further comprises part-cutting sensing means secured to the part-carrying holder for sensing whether the part has reached the "U-shaped" part-holder and preventing further advancement of the part once the part is in place.

Preferably, the part cutting induction device comprises a cutting assembly plate, a cutting induction shifting piece, an induction shifting piece shaft, a shifting piece pressurizing spring, a spring guide post and a cutting inductor; the cutting and assembling plate comprises an L-shaped supporting plate, a first connecting shaft plate and a second connecting shaft plate, the L-shaped supporting plate comprises a supporting plate long part and a supporting plate short part which are perpendicular to each other, and the L-shaped supporting plate is fixed on the part carrying bracket through the supporting plate short part; the first connecting shaft plate and the second connecting shaft plate are longitudinally arranged on one side of the long part of the supporting plate close to the assembling mechanism at intervals, and the induction shifting piece shaft sequentially penetrates through the first connecting shaft plate and the cut induction shifting piece to be fixed on the second connecting shaft plate, so that the cut induction shifting piece can conveniently rotate for a certain angle around the induction shifting piece shaft; the long part of the supporting plate is provided with a pressurizing spring hole at one side of the induction poking piece shaft away from the U-shaped part supporting plate, the spring guide post is fixed in the spring hole, one end of the poking piece pressurizing spring is sleeved on the spring guide post, and the other end of the poking piece pressurizing spring is propped against the cut-out induction poking piece.

Preferably, the part cutting sensing device further comprises a dial plate adjusting screw, the dial plate adjusting screw and the dial plate pressurizing spring are respectively located on two sides of the sensing dial plate shaft, and the dial plate adjusting screw is arranged in the through hole in the long portion of the supporting plate and used for adjusting the initial rotation angle of the cutting sensing dial plate.

Preferably, the cutting-out and assembling plate further comprises a cutting-out position adjusting plate and an assembling fixing plate, wherein the cutting-out position adjusting plate is fixed on the part conveying bracket and is provided with a plurality of fixing holes arranged at intervals, so that proper fixing holes can be selected conveniently according to the length of the parts; the assembly fixing plate and the L-shaped supporting plate are of an integral structure and connected with one end, away from the long part of the supporting plate, of the short part of the supporting plate, and the assembly fixing plate is provided with a waist-shaped through hole, so that the L-shaped supporting plate can be conveniently fixed at a proper position according to the length of a part.

Preferably, said element-cutting means further comprises "u-shaped" element-engaging-pallets secured to the element-carrying supports, said "u-shaped" element-engaging-pallets being located between the "u-shaped" element-pallets and the first element-transferring means or the second element-transferring means for temporarily storing at least one first element or second element transferred by the first element-transferring means or the second element-transferring means.

Preferably, the component transfer apparatus includes a component holding mechanism and a component transfer driving mechanism for driving the component holding mechanism to advance or retreat.

Preferably, the part clamping mechanism comprises a part clamping block for clamping the part and a part clamping cylinder for driving the part clamping block to close or open.

Preferably, the component transfer driving mechanism includes a draw bar fixedly connected to the component holding mechanism, and a cam driving device for driving the draw bar to advance or retract.

Preferably, the cam driving device comprises a driving base plate, a driving plate with an inverted U-shaped driving track, a driving shaft, a driving motor, a linkage plate, a bearing follower and a bearing follower block, wherein the driving plate is fixed on the driving base plate, one end of the driving shaft penetrates through the driving base plate to be connected with the driving motor, the other end of the driving shaft is fixedly connected with one end of the linkage plate, the other end of the linkage plate is provided with a kidney-shaped through hole, one end of the bearing follower penetrates through the kidney-shaped through hole to be arranged in the inverted U-shaped driving track, the other end of the bearing follower block is fixedly connected with one end of the bearing follower block, and the other end of the bearing follower block is fixedly connected with the traction rod.

Preferably, the cam driving device further comprises an up-and-down movement assisting device and a front-and-back movement assisting device, wherein the up-and-down movement assisting device comprises an up-and-down auxiliary slide rail fixed on the driving bottom plate and close to one end of the assembling mechanism, and an up-and-down auxiliary slide block connected with the up-and-down auxiliary slide rail in a sliding manner; the front and rear movement auxiliary device comprises a front and rear auxiliary sliding block fixed on the upper and lower auxiliary sliding blocks, and a front and rear auxiliary sliding groove is formed in the front and rear auxiliary sliding block, so that the traction rod can slide in the front and rear auxiliary sliding groove conveniently.

Preferably, the upper and lower auxiliary blocks and the front and rear auxiliary blocks are provided in two numbers, and the front and rear movement assisting device further includes a front and rear auxiliary plate fixed to the upper and lower auxiliary blocks and fixed to the front and rear auxiliary plate.

Preferably, the cam driving device further comprises a cam protection sensing device, the cam protection sensing device comprises a cam protection sensor fixed on the driving bottom plate and a semicircular cam protection sensing piece fixedly connected with the driving shaft, when the draw bar is located at the initial position, the straight edge of the semicircular cam protection sensing piece is just located in the sensing area of the cam protection sensor, so that in the processes of rising, advancing and falling along with the rotation of the driving shaft, the semicircular cam protection sensing piece is always located in the sensing area of the cam protection sensor, and when the descending is finished, the straight edge of the semicircular cam protection sensing piece is just located in the sensing area of the cam protection sensor.

