CN104191232B - The method that the robot device and a variety of small sizes, flat parts that a variety of small sizes, flat parts assemble automatically in order sequentially assemble automatically - Google Patents
The method that the robot device and a variety of small sizes, flat parts that a variety of small sizes, flat parts assemble automatically in order sequentially assemble automatically Download PDFInfo
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- CN104191232B CN104191232B CN201410356140.2A CN201410356140A CN104191232B CN 104191232 B CN104191232 B CN 104191232B CN 201410356140 A CN201410356140 A CN 201410356140A CN 104191232 B CN104191232 B CN 104191232B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/001—Article feeders for assembling machines
- B23P19/002—Article feeders for assembling machines orientating the articles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/001—Article feeders for assembling machines
- B23P19/007—Picking-up and placing mechanisms
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P21/00—Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with programme control
- B23P21/004—Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with programme control the units passing two or more work-stations whilst being composed
- B23P21/006—Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with programme control the units passing two or more work-stations whilst being composed the conveying means comprising a rotating table
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Abstract
The present invention relates to the manipulator fetching device technical fields of automatic arranging part, it can be realized a variety of small sizes, flat parts sequentially to assemble automatically, including vibrating disk, camera and the Pneumatic vacuum suction nozzle for picking up part, it is equipped with overlapping before camera and arranges component, the manipulator that both forward and reverse directions arrange is equipped between vibrating disk and conveyer belt；The vibrating disk self-feeding, and the part in 2 directions can be selected from the part in 4 directions according to the asymmetry of part, carry out the preliminary screening in part direction；The camera is suspended on the position below transmission tail, transfers data to computer progress image identification by taking pictures, identification part is in certain 1 direction in 2 directions, while the quality of discrimination part, controls Pneumatic manipulator, part is sequentially stacked；The vacuum slot is provided with multiple holes in suction head portion, can pick up as long as having partial hole that part can be sucked, of less demanding to the position accuracy of manipulator, and will not have an impact to part.
Description
Technical field
The present invention relates to the manipulator fetching device technical field of automatic arranging part, more particularly to a variety of small sizes,
The robot device that flat parts sequentially assemble automatically can arrange part orientation, self-feeding, be not picked up part recycling, be good
The separation of bad part, select multiple functions, the raising productions such as separation, the unified recycling of imperfect part of imperfect part are imitated
Rate reduces production cost.
Background technique
Manipulator is in the various industries popularization and application such as agricultural, automobile, transport, medical treatment, military affairs.But pick and place it is tiny,
Laminar part and to various parts automatic assembling, there is presently no effective methods, mainly have any problem and are：(1) it is difficult to use
Unique direction required for mechanical method is selected from 4 directions of part；(2) in manipulator through frequently with three valve collets it is difficult
To grab tiny laminar part；(3) no matter tiny laminar part picks and places, and requires higher positioning accuracy.
To one large one small part, the mode of vibration feeding, the automatic unique part of outbound course are generallyd use.But
It is for flat parts, this method does not have effect.In electronics industry, camera imaging, the side with image recognition are generallyd use
Direction required for method selects.
In manipulator through frequently with three valve collets be not particularly suited for tiny laminar part because three valve collets are not easy to press from both sides
It holds, and not easy to control in dynamics, excessive tiny flat parts can become waste product because stress is excessive, and it crosses small part and is not easy to step up,
It is easy to fall off；The small part for wanting to take down clamping needs three valve collets of the clamping to be discharged to nut counter-rotating,
It is unfavorable for high-volume and automates processing, it is more troublesome and time-consuming.If can magnetize part using magnetic suction disc, influence the later period
Performance.If using vacuum chuck, because part comparison is tiny, higher positioning accuracy is needed, part otherwise can not be sucked.
Summary of the invention
It is an object of the present invention to provide a kind of tiny flat parts pick device, can automatically to such a variety of small sizes,
Flat parts sequentially assemble automatically, use hopper for vibrating disk charging, are selected from 4 directions using notched vibrating disk
The part in 2 directions selects 1 direction using the scanning analysis of camera, and according to the asymmetry of part from 2 directions
Part, using have multiple suckers vacuum slot pick and place part, realized using Pneumatic manipulator transport complete part extremely refer to
Determine workbench, the analysis, identification and motion control of complete part and part of damage are carried out using camera, computer, places damage
Bad part is in scrap heap.
