WO2020082505A1 - 一种标记杆装配装置、全自动生产线及标记杆装配方法 - Google Patents

一种标记杆装配装置、全自动生产线及标记杆装配方法 Download PDF

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Publication number
WO2020082505A1
WO2020082505A1 PCT/CN2018/118280 CN2018118280W WO2020082505A1 WO 2020082505 A1 WO2020082505 A1 WO 2020082505A1 CN 2018118280 W CN2018118280 W CN 2018118280W WO 2020082505 A1 WO2020082505 A1 WO 2020082505A1
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WIPO (PCT)
Prior art keywords
marking rod
clamping
assembly
workpiece
rod
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Application number
PCT/CN2018/118280
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English (en)
French (fr)
Inventor
吴加富
缪磊
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苏州富强科技有限公司
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Application filed by 苏州富强科技有限公司 filed Critical 苏州富强科技有限公司
Publication of WO2020082505A1 publication Critical patent/WO2020082505A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
    • B23P19/001—Article feeders for assembling machines
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
    • B23P19/001—Article feeders for assembling machines
    • B23P19/004—Feeding the articles from hoppers to machines or dispensers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
    • B23P19/001—Article feeders for assembling machines
    • B23P19/006—Holding or positioning the article in front of the applying tool
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
    • B23P19/001—Article feeders for assembling machines
    • B23P19/007—Picking-up and placing mechanisms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
    • B23P19/008—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes the parts being continuously transported through the machine during assembling or disassembling

Definitions

  • the invention relates to the technical field of automatic assembly, in particular to a marker rod assembly device, a fully automatic production line and a marker rod assembly method.
  • the existing I / O expansion module has a housing and a chip. Since multiple chips can be installed in the housing, it is necessary to distinguish between installing different chip I / O expansion modules. Therefore, there are mark identification positions on the casing, and a plurality of identification holes are arranged on the casing. The plurality of identification holes are distributed in a ring shape. A mark rod can be installed on any identification hole to mark the I / O expansion module for the single chip recognition The identity of each I / O expansion module.
  • the bottom of the marking rod is provided with protruding pins, which can be inserted into the identification holes. When the marking rod is installed on the housing at different angles, the pins are matched with different identification holes, so that each I / O expansion module can be distinguished.
  • the assembly of the marking rod on the existing housing is mainly done manually. Because the marking rod is a small-sized part and has high requirements on the installation angle, manual assembly is prone to errors and a high rate of defective products. In addition, in order to reduce the error rate, manual assembly is usually produced in batches, and mixed assembly of multiple chips cannot be achieved, which affects production efficiency.
  • the technical problem to be solved by the present invention is to overcome the defect of inaccurate manual control of the angle of the marker rod, thereby providing a marker rod assembly device, a fully automatic production line and a marker rod assembly method that automatically adjust and install the marker rod.
  • the invention provides a marking rod assembling device, the marking rod is installed at a corresponding position on a workpiece for marking a product type, the assembly device has a machine frame and a conveying line for conveying a carrier carrying a workpiece, the conveying line There are pre-assembly positions on the machine, including those on the machine stand:
  • the detection mechanism is electrically connected to the rotation clamping mechanism to detect and acquire the initial angle of the marking rod clamped by the rotation clamping mechanism; the rotation clamping mechanism rotates around its clamping center according to the detection result of the detection mechanism Rotate the marking rod to a preset assembly angle;
  • the detection mechanism includes a first camera with a detection head set vertically upward, and the first camera is used to acquire the initial angle of the marking rod.
  • the detection mechanism further includes a second camera connected to the rotating clamping mechanism, and the detection head is vertically arranged downward, and is used to obtain a pre-assembly position for assembling the marking rod on the workpiece.
  • the mounting mechanism includes a horizontal movement structure that drives the rotary clamping mechanism to the pre-assembled position, the horizontal movement structure includes a Y-axis linear module disposed on the machine frame and an X slidingly connected thereto The axis linear module, the clamping rotation mechanism is slidingly connected to the X axis linear module.
  • the mounting mechanism further includes a lifting structure that drives the rotating clamping mechanism to move up and down along the Z-axis direction.
  • the rotating clamping mechanism is connected to the lifting structure; the lifting structure is connected to the X-axis linear module.
  • the lifting device, the rotating structure and the clamping structure are respectively provided with two groups that can move independently.
  • a carrier positioning mechanism is provided on the conveyor line, which includes a jacking device and a carrier fixing device, the jacking device lifts the carrier off the conveyor line and is held by the carrier fixing device Locate.
  • the invention also provides a fully automatic production line
  • a workpiece having at least two mounting positions for inserting the marking rod to distinguish products
  • the identification code is read to determine the installation position of the marking rod.