Preferably, the cam driving device further comprises two traction rod descending prevention devices, and each of the two traction rod descending prevention devices comprises a prevention device fixing plate, a prevention strut and a prevention nut; the two stopping device fixing plates are respectively fixed under two ends of the inverted U-shaped driving track, and the two stopping support columns are respectively screwed on the two stopping device fixing plates in a height-adjustable manner and are fixed through stopping nuts, so that the stopping support columns are abutted against the bearing follow-up blocks.

Preferably, the component conveying driving mechanism further comprises a conveying mechanism protecting device, which is arranged between the component clamping mechanism and the component conveying driving mechanism and is used for enabling the component clamping mechanism to slide upwards to prevent damage when the component clamping mechanism cannot descend continuously due to obstruction in the descending process of the component conveying driving mechanism driving the component clamping mechanism.

Preferably, the carrying mechanism protection device comprises a protection limiting bottom plate, a traction rod connecting plate, a part clamping cylinder fixing plate, a protection sliding rail and a protection sliding block; the part clamping cylinder fixing plate is located between the part clamping cylinder connecting plate and the part clamping cylinder and is respectively and fixedly connected with the part clamping cylinder connecting plate and the part clamping cylinder, and when the part clamping cylinder is located at a working position, the part clamping cylinder connecting plate is in contact with the upper surface of the protection limiting bottom plate.

Preferably, the carrying mechanism protecting device further comprises a protecting and tensioning mechanism, wherein the protecting and tensioning mechanism comprises an upper protecting pull rod, a lower protecting pull rod and a protecting tension spring; the upper protection pull rods are two and L-shaped, one ends of the upper protection pull rods are fixed to the tops of two sides of the part clamping cylinder connecting plate respectively, the other ends of the upper protection pull rods are bent towards one side of the traction rod connecting plate, the lower protection pull rods are also two and are fixed to one ends of the protection limiting bottom plate fixing traction rod connecting plate respectively, and two ends of each protection pull spring are sleeved on the upper protection pull rods and the lower protection pull rods respectively.

Preferably, the carrying mechanism protection device further comprises a protection starting sensing device, wherein the protection starting sensing device comprises a protection starting sensor, a protection starting sensing piece and a sensor height adjusting plate; the protection starting sensor is fixed on the sensor height adjusting plate through the waist-shaped through holes, so that the installation height of the protection starting sensor can be adjusted conveniently through the waist-shaped through holes; the protection starts the response piece and is the L type, fixes in the top of part centre gripping cylinder connecting plate, when part centre gripping cylinder is in operating position, the protection starts the response piece and just is located the protection and starts the regional that sensor can detect.

Preferably, the assembly pressing mechanism includes an assembly pressing module and a pressing module driving cylinder for driving the assembly pressing module to descend or ascend.

Preferably, the assembling and pressing mechanism further comprises an assembling and pressing slide rail and an assembling and pressing slide block slidably connected with the assembling and pressing slide rail, the assembling and pressing module is fixed on the assembling and pressing slide block, and the pressing module drives the air cylinder to drive the assembling and pressing slide block to move up and down so as to drive the assembling and pressing module to move up and down.

Preferably, the assembling and downward-pressing mechanism further comprises a downward-pressing mechanism supporting block, a downward-pressing module driving cylinder fixing plate and an assembling and downward-pressing module fixing plate, the downward-pressing mechanism supporting block is fixed on the assembling fixing plate, the downward-pressing module driving cylinder fixing plate is fixed on the upper surface of the downward-pressing mechanism supporting block, the assembling and downward-pressing slide rail is fixed on the side surface of the downward-pressing mechanism supporting block, the assembling and downward-pressing module fixing plate is fixed on the assembling and downward-pressing slide block, the assembling and downward-pressing module is fixed on the assembling and downward-pressing module fixing plate, and a piston column of the downward-pressing module driving cylinder penetrates through the downward-pressing module driving cylinder fixing plate and is fixedly connected with.

Preferably, the assembling and pressing module comprises an assembling and pressing cover, an assembling and pressing block, a pressing block limiting plate and two pressing block pressurizing springs; the assembled lower pressing cover is L-shaped and comprises lower pressing cover bodies which are vertical to each other and a cover body fixing part which is used for fixing the assembled lower pressing module on the assembled lower pressing module fixing plate, the bottom surface of the lower pressing cover body is provided with a lower opening, the side surface of the lower pressing cover body is provided with a side opening, and the top end of the assembled lower pressing block is provided with a convex edge which protrudes outwards along one side surface;

the briquetting is arranged in the pressure cover body under the equipment, and the bottom passes the lower uncovered of the pressure cover body down, and protruding edge protrusion is uncovered in the side of the pressure cover body down, the uncovered one side in side of the pressure cover body is fixed down to the briquetting limiting plate down, through with protruding cooperation restriction equipment between the edge down the briquetting stretch out the height of the pressure cover body down, briquetting pressure spring sets up under the equipment between the briquetting and the interior top surface of the pressure cover body down for the briquetting provides the buffering under the equipment, avoids crushing the part.

