CN106002205A - Automatic assembling device with gripper for lifting - Google Patents

Automatic assembling device with gripper for lifting Download PDF

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Publication number
CN106002205A
CN106002205A CN201610538946.2A CN201610538946A CN106002205A CN 106002205 A CN106002205 A CN 106002205A CN 201610538946 A CN201610538946 A CN 201610538946A CN 106002205 A CN106002205 A CN 106002205A
Authority
CN
China
Prior art keywords
bed die
plate
fixed plate
axis
jaw
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201610538946.2A
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Chinese (zh)
Inventor
缪磊
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Suzhou RS Technology Co Ltd
Original Assignee
Suzhou RS Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Suzhou RS Technology Co Ltd filed Critical Suzhou RS Technology Co Ltd
Priority to CN201610538946.2A priority Critical patent/CN106002205A/en
Publication of CN106002205A publication Critical patent/CN106002205A/en
Pending legal-status Critical Current

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Classifications

    • 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
    • B23P19/04—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 for assembling or disassembling parts
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
    • B23P19/001—Article feeders for assembling machines
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
    • B23P19/001—Article feeders for assembling machines
    • B23P19/006—Holding or positioning the article in front of the applying tool
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
    • B23P19/001—Article feeders for assembling machines
    • B23P19/007—Picking-up and placing mechanisms
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16B—DEVICES FOR FASTENING OR SECURING CONSTRUCTIONAL ELEMENTS OR MACHINE PARTS TOGETHER, e.g. NAILS, BOLTS, CIRCLIPS, CLAMPS, CLIPS OR WEDGES; JOINTS OR JOINTING
    • F16B11/00—Connecting constructional elements or machine parts by sticking or pressing them together, e.g. cold pressure welding
    • F16B11/006—Connecting constructional elements or machine parts by sticking or pressing them together, e.g. cold pressure welding by gluing

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Manipulator (AREA)

Abstract

The invention discloses an automatic assembling device with grippers for lifting. The automatic assembling device comprises a horizontal plate, a carrying mechanism and a compensation tool. The carrying mechanism comprises the grippers. Each gripper comprise a cylinder, a connecting plate for fixing the cylinder, two fixing plates connected with two ends of the connecting plate, a pushing rod connected with the cylinder, two sliding blocks connected with the pushing rod, and two jaws connected with the two sliding blocks respectively. The two sliding blocks are located between the two fixing plates. The push rod is pushed by the cylinder to poke the sliding blocks so as to enable the two jaws to be separated or combined. The automatic assembling device can realize automatic operation.

