WO2022134148A1 - Six-degrees-of-freedom intelligent assembly system for special-shaped parts - Google Patents

Six-degrees-of-freedom intelligent assembly system for special-shaped parts Download PDF

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Publication number
WO2022134148A1
WO2022134148A1 PCT/CN2020/140655 CN2020140655W WO2022134148A1 WO 2022134148 A1 WO2022134148 A1 WO 2022134148A1 CN 2020140655 W CN2020140655 W CN 2020140655W WO 2022134148 A1 WO2022134148 A1 WO 2022134148A1
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axis
special
transfer
carrier
shaped parts
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PCT/CN2020/140655
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French (fr)
Chinese (zh)
Inventor
孙丰
张宝峰
吴斌
刘斌
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苏州赛腾精密电子股份有限公司
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Priority to CN202011556383.2A priority Critical patent/CN112719862A/en
Priority to CN202011556383.2 priority
Application filed by 苏州赛腾精密电子股份有限公司 filed Critical 苏州赛腾精密电子股份有限公司
Publication of WO2022134148A1 publication Critical patent/WO2022134148A1/en

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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23PMETAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P19/00Machines 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
    • B23P19/04Machines 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 for assembling or disassembling parts
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23PMETAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P19/00Machines 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
    • B23P19/001Article feeders for assembling machines
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23PMETAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P19/00Machines 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
    • B23P19/001Article feeders for assembling machines
    • B23P19/006Holding or positioning the article in front of the applying tool
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23PMETAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P19/00Machines 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
    • B23P19/001Article feeders for assembling machines
    • B23P19/007Picking-up and placing mechanisms
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16BDEVICES FOR FASTENING OR SECURING CONSTRUCTIONAL ELEMENTS OR MACHINE PARTS TOGETHER, e.g. NAILS, BOLTS, CIRCLIPS, CLAMPS, CLIPS, WEDGES, JOINTS OR JOINTING
    • F16B11/00Connecting constructional elements or machine parts by sticking or pressing them together, e.g. cold pressure welding
    • F16B11/006Connecting constructional elements or machine parts by sticking or pressing them together, e.g. cold pressure welding by gluing

Abstract

A six-degrees-of-freedom intelligent assembly system for special-shaped parts, the system comprising: a six-axis carrier used for accommodating a plurality of special-shaped parts; a calibrating apparatus comprising a first transferring and bearing mechanism and a six-axis adjusting mechanism, wherein the first transferring and bearing mechanism is provided with a loading and unloading position, and can drive the six-axis carrier to sequentially pass through the loading and unloading position and the six-axis adjusting mechanism; the six-axis adjusting mechanism is configured to scan the special-shaped parts on the six-axis carrier, so as to drive the six-axis carrier to adjust positions of the special-shaped parts according to a scanning result; a pressure-maintaining assembly line comprising an input line and an output line which are respectively connected to two ends of the first transferring and bearing mechanism, wherein the output line is used for receiving the six-axis carrier after the special-shaped parts are adjusted, and the input line is used for inputting the six-axis carrier, after the special-shaped parts are adjusted, into the first transferring and bearing mechanism; and a transferring and bearing apparatus used for bearing the input line and the output line, so as to transfer the six-axis carrier on the output line onto the input line.

Description

异形件六自由度智能组装系统Six-degree-of-freedom intelligent assembly system for special-shaped parts
本申请要求申请日为2020年12月24日、申请号为202011556383.2的中国专利申请的优先权,该申请的全部内容通过引用结合在本申请中。This application claims the priority of the Chinese patent application with an application date of December 24, 2020 and an application number of 202011556383.2, the entire contents of which are incorporated herein by reference.
技术领域technical field
本申请涉及异形件组装设备技术领域,例如涉及一种异形件六自由度智能组装系统。The present application relates to the technical field of special-shaped parts assembly equipment, for example, to a six-degree-of-freedom intelligent assembly system for special-shaped parts.
背景技术Background technique
近年来,随着社会发展和科学技术进步以及产品功能的需要,很多3C产品的外形和零部件呈非线性曲面异型结构状,例如5G手机、笔记本电脑、智能耳机、电子香烟、充电电源、智能穿戴等,这对自动组装的要求十分高,因此,现有的制造商通常采用人工组装或自动化加人工的方式进行组装。在此过程中,人工占据组装的重要组成部分,作为组装的核心部分,调整零部件之间的相对位置采用人工完成。但是随着劳动力成本的提高,人工组装已越来越不适应当下趋势,且人工组装效率低、良品率以及精度均较低,极大提高了生产成本。In recent years, with the development of society, the advancement of science and technology, and the needs of product functions, the shapes and components of many 3C products are in the shape of non-linear curved surfaces, such as 5G mobile phones, laptops, smart headphones, electronic cigarettes, rechargeable power supplies, smart The requirements for automatic assembly are very high. Therefore, existing manufacturers usually use manual assembly or automatic and manual assembly. In this process, manual labor occupies an important part of the assembly. As the core part of the assembly, the adjustment of the relative positions between the components is done manually. However, with the increase of labor costs, manual assembly has become more and more unsuitable for the current trend, and manual assembly has low efficiency, low yield and low precision, which greatly increases production costs.
发明内容SUMMARY OF THE INVENTION
本申请提供了一种异形件六自由度智能组装系统,其能够自动并连续的对异形件进行组装调整。The present application provides a six-degree-of-freedom intelligent assembly system for special-shaped parts, which can automatically and continuously assemble and adjust special-shaped parts.
本申请采用的技术方案是:一种异形件六自由度智能组装系统,包括:六轴载具,用于容置若干异形件,并可在多自由度上移动;校准设备,包括第一移载机构和六轴调整机构,所述第一移载机构设有用于将所述异形件放入和取出所述六轴载具的上下料工位,所述第一移载机构可驱动所述六轴载具依次经过所述上下料工位和所述六轴调整机构,所述六轴调整机构被配置成可对所述六轴载具上的异形件进行扫描,并与所述六轴载具传动连接,以根据扫描结果驱动所述六轴载具对所述异形件位置偏差进行调整;保压流水线,包括分别与所述第一移载机构的两端相接的输入线和输出线,所述输出线用于接收经所述六轴调整机构调整异形件后的所述六轴载具,所述输入线用于将调整异形件后的所述六轴载具输入所述第一移载机构;移载设备,用于承接所述输入线和所 述输出线,以将所述输出线上的所述六轴载具移送至所述输入线上。The technical solution adopted in the present application is: a six-degree-of-freedom intelligent assembly system for special-shaped parts, including: a six-axis carrier for accommodating several special-shaped parts and capable of moving in multiple degrees of freedom; calibration equipment, including a first moving A loading mechanism and a six-axis adjustment mechanism, the first transfer mechanism is provided with a loading and unloading station for putting the special-shaped parts in and out of the six-axis carrier, and the first transfer mechanism can drive the The six-axis carrier passes through the loading and unloading station and the six-axis adjusting mechanism in sequence, and the six-axis adjusting mechanism is configured to scan the special-shaped parts on the six-axis carrier and interact with the six-axis adjusting mechanism. The carrier is connected by transmission, so as to drive the six-axis carrier to adjust the position deviation of the special-shaped part according to the scanning result; the pressure-maintaining assembly line includes an input line and an output line respectively connected to both ends of the first transfer mechanism The output line is used to receive the six-axis carrier after the special-shaped part is adjusted by the six-axis adjustment mechanism, and the input line is used to input the six-axis carrier after the special-shaped part is adjusted into the first A transfer mechanism; transfer equipment, used for receiving the input line and the output line, so as to transfer the six-axis carrier on the output line to the input line.
可选地,所述六轴载具包括与所述异形件数量相对应的若干位移机构,所述位移机构分别用于对不同的所述异形件位置进行调整。Optionally, the six-axis carrier includes several displacement mechanisms corresponding to the number of the special-shaped parts, and the displacement mechanisms are respectively used to adjust the positions of the different special-shaped parts.
可选地,所述六轴调整机构包括调节驱动机构,所述调节驱动机构包括若干可主动转动的插接套,所述位移机构设置有若干用于控制多自由度运动的传动套,所述插接套与所述传动套插接配合并可主动转动,以将旋转运动转化为所述位移机构在各自由度方向上的运动。Optionally, the six-axis adjustment mechanism includes an adjustment drive mechanism, the adjustment drive mechanism includes a plurality of actively rotatable plug sleeves, the displacement mechanism is provided with a plurality of transmission sleeves for controlling multi-degree-of-freedom motion, the The plug-in sleeve is plug-fitted with the transmission sleeve and can be actively rotated, so as to convert the rotational motion into the motion of the displacement mechanism in the directions of each degree of freedom.
可选地,所述六轴载具包括:第一位移机构,其可在多自由度方向上进行移动;第一治具,设置在所述第一位移机构上,并用于收容所述异形件中的一个;第二位移机构,其可在多自由度方向上进行移动;以及第二治具,设置在所述第二位移机构上,并可对所述异形件中的另一个进行夹持。Optionally, the six-axis carrier includes: a first displacement mechanism, which can move in a multi-degree-of-freedom direction; a first fixture, arranged on the first displacement mechanism, and used for accommodating the special-shaped part one of them; a second displacement mechanism, which can move in the multi-degree-of-freedom direction; and a second jig, which is arranged on the second displacement mechanism and can clamp the other one of the special-shaped parts .
可选地,所述第一位移机构包括:Z轴平移机构,其可沿着Z轴方向移动;RZ轴旋转机构,设置在所述Z轴平移机构上,并可绕着Z轴转动;以及RX轴旋转机构,设置在所述RZ轴旋转机构上,并可绕着X轴转动,所述第一治具设置在所述RX轴旋转机构。Optionally, the first displacement mechanism includes: a Z-axis translation mechanism, which can move along the Z-axis direction; a RZ-axis rotation mechanism, which is provided on the Z-axis translation mechanism and can rotate around the Z-axis; and The RX axis rotation mechanism is arranged on the RZ axis rotation mechanism and can rotate around the X axis, and the first fixture is arranged on the RX axis rotation mechanism.
可选地,所述第二位移机构包括:Y轴平移机构,其可沿着Y轴方向移动;RY轴旋转机构,设置在所述Y轴平移机构上,并可绕着Y轴转动;以及X轴平移机构,设置在所述RY轴旋转机构上,并可沿着X轴移动,所述第二治具设置在所述X轴平移机构上。Optionally, the second displacement mechanism includes: a Y-axis translation mechanism, which can move along the Y-axis direction; an RY-axis rotation mechanism, which is provided on the Y-axis translation mechanism and can rotate around the Y-axis; and The X-axis translation mechanism is arranged on the RY-axis rotation mechanism and can move along the X-axis, and the second fixture is arranged on the X-axis translation mechanism.
可选地,所述第一治具包括固定在所述第一位移机构上的第一治具座和可拆卸安装在所述第一治具座上并用于容置所述异形件的第一治具芯。Optionally, the first jig includes a first jig seat fixed on the first displacement mechanism and a first jig seat detachably mounted on the first jig seat and used for accommodating the special-shaped part. Jig core.
可选地,所述第一治具包括安装在所述第一治具座上的第一压紧组件和第二压紧组件,所述第一压紧组件可靠近和远离所述第一治具芯,以压紧和松开所述第一治具芯,所述第二压紧组件可靠近和远离容置在所述第一治具芯上的所述异形件,以压紧和松开所述异形件。Optionally, the first fixture includes a first pressing component and a second pressing component installed on the first fixture seat, and the first pressing component can be close to and away from the first fixture. a core to compress and loosen the first jig core, and the second pressing component can be close to and away from the special-shaped piece accommodated on the first jig core to compress and loosen Open the special-shaped piece.
可选地,所述第二治具包括固定在所述第二位移机构上的第二治具座、安装在所述第二治具座上的抵压块和第一肘夹,所述第一肘夹可向着所述抵压块转动,以配合所述抵压块夹紧其中一个所述异形件。Optionally, the second jig includes a second jig seat fixed on the second displacement mechanism, a pressing block and a first elbow clip installed on the second jig seat, the first A toggle clamp can be rotated toward the abutting block, so as to cooperate with the abutting block to clamp one of the special-shaped parts.
可选地,所述第一移载机构包括:第一输送线,其一端与所述输入线相接,以接收所述输入线上的所述六轴载具;第一移送组件,位于所述第一输送线另 一端,并用于接收所述第一输送线上的所述六轴载具;第二输送线,其一端与所述输出线相接;以及第二移送组件,承接在所述第二输送线和所述第一移送组件之间,以接收所述第一移送组件上的所述六轴载具;其中,所述上下料工位位于所述第一移送组件处,所述六轴调整机构位于所述第二移送组件边侧。Optionally, the first transfer mechanism includes: a first conveying line, one end of which is connected to the input line to receive the six-axis carrier on the input line; a first transfer assembly, located at the The other end of the first conveying line is used to receive the six-axis carrier on the first conveying line; the second conveying line, one end of which is connected with the output line; between the second conveyor line and the first transfer assembly to receive the six-axis carrier on the first transfer assembly; wherein, the loading and unloading station is located at the first transfer assembly, so The six-axis adjustment mechanism is located at the side of the second transfer assembly.
可选地,所述六轴调整机构包括:置放架,用于放置所述六轴载具;检测机构,包括用于扫描检测所述六轴载具上异形件位置的激光器和/或CCD相机;以及调节驱动机构,可向着所述六轴载具移动,并与所述六轴载具传动连接,以驱动其在各自由度进行调节。Optionally, the six-axis adjustment mechanism includes: a placing frame for placing the six-axis carrier; a detection mechanism, including a laser and/or a CCD for scanning and detecting the position of the special-shaped part on the six-axis carrier a camera; and an adjustment drive mechanism, which can move toward the six-axis carrier and is drive-connected with the six-axis carrier to drive it to adjust in each degree of freedom.
可选地,所述移载设备包括:第三输送线,与所述输出线未与所述第一移载机构连接的一端相接;第四输送线,与所述输入线未与所述第一移载机构连接的一端相接;以及第二移载机构,承接在所述第三输送线和所述第四输送线之间,以将所述第三输送线上的所述六轴载具移至所述第四输送线上。Optionally, the transfer device includes: a third conveying line, connected to an end of the output line that is not connected to the first transfer mechanism; a fourth conveying line, connected to the input line that is not connected to the One end of the first transfer mechanism is connected; and a second transfer mechanism is received between the third conveying line and the fourth conveying line, so as to transfer the six shafts on the third conveying line The carrier is moved to the fourth conveyor line.