Preferably, the upper surface of the assembly lower pressing block is provided with two first pressurizing spring blind holes which are arranged at intervals, the inner top surface of the assembly lower pressing cover is provided with a second pressurizing spring blind hole which corresponds to the first pressurizing spring blind hole, and two ends of the pressure spring of the lower pressing block extend into the first pressurizing spring blind hole and the second pressurizing spring blind hole respectively.

Preferably, the assembly pressing mechanism further comprises an air cylinder pressure regulating device for regulating the air pressure of the driving air cylinder of the pressing module.

Preferably, the assembly pressing mechanism further comprises a pressing height limiting device, the pressing height limiting device comprises a pressing height limiting block fixed on the pressing mechanism supporting block and a pressing height limiting column fixed on the assembly pressing module fixing plate, and the descending height of the assembly pressing module is limited through the matching between the pressing height limiting column and the pressing height limiting block.

Preferably, the product qualification detection mechanism comprises a detection mechanism support, a height detection sensor and a sensor driving device, wherein the detection mechanism support is fixed on the workbench, and the sensor driving device is fixed on the detection mechanism support and used for driving the height detection sensor to move to different detection positions to obtain height differences of the different detection positions.

Preferably, the height detection sensor is fixed to the sensor driving device by a height fine adjustment device, and the height detection sensor is a laser displacement sensor.

Preferably, the sensor driving device includes a sensor front-rear driving device and a sensor left-right driving device; the sensor left and right driving device is fixed on the detection mechanism support, the sensor front and back driving device is fixed on the sensor left and right driving device and used for driving the height detection sensor to move back and forth, and the sensor left and right driving device is used for driving the sensor front and back driving device to drive the height detection sensor to move left and right.

Preferably, the sensor front-rear driving device comprises an "L-shaped" sensor fixing plate and a sensor front-rear driving electric cylinder, the "L-shaped" sensor fixing plate is used for fixing the height detection sensor on the sensor front-rear driving electric cylinder, and the sensor front-rear driving electric cylinder is used for driving the "L-shaped" sensor fixing plate to drive the height detection sensor to move back and forth.

Preferably, the left and right sensor driving device comprises an electric cylinder fixing device, a left and right sensor driving slide rail, a left and right sensor driving slide block and a left and right sensor driving air cylinder, the left and right sensor driving slide rail is fixed on the detection mechanism support, the left and right sensor driving slide block is connected with the left and right sensor driving slide rail in a sliding manner, the front and rear sensor driving electric cylinder is fixed on the left and right sensor driving slide block through the electric cylinder fixing device, and the left and right sensor driving air cylinder is fixed on the detection mechanism support and used for driving the left and right sensor driving slide block to move left and right to drive the front and rear sensor driving electric cylinder and further drive the height detection sensor to move left and right.

Preferably, the sensor right and left driving device further includes a right and left driving buffer device for buffering right and left movement of the height detection sensor.

Preferably, the left and right driving buffer means includes a left buffer means for buffering the leftward movement of the height detection sensor and a right buffer means for buffering the rightward movement of the height detection sensor.

Preferably, the electric cylinder fixing device comprises an electric cylinder fixing transverse plate and an electric cylinder fixing vertical plate which are vertically fixed together, the electric cylinder fixing transverse plate is fixed on the left and right driving sliding blocks of the sensor, and the front and rear driving electric cylinders of the sensor are fixed on the electric cylinder fixing vertical plate;

left side buffer includes left buffer fixed plate, left inductor and left buffer, left side buffer fixed plate is fixed on the detection mechanism support, left side inductor is proximity sensor, and its response end passes left buffer fixed plate for the electric jar that the response is close to gradually fixes the diaphragm, the buffering end of left side buffer passes left buffer fixed plate, provides the buffering through the contact with the fixed diaphragm of electric jar.

Preferably, the right buffer device comprises a right buffer device fixing plate, a right inductor and a right buffer, the right buffer device fixing plate is fixed on the detection mechanism support, the right inductor is a proximity sensor, an induction end of the right inductor penetrates through the right buffer device fixing plate and is used for inducing an electric cylinder fixing vertical plate which gradually approaches, and a buffer end of the right buffer penetrates through the right buffer device fixing plate and is in contact with the electric cylinder fixing vertical plate to provide buffering;

the sensor left and right driving cylinders are fixed on the right buffer device fixing plate, and piston rods of the sensor left and right driving cylinders penetrate through the right buffer device fixing plate to be fixedly connected with the electric cylinder fixing transverse plate.

Preferably, the qualified product marking mechanism comprises a laser marking machine, a smoke absorption device and a qualified product marking cover; qualified product marking cover is fixed on workstation and equipment fixed disk, forms the laser marking space, laser marking machine is used for carrying out laser marking at the assigned position of qualified product, flue gas absorbing device is used for siphoning away the flue gas that produces because of laser marking in the qualified product marking cover.

Preferably, the qualified product marking mechanism further comprises a laser marking and blowing device, and the laser marking and blowing device is fixed in the qualified product marking cover and used for blowing away dust generated by laser marking.

Preferably, the qualified product marking mechanism further comprises a qualified product sensor for detecting whether the qualified product is to be marked in the part assembly module.

Preferably, the assembling means further includes a non-defective product pressing device fixed in the non-defective product marking cover, for fixing the non-defective product in the laser marking process.

Preferably, the non-defective product pressing apparatus includes a non-defective product pressed block and a non-defective product pressed block driving cylinder for driving the non-defective product pressed block to ascend or descend.