  • the invention provides a method for assembling a marking rod by using a marking rod assembling device, which includes the following steps:
  • the clamping rotation mechanism clamps the marking rod from the marking rod feeding mechanism
  • the clamping rotation mechanism moves horizontally past the first camera to detect and acquire the initial position of the clamped marker rod, and the clamp rotation mechanism adjusts the angle of the marker rod to a preset assembly angle according to the detection result ;
  • the installation mechanism drives the clamping rotation mechanism to install the marking rod to the workpiece in the carrier.
  • S21 The second camera detects and obtains the pre-assembly position of the marking rod to be assembled on the workpiece.
  • the step S3 includes:
  • S31 The horizontal movement mechanism moves the clamping rotation mechanism to the pre-assembly position according to the detection result of the second camera;
  • S32 The lifting device drives the clamping structure to lower and inserts the marking rod On the workpiece.
  • the marking rod assembly device includes a carrier conveying line, a marking rod feeding mechanism, a detection mechanism, a rotating clamping mechanism and an installation mechanism. Angle, and then rotate the clamping mechanism to rotate the marking rod to a preset assembly angle according to the detection result of the detection mechanism. Under the drive of the mounting mechanism, the rotating clamping mechanism moves to the pre-assembly position to insert the marking rod onto the workpiece. After detecting the detection mechanism, the clamping and rotating mechanism automatically adjusts the angle of the marking rod, and the installation efficiency of the marking rod is improved, ensuring the accuracy of the installation angle of the marking rod, avoiding the error-prone defects in the manual assembly process, and realizing the marking rod Automated assembly production.
  • the detection mechanism further includes a second camera connected to the rotating clamping mechanism, the detection head of which is arranged vertically downward, and is used for acquiring the workpiece for assembling the marking rod on the workpiece Pre-assembled location.
  • the second camera By installing the second camera on the rotation clamping mechanism, the second camera can be moved along with the rotation clamping mechanism under the driving of the mounting mechanism, so that the position of the workpiece can be detected before the marking rod is installed on the workpiece , So that the marking rod can be moved to an accurate installation position, which meets the accuracy requirements of installation.
  • the marking rod assembly device provided by the present invention, the mounting mechanism further includes a lifting structure that drives the rotating clamping mechanism to move up and down along the Z-axis direction, and the rotating clamping mechanism is connected to the lifting structure.
  • the lifting structure is connected to the X-axis linear module.
  • the lifting and lowering device can realize the lifting action of the marking rod on the marking rod feeding mechanism and the lowering and inserting work of the pre-assembly position on the workpiece, so as to avoid being hindered by other components during the process of transporting the marking rod.
  • the lifting device, the rotating structure and the clamping structure are respectively provided with two groups that can move independently, and the angles of the two marking rods with different initial angles can be adjusted separately, which realizes the synchronous installation of the two marking rods and provides working efficiency.
  • a carrier positioning mechanism is provided on the conveyor line, which includes a jacking device and a carrier fixing device, and the jacking device lifts the carrier off the conveyor Wire and be positioned by the carrier fixture.
  • the positioning operation of the workpiece on the conveyor line is realized by means of a fixed carrier, which is convenient for determining the pre-assembly position of the marking rod.
  • the jacking device can realize the separation positioning and return transmission of the carrier and the transmission line, and realize the installation of the marking rod on the batch of workpieces.
  • the fully automatic production line provided by the present invention includes a marking rod assembling device, a workpiece and an identification code, the workpiece has at least two installation positions for the marking rod to insert to distinguish products, and the identification code and the installation position of the marking rod Correspondingly, the identification code is read before the operation of the production line, and the marking rod is adjusted to the installation position by the rotating structure, thereby achieving accurate installation of the marking rod and improving the production efficiency.
  • FIG. 1 is a perspective view of the marking rod assembly device in Embodiment 1;
  • FIG. 2 is a perspective view of the mounting mechanism and clamping rotation mechanism in Embodiment 1;
  • FIG. 3 is a schematic structural view of a clamping and rotating mechanism in Embodiment 1;
  • Example 4 is a perspective view of the transmission line in Example 1;
  • Figure 5 is a perspective schematic view of the marking rod feeding mechanism
  • 1-machine stand 2-transmission line; 3-rotation clamping mechanism; 4-detection mechanism; 5-installation mechanism; 6-marker rod feeding mechanism;
  • connection should be understood in a broad sense, for example, it can be fixed connection or detachable Connected, or connected integrally; either mechanically or electrically; directly connected, or indirectly connected through an intermediary, or internally connected between two components.
  • installation should be understood in a broad sense, for example, it can be fixed connection or detachable Connected, or connected integrally; either mechanically or electrically; directly connected, or indirectly connected through an intermediary, or internally connected between two components.
