一种多部件组装设备Multi-part assembly equipment
本发明涉及一种组装加工设备。The present invention relates to an assembly processing apparatus.
对于一些形状较为不规则的产品，往往将其分为多个形状较为规则的部件分别进行生产，再组装到一起而获得。例如使用在包装盒内，起到固定易损坏对象产品的定位件，其往往为了限制对象产品在包装盒内的获得空间而设置很多限位的凸出。传统通过人工将多个部件组合到一起，不仅浪费人力，而且效率低下。For some products with irregular shapes, they are often divided into a plurality of relatively regular shaped parts for production and assembly. For example, it is used in a package to serve as a positioning member for fixing a product that is easily damaged, and it is often provided with a plurality of limit projections for restricting the space in which the target product is obtained in the package. Traditionally, by manually combining multiple components, it is not only wasteful of manpower, but also inefficient.
发明内容Summary of the invention
一种多部件组装设备，用于组装多个工件，其特征是，包括若干组装机械手，以及分别设置在所述组装机械手两侧的第一传送机构和第二传送机构，所述第一传送机构用于传送第一工件，所述第二传送机构用于传送至少一个第二工件，所述第一传送机构和第二传送机构的传送方向一致。A multi-component assembly apparatus for assembling a plurality of workpieces, comprising: a plurality of assembly robots, and first and second conveying mechanisms respectively disposed on both sides of the assembly robot, the first conveying mechanism And a second conveying mechanism is configured to convey the at least one second workpiece, and the conveying directions of the first conveying mechanism and the second conveying mechanism are the same.
优选的，所述第二传送机构垂直于传送方向设有至少两个传送区间，所述传送区间之间以分隔件隔开，多个所述组装机械手分别用于转移对应传送区间内的第二工件到第一工件上。Preferably, the second conveying mechanism is provided with at least two conveying sections perpendicular to the conveying direction, the conveying sections are separated by a partition, and the plurality of assembling robots are respectively used for transferring the second in the corresponding conveying section The workpiece is on the first workpiece.
优选的，沿所述第二传送机构的传送方向上设有至少一个横跨第二传送机构的横梁，所述分隔件可移动的设置在所述横梁上。Preferably, at least one beam spanning the second conveying mechanism is provided in the conveying direction of the second conveying mechanism, and the partition member is movably disposed on the beam.
优选的，所述分隔件能够沿横梁的延伸方向进行移动。Preferably, the partition is movable in the direction in which the beam extends.
优选的，所述横梁可移动的设置在所述传送机构上，移动方向沿传送机构的传送方向。Preferably, the beam is movably disposed on the conveying mechanism in a conveying direction along a conveying direction of the conveying mechanism.
优选的，所述分隔件包括两块各自沿传送方向延伸的分隔板，两分隔板间距可调的活动连接。Preferably, the partition comprises two partition plates each extending in the conveying direction, and the two partition plates are movably connected with an adjustable pitch.
优选的，所述横梁上设有刻度线。Preferably, the beam is provided with a scale line.
构所传的第一工件。Preferably, the multi-component assembly apparatus includes a processing device, and the assembly robot drives the workpiece transferred on the second conveying mechanism to the processing device for processing, then moves and combines to the first conveyor.
Construct the first workpiece.
优选的，所述第二工件通过热合的方式固定工件在第一工件上，所述加工设备包括对供所述工件进行加热的加热机构。Preferably, the second workpiece fixes the workpiece on the first workpiece by heat sealing, and the processing device includes a heating mechanism for heating the workpiece.
优选的，沿所述第一传送机构的传送方向设有多个加工工位，至少一个加工工位上设有定位结构，所述定位结构包括设置在第一工件前进方向上的挡料机械手。Preferably, a plurality of processing stations are disposed along the conveying direction of the first conveying mechanism, and at least one processing station is provided with a positioning structure, and the positioning structure comprises a stopper robot disposed in a forward direction of the first workpiece.
优选的，所述挡料机械手能够阻挡所述第一工件的前进和撤去对第一工件的阻挡。Preferably, the stopper robot is capable of blocking the advancement of the first workpiece and removing the blocking of the first workpiece.
优选的，所述挡料机械手包括设置在第一传送机构上方的翻板，以及驱动所述翻板翻转的第一驱动装置，所述翻板下翻能够阻挡第一传送机构上运送的第一工件前进，上翻能够解除对第一工件的阻挡。Preferably, the stopper robot includes a flap disposed above the first conveying mechanism, and a first driving device that drives the flap to be turned over, the flap being inverted to block the first conveying on the first conveying mechanism The workpiece advances and the flipping can release the blocking of the first workpiece.
优选的，每个所述加工工位都对应设有所述定位结构。Preferably, each of the processing stations is correspondingly provided with the positioning structure.
优选的，所述定位结构还包括设置在第一传送机构传送方向另一侧的、能够配合所述限位结构对第一工件进行夹持和放松的定位机械手。Preferably, the positioning structure further comprises a positioning robot disposed on the other side of the conveying direction of the first conveying mechanism and capable of clamping and relaxing the first workpiece in cooperation with the limiting structure.
优选的，所述限位结构为沿传送方向延伸的定位条。Preferably, the limiting structure is a positioning strip extending in the conveying direction.
优选的，所述定位机械手包括定位件以及驱动所述定位件向限位结构靠近和后撤的第二驱动装置，所述定位件面向限位结构的一侧具有长条形边。Preferably, the positioning robot comprises a positioning member and a second driving device for driving the positioning member to approach and retreat to the limiting structure, the positioning member having an elongated side on a side facing the limiting structure.
优选的，沿所述第一传送机构的传送方向设有多个加工工位，至少一个加工工位处对应设有用于翻转第一工件摆放角度的翻转装置。Preferably, a plurality of processing stations are disposed along the conveying direction of the first conveying mechanism, and at least one processing station is correspondingly provided with a turning device for inverting the first workpiece placement angle.