Preferably, the discharge mechanism includes a product carrying mechanism for carrying the assembled product to the discharge conveyor, and a discharge conveyor.

Preferably, the product conveying mechanism comprises a product conveying support and a product conveying device, the product conveying device is fixed on the workbench through the product conveying support, and the product conveying device comprises a product clamping mechanism, a product up-and-down conveying driving mechanism for driving the product clamping mechanism to ascend or descend, and a product front-and-back conveying driving mechanism for driving the product clamping mechanism to advance or retreat.

Preferably, the product clamping mechanism comprises a product clamping block for clamping the product and a product clamping cylinder for driving the product clamping block to close or open.

Preferably, the product vertical carrying driving mechanism includes a product clamping cylinder fixing plate fixedly connected to the product clamping cylinder and a product vertical driving cylinder for driving the product clamping cylinder fixing plate to ascend or descend.

Preferably, the product front and rear conveying driving mechanism includes a product vertical driving cylinder fixing plate fixedly connected to the product vertical driving cylinder, and a product front and rear driving electric cylinder for driving the product vertical driving cylinder fixing plate to advance or retreat.

Preferably, the discharge conveyor includes a discharge conveyor for receiving the product conveyed by the product conveying mechanism, and a product discharge barrier fixed to both sides of the discharge conveyor and at an end of the discharge conveyor away from the assembling mechanism for preventing the product from falling.

Preferably, the discharge conveyor further comprises a product discharge sensing device, which is disposed at an end of the discharge conveyor near the assembling mechanism and is used for detecting whether a product is placed on the discharge conveyor.

Preferably, the discharge conveyor further comprises a product accumulation prevention sensing device, which is arranged at one end of the discharge conveyor belt far away from the assembling mechanism and is used for detecting whether product accumulation is formed on the discharge conveyor belt.

Preferably, the discharge mechanism further includes a defective product recovery mechanism, the defective product recovery mechanism is disposed between the assembly mechanism and the discharge conveyor, and includes a defective product recovery box and a defective product sensing device, and the defective product sensing device is located above the defective product recovery box and is configured to detect whether a defective product is placed in the defective product recovery box.

The utility model has the advantages that:

(1) the assembly mechanism of the utility model comprises an assembly turntable fixedly arranged on the workbench and a plurality of part assembly modules arranged on the assembly turntable at intervals, wherein the part assembly modules rotate to each station along with the assembly turntable, and the part assembly modules rotate to each station along with the assembly turntable to receive the first part and the second part, thereby realizing the automatic assembly of the parts and having high working efficiency;

(2) the utility model is also provided with a first part pressing device which is used for pressing the first part when receiving the second part;

(3) the utility model is also provided with an assembling and pressing mechanism for pressing the second part to ensure that the first part and the second part are matched in place, thereby improving the assembling precision;

(4) the utility model is also provided with a product qualification detection mechanism, which can directly detect after the assembly is completed, thereby improving the working efficiency;

(5) the utility model discloses still be equipped with certified products marking mechanism, directly beat the mark to detecting qualified product, discharge again, improve work efficiency.

Drawings

The present invention will be further explained with reference to the drawings and examples.

Fig. 1 is a schematic structural diagram of the present invention;

FIG. 2 is a schematic view showing a positional relationship among the first part feeder, the second part feeder, the assembling mechanism, and the discharging mechanism;

FIG. 3 is an enlarged view of portion n of FIG. 2;

FIG. 4 is an enlarged view of portion g of FIG. 2;

FIG. 5 is a schematic view of a first part pressing apparatus according to the present invention;

FIG. 6 is a schematic view of the assembled hold-down mechanism of the present invention;

fig. 7 is a schematic structural view of the assembled push-down module of the present invention;

FIG. 8 is a schematic structural view of the product quality inspection mechanism of the present invention;

FIG. 9 is an enlarged view of portion h of FIG. 8;

FIG. 10 is a schematic structural view of a qualified product marking mechanism according to the present invention;

fig. 11 is an internal structural view of a portion a in fig. 10;

FIG. 12 is a schematic diagram showing the correspondence between different parts and the detection points when the part variety detection device detects the first part;