可选地,所述第二移载机构包括:第五输送线,用于承接所述第三输送线和所述第四输送线;第三移送组件,位于所述第三输送线和所述第五输送线的交汇处,并用于将所述第三输送线上的所述六轴载具搬运至第五输送线;以及第四移送组件,位于所述第四输送线和所述第五输送线的交汇处,并用于将所述第五输送线上的所述六轴载具搬运至所述第四输送线上。Optionally, the second transfer mechanism includes: a fifth conveying line for receiving the third conveying line and the fourth conveying line; and a third conveying assembly located at the third conveying line and the fourth conveying line the intersection of the fifth conveying line and used for conveying the six-axis carrier on the third conveying line to the fifth conveying line; and a fourth conveying assembly located at the fourth conveying line and the fifth conveying line The intersection of the conveying lines is used to transport the six-axis carrier on the fifth conveying line to the fourth conveying line.
本申请中校准设备的六轴调整机构能够对六轴载具上的异形件进行扫描,以根据扫描结果驱动六轴载具在多自由度上进行移动,从而对异形件间的相对位置进行精确调整;此外,组装系统还包括保压流水线和移载设备,其能够将精确调整异形件后的六轴载具移送回上下料工位,以进行下料和再次上料,从而实现组装系统对异形件的连续组装,提高自动化程度,提高组装效率。The six-axis adjustment mechanism of the calibration device in the present application can scan the special-shaped parts on the six-axis carrier, so as to drive the six-axis carrier to move in multiple degrees of freedom according to the scanning results, so as to accurately determine the relative positions between the special-shaped parts Adjustment; in addition, the assembly system also includes a pressure maintaining line and a transfer device, which can transfer the six-axis carrier after the precise adjustment of the special-shaped parts back to the loading and unloading station for unloading and reloading, so as to realize the adjustment of the assembly system. Continuous assembly of special-shaped parts improves automation and assembly efficiency.
附图说明Description of drawings
图1是本申请智能组装系统的整体结构示意图。FIG. 1 is a schematic diagram of the overall structure of the intelligent assembly system of the present application.
图2是本申请中六轴载具的结构示意图。FIG. 2 is a schematic structural diagram of a six-axis carrier in the present application.
图3是图2在另一方向上的结构示意图。FIG. 3 is a schematic view of the structure of FIG. 2 in another direction.
图4图2中第一位移机构和第一治具的装配结构示意图。FIG. 4 is a schematic diagram of the assembly structure of the first displacement mechanism and the first fixture in FIG. 2 .
图5是图4在另一方向上的结构示意图。FIG. 5 is a schematic view of the structure of FIG. 4 in another direction.
图6是本申请中第一治具的分解结构示意图。FIG. 6 is a schematic diagram of the exploded structure of the first fixture in the present application.
图7是图6中第一压紧组件和第二压紧组件松开时的结构示意图。FIG. 7 is a schematic structural diagram of the first pressing assembly and the second pressing assembly in FIG. 6 when they are released.
图8是图6中第一压紧组件和第二压紧组件锁紧时的结构示意图。FIG. 8 is a schematic structural diagram of the first pressing assembly and the second pressing assembly in FIG. 6 when they are locked.
图9是图2中第二位移机构和第二治具的装配结构示意图。FIG. 9 is a schematic diagram of the assembly structure of the second displacement mechanism and the second fixture in FIG. 2 .
图10是图9在另一方向上的结构示意图。FIG. 10 is a schematic view of the structure of FIG. 9 in another direction.
图11是本申请中第二治具的结构示意图。FIG. 11 is a schematic structural diagram of the second jig in the present application.
图12是本申请中校准设备的结构示意图。FIG. 12 is a schematic structural diagram of the calibration equipment in the present application.
图13是图12中第一移载机构的结构示意图。FIG. 13 is a schematic structural diagram of the first transfer mechanism in FIG. 12 .
图14是图12中第一移送组件的结构示意图。FIG. 14 is a schematic structural diagram of the first transfer assembly in FIG. 12 .
图15是图12中第二移送组件的结构示意图。FIG. 15 is a schematic structural diagram of the second transfer assembly in FIG. 12 .
图16是图12中六轴调整机构的结构示意图。FIG. 16 is a schematic structural diagram of the six-axis adjustment mechanism in FIG. 12 .
图17是图12中检测机构的结构示意图。FIG. 17 is a schematic structural diagram of the detection mechanism in FIG. 12 .
图18是图12中调节驱动机构的其中一部分的结构示意图。FIG. 18 is a schematic structural diagram of a part of the adjustment drive mechanism in FIG. 12 .
图19是图18中Z轴驱动组件的结构示意图。FIG. 19 is a schematic structural diagram of the Z-axis drive assembly in FIG. 18 .
图20是Z轴驱动组件的分解结构示意图。Fig. 20 is a schematic diagram of the exploded structure of the Z-axis drive assembly.
图21是Z轴驱动组件的剖视示意图。Figure 21 is a schematic cross-sectional view of the Z-axis drive assembly.
图22是图12中调节驱动结构的另一部分的结构示意图。FIG. 22 is a schematic structural diagram of another part of the adjustment driving structure in FIG. 12 .
图23是本申请中移载设备的结构示意图。FIG. 23 is a schematic structural diagram of the transfer device in the present application.
图24是图23中第三移送组件的结构示意图。FIG. 24 is a schematic structural diagram of the third transfer assembly in FIG. 23 .
图25是图24中移载夹爪的分解结构示意图。FIG. 25 is a schematic diagram of an exploded structure of the transfer jaw in FIG. 24 .
具体实施方式Detailed ways
本申请中的术语“包括”和“具有”以及它们任何变形,意图在于覆盖不排他的包含。例如包含了一系列步骤或单元的过程、方法、系统、产品或设备没有限定于已列出的步骤或单元,而是可选地还包括没有列出的步骤或单元,或可选地还包括对于这些过程、方法、产品或设备固有的其它步骤或单元。The terms "comprising" and "having" and any variations thereof in this application are intended to cover a non-exclusive inclusion. For example, a process, method, system, product or device comprising a series of steps or units is not limited to the listed steps or units, but optionally also includes unlisted steps or units, or optionally also includes For other steps or units inherent to these processes, methods, products or devices.
在本文中提及“实施例”意味着,结合实施例描述的特定特征、结构或特性可以包含在本申请的至少一个实施例中。在说明书中的各个位置出现该短语并不一定均是指相同的实施例,也不是与其它实施例互斥的独立的或备选的实施例。本领域技术人员显式地和隐式地理解的是,本文所描述的实施例可以与其它实施例相结合。Reference herein to an "embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the present application. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor a separate or alternative embodiment that is mutually exclusive of other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.
如图1所示,对应于本申请一种可选实施例的异形件六自由度智能组装系 统,包括:As shown in Figure 1, corresponding to a kind of optional embodiment of the present application, a special-shaped six-degree-of-freedom intelligent assembly system, comprising:
六轴载具100,用于容置点胶后的若干异形件(图未示),并可在多自由度上对异形件间位置偏差进行调整;The six-axis carrier 100 is used to accommodate several special-shaped parts (not shown) after dispensing, and can adjust the positional deviation between the special-shaped parts in multiple degrees of freedom;
校准设备200,包括第一移载机构201和六轴调整机构202,第一移载机构201设有用于将异形件放入和取出六轴载具100的上下料工位201a,第一移载机构201可驱动六轴载具100依次经过上下料工位201a和六轴调整机构202,六轴调整机构202被配置成可对六轴载具100上的异形件进行扫描,并与六轴载具100传动连接,以根据扫描结果驱动六轴载具100对异形件位置进行调整;The calibration device 200 includes a first transfer mechanism 201 and a six-axis adjustment mechanism 202. The first transfer mechanism 201 is provided with a loading and unloading station 201a for placing and taking out special-shaped parts into and out of the six-axis carrier 100. The first transfer mechanism 201 The mechanism 201 can drive the six-axis carrier 100 to pass through the loading and unloading station 201a and the six-axis adjustment mechanism 202 in sequence. With 100 transmission connection, to drive the six-axis carrier 100 to adjust the position of the special-shaped part according to the scanning result;
保压流水线300,包括分别与第一移载机构201首端和末端相接的输入线301和输出线302,输出线302用于接收经六轴调整机构202调整异形件后的六轴载具100,输入线301用于将调整异形件后的六轴载具100输向上下料工位201a;The pressure maintaining assembly line 300 includes an input line 301 and an output line 302 respectively connected to the head end and the end of the first transfer mechanism 201 , and the output line 302 is used to receive the six-axis carrier after the special-shaped parts are adjusted by the six-axis adjustment mechanism 202 100. The input line 301 is used to transport the six-axis carrier 100 after adjusting the special-shaped part to the upper and lower material station 201a;
移载设备400,用于承接输入线301和输出线302,以将输出线302上的六轴载具100移送至输入线301上。The transfer device 400 is used for receiving the input line 301 and the output line 302 to transfer the six-axis carrier 100 on the output line 302 to the input line 301 .
本申请中校准设备200的六轴调整机构202能够对六轴载具100上的异形件进行扫描,以根据扫描结果驱动六轴载具100在多自由度上进行移动,从而对异形件间的相对位置进行精确调整;此外,组装系统还包括保压流水线300和移载设备400,其能够将精确调整异形件后的六轴载具100移送回上下料工位201a,以进行下料和再次上料,从而实现组装系统对异形件的连续组装,提高自动化程度,提高组装效率。The six-axis adjustment mechanism 202 of the calibration device 200 in the present application can scan the special-shaped parts on the six-axis carrier 100 to drive the six-axis carrier 100 to move in multiple degrees of freedom according to the scanning results, so as to adjust the difference between the special-shaped parts. The relative position is precisely adjusted; in addition, the assembly system also includes a pressure maintaining line 300 and a transfer device 400, which can move the six-axis carrier 100 after the precise adjustment of the special-shaped parts back to the loading and unloading station 201a for unloading and reloading Feeding, so as to realize the continuous assembly of special-shaped parts by the assembly system, improve the degree of automation, and improve the assembly efficiency.
进一步地,六轴载具100数量有多个,以在校准设备200、保压流水线300和移载设备400间循环流动。Further, there are multiple six-axis carriers 100 to circulate among the calibration equipment 200 , the pressure maintaining line 300 and the transfer equipment 400 .
参照图2和图3所示,六轴载具100包括载具底板101和若干安装在载具底板101上用于在多自由度对异形件位置进行调节的位移机构,位移机构与异形件的数量相对应,以分别对不同的异形件位置进行调整,从而实现不同异形件间相对位置的调整。2 and 3, the six-axis carrier 100 includes a carrier base plate 101 and a plurality of displacement mechanisms installed on the carrier base plate 101 for adjusting the position of the special-shaped parts in multiple degrees of freedom. The numbers are corresponding to adjust the positions of different special-shaped parts respectively, so as to realize the adjustment of the relative positions of different special-shaped parts.
在本实施例中,异形件数量为两个,六轴载具100包括第一位移机构102和第二位移机构103,第一位移机构102用于收容异形件并可在多自由度对异形件进行调整,第二位移机构103用于对其中一个异形件在多自由度进行调整。In this embodiment, the number of special-shaped parts is two. The six-axis carrier 100 includes a first displacement mechanism 102 and a second displacement mechanism 103. The first displacement mechanism 102 is used to accommodate the special-shaped parts and can adjust the special-shaped parts in multiple degrees of freedom. For adjustment, the second displacement mechanism 103 is used to adjust one of the special-shaped parts in multiple degrees of freedom.
更具体的,本实施中异形件为点过胶后的下盖(图未示)和合页(图未示), 六轴载具100还包括安装在第一位移机构102上用于收容下盖的第一治具14以及安装在第二位移机构103上用于夹持合页的第二治具18,第一位移机构102和第二位移机构103可分别驱动第一治具14和第二治具18在多自由度进行移动,进而对下盖和合页的相对位置进行调整。More specifically, in this embodiment, the special-shaped parts are the lower cover (not shown in the figure) and the hinge (not shown in the figure) after the glue has been dispensed. The first jig 14 and the second jig 18 installed on the second displacement mechanism 103 for clamping the hinge, the first displacement mechanism 102 and the second displacement mechanism 103 can respectively drive the first jig 14 and the second jig 18 The jig 18 moves in multiple degrees of freedom, thereby adjusting the relative position of the lower cover and the hinge.
第一位移机构102包括Z轴平移机构11、设置在Z轴平移机构11上的RZ轴旋转机构12和设置在RZ轴旋转机构12上的RX轴旋转机构13,第一治具14设置在RX轴旋转机构13上。The first displacement mechanism 102 includes a Z-axis translation mechanism 11, an RZ-axis rotation mechanism 12 provided on the Z-axis translation mechanism 11, and an RX-axis rotation mechanism 13 provided on the RZ-axis rotation mechanism 12. The first fixture 14 is provided on the RX on the shaft rotation mechanism 13 .
参照图4和图5所示,Z轴平移机构11安装在载具底板101上。Z轴平移机构11包括第一驱动装置111和用于安装RZ轴旋转机构12的Z轴支撑滑台112,第一驱动装置111与Z轴支撑滑台112相接并可驱动Z轴支撑滑台112沿着Z轴方向移动。Referring to FIG. 4 and FIG. 5 , the Z-axis translation mechanism 11 is installed on the carrier base plate 101 . The Z-axis translation mechanism 11 includes a first drive device 111 and a Z-axis support slide 112 for installing the RZ-axis rotation mechanism 12 . The first drive device 111 is connected to the Z-axis support slide 112 and can drive the Z-axis support slide 112 moves along the Z-axis direction.