  • This embodiment provides a fully automatic production line, including the marking rod assembly device, the workpiece and the identification code in Embodiment 1, the workpiece has several mounting holes for the marking rod to insert to distinguish the product, and the installation position of the identification code and the marking rod One-to-one correspondence, read the identification code before the production line operation, used to set the installation angle of the marking rod, the marking rod is adjusted to the installation angle by the rotating structure 32, and transported by the installation mechanism 5 to the pre-assembly position and the workpiece The assembly realizes the accurate installation of the marking rod and improves the production efficiency.
  • the marking rod assembly device provided in this embodiment has a structure as shown in FIG. 1. It is used to install the marking rod on the workpiece in batches, and make the marking rod be installed on the workpiece at a specific angle to achieve the purpose of marking the product type.
  • the assembly device has a machine frame 1 and a conveying line 2 for conveying a carrier 21 carrying a workpiece.
  • the conveying line 2 is provided with a pre-assembly position.
  • the machine frame 1 is provided with a marking rod feeding mechanism 6, a detection mechanism 4 and an installation mechanism 5.
  • the detection mechanism 4 is electrically connected to the rotation clamping mechanism 3 and detects and acquires the initial angle of the marking rod clamped by the rotation clamping mechanism 3.
  • the rotating clamping mechanism 3 has a pair of clamping claws 311 that can clamp the marking rod.
  • the clamping claw 311 can rotate around its clamping center, and it rotates the marking rod to a preset assembly angle according to the detection result of the detection mechanism 4.
  • the mounting mechanism 5 drives the rotary clamping mechanism 3 to move to the pre-assembly position
  • the rotary clamping mechanism 3 is driven to insert the marking rod onto the workpiece.
  • the clamping and rotating mechanism automatically adjusts the angle of the marking rod, and the installation efficiency of the marking rod is improved, ensuring the accuracy of the installation angle of the marking rod, avoiding the error-prone defects in the manual assembly process, and realizing the marking Automatic assembly production of rods.
  • the top of the workpiece in this embodiment is provided with a mounting position of a marking rod, which is a plurality of mounting holes arranged in a ring, and the bottom of the marking rod in this embodiment is provided with two pins that are symmetrical in the center.
  • the pins enter the mounting hole. Since the number of mounting holes is greater than the number of pins, the two pins of the marking rod are used to enter different mounting holes to distinguish the types of different workpieces.
  • the marking rod feeding mechanism 6 in this embodiment includes a vibrating feeding tray 61, a feeding rail 62 and a cutting device 63.
  • the vibrating feeding tray 61 conveys the stack of marking rods to the feeding rail 62
  • the cutting device 63 provided at the end of the feeding rail 62 cuts two marking rods by lateral movement for clamping by the clamping rotating mechanism.
  • the detection mechanism 4 includes a first camera 41 with the detection head set vertically upward, and the first camera 41 is located on the machine frame 1 near the cutting device 63 for acquiring the initial angle of the clamped marker rod.
  • the rotating clamping mechanism 3 When the rotary clamping mechanism 3 clamps to the marking rod and then moves to the pre-assembly position, that is, after detection by the first camera 41, the rotating clamping mechanism 3 rotates the marking rod to a preset according to the detection result of the first camera 41 Assembly angle.
  • the mounting mechanism 5 in this embodiment includes a horizontal movement structure that drives the rotary clamping mechanism 3 to a pre-assembly position
  • the horizontal movement structure includes a Y-axis linear mold provided on the machine frame 1
  • the group 51 and the X-axis linear module 52 slidingly connected thereto are slidingly connected to the X-axis linear module 52 by a clamping rotation mechanism.
  • Both the Y-axis linear module 51 and the X-axis linear module 52 are composed of a linear guide rail and a servo motor.
  • the servo motor is controlled by the control system to control its rotation angle, so as to achieve combined movement in two directions in the horizontal plane.
  • the detection mechanism 4 further includes a second camera 42 connected to the rotation clamping mechanism 3, the detection head of which is arranged vertically downward, and is used to obtain the pre-assembly for assembling the marking rod on the workpiece position.
  • the horizontal movement structure finely adjusts the movement path thereof, so that the rotary clamping mechanism 3 can reach the accurate installation position, and the position deviation generated during the transportation of the conveyor line 2 is eliminated.
  • the second camera 42 By disposing the second camera 42 on the rotation clamping mechanism 3, the second camera 42 can be moved along with the rotation clamping mechanism 3 under the driving of the mounting mechanism 5, so that the marking rod can be aligned before being mounted on the workpiece The position of the workpiece is detected, so that the marking rod can be moved to the accurate installation position, which meets the installation accuracy requirements.
  • the mounting mechanism 5 further includes a lifting structure 53 that drives the rotating clamping mechanism 3 to move up and down in the Z-axis direction.