in the figure: 11. a first part supply device; 12. a first part conveying device; 21. a second parts supply device; 3. an assembly mechanism; 31. assembling the turntable; 32. a part assembly module; 33. assembling a fixed disc; 331. a first part sensor 332, a second part sensor; 34. a part variety detection device; 341. detecting points of part varieties; 35. a first part pressing device; 351. a first part compact; 352. the pressing block drives the air cylinder; 36. assembling a pressing mechanism; 361. assembling a pressing module; 3611. assembling a lower pressing cover; 36111. pressing the cover body; 361111. the side is open; 36112. a cover body fixing part; 3612. assembling a lower pressing block; 36121. a convex edge; 3613. a pressing block limiting plate is arranged; 3614. a lower pressing block pressurizing spring; 362. the pressing module drives the air cylinder; 363. assembling a pressing slide rail; 364. assembling a pressing slide block; 365. pressing down the mechanism supporting block; 366. the pressing module drives the cylinder fixing plate; 367. assembling a pressing module fixing plate; 368. a cylinder pressure regulating device; 3691. pressing down the height limiting block; 3692. depressing the height limiting post; 37. a product qualification detection mechanism; 371. a detection mechanism support; 372. a height detection sensor; 373. a sensor driving device; 3731. a sensor front and rear driving device; 37311. an "L-shaped" sensor mounting plate; 37312. the sensor drives the electric cylinder front and back; 3732. a sensor left and right driving device; 37321. an electric cylinder fixing device; 373211. the electric cylinder fixes the transverse plate; 373212. the vertical plate is fixed by the electric cylinder; 37322. the sensor drives the slide rail left and right; 37323. the sensor drives the slide block left and right; 37324. the sensor drives the cylinder left and right; 37325. a left-right driving buffer device; 373251. a left buffer device fixing plate; 373252. a left inductor; 373253. a left buffer; 373254. a right buffer fixing plate; 373255. a right inductor; 373256. a right buffer; 374. a height fine-tuning device; 38. a qualified product marking mechanism; 381. laser marking machine; 382. a flue gas absorption device; 383. marking a qualified product with a mark cover; 384. a laser marking and blowing device; 385. a qualified product sensor; 386. a qualified product pressing device; 3861. qualified product pressed blocks; 3862. the qualified product pressing block drives the air cylinder; 4. a discharge mechanism; 5. a parts carrying mechanism; 91. a first part; 92. a second part; 93. qualified products; 94. unqualified products; 99. a work bench.

Detailed Description

The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic drawings and illustrate the basic structure of the present invention only in a schematic manner, and thus show only the components related to the present invention.

As shown in fig. 2, the assembly mechanism 3 includes an assembly turntable 31 fixedly disposed on a work table 99, and a plurality of component assembly modules 32 disposed on the assembly turntable 31 at intervals.

In a specific embodiment, as shown in fig. 2, 3 and 5, the assembling machine includes a first part conveying device 12 for conveying a first part 91 to the assembling mechanism 3 and a second part conveying device 22 for conveying a second part 92 to the assembling mechanism 3; the assembly mechanism 3 further includes an assembly fixing plate 33, the assembly fixing plate 33 is fixed on the worktable 99, is located above the assembly turntable 31, and has a diameter smaller than that of the assembly turntable 31, the assembly fixing plate 33 is provided with a first part sensor 331 at a position corresponding to the first part conveying device 12, and is provided with a second part sensor 332 at a position corresponding to the second part conveying device 22, and the first part sensor and the second part sensor are respectively used for detecting whether the first part 91 and the second part 92 are loaded in the part assembly module 32.

In one embodiment, as shown in FIG. 3, the first part sensor 331 emits a radiation γ, and when the first part sensor 331 detects a first part 92 on the part assembly module 32, the assembly turntable 31 is commanded to rotate to the next station. As shown in fig. 5, the second part sensor 332 emits the radiation γ, and when the second part sensor 332 detects the presence of the second part 92 on the part assembly module 32, the assembly turntable 31 is commanded to rotate to the next station. In a particular embodiment, first part sensor 331 and second part sensor 332 may employ EX-11EA photosensors.

In the embodiment, as shown in fig. 2, the assembling machine further includes a part carrying mechanism 5 and a discharging mechanism 4, the part carrying mechanism 5 connected to the first part conveying device 12 carries the first part 91 conveyed by the first part conveying device 12 to the part assembling module 32, the part assembling module 32 rotates to the assembling station along with the assembling turntable 31, and the part carrying mechanism 5 connected to the second part conveying device 22 carries the second part 92 conveyed by the second part conveying device 22 to the part assembling module 32 to be assembled with the first part 91; the component assembly module 32 rotates to the discharge station along with the assembly turntable 31, and the discharge mechanism 4 discharges the product assembled on the component assembly module 32 out of the assembly mechanism 3.

In a specific embodiment, as shown in fig. 3 and 5, each of the first part sensor 331 and the second part sensor 332 includes a pair of photosensors, and each of the pair of photosensors is fixed to the assembly fixture plate 33 by a fixing plate and is located on both sides of the first part 91 and the second part 92, respectively.

In a specific embodiment, as shown in fig. 2 and 4, the assembly mechanism 3 further includes a part type detection device 34 disposed between the first part feeder 12 and the second part feeder 22, and the part type detection device 34 is fixed to the table 99 and detects the type of the first part 91.

In the embodiment, as shown in fig. 12, the detected part type can be determined by the number and positions of the different part type detection points 341.

In a specific embodiment, as shown in fig. 2 and 5, the assembly mechanism 3 further includes a first part pressing device 35 fixed to the assembly fixing plate 33 by a fixing plate, for pressing the first part 91 when receiving the second part 92.

In a specific embodiment, as shown in fig. 5, the first part press 35 includes a first part press block 351 and a press block driving cylinder 352 for driving the first part press block 351 to ascend or descend.

In a specific embodiment, as shown in fig. 2 and 6, the assembling machine further includes a discharge mechanism 4 for discharging the assembled product out of the assembling mechanism 3; the assembling mechanism 3 further includes an assembling pressing mechanism 36 disposed between the second part conveying device 22 and the discharging mechanism 4, and the assembling pressing mechanism 36 is fixed on the assembling fixing plate 33 and used for pressing the second part 92 downward to match the first part 91 with the second part 92 in place.

The first part 91 and the second part 92 are matched in place through the assembling pressing mechanism 36, and the assembling precision is high.