In order to solve the above technical problems, the technical scheme adopted by the invention is as follows：Automatic assembling device, including can be according to part
Asymmetry from 4 directions select 2 directions vibrating disk, from 2 directions select 1 direction camera, have it is more
The vacuum slot of a sucker is equipped with the manipulator of positive and negative arrangement between vibrating disk and camera, and overlapping is equipped with before camera
Arrange component.
The vibrating disk includes spiral transmission track part, barbed portion rail portion and Linear transmission rail portion.
Position of centre of gravity is different when the notch rail portion of the vibrating disk is placed according to part front and back sides, from 4 directions
The outside feeding of part in 2 directions of middle selection, and the part in another 2 directions drops back vibrating disk；
The use has the vacuum slot of multiple suckers to pick and place part, minimum only a hole to be needed to block energy by part
Part is picked up, it is not high to the positioning accuracy request of part；
The camera is set on the conveyor belt, transfers data to computer progress image identification, discrimination zero by taking pictures
The quality of part controls the movement of Pneumatic manipulator, with complete separation completely with the part of damage.
The Pneumatic vacuum suction nozzle is set on the conveyor belt, and conveyer belt is supported by second support and first support installation,
It is equipped with fitting box in the movable extreme position of Pneumatic vacuum suction piece, fitting box is mounted on fitting box turntable, Pneumatic vacuum suction piece
The placement of another tiny flat parts is completed while pickup.
The conveyer belt drives rotation by speed regulating motor and belt, and waste material is arranged below in the end of conveyer belt and goes out
Mouthful.
The various parts are collocated with this direction rectifying machine by multiple vibrating disk feedings, the output end of each vibrating disk
Structure, Pneumatic vacuum suction nozzle and manipulator, automatic sequential assembles a variety of small sizes, flat parts under control of a computer program；
Each vibrating disk can arrange in pairs or groups multiple-channel output, and corresponding Pneumatic vacuum suction nozzle and machinery are mixed on each road
Hand improves efficiency；
The Pneumatic vacuum suction nozzle is directed to the problem of check and correction of single hole position is not allowed and does not pick up part in suction nozzle portion
Set up separately and be equipped with multiple suction nozzles, can be picked up as long as having a suction nozzle that part can be sucked, to the position accuracy of Pneumatic vacuum suction nozzle
It is of less demanding；
Sequentially stacking for multiple parts is carried out according to the camera image control Pneumatic vacuum suction nozzle collected；
According to the notch rail portion of the vibrating disk according to the position of centre of gravity of part, the shape size of notch is determined；
It is placed in conveying end of tape according to the photoelectric device, it can be found that part reaches, robot movement is controlled, grabs
Part is taken, the leakage that not will cause part grabs and leads to upsetting for part placement sequence；
Compared with the prior art, the advantages of the present invention are as follows：The ingenious setting of vibrating disk, be able to achieve direction 4 select 2, into
The preliminary screening of row part；Collocation hairbrush is analyzed with camera scans, 1 can be selected from 2 directions, and can arrange
Overlapping member；Pneumatic vacuum suction nozzle can be inhaled by vacuum slot puts part, will not have an impact to part；Pneumatic vacuum suction nozzle
Vacuum slot uses porous setting, does not need high-precision requirement to the take-off location of Pneumatic vacuum suction piece, the present invention solved
It goes to be difficult to realize the problem of a variety of small sizes, flat parts sequentially assemble automatically, production efficiency can be can be improved with continuous work
Reduce production cost.
Detailed description of the invention
Fig. 1 is the overall structure diagram of apparatus of the present invention embodiment；
Fig. 2 is the structural schematic diagram of the vibrating disk of apparatus of the present invention embodiment；
Fig. 3 is the partition transport status schematic diagram of apparatus of the present invention embodiment；
Fig. 4 is the gear piece transport status schematic diagram of apparatus of the present invention embodiment；
Fig. 5 is the structural schematic diagram of the first manipulator of apparatus of the present invention embodiment；
Fig. 6 is the structural schematic diagram of the second manipulator of apparatus of the present invention embodiment；
Fig. 7 is that the partition of apparatus of the present invention embodiment falls status diagram；
Fig. 8 is the normal transport status schematic diagram of partition of apparatus of the present invention embodiment；
Fig. 9 is that the gear piece of apparatus of the present invention embodiment falls status diagram；
Figure 10 is the normal transport status schematic diagram of gear piece of apparatus of the present invention embodiment；
Figure 11 is the No.1 robot work flow diagram of apparatus of the present invention embodiment；
Figure 12 is No. two robot work flow diagrams of apparatus of the present invention embodiment；
1, vibrating disk in the figure；2, positive and negative arrangement component；3, overlapping arranges component；4, Pneumatic vacuum suction nozzle；5, it takes a picture
Machine；6, conveyer belt；7, second support；8, fitting box；9, fitting box turntable；10, waste outlet；11, first support；12, it adjusts the speed
Motor；13, belt；14, partition；15, gear piece；16, side plate；17, flow control member；18, position adjustment block；19, No.1 is mechanical
Hand；20, No. two manipulators；21, photoelectric sensor.