  • the rotating clamping mechanism 3 is connected to the lifting structure 53.
  • the lifting structure 53 is connected to the X-axis linear module 52.
  • the lifting structure 53 can realize the lifting action of clamping the marking rod on the marking rod feeding mechanism 6 and the lowering and inserting work of the pre-assembly position on the workpiece, to avoid being hindered by other components during the process of transporting the marking rod.
  • the lifting structure 53, the rotating structure 32 and the clamping structure 31 are respectively provided with two groups that can move independently, and the angles of the two marking rods with different initial angles can be adjusted separately, which realizes the simultaneous installation of the two marking rods and improves the working efficiency .
  • the lifting structure 53 is a synchronous pulley structure 531 and a vertical linear guide rail mounted on the X-axis linear module 52, and the rotating device is connected to the slider of the vertical linear guide rail via an adapter frame
  • the rotating structure 32 includes a vertically arranged rotating electrical machine.
  • a clamping cylinder of a clamping device is fixedly arranged on the output end of the rotating electrical machine, and a clamping claw 311 capable of clamping a marking rod is connected to the lower end of the clamping cylinder.
  • the transmission line 2 in this embodiment is provided with a positioning mechanism for the carrier 21, which includes a jacking device 22 and a carrier fixing device 23.
  • the jacking device 22 lifts the carrier 21 off
  • the transmission line 2 is positioned by the carrier fixing device 23.
  • a number of carriers 21 are transported on the conveyor line 2, and four workpieces are fixed in each carrier 21.
  • the carrier 21 enters the positioning mechanism of the carrier 21, the carrier 21 is positioned by the lifting device 22 and the carrier fixing device 23 in cooperation.
  • the positioning operation of the workpiece on the conveyor line 2 is realized by fixing the carrier 21, which is convenient for determining the pre-assembly position of the marking rod.
  • the jacking device 22 can realize the separation positioning and return transmission of the carrier 21 and the conveyor line 2, and realize the installation of the marking rod on the batch of workpieces.
