CN108161444A - The multistation collaborative assembly automatic machine of multi-robot auxiliary - Google Patents
The multistation collaborative assembly automatic machine of multi-robot auxiliary Download PDFInfo
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- CN108161444A CN108161444A CN201810157892.4A CN201810157892A CN108161444A CN 108161444 A CN108161444 A CN 108161444A CN 201810157892 A CN201810157892 A CN 201810157892A CN 108161444 A CN108161444 A CN 108161444A
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- multidigit
- push rod
- partition board
- tooling
- reed
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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
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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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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automatic Assembly (AREA)
Abstract
The present invention relates to a kind of automated production equipment, more specifically to a kind of automated production equipment for Automatic manual transmission.The multistation collaborative assembly automatic machine of multi-robot auxiliary of the present invention, including：Workbench, the multidigit tooling for assembling multiple parts, the periphery for the multidigit tooling to be driven to do the rotating disk mechanism angularly rotated, is set to the rotating disk mechanism are used to limiting the circular arc protective plate of parts position, for driving the changed push rod island of the state of the multidigit tooling, hold reed feed mechanism, the partition board feed mechanism for partition board to be assembled to the multidigit tooling for lower reed to be assembled to the multidigit work.The present invention especially for Complex Assembly body complicated, more than amount of parts, coordinates rotating disk mechanism using multidigit tooling, can realize the efficient assembling work of Complex Assembly body, performance is stablized for assisting carrying out the Automated assembly operation of electronic product.
Description
Technical field
The present invention relates to a kind of automated production equipment, more specifically to a kind of automation for Automatic manual transmission
Production equipment.
Background technology
Standardization and interchangeability of the Automated assembly based on parts in 19th century machinery manufacturing industry, start for small-sized force
The production of device and clock and watch, then again applied to auto industry.In 20th century, Ford Motor Company of the U.S. is initially set up using transport
The mobile automobile assembly line of band by operation break-down, professional assembly manipulation is carried out in each process, makes shorten about assembly period
90%, reduce production cost.Interchangeability manufacture and the appearance and development of mobile assembly line are large quantities of mass productions using automatic
Change opens road, and it is simple automatic then to occur hopper-type self-feeder and screw, automatic tightening machine for nut etc. successively
Makeup is put.In the 1960s, with the rapid development of digital control technology, occur the degree of automation it is higher and have compared with
The numerical assembling machine of big adaptability, it is possible to using Automated assembly in multi items medium-duty.It is nineteen eighty-two, Japanese
Indivedual factories are using digital control industrial robot come the AC servomotor of automatic assembling plurality of specifications.
The Automated assembly of machine refers to the automation of machine assembler's skill process.Automatic assembly system can be divided into two kinds
Type：One is based on the rigid automatic assembly system for producing assembling in enormous quantities, mainly by Assembling Special Equipment and special tool
Skill equipment is formed；The second is flexible assembly system FAS (the flexible assembly based on flexible manufacturing system
System), mainly it is made of assembly center (assembling center) and the people that puts together machines (assembly robot).By
In whole world manufacturing industry forward direction multi items, the flexible manufacturing of small lot production and computer integrated manufacturing system development, so flexible dress
Match system is the developing direction of Automated assembly.
In general, the assembling work of machine is more complicated than other processing operations, to ensure the smooth implementation of Automated assembly, need
Have the following conditions.
(1) structure and assembly technology for realizing the engineering goods of automatic assembling should keep certain stability and advance.
(2) automatic assembly equipment or the transfer lines of assembling used should ensure that the assembling quality of machine.
(3) assembly technology should be ensured that Automated assembly easy to implement used by.
(4) engineering goods to be assembled and its parts should have good automatic assembling processability of product structure.