优选的，所述翻转装置包括一升降机构，设置在升降机构上的电机，以及设置在电机输出端的抓持部，所述电机能够驱动所述抓持部旋转。Preferably, the turning device comprises a lifting mechanism, a motor disposed on the lifting mechanism, and a grip portion disposed at the output end of the motor, the motor being capable of driving the grip portion to rotate.
优选的，所述电机横向设置在所述升降机构上，电机轴垂直于所述传送机构的传送方向设置。Preferably, the motor is laterally disposed on the lifting mechanism, and the motor shaft is disposed perpendicular to a conveying direction of the conveying mechanism.
优选的，所述翻转装置包括一推送件以及一能够驱动所述推送件在垂直于传送方向推送第一工件和后撤的驱动装置。Preferably, the turning device comprises a pushing member and a driving device capable of driving the pushing member to push the first workpiece and retract in a direction perpendicular to the conveying direction.
优选的，所述组装机械手包括第一机械手和第二机械手。Preferably, the assembly robot includes a first robot and a second robot.
臂和手部中至少一个能够调节垂直于手臂旋转方向的高度。Preferably, the assembly robot includes an arm and a hand disposed at a front end of the arm, the hand including a grasping structure, wherein the arm has a point, and the arm can at least be wound in a plane in which the extending direction is The fulcrum rotates and the hand can extend forward and backward relative to the arm while the hand
At least one of the arm and the hand is capable of adjusting a height perpendicular to the direction of rotation of the arm.
优选的，所述手部能够在平行于手臂旋转方向的平面内旋转。Preferably, the hand is rotatable in a plane parallel to the direction of rotation of the arm.
优选的，所述手部能够在垂直于所述手臂旋转方向的平面内旋转。Preferably, the hand is rotatable in a plane perpendicular to the direction of rotation of the arm.
优选的，所述组装机械手包括一升降装置，所述手臂和手部设置在所述升降装置上能够整体调节高度。Preferably, the assembly robot includes a lifting device, and the arm and the hand are disposed on the lifting device to adjust the height as a whole.
优选的，所述手臂上安装一丝杆驱动装置，丝杆驱动装置驱动所述手部相对于手臂前伸和后退。Preferably, a screw drive device is mounted on the arm, and the screw drive device drives the hand to extend forward and backward relative to the arm.
优选的，所述手臂前端设有第一电机，所述手部设置在第一电机的输出端，所述第一电机驱动手部在平行于手臂旋转方向的平面内旋转。Preferably, the front end of the arm is provided with a first motor, the hand is disposed at an output end of the first motor, and the first motor drives the hand to rotate in a plane parallel to the direction of rotation of the arm.
优选的，所述手臂前端设有第二电机，所述手部设置在第二电机的输出端，所述第二电机驱动手部在垂直于手臂旋转方向的平面内旋转。Preferably, the front end of the arm is provided with a second motor, the hand is disposed at an output end of the second motor, and the second motor drives the hand to rotate in a plane perpendicular to the direction of rotation of the arm.
优选的，所述握持部为针板或者负压吸盘。Preferably, the grip portion is a needle plate or a vacuum suction cup.
优选的，所述多部件组装设备还包括设置在第二传送机构传送方向上的分离机构，用于分离第二传送机构上输送的任意两个前后相邻并紧挨的工件。Preferably, the multi-component assembly apparatus further includes a separating mechanism disposed in the conveying direction of the second conveying mechanism for separating any two adjacently adjacent workpieces conveyed on the second conveying mechanism.
本发明所达到的有益效果：The beneficial effects achieved by the invention:
1.本发明的多部件组装设备，通过组装机械手将其中一传送机构传送的部件转移并组合到另一传送机构传送的部件上，达到组合加工的目的。由于两个传送机构的传送方向一致，将大大节省人力和提高生产效率。1. The multi-component assembly apparatus of the present invention achieves the purpose of combined processing by transferring and combining the components conveyed by one of the transport mechanisms to the components transported by another transport mechanism by the assembly robot. Since the conveying directions of the two conveying mechanisms are the same, labor saving and production efficiency are greatly saved.
2.可以设置一加工设备，令组装机械手带动第一传送机构上所传工件先到加工设备处进行加工，再到移动并组合到第二传送机构所传的第一工件，则免去了人工对第二工件进行处理的过程，第二工件在转移的路径中即可就近完成该加工，进一步提高本发明流水线的自动化程度。2. A processing device can be provided, so that the assembly robot drives the workpiece transferred on the first conveying mechanism to the processing device for processing, and then moves to the first workpiece transmitted by the second conveying mechanism, thereby eliminating the manual In the process of processing the second workpiece, the second workpiece can complete the processing in the transfer path, further improving the automation degree of the pipeline of the present invention.
3.当第二工件可以通过热合的方式固定在第一工件上时，设置加工设备包括加热机构，则机械手带动第二工件到达第一工件前即可在加热机构上完成加热，达到第一工件上之后即可直接与之热压合，更加方便、快捷。3. When the second workpiece can be fixed on the first workpiece by heat sealing, the processing device includes a heating mechanism, and then the robot can complete heating on the heating mechanism before the second workpiece reaches the first workpiece to reach the first workpiece. After the upper part, it can be directly pressed with it, which is more convenient and quicker.
4.可以设置不同种类的组装机械手用于不同的移载需要，使流水线对不同产品加工的适应性更强。4. Different types of assembly robots can be set for different transfer requirements, so that the assembly line is more adaptable to different product processing.
的挡料机械手可以暂停工件在相应的工位上接受加工，而侧部的限位结构又可以稳定工件在垂直于传送方向的位置，因而无需停止传送就可以准确的控制工件在相应工位的停留和离开，并且两者配合使得加工位置的准确性得到保证，有利于加工精度和效率的提高。5. The multi-component assembly apparatus of the present invention can set a plurality of processing stations along the conveying direction of the first conveying mechanism, and at least one processing station is provided with a positioning structure, and the positioning structure is set in the forward direction.