  • This embodiment provides a method for assembling a marker rod, which uses a marker rod assembly device to perform the following steps:
  • the clamping rotation mechanism clamps the marking rod from the marking rod feeding mechanism 6;
  • the clamping rotation mechanism clamps the marking rod to move horizontally past the first camera 41 to detect and acquire the initial angle of the clamped marking rod, and the clamping rotation mechanism adjusts the angle of the marking rod to a preset assembly angle according to the detection result;
  • the mounting mechanism 5 drives the rotary clamping mechanism 3 to reach the workpiece, and the second camera 42 first detects and acquires the pre-assembly position of the marking rod to be assembled on the workpiece;
  • the mounting mechanism 5 drives the clamping rotation mechanism to mount the marking rod to the workpiece in the carrier 21.
  • the horizontal movement structure adjusts the movement path according to the detection result of the second camera 42 and moves the clamping rotation mechanism to the pre-assembly position;
  • the lifting structure 53 drives the clamping structure 31 down and inserts the marking rod onto the workpiece.
  • the mounting mechanism 5 drives the rotary clamping mechanism 3 to return to the marking rod feeding mechanism 6 to repeat the above-mentioned assembly operation.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automatic Assembly (AREA)

Abstract

一种标记杆装配装置、全自动生产线及标记杆装配方法，包括载具传送线(2)、标记杆供料机构(6)、检测机构(4)、旋转夹持机构(3)以及安装机构(5)，检测机构(4)检测获取旋转夹持机构(3)所夹持的标记杆的初始角度，而后旋转夹持机构(3)，根据检测机构(4)的检测结果将标记杆旋转至预设装配角度，在安装机构(5)的驱动下，旋转夹持机构(3)移动至预装配位置将标记杆插入至工件上，通过检测机构(4)检测后，夹持旋转机构(3)自动调整标记杆的角度，提升了标记杆的安装效率，保证了标记杆的安装角度准确性，避免了人工装配过程中易出错的缺陷，实现了标记杆的自动化装配生产。

Description

一种标记杆装配装置、全自动生产线及标记杆装配方法 技术领域
本发明涉及自动装配技术领域，具体涉及一种标记杆装配装置、全自动生产线及标记杆装配方法。
背景技术
在自动化装配及生产过程中，需要批量地对多种零件进行安装作业，在现有技术中，由于自动化程度不高，某些操作不可避免的需要人工进行辅助，现场零件数量多且密集，特别对于一些尺寸较小的零件，容易造成现场操作人员工作强度大、安装误差大、效率低下等问题。
现有的I/O扩展模块具有壳体和芯片。由于壳体中可以安装多种芯片，需要对安装不同芯片I/O扩展模块加以区分。因此在壳体上设有标记识别位置，其上设有多个识别孔，多个识别孔以环形分布，在任意识别孔上可安装标记杆，用以标记I/O扩展模块，以便单片机识别每个I/O扩展模块的身份。标记杆的底部设有突出的插脚，插脚可以插进识别孔中。当标记杆以不同角度安装在壳体上时，插脚与不同的识别孔相配合，从而可以将每个I/O扩展模块加以区分。现有壳体上标记杆的装配主要由人工完成，由于该标记杆属于小尺寸的零件，且对安装角度较高要求，因此人工装配容易出现错误，产生较高的不合格品率。并且为了减低错误率，人工装配通常按照批次生产，无法做到多种芯片的混合装配，影响了生产效率。
发明内容
因此，本发明要解决的技术问题在于克服现有人工安装对标记杆角度控制 不准确的缺陷，从而提供一种自动调整并安装标记杆的标记杆装配装置、全自动生产线及标记杆装配方法。
本发明提供一种标记杆装配装置，所述标记杆安装于工件上相应位置用于标记产品类型，所述装配装置具有机台架和传送承载有工件的载具的传送线，所述传送线上设有预装配位置，包括设于所述机台架上的：