第一驱动装置111具体为驱动滑台,其包括Z轴传动组件1111和与其传动连接的第一驱动座1112。Z轴支撑滑台112包括沿Z轴方向排布的Z轴导轨1121和滑动配接在Z轴导轨1121上的Z轴滑座1122。第一驱动座1112与Z轴滑座1122传动连接,以驱动Z轴滑座1122沿着Z轴导轨1121移动。The first driving device 111 is specifically a driving slide, which includes a Z-axis transmission assembly 1111 and a first driving seat 1112 that is drivingly connected thereto. The Z-axis support slide 112 includes a Z-axis guide rail 1121 arranged along the Z-axis direction and a Z-axis sliding seat 1122 slidably coupled to the Z-axis guide rail 1121 . The first driving seat 1112 is in driving connection with the Z-axis sliding seat 1122 to drive the Z-axis sliding seat 1122 to move along the Z-axis guide rail 1121 .
在本实施例中,Z轴传动组件1111具体为沿着垂直于Z轴方向布置的丝杆组件,其可将旋转运动转化为沿着螺杆方向移动的线性运动。Z轴传动组件1111的端部沿其轴向设置有用于与六轴调整机构202配接的Z轴传动套1113。第一驱动座1112与Z轴滑座1122间斜面配合,以推拉Z轴滑座1122,并将其水平移动转化为Z轴滑座1122沿着Z轴导轨1121滑动的Z轴移动。诚然,在其他实施例中,也可将Z轴传动组件1111沿着Z轴方向布置,Z轴滑座1122直接与其配接以实现其沿Z轴方向的移动。In this embodiment, the Z-axis transmission assembly 1111 is specifically a screw assembly arranged along a direction perpendicular to the Z-axis, which can convert rotational motion into linear motion moving in the direction of the screw. The end of the Z-axis transmission assembly 1111 is provided with a Z-axis transmission sleeve 1113 along its axial direction for mating with the six-axis adjustment mechanism 202 . The first driving seat 1112 and the Z-axis sliding seat 1122 cooperate with the inclined surface to push and pull the Z-axis sliding seat 1122 , and convert the horizontal movement into the Z-axis movement of the Z-axis sliding seat 1122 sliding along the Z-axis guide rail 1121 . Certainly, in other embodiments, the Z-axis transmission assembly 1111 can also be arranged along the Z-axis direction, and the Z-axis sliding seat 1122 is directly matched with it to realize its movement along the Z-axis direction.
RZ轴旋转机构12包括通过支架安装在载具底板101上的第二驱动装置121和安装在Z轴滑座1122上的旋转台122,第二驱动装置121与旋转台122相接并可驱动旋转台122绕着Z轴方向旋转。The RZ axis rotation mechanism 12 includes a second driving device 121 mounted on the carrier base plate 101 through a bracket and a rotary table 122 mounted on the Z axis sliding seat 1122. The second driving device 121 is connected to the rotary table 122 and can be driven to rotate The stage 122 rotates around the Z-axis direction.
第二驱动装置121具体为驱动滑台,其包括RZ轴传动组件1211和与其传动连接的第二驱动座1212,第二驱动座1212上设置有第一连接块1213,第一连接块1213成型有第一安装槽1214。旋转台122包括安装在Z轴滑座1122上可转动的转台主体1221以及安装在转台主体1221端面上的RZ轴安装座1222,RZ轴安装座1222向外凸设有嵌设在第一安装槽1214内的第一随动器1223,第 一随动器1223具体为凸轮轴承随动器。RZ轴传动组件1211可驱动第二驱动座1212推拉RZ轴安装座1222,以将其线性运动转化为RZ轴安装座1222的旋转运动。The second driving device 121 is specifically a driving sliding table, which includes a RZ axis transmission assembly 1211 and a second driving seat 1212 that is connected to the transmission. The second driving seat 1212 is provided with a first connecting block 1213, and the first connecting block 1213 is formed with a The first mounting groove 1214 . The turntable 122 includes a turntable main body 1221 which is rotatably installed on the Z-axis sliding seat 1122 and a RZ-axis mounting seat 1222 installed on the end face of the turntable main body 1221. The first follower 1223 in 1214, the first follower 1223 is specifically a cam bearing follower. The RZ-axis transmission assembly 1211 can drive the second driving base 1212 to push and pull the RZ-axis mounting base 1222 , so as to convert its linear motion into the rotational motion of the RZ-axis mounting base 1222 .
在本实施例中,RZ轴传动组件1211也为沿着垂直Z轴方向布置的丝杆组件,RZ轴传动组件1211的端部沿其轴向设置有用于与六轴调整机构202配接的RZ轴传动套1215。In this embodiment, the RZ-axis transmission assembly 1211 is also a screw assembly arranged along the vertical Z-axis direction, and the end of the RZ-axis transmission assembly 1211 is provided along its axial direction with a RZ for mating with the six-axis adjustment mechanism 202 Shaft drive sleeve 1215.
RX轴旋转机构13包括安装在RZ轴安装座1222上的第一测角仪滑台131和安装在载具底板101上并驱动第一测角仪滑台131绕着X轴摆动的第三驱动装置132。The RX axis rotation mechanism 13 includes a first goniometer slide 131 mounted on the RZ axis mount 1222 and a third drive mounted on the carrier base plate 101 and driving the first goniometer slide 131 to swing around the X axis device 132 .
第一测角仪滑台131包括安装在RZ轴安装座1222上且带有弧面的第一底座1311和与第一底座1311的弧面相贴合并与其滑动配接的RX轴安装座1312,RX轴安装座1312可沿着该弧面在一定角度内绕着X轴摆动。第一治具14安装在RX轴安装座1312上,以随其同步摆动。The first goniometer slide table 131 includes a first base 1311 mounted on the RZ axis mounting seat 1222 and having an arc surface, and an RX axis mounting seat 1312 that is in contact with the arc surface of the first base 1311 and slidably matched with it. The shaft mount 1312 can swing around the X-axis within a certain angle along the arc surface. The first fixture 14 is mounted on the RX shaft mounting seat 1312 to swing synchronously therewith.
第三驱动装置132包括RX轴安装架1321和设置在RX轴安装架1321上且沿垂直Z轴方向排布的第一传动螺杆1322,第一传动螺杆1322上螺纹配接有第一螺杆滑座1323,第一螺杆滑座1323与第一治具14相接,以带动第一治具14和RX轴安装座1312沿着第一底座1311的弧面摆动。The third driving device 132 includes an RX shaft mounting frame 1321 and a first driving screw 1322 arranged on the RX shaft mounting frame 1321 and arranged in the vertical Z-axis direction. The first driving screw 1322 is threadedly fitted with a first screw sliding seat 1323 , the first screw slide 1323 is connected to the first fixture 14 to drive the first fixture 14 and the RX shaft mounting seat 1312 to swing along the arc surface of the first base 1311 .
具体的,第一螺杆滑座1323上安装有第二连接块1324,第二连接块1324成型有第二安装槽1325,第一治具14凸设有嵌设在第二安装槽1325内的第二随动器1326,第二随动器1326具体为凸轮轴承随动器。通过转动第一传动螺杆1322,第一螺杆滑座1323可沿着第一传动螺杆1322移动,进而带动第一治具14和RX轴安装座1312沿着弧面摆动。Specifically, a second connection block 1324 is installed on the first screw slide 1323 , the second connection block 1324 is formed with a second installation groove 1325 , and the first fixture 14 protrudes with a second connection block 1325 embedded in the second installation groove 1325 . Two followers 1326, the second follower 1326 is specifically a cam bearing follower. By rotating the first driving screw 1322, the first screw sliding seat 1323 can move along the first driving screw 1322, thereby driving the first fixture 14 and the RX shaft mounting seat 1312 to swing along the arc surface.
此外,第三驱动装置132还包括设置在RX轴安装架1321上且沿垂直Z轴方向排布的第一传动杆1327,第一传动杆1327的一端与第一传动螺杆1322传动连接,另一端沿轴向设置有用于与六轴调整机构202配接的RX轴传动套1328。可选地,第一传动杆1327采用柔性传动,其具体可由十字万向节连接而成,以减小刚性冲击,进而使得传动更为平稳。In addition, the third driving device 132 further includes a first transmission rod 1327 arranged on the RX axis mounting frame 1321 and arranged along the vertical Z-axis direction. One end of the first transmission rod 1327 is drivingly connected with the first transmission screw 1322, and the other end An RX shaft transmission sleeve 1328 for mating with the six-axis adjustment mechanism 202 is provided along the axial direction. Optionally, the first transmission rod 1327 adopts a flexible transmission, which can be specifically connected by a cross universal joint, so as to reduce the rigid impact, thereby making the transmission more stable.
第三驱动装置132还包括安装在RX轴安装架1321上用于支撑第一传动杆1327和第一传动螺杆1322的轴承座1329,轴承座1329数量为两个且分别套设在第一传动杆1327和第一传动螺杆1322未相接的端部。The third driving device 132 further includes a bearing seat 1329 mounted on the RX shaft mounting frame 1321 for supporting the first transmission rod 1327 and the first transmission screw 1322. The number of bearing seats 1329 is two and is respectively sleeved on the first transmission rod 1327 and the end of the first drive screw 1322 that are not connected.
可选地,第三驱动装置132还包括安装在RX轴安装架1321上的RX轴引导组件133,RX轴引导组件133包括沿第一螺杆滑座1323滑动方向设置的第一滑轨1331和滑动配接在第一滑轨1331上的第一滑块1332,第一滑块1332上安装有一与第一螺杆滑座1323相接的连接板1333。通过设置RX轴引导组件133,第一螺杆滑座1323可在第一滑轨1331的导向下进行滑动,以确保第一螺杆滑座1323的平稳滑动。Optionally, the third driving device 132 further includes an RX shaft guide assembly 133 mounted on the RX shaft mounting bracket 1321 , and the RX shaft guide assembly 133 includes a first sliding rail 1331 and a sliding rail 1331 disposed along the sliding direction of the first screw sliding seat 1323 . The first sliding block 1332 is fitted on the first sliding rail 1331 , and a connecting plate 1333 connected to the first screw sliding seat 1323 is installed on the first sliding block 1332 . By arranging the RX shaft guide assembly 133 , the first screw sliding seat 1323 can slide under the guidance of the first sliding rail 1331 , so as to ensure the smooth sliding of the first screw sliding seat 1323 .
参照图6至图8所示,在本实施例中,为了便于取放异形件,第一治具14采用可拆卸的分体结构,其包括固定在RX轴安装座1312上的第一治具座141和可拆卸安装在第一治具座141上的第一治具芯142,第一治具芯142上形成有与下盖外轮廓相匹配的容置腔142a,当需要进行上下料时,只需将第一治具芯142取出或装入第一治具座141即可。Referring to FIGS. 6 to 8 , in this embodiment, in order to facilitate access to the special-shaped parts, the first jig 14 adopts a detachable split structure, which includes a first jig fixed on the RX shaft mounting seat 1312 The seat 141 and the first jig core 142 detachably installed on the first jig seat 141, the first jig core 142 is formed with a accommodating cavity 142a that matches the outer contour of the lower cover, when the material needs to be loaded and unloaded , just take out the first jig core 142 or put it into the first jig seat 141 .
进一步地,第一治具座141形成有放置第一治具芯142的放置槽141a,第一治具座141上设置有用于压紧第一治具芯142的第一压紧组件143。第一压紧组件143包括摇杆组件、与摇杆组件传动连接的第一推块1431以及与第一推块1431传动连接并可向着放置槽141a内转动的锁紧块1432。通过驱动摇杆组件,可带动第一推块1431作线性运动,并推拉锁紧块1432,使其可转向放置槽141a并抵紧第一治具芯142或转离放置槽141a并松开第一治具芯142。Further, the first jig seat 141 is formed with a placement groove 141 a for placing the first jig core 142 , and the first jig seat 141 is provided with a first pressing component 143 for pressing the first jig core 142 . The first pressing component 143 includes a rocker component, a first push block 1431 drivingly connected to the rocker component, and a locking block 1432 drivingly connected to the first push block 1431 and rotatable toward the placement slot 141a. By driving the rocker assembly, the first push block 1431 can be driven to move linearly, and the locking block 1432 can be pushed and pulled, so that it can turn to the placing groove 141a and press against the first jig core 142 or rotate away from the placing groove 141a and release the first jig core 141a. A jig core 142 .
进一步地,摇杆组件包括第一把手1433、转轴1434、转接块1435和转接杆1436,转轴1434两端分别与第一把手1433和转接块1435固定连接,转接杆1436两端分别与转接块1435和第一推块1431转动连接。第一把手1433具有锁紧位置和松开位置,当第一把手1433自锁紧位置转动至松开位置时,转接块1435随第一把手1433同步转动,并拉动转接杆1436向内移动,以带动第一推块1431向内移动,进而带动锁紧块1432向着远离放置槽141a方向转动;当第一把手1433自松开位置转动至锁紧位置时,转接块1435随第一把手1433同步转动,并推动转接杆1436向外移动,以带动第一推块1431向外移动,进而带动锁紧块1432向着放置槽141a方向转动。Further, the rocker assembly includes a first handle 1433, a rotating shaft 1434, an adapter block 1435, and an adapter rod 1436. Both ends of the rotating shaft 1434 are fixedly connected to the first handle 1433 and the adapter block 1435, respectively, and both ends of the adapter rod 1436 are respectively connected to the adapter. The connecting block 1435 and the first pushing block 1431 are rotatably connected. The first handle 1433 has a locking position and a releasing position. When the first handle 1433 rotates from the locking position to the releasing position, the adapter block 1435 rotates synchronously with the first handle 1433 and pulls the adapter rod 1436 to move inward to drive the The first push block 1431 moves inward, thereby driving the locking block 1432 to rotate away from the placement slot 141a; when the first handle 1433 rotates from the release position to the locked position, the adapter block 1435 rotates synchronously with the first handle 1433, and Push the adapter rod 1436 to move outward to drive the first push block 1431 to move outward, thereby driving the locking block 1432 to rotate toward the placement slot 141a.
可选地,锁紧块1432数量为两个且分别位于放置槽141a两侧,以对第一治具芯142的两侧进行紧固,相应的,第一推块1431和转接杆1436的数量也为两个,以分别控制两锁紧块1432转动。Optionally, there are two locking blocks 1432 located on both sides of the placement groove 141a respectively, so as to fasten both sides of the first jig core 142. Correspondingly, the first push block 1431 and the adapter rod 1436 The number is also two, so as to control the rotation of the two locking blocks 1432 respectively.