Specific embodiment
It is carried out certainly such as gear piece, partition by a piece of partition fixed-direction of a piece of gear piece for two kinds of small sizes, flat parts
It is dynamic to take dress to illustrate robot device that a variety of small sizes, flat parts sequentially assemble automatically.Taking assembling device includes two hoppers, two
Vibrating disk, two cameras, two suction nozzle main bodies, multiple small cylinders, multiple air extractors, multiple rolling hairbrush etc., Fig. 1-Figure 10 is
Implementation structural schematic diagram of the invention, the photograph that described device includes the vibrating disk 1 of automatic material taking, tested and analyzed to part
Machine 5 and the Pneumatic vacuum suction nozzle 4 for picking up part, positive and negative arrangement manipulator 2 is equipped between vibrating disk 1 and camera 5, is being taken a picture
It is equipped with overlapping before machine 5 and arranges component 3；The vibrating disk 1 includes spine's notch rail portion, can be according to the asymmetry of part
The part that 2 directions are selected from 4 directions, carries out the preliminary screening of part, and the part for not meeting direction requirement can fall automatically
Return vibrating disk；The camera 5 can select the part in 1 direction from 2 directions, carry out the screening again in direction；It is described
Camera 5 be located at the lower section of conveyer belt 6 and on side plate, transfer data to computer by taking pictures and carry out image identification, distinguish
Analyse part quality, control Pneumatic manipulator with complete separation completely with the part of damage；The Pneumatic vacuum suction nozzle 4 is located at
On conveyer belt 6, conveyer belt 6 is by second support 7 and the installation bearing of first support 11, in the movable limit of Pneumatic vacuum suction nozzle 4
Position is equipped with fitting box 8, and fitting box 8 is mounted on turntable 9, and Pneumatic vacuum suction nozzle 4 completes another tiny sheet while pickup
The placement of part；The vibrating disk 1 can mix corresponding Pneumatic vacuum suction nozzle 4 and positive and negative whole with multiple-channel output on each road
Manipulator 2 is managed, is improved efficiency；The Pneumatic vacuum suction nozzle 4 is provided with multiple suckers, it is only necessary to have a hole to be blocked by part
Part can be picked up, it is not high to the positioning accuracy request of part, control the operation range of Pneumatic manipulator.Fig. 3 is partition conveying
State；
Wherein, vibrating disk includes vibration device, track, flow control member 17 and position adjustment block 18, and track is divided into circle
Arcuation, linear, tiny spine's notch, three sections of tracks are connected, and third section track --- tiny spine's indentation, there is equipped with specific
Notch, the notch obtain the specific shape and size by practice many times, when part (gear piece or partition) front conveys,
Part is not fallen by tiny indentation, there, on the contrary then drop back into vibrating disk in tiny indentation, there and convey again；Not according to part
Symmetry selects the part in 2 directions from the part in 4 directions, carries out the preliminary screening of part, for carrying out positive and negative arrangement；
Flow control member 17 on first arc-shaped track is set, can in time be moved to outside delivery track, make this section of delivery track
Width narrow, or even be only capable of for single material through position adjustment block 18, while adjustable position adjustment block 18, change track
Spacing, make part parallel through the seam of position adjustment block 18 and track edges.Pass through flow control member 17, position adjustment block
18 two procedures, can make part single and be parallel to track to pass through, convenient at the tiny carinate notch track in rear front and back sides it is whole
Reason.
Camera testing and analysis system camera, the light source, computer for taking assembling device obtains camera by adjusting light source
Optimal imaging effect, then identified by network transmission to computer, the fortune of Pneumatic manipulator controlled according to recognition result
It is dynamic, gear piece and partition are sequentially stacked.Camera is mounted on side plate, is located at and is rolled hairbrush rear, transmits the top of tail, is supervised
Control conveyer belt, 1 direction is selected from 2 directions according to the shape of part, and judge part reach vacuum slot below when
Between, while the integrality of discrimination part, based on the analysis results by the movement of computer controlled machine tool hand.