标记杆供料机构；
检测机构，电连接于旋转夹持机构，检测获取所述旋转夹持机构所夹持的标记杆的初始角度；旋转夹持机构，绕其夹持中心旋转，其根据所述检测机构的检测结果将所述标记杆旋转至预设装配角度；
以及安装机构，所述安装机构驱动所述旋转夹持机构移动至所述预装配位置后，驱动所述旋转夹持机构将标记杆插入至所述工件上。
所述检测机构包括检测头竖直朝上设置的第一照相机，所述第一照相机用于获取所述标记杆的所述初始角度。
所述检测机构还包括连接于所述旋转夹持机构的第二照相机，其探测头竖直朝下设置，用于获取所述工件上用于装配标记杆的预装配位置。
所述安装机构包括驱动所述旋转夹持机构至所述预装配位置的水平移动结构，所述水平移动结构包括设置在所述机台架上的Y轴直线模组和与其滑动连接的X轴直线模组，所述夹持旋转机构滑动连接于所述X轴直线模组上。
所述安装机构还包括驱动所述旋转夹持机构沿Z轴方向升降的升降结构，所述旋转夹持机构连接于所述升降结构；所述升降结构连接于所述X轴直线模组上。
所述升降装置、旋转结构以及夹持结构分别设置有可独立运动的两组。
所述传送线上设有载具定位机构，其包括顶升装置和载具固定装置，所述顶升装置将所述载具顶升脱离所述传送线并由所述载具固定装置对其进行定位。
本发明还提供一种全自动生产线，
包括前述的标记杆装配装置；
工件，所述工件上具有供所述标记杆插入以区别产品的至少两个安装位置；
以及与所述标记杆装配位置一一对应的识别码；
所述生产线作业前读取所述识别码以确定标记杆的安装位置。
本发明提供一种采用标记杆装配装置进行的标记杆装配方法，包括以下步骤：
S1：所述夹持旋转机构从所述标记杆供料机构处夹取标记杆；
S2：在所述夹持旋转机构水平移动经过所述第一照相机，以检测获取被夹持的标记杆的初始位置，所述夹持旋转机构根据检测结果调整标记杆的角度至预设装配角度；
S3：所述安装机构驱动所述夹持旋转机构将所述标记杆安装至所述载具内的工件上。
在执行所述S3之前还包括以下步骤：
S21：所述第二照相机检测获取所述工件上待装配所述标记杆的预装配位置。
所述步骤S3包括：
S31：所述水平移动机构根据第二照相机的检测结果将所述夹持旋转机构运动至所述预装配位置；S32：所述升降装置驱动所述夹持结构下降并将所述标记杆插入所述工件上。
本发明技术方案，具有如下优点：
1.本发明提供的标记杆装配装置，包括载具传送线、标记杆供料机构、检测机构、旋转夹持机构以及安装机构，检测机构检测获取旋转夹持机构所夹持的标记杆的初始角度，而后旋转夹持机构其根据检测机构的检测结果将标记杆旋转至预设装配角度，在安装机构的驱动下，旋转夹持机构移动至预装配位置将标记杆插入至工件上。通过检测机构的检测后夹持旋转机构自动调整标记杆的角度，提升的标记杆的安装效率，保证了标记杆的安装角度准确性，避免了人工装配过程中易出错的缺陷，实现了标记杆的自动化装配生产。
2.本发明提供的标记杆装配装置，检测机构还包括连接于所述旋转夹持机构的第二照相机，其探测头竖直朝下设置，用于获取所述工件上用于装配标记杆的预装配位置。通过将第二照相机设置在旋转夹持机构上，使得第二照相机能够随着旋转夹持机构一同在安装机构的驱动下移动，从而能够在标记杆被安装在工件上之前对工件的位置进行检测，使得标记杆能够运动到准确的安装位置，满足了安装的精度要求。
3.本发明提供的标记杆装配装置，安装机构还包括驱动所述旋转夹持机构沿Z轴方向升降的升降结构，所述旋转夹持机构连接于所述升降结构。所述升降结构连接于所述X轴直线模组上。通过升降装置可以实现对标记杆供料机构上的标记杆夹取提升动作和在工件上预装配位置的下降插入工作，避免在运送标记杆的过程中受到其他部件的阻碍。升降装置、旋转结构以及夹持结构分别设置有可独立运动的两组，可以对初始角度不同两个标记杆分别进行角度调整，实现了两个标记杆的同步安装，提供了工作效率。
4.本发明提供的标记杆装配装置，所述传送线上设有载具定位机构，其包括顶升装置和载具固定装置，所述顶升装置将所述载具顶升脱离所述传送线并由所述载具固定装置对其进行定位。利用固定载具的方式实现了对传送线上工件的定位操作，便于确定标记杆的预装配位置。顶升装置能够实现了载具与传送线的分离定位和回归传送，实现了批量工件上的标记杆安装。
5.本发明提供的全自动生产线，包括标记杆装配装置、工件和识别码，工件上具有供所述标记杆插入以区别产品的至少两个安装位置，识别码与标记杆的安装位置一一对应，在生产线作业前读取所述识别码，由旋转结构将标记杆调整至该安装位置，实现了标记杆的准确安装，提高的生产的效率。
附图说明
为了更清楚地说明本发明具体实施方式或现有技术中的技术方案，下面将对具体实施方式或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图是本发明的一些实施方式，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1为实施例1中标记杆装配装置的立体图；
图2为实施例1中安装机构和夹持旋转机构的立体图；
图3为实施例1中夹持旋转机构的结构示意图；
图4为实施例1中传送线的立体图；
图5为标记杆供料机构的立体示意图；
附图标记说明：
1-机台架；2-传送线；3-旋转夹持机构；4-检测机构；5-安装机构；6-标记杆供料机构；
21-载具；22-顶升装置；23-载具固定装置；31-夹持结构；311-夹爪；32-旋转结构；41-第一照相机；42-第二照相机；51-Y轴直线模组；52-X轴直线模组：53-升降结构；531-同步带轮结构；61-振动送料盘；62-送料轨道；63-切料装置。
具体实施方式