The assembly line and ancillary equipment of mating part mechanization realize local automation's assembling and full-automatic assembling,
The clamping device with tool and fixture accordingly is must be provided on automated assembly machine, to ensure assembled part mutual alignment
Claimed accuracy, realize the possibility of unit assembling and pincers worker operation, such as load onto, remove, back-out one be screwed into, compresses one unclamp,
Press-in, riveting, polishing and other necessary operations.Automatic assembling machine can be divided into rotary type and straight because of workpiece mode of movement difference
Two class of type according to the complicated and simple difference of process, and can be divided into single-station, multiplexing bit architecture.Rotary type automatic assembling machine is usually used in assembling
Number of parts is few, appearance and size is small, assembling beat is short or assembling work requires high assembling occasion.As for Norm part size compared with
Greatly, assembly station is more, and more process or hand assembled and the multiplexing of automatic assembling hybrid manipulation are detected especially in assembling process
Sequence is assembled, then straight moving type automatic assembling machine to be selected to be advisable.
Assembly automation is to improve production efficiency, reduces cost, ensure product quality, particularly mitigate or replace it is special
Under the conditions of manual assembly labour.It is the important symbol of Automation of Manufacturing Process or factory automation to realize assembly automation,
It is the important content that system analysis engineering is implemented in mechanical manufacturing field.
Invention content
The object of the present invention is to provide a kind of multistation collaborative assembly automatic machine of multi-robot auxiliary, for assisting
The Automated assembly operation of electronic product is carried out, especially for Complex Assembly body complicated, more than amount of parts, using more
Position tooling cooperation rotating disk mechanism, can realize the efficient assembling work of Complex Assembly body, performance is stablized.
A kind of multistation collaborative assembly automatic machine of multi-robot auxiliary, including：Workbench, for assembling multiple parts
Multidigit tooling, for the multidigit tooling to be driven to do the rotating disk mechanism angularly rotated, the week for being set to the rotating disk mechanism
Side be used for limit parts position circular arc protective plate, for drive the changed push rod island of the state of the multidigit tooling,
Reed feed mechanism is held for lower reed to be assembled to the multidigit work, for partition board to be assembled to the multidigit tooling
Partition board feed mechanism, the push rod island, circular arc protective plate, lower reed feed mechanism, partition board feed mechanism are fixed on the work
Platform, the multidigit tooling are distributed on the circumference of the rotating disk mechanism, and the push rod island is located at the centre bit of the rotating disk mechanism
It puts, the transfer bar mechanism and the multidigit tooling on the push rod island match；
The partition board feed mechanism includes：Partition board manipulator, partition board feeding track, partition board hand claw, partition board material preparing table, partition board are waited to expect
Area, flat discharge port, air inlet, flat push rod, feeding cylinder, the partition board manipulator are fixed on the workbench, it is described every
The delivery outlet of plate feeding track is connected to the partition board material preparing table, and the partition board hand claw is connected to the execution of the partition board manipulator
End；The partition board material waiting section is arranged side by side on the partition board material preparing table, and the flat push rod is articulated to the partition board and waits to expect
Area, the end of the piston rod of the feeding cylinder are fixed on the flat push rod；The flat discharge port, which is located at the partition board, to be treated
Expect the discharge port in area, the air inlet is provided at the upper-lower position of the flat discharge port；The flat discharge port and institute
Multidigit tooling is stated to match.
Preferably, the lower reed feed mechanism includes：Lower reed track, lower reed manipulator, lower reed sucker, lower spring
Piece aligning gear, lower reed stock slot, the lower reed stock slot are located at the end of the lower reed track, and the lower reed is standby
Hopper is located at the lower part of the lower reed manipulator, and the lower reed sucker is located at the end of the lower reed manipulator, described
Lower reed aligning gear is located at the lower part of the lower reed stock slot, the lower reed aligning gear and the multidigit tooling phase
Match.
Preferably, it is provided on the rotating disk mechanism：Position screens station, partition board assembling in lower reed assembly station, push rod
Station, test station, upper reed plate assembly station, housing assembly station；At the lower reed assembly station, lower reed is assembled
On to the multidigit tooling；In the push rod at position screens station, the state of the multidigit tooling changes；It is described every
Partition board is assembled in the multidigit tooling by plate assembly station；Detection operation is carried out in the test station；The spring on described
At piece assembly station, upper reed plate is assembled in the multidigit tooling；At the housing assembly station, shell is assembled to institute
It states in multidigit tooling, completes the assembling to lock bolt seat.