可选地,参照图4所示,在第一把手1433的锁紧位置和松开位置处分别设 置有磁吸座1437,以使第一把手1433到达锁紧位置和松开位置时受到吸附,以稳固第一把手1433,防止锁紧块1432晃动,提高第一治具芯142的取放效率。Optionally, as shown in FIG. 4 , magnetic suction seats 1437 are respectively provided at the locking position and the releasing position of the first handle 1433 , so that the first handle 1433 is adsorbed when it reaches the locking position and the releasing position, so as to stabilize The first handle 1433 prevents the locking block 1432 from shaking and improves the picking and placing efficiency of the first jig core 142 .
为了确保第一推块1431作线性运动,参照图6至图8所示,第一压紧组件143还包括第一滑轨组件144,第一滑轨组件144包括第二滑轨(图未示)和与第二滑轨(图未示)滑动配接的第二滑块(图未示),第一推块1431与第二滑块相固定。In order to ensure the linear movement of the first push block 1431, as shown in FIGS. 6 to 8, the first pressing assembly 143 further includes a first sliding rail assembly 144, and the first sliding rail assembly 144 includes a second sliding rail (not shown in the figure). ) and a second sliding block (not shown) slidably matched with the second sliding rail (not shown), and the first push block 1431 is fixed with the second sliding block.
此外,第一治具14还包括位于容置腔142a开口处的第二压紧组件145,第二压紧组件145可靠近和远离容置腔142a,以压紧和松开放入容置腔142a内的下盖。In addition, the first fixture 14 further includes a second pressing component 145 located at the opening of the accommodating cavity 142a. The second pressing component 145 can be close to and away from the accommodating cavity 142a, so as to be compressed and released into the accommodating cavity. Lower cover in 142a.
进一步地,第二压紧组件145包括设置在第一治具座141上且位于第一治具芯142下方的第二滑轨组件146和压板1451。第二滑轨组件146包括第三滑轨1461和滑动配接在第三滑轨1461上的第三滑块1462,压板1451固定在第三滑块1462上且部分向外延伸至容置腔142a的外侧。在本实施例中,第三滑轨1461数量为两条,且分别位于压板1451两侧,相应的,第三滑块1462的数量为两个。压板1451包括位于容置腔142a两侧的抵压部1452以及安装在压板1451上且位于抵压部1452之间的压块1453,以分别对下盖的两侧和中部进行压紧。Further, the second pressing assembly 145 includes a second sliding rail assembly 146 and a pressing plate 1451 disposed on the first jig seat 141 and located below the first jig core 142 . The second sliding rail assembly 146 includes a third sliding rail 1461 and a third sliding block 1462 slidably engaged on the third sliding rail 1461 , and the pressing plate 1451 is fixed on the third sliding block 1462 and partially extends outward to the accommodating cavity 142 a outside. In this embodiment, the number of the third sliding rails 1461 is two, and they are respectively located on both sides of the pressing plate 1451 . Correspondingly, the number of the third sliding rails 1462 is two. The pressing plate 1451 includes pressing portions 1452 located on both sides of the accommodating cavity 142a and pressing blocks 1453 mounted on the pressing plate 1451 and located between the pressing portions 1452 to press the two sides and the middle of the lower cover respectively.
可选地,抵压部1452与下盖相接触的一面上设置有真空吸盘(图未示),压板1451内开设有与真空吸盘相连通的通气管路(图未示),从而能够对下盖进行吸附,以提高抵压后下盖的稳定性。Optionally, a vacuum suction cup (not shown in the figure) is provided on the side of the pressing portion 1452 in contact with the lower cover, and a ventilation line (not shown in the figure) that communicates with the vacuum suction cup is opened in the pressing plate 1451, so that the lower cover can be connected to the lower cover. The cover is adsorbed to improve the stability of the lower cover after pressing.
可选地,为了便于驱动第二压紧组件145,在本实施例中,摇杆组件与第二压紧组件145传动连接,当第一把手1433自锁紧位置转动至松开位置时,压板1451能够沿着第三滑轨1461滑动并远离容置腔142a,当第一把手1433自松开位置转动至锁紧位置时,压板1451能够沿着第三滑轨1461滑动并靠近容置腔142a。Optionally, in order to facilitate the driving of the second pressing assembly 145, in this embodiment, the rocker assembly is in a driving connection with the second pressing assembly 145. When the first handle 1433 is rotated from the locking position to the releasing position, the pressing plate 1451 It can slide along the third sliding rail 1461 and move away from the accommodating cavity 142a. When the first handle 1433 is rotated from the release position to the locking position, the pressing plate 1451 can slide along the third sliding rail 1461 and approach the accommodating cavity 142a.
具体的,第二压紧组件145包括放置在第一治具座141上的第二推块1450和第二弹性件1454,压板1451固定在第二推块1450上。第二推块1450位于第三滑块1462之间,以限位并引导第二推块1450沿着第三滑轨1461移动。第二弹性件1454与第二推块1450的一端相抵,以提供驱使第二推块1450向着摇杆组件方向移动的推力,以推动压板1451向着容置腔142a靠近。Specifically, the second pressing assembly 145 includes a second pushing block 1450 and a second elastic member 1454 placed on the first fixture seat 141 , and the pressing plate 1451 is fixed on the second pushing block 1450 . The second push block 1450 is located between the third sliding blocks 1462 to limit and guide the second push block 1450 to move along the third sliding rail 1461 . The second elastic member 1454 abuts against one end of the second push block 1450 to provide a pushing force that drives the second push block 1450 to move toward the rocker assembly, so as to push the pressing plate 1451 toward the accommodating cavity 142a.
摇杆组件还包括固定在转接块1435上与第二推块1450的端部相对应的推 柱1438。当第一把手1433由锁紧位置转动至松开位置时,推柱1438随转接块1435向着第二推块1450转动,并推动第二推块1450向着远离摇杆组件方向移动,进而使第二推块1450上的压板1451远离容置腔142a;当第一把手1433由松开位置转动至锁紧位置时,第二推块1450未受推柱1438抵压,第二弹性件1454推动第二推块1450向着摇杆组件方向移动复位,以带动压板1451靠近容置腔142a并抵压下盖。可选地,为了使推柱1438顺畅的推动第二推块1450,第二推块1450与推柱1438相接处为弧面结构。The rocker assembly further includes a push post 1438 fixed on the adapter block 1435 and corresponding to the end of the second push block 1450. When the first handle 1433 is rotated from the locking position to the releasing position, the push post 1438 rotates with the adapter block 1435 toward the second push block 1450 and pushes the second push block 1450 to move away from the rocker assembly, thereby making the second push block 1450 move away from the rocker assembly. The pressing plate 1451 on the push block 1450 is far away from the accommodating cavity 142a; when the first handle 1433 is rotated from the release position to the locked position, the second push block 1450 is not pressed by the push post 1438, and the second elastic member 1454 pushes the second push block 1454 The block 1450 moves toward the rocker assembly to reset, so as to drive the pressing plate 1451 to approach the accommodating cavity 142a and press the lower cover. Optionally, in order to enable the push post 1438 to smoothly push the second push block 1450 , the connection between the second push block 1450 and the push post 1438 is an arc structure.
参照图2和图3所示,第二位移机构103包括Y轴平移机构15、设置在Y轴平移机构15上的RY轴旋转机构16和设置在RY轴旋转机构16上的X轴平移机构17,第二治具18设置在X轴平移机构17上。2 and 3 , the second displacement mechanism 103 includes a Y-axis translation mechanism 15 , an RY-axis rotation mechanism 16 provided on the Y-axis translation mechanism 15 and an X-axis translation mechanism 17 provided on the RY-axis rotation mechanism 16 . , the second fixture 18 is arranged on the X-axis translation mechanism 17 .
参照图9和图10所示,Y轴平移机构15安装在载具底板101。Y轴平移机构15包括第四驱动装置151和用于安装RY轴旋转机构16的Y轴支撑滑台152,第四驱动装置151与Y轴支撑滑台152相接并可驱动Y轴支撑滑台152沿着Y轴方向移动。Referring to FIG. 9 and FIG. 10 , the Y-axis translation mechanism 15 is installed on the carrier bottom plate 101 . The Y-axis translation mechanism 15 includes a fourth drive device 151 and a Y-axis support slide 152 for installing the RY-axis rotation mechanism 16 . The fourth drive device 151 is connected to the Y-axis support slide 152 and can drive the Y-axis support slide. 152 moves along the Y-axis direction.
第四驱动装置151具体为驱动滑台,其包括Y轴传动组件1511和与其传动连接的第三驱动座1512。Y轴支撑滑台152包括沿Y轴方向排布的Y轴导轨1521和滑动配接在Y轴导轨1521上的Y轴滑座1522。第三驱动座1512与Y轴滑座1522传动连接,以驱动Y轴滑座1522沿着Y轴导轨1521移动。在本实施例中,第三驱动座1512与Y轴滑座1522也采用凸轮轴承随动器进行传动,其具体连接结构可参照第二驱动座1212与旋转台122的连接结构,本申请在此不再赘述。The fourth drive device 151 is specifically a drive slide, which includes a Y-axis transmission assembly 1511 and a third drive base 1512 that is drive-connected thereto. The Y-axis supporting slide 152 includes a Y-axis guide rail 1521 arranged along the Y-axis direction and a Y-axis sliding seat 1522 slidably coupled to the Y-axis guide rail 1521 . The third driving seat 1512 is in driving connection with the Y-axis sliding seat 1522 to drive the Y-axis sliding seat 1522 to move along the Y-axis guide rail 1521 . In this embodiment, the third driving seat 1512 and the Y-axis sliding seat 1522 are also driven by a cam bearing follower. For the specific connection structure, please refer to the connection structure between the second driving seat 1212 and the rotary table 122, the application is here No longer.
Y轴传动组件1511的结构与Z轴传动组件1111的结构相同,其也为沿着垂直于Z轴方向布置的丝杆组件。Y轴传动组件1511的端部沿其轴向设置有用于与六轴调整机构202配接的Y轴传动套1513。The structure of the Y-axis transmission assembly 1511 is the same as that of the Z-axis transmission assembly 1111 , which is also a screw assembly arranged in a direction perpendicular to the Z-axis. The end of the Y-axis transmission assembly 1511 is provided with a Y-axis transmission sleeve 1513 along its axial direction for mating with the six-axis adjustment mechanism 202 .
RY轴旋转机构16包括安装在Y轴滑座1522上的第二测角仪滑台161和驱动第二测角仪滑台161绕着Y轴摆动的第五驱动装置162。The RY-axis rotation mechanism 16 includes a second goniometer slide 161 mounted on the Y-axis slide 1522 and a fifth driving device 162 for driving the second goniometer slide 161 to swing around the Y-axis.
第二测角仪滑台161包括安装在Y轴滑座1522上且带有弧面的第二底座1611和与第二底座1611的弧面相贴合并与其滑动配接的RY轴安装座1612,RY轴安装座1612可沿着该弧面在一定角度内绕着Y轴摆动,X轴平移机构17固定在RY轴安装座1612上。The second goniometer slide table 161 includes a second base 1611 mounted on the Y-axis slide 1522 and having an arc surface, and an RY-axis mounting base 1612 that is in contact with the arc surface of the second base 1611 and slidably matched with it. The shaft mounting seat 1612 can swing around the Y-axis within a certain angle along the arc surface, and the X-axis translation mechanism 17 is fixed on the RY-axis mounting seat 1612 .
第五驱动装置162也为驱动滑台,其包括RY轴传动组件1621和与其传动 连接的第四驱动座1622,第四驱动座1622与X轴平移机构17相接,并带动其和RY轴安装座1612在第二底座1611的弧面上摆动。The fifth drive device 162 is also a drive slide, which includes an RY shaft transmission assembly 1621 and a fourth drive base 1622 that is drive-connected to it. The fourth drive base 1622 is connected to the X-axis translation mechanism 17 and drives it to be installed with the RY shaft. The seat 1612 swings on the arc surface of the second base 1611 .
RY轴传动组件1621与RZ轴传动组件1211结构相同,其也为沿着垂直Z轴方向布置的丝杆组件,RY轴传动组件1621的端部沿其轴向设置有用于与六轴调整机构202配接的RY轴传动套1623。第四驱动座1622与X轴平移机构17的具体连接结构与第二驱动座1212与旋转台122的连接结构相同,本申请在此不再赘述其结构。The RY shaft transmission assembly 1621 has the same structure as the RZ shaft transmission assembly 1211, which is also a screw assembly arranged along the vertical Z-axis direction. Matching RY shaft drive sleeve 1623. The specific connection structure of the fourth drive base 1622 and the X-axis translation mechanism 17 is the same as the connection structure of the second drive base 1212 and the rotary table 122 , and the structure is not repeated here in this application.
X轴平移机构17包括安装在RY轴安装座1612上的X轴支撑滑台171和与其相接并驱动其沿着X轴方向移动的第六驱动装置172。The X-axis translation mechanism 17 includes an X-axis support slide 171 mounted on the RY-axis mounting base 1612 and a sixth driving device 172 connected to it and driving it to move along the X-axis direction.
X轴支撑滑台171包括沿X轴方向排布的X轴导轨1711和滑动配接在X轴导轨1711上的X轴滑座1712,第二治具18固定安装在X轴滑座1712上。The X-axis support slide 171 includes an X-axis guide rail 1711 arranged along the X-axis direction and an X-axis sliding seat 1712 slidably connected to the X-axis guide rail 1711 . The second fixture 18 is fixedly mounted on the X-axis sliding seat 1712 .
第六驱动装置172的结构与第三驱动装置132的结构相同,其包括沿垂直Z轴方向排布的第二传动螺杆1721、第二传动杆1722以及螺纹配接在第二传动螺杆1721上的第二螺杆滑座1723,第二传动杆1722也为柔性传动结构,其端部沿轴向方向设置有用于与六轴调整机构202配接的X轴传动套1724。The structure of the sixth driving device 172 is the same as that of the third driving device 132, and it includes a second driving screw 1721, a second driving rod 1722, and a screw threaded on the second driving screw 1721 arranged along the vertical Z-axis direction. The second screw slide 1723 and the second transmission rod 1722 are also flexible transmission structures, and the ends thereof are provided with an X-axis transmission sleeve 1724 for mating with the six-axis adjustment mechanism 202 along the axial direction.