The vibrating disk includes spiral transmission track part, barbed portion rail portion and Linear transmission rail portion.
Position of centre of gravity A is different when the notch rail portion of the vibrating disk is placed according to part front and back sides, from 4 directions
The outside feeding of part in 2 directions of middle selection, and the part in another 2 directions drops back vibrating disk；
The Pneumatic manipulator for taking assembling device includes draw frame machine, driving mechanism, control system three parts.Draw frame machine
It is made of vacuum slot, driving mechanism includes the cylinder of both direction movement and the solenoid valve for controlling cylinder moving.Control system
System is realized by computer.
The Pneumatic vacuum suction nozzle for taking assembling device include fixing seat, vacuum tube, soft rubber sucker mouth, vacuum tube wears
Fixing seat is crossed, is located at below fixing seat, vacuum tube is fixedly connected with the sucker mouth of lower section again；Pneumatic vacuum suction nozzle is provided with multiple
Sucker, it is only necessary to which part can be picked up by having a hole to be blocked by part, not high to the positioning accuracy request of part.Vacuum slot is logical
The threaded hole in fixing seat is crossed to connect with the bracket on two telescopic cylinders placed vertically.Suction nozzle disc main body is by vacuum tube and takes out
Device of air connection, when picking up tiny flat parts, air extractor pumping makes to form negative pressure inside suction nozzle disc main body, passes through gas
Pressure difference makes tiny flat parts be tightly attached to the suction nozzle disk of soft rubber comprehensively, and then is adsorbed on the sucker mouth of soft rubber；When
When reaching on specified fitting box, air extractor changes pumping to blow, by tiny flat parts under little wind-force with sucker mouth
Separation, is placed in fitting box.This device resolves tiny flat parts be flat work pieces, small part, be not easy clamping and
The difficult point being not easily disconnected from after absorption.
The fitting box for taking assembling device is placed on suction nozzle disc main body extreme position, picks up for realizing a tiny platy part
The placement of another tiny flat parts is completed while taking, reduces the time, improves production efficiency.Fitting box is using tiltedly open shape
Shape, and divide into float partition, is set as the internal diameter hollow pipeline more bigger than part, rather than solid cylindrical.Often it is put into one zero
Part can sink the thickness of corresponding part automatically, will not dance in the air and wave when so that placing part, also not need using positioning accuracy pole
High core bar reduces required precision；
It is the specific implementation process of apparatus of the present invention in conjunction with Figure 11：
Step 1：The position of running water part, position adjustment block is adjusted, track is reduced and change, enables part by successively single
A track that is parallel to is sent to elongated carinate gap segments rail portion；
Step 2：Vibrating disk passes through the processing of early period, realizes that workpiece (gear piece or partition) monolithic slowly conveys, when workpiece (tooth
Piece or partition) when passing through elongated carinate notch track with front, workpiece normally conveys, when workpiece (gear piece or partition) is logical with reverse side
When crossing elongated carinate notch track, workpiece (gear piece or partition) is fallen into vibrating disk from elongated carinate notch, is conveyed again；Front
Workpiece (gear piece or partition) upward enters conveyer belt by the positive and negative arrangement of elongated carinate notch；
Step 3：After workpiece (gear piece or partition) conveys certain distance on the conveyor belt, arranged into the overlapping for rolling hairbrush
Section realizes that workpiece (gear piece or partition) monolithic conveys on the conveyor belt.
Step 4：Partition enters camera scanning range, and camera to the acquisitions of partition data and exports image capturing system
Digital Image Transmission to computer, image analysis system completes all image procossings, calculating and analysis, and then analysis is tied
Fruit is transferred to control system part, controls the movement of No.1 manipulator.
Step 5：No.1 manipulator obtains analysis and processing result, if partition inverse put is complete, skips to step 6；If partition is suitable
It discharges whole, then skips to step 7；If partition damages, step 8 is skipped to；
Step 6：Telescopic cylinder is in original state, and it is pumping that left vacuum slot, which changes air blowing by air extractor (see Fig. 7),
Pick up partition；Right vacuum slot changes pumping by air extractor (see Fig. 7) to blow simultaneously, and gear piece is placed on conveyer belt.