In a specific embodiment, as shown in fig. 2, the assembling mechanism 3 further includes a product quality detecting mechanism 37 disposed between the assembling press mechanism 36 and the discharging mechanism 4, and the product quality detecting mechanism 37 is fixed to the table 99 for detecting whether or not the height difference between the first part 91 and the second part 92 is good.

In a specific embodiment, as shown in fig. 2, the assembling mechanism 3 further includes a non-defective product marking mechanism 38 disposed between the product non-defective detecting mechanism 37 and the discharging mechanism 4, for leaving a non-defective mark on the non-defective product.

In a specific embodiment, as shown in fig. 2, eight parts-assembling modules 32 are provided, and are uniformly distributed along the circumferential direction of the assembling turntable 31.

An automated assembly robot using the above assembly mechanism, as shown in fig. 1, includes a delivery mechanism including a first part supply device 11 and a first part transfer device 12, a second delivery mechanism, an assembly mechanism 3, and a discharge mechanism 4; the second feeding mechanism comprises a second part supply device 21 and a second part conveying device 22; the assembling mechanism 3 is used for assembling the first part 91 from the first part conveying device 12 and the second part 92 from the second part conveying device 22; the discharge mechanism 4 is used for discharging the assembled product out of the assembly mechanism 3.

The first parts 91 in the first part supply device 11 are automatically conveyed to the assembly mechanism 3 through the first part conveying device 12, the second parts 92 in the second part supply device 21 are automatically conveyed to the assembly mechanism 3 through the second part conveying device 22 to be automatically assembled with the first parts 91, and assembled products are automatically discharged through the discharge mechanism 4, so that the automation of part assembly is realized, the assembly efficiency is improved, the whole assembly process is automatically controlled, and the assembly precision is high.

In a specific embodiment, as shown in fig. 6, the assembly push-down mechanism 36 includes an assembly push-down module 361 and a push-down module driving cylinder 362 for driving the assembly push-down module 361 to descend or ascend.

In a specific embodiment, as shown in fig. 6, the assembling pressing mechanism 36 further includes an assembling pressing slide rail 363 and an assembling pressing slider 364 slidably connected to the assembling pressing slide rail 363, the assembling pressing module 361 is fixed on the assembling pressing slider 364, and the pressing module drives the air cylinder 362 to drive the assembling pressing slider 364 to move up and down to drive the assembling pressing module 361 to move up and down.

In a specific embodiment, as shown in fig. 6, the assembly push-down mechanism 36 further includes a push-down mechanism support block 365, a push-down module driving cylinder fixing plate 366 and an assembly push-down module fixing plate 367, the push-down mechanism support block 365 is fixed on the assembly fixing plate 33, the push-down module driving cylinder fixing plate 366 is fixed on the upper surface of the push-down mechanism support block 365, the assembly push-down slide rail 363 is fixed on the side surface of the push-down mechanism support block 365, the assembly push-down module fixing plate 367 is fixed on the assembly push-down slider 364, the assembly push-down module 361 is fixed on the assembly push-down module fixing plate 367, and the piston column of the push-down module driving cylinder 362 passes through the push-down module driving cylinder fixing plate 366 and is fixedly connected with the assembly push-down module fixing plate 367.

In a specific embodiment, as shown in fig. 7, the assembly push-down module 361 includes an assembly push-down housing 3611, an assembly push-down block 3612, a push-down block stopper plate 3613, and two push-down block compression springs 3614; the assembly push cover 3611 is L-shaped, and comprises a push cover 36111 and a cover fixing part 36112, wherein the push cover 36111 is perpendicular to each other, the cover fixing part 36112 is used for fixing the assembly push module 361 on the assembly push module fixing plate 367, the bottom surface of the push cover 36111 is provided with a lower opening, the side surface of the push cover is provided with a side opening 361111, and the top end of the assembly push block 3612 is provided with a convex edge 36121 which protrudes outwards along one side surface; the assembled lower pressing block 3612 is arranged in the lower pressing cover body 36111, the bottom of the assembled lower pressing block passes through the lower opening of the lower pressing cover body 36111, the convex edge 36121 protrudes out of the side opening 361111 of the lower pressing cover body 36111, the lower pressing block limiting plate 3613 is fixed on the side opening 361111 of the lower pressing cover body 36111, the height of the assembled lower pressing block 3612 extending out of the lower pressing cover body 36111 is limited through matching with the convex edge 36121, and the lower pressing block pressurizing spring 3614 is arranged between the assembled lower pressing block 3612 and the inner top surface of the lower pressing cover body 36111 and used for buffering the assembled lower pressing block 3612 and avoiding crushing parts.

In a specific embodiment, as shown in fig. 7, the upper surface of the assembled pressing block 3612 has two first pressing spring blind holes arranged at intervals, the inner top surface of the assembled pressing cover 3611 has second pressing spring blind holes corresponding to the first pressing spring blind holes, and two ends of the assembled pressing block pressing spring 3614 extend into the first pressing spring blind holes and the second pressing spring blind holes respectively.

In a specific embodiment, as shown in fig. 6, the assembled push-down mechanism 36 further includes a cylinder pressure adjusting device 368 for adjusting the air pressure of the push-down module driving cylinder 362.