第二螺杆滑座1723与第二治具18相接,以带动第二治具18和X轴滑座1712沿着X轴导轨1711移动。第二螺杆滑座1723与第二治具18的具体连接结构与第一螺杆滑座1323和第一治具14的连接结构相同,本申请在此不再赘述其结构。The second screw slide 1723 is connected to the second fixture 18 to drive the second fixture 18 and the X-axis slide 1712 to move along the X-axis guide rail 1711 . The specific connection structure of the second screw slide 1723 and the second fixture 18 is the same as the connection structure of the first screw slide 1323 and the first fixture 14 , and the structure thereof will not be repeated in this application.
参照图11所示,第二治具18包括固定安装在X轴滑座1712上的第二治具座181、安装在第二治具座181上的抵压块182和第一肘夹183,抵压块182和第一肘夹183配合对合页进行夹紧。Referring to FIG. 11 , the second jig 18 includes a second jig seat 181 fixedly mounted on the X-axis slide 1712 , a pressing block 182 and a first toggle clamp 183 installed on the second jig seat 181 , The pressing block 182 cooperates with the first toggle clamp 183 to clamp the hinge.
具体的,抵压块182与合页的下端面相对应,第一肘夹183包括第二把手1831和第一压杆1832,第二把手1831和第一压杆1832之间通过连杆组件1833实现传动连接,当向下扳动第二把手1831时,第一压杆1832可向着抵压块182转动以与合页的上端面相抵,当向上扳动第二把手1831时,第一压杆1832可向着远离抵压块182的方向转动以向外远离合页。Specifically, the pressing block 182 corresponds to the lower end surface of the hinge, and the first elbow clamp 183 includes a second handle 1831 and a first pressing rod 1832 , and the connection between the second handle 1831 and the first pressing rod 1832 is realized by a connecting rod assembly 1833 Drive connection, when the second handle 1831 is pulled downward, the first pressure rod 1832 can be rotated toward the abutting block 182 to abut the upper end surface of the hinge; when the second handle 1831 is pulled upward, the first pressure rod 1832 It can be rotated in a direction away from the pressing block 182 to move away from the hinge outward.
在本实施例中,合页包括与下盖点胶贴合的连接部(图未示)以及与连接部转动配接的弧形铰接部(图未示),连接部限位在第一压杆1832和抵压块182之间。为了防止在第一压杆1832在向着连接部转动时受到铰接部干涉,第一压 杆1832为弧形弯曲结构,当第一压杆1832端部抵压在连接部上端面时,第一压杆1832围绕在铰接部外。In this embodiment, the hinge includes a connecting part (not shown in the figure) that is glued with the lower cover and an arc-shaped hinge part (not shown) that is rotatably matched with the connecting part, and the connecting part is limited to the first pressure between the rod 1832 and the pressing block 182 . In order to prevent the first pressing rod 1832 from being interfered by the hinge portion when it rotates toward the connecting portion, the first pressing rod 1832 has an arc-shaped curved structure. The rod 1832 surrounds the hinged portion.
可选地,第二治具18还包括沿X轴方向抵压第二治具座181的施压组件,施压组件包括肘夹安装座184和安装在肘夹安装座184上的第二肘夹185,肘夹安装座184位于第二治具座181远离第一治具14的一侧。Optionally, the second jig 18 further includes a pressing component that presses the second jig seat 181 along the X-axis direction, and the pressing component includes an elbow clip mounting seat 184 and a second elbow mounted on the elbow clip mounting seat 184. The clamp 185 and the elbow clamp mounting seat 184 are located on the side of the second fixture seat 181 away from the first fixture 14 .
第二肘夹185包括第三把手1851和与第三把手1851传动连接并可沿着X轴方向移动的第二压杆1852,第三把手1851可驱动第二压杆1852压向第二治具座181,从而使第二治具座181和X轴滑座1712沿着X轴方向移动,以调整X轴平移机构17的间隙,便于后续在X轴自由度上精确调节合页。The second toggle clamp 185 includes a third handle 1851 and a second pressing rod 1852 that is drivingly connected to the third handle 1851 and can move along the X-axis direction. The third handle 1851 can drive the second pressing rod 1852 to press against the second fixture seat 181, so that the second jig seat 181 and the X-axis sliding seat 1712 are moved along the X-axis direction to adjust the clearance of the X-axis translation mechanism 17, so as to facilitate the subsequent precise adjustment of the hinge in the X-axis freedom.
可选地,为了防止第二压杆1852压力过大,第二治具座181对应第二压杆1852处设置有受压组件186。受压组件186包括沿X轴方向固定在第二治具座181上的若干第一引导杆1861、滑动套设在第一引导杆1861上的受压板1862以及套设在第一引导杆1861上且位于第二治具座181和受压板1862之间的第一弹性件1863。当第二压杆1852压向第二治具座181时,第二压杆1852的端部与受压板1862相抵,以带动受压板1862沿第一引导杆1861向着第二治具座181移动,进而驱使第一弹性件1863抵持并推动第二治具座181和X轴滑座1712。在本实施例中,第一引导杆1861具体为导向螺栓,第一引导杆1861与第二治具座181相接触的一端通过螺纹配接。Optionally, in order to prevent the pressure of the second pressure rod 1852 from being too large, a pressure receiving component 186 is provided at the second fixture seat 181 corresponding to the second pressure rod 1852 . The pressure receiving assembly 186 includes a plurality of first guide rods 1861 fixed on the second fixture seat 181 along the X-axis direction, a pressure receiving plate 1862 slidably sleeved on the first guide rod 1861, and sleeved on the first guide rod 1861 The first elastic member 1863 on top and between the second jig seat 181 and the pressure receiving plate 1862 . When the second pressing rod 1852 is pressed against the second fixture base 181 , the end of the second pressing rod 1852 abuts against the pressure receiving plate 1862 to drive the pressure receiving plate 1862 along the first guide rod 1861 toward the second fixture base 181 moving, thereby driving the first elastic member 1863 to abut against and push the second fixture seat 181 and the X-axis sliding seat 1712 . In this embodiment, the first guide rod 1861 is specifically a guide bolt, and one end of the first guide rod 1861 in contact with the second fixture seat 181 is threadedly connected.
此外,为了使第二治具座181和X轴滑座1712在X轴方向上移动更为平稳,肘夹安装座184与第二治具座181之间连接有X轴引导组件187。X轴引导组件187包括固定在第二治具座181上的安装块1871和沿X轴方向固定在安装块1871上的若干第二引导杆1872,第二引导杆1872可滑动的穿设在肘夹安装座184中。在本实施例中,第二引导杆1872具体为单向螺栓,第二引导杆1872与安装块1871相接触的一端通过螺纹配接。In addition, in order to make the movement of the second fixture seat 181 and the X-axis sliding seat 1712 more stable in the X-axis direction, an X-axis guide assembly 187 is connected between the toggle clamp mounting seat 184 and the second fixture seat 181 . The X-axis guide assembly 187 includes a mounting block 1871 fixed on the second fixture base 181 and a plurality of second guide rods 1872 fixed on the mounting block 1871 along the X-axis direction. The second guide rods 1872 are slidably penetrated through the elbow into the clip mount 184 . In this embodiment, the second guide rod 1872 is specifically a one-way bolt, and one end of the second guide rod 1872 that is in contact with the mounting block 1871 is screwed.
需要指出的是,本实施例中的六轴载具100,也可根据实际需要调整各平移和旋转机构间的相对位置,以及根据异形件数量的不同来相应增减位移机构的数量,以分别对不同的异形件位置进行调整。It should be pointed out that, in the six-axis carrier 100 in this embodiment, the relative positions of the translation and rotation mechanisms can also be adjusted according to actual needs, and the number of displacement mechanisms can be correspondingly increased or decreased according to the number of special-shaped parts, so as to respectively. Adjust the position of different special-shaped parts.
参照图1、图12和图13所示,第一移载机构201包括第一输送线21、第二输送线22、第一移送组件23和第二移送组件24。其中,第一输送线21与输入线301相接,第二输送线22两端分别与输出线302和第二移送组件24相接, 第一移送组件23承接在第一输送线21和第二移送组件24之间。上下料工位201a位于第一移送组件23靠近第二移送组件24的一端,六轴调整机构202位于第二移送组件24边侧。第一移载机构201工作时,六轴载具100由输入线301进入,并依次经第一输送线21、第一移送组件23、第二移送组件24和第二输送线22移送至输出线302。1 , 12 and 13 , the first transfer mechanism 201 includes a first conveying line 21 , a second conveying line 22 , a first conveying assembly 23 and a second conveying assembly 24 . The first conveying line 21 is connected to the input line 301, the two ends of the second conveying line 22 are respectively connected to the output line 302 and the second conveying assembly 24, and the first conveying assembly 23 is connected to the first conveying line 21 and the second conveying assembly 24. between transfer assemblies 24 . The loading and unloading station 201 a is located at one end of the first transfer assembly 23 close to the second transfer assembly 24 , and the six-axis adjustment mechanism 202 is located on the side of the second transfer assembly 24 . When the first transfer mechanism 201 is working, the six-axis carrier 100 enters from the input line 301, and is sequentially transferred to the output line through the first transfer line 21, the first transfer assembly 23, the second transfer assembly 24 and the second transfer line 22. 302.
参照图14所示,第一移送组件23包括第一移送模组231和连接在第一移送模组231上的第一移载车232。在本实施例中,第一移送模组231通过电机驱动输送带的方式来带动第一移载车232,在其他实施例中,也可采用螺杆、齿轮齿条或者在第一移载车232上设置主动行走机构的方式来实现第一移载车232的移动,本申请在此不作具体限定。Referring to FIG. 14 , the first transfer assembly 23 includes a first transfer module 231 and a first transfer vehicle 232 connected to the first transfer module 231 . In this embodiment, the first transfer module 231 drives the first transfer vehicle 232 by means of a motor-driven conveyor belt. The movement of the first transfer vehicle 232 is realized by arranging an active traveling mechanism, which is not specifically limited in this application.
第一移载车232包括与输入线301运行方向一致且可主动运转的移载线体2321以及设置在移载线体2321末端用于阻挡六轴载具100的挡块2322,移载线体2321与第一输送线21相平齐,当第一移载车232移动至输入线301端部时,输入线301上的六轴载具100可沿着第一输送线21和移载线体2321送入第一移载车232,并受到挡块2322抵接,以使其限位在第一移载车232上。The first transfer vehicle 232 includes a transfer line body 2321 that is consistent with the running direction of the input line 301 and can actively run, and a stopper 2322 disposed at the end of the transfer line body 2321 for blocking the six-axis carrier 100. The transfer line body 2321 is flush with the first conveyor line 21. When the first transfer vehicle 232 moves to the end of the input line 301, the six-axis carrier 100 on the input line 301 can move along the first conveyor line 21 and the transfer line body. The 2321 is sent into the first transfer vehicle 232 and abutted by the stopper 2322 so as to be limited on the first transfer vehicle 232 .
可选地,为了进一步提高六轴载具100在第一移载车232上的稳定性,第一移载车232还包括设置在移载线体2321边侧用于将六轴载具100抵紧在移载线体2321上的第一抵紧气缸2323。具体的,第一抵紧气缸2323包括可沿着垂直于移载线体2321输送方向推动六轴载具100的气缸抵块2324,移载线体2321与第一抵紧气缸2323相对的另一侧设置有抵板2325,第一抵紧气缸2323可驱动气缸抵块2324以将六轴载具100抵压在抵板2325上。Optionally, in order to further improve the stability of the six-axis carrier 100 on the first transfer vehicle 232, the first transfer vehicle 232 further includes a side of the transfer wire body 2321 for placing the six-axis carrier 100 against the first transfer vehicle 232. The first pressing cylinder 2323 on the transfer wire body 2321. Specifically, the first abutting cylinder 2323 includes a cylinder abutting block 2324 that can push the six-axis carrier 100 perpendicular to the conveying direction of the transfer wire body 2321 . The transfer wire body 2321 is opposite to the first pressing cylinder 2323 . An abutting plate 2325 is disposed on the side, and the first pressing cylinder 2323 can drive the cylinder abutting block 2324 to press the six-axis carrier 100 against the abutting plate 2325 .
参照图15所示,第二移送组件24包括第二移送模组241和连接在第二移送模组241上的承载板242,第二移送模组241与第一移送模组231结构类似,第二移送模组241可驱动承载板242在第一移送组件23和第二输送线22之间往返。15, the second transfer assembly 24 includes a second transfer module 241 and a carrier plate 242 connected to the second transfer module 241. The second transfer module 241 is similar in structure to the first transfer module 231. The two transfer modules 241 can drive the carrier plate 242 to go back and forth between the first transfer assembly 23 and the second conveying line 22 .
此外,为确保六轴载具100能够移送至承载板242上,第二移送组件24还包括驱动承载板242升降的升降组件243。第二移送组件24工作时,升降组件243驱动承载板242下降至高度低于六轴载具100的位置处,第二移送模组241驱动承载板242伸入到第一移载车232的底部,升降组件243驱动承载板242上升并承托六轴载具100,进而通过第二移送模组241移送至六轴调整机构202 处。In addition, in order to ensure that the six-axis carrier 100 can be transferred to the carrier plate 242 , the second transfer assembly 24 further includes a lift assembly 243 that drives the carrier plate 242 to rise and fall. When the second transfer assembly 24 is in operation, the lift assembly 243 drives the carrier plate 242 to descend to a position lower than the height of the six-axis carrier 100 , and the second transfer module 241 drives the carrier plate 242 to extend to the bottom of the first transfer vehicle 232 , the lift assembly 243 drives the carrier plate 242 to rise and support the six-axis carrier 100 , and then is transferred to the six-axis adjustment mechanism 202 through the second transfer module 241 .