Solenoid valve one is opened, and by the movement of telescopic cylinder, No.1 robot movement to middle position, left vacuum slot passes through air extractor
(see Fig. 7) changes pumping to blow, and the complete partition of inverse put is put into feed bin, and solenoid valve one is closed, and No.1 manipulator is in initial
State；Skip to step 5；
Step 7：Left vacuum slot changes air blowing by air extractor (see Fig. 7) as pumping, picks up partition；Right vacuum is inhaled simultaneously
Mouth changes pumping by air extractor (see Fig. 7) to blow, and gear piece is placed on conveyer belt.Solenoid valve two is opened, telescopic cylinder, and one
Number robot movement is to extension limit, set-up procedure 9；
Step 8：If scanning result is partition damage, solenoid valve one and solenoid valve two are disconnected, the air blowing of suction nozzle disk, suction condition
Constant, No.1 manipulator does not move, and partition moves to tail portion with conveyer belt and falls into scrap heap.Skip to step 5；
Step 9：Gear piece enters in camera coverage, and gear piece to be detected is carried out Image Acquisition by camera, and will figure
The Digital Image Transmission exported as acquisition system arrives computer, completes all image procossings, calculating and analysis, control No.1 machine
Tool is made manually；
Step 10：Manipulator obtains analysis and processing result, if gear piece inverse put is complete, skips to step 11；It is put if gear piece is suitable
Completely, then step 12 is skipped to；If gear piece damages, set-up procedure 13；
Step 11：Telescopic cylinder is in extension limit state, and left vacuum slot is changed to by air extractor (see Fig. 7) pumping
It blows, partition is placed on conveyer belt；Right vacuum slot is changed to be evacuated by air extractor (see Fig. 7) air blowing simultaneously, picks up
Gear piece.Solenoid valve one disconnects, and by the movement of telescopic cylinder, No.1 robot movement to middle position, right vacuum slot passes through
Air extractor (see Fig. 7) pumping is changed to blow, and the complete gear piece of inverse put is put into feed bin, solenoid valve one is opened, at No.1 manipulator
In extension limiting condition；Skip to step 9；
Step 12：Telescopic cylinder is in extension limit state, and left vacuum slot is changed to by air extractor (see Fig. 7) pumping
It blows, partition is placed on conveyer belt；Right vacuum slot is changed to be evacuated by air extractor (see Fig. 7) air blowing simultaneously, picks up
Gear piece.Solenoid valve two is opened, No.1 robot movement to extension limit, set-up procedure 4；
Step 13：If scanning result is gear piece damage, solenoid valve one is opened, solenoid valve two disconnects, the air blowing of suction nozzle disk, air-breathing
State is constant, and No.1 manipulator does not move, and gear piece moves to tail portion with conveyer belt and falls into scrap heap, skips to step 9；
Step 14：Workpiece (partition, gear piece) is moved to conveying tail by conveyer belt simultaneously, and photoelectric device senses concurrently
Signal out, solenoid valve three are opened, and small cylinder extends to the limit, touch magnetic switch, and solenoid valve three is closed, No. two manipulators
Stop motion is to extension limit；It is air-breathing that vacuum slot, which changes air blowing, picks up part；
Step 15：Solenoid valve three is opened, and small cylinder is contracted to the limit, touches magnetic switch, and solenoid valve three is closed, and two
Number manipulator stops at original state；Vacuum slot changes air-breathing to blow, and places partition or gear piece in fitting box；
Step 16：Multiple circulation step 14,15.
Claims (6)
- The robot device that more than 1. kinds of small size, flat parts assemble automatically in order, including pick device, it is characterised in that： The camera (5) and pickup part that the pick device includes the vibrating disk (1) of self-feeding, tested and analyzed to part Pneumatic vacuum suction nozzle (4)；It is equipped with overlapping before camera (5) and arranges component (3), the vibrating disk (1) can be according to part Asymmetry the part in 2 directions is selected from 4 directions, carry out the preliminary screening of part, do not meet the zero of direction requirement Part can drop back vibrating disk automatically；The notch rail portion of the vibrating disk (1) according to part both forward and reverse directions position of centre of gravity not Together, it determines that the shape size of notch, the camera (5) can select the part in 1 direction from 2 directions, carries out direction Screening again, part is sequentially stacked according to the described camera (5) image control Pneumatic vacuum suction nozzle (4) collected.