In a specific embodiment, as shown in fig. 6, the assembly hold-down mechanism 36 further includes a hold-down height limiting device including a hold-down height limiting piece 3691 fixed to the hold-down mechanism support block 365 and a hold-down height limiting post 3692 fixed to the assembly hold-down module fixing plate 367, and the lowered height of the assembly hold-down module 361 is limited by the engagement between the hold-down height limiting piece 3692 and the hold-down height limiting piece 3691.

In a specific embodiment, as shown in fig. 8, the product quality detection mechanism 37 includes a detection mechanism support 371, a height detection sensor 372 and a sensor driving device 373, wherein the detection mechanism support 371 is fixed on the worktable 99, and the sensor driving device 373 is fixed on the detection mechanism support 371 and is used for driving the height detection sensor 372 to move to different detection positions to obtain height differences of the different detection positions.

In a specific embodiment, as shown in fig. 8, the height detection sensor 372 is fixed on the sensor driving device 373 by a height fine-adjustment device 374, and the height detection sensor 372 is a laser displacement sensor.

In a particular embodiment, as shown in FIG. 8, the distance from the height detection sensor 372 to the part may be adjusted by a height fine adjustment device 374.

In a specific embodiment, as shown in fig. 8, the sensor driving device 373 includes a sensor front-rear driving device 3731 and a sensor left-right driving device 3732; the sensor left-right driving device 3732 is fixed to the detection mechanism support 371, the sensor front-back driving device 3731 is fixed to the sensor left-right driving device 3732 and used for driving the height detection sensor 372 to move back and forth, and the sensor left-right driving device 3732 is used for driving the sensor front-back driving device 3731 to drive the height detection sensor 372 to move left and right.

In a specific embodiment, as shown in fig. 8, the sensor front-rear driving device 3731 includes an "L-shaped" sensor fixing plate 37311 and a sensor front-rear driving electric cylinder 37312, the "L-shaped" sensor fixing plate 37311 is used for fixing the height detecting sensor 372 on the sensor front-rear driving electric cylinder 37312, and the sensor front-rear driving electric cylinder 37312 is used for driving the "L-shaped" sensor fixing plate 37311 to move the height detecting sensor 372 back and forth.

In a specific embodiment, as shown in fig. 8, the left and right sensor driving device 3732 includes an electric cylinder fixing device 37321, a left and right sensor driving slide rail 37322, a left and right sensor driving slide block 37323 and a left and right sensor driving cylinder 37324, the left and right sensor driving slide rail 37322 is fixed on the detection mechanism support 371, the left and right sensor driving slide block 37323 is slidably connected to the left and right sensor driving slide rail 37322, the front and rear sensor driving electric cylinder 37312 is fixed on the left and right sensor driving slide block 37323 through the electric cylinder fixing device 37321, and the left and right sensor driving cylinder 37324 is fixed on the detection mechanism support 371 and is used for driving the left and right sensor driving slide block 37323 to move left and right to drive the front and rear sensor driving electric cylinder 37312 and further to drive the height detection sensor 372 to move left and right.

In one particular embodiment, as shown in FIG. 8, the sensor left and right drive 3732 further includes a left and right drive buffer 37325 for buffering the left and right movement of the height detection sensor 372.

In one particular embodiment, as shown in FIG. 8, the left and right drive bumpers 37325 include a left bumper for providing cushioning for the movement of the height detection sensor 372 to the left and a right bumper for providing cushioning for the movement of the height detection sensor 372 to the right.

In a specific embodiment, as shown in fig. 8-9, the electric cylinder fixing device 37321 comprises an electric cylinder fixing cross plate 373211 and an electric cylinder fixing vertical plate 373212 which are vertically fixed together, the electric cylinder fixing cross plate 373211 is fixed on the left and right sensor driving sliders 37323, and the front and rear sensor driving electric cylinders 37312 are fixed on the electric cylinder fixing vertical plate 373212; the left buffer device comprises a left buffer device fixing plate 373251, a left sensor 373252 and a left buffer 373253, the left buffer device fixing plate 373251 is fixed on the detection mechanism support 371, the left sensor 373252 is a proximity sensor, the sensing end of the left sensor 373252 penetrates through the left buffer device fixing plate 373251 and is used for sensing an electric cylinder fixing transverse plate 373211 approaching gradually, the buffering end of the left buffer 373253 penetrates through the left buffer device fixing plate 373251 and provides buffering through contact with an electric cylinder fixing transverse plate 373211.

In a specific embodiment, as shown in fig. 9, the right buffer device includes a right buffer device fixing plate 373254, a right sensor 373255 and a right buffer 373256, the right buffer device fixing plate 373254 is fixed on the detection mechanism support 371, the right sensor 373255 is a proximity sensor, the sensing end of the proximity sensor passes through the right buffer device fixing plate 373254 and is used for sensing the electric cylinder fixing riser 373212 approaching gradually, and the buffer end of the right buffer 373256 passes through the right buffer device fixing plate 373254 and is buffered by contacting with the electric cylinder fixing riser 373212; the sensor left and right driving cylinder 37324 is fixed on the right bumper fixing plate 373254, and the piston rod thereof passes through the right bumper fixing plate 373254 and is fixedly connected with the electric cylinder fixing cross plate 373211.