具体的,升降组件243包括可沿着水平方向滑动的第一滑动座2431、与第一滑动座2431滑动配接并可沿着竖直方向滑动的第二滑动座2432以及与第一滑动座2431传动连接的升降电机2433,承载板242固定在第二滑动座2432上。第一滑动座2431和第二滑动座2432相配接处为倾斜结构,升降电机2433可驱动第一滑动座2431沿水平方向滑动,以推动第二滑动座2432沿竖直方向滑动,进而带动承载板242升降。Specifically, the lifting assembly 243 includes a first sliding seat 2431 slidable along the horizontal direction, a second sliding seat 2432 slidably engaged with the first sliding seat 2431 and slidable along the vertical direction, and The elevating motor 2433 connected to the transmission and the carrier plate 242 are fixed on the second sliding seat 2432 . The joint of the first sliding seat 2431 and the second sliding seat 2432 is an inclined structure, and the lift motor 2433 can drive the first sliding seat 2431 to slide in the horizontal direction, so as to push the second sliding seat 2432 to slide in the vertical direction, thereby driving the bearing plate 242 lift.
进一步地,第一滑动座2431和第二滑动座2432具体可通过滑轨配合滑块的方式实现沿水平和竖直方向的滑动。升降电机2433与第一滑动座2431间通过水平设置的螺杆组件实现传动,从而使得传动更为平稳。诚然,在其他实施例中,升降组件243也可采用竖直设置的螺杆组件配接可沿竖直方向滑动的滑动座的方式来实现升降,亦或是采用竖直设置的气缸、电缸等直接推动承载板242,本申请在此不作限定。Further, the first sliding seat 2431 and the second sliding seat 2432 can slide in the horizontal and vertical directions by way of the sliding rail and the sliding block. The transmission between the lift motor 2433 and the first sliding seat 2431 is realized by a horizontally arranged screw assembly, so that the transmission is more stable. It is true that in other embodiments, the lifting component 243 can also be lifted by using a vertically arranged screw component matched with a sliding seat that can slide in the vertical direction, or vertically arranged air cylinders, electric cylinders, etc. The carrier plate 242 is directly pushed, which is not limited in this application.
参照图13和图16所示,六轴调整机构202包括位于第二移送组件24两侧用于放置六轴载具100的置放架26、用于检测六轴载具100上异形件位置的检测机构27以及驱动六轴载具100在各自由度进行调节的调节驱动机构28。13 and FIG. 16 , the six-axis adjustment mechanism 202 includes placing racks 26 on both sides of the second transfer assembly 24 for placing the six-axis carrier 100 , The detection mechanism 27 and the adjustment drive mechanism 28 for driving the six-axis carrier 100 to adjust in each degree of freedom.
置放架26边侧设置有用于抵紧六轴载具100的第二抵紧气缸261和第三抵紧气缸262,第二抵紧气缸261沿着水平方向移动,并将六轴载具100抵紧在置放架26的边侧,第三抵紧气缸262沿着竖直方向移动,并将六轴载具100抵紧在置放架26的台面上。第二抵紧气缸261和第三抵紧气缸262的具体结构与第一抵紧气缸2323类似,本申请在此不再赘述。当需要将六轴载具100放入置放架26时,升降组件243驱动承载板242以将六轴载具100升至置放架26上方;接着第二移送模组241将六轴载具100移送至置放架26正上方位置,并通过升降组件243驱动承载板242下降,以将六轴载具100至于置放架26上;最后驱动第二抵紧气缸261和第三抵紧气缸262,以将六轴载具100抵紧在置放架26上。A second abutting cylinder 261 and a third abutting cylinder 262 are provided on the side of the placing frame 26 for pressing against the hexaaxial carrier 100 . The second pressing cylinder 261 moves The third abutting cylinder 262 moves along the vertical direction to press against the side of the placing rack 26 , and presses the six-axis carrier 100 against the table surface of the placing rack 26 . The specific structures of the second pressing cylinder 261 and the third pressing cylinder 262 are similar to that of the first pressing cylinder 2323 , and details are not described herein again. When the six-axis carrier 100 needs to be put into the placing rack 26, the lifting assembly 243 drives the carrying plate 242 to lift the six-axis carrier 100 above the placing rack 26; then the second transfer module 241 lifts the six-axis carrier The 100 is moved to the position just above the placement rack 26, and the lifting assembly 243 drives the carrier plate 242 to descend to place the six-axis carrier 100 on the placement rack 26; finally, the second abutting cylinder 261 and the third abutting cylinder are driven. 262 , so as to press the six-axis carrier 100 against the placing frame 26 .
参照图17所示,检测机构27包括检测机架271、安装在检测机架271上用于对六轴载具100上的下盖和合页进行检测扫描的激光器272和CCD相机273。Referring to FIG. 17 , the detection mechanism 27 includes a detection frame 271 , a laser 272 and a CCD camera 273 installed on the detection frame 271 for detecting and scanning the lower cover and the hinge on the six-axis carrier 100 .
可选地,检测机构27还包括第三移送模组274和安装在第三移送模组274上的安装板275,激光器272和CCD相机273均固定在安装板275上且位于下 盖和合页的上方。第三移送模组274可带动激光器272和CCD相机273自六轴载具100一端移至另一端,以对六轴载具100上的下盖和合页进行精确扫描。在本实施例中,第三移送模组274采用电机配合螺杆组件对安装板275进行驱动,在其他实施例中,也可采用气缸或其他驱动方式,本申请在此不作限定。Optionally, the detection mechanism 27 further includes a third transfer module 274 and a mounting plate 275 mounted on the third transfer module 274. The laser 272 and the CCD camera 273 are both fixed on the mounting plate 275 and located at the bottom of the lower cover and the hinge. above. The third transfer module 274 can drive the laser 272 and the CCD camera 273 to move from one end of the six-axis carrier 100 to the other end, so as to accurately scan the lower cover and the hinge on the six-axis carrier 100 . In this embodiment, the third transfer module 274 uses a motor and a screw assembly to drive the mounting plate 275. In other embodiments, an air cylinder or other driving methods may also be used, which is not limited herein.
通过3D扫描,能够检测下盖和合页间的相对位置,以对下盖和合页间多个点胶贴合位置处的间隙进行量测,并计算出二者之间的各个部分间隙和段差,进而发送指令至组装系统的控制装置(图未示),控制装置根据指令控制调节驱动机构28,并根据调节幅度的优先级,来智能判断对六轴载具100进行多自由度调节,并做实时反馈给控制装置,以对下盖和合页间的相对位置进行调整,从而使二者达到预设的精度要求。Through 3D scanning, the relative position between the lower cover and the hinge can be detected, so as to measure the gaps at multiple dispensing positions between the lower cover and the hinge, and calculate the gap and level difference between the two parts. Then, the command is sent to the control device of the assembly system (not shown in the figure), and the control device controls and adjusts the driving mechanism 28 according to the command, and according to the priority of the adjustment range, intelligently judges the multi-degree-of-freedom adjustment of the six-axis vehicle 100, and does Real-time feedback to the control device to adjust the relative position between the lower cover and the hinge, so that the two meet the preset accuracy requirements.
参照图16、图18和图22所示,调节驱动机构28包括位于置放架26一侧的Z轴驱动组件281、RZ轴驱动组件282、RX轴驱动组件283,以及位于置放架26另一侧的Y轴驱动组件284、RY轴驱动组件285和X轴驱动组件286。Z轴驱动组件281、RZ轴驱动组件282、RX轴驱动组件283、Y轴驱动组件284、RY轴驱动组件285和X轴驱动组件286分别可插入Z轴传动套1113、RZ轴传动套1215、RX轴传动套1328、Y轴传动套1513、RY轴传动套1623以及X轴传动套1724,以驱动各传动套转动。16 , 18 and 22 , the adjustment drive mechanism 28 includes a Z-axis drive assembly 281 , a RZ-axis drive assembly 282 , an RX-axis drive assembly 283 located on one side of the placing frame 26 , and the other Y-axis drive assembly 284, RY-axis drive assembly 285, and X-axis drive assembly 286 on one side. Z-axis drive assembly 281, RZ-axis drive assembly 282, RX-axis drive assembly 283, Y-axis drive assembly 284, RY-axis drive assembly 285, and X-axis drive assembly 286 can be inserted into Z-axis transmission sleeve 1113, RZ-axis transmission sleeve 1215, The RX axis transmission sleeve 1328, the Y axis transmission sleeve 1513, the RY axis transmission sleeve 1623 and the X axis transmission sleeve 1724 are used to drive each transmission sleeve to rotate.
具体的,参照图19至图21所示,Z轴驱动组件281包括Z轴电机2811、传动连接在Z轴电机2811的输出端用于插入Z轴传动套1113内的Z轴插接套287以及驱动Z轴电机2811和Z轴插接套287靠近和远离Z轴传动套1113的第一驱动气缸2812。在本实施例中,第一驱动气缸2812可选为滑台气缸,Z轴电机2811固定在第一驱动气缸2812的升缩台上。Specifically, as shown in FIGS. 19 to 21 , the Z-axis drive assembly 281 includes a Z-axis motor 2811 , a Z-axis plug sleeve 287 that is drivingly connected to the output end of the Z-axis motor 2811 and used to be inserted into the Z-axis transmission sleeve 1113 , and The first driving cylinder 2812 that drives the Z-axis motor 2811 and the Z-axis plug sleeve 287 to be close to and away from the Z-axis transmission sleeve 1113 . In this embodiment, the first driving cylinder 2812 can be selected as a sliding table cylinder, and the Z-axis motor 2811 is fixed on the lifting and shrinking table of the first driving cylinder 2812 .
可选地,Z轴插接套287的外径略小于Z轴传动套1113的内径,Z轴插接套287采用中空且具有一定向外扩张能力的结构。Z轴插接套287内部穿设有可沿着Z轴插接套287滑动的扩张杆288,扩张杆288被配置成可向着Z轴传动套1113方向移动,并推动Z轴插接套287向外扩张,以使其与Z轴传动套1113的内壁相抵紧。Optionally, the outer diameter of the Z-axis insertion sleeve 287 is slightly smaller than the inner diameter of the Z-axis transmission sleeve 1113 , and the Z-axis insertion sleeve 287 adopts a hollow structure with a certain outward expansion capability. An expansion rod 288 that can slide along the Z-axis plug sleeve 287 is penetrated inside the Z-axis plug sleeve 287. The expansion rod 288 is configured to move toward the Z-axis transmission sleeve 1113 and push the Z-axis plug sleeve 287 to the direction of the Z-axis transmission sleeve 1113. Expand outward to make it abut against the inner wall of the Z-axis transmission sleeve 1113 .
通过设置采用上述结构,能够方便Z轴插接套287在Z轴传动套1113内伸入和伸出,同时Z轴插接套287也能够与Z轴传动套1113紧密配接,以便精准的驱动Z轴传动套1113转动。By adopting the above structure, it is convenient for the Z-axis plug sleeve 287 to extend into and out of the Z-axis transmission sleeve 1113, and at the same time, the Z-axis plug-in sleeve 287 can also be closely matched with the Z-axis transmission sleeve 1113, so as to accurately drive the Z-axis. The shaft transmission sleeve 1113 rotates.
具体的,Z轴插接套287包括与Z轴电机2811相接的传动部2871以及成型在传动部2871一端用于插接Z轴传动套1113的插接部2872。插接部2872沿轴向开设有容纳扩张杆288的插孔2873,插接部2872沿着轴向开设有分离槽2874,分离槽2874数量有多个且沿着插接部2872周向均匀分布。扩张杆288包括杆体2881成型在杆体2881端部的扩张头2882,扩张头2882自一端至另一端外径逐渐增大,当扩张头2882沿着插孔2873滑动至插接部2872远离传动部2871的端部时,插接部2872的端部受到扩张头2882的抵压力而实现逐渐向外扩张。Specifically, the Z-axis plug sleeve 287 includes a transmission part 2871 connected to the Z-axis motor 2811 and a plug-in part 2872 formed at one end of the transmission part 2871 for plugging into the Z-axis transmission sleeve 1113 . The insertion portion 2872 is provided with an insertion hole 2873 for accommodating the expansion rod 288 in the axial direction, and the insertion portion 2872 is provided with separation grooves 2874 in the axial direction. . The expansion rod 288 includes an expansion head 2882 formed on the end of the rod body 2881 by the rod body 2881 , and the outer diameter of the expansion head 2882 gradually increases from one end to the other end. When the end of the plug-in portion 2872 is pressed by the expanding head 2882, the end portion of the plug-in portion 2872 is gradually expanded outward.
此外,为了实现扩张杆288的主动移动,Z轴插接套287沿轴向开设有导向腰孔2875,Z轴驱动组件281包括自导向腰孔2875穿设入扩张杆288中的第一固定杆2813,扩张杆288可在导向腰孔2875的长度方向进行移动。Z轴驱动组件281还包括第二驱动气缸2814、第三连接块2815和支撑座2816。其中,第二驱动气缸2814安装在Z轴电机2811上,第二驱动气缸2814可选为滑台气缸,其伸缩台与第三连接块2815相接。支撑座2816套设在Z轴插接套287的插接部2872外,第一固定杆2813收容于支撑座2816内,支撑座2816可沿着Z轴插接套287轴向移动并推动第一固定杆2813沿着导向腰孔2875移动。第三连接块2815部分围设在支撑座2816外围,第三连接块2815与支撑座2816之间通过第二固定杆2817相接。通过驱动第二驱动气缸2814伸缩,其能够带动支撑座2816沿着Z轴插接套287轴向移动,进而带动第一固定杆2813沿着导向腰孔2875移动。In addition, in order to realize the active movement of the expansion rod 288 , the Z-axis insertion sleeve 287 is provided with a guide waist hole 2875 in the axial direction, and the Z-axis drive assembly 281 includes a first fixed rod that penetrates through the self-guided waist hole 2875 into the expansion rod 288 2813, the expansion rod 288 can move in the longitudinal direction of the guide waist hole 2875. The Z-axis drive assembly 281 further includes a second drive cylinder 2814 , a third connection block 2815 and a support base 2816 . Wherein, the second driving cylinder 2814 is installed on the Z-axis motor 2811 , and the second driving cylinder 2814 can be selected as a sliding table cylinder whose telescopic table is connected to the third connecting block 2815 . The support base 2816 is sleeved outside the insertion portion 2872 of the Z-axis plug-in sleeve 287 , the first fixing rod 2813 is accommodated in the support base 2816 , and the support base 2816 can move axially along the Z-axis plug-in sleeve 287 and push the first fixing rod 2816 . The fixing rod 2813 moves along the guide waist hole 2875 . The third connecting block 2815 is partially enclosed on the periphery of the support base 2816 , and the third connecting block 2815 and the support base 2816 are connected by a second fixing rod 2817 . By driving the second driving cylinder 2814 to expand and contract, it can drive the support base 2816 to move axially along the Z-axis plug sleeve 287 , thereby driving the first fixing rod 2813 to move along the guide waist hole 2875 .