Preferably, the push rod island includes：Transfer bar mechanism, fixed disk, multidigit detector, the fixed disk is fixed on described
The turntable of workbench, the fixed disk and the rotating disk mechanism is in coaxially arranged；The transfer bar mechanism, multidigit detector are connected
In the fixed disk；The movement side that the fixture guiding rail of the push rod guide rail of the transfer bar mechanism and the multidigit detector maintains like
To the push rod bearing of the multidigit detector and the multidigit tooling matches.
Preferably, the transfer bar mechanism includes：Flanged plate, push rod guide rail, push rod cylinder, push rod cup, the flanged plate are consolidated
It is connected in the fixed disk, the cylinder block of the push rod cylinder is fixed on the flanged plate, the end of the push rod cylinder piston rod
It is fixed on the push rod cup；The push rod guide rail is movably connected on the flanged plate, and the push rod cup is fixed on the push rod and leads
The end of rail, the push rod cup are located at the top of the multidigit tooling；Being provided on the push rod cup can be with the multidigit
The U-shaped mouth that the push rod bearing of tooling matches.
Preferably, the multidigit tooling includes：Tool base plate, fixture guiding rail, multidigit push rod, positioning bead, limiting slot, assembling
Position, push rod bearing, the tool base plate are fixed on the rotating disk mechanism, and the fixture guiding rail is fixed on the tool base plate
On, the multidigit push rod is movably connected on the fixture guiding rail, and the top of one end of the multidigit push rod is provided with the push rod
Bearing；The other end of the multidigit push rod is movably connected on the assembling position；Several institutes are provided in the tool base plate
Positioning bead is stated, the limiting slot to match with the positioning bead is provided in the side of the multidigit push rod；The tooling is led
Rail and multidigit push rod keep identical extending direction；The quantity of the positioning bead is three, respectively positioned at bottom position, middle position
It puts, front position；When the positioning bead is entered in the limiting slot, the positioning bead can keep the multidigit to push away
Bar remains stationary as.
Preferably, the end set of the multidigit push rod of the multidigit tooling has：For accommodate lower reed cavity of resorption, for holding
Receive lumen, the epicoele for accommodating upper reed plate of partition board；The epicoele is located at the top of the cavity of resorption, and the lumen is located at described
Between epicoele and cavity of resorption.
Preferably, the transfer bar mechanism changes the position of the multidigit push rod, when the limiting slot and positioned at the middle part
When the positioning bead of position matches, the assembling position can be used for assemble in diaphragm or upper reed plate.
Preferably, the transfer bar mechanism changes the position of the multidigit push rod, when the limiting slot and positioned at the bottom
When the positioning bead of position matches, the assembling position can be used for assembling lower reed.
Preferably, the transfer bar mechanism changes the position of the multidigit push rod, when the limiting slot and positioned at the front end
When the positioning bead of position matches, the multidigit push rod, which releases forward partition board, lower reed, upper reed plate, to be entered to outside
In shell.