The stopper manipulator can suspend the workpiece to be processed at the corresponding station, and the side limit structure can stabilize the position of the workpiece perpendicular to the conveying direction, so that the workpiece can be accurately controlled at the corresponding station without stopping the transmission. Staying and leaving, and the combination of the two ensures the accuracy of the machining position, which is beneficial to the improvement of machining accuracy and efficiency.
6.设置定位结构还包括位于传送机构传送方向另一侧的、能够配合限位结构对第一工件进行夹持和放松的定位机械手，则一方面可以根据实际情况对第一工件在传送机构上的位置进行校正，另一方面定位机械手配合限位结构可固定第一工件，从而可保证加工过程中其位置的稳定性。6. The positioning structure further comprises a positioning robot capable of clamping and relaxing the first workpiece in cooperation with the limiting structure on the other side of the conveying mechanism of the conveying mechanism, and on the one hand, the first workpiece can be on the conveying mechanism according to actual conditions. The position is corrected, and on the other hand, the positioning robot cooperates with the limit structure to fix the first workpiece, thereby ensuring the stability of its position during processing.
7.至少在一个加工工位上，还可以设置用于调整第一工件摆放角度的翻转装置，能够翻转第一工件，从而根据需要可以改变第一工件的待处理的面，例如可以通过改变姿态在不同的位置组合第二工件。7. At least one processing station, an inverting device for adjusting the first workpiece placement angle can also be provided, and the first workpiece can be flipped, so that the surface to be processed of the first workpiece can be changed as needed, for example, by changing The pose combines the second workpiece at different locations.
8.本发明的设备，垂直于传送方向可以设置至少两个传送区间，且传送区间之间以分隔件隔开而独立，因此能够把不同的工件分开放置，便于各工位取用不同数量或者不同种类的工件，大大提高便捷性和准确率。8. The apparatus of the present invention can provide at least two transmission sections perpendicular to the conveying direction, and the transmission sections are separated by partitions, so that different workpieces can be placed separately, so that different stations can be used in different numbers or Different types of workpieces greatly improve convenience and accuracy.
9.第二传送机构上可以设置横梁，从而能够根据需要调节传送区间在垂直传送方向的位置，方便各工位的人力或者设备在所及范围内抓取传送区间中的工件。例如具体设置各传送区间由两块分隔板隔挡而成，则任意传送区间的两块分隔板能够同步沿横梁、垂直于传送方向移动，从而调节位置。还可以进一步在横梁延伸方向设置刻度线，从而便于精确的进行调节和位置的重现。9. The second conveying mechanism can be provided with a beam, so that the position of the conveying section in the vertical conveying direction can be adjusted as needed, so that the manpower or equipment of each station can grasp the workpiece in the conveying section within the range. For example, if the respective transmission sections are partitioned by two partition plates, the two partition plates in any transmission section can be moved along the beam and perpendicular to the conveying direction to adjust the position. It is also possible to further set the tick marks in the direction in which the beams extend, thereby facilitating precise adjustment and reproduction of the position.
10.可以进一步设置传送区间两块分隔板活动连接，从而方便调节传送区间的宽度。10. It is possible to further set the two partition plate movable connections in the transmission section, thereby facilitating adjustment of the width of the transmission section.
图1是本发明优选实施例的总体示意图；Figure 1 is a general schematic view of a preferred embodiment of the present invention;
图2是图1所示局部A的放大示意图；Figure 2 is an enlarged schematic view of a portion A shown in Figure 1;
图3是第一、第二加工工位处第一传送机构和第二传送机构的配合示意图；3 is a schematic view showing the cooperation of the first conveying mechanism and the second conveying mechanism at the first and second processing stations;
图4是图3所示局部B的放大示意图；Figure 4 is an enlarged schematic view of a portion B shown in Figure 3;
图5是图3中传送区间的放大示意图；Figure 5 is an enlarged schematic view of the transmission section of Figure 3;
图6是第三、第四加工工位处第一传送机构和第二传送机构的配合示意图；Figure 6 is a schematic view showing the cooperation of the first conveying mechanism and the second conveying mechanism at the third and fourth processing stations;
Figure 7 is a schematic view showing the cooperation of the first conveying mechanism and the second conveying mechanism at the fifth, sixth and seventh processing stations;
图8是本发明优选实施例中第一机械手的内部结构示意图；Figure 8 is a schematic view showing the internal structure of a first robot in a preferred embodiment of the present invention;
图9是本发明优选实施例中第二机械手的内部结构示意图；Figure 9 is a schematic view showing the internal structure of a second robot in a preferred embodiment of the present invention;
图10是本发明优选实施例中翻转装置的结构示意图；Figure 10 is a schematic structural view of a turning device in a preferred embodiment of the present invention;
其中：12、第一工件，122、第一部，124、第二部，126、第三部，128、突出，14、第二工件，16、第二工件，18、第二工件，2、第一传送机构，22、传送带，24、驱动装置，3、定位结构，32、挡料机械手，322、翻板，324、第一驱动装置，34、定位条，36、定位机械手，362、定位件，364、第二驱动装置，4、第二传送机构，41、传送带，42、传送区间，43、驱动装置，44、分隔板，45、凸出，46、横梁，462、固定孔，464、刻度线，47、调节部，472、腰槽，48、紧固件，49、连接片，5、分离机构，52、分离件，54、驱动装置，6、第一机械手，62、基座，622、底板，624、支板，626、滑轨，63、手臂，632、支撑板，634、丝杆驱动装置，64、支架，642、滑动结构，644、平台，65、握持部，66、升降丝杆机构，672、安装架，674、第一电机，68、电机，7、翻转装置，72、升降机构，74、电机，76、抓持部，78、安装板，8、第二机械手，83、手臂，834、丝杆驱动装置，85、手部，872、安装架，874、第一电机，876、第二电机，9、加工设备，92、加热板。Wherein: 12, first workpiece, 122, first portion, 124, second portion, 126, third portion, 128, protrusion, 14, second workpiece, 16, second workpiece, 18, second workpiece, 2 First conveying mechanism, 22, conveyor belt, 24, driving device, 3. positioning structure, 32, stopper robot, 322, flap, 324, first driving device, 34, positioning bar, 36, positioning robot, 362, positioning 364, second drive device 4, second transfer mechanism 41, conveyor belt 42, conveyor section 43, drive unit 44, partition plate 45, projection 46, beam, 462, fixing hole, 464, tick mark, 47, adjustment part, 472, waist groove, 48, fastener, 49, connecting piece, 5, separating mechanism, 52, separating piece, 54, drive device, 6, first robot, 62, base Seat, 622, bottom plate, 624, support plate, 626, slide rail, 63, arm, 632, support plate, 634, screw drive, 64, bracket, 642, sliding structure, 644, platform, 65, grip , 66, lifting screw mechanism, 672, mounting frame, 674, first motor, 68, motor, 7, turning device, 72, lifting mechanism, 7 4, motor, 76, grip, 78, mounting plate, 8, second robot, 83, arm, 834, screw drive, 85, hand, 872, mounting frame, 874, first motor, 876, Second motor, 9, processing equipment, 92, heating plate.