Description

Jaw promotes automatic assembly equipment
Technical field
The present invention relates to a kind of automatic press mounting mechanism, particularly relate to a kind of jaw and promote automatic assembly equipment.
Background technology
The plastic cement mechanism of existing high-end audio industry needs manually to paste one-faced tapes, due to plastic cement mechanism and list Face adhesive tape is tetragon, needs artificial naked eyes to remove alignment, but human eye always causes error thus causes moulding Gluing mechanism part has sticked adhesive tape, and another part does not then stick adhesive tape.Further, since manual operation, Causing production efficiency low, concordance is poor, the defect that manufacturing cost is high.And taking and placing plastic cement mechanism needs staff Take dynamic.
In view of drawbacks described above, it is necessary that designing one improves equipment in fact.
Summary of the invention
The technical problem to be solved is: provide a kind of jaw to promote automatic assembly equipment.
For solving above-mentioned technical problem, the technical scheme is that
A kind of jaw promotes automatic assembly equipment, comprising:
Horizontal plate, described horizontal plate is provided with placement bed die and absorption bed die, described placement bed die and suction Attached bed die all arc shapes in concave downward, described placement bed die for placing the plasticity machines component of arc, Described absorption bed die is for placing the one-faced tapes of arc, and described horizontal plate is provided with in the lower section placing bed die Mobile groove；
Carrier mechanism, described carrier mechanism is arranged on the upside of horizontal plate, and described carrier mechanism includes that two is vertical Arrange support bar, the guide rail pole being connected between two support bars, can be along guide rail pole left and right transverse shifting Capture pressure exerting arrangement and be arranged on guide rail pole and capture the X that moves left and right of pressure exerting arrangement for driving Axis drive motor, described placement bed die and the absorption spaced setting of bed die between two support bars, Described crawl pressure exerting arrangement has the profiling carrier consistent with plasticity machines component arcwall face, is fixed on profiling and carries Some grippers on tool and the Z axis for driving profiling carrier to move up and down along vertical direction drive Motor, described crawl pressure exerting arrangement is for capturing the plasticity machines component placed on bed die and transport to one side Above adhesive tape, then plasticity machines component is compressed on one-faced tapes thus completes one-faced tapes and plastic cement mechanism The stickup of part；And
Compensating frock, described compensation frock has along the vertical direction through rotation motor and the peace of mobile groove Being contained in the Y-axis on the upside of horizontal plate drives module, the top of described rotation motor to be connected with absorption bed die, institute The bottom stating rotation motor connects a fixed plate in tetragon, and four limits of described fixed plate are separately installed with Two CCD camera, eight CCD camera are in order to detect the exact position of one-faced tapes, institute on absorption bed die State the positional information Rotary adsorption respectively that rotation motor and Y-axis driving module feed back according to eight CCD camera Bed die and move absorption bed die along fore-and-aft direction, thus adjust the angle of absorption bed die and fore-and-aft direction Position；
Wherein said gripper includes cylinder, the connecting plate of fixing cylinder, two consolidating of being connected with connecting plate two ends Determine two slide blocks that plate is connected with push rod with the push rod of cylinders and be respectively connected with two slide blocks Two claws, described two slide blocks between two fixed plates, described cylinder push-and-pull push rod stir slide block so that Obtain two claws clamp mutually or unclamp.
Compared with prior art, the present invention has the beneficial effect that: gripper includes cylinder, the company of fixing cylinder Fishplate bar, with connecting plate two ends be connected two fixed plates be connected with push rod with the push rod of cylinders two Slide block and two claws being respectively connected with two slide blocks, described two slide blocks between two fixed plates, institute Stating cylinder push-and-pull push rod and stir slide block so that two claws clamp mutually or unclamp, therefore jaw promotes certainly Dynamic assembling equipment can realize automation mechanized operation.
The present invention further improves as follows:
Further, stating Y-axis drives module to be arranged between placement bed die and absorption bed die.
Further, described Y-axis drives module to include Y-axis adjustment plate, connecting plate and Y-axis driving Motor, described Y-axis adjustment plate is provided with the through hole passed for rotation motor, and described Y-axis drives motor to drive The plate that is dynamically connected moves along the longitudinal direction, and described connecting plate drives Y-axis adjustment plate to move along the longitudinal direction, institute State Y-axis adjustment plate motor is rotated to move along the longitudinal direction, thus drive absorption bed die along the longitudinal direction Mobile.
Further, the projection of described placement bed die in the vertical direction is tetragon, described placement bed die There are two the coarse positioning pins being positioned on tetragon diagonally opposing corner and be positioned at five fine positionings in the middle of tetragon Pin.
Further, the projection of described profiling carrier in the vertical direction is tetragon, and described tetragon is left Limit and the right are respectively equipped with two grippers, and the front of described tetragon and back are respectively equipped with a gripper, The centre of described tetragon is additionally provided with four grippers.
Further, described crawl pressure exerting arrangement include being arranged on the first fixed plate on the upside of profiling carrier, It is positioned at the second fixed plate directly over the first fixed plate and connects the first fixed plate and the second fixed plate Some connecting rods, described Z axis drives motor to be fixedly mounted in the second fixed plate.
Further, described gripper is fixed in the first fixed plate, and described gripper part is positioned at first and fixes Between plate and the second fixed plate, described gripper another part extends downward beyond the first fixed plate.
Further, described some connecting rods are four connecting rods.
Further, described jaw lifting automatic assembly equipment also has driving placement bed die along the longitudinal direction The driving module of motion.