It is compared with traditional technology, the multistation collaborative assembly automatic machine of multi-robot auxiliary of the present invention has the following advantages：
The multistation collaborative assembly automatic machine of multi-robot auxiliary of the present invention realizes the high speed assembling of Complex Assembly body for auxiliary, including
Following processing step：
(1) rotating disk mechanism rotates 45 degree, and the multidigit tooling turns to the lower reed assembling from a upper station
At station, the push rod bearing is made to enter in the U-shaped mouth；The piston rod of the push rod cylinder of the transfer bar mechanism is retracted, and is drawn
The multidigit pushrod movement is moved, the limiting slot and the positioning bead positioned at the bottom position is made to match, the multidigit
Push rod is detached from the assembling position, and the lower reed feed mechanism is inhaled using the lower reed sucker from the lower reed stock slot
Lower reed is attached to, and lower reed is assembled on the assembling position；
(2) rotating disk mechanism rotates 45 degree, and the multidigit tooling turns to described at the lower reed assembly station
In push rod at position screens station, the push rod bearing is made to enter in the U-shaped mouth；The work of the push rod cylinder of the transfer bar mechanism
Stopper rod stretches out, and pushes the multidigit pushrod movement；The limiting slot and the positioning bead positioned at the medium position match,
The end of the multidigit push rod is located in the assembling position；
(3) rotating disk mechanism rotates 45 degree, and the multidigit tooling turns to institute from the push rod at position screens station
It states at partition board assembly station；The multidigit detector is used to confirm the position of the push rod bearing；
(4) partition board is assembled to the lumen by the partition board feed mechanism：Partition board is exported from the partition board feeding track to described
Partition board is grabbed the partition board material waiting section by partition board material preparing table, the partition board hand claw at the partition board material preparing table；It is described flat
Push rod releases partition board under the driving of the feeding cylinder from the flat discharge port；By the flat discharge port and institute
The lumen stated in multidigit tooling matches, and partition board is pushed into the lumen by the flat push rod, meanwhile, from it is described into
Be passed through pressure-air in gas port, pressure-air causes the high-frequency vibration of partition board so that partition board can preferably enter it is described in
In chamber；
(5) rotating disk mechanism rotates 45 degree or 90 degree, and the multidigit tooling turns at the partition board assembly station
It moves to the test station；
(6) rotating disk mechanism rotates 45 degree, and the multidigit tooling turns to the upper reed plate at the test station
At assembly station；Upper reed plate is assembled in the epicoele by external automatic mechanism；
(7) rotating disk mechanism rotates 45 degree, and the multidigit tooling turns to described at the upper reed plate assembly station
At housing assembly station, the push rod bearing is made to enter in the U-shaped mouth；The piston rod of the push rod cylinder of the transfer bar mechanism
It stretches out, pushes the multidigit pushrod movement, shell is positioned over the extended position of the multidigit push rod by external automatic mechanism
Place；The limiting slot and the positioning bead positioned at the front position is made to match, the multidigit push rod is detached from the assembling
Position, partition board, lower reed, upper reed plate are released enter in shell forward by the multidigit push rod, so as to complete to assemble.
Description of the drawings
Fig. 1, Fig. 2 are the structure diagrams of lock bolt seat；
Fig. 3 is the structure diagram of the multistation collaborative assembly automatic machine of multi-robot auxiliary of the present invention；
Fig. 4, Fig. 5, Fig. 6 are the partial structural diagrams of the multistation collaborative assembly automatic machine of multi-robot auxiliary of the present invention；
Fig. 7 is the structure diagram of the multidigit tooling of the multistation collaborative assembly automatic machine of multi-robot auxiliary of the present invention；
Fig. 8, Fig. 9, Figure 10 are the multidigit toolings of the multistation collaborative assembly automatic machine of multi-robot auxiliary of the present invention in different shapes
Partial structural diagram under state；
Figure 11 is the structural representation of the lower reed feed mechanism of the multistation collaborative assembly automatic machine of multi-robot auxiliary of the present invention
Figure；
Figure 12 is structure diagram at the A of the multistation collaborative assembly automatic machine of multi-robot auxiliary shown in Fig. 3；
Figure 13, Figure 14 are that the structure of the partition board feed mechanism of the multistation collaborative assembly automatic machine of multi-robot auxiliary of the present invention is shown
It is intended to；
Figure 15 is structure diagram at the B of the multistation collaborative assembly automatic machine of multi-robot auxiliary shown in Fig. 3.