下面结合附图对本发明作进一步描述。以下实施例仅用于更加清楚地说明本发明的技术方案，而不能以此来限制本发明的保护范围。The invention is further described below in conjunction with the drawings. The following examples are only intended to more clearly illustrate the technical solutions of the present invention, and are not intended to limit the scope of the present invention.
如图1-10所示，一种多部件组装设备，至少用于组装第二工件到第一工件12上，包括用于传送第一工件12的第一传送机构2，以及用于传送至少一个第二工件的第二传送机构4，第一传送机构2和第二传送机构4并排设置，传送方向一致，且多部件组装设备还包括沿传送方向排列的若干组装机械手，组装机械手能够将第二传送机构4上传送的工件组合到第一传送机构2传送的第一工件12上。As shown in Figures 1-10, a multi-part assembly apparatus for assembling at least a second workpiece onto a first workpiece 12 includes a first transport mechanism 2 for transporting a first workpiece 12 and for transporting at least one The second conveying mechanism 4 of the second workpiece, the first conveying mechanism 2 and the second conveying mechanism 4 are arranged side by side, the conveying direction is uniform, and the multi-component assembling apparatus further includes a plurality of assembling robots arranged in the conveying direction, and the assembling robot can be the second The workpiece conveyed on the conveying mechanism 4 is combined to the first workpiece 12 conveyed by the first conveying mechanism 2.
设有若干突出128，且各突出128的外突面相互齐平在同一平面内。Specifically, the first workpiece 12 includes two strip-shaped first portions 122 disposed in parallel, and a strip-shaped second portion 124 and a third portion 126 that respectively connect the two first portions 122, and the second portion 124 and the third portion The portions 126 are also arranged in parallel with each other. More specifically, the second portion 124 connects the same end portions of the two first portions 122, and the third portion 126 connects the intermediate positions of the two first portions 122. Wherein the second portion 124 is opposite to the outer side of the third portion 126
A plurality of projections 128 are provided, and the outwardly projecting faces of the projections 128 are flush with each other in the same plane.
具体的，第一传送机构2包括输送第一工件12的传送带22，以及驱动传送带22进行运行的驱动装置24，其中传送带22水平直线输送第一工件12。同样的，第二传送机构4包括输送第二工件的传送带41，以及驱动传送带41进行运行的驱动装置43，其传送带41也水平直线输送第二工件。Specifically, the first conveying mechanism 2 includes a conveyor belt 22 that conveys the first workpiece 12, and a driving device 24 that drives the conveyor belt 22 to operate, wherein the conveyor belt 22 conveys the first workpiece 12 horizontally. Similarly, the second conveying mechanism 4 includes a conveyor belt 41 that conveys the second workpiece, and a driving device 43 that drives the conveyor belt 41 to operate, and the conveyor belt 41 also conveys the second workpiece horizontally.
沿第一传送机构2的传送方向设有七个加工工位，设置在第一传送机构2和第二传送机构4之间的组装机械手与第二、第三、第四、第六和第七加工工位一一对应。同时各组装机械手近旁还分别设置有加工设备9，从而方便组装机械手带动第二传送机构4上所传工件先到就近的加工设备9处进行加工，再移动并组合到第一传送机构2所传的第一工件12。There are seven processing stations along the conveying direction of the first conveying mechanism 2, assembly robots disposed between the first conveying mechanism 2 and the second conveying mechanism 4, and second, third, fourth, sixth and seventh Processing stations correspond one-to-one. At the same time, processing robots 9 are respectively disposed in the vicinity of the assembly robots, so that the assembly robot can drive the workpieces transmitted on the second conveying mechanism 4 to be processed at the processing device 9 nearby, and then moved and combined to the first conveying mechanism 2 The first workpiece 12.
第一传送机构2的传送方向上，各第二、第三、第四、第五、第六和第七加工工位上分别设有定位结构3，定位结构3包括设置在传送机构传送方向一侧的限位结构，以及设置在传送机构前进方向上的能够撤离的挡料机械手32。In the conveying direction of the first conveying mechanism 2, each of the second, third, fourth, fifth, sixth and seventh processing stations is respectively provided with a positioning structure 3, and the positioning structure 3 comprises a conveying direction in the conveying mechanism. The side limit structure and the retractable stopper robot 32 disposed in the advancing direction of the conveying mechanism.