可选地,支撑座2816内固定有若干轴承2818,轴承2818的内圈套设在Z轴插接套287的插接部2872外,以引导Z轴插接套287平稳转动。Optionally, a plurality of bearings 2818 are fixed in the support base 2816 , and the inner ring of the bearings 2818 is sleeved outside the insertion portion 2872 of the Z-axis socket 287 to guide the Z-axis socket 287 to rotate smoothly.
进一步地,RZ轴驱动组件282、RX轴驱动组件283、Y轴驱动组件284、RY轴驱动组件285和X轴驱动组件286的结构与Z轴驱动组件281的结构类似,本申请在此不再赘述其结构。Further, the structures of the RZ-axis drive assembly 282 , the RX-axis drive assembly 283 , the Y-axis drive assembly 284 , the RY-axis drive assembly 285 and the X-axis drive assembly 286 are similar to those of the Z-axis drive assembly 281 , which are not omitted in this application. Describe its structure.
调节驱动机构28工作时,根据检测机构27获得的检测数据智能化的对各驱动组件的调节顺序作出最优选择,以对六轴载具100上的下盖和合页相对位置作出多次调整,直至组装位置符合精度要求;调整完毕后驱动组件自六轴载具100分离,并通过第二移送组件24将六轴载具100从置放架26上取出并送至第二输送线22。When adjusting the driving mechanism 28, according to the detection data obtained by the detection mechanism 27, the optimal selection of the adjustment sequence of each driving component is intelligently made, so as to make multiple adjustments to the relative positions of the lower cover and the hinge on the six-axis carrier 100, Until the assembly position meets the accuracy requirements; after the adjustment, the drive assembly is separated from the six-axis carrier 100 , and the six-axis carrier 100 is taken out from the placement rack 26 through the second transfer assembly 24 and sent to the second conveying line 22 .
参照图1和图23所示,移载设备400包括与输出线302远离第二输送线22的一端相接的第三输送线41、与输入线301远离第一输送线21的一端相接的第四输送线42以及承接第三输送线41和第四输送线42的第二移载机构401,六轴载具100由输出线302流出,并依次经第三输送线41、第二移载机构401和第四输送线42流入输入线301。Referring to FIGS. 1 and 23 , the transfer device 400 includes a third conveying line 41 connected to one end of the output line 302 away from the second conveying line 22 , and a third conveying line 41 connected to one end of the input line 301 away from the first conveying line 21 . The fourth conveying line 42 and the second transfer mechanism 401 that receives the third conveying line 41 and the fourth conveying line 42, the six-axis carrier 100 flows out from the output line 302, and passes through the third conveying line 41 and the second transferring in sequence. The mechanism 401 and the fourth conveying line 42 flow into the input line 301 .
第二移载机构401包括承接第三输送线41和第四输送线42的第五输送线43、位于第三输送线41和第五输送线43的交汇处的第三移送组件44以及位于第四输送线42和第五输送线43的交汇处的第四移送组件45,第三移送组件44用于将第三输送线41上的六轴载具100抓取并放入第五输送线43上,第五输送线43用于将六轴载具100输送至第四输送线42侧,并通过第四移送组件45将其抓取并放入第四输送线42上。诚然,在其他实施例中,也可取消第五输送线43,并设置可在第三输送线41和第四输送线42之间往返的移送组件,通过移送组件直接将六轴载具100由第三输送线41抓取至第四输送线42上。可选地,为了防止六轴载具100流出第三输送线41和第五输送线43,第三输送线41的末端和第五输送线43的末端均设置有挡板46。The second transfer mechanism 401 includes a fifth conveying line 43 receiving the third conveying line 41 and the fourth conveying line 42, a third conveying assembly 44 located at the intersection of the third conveying line 41 and the fifth conveying line 43, and a third conveying assembly 44 located at the intersection of the third conveying line 41 and the fifth conveying line 43. The fourth transfer assembly 45 at the intersection of the fourth conveyor line 42 and the fifth conveyor line 43 , and the third transfer assembly 44 is used to grab and put the six-axis carrier 100 on the third conveyor line 41 into the fifth conveyor line 43 Above, the fifth conveying line 43 is used to convey the six-axis carrier 100 to the side of the fourth conveying line 42 , and is grabbed by the fourth conveying assembly 45 and placed on the fourth conveying line 42 . Of course, in other embodiments, the fifth conveyor line 43 can also be eliminated, and a transfer assembly that can travel back and forth between the third conveyor line 41 and the fourth conveyor line 42 can be provided, and the six-axis carrier 100 can be directly moved by the transfer assembly. The third conveying line 41 grabs onto the fourth conveying line 42 . Optionally, in order to prevent the six-axis carrier 100 from flowing out of the third conveying line 41 and the fifth conveying line 43 , a baffle 46 is provided at the end of the third conveying line 41 and the end of the fifth conveying line 43 .
进一步地,参照图24和图25所示,第三移送组件44包括支撑架441、沿水平方向设置在支撑架441上的第四移送模组442、沿竖直方向设置在第四移送模组442上的第五移送模组443以及设置在第五移送模组443上的移载夹爪444。第三移送组件44工作时,第四移送模组442可驱动第五移送模组443和移载夹爪444在输出线302和第三输送线41之间往返,第五移送模组443可驱动移载夹爪444升降,以使移载夹爪444对六轴载具100进行抓取和远离六轴载具100。Further, as shown in FIGS. 24 and 25 , the third transfer assembly 44 includes a support frame 441 , a fourth transfer module 442 disposed on the support frame 441 in the horizontal direction, and a fourth transfer module disposed in the vertical direction on the fourth transfer module The fifth transfer module 443 on the 442 and the transfer jaws 444 arranged on the fifth transfer module 443 . When the third transfer assembly 44 is working, the fourth transfer module 442 can drive the fifth transfer module 443 and the transfer gripper 444 to go back and forth between the output line 302 and the third transfer line 41, and the fifth transfer module 443 can drive The transfer jaws 444 move up and down, so that the transfer jaws 444 grab the six-axis carrier 100 and move away from the six-axis carrier 100 .
在本实施例中,第四移送模组442采用电机驱动螺杆组件的方式来实现带动第五移送模组443和移载夹爪444,第五移送模组443结构与第四移送模组442结构相同。诚然,在其他实施例中,也可采用输送带或齿轮齿条结构来实现线性移动,本申请在此不作具体限定。In this embodiment, the fourth transfer module 442 uses a motor-driven screw assembly to drive the fifth transfer module 443 and the transfer jaws 444. The fifth transfer module 443 has a structure and the fourth transfer module 442 has a structure. same. Certainly, in other embodiments, a conveyor belt or a rack and pinion structure can also be used to achieve linear movement, which is not specifically limited in this application.
移载夹爪444包括安装在第五移送模组443上的移载架4441、滑动连接在移载架4441上的两块夹爪板4442,夹爪板4442可相向运动,以将六轴载具100夹持在二者之间,或者相背运动,以将六轴载具100松开。The transfer jaw 444 includes a transfer frame 4441 installed on the fifth transfer module 443, and two jaw plates 4442 slidably connected to the transfer frame 4441. The tool 100 is clamped between the two, or moved away from each other to release the six-axis carrier 100 .
具体的,移载架4441和夹爪板4442之间设置有第三滑轨组件4444,夹爪板4442与第三滑轨组件4444相接,以使其固定在移载架4441上,并在第三滑 轨组件4444的导向下移动。移载架4441上固定安装有双向气缸4443,双向气缸4443的两伸缩端与两块夹爪板4442插接配合,以驱动夹爪板4442移动。Specifically, a third slide rail assembly 4444 is disposed between the transfer frame 4441 and the jaw plate 4442, and the jaw plate 4442 is connected to the third slide rail assembly 4444, so that it is fixed on the transfer frame 4441, and is placed on the transfer frame 4441. The third slide rail assembly 4444 moves downward under the guidance. A bidirectional air cylinder 4443 is fixedly installed on the transfer frame 4441, and two telescopic ends of the bidirectional air cylinder 4443 are inserted and matched with two jaw plates 4442 to drive the jaw plates 4442 to move.
可选地,为了防止六轴载具100松脱移载夹爪444,两块夹爪板4442的内侧均水平设置有插接柱4445,参照图2所示,六轴载具100上设置有供插接柱4445插入的插接孔104,当夹爪板4442夹持六轴载具100后,插接柱4445伸入到插接孔104内,从而增大移载夹爪444和六轴载具100水平方向上的接触,以便稳固的提起六轴载具100。Optionally, in order to prevent the six-axis carrier 100 from loosening and moving the clamping jaws 444, the inner sides of the two jaw plates 4442 are provided with insertion posts 4445 horizontally. Referring to FIG. 2, the six-axis carrier 100 is provided with a The insertion hole 104 for inserting the insertion column 4445, when the clamping jaw plate 4442 clamps the six-axis carrier 100, the insertion column 4445 extends into the insertion hole 104, thereby increasing the transfer and loading of the clamping jaw 444 and the six-axis Contact in the horizontal direction of the carrier 100 so as to lift the six-axis carrier 100 stably.
第四移送组件45的结构和第三移送组件44的结构相同,本申请在此不再赘述其结构。The structure of the fourth transfer assembly 45 is the same as that of the third transfer assembly 44 , and the structure thereof will not be repeated in this application.
第一移送组件23将六轴载具100移送至上下料工位201a,作业人员在上下料工位201a将装有点胶后的后盖和合页的第一治具芯142放入六轴载具100的第一治具座141上,并将第一治具芯142紧固在第一治具座141上。The first transfer assembly 23 transfers the six-axis carrier 100 to the loading and unloading station 201a, and the operator places the first jig core 142 with the dispensed back cover and the hinge into the six-axis loading station 201a. on the first jig seat 141 of the tool 100 , and fasten the first jig core 142 on the first jig seat 141 .
接着将第二治具18的第一肘夹183锁紧,以使第一压杆1832和抵压块182配合夹紧合页,并将施压组件的第二肘夹185夹紧。Next, the first toggle clamp 183 of the second fixture 18 is locked, so that the first pressing rod 1832 and the pressing block 182 cooperate to clamp the hinge, and the second toggle clamp 185 of the pressing component is clamped.
第二移送组件24将六轴载具100自第一移送组件23移送至六轴调整机构202的置放架26上,检测机构27的激光器272和CCD相机273组合对下盖和合页进行高精度扫描,以此检测二者之间的间隙和段差值,确定两者在3D空间的相对位置。The second transfer assembly 24 transfers the six-axis carrier 100 from the first transfer assembly 23 to the placement rack 26 of the six-axis adjustment mechanism 202 . The laser 272 of the detection mechanism 27 and the CCD camera 273 combine to perform high-precision measurements on the lower cover and the hinge. Scan to detect the gap and segment difference between the two, and determine the relative position of the two in 3D space.
调节驱动机构28根据检测结果伸入并与六轴载具100传动连接,以对其各自由度进行多次调节,直至组装位置符合精度要求,在此过程中,下盖和合页在各个方向上的位置偏差得到修正,从而使其保持在合理误差之内。The adjustment drive mechanism 28 extends into and drives with the six-axis carrier 100 according to the detection results, so as to adjust its respective degrees of freedom multiple times until the assembly position meets the accuracy requirements. During this process, the lower cover and the hinge are in all directions. The positional deviation of is corrected so that it remains within a reasonable error.
调节驱动机构28调整完异形件位置后,异形件受到六轴载具100限位而保持在该位置状态,接着调节驱动机构28脱离六轴载具100,第二移送组件24将六轴载具100移送至第二输送线22上,并经保压流水线300的输出线302流至第三输送线41上。After adjusting the drive mechanism 28 to adjust the position of the special-shaped part, the special-shaped part is limited by the six-axis carrier 100 and remains in the position state, and then the driving mechanism 28 is adjusted to separate from the six-axis carrier 100, and the second transfer assembly 24 transfers the six-axis carrier to the position. 100 is transferred to the second conveying line 22 , and flows to the third conveying line 41 through the output line 302 of the pressure maintaining line 300 .
第三移送组件44将六轴载具100自第三输送线41抓取至第五输送线43上,六轴载具100沿着第五输送线43流至第四输送线42上,并由第四移送组件45抓取至输入线301上。The third transfer assembly 44 grabs the six-axis carrier 100 from the third conveyor line 41 to the fifth conveyor line 43 , and the six-axis carrier 100 flows along the fifth conveyor line 43 to the fourth conveyor line 42 , and is transported by The fourth transfer assembly 45 grabs onto the input line 301 .
六轴载具100沿着输入线301经第一输送线21流至第一移送组件23处,第一移送组件23将其移送至上下料工位201a处,作业人员可从六轴载具100 上取出装有精准组装后的下盖和合页的第一治具芯142,在六轴载具100经调节驱动机构28调整后至流回上下料工位201a的时间内,下盖和合页固定保持在调节后的位置,以使胶体凝固。The six-axis carrier 100 flows along the input line 301 through the first conveying line 21 to the first transfer component 23, and the first transfer component 23 transfers it to the loading and unloading station 201a. The first jig core 142 with the precisely assembled lower cover and hinges is taken out from the top, and the lower cover and the hinges are fixed within the time when the six-axis carrier 100 is adjusted by the adjusting drive mechanism 28 and returns to the loading and unloading station 201a. Hold in the adjusted position to allow the gel to set.
作业人员继续将装有初步点胶后的下盖和合页的第一治具芯142放入六轴载具100中,从而能够实现下盖和合页的连续组装。The operator continues to put the first jig core 142 with the lower cover and the hinge after preliminary dispensing into the six-axis carrier 100, so that the lower cover and the hinge can be continuously assembled.