In figure：1 lock bolt seat, 2 shells, 3 partition boards, 4 times reeds, 5 upper reed plates, 6 workbench, 7 rotating disk mechanisms, 8
Position screens station, 12 partition board assembly stations, 13 in circular arc protective plate, 9 support columns, 10 times reed assembly stations, 11 push rods
Disk, 23 are fixed in test station, 14 upper reed plate assembly stations, 15 housing assembly stations, 20 push rod islands, 21 transfer bar mechanisms, 22
Flanged plate, 24 push rod guide rails, 25 push rod cylinders, 26 push rod cups, 27 U-shaped mouths, 30 multidigit toolings, 31 tool base plates, 32
Fixture guiding rail, 33 multidigit push rods, 34 positioning beads, 35 limiting slots, 36 assembling positions, 37 push rod bearings, 38 multidigit detectors,
39 cavity of resorptions, 40 lumens, 41 epicoeles, 42 bottom positions, 43 medium positions, 44 front positions, 50 times reed feeders
Structure, 51 times reed tracks, 52 times reed manipulators, 53 times reed suckers, 54 times reed aligning gears, 55 times reeds are standby
Hopper, 60 partition board feed mechanisms, 61 partition board manipulators, 62 partition board feeding tracks, 63 partition board hand claws, 64 partition board material preparing tables,
65 partition board material waiting sections, 66 flat discharge ports, 67 air inlets, 68 flat push rods, 69 feeding cylinders.
Specific embodiment
The present invention is described in further detail, but do not form any limitation of the invention below in conjunction with attached drawing,
Similar element numbers represent similar element in attached drawing.As described above, the present invention provides a kind of the more of multi-robot auxiliary
Station collaborative assembly automatic machine, auxiliary for product carry out electronic product Automated assembly operation, especially for it is complicated,
Complex Assembly body more than amount of parts coordinates rotating disk mechanism using multidigit tooling, can realize the efficient dress of Complex Assembly body
With operation, performance is stablized.
Fig. 1, Fig. 2 are the structure diagrams of lock bolt seat, Fig. 3 be multi-robot auxiliary of the present invention multistation collaborative assembly from
The structure diagram of motivation, Fig. 4, Fig. 5, Fig. 6 are the parts of the multistation collaborative assembly automatic machine of multi-robot auxiliary of the present invention
Structure diagram, Fig. 7 are the structural representations of the multidigit tooling of the multistation collaborative assembly automatic machine of multi-robot auxiliary of the present invention
Figure, Fig. 8, Fig. 9, Figure 10 are the multidigit toolings of the multistation collaborative assembly automatic machine of multi-robot auxiliary of the present invention in different conditions
Under partial structural diagram, Figure 11 is the lower reed feeding of the multistation collaborative assembly automatic machine of multi-robot of the present invention auxiliary
The structure diagram of mechanism, Figure 12 are that structure is shown at the A of the multistation collaborative assembly automatic machine of multi-robot auxiliary shown in Fig. 3
It is intended to, Figure 13, Figure 14 are the structures of the partition board feed mechanism of the multistation collaborative assembly automatic machine of multi-robot auxiliary of the present invention
Schematic diagram, Figure 15 are structure diagrams at the B of the multistation collaborative assembly automatic machine of multi-robot auxiliary shown in Fig. 3.
The multistation collaborative assembly automatic machine of multi-robot auxiliary of the present invention, including：Workbench 6, for assembling multiple zero
The multidigit tooling 30 of component, for the multidigit tooling 30 to be driven to do the rotating disk mechanism 7 angularly rotated, is set to the turntable
The periphery of mechanism 7 is used to limiting the circular arc protective plate 8 of parts position, for the state of the multidigit tooling 30 to be driven to become
The push rod island 20 of change, for lower reed 4 is assembled to the multidigit tooling 30 lower reed feed mechanism 50, for by partition board 3
It is assembled to the partition board feed mechanism 60 of the multidigit tooling 30, the push rod island 20, circular arc protective plate 8, lower reed feed mechanism
50th, partition board feed mechanism 60 is fixed on the workbench 6, and the multidigit tooling 30 is distributed on the circumference of the rotating disk mechanism 7,
The push rod island 20 is located at the center of the rotating disk mechanism 7, transfer bar mechanism 21 and the multidigit on the push rod island 20
Tooling 30 matches；
The partition board feed mechanism 60 includes：Partition board manipulator 61, partition board feeding track 62, partition board hand claw 63, partition board material preparing table
64th, partition board material waiting section 65, flat discharge port 66, air inlet 67, flat push rod 68, feeding cylinder 69, the partition board manipulator 61
The workbench 6 is fixed on, the delivery outlet of the partition board feeding track 62 is connected to the partition board material preparing table 64, the partition board hand
Pawl 63 is connected to the actuating station of the partition board manipulator 61；The partition board material waiting section 65 is arranged side by side on the partition board material preparing table
64, the flat push rod 68 is articulated to the partition board material waiting section 65, and the end of the piston rod of the feeding cylinder 69 is connected
In the flat push rod 68；The flat discharge port 66 is located at the discharge port of the partition board material waiting section 65, in the flat discharging
The air inlet 67 is provided at the upper-lower position of mouth 66；The flat discharge port 65 and the multidigit tooling 30 match.