定位结构3中，限位结构具体为沿传送方向延伸的定位条34，同时，定位结构3中还包括设置在第一传送机构2远于第二传送机构4的一侧、能够配合限位结构对第一工件12进行夹持和放松的定位机械手36。具体的，本实施例中定位条34近于传送带22的一侧侧面为平面、同时还垂直于传送带22平面，因而当第一工件12平放在传送带22上时，定位机械手36将第一工件12推靠在限位结构上，第一工件12的第二部124各外突面即同时被抵靠在定位条34的侧面上，从而能够稳定限制第一工件12的位置。优选定位条34是由第二加工工位一直延伸到第七加工工位的一个整体，更加稳定且方便定位各加工工位上的第一工件12。而定位机械手36具体包括定位件362以及驱动定位件362向限位结构靠近和后撤的第二驱动装置364，定位件362面向限位结构的一侧具有长条形边，从而有利于整体、稳定的推动和夹紧工件。更具体的，定位件362为长方形条状，第二驱动装置364设置在传送带22平面以下，例如为气缸，其连有一竖板，竖板向上延伸、超出传送带22平面，并通过一横板与定位件362在其长度方向的中部相连。因此第二驱动装置364可带动定位件362在垂直传送机构的运行方向进行移动。In the positioning structure 3, the limiting structure is specifically a positioning strip 34 extending in the conveying direction. At the same time, the positioning structure 3 further comprises a side disposed on the side of the first conveying mechanism 2 farther than the second conveying mechanism 4, and can cooperate with the limiting structure. A positioning robot 36 that clamps and relaxes the first workpiece 12. Specifically, in this embodiment, the positioning strip 34 is flat on one side of the conveyor belt 22 and perpendicular to the plane of the conveyor belt 22, so that when the first workpiece 12 is placed on the conveyor belt 22, the positioning robot 36 will position the first workpiece. 12 is pushed against the limiting structure, and the outer protrusions of the second portion 124 of the first workpiece 12 are simultaneously abutted against the side of the positioning strip 34, so that the position of the first workpiece 12 can be stably restricted. Preferably, the positioning strip 34 extends from the second processing station to the entirety of the seventh processing station, and is more stable and convenient for positioning the first workpiece 12 on each processing station. The positioning robot 36 specifically includes a positioning member 362 and a second driving device 364 that drives the positioning member 362 toward and away from the limiting structure. The positioning member 362 has a long side on a side facing the limiting structure, thereby facilitating the whole, Stable push and clamp of the workpiece. More specifically, the positioning member 362 is in the shape of a rectangular strip, and the second driving device 364 is disposed below the plane of the conveyor belt 22, such as a cylinder, which is connected to a vertical plate, and the vertical plate extends upwardly beyond the plane of the conveyor belt 22 and passes through a horizontal plate. The positioning members 362 are connected in the middle in the longitudinal direction thereof. Therefore, the second driving device 364 can drive the positioning member 362 to move in the running direction of the vertical conveying mechanism.
板322翻转的第一驱动装置324，翻板322下翻能够阻挡传送机构上运送的到达相应加工工位的第一工件12前进，便于进行加工，上翻则能够解除对第一工件12的阻挡，使在相应加工工位完成加工的工件继续流往下一加工工位。In addition, the stopper robot 32 includes a flap 322 disposed above the conveying mechanism, and a driving flip
The first driving device 324 of the plate 322 is inverted, and the flipping of the flap 322 can block the advancement of the first workpiece 12 on the conveying mechanism to the corresponding processing station for processing, and the upturning can release the blocking of the first workpiece 12. The workpieces that have been processed at the corresponding processing stations continue to flow to the next processing station.
第二传送机构4上、垂直于传送方向设有至少六个并排设置的传送区间42，且任意两个传送区间42之间以分隔件隔开而独立。At least six transport sections 42 arranged side by side are provided perpendicular to the transport direction on the second transport mechanism 4, and any two transport sections 42 are separated by a partition and are independent.
具体的，分隔件设置在传送带41上方，包括两块各自沿第二传送机构4传送方向延伸的分隔板44。分隔件的两块分隔板44之间构成传送区间42。沿第二传送机构4的传送方向上还设有多个横跨第二传送机构4的横梁46，分隔件的两块分隔板44能够同步沿横梁46、垂直于传送方向移动。由于横梁46不仅为分隔板44的调整和移动提供导向作用，同时也对分隔板44起到支撑作用，因此横梁46的具体数量可根据传送带22沿传送方向的长度来定，以分隔板44的支撑和调节稳定为准。此外，本实施例中，各横梁46上的分隔件一一对应，分隔件的两分隔板44分别与第二传送机构4传送方向上下游的对应分隔板44连成一体，从而对于传送区间42中的第二工件有更加稳定的分隔限位。Specifically, the partition member is disposed above the conveyor belt 41 and includes two partitioning plates 44 each extending in the conveying direction of the second conveying mechanism 4. A transfer section 42 is formed between the two partition plates 44 of the partition. A plurality of beams 46 spanning the second conveying mechanism 4 are also provided in the conveying direction of the second conveying mechanism 4, and the two partitioning plates 44 of the partitions are synchronously movable along the beam 46 in a direction perpendicular to the conveying direction. Since the beam 46 not only provides a guiding effect for the adjustment and movement of the partitioning plate 44, but also supports the partitioning plate 44, the specific number of the beam 46 can be determined according to the length of the conveyor belt 22 in the conveying direction to separate The support and adjustment of the plate 44 is stable. In addition, in this embodiment, the partitioning members on the cross beams 46 are in one-to-one correspondence, and the two partitioning plates 44 of the partitioning members are respectively integrated with the corresponding partitioning plates 44 in the conveying direction of the second conveying mechanism 4, thereby transmitting The second workpiece in section 42 has a more stable separation limit.