- 2. the robot device that a variety of small sizes according to claim 1, flat parts assemble automatically in order, feature It is：The vibrating disk (1) includes the track with spine's notch.
- 3. the robot device that a variety of small sizes according to claim 1, flat parts assemble automatically in order, feature It is：The camera (5) hangs on conveyer belt (6) and connects on caudal position, transfers data to computer by taking pictures Image identification is carried out, the positive reverse of part is differentiated, the quality of discrimination part controls the movement of No.1 manipulator.
- 4. the robot device that a variety of small sizes according to claim 1, flat parts assemble automatically in order, feature It is：The Pneumatic vacuum suction nozzle (4) is located on conveyer belt (6), and conveyer belt (6) passes through second support (7) and first Frame (11) installation bearing is equipped with fitting box (8) in Pneumatic vacuum suction nozzle (4) movable extreme position, and fitting box (8), which is mounted on, to be connect On part box turntable (9), the Pneumatic vacuum suction nozzle (4) is provided with multiple suckers, and Pneumatic vacuum suction nozzle (4) picks up the same of part When complete the placements of another tiny flat parts, the fitting box (8) using tiltedly open shape, and divide into floating every Plate prevents from overturning in quickly falling and leading to part by the way that under the self gravitation effect of part, part little by little slowly declines Front and back sides, inverse suitable change.
- 5. the robot device that a variety of small sizes according to claim 1, flat parts assemble automatically in order, feature It is：Described vibrating disk (1) multiple-channel output, mixed on each road corresponding Pneumatic vacuum suction nozzle (4) and No.1 manipulator and No. two manipulators.
- 6. a kind of carry out a variety of small sizes, flat parts sequentially using robot device described in any one of claim 1-5 Automatically the method assembled, which is characterized in thatStep 1：The position of running water part, position adjustment block is adjusted, reduces and changes track, part is enable successively individually to be put down Row is sent in track to elongated carinate gap segments rail portion；Step 2：Vibrating disk passes through the processing of early period, realizes that workpiece monolithic slowly conveys, when workpiece with front by elongated carinate When notch track, workpiece is normally conveyed, and when workpiece passes through elongated carinate notch track with reverse side, workpiece is from elongated carinate notch It falls into vibrating disk, conveys again；Face-up workpiece enters conveyer belt by the positive and negative arrangement of elongated carinate notch；Step 3：After workpiece conveys certain distance on the conveyor belt, section is arranged into the overlapping for rolling hairbrush, realizes workpiece defeated It send and takes monolithic conveying；Step 4：Partition enters camera scanning range, and camera is to the acquisitions of partition data and the number that exports image capturing system Word image transmitting is to computer, and image analysis system completes all image procossings, calculating and analysis, then analysis result biography It is defeated to arrive control system part, control the movement of No.1 manipulator；Step 5：No.1 manipulator obtains analysis and processing result, if partition inverse put is complete, skips to step 6；It is discharged if partition is suitable It is whole, then skip to step 7；If partition damages, step 8 is skipped to；Step 6：Telescopic cylinder is in original state, and left vacuum slot changes air blowing by air extractor as pumping, picks up partition；Together When right vacuum slot pumping changed to blow by air extractor, gear piece is placed on conveyer belt；Solenoid valve one is opened, by flexible The movement of cylinder, No.1 robot movement to middle position, left vacuum slot change pumping to blow, by inverse put by air extractor Complete partition is put into feed bin, and solenoid valve one is closed, and No.1 manipulator is in original state；Skip to step 5；Step 7：Left vacuum slot changes air blowing by air extractor as pumping, picks up partition；Right vacuum slot passes through pumping simultaneously Device changes pumping to blow, and gear piece is placed on conveyer belt；Solenoid valve two is opened, telescopic cylinder, and No.1 robot movement is to stretching The limit is opened up, step 9 is skipped to；Step 8：If scanning result is partition damage, solenoid valve one and solenoid valve two are disconnected, and the air blowing of suction nozzle disk, suction condition are not Become, No.1 manipulator does not move, and partition moves to tail portion with conveyer belt and falls into scrap heap, skips to step 5；Step 9：Gear piece