More specifically, the lower reed feed mechanism 50 includes：Lower reed track 51, lower reed manipulator 52, lower reed
Sucker 53, lower reed aligning gear 54, lower reed stock slot 55, the lower reed stock slot 55 are located at the lower reed track 51
End, the lower reed stock slot 55 is located at the lower part of the lower reed manipulator 52, and the lower reed sucker 53 is located at institute
The end of lower reed manipulator 52 is stated, the lower reed aligning gear 54 is located at the lower part of the lower reed stock slot 55, described
Lower reed aligning gear 54 and the multidigit tooling 30 match.
In the present embodiment, using lock bolt seat 1 as the Complex Assembly body for needing to assemble, lock bolt seat 1 includes：Shell 2, partition board 3,
Lower reed 4, upper reed plate 5, partition board 3, lower reed 4, upper reed plate 5 are located at the inside of shell 2, and lower reed 4 is located at the lower part of partition board 3,
Upper reed plate 5 is located at the top of partition board 3.
The circular arc protective plate 8 is fixed on the workbench 6 by support column 9.
More specifically, it is provided on the rotating disk mechanism 7：Position screens station 11 in lower reed assembly station 10, push rod, every
Plate assembly station 12, test station 13, upper reed plate assembly station 14, housing assembly station 15；In the lower reed assembly station
At 10, lower reed 4 is assembled in the multidigit tooling 30；In the push rod at position screens station 11, the multidigit tooling
30 state changes；In the partition board assembly station 12, partition board 3 is assembled in the multidigit tooling 30；In the survey
Detection operation is carried out on trial work position 13；At the upper reed plate assembly station 14, upper reed plate 5 is assembled to the multidigit tooling 30
On；At the housing assembly station 15, shell 2 is assembled in the multidigit tooling 30, completes the assembling to lock bolt seat 1.
More specifically, the push rod island 20 includes：Transfer bar mechanism 21, fixed disk 22, multidigit detector 38, the fixed disk
22 are fixed on the workbench 1, and the turntable of the fixed disk 22 and the rotating disk mechanism 7 is in coaxially arranged；The push rod machine
Structure 21, multidigit detector 38 are fixed on the fixed disk 22；The push rod guide rail 24 of the transfer bar mechanism 21 and multidigit detection
The push rod bearing of the direction of motion that the fixture guiding rail 32 of device 38 maintains like, the multidigit detector 38 and the multidigit tooling 30
37 match.
More specifically, the transfer bar mechanism 21 includes：Flanged plate 23, push rod guide rail 24, push rod cylinder 25, push rod cup 26,
The flanged plate 23 is fixed on the fixed disk 22, and the cylinder block of the push rod cylinder 25 is fixed on the flanged plate 23, described
The end of 25 piston rod of push rod cylinder is fixed on the push rod cup 26；The push rod guide rail 24 is movably connected on the flanged plate
23, the push rod cup 26 is fixed on the end of the push rod guide rail 24, and the push rod cup 26 is located at the upper of the multidigit tooling 30
Portion；The U-shaped mouth 27 that can be matched with the push rod bearing 37 of the multidigit tooling 30 is provided on the push rod cup 26.