横梁46沿延伸方向设有多个固定孔462，任意传送区间42的两块分隔板44通过紧固件48固定于横梁46的固定孔462位置，且固定孔462数量多于传送区间42的数量，从而能够通过选择固定孔462来改变安装位置。紧固件48具体可以是螺钉，且横梁46在延伸方向设有刻度线464，便于在调节时进行读数。The cross member 46 is provided with a plurality of fixing holes 462 in the extending direction, and the two partitioning plates 44 of the arbitrary conveying section 42 are fixed to the fixing holes 462 of the beam 46 by the fasteners 48, and the number of the fixing holes 462 is larger than that of the conveying section 42. The number is such that the mounting position can be changed by selecting the fixing hole 462. The fastener 48 can be specifically a screw, and the beam 46 is provided with a scale line 464 in the direction of extension to facilitate reading during adjustment.
The two partitioning plates 44 are movably connected by fasteners 48, and each of the conveying sections 42 has at least one partitioning plate 44 provided with a long groove vertical conveying direction of the waist groove 472, and the fastener 48 passes through the waist groove. The position adjustment in 472 changes the distance between the two partition plates 44 in the same conveying section 42. Specifically, each of the two partitioning plates 44 of the conveying section 42 has an upwardly extending sheet-like projection 45 at a position corresponding to the cross beam 46, and continues to horizontally extend toward the top end of the projection 45 to form two adjusting portions 47, and The adjusting portions 47 of the two partitioning plates 44 are superposed on each other, and the adjusting portion 47 is provided with a waist groove 472. The fasteners 48 are disposed in the two adjusting portions 47 to connect the two partitioning plates 44. In addition, the upper adjustment portion 47 is further provided with a connecting piece 49 having a cross-sectional shape. The connecting piece 49 is specifically mounted on the beam 46 and the lower end is connected to the adjusting portion 47 of the corresponding conveying portion 42. Therefore, the connecting piece 49 moves on the beam 46, that is, the corresponding conveying section 42 is moved, and the adjusting portion 47 is fixed to the beam 46 by the fastener 48.
第一传送机构2和第二传送机构4之间，各组装机械手并不完全相同。具体的，对应第二、第三、第四和第六加工工位的组装机械手为第一机械手6。对应第七加工工位设置的是第二机械手8。Between the first transport mechanism 2 and the second transport mechanism 4, the assembly robots are not identical. Specifically, the assembly robot corresponding to the second, third, fourth, and sixth processing stations is the first robot 6. The second robot 8 is disposed corresponding to the seventh processing station.
第一机械手6包括手臂63和设置在手臂63前端的握持部65，手臂63具有一支点，手臂63至少能够在自身延伸方向所在平面内绕支点旋转，且握持部65能够相对于手臂63前伸和后退，同时手臂63和握持部65中至少一个能够调节垂直于手臂63旋转方向的高度。The first robot 6 includes an arm 63 and a grip portion 65 disposed at the front end of the arm 63. The arm 63 has a point at which the arm 63 can rotate at least about the fulcrum in a plane in which the extending direction thereof is located, and the grip portion 65 can be opposed to the arm 63. The front and rear are retracted while at least one of the arm 63 and the grip 65 can adjust the height perpendicular to the direction of rotation of the arm 63.
具体的，第一机械手6，包括一基座62，基座62具有一底板622以及相对而设、并垂直设于底板622上的两支板624。手臂63设置在一支架64上，并通过支架64高度可移的设置在基座62上。更具体的，两支板624的内侧分别设有垂直于底板622延伸的滑轨626，手臂63的支架64上相应设置与滑轨626配合的滑动结构642，从而令支架64和手臂63整体能够沿滑轨626在垂直于底板622方向移动，并且，基座62上还设置一升降丝杆机构66，其与支架64相连，从而驱动支架64带动手臂63沿滑轨626移动来调节高度。Specifically, the first robot 6 includes a base 62. The base 62 has a bottom plate 622 and two supporting plates 624 disposed opposite to each other and vertically disposed on the bottom plate 622. The arm 63 is disposed on a bracket 64 and is height-movably disposed on the base 62 by a bracket 64. More specifically, the inner sides of the two support plates 624 are respectively provided with slide rails 626 extending perpendicularly to the bottom plate 622. The brackets 64 of the arms 63 are respectively provided with sliding structures 642 that cooperate with the slide rails 626, so that the brackets 64 and the arms 63 can be integrally provided. Along the slide rail 626 is moved in a direction perpendicular to the bottom plate 622, and the base 62 is further provided with a lifting screw mechanism 66 connected to the bracket 64, so that the driving bracket 64 drives the arm 63 to move along the slide rail 626 to adjust the height.
支架64具体包括一平行于底板622设置的平台644和设置在平台644两侧的侧板，侧板上设置滑动结构642从而与滑轨626配合。平台644上设有一电机68，电机68的转轴方向垂直于平台644，且输出端与设置在平台644上方的手臂63相连，从而能够带动手臂63在平行于平台644的平面内旋转。The bracket 64 specifically includes a platform 644 disposed parallel to the bottom plate 622 and side plates disposed on both sides of the platform 644. The side plate is provided with a sliding structure 642 to cooperate with the sliding rail 626. The motor 644 is provided with a motor 68 having a rotational axis direction perpendicular to the platform 644 and an output end coupled to an arm 63 disposed above the platform 644 to enable the arm 63 to rotate in a plane parallel to the platform 644.
手臂63包括一平行于平台644平面设置的长条形支撑板632，支撑板632长度方向即为手臂63延伸方向。支撑板632上设置一一丝杆驱动装置634，丝杆驱动装置634的输出端连接握持部65，从而驱动握持部65相对于手臂63前伸和后退。The arm 63 includes an elongated support plate 632 disposed parallel to the plane of the platform 644. The length of the support plate 632 is the direction in which the arms 63 extend. A support rod 634 is disposed on the support plate 632. The output end of the screw drive unit 634 is coupled to the grip portion 65 to drive the grip portion 65 forward and backward relative to the arm 63.