enters in camera coverage, and gear piece to be detected is carried out Image Acquisition by camera, and image is adopted The Digital Image Transmission of collecting system output completes all image procossings, calculating and analysis to computer, controls No.1 manipulator Movement；Step 10：No.1 manipulator obtains analysis and processing result, if gear piece inverse put is complete, skips to step 11；It is put if gear piece is suitable Completely, then step 12 is skipped to；If gear piece damages, step 13 is skipped to；Step 11：Telescopic cylinder is in extension limit state, and left vacuum slot is changed to blow by air extractor pumping, by partition It is placed on conveyer belt；Right vacuum slot is changed to be evacuated by air extractor air blowing simultaneously, picks up gear piece；Solenoid valve one disconnects, By the movement of telescopic cylinder, No.1 robot movement to middle position, right vacuum slot is changed to blow by air extractor pumping Gas,The complete gear piece of inverse put is put into feed bin, solenoid valve one is opened, and No.1 manipulator, which is in, upholds limiting condition；Skip to step 9；Step 12：Telescopic cylinder is in extension limit state, and left vacuum slot is changed to blow by air extractor pumping, by partition It is placed on conveyer belt；Right vacuum slot is changed to be evacuated by air extractor air blowing simultaneously, picks up gear piece；Solenoid valve two is opened, No.1 robot movement skips to step 4 to extension limit；Step 13：If scanning result is gear piece damage, solenoid valve one is opened, solenoid valve two disconnects, the air blowing of suction nozzle disk, suction condition Constant, No.1 manipulator does not move, and gear piece moves to tail portion with conveyer belt and falls into scrap heap, skips to step 9；Step 14：Workpiece motion s are sensed and are issued signal, solenoid valve three to tail, photoelectric device is conveyed by conveyer belt simultaneously It opens, small cylinder extends to the limit, touches magnetic switch, and solenoid valve three is closed, No. two manipulator stop motions to stretching, extension The limit；It is air-breathing that vacuum slot, which changes air blowing, picks up part；Step 15：Solenoid valve three is opened, and small cylinder is contracted to the limit, touches magnetic switch, and solenoid valve three is closed, No. two machines Tool hand stops at original state；Vacuum slot changes air-breathing to blow, and places partition or gear piece in fitting box；Step 16：Multiple circulation step 14,15.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410356140.2A CN104191232B (en) | 2014-07-18 | 2014-07-18 | The method that the robot device and a variety of small sizes, flat parts that a variety of small sizes, flat parts assemble automatically in order sequentially assemble automatically |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410356140.2A CN104191232B (en) | 2014-07-18 | 2014-07-18 | The method that the robot device and a variety of small sizes, flat parts that a variety of small sizes, flat parts assemble automatically in order sequentially assemble automatically |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104191232A CN104191232A (en) | 2014-12-10 |
| CN104191232B true CN104191232B (en) | 2018-11-27 |
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| CN104842157B (en) * | 2015-05-21 | 2017-11-28 | 江苏比微曼智能科技有限公司 | A kind of multi-part assembles equipment |
| CN106424516B (en) * | 2016-10-12 | 2018-01-23 | 江苏西顿科技有限公司 | Forced automatic nail feeding machine |
| CN108213255A (en) * | 2018-01-09 | 2018-06-29 | 湖北零柒实业有限责任公司 | A kind of intelligent recognition automatic metal button riveter method of work |
| CN108098818B (en) * | 2018-02-08 | 2024-05-14 | 济南奥图自动化股份有限公司 | High air permeability work piece transport end effector system |
| CN110936154A (en) * | 2019-12-27 | 2020-03-31 | 上海工程技术大学 | Automatic assembling device for comber tooth sheets and control method |
| CN111531347B (en) * | 2020-05-11 | 2021-10-15 | 深圳市维拉斯电气有限公司 | High-precision tuning fork assembly equipment and tuning fork assembly process |
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| JP2004265886A (en) * | 2003-01-15 | 2004-09-24 | Matsushita Electric Ind Co Ltd | Device and method for mounting electronic component |
| KR20100028870A (en) * | 2008-09-05 | 2010-03-15 | 서종인 | Apparatus for automatically feeding and fitting bolt and washer |
| CN102848187B (en) * | 2011-06-30 | 2014-07-09 | 常州铭赛机器人科技有限公司 | Automatic assembly production line of buzzers |
| CN102495456B (en) * | 2011-11-30 | 2014-02-19 | 肖全忠 | Lens assembly equipment and method of assembling lens |
| CN204160165U (en) * | 2014-07-18 | 2015-02-18 | 温州大学 | The robot device of multiple small size, flat parts automatic Composition according to the order of sequence |
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