More specifically, the multidigit tooling 30 includes：Tool base plate 31, fixture guiding rail 32, multidigit push rod 33, positioning bead
34th, limiting slot 35, assembling position 36, push rod bearing 37, the tool base plate 31 are fixed on the rotating disk mechanism 7, the tooling
Guide rail 32 is fixed in the tool base plate 31, and the multidigit push rod 33 is movably connected on the fixture guiding rail 32, the multidigit
The top of one end of push rod 33 is provided with the push rod bearing 37；The other end of the multidigit push rod 33 is movably connected on the dress
Coordination 36；Several positioning beads 34 are provided in the tool base plate 31, are set in the side of the multidigit push rod 33
There is the limiting slot 35 to match with the positioning bead 34；The fixture guiding rail 32 and multidigit push rod 33 keep identical extension
Direction；The quantity of the positioning bead 34 is three, respectively positioned at bottom position 42, medium position 43, front position 44；When described
When positioning bead 34 is entered in the limiting slot 35, the positioning bead 34 can keep the multidigit push rod 33 to keep not
It is dynamic.
More specifically, the end set of the multidigit push rod 33 of the multidigit tooling 30 has：For accommodating the cavity of resorption of lower reed 4
39th, the lumen 40 for accommodating partition board 3, the epicoele 41 for accommodating upper reed plate 5；The epicoele 41 is located at the upper of the cavity of resorption 39
Portion, the lumen 40 is between the epicoele 41 and cavity of resorption 39.
More specifically, the transfer bar mechanism 21 changes the position of the multidigit push rod 33, when the limiting slot 35 and it is located at
When the positioning bead 34 of the medium position 43 matches, it is described assembling position 36 can be used for assemble in diaphragm 3 or on
Reed 5.
More specifically, the transfer bar mechanism 21 changes the position of the multidigit push rod 33, when the limiting slot 35 and it is located at
When the positioning bead 34 of the bottom position 42 matches, the assembling position 36 can be used for assembling lower reed 4.
More specifically, the transfer bar mechanism 21 changes the position of the multidigit push rod 33, when the limiting slot 35 and it is located at
When the positioning bead 34 of the front position 44 matches, the multidigit push rod 33 is by partition board 3, lower reed 4, upper reed plate
5 forward release enter in shell 2.
With reference to Fig. 1 to Figure 15, the work of the multistation collaborative assembly automatic machine of multi-robot auxiliary of the present invention is further described
Make process and operation principle：
The multistation collaborative assembly automatic machine of multi-robot auxiliary of the present invention realizes the high speed assembling of Complex Assembly body for auxiliary,
It comprises the following steps that：
(1) rotating disk mechanism 7 rotates 45 degree, and the multidigit tooling 30 turns to the lower reed dress from a upper station
At station 10, the push rod bearing 37 is made to enter in the U-shaped mouth 27；The work of the push rod cylinder 25 of the transfer bar mechanism 21
Stopper rod is retracted, and the multidigit push rod 33 is pulled to move, makes the limiting slot 35 and the positioning positioned at the bottom position 42
Pearl 34 matches, and the multidigit push rod 33 is detached from the assembling position 36, and the lower reed feed mechanism 50 utilizes the lower reed
Sucker 53 is adsorbed onto lower reed 4 from the lower reed stock slot 55, and lower reed 4 is assembled on the assembling position 36；
(2) rotating disk mechanism 7 rotates 45 degree, and the multidigit tooling 30 turns at the lower reed assembly station 10
In the push rod at position screens station 11, the push rod bearing 37 is made to enter in the U-shaped mouth 27；The transfer bar mechanism 21
The piston rod of push rod cylinder 25 stretches out, and the multidigit push rod 33 is pushed to move；The limiting slot 35 and positioned at the medium position
43 positioning bead 34 matches, and the end of the multidigit push rod 33 is located in the assembling position 36；
(3) rotating disk mechanism 7 rotates 45 degree, and the multidigit tooling 30 is rotated from the push rod at position screens station 11
At to the partition board assembly station 12；The multidigit detector 38 is used to confirm the position of the push rod bearing 37；
(4) partition board 3 is assembled to the lumen 40 by the partition board feed mechanism 60：Partition board 3 is defeated from the partition board feeding track 62
Go out to the partition board material preparing table 64, partition board 3 is grabbed the partition board by the partition board hand claw 63 at the partition board material preparing table 64