下面将结合附图对本发明的技术方案进行清楚、完整地描述，显然，所描述的实施例是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
在本发明的描述中，需要说明的是，术语“中心”、“上”、“下”、“左”、“右”、“竖直”、“水平”、“内”、“外”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本发明和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本发明的限制。此外，术语“第一”、“第二”、“第三”仅用于描述目的，而不能理解为指示或暗示相对重要性。
在本发明的描述中，需要说明的是，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或一体地连接；可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通。对于本领域的普通技术人员而言，可以具体情况理解上述术语在本发明中的具体含义。
此外，下面所描述的本发明不同实施方式中所涉及的技术特征只要彼此之间未构成冲突就可以相互结合。
实施例1
本实施例提供一种全自动生产线，包括实施例1中的标记杆装配装置、工件和识别码，工件上具有供标记杆插入以区别产品的若干个安装孔，识别码与标记杆的安装位置一一对应，在生产线作业前读取识别码，用以设定标记杆的安装角度，由旋转结构32将标记杆调整至该安装角度，并由安装机构5运送至预装配位置与工件进行组装，实现了标记杆的准确安装，提高的生产的效率。
本实施例提供的标记杆装配装置，其结构如图1中所示。用于将标记杆批量安装于工件上，并使得标记杆以特定角度安装在工件上，以实现标记产品类型的目的。装配装置具有机台架1和传送承载有工件的载具21的传送线2，传送线2上设有预装配位置。机台架1上设有标记杆供料机构6、检测机构4和安装机构5。检测机构4电连接于旋转夹持机构3，检测获取旋转夹持机构3所夹持的标记杆的初始角度。旋转夹持机构3具有一对可夹持标记杆的夹爪311，夹爪311可绕其夹持中心旋转，其根据检测机构4的检测结果将标记杆旋转至预设装配角度。安装机构5驱动旋转夹持机构3移动至预装配位置后，驱动旋转夹持机构3将标记杆插入至工件上。通过检测机构4的检测后夹持旋转机构自动调整标记杆的角度，提升的标记杆的安装效率，保证了标记杆的安装角度准确性，避免了人工装配过程中易出错的缺陷，实现了标记杆的自动化装配生产。
具体的，本实施例中的工件的顶端设有标记杆的安装位置，其为环形布置的若干个安装孔，而本实施例中的标记杆底部设有中心对称的两个插脚。当标记杆安装在工件时，插脚进入安装孔内。由于安装孔的数量大于插脚数量，因此，利用标记杆的两个插脚进入不同的安装孔，以实现对不同工件的类型区分。
如图1和图5所示，本实施例中的标记杆供料机构6包括振动送料盘61、送料轨道62和切料装置63，振动送料盘61将成堆的标记杆输送至送料轨道62上，设置在送料轨道62尽头的切料装置63通过横向的移动切出两个标记杆供夹持旋转机构夹取。检测机构4包括检测头竖直朝上设置的第一照相机41，且 第一照相机41位于切料装置63附近的机台架1上，用于获取被夹持标记杆的初始角度。当旋转夹持机构3夹持到标记杆后移动至预装配位置过程中，即经过第一照相机41的检测，旋转夹持机构3根据第一照相机41的检测结果将标记杆旋转至预设装配角度。
如图1和图2所示，本实施例中的安装机构5包括驱动旋转夹持机构3至预装配位置的水平移动结构，水平移动结构包括设置在机台架1上的Y轴直线模组51和与其滑动连接的X轴直线模组52，夹持旋转机构滑动连接于X轴直线模组52上。Y轴直线模组51和X轴直线模组52均有直线导轨和伺服电机组成，伺服电机由控制系统控制其转动角度，以实现在水平面内两个方向上的组合移动。
如图2和图3所示，检测机构4还包括连接于旋转夹持机构3的第二照相机42，其探测头竖直朝下设置，用于获取工件上用于装配标记杆的预装配位置。水平移动结构根据第二照相机42的检测结果，对其运动路径进行微调，使得旋转夹持机构3能够到达准确的安装位置，消除了传送线2运输过程中产生的位置偏差。通过将第二照相机42设置在旋转夹持机构3上，使得第二照相机42能够随着旋转夹持机构3一同在安装机构5的驱动下移动，从而能够在标记杆被安装在工件上之前对工件的位置进行检测，使得标记杆能够运动到准确的安装位置，满足了安装的精度要求。
如图3所示，安装机构5还包括驱动旋转夹持机构3沿Z轴方向升降的升降结构53，旋转夹持机构3连接于升降结构53。升降结构53连接于X轴直线模组52上。通过升降结构53可以实现对标记杆供料机构6上的标记杆夹取提升动作和在工件上预装配位置的下降插入工作，避免在运送标记杆的过程中受到其他部件的阻碍。
升降结构53、旋转结构32以及夹持结构31分别设置有可独立运动的两组， 可以对初始角度不同两个标记杆分别进行角度调整，实现了两个标记杆的同步安装，提高了工作效率。具体的，如图3所示，升降结构53为安装在X轴直线模组52上的同步带轮结构531和竖向直线导轨，旋转装置通过转接架连接在竖向直线导轨的滑块上，旋转结构32包括竖向设置的旋转电机，旋转电机的输出端上固定设置有夹持装置的夹持气缸，夹持气缸的下端连接有可夹持标记杆的夹爪311。
如图1和图4所示，本实施例中的传送线2上设有载具21定位机构，其包括顶升装置22和载具固定装置23，顶升装置22将载具21顶升脱离传送线2并由载具固定装置23对其进行定位。传送线2上运输了若干载具21，每个载具21内都固定有四个工件。当载具21进入载具21定位机构时，载具21由顶升装置22和载具固定装置23配合进行定位。利用固定载具21的方式实现了对传送线2上工件的定位操作，便于确定标记杆的预装配位置。顶升装置22能够实现了载具21与传送线2的分离定位和回归传送，实现了批量工件上的标记杆安装。