In one particular embodiment, as shown in fig. 10-11, the good marking mechanism 38 includes a laser marking machine 381, a fume absorbing device 382, and a good marking cover 383; the qualified product marking cover 383 is fixed on the workbench 99 and the assembly fixing disc 33 to form a laser marking space, the laser marking machine 381 is used for carrying out laser marking on the specified position of the qualified product 93, and the smoke absorption device 382 is used for absorbing smoke generated in the qualified product marking cover 383 due to laser marking.

In the embodiment, as shown in fig. 11, the laser marker 381 emits laser λ to perform laser marking at a designated position of the non-defective product 93.

In one embodiment, as shown in fig. 11, the non-defective marking mechanism 38 further includes a laser marking blowing device 384, and the laser marking blowing device 384 is fixed in the non-defective marking cover 383 for blowing off dust generated by laser marking.

In one particular embodiment, as shown in FIG. 11, the good marking mechanism 38 further includes a good sensor 385 for detecting whether a good 93 is to be marked in the part assembly module 32.

In the embodiment, as shown in fig. 11, the non-defective product sensor 385 emits a radiation γ to detect whether the non-defective product marking mechanism 38 has the non-defective product 93, and the laser marking is performed after the non-defective product 93 is detected. In a particular embodiment, the non-defective sensor 385 may be an EX-11EA photosensor.

In one embodiment, as shown in fig. 11, the assembly mechanism 3 further includes a good pressing device 386 fixed inside the good marking cover 383 for fixing the good 93 during the laser marking process.

In a specific embodiment, as shown in fig. 11, the non-defective products pressing apparatus 386 includes a non-defective products pressing block 3861 and a non-defective products pressing block driving cylinder 3862 for driving the non-defective products pressing block 3861 to ascend or descend.

In light of the foregoing, it will be apparent to those skilled in the art from this disclosure that various changes and modifications can be made without departing from the spirit and scope of the invention. The technical scope of the present invention is not limited to the content of the specification, and must be determined according to the scope of the claims.

Claims (9)

1. Automatic change equipment robot and use equipment mechanism, its characterized in that: the assembling mechanism (3) comprises an assembling turntable (31) fixedly arranged on the workbench (99) and a plurality of part assembling modules (32) arranged on the assembling turntable (31) at intervals, and the assembling mechanism (3) comprises a first part conveying device (12) used for conveying a first part (91) to the assembling mechanism (3) and a second part conveying device (22) used for conveying a second part (92) to the assembling mechanism (3);

the assembling mechanism (3) further comprises an assembling fixed disc (33), the assembling fixed disc (33) is fixed on the workbench (99) and located above the assembling rotary disc (31), the diameter of the assembling fixed disc is smaller than that of the assembling rotary disc (31), a first part sensor (331) is arranged at the position corresponding to the first part conveying device (12) of the assembling fixed disc (33), a second part sensor (332) is arranged at the position corresponding to the second part conveying device (22) of the assembling fixed disc, and the assembling fixed disc is used for detecting whether the first part (91) and the second part (92) are assembled into the part assembling module (32) or not.

2. The assembling mechanism for an automated assembling robot according to claim 1, wherein: the first part sensor (331) and the second part sensor (332) both comprise a pair of photoelectric sensors, and the photoelectric sensors are fixed on the assembly fixing disc (33) through fixing plates and are respectively positioned on two sides of the first part (91) and the second part (92).

3. The assembling mechanism for an automated assembling robot according to claim 1, wherein: the assembling mechanism (3) further comprises a part variety detecting device (34) arranged between the first part conveying device (12) and the second part conveying device (22), and the part variety detecting device (34) is fixed on the workbench (99) and used for detecting the variety of the first part (91).

4. The assembling mechanism for an automated assembling robot according to claim 1, wherein: the assembly mechanism (3) further comprises a first part pressing device (35) fixed on the assembly fixing disc (33) through a fixing plate and used for pressing the first part (91) when receiving the second part (92).

5. The assembling mechanism for an automated assembling robot according to claim 4, wherein: the first part press device (35) includes a first part press block (351) and a press block driving cylinder (352) for driving the first part press block (351) to ascend or descend.

6. The assembling mechanism for an automated assembling robot according to claim 1, wherein: the assembly mechanism (3) further comprises a discharge mechanism (4) for discharging the assembled product out of the assembly mechanism (3); the assembling mechanism (3) further comprises an assembling pressing mechanism (36) arranged between the second part conveying device (22) and the discharging mechanism (4), and the assembling pressing mechanism (36) is fixed on the assembling fixed disc (33) and used for pressing the second part (92) downwards to enable the first part (91) and the second part (92) to be matched in place.

7. The assembling mechanism for an automated assembling robot according to claim 6, wherein: the assembling mechanism (3) further comprises a product qualification detection mechanism (37) arranged between the assembling pressing mechanism (36) and the discharging mechanism (4), and the product qualification detection mechanism (37) is fixed on the workbench (99) and used for detecting whether the height difference between the first part (91) and the second part (92) is qualified or not.

8. The assembling mechanism for an automated assembling robot according to claim 7, wherein: the assembly mechanism (3) further comprises a qualified product marking mechanism (38) arranged between the product qualified detection mechanism (37) and the discharge mechanism (4) and used for leaving qualified marks on the qualified products.

9. The assembling mechanism for an automated assembling robot according to claim 1, wherein: the number of the part assembling modules (32) is eight, and the parts are uniformly distributed along the circumferential direction of the assembling turntable (31).

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