Material waiting section 65；The flat push rod 68 pushes away partition board 3 under the driving of the feeding cylinder 69 from the flat discharge port 65
Go out；Since the lumen 40 in the flat discharge port 65 and the multidigit tooling 30 matches, the flat push rod 68 will
Partition board 3 is pushed into the lumen 40, meanwhile, pressure-air is passed through from the air inlet 67, pressure-air causes partition board 3
High-frequency vibration so that partition board 3 can be entered preferably in the lumen 40；
(5) rotating disk mechanism 7 rotates 45 degree or 90 degree, and the multidigit tooling 30 is from the partition board assembly station 12
Place is turned at the test station 13；
(6) rotating disk mechanism 7 rotates 45 degree, and the multidigit tooling 30 is turned at the test station 13 on described
At reed assembly station 14；Upper reed plate 5 is assembled in the epicoele 41 by external automatic mechanism；
(7) rotating disk mechanism 7 rotates 45 degree, and the multidigit tooling 30 turns at the upper reed plate assembly station 14
At the housing assembly station 15, the push rod bearing 37 is made to enter in the U-shaped mouth 27；The push rod of the transfer bar mechanism 21
The piston rod of cylinder 25 stretches out, and the multidigit push rod 33 is pushed to move, shell 2 is positioned over described more by external automatic mechanism
At the extended position of position push rod 33；The limiting slot 35 and the positioning bead 34 positioned at the front position 44 is made to match,
The multidigit push rod 33 is detached from the assembling position 36, and the multidigit push rod 33 releases forward partition board 3, lower reed 4, upper reed plate 5
It enters in shell 2, so as to complete to assemble.
Finally it is pointed out that above example is only the more representational example of the present invention.It is clear that the invention is not restricted to
Above-described embodiment, acceptable there are many deform.Any letter that every technical spirit according to the present invention makees above example
Single modification, equivalent variations and modification, are considered as belonging to the scope of protection of the present invention.
Claims (10)
1. a kind of multistation collaborative assembly automatic machine of multi-robot auxiliary, it is characterised in that composition is as follows：Workbench, for filling
Multidigit tooling with multiple parts, for drive the multidigit tooling do the rotating disk mechanism angularly rotated, be set to it is described
The periphery of rotating disk mechanism is used to limiting the circular arc protective plate of parts position, for the state of the multidigit tooling to be driven to become
The push rod island of change holds reed feed mechanism, for partition board to be assembled to institute for lower reed to be assembled to the multidigit work
The partition board feed mechanism of multidigit tooling is stated, the push rod island, circular arc protective plate, lower reed feed mechanism, partition board feed mechanism are consolidated
It is connected in the workbench, the multidigit tooling is distributed on the circumference of the rotating disk mechanism, and the push rod island is located at the turntable
The center of mechanism, transfer bar mechanism and the multidigit tooling on the push rod island match；
The partition board feed mechanism includes：Partition board manipulator, partition board feeding track, partition board hand claw, partition board material preparing table, partition board are waited to expect
Area, flat discharge port, air inlet, flat push rod, feeding cylinder, the partition board manipulator are fixed on the workbench, it is described every
The delivery outlet of plate feeding track is connected to the partition board material preparing table, and the partition board hand claw is connected to the execution of the partition board manipulator
End；The partition board material waiting section is arranged side by side on the partition board material preparing table, and the flat push rod is articulated to the partition board and waits to expect
Area, the end of the piston rod of the feeding cylinder are fixed on the flat push rod；The flat discharge port, which is located at the partition board, to be treated
Expect the discharge port in area, the air inlet is provided at the upper-lower position of the flat discharge port；The flat discharge port and institute
Multidigit tooling is stated to match.
2. the multistation collaborative assembly automatic machine of multi-robot auxiliary according to claim 1, it is characterised in that：Under described
Reed feed mechanism includes：Lower reed track, lower reed manipulator, lower reed sucker, lower reed aligning gear, lower reed stock
Slot, the lower reed stock slot are located at the end of the lower reed track, and the lower reed stock slot is located at the lower