Further, described jaw lifting automatic assembly equipment is arranged in board.
Accompanying drawing explanation
Fig. 1 is to meet automatically dropping glue of the present invention to assemble the axonometric chart of equipment.
Fig. 2 is another view stereo figure that automatically dropping glue shown in Fig. 1 assembles equipment.
Fig. 3 is the axonometric chart of carrier mechanism shown in Fig. 1.
Fig. 4 is another view stereo figure of carrier mechanism shown in Fig. 1.
Fig. 5 is the axonometric chart that shown in Fig. 1, dynamic some glue assembling equipment removes carrier mechanism.
Fig. 6 is to adsorb bed die shown in Fig. 1 and compensate the axonometric chart of frock.
Fig. 7 is to adsorb bed die as shown in Figure 6 and compensate another view stereo figure of frock.
Fig. 8 is the axonometric chart placing bed die shown in Fig. 1.
Fig. 9 is the axonometric chart of gripper shown in Fig. 1.
Detailed description of the invention
The present invention is further described with embodiment below in conjunction with the accompanying drawings.
As shown in Figures 1 to 9, for a kind of High Precision Automatic assembling equipment 100, comprising: horizontal plate 10, carrier mechanism 20 and compensation frock 30.
Placement bed die 40 and absorption bed die 50 are installed on horizontal plate 10.Place bed die 40 and absorption bed die Equal 50 arc shapes in concave downward, described placement bed die 40 is used for placing the plasticity machines component of arc, Described absorption bed die 50 is for placing the one-faced tapes of arc, and described horizontal plate 10 is placing bed die 40 Lower section is provided with mobile groove 101 (Fig. 5).
Carrier mechanism 20 is arranged on the upside of horizontal plate 10, and described carrier mechanism 20 includes that two are vertically arranged Support bar 201, the guide rail pole 202 being connected between two support bars 201, can be along guide rail pole about 202 The crawl pressure exerting arrangement 21 of transverse shifting and being arranged on guide rail pole 202 for driving crawl pressing machine The X-axis that structure 21 moves left and right drives motor 203.Place bed die 40 and absorption bed die 50 is spaced and set Putting and between two support bars 201, described crawl pressure exerting arrangement 21 has and plasticity machines component arcwall face Consistent profiling carrier 211, some grippers 22 being fixed on profiling carrier 211 and for driving The Z axis that profiling carrier 211 moves up and down along vertical direction drives motor 213.Described crawl pressure exerting arrangement 21 for capturing the plasticity machines component placed on bed die 40 and transport above one-faced tapes, then by plastic cement Mechanism member is compressed on one-faced tapes thus completes one-faced tapes and the stickup of plasticity machines component.
Compensate frock 30 to have along the vertical direction through moving the rotation motor 31 of groove 101 and being arranged on Y-axis on the upside of horizontal plate 10 drives module 33.The top of described rotation motor 31 is with absorption bed die 50 even Connecing, the bottom of described rotation motor 31 connects a fixed plate 311 in tetragon, described fixed plate 311 Four limits be separately installed with two CCD camera 32.Eight CCD camera 32 are in order to detect absorption bed die 50 The exact position that upper one-faced tapes is placed, described rotation motor 31 and Y-axis drive module 33 according to eight Individual CCD camera 32 feedback positional information Rotary adsorption bed die 50 respectively and move suction along fore-and-aft direction Attached bed die 50, thus adjust angle and the position of fore-and-aft direction of absorption bed die 50.
Y-axis drives module 33 to be arranged between placement bed die 40 and absorption bed die 50.Described Y-axis drives Module 33 includes that Y-axis adjustment plate 331, connecting plate 332 and Y-axis drive motor 333.Described Y-axis Adjustment plate 331 is provided with the through hole (non-label) passed for rotation motor 31, and described Y-axis drives motor 333 Drive connection plate 332 moves along the longitudinal direction, and described connecting plate 332 drives Y-axis adjustment plate 331 along front Rear is to motion, and described Y-axis adjustment plate 331 is rotated motor 31 and moves along the longitudinal direction, thus carries Dynamic absorption bed die 50 moves along the longitudinal direction.
The projection placing bed die 40 in the vertical direction is tetragon, and described placement bed die has and is positioned at four limits Two coarse positioning pins 61 on shape diagonally opposing corner and five the fine positioning pins 62 being positioned in the middle of tetragon.
The projection of profiling carrier 211 in the vertical direction is tetragon, and the described tetragon left side and the right are divided Not being provided with two grippers 22, the front of described tetragon and back are respectively equipped with a gripper 22, and described four The centre of limit shape is additionally provided with four grippers 22.
Capture pressure exerting arrangement 21 to include being arranged on the first fixed plate 214 on the upside of profiling carrier 211, be positioned at The second fixed plate 215 and connection the first fixed plate 214 and second directly over first fixed plate 214 are solid Determine some connecting rods 216 of plate 215.
Described Z axis drives motor 213 to be fixedly mounted in the second fixed plate 215.Described gripper 22 is fixed In the first fixed plate 214, described gripper 22 part is positioned at the first fixed plate 214 and the second fixed plate 215 Between, described gripper 22 another part extends downward beyond the first fixed plate 214.Described some connecting rods 216 is four connecting rods.Described High Precision Automatic assembling equipment 100 also has driving and places bed die 40 edge The driving module 60 of fore-and-aft direction motion.Described High Precision Automatic assembling equipment 100 is arranged in board.
As it is shown in figure 9, described gripper 22 include cylinder 221, the connecting plate 222 of fixing cylinder 221, Two fixed plates 223 being connected with connecting plate 222 two ends, the push rod 224 being connected with cylinder 221 and push rod 224 two slide blocks 225 connected and two claws 226 being respectively connected with two slide blocks 225.Described two is sliding Block 225 between two fixed plates 221, described cylinder 221 push-and-pull push rod 224 stir slide block 225 from And make two claw 226 phase clampings or unclamp.Described gripper 22 also includes recoiling to for slide block 225 Two springs 227 of initial position.
The present invention is not limited to above-mentioned specific embodiment, and those of ordinary skill in the art is from above-mentioned structure Think of sets out, and without performing creative labour, done all conversion, all falls within the protection model of the present invention Within enclosing.