本实施例提供一种标记杆装配方法，采用标记杆装配装置进行以下步骤：
开始装配前先通过扫码机构读取识别码，对标记杆的安装角度进行设定；
夹持旋转机构从标记杆供料机构6处夹取标记杆；
在夹持旋转机构夹持着标记杆水平移动经过第一照相机41，以检测获取被夹持的标记杆的初始角度，夹持旋转机构根据检测结果调整标记杆的角度至预设装配角度；
安装机构5驱动旋转夹持机构3到达工件上空，第二照相机42先检测获取工件上待装配标记杆的预装配位置；
安装机构5驱动夹持旋转机构将标记杆安装至载具21内的工件上。
水平移动结构根据第二照相机42的检测结果，对运动路径进行调整，将夹持旋转机构运动至预装配位置；
升降结构53驱动夹持结构31下降并将标记杆插入工件上。
安装机构5驱动旋转夹持机构3返回标记杆供料机构6处重复上述装配动作。
显然，上述实施例仅仅是为清楚地说明所作的举例，而并非对实施方式的限定。对于所属领域的普通技术人员来说，在上述说明的基础上还可以做出其它不同形式的变化或变动。这里无需也无法对所有的实施方式予以穷举。而由此所引伸出的显而易见的变化或变动仍处于本发明创造的保护范围之中。

Claims (11)

  1. 一种标记杆装配装置，所述标记杆安装于工件上用于标记产品类型，所述装配装置具有机台架(1)和传送承载有工件的载具(21)的传送线(2)，所述传送线(2)上设有预装配位置，；
    其特征在于，包括设于所述机台架(1)上的：
    标记杆供料机构(6)；
    检测机构(4)，电连接于旋转夹持机构(3)，检测获取所述旋转夹持机构(3)所夹持的标记杆的初始角度；
    旋转夹持机构(3)，绕其夹持中心旋转，其根据所述检测机构(4)的检测结果将所述标记杆旋转至预设装配角度；
    以及安装机构(5)，所述安装机构(5)驱动所述旋转夹持机构(3)移动至所述预安装位置后，驱动所述旋转夹持机构(3)将标记杆插入至所述工件上。
  2. 根据权利要求1所述的标记杆装配装置，其特征在于，所述检测机构(4)包括检测头竖直朝上设置的第一照相机(41)，所述第一照相机(41)用于获取所述标记杆的所述初始角度。
  3. 根据权利要求1或2所述的标记杆装配装置，其特征在于，所述检测机构(4)还包括连接于所述旋转夹持机构(3)的第二照相机(42)，其探测头竖直朝下设置，用于获取所述工件上用于装配标记杆的预装配位置。
  4. 根据权利要求3所述的标记杆装配装置，其特征在于，所述安装机构(5)包括驱动所述旋转夹持机构(3)至所述预装配位置的水平移动结构，所述水平移动结构包括设置在所述机台架上的Y轴直线模组(51)和与其滑动连接的X轴直线模组(52)，所述夹持旋转机构滑动连接于所述X轴直线模组(52)上。
  5. 根据权利要求4所述的标记杆装配装置，其特征在于，所述安装机构(5)还包括驱动所述旋转夹持机构(3)沿Z轴方向升降的升降结构(53)，所述旋转夹持机构(3)连接于所述升降结构(53)；所述升降结构(53)连接于所述X轴直线模组(52)上。
  6. 根据权利要求5所述的标记杆装配装置，其特征在于，所述升降结构(53)、 旋转结构(32)以及夹持结构(31)分别设置有可独立运动的两组。
  7. 根据权利要求1-6任意一项所述的标记杆装配装置，其特征在于，所述传送线(2)上设有载具(21)定位机构，其包括顶升装置(22)和载具固定装置(23)，所述顶升装置(22)将所述载具(21)顶升脱离所述传送线(2)并由所述载具固定装置(23)对其进行定位。
  8. 一种全自动生产线，其特征在于，
    包括如权利要求1-7中任意一项所述的标记杆装配装置；
    工件，所述工件上具有供所述标记杆插入以区别产品的至少两个安装位置；
    以及与所述标记杆安装位置一一对应的识别码；
    所述生产线作业前读取所述识别码以确定标记杆的安装位置。
  9. 一种采用如权利要求1-7中任意一项所述的标记杆装配装置进行的标记杆装配方法，其特征在于包括以下步骤：
    S1：所述夹持旋转机构从所述标记杆供料机构(6)处夹取标记杆；
    S2：在所述夹持旋转机构水平移动经过所述第一照相机(41)，以检测获取被夹持的标记杆的初始位置，所述夹持旋转机构根据检测结果调整标记杆的角度至预设装配角度；
    S3：所述安装机构(5)驱动所述夹持旋转机构将所述标记杆安装至所述载具(21)内的工件上。
  10. 根据权利要求9所述的一种标记杆装配方法，其特征在于，在执行所述S3之前还包括以下步骤：
    S21：所述第二照相机(42)检测获取所述工件上待装配所述标记杆的预装配位置。
  11. 根据权利要求10所述的一种标记杆装配方法，其特征在于，所述步骤S3包括：
    S31：所述水平移动结构根据第二照相机(42)的检测结果将所述夹持旋转机构运动至所述预装配位置；S32：所述升降装置驱动所述夹持结构(31)下降并将所述标记杆插入所述工件上。
PCT/CN2018/118280 2018-10-26 2018-11-29 一种标记杆装配装置、全自动生产线及标记杆装配方法 WO2020082505A1 (zh)

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CN110900161B (zh) * 2019-12-19 2021-09-07 朱辰宇 注塑件检测压标牌一体机
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