综上所述,本申请组装系统能够连续且高精度的对异形件进行组装,从而提高生产效率;此外,采用激光器配合CCD相机进行扫描计算,并配合可在六自由度进行调节的六轴载具,异形件在任意位置状态下均能够得到智能调节,具有极高的适应性,且结构稳定可靠,维护成本低。To sum up, the assembly system of the present application can continuously and accurately assemble special-shaped parts, thereby improving production efficiency; in addition, a laser is used in conjunction with a CCD camera to perform scanning calculations, and a six-axis carrier that can be adjusted in six degrees of freedom is used. The special-shaped parts can be intelligently adjusted in any position state, with extremely high adaptability, stable and reliable structure, and low maintenance cost.

Claims (13)

  1. 一种异形件六自由度智能组装系统,包括:A six-degree-of-freedom intelligent assembly system for special-shaped parts, comprising:
    六轴载具(100),用于容置若干异形件,并可在多自由度上移动;The six-axis carrier (100) is used to accommodate several special-shaped parts and can move in multiple degrees of freedom;
    校准设备(200),包括第一移载机构(201)和六轴调整机构(202),所述第一移载机构(201)设有用于将所述异形件放入和取出所述六轴载具(100)的上下料工位(201a),所述第一移载机构(201)可驱动所述六轴载具(100)依次经过所述上下料工位(201a)和所述六轴调整机构(202),所述六轴调整机构(202)被配置成可对所述六轴载具(100)上的异形件进行扫描,并与所述六轴载具(100)传动连接,以根据扫描结果驱动所述六轴载具(100)对所述异形件位置偏差进行调整;A calibration device (200) includes a first transfer mechanism (201) and a six-axis adjustment mechanism (202), the first transfer mechanism (201) is provided with a six-axis for placing and taking out the special-shaped part The loading and unloading station (201a) of the carrier (100), the first transfer mechanism (201) can drive the six-axis carrier (100) to pass through the loading and unloading station (201a) and the six A shaft adjustment mechanism (202), the six-axis adjustment mechanism (202) is configured to scan the special-shaped parts on the six-axis carrier (100), and is in a drive connection with the six-axis carrier (100) , so as to drive the six-axis carrier (100) to adjust the position deviation of the special-shaped part according to the scanning result;
    保压流水线(300),包括分别与所述第一移载机构(201)的两端相接的输入线(301)和输出线(302),所述输出线(302)用于接收经所述六轴调整机构(202)调整异形件后的所述六轴载具(100),所述输入线(301)用于将调整异形件后的所述六轴载具(100)输入所述第一移载机构(201);A pressure maintaining assembly line (300), comprising an input line (301) and an output line (302) respectively connected to both ends of the first transfer mechanism (201), the output line (302) being used for receiving The six-axis adjusting mechanism (202) adjusts the six-axis carrier (100) after the special-shaped part is adjusted, and the input line (301) is used to input the six-axis carrier (100) after adjusting the special-shaped part into the six-axis carrier (100) a first transfer mechanism (201);
    移载设备(400),用于承接所述输入线(301)和所述输出线(302),以将所述输出线(302)上的所述六轴载具(100)移送至所述输入线(301)上。A transfer device (400) for receiving the input line (301) and the output line (302), so as to transfer the six-axis carrier (100) on the output line (302) to the on the input line (301).
  2. 根据权利要求1所述的异形件六自由度智能组装系统,其中,所述六轴载具(100)包括与所述异形件数量相对应的若干位移机构,所述位移机构分别用于对不同的所述异形件位置进行调整。The six-degree-of-freedom intelligent assembly system for special-shaped parts according to claim 1, wherein the six-axis carrier (100) comprises a number of displacement mechanisms corresponding to the number of the special-shaped parts, and the displacement mechanisms are respectively used for different The position of the special-shaped parts can be adjusted.
  3. 根据权利要求2所述的异形件六自由度智能组装系统,其中,所述六轴调整机构(202)包括调节驱动机构(28),所述调节驱动机构(28)包括若干可主动转动的插接套,所述位移机构设置有若干用于控制多自由度运动的传动套,所述插接套与所述传动套插接配合并可主动转动,以将旋转运动转化为所述位移机构在各自由度方向上的运动。The six-degree-of-freedom intelligent assembly system for special-shaped parts according to claim 2, wherein the six-axis adjustment mechanism (202) includes an adjustment drive mechanism (28), and the adjustment drive mechanism (28) includes a plurality of actively rotatable inserts The displacement mechanism is provided with a plurality of transmission sleeves for controlling multi-degree-of-freedom movement, and the insertion sleeve is inserted and matched with the transmission sleeve and can be actively rotated to convert the rotational motion into the displacement mechanism in the Motion in the direction of each degree of freedom.
  4. 根据权利要求2所述的异形件六自由度智能组装系统,其中,所述六轴载具(100)包括:The six-degree-of-freedom intelligent assembly system for special-shaped parts according to claim 2, wherein the six-axis carrier (100) comprises:
    第一位移机构(102),其可在多自由度方向上进行移动;a first displacement mechanism (102) capable of moving in a multi-degree-of-freedom direction;
    第一治具(14),设置在所述第一位移机构(102)上,并用于收容所述异形件中的一个;a first fixture (14), arranged on the first displacement mechanism (102), and used for accommodating one of the special-shaped parts;
    第二位移机构(103),其可在多自由度方向上进行移动;以及a second displacement mechanism (103) movable in multiple degrees of freedom directions; and
    第二治具(18),设置在所述第二位移机构(103)上,并可对所述异形件 中的另一个进行夹持。The second fixture (18) is arranged on the second displacement mechanism (103), and can clamp the other of the special-shaped parts.
  5. 根据权利要求4所述的异形件六自由度智能组装系统,其中,所述第一位移机构(102)包括:The six-degree-of-freedom intelligent assembly system for special-shaped parts according to claim 4, wherein the first displacement mechanism (102) comprises:
    Z轴平移机构(11),其可沿着Z轴方向移动;Z-axis translation mechanism (11), which can move along the Z-axis direction;
    RZ轴旋转机构(12),设置在所述Z轴平移机构(11)上,并可绕着Z轴转动;以及An RZ-axis rotation mechanism (12) is arranged on the Z-axis translation mechanism (11) and can rotate around the Z-axis; and
    RX轴旋转机构(13),设置在所述RZ轴旋转机构(12)上,并可绕着X轴转动,所述第一治具(14)设置在所述RX轴旋转机构(13)。The RX axis rotation mechanism (13) is arranged on the RZ axis rotation mechanism (12) and can be rotated around the X axis, and the first fixture (14) is arranged on the RX axis rotation mechanism (13).
  6. 根据权利要求4或5所述的异形件六自由度智能组装系统,其中,所述第二位移机构(103)包括:The six-degree-of-freedom intelligent assembly system for special-shaped parts according to claim 4 or 5, wherein the second displacement mechanism (103) comprises:
    Y轴平移机构(15),其可沿着Y轴方向移动;Y-axis translation mechanism (15), which can move along the Y-axis direction;
    RY轴旋转机构(16),设置在所述Y轴平移机构(15)上,并可绕着Y轴转动;以及an RY-axis rotation mechanism (16), arranged on the Y-axis translation mechanism (15), and can rotate around the Y-axis; and
    X轴平移机构(17),设置在所述RY轴旋转机构(16)上,并可沿着X轴移动,所述第二治具(18)设置在所述X轴平移机构(17)上。The X-axis translation mechanism (17) is arranged on the RY-axis rotation mechanism (16) and can move along the X-axis, and the second fixture (18) is arranged on the X-axis translation mechanism (17) .
  7. 根据权利要求4所述的异形件六自由度智能组装系统,其中,所述第一治具(14)包括固定在所述第一位移机构(102)上的第一治具座(141)和可拆卸安装在所述第一治具座(141)上并用于容置所述异形件的第一治具芯(142)。The six-degree-of-freedom intelligent assembly system for special-shaped parts according to claim 4, wherein the first fixture (14) comprises a first fixture seat (141) fixed on the first displacement mechanism (102) and a The first jig core (142) is detachably mounted on the first jig seat (141) and used for accommodating the special-shaped part.
  8. 根据权利要求7所述的异形件六自由度智能组装系统,其中,所述第一治具(14)包括安装在所述第一治具座(141)上的第一压紧组件(143)和第二压紧组件(145),所述第一压紧组件(143)可靠近和远离所述第一治具芯(142),以压紧和松开所述第一治具芯(142),所述第二压紧组件(145)可靠近和远离容置在所述第一治具芯(142)上的所述异形件,以压紧和松开所述异形件。The six-degree-of-freedom intelligent assembly system for special-shaped parts according to claim 7, wherein the first jig (14) comprises a first pressing component (143) mounted on the first jig seat (141) and a second pressing component (145), the first pressing component (143) can be close to and away from the first jig core (142) to compress and loosen the first jig core (142) ), the second pressing component (145) can be close to and away from the special-shaped piece accommodated on the first jig core (142), so as to compress and loosen the special-shaped piece.
  9. 根据权利要求4或7所述的异形件六自由度智能组装系统,其中,所述第二治具(18)包括固定在所述第二位移机构(103)上的第二治具座(181)、安装在所述第二治具座(181)上的抵压块(182)和第一肘夹(183),所述第一肘夹(183)可向着所述抵压块(182)转动,以配合所述抵压块(182)夹紧其中一个所述异形件。The six-degree-of-freedom intelligent assembly system for special-shaped parts according to claim 4 or 7, wherein the second jig (18) comprises a second jig seat (181) fixed on the second displacement mechanism (103) ), a pressing block (182) and a first elbow clip (183) installed on the second fixture seat (181), the first elbow clip (183) may face the pressing block (182) Rotate to cooperate with the pressing block (182) to clamp one of the special-shaped pieces.
  10. 根据权利要求1所述的异形件六自由度智能组装系统,其中,所述第一移载机构(201)包括:The six-degree-of-freedom intelligent assembly system for special-shaped parts according to claim 1, wherein the first transfer mechanism (201) comprises:
    第一输送线(21),其一端与所述输入线(301)相接,以接收所述输入线(301)上的所述六轴载具(100);a first conveying line (21), one end of which is connected to the input line (301) to receive the six-axis carrier (100) on the input line (301);
    第一移送组件(23),位于所述第一输送线(21)另一端,并用于接收所述第一输送线(21)上的所述六轴载具(100);a first transfer assembly (23), located at the other end of the first conveying line (21), and used for receiving the six-axis carrier (100) on the first conveying line (21);
    第二输送线(22),其一端与所述输出线(302)相接;以及a second conveying line (22), one end of which is connected to the output line (302); and
    第二移送组件(24),承接在所述第二输送线(22)和所述第一移送组件(23)之间,以接收所述第一移送组件(23)上的所述六轴载具(100);A second transfer assembly (24) is received between the second conveying line (22) and the first transfer assembly (23) to receive the six-axis load on the first transfer assembly (23) tool(100);
    其中,所述上下料工位(201a)位于所述第一移送组件(23)处,所述六轴调整机构(202)位于所述第二移送组件(24)边侧。Wherein, the loading and unloading station (201a) is located at the first transfer assembly (23), and the six-axis adjustment mechanism (202) is located at the side of the second transfer assembly (24).
  11. 根据权利要求1所述的异形件六自由度智能组装系统,其中,所述六轴调整机构(202)包括:The six-degree-of-freedom intelligent assembly system for special-shaped parts according to claim 1, wherein the six-axis adjustment mechanism (202) comprises:
    置放架(26),用于放置所述六轴载具(100);a placing rack (26) for placing the six-axis carrier (100);
    检测机构(27),包括用于扫描检测所述六轴载具(100)上异形件位置的激光器(272)和/或CCD相机(273);以及a detection mechanism (27), comprising a laser (272) and/or a CCD camera (273) for scanning and detecting the position of the special-shaped part on the six-axis carrier (100); and
    调节驱动机构(28),可向着所述六轴载具(100)移动,并与所述六轴载具(100)传动连接,以驱动其在各自由度进行调节。The adjustment drive mechanism (28) can move toward the six-axis carrier (100) and is drive-connected with the six-axis carrier (100) to drive it to adjust in each degree of freedom.
  12. 根据权利要求1所述的异形件六自由度智能组装系统,其中,所述移载设备(400)包括:The six-degree-of-freedom intelligent assembly system for special-shaped parts according to claim 1, wherein the transfer device (400) comprises:
    第三输送线(41),与所述输出线(302)未与所述第一移载机构(201)连接的一端相接;A third conveying line (41) is connected to the end of the output line (302) that is not connected to the first transfer mechanism (201);
    第四输送线(42),与所述输入线(301)未与所述第一移载机构(201)连接的一端相接;以及a fourth conveying line (42), connected to the end of the input line (301) that is not connected to the first transfer mechanism (201); and
    第二移载机构(401),承接在所述第三输送线(41)和所述第四输送线(42)之间,以将所述第三输送线(41)上的所述六轴载具(100)移至所述第四输送线(42)上。The second transfer mechanism (401) is received between the third conveying line (41) and the fourth conveying line (42), so as to transfer the six shafts on the third conveying line (41) The carrier (100) is moved onto the fourth conveying line (42).
  13. 根据权利要求12所述的异形件六自由度智能组装系统,其中,所述第二移载机构(401)包括:The six-degree-of-freedom intelligent assembly system for special-shaped parts according to claim 12, wherein the second transfer mechanism (401) comprises:
    第五输送线(43),用于承接所述第三输送线(41)和所述第四输送线(42);a fifth conveying line (43) for receiving the third conveying line (41) and the fourth conveying line (42);
    第三移送组件(44),位于所述第三输送线(41)和所述第五输送线(43)的交汇处,并用于将所述第三输送线(41)上的所述六轴载具(100)搬运至第 五输送线(43);以及A third transfer assembly (44) is located at the intersection of the third conveying line (41) and the fifth conveying line (43), and is used for transferring the six shafts on the third conveying line (41) The carrier (100) is transported to the fifth conveyor line (43); and
    第四移送组件(45),位于所述第四输送线(42)和所述第五输送线(43)的交汇处,并用于将所述第五输送线(43)上的所述六轴载具(100)搬运至所述第四输送线(42)上。A fourth transfer assembly (45) is located at the intersection of the fourth conveying line (42) and the fifth conveying line (43), and is used for transferring the six shafts on the fifth conveying line (43) The carrier (100) is transported to the fourth conveying line (42).
PCT/CN2020/140655 2020-12-24 2020-12-29 Six-degrees-of-freedom intelligent assembly system for special-shaped parts WO2022134148A1 (en)

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