具体的，握持部65通过一安装架672与丝杆驱动装置634的输出端相连，且安装架672上设有一转轴垂直支撑板632的第一电机674，握持部65设置在第一电机674的输出端，第一电机674驱动握持部65在平行于手臂63旋转方向的平面内旋转。握持部65具体可以为一针板，也可以为一安装板上设置负压吸盘的结构，用于抓取工件。Specifically, the grip portion 65 is connected to the output end of the screw driving device 634 through a mounting bracket 672, and the mounting bracket 672 is provided with a first motor 674 of a rotating shaft vertical supporting plate 632, and the grip portion 65 is disposed on the first motor. At the output of 674, the first motor 674 drives the grip 65 to rotate in a plane parallel to the direction of rotation of the arm 63. The grip portion 65 may specifically be a needle plate or a structure for providing a vacuum suction cup on the mounting plate for grasping the workpiece.
连同握持部65整体可在水平面内360°旋转，第三，握持部65可相对于手臂63前伸和后退，第四握持部65可在水平面内360°旋转，因此该机械手能够实现上述四个维度的运动。In the first robot hand 6 of the present embodiment, the bottom plate 622 is horizontally disposed, and the state in which the support plate 624 is vertical is taken as an example. First, the arm 63 together with the grip portion 65 can adjust the height in the vertical direction, and the second arm 63
Together with the grip portion 65 as a whole, it can be rotated 360° in the horizontal plane. Thirdly, the grip portion 65 can be advanced and retracted relative to the arm 63, and the fourth grip portion 65 can be rotated 360° in the horizontal plane, so that the robot can achieve the above. Four dimensions of movement.
第二机械手8，与第一机械手6的区别在于，手部85还能够在垂直于手臂83旋转方向的平面内旋转。The second robot 8 differs from the first robot 6 in that the hand 85 is also rotatable in a plane perpendicular to the direction of rotation of the arm 83.
具体的，手臂83前端设有第二电机876，第二电机876连接丝杆驱动装置834的输出端和安装架872，因此安装架872、第一电机874连同手部85都能够在第二电机876的驱动下、在垂直于手臂83旋转方向的平面内旋转。从而增加手部85的一个运动维度。Specifically, the front end of the arm 83 is provided with a second motor 876, and the second motor 876 is connected to the output end of the screw driving device 834 and the mounting bracket 872, so that the mounting bracket 872, the first motor 874 and the hand 85 can be in the second motor. Under the drive of 876, it rotates in a plane perpendicular to the direction of rotation of the arm 83. Thereby a movement dimension of the hand 85 is increased.
第一传送机构2和第二传送机构4之间，对应第五加工工位处还设有用于调整第一工件12摆放角度的翻转装置7。Between the first conveying mechanism 2 and the second conveying mechanism 4, a turning device 7 for adjusting the angle of placement of the first workpiece 12 is further provided at the fifth processing station.
翻转装置7具体能够翻转第一工件12，从而改变第一工件12的待处理面，例如可以通过改变姿态实现在不同的位置组合第二工件。翻转装置7具体包括一升降机构72，设置在升降机构72上的电机74，以及设置在电机74输出端的抓持部76，电机74能够驱动抓持部76旋转。更具体的，升降机构72为一升降气缸，电机74和抓持部76一同设置在一安装板78上，并通过安装板78设于升降气缸上，因此升降气缸可带动电机74和抓持部76整体上下移动。其中电机74横向设置在升降机构72上，电机74轴垂直于第二传送机构4的传送方向设置，也即电机74转轴方向平行于传送带22平面，且垂直于传送方向设置。抓持部76例如可以是针板或设有真空吸盘的基板，从而能够抓取第一工件12。The inverting device 7 is in particular capable of inverting the first workpiece 12, thereby changing the surface to be treated of the first workpiece 12, for example by combining the second workpiece in different positions by changing the attitude. The turning device 7 specifically includes a lifting mechanism 72, a motor 74 disposed on the lifting mechanism 72, and a grip portion 76 disposed at the output end of the motor 74, and the motor 74 can drive the grip portion 76 to rotate. More specifically, the lifting mechanism 72 is a lifting cylinder. The motor 74 and the grip portion 76 are disposed together on a mounting plate 78, and are disposed on the lifting cylinder through the mounting plate 78. Therefore, the lifting cylinder can drive the motor 74 and the grip portion. 76 moves up and down as a whole. The motor 74 is disposed laterally on the lifting mechanism 72. The axis of the motor 74 is perpendicular to the conveying direction of the second conveying mechanism 4, that is, the direction of the rotation of the motor 74 is parallel to the plane of the conveyor belt 22, and is perpendicular to the conveying direction. The grip portion 76 can be, for example, a needle plate or a substrate provided with a vacuum chuck so that the first workpiece 12 can be grasped.
本实施例中，加工设备9包括一供工件进行加热的加热机构，因此组装机械手带动第二工件组合到第一工件12前可先在加热机构进行加热，随后组合到第一工件12可直接进行热合。更具体的，加热机构为加热板92，与第二工件接触，可直接加热其待加热面。In this embodiment, the processing device 9 includes a heating mechanism for heating the workpiece, so that the assembly robot can heat the heating device before the second workpiece is assembled to the first workpiece 12, and then the first workpiece 12 can be directly combined. Heat sealing. More specifically, the heating mechanism is a heating plate 92 that is in contact with the second workpiece and can directly heat the surface to be heated.
的两个第二工件之间的缝隙，从而将它们分开，有利于后续对工件的准确抓取。In this embodiment, a separating mechanism 5 disposed in the conveying direction of the second conveying mechanism 4 is further included for separating any two adjacent workpieces that are adjacent to each other and are next to each other. Specifically, the separating mechanism 5 includes an elongated needle-shaped separating member 52 extending in the vertical conveying direction, and a driving device 54 that drives the separating member to advance and retreat in the vertical conveying direction, and the driving device 54 may be a common structure in the industry, such as a cylinder. When the separating member 52 is in the form of a narrow needle, it can be quickly and easily inserted into the adsorption or bonded together.