Claims (10)

1. jaw promotes an automatic assembly equipment, comprising:
Horizontal plate, described horizontal plate is provided with placement bed die and absorption bed die, described placement bed die and suction Attached bed die all arc shapes in concave downward, described placement bed die for placing the plasticity machines component of arc, Described absorption bed die is for placing the one-faced tapes of arc, and described horizontal plate is provided with in the lower section placing bed die Mobile groove；
Carrier mechanism, described carrier mechanism is arranged on the upside of horizontal plate, and described carrier mechanism includes that two is vertical Arrange support bar, the guide rail pole being connected between two support bars, can be along guide rail pole left and right transverse shifting Capture pressure exerting arrangement and be arranged on guide rail pole and capture the X that moves left and right of pressure exerting arrangement for driving Axis drive motor, described placement bed die and the absorption spaced setting of bed die between two support bars, Described crawl pressure exerting arrangement has the profiling carrier consistent with plasticity machines component arcwall face, is fixed on profiling and carries Some grippers on tool and the Z axis for driving profiling carrier to move up and down along vertical direction drive Motor, described crawl pressure exerting arrangement is for capturing the plasticity machines component placed on bed die and transport to one side Above adhesive tape, then plasticity machines component is compressed on one-faced tapes thus completes one-faced tapes and plastic cement mechanism The stickup of part；And
Compensating frock, described compensation frock has along the vertical direction through rotation motor and the peace of mobile groove Being contained in the Y-axis on the upside of horizontal plate drives module, the top of described rotation motor to be connected with absorption bed die, institute The bottom stating rotation motor connects a fixed plate in tetragon, and four limits of described fixed plate are separately installed with Two CCD camera, eight CCD camera are in order to detect the exact position of one-faced tapes, institute on absorption bed die State the positional information Rotary adsorption respectively that rotation motor and Y-axis driving module feed back according to eight CCD camera Bed die and move absorption bed die along fore-and-aft direction, thus adjust the angle of absorption bed die and fore-and-aft direction Position；
It is characterized in that: described gripper includes cylinder, the connecting plate of fixing cylinder and connecting plate two ends phase Two slide blocks that two fixed plates even are connected with push rod with the push rod of cylinders and dividing with two slide blocks Not Xiang Lian two claws, described two slide blocks are between two fixed plates, and described cylinder push-and-pull push rod stirs cunning Block is so that two claws clamp mutually or unclamp.
2. jaw as claimed in claim 1 promotes automatic assembly equipment, it is characterised in that: described Y-axis Module is driven to be arranged between placement bed die and absorption bed die.
3. jaw as claimed in claim 2 promotes automatic assembly equipment, it is characterised in that: described Y-axis Y-axis adjustment plate, connecting plate and Y-axis drive motor to drive module to include, described Y-axis adjustment plate sets Having the through hole passed for rotation motor, described Y-axis drives motor drive connection plate to move along the longitudinal direction, Described connecting plate drives Y-axis adjustment plate to move along the longitudinal direction, and described Y-axis adjustment plate is rotated motor Move along the longitudinal direction, thus drive absorption bed die to move along the longitudinal direction.
4. jaw as claimed in claim 3 promotes automatic assembly equipment, it is characterised in that: described placement The projection of bed die in the vertical direction is tetragon, and described placement bed die has and is positioned on tetragon diagonally opposing corner Two coarse positioning pins and be positioned at five fine positioning pins in the middle of tetragon.
5. jaw as claimed in claim 4 promotes automatic assembly equipment, it is characterised in that: described profiling The projection of carrier in the vertical direction is tetragon, and the described tetragon left side and the right are respectively equipped with two folders Grabbing, the front of described tetragon and back are respectively equipped with a gripper, and the centre of described tetragon is additionally provided with Four grippers.
6. jaw as claimed in claim 5 promotes automatic assembly equipment, it is characterised in that: described crawl Pressure exerting arrangement includes being arranged on the first fixed plate on the upside of profiling carrier, is positioned at directly over the first fixed plate Second fixed plate and connect the first fixed plate and some connecting rods of the second fixed plate, described Z axis drives Galvanic electricity machine is fixedly mounted in the second fixed plate.
7. jaw as claimed in claim 6 promotes automatic assembly equipment, it is characterised in that: described gripper Be fixed in the first fixed plate, described gripper part between the first fixed plate and the second fixed plate, institute State gripper another part and extend downward beyond the first fixed plate.
8. jaw as claimed in claim 7 promotes automatic assembly equipment, it is characterised in that: described some Connecting rod is four connecting rods.
9. jaw as claimed in claim 8 promotes automatic assembly equipment, it is characterised in that: described jaw Promote automatic assembly equipment and also there is the driving module driving placement bed die to move along the longitudinal direction.
10. jaw as claimed in claim 9 promotes automatic assembly equipment, it is characterised in that: described folder Pawl promotes automatic assembly equipment and is arranged in board.
CN201610538946.2A 2016-07-11 2016-07-11 Automatic assembling device with gripper for lifting Pending CN106002205A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201610538946.2A CN106002205A (en) 2016-07-11 2016-07-11 Automatic assembling device with gripper for lifting