The gap between the two second workpieces, thereby separating them, facilitates subsequent accurate gripping of the workpiece.
下面以本实施例的设备应用在第一、第二工件的贴合加工中为例来说明本发明设备的工作过程。The working process of the apparatus of the present invention will be described below by taking the apparatus of the present embodiment applied to the lamination processing of the first and second workpieces as an example.
其中，第一工件12和第二工件均为泡棉块，可通过热合压合组装在一起，组合后的结构可用于包装盒内限制产品、零件的位置和起到缓冲、保护作用。工作时，第一工件12在第一加工工位上料，卧放，第二部124抵靠定位条34。之后第一工件12随传送带22到达第二加工工位，对应的挡料机械手32下翻使其暂时停留，对应的定位机械手36靠近并将第一工件12抵压在定位条34上，实现定位。随后相应的第一机械手6将对应第二工件14移栽、组合到第一工件12一第一部122的上端，这里第一机械手6可以先将第二工件14的待组合面进行热处理，因而使其压合在第一工件12上时可以直接接合，其它各加工工位也可以以相同的方法在组合前对相应第二工件进行上述方法的预处理。组合有第二工件14的第一工件12继续以相同的方法依次到第三加工工位、第四加工工位和第六加工工位接受另一个第二工件14以及第二工件16和第二工件18的组合，其中，组合有第二工件14和第二工件16的第一工件12在第五加工工位进行旋转的动作，垂直翻转180°后去往第六加工工位进行相应第二工件18的组合。具体的，第一工件12到达第五加工工位定位后，翻转装置7通过抓取组合后的第一工件12并上升到合适的高度对其进行180°垂直翻转，随后再下降将翻转好的工件放回传送带22上，因此在第六加工工位即可以翻转过来的一面接受第二工件18的组合。第七加工工位可用于成品的检验，最后由相应第二机械手8移走。Wherein, the first workpiece 12 and the second workpiece are all foam blocks, which can be assembled by heat sealing and pressing, and the combined structure can be used for limiting the position of the product and the parts in the packaging box and functioning as a buffer and a protection. In operation, the first workpiece 12 is loaded at the first processing station, placed horizontally, and the second portion 124 abuts against the positioning strip 34. After that, the first workpiece 12 reaches the second processing station with the conveyor belt 22, and the corresponding stopper robot 32 is turned down to temporarily stay, and the corresponding positioning robot 36 approaches and presses the first workpiece 12 against the positioning bar 34 to realize positioning. . The corresponding first robot 6 then transplants the second workpiece 14 to the upper end of the first portion 122 of the first workpiece 12, where the first robot 6 can heat the surface of the second workpiece 14 to be combined first. When it is pressed onto the first workpiece 12, it can be directly joined, and the other processing stations can also perform the pretreatment of the corresponding method on the corresponding second workpiece before the combination in the same manner. The first workpiece 12 combined with the second workpiece 14 continues to receive the other second workpiece 14 and the second workpiece 16 and the second in the same manner to the third processing station, the fourth processing station, and the sixth processing station. a combination of workpieces 18, wherein the first workpiece 12 combined with the second workpiece 14 and the second workpiece 16 is rotated at the fifth processing station, vertically inverted by 180°, and then moved to the sixth processing station for a second A combination of workpieces 18. Specifically, after the first workpiece 12 reaches the fifth processing station, the inverting device 7 performs a vertical tilt of 180° by grasping the combined first workpiece 12 and rising to a suitable height, and then lowering will be turned over. The workpiece is placed back on the conveyor belt 22 so that the combination of the second workpiece 18 is accepted at the sixth processing station, that is, the side that can be turned over. The seventh processing station can be used for inspection of the finished product and finally removed by the corresponding second robot 8.
需要说明的是，虽然实施例中翻转装置通过旋转实现对工件的翻转，但是也可以设置翻转装置包括一推送件以及一能够驱动推送件在垂直于传送方向推送第一工件和后撤的驱动装置，从而通过推倒第一工件来改变其姿态。虽然实施例中以泡棉材质的第一工件12和第二工件14的组合来说明本发明设备的工作过程，但并不对本发明设备所适用的工件造成限制，工件也不一定是进行热合组合，例如也可以通过涂覆粘合剂来进行粘合。It should be noted that, although the inverting device realizes the turning of the workpiece by rotation in the embodiment, it is also possible to provide the inverting device including a pushing member and a driving device capable of driving the pushing member to push the first workpiece and the retracting in a direction perpendicular to the conveying direction. , thereby changing its posture by pushing down the first workpiece. Although the working process of the apparatus of the present invention is illustrated by the combination of the first workpiece 12 and the second workpiece 14 of the foam material in the embodiment, the workpiece to which the apparatus of the present invention is applied is not limited, and the workpiece is not necessarily heat-sealed. For example, adhesion can also be carried out by applying an adhesive.
是各自独立的，如此当横梁能够沿第二传送机构4的传送方向移动，则可以调节传送方向上相邻两个分隔件之间的距离，从而使用不同长度的第二工件。Although the corresponding partitioning plate 44 in the embodiment is integrally connected in the conveying direction of the second conveying mechanism 4, the corresponding partitioning plate 44 in the conveying direction of the second conveying mechanism 4 and upstream and downstream may be designed.
They are independent, so that when the beam can be moved in the conveying direction of the second conveying mechanism 4, the distance between adjacent two partition members in the conveying direction can be adjusted, thereby using the second workpiece of different lengths.
The above is only a preferred embodiment of the present invention, and it should be noted that those skilled in the art can make several improvements and modifications without departing from the technical principles of the present invention. It should also be considered as the scope of protection of the present invention.