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201610538946.2A CN106002205A (en) 2016-07-11 2016-07-11 Automatic assembling device with gripper for lifting

Publications (1)

Publication Number Publication Date
CN106002205A true CN106002205A (en) 2016-10-12

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Family Applications (1)

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Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107458873A (en) * 2017-09-20 2017-12-12 苏州聚力电机有限公司 Material clamp above and below a kind of voice coil motor for being suitable for sizes
CN107472898A (en) * 2017-09-20 2017-12-15 苏州聚力电机有限公司 A kind of rectangular coil motor fixture
CN112318098A (en) * 2020-11-19 2021-02-05 珠海格力智能装备有限公司 Angle compensation tool and air conditioner production equipment
CN112935760A (en) * 2021-02-04 2021-06-11 安徽商贸职业技术学院 Machining equipment for computer heat dissipation structure and using method of machining equipment
CN118017785A (en) * 2024-04-09 2024-05-10 深圳市金岷江智能装备有限公司 Stator winding machine and stator fixing structure thereof

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105584035A (en) * 2016-01-14 2016-05-18 苏州富强科技有限公司 High-precision automatic assembly equipment

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105584035A (en) * 2016-01-14 2016-05-18 苏州富强科技有限公司 High-precision automatic assembly equipment

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107458873A (en) * 2017-09-20 2017-12-12 苏州聚力电机有限公司 Material clamp above and below a kind of voice coil motor for being suitable for sizes
CN107472898A (en) * 2017-09-20 2017-12-15 苏州聚力电机有限公司 A kind of rectangular coil motor fixture
CN112318098A (en) * 2020-11-19 2021-02-05 珠海格力智能装备有限公司 Angle compensation tool and air conditioner production equipment
CN112318098B (en) * 2020-11-19 2024-05-07 珠海格力智能装备有限公司 Angle compensation tool and air conditioner production equipment
CN112935760A (en) * 2021-02-04 2021-06-11 安徽商贸职业技术学院 Machining equipment for computer heat dissipation structure and using method of machining equipment
CN112935760B (en) * 2021-02-04 2022-09-09 安徽商贸职业技术学院 Machining equipment for computer heat dissipation structure and using method of machining equipment
CN118017785A (en) * 2024-04-09 2024-05-10 深圳市金岷江智能装备有限公司 Stator winding machine and stator fixing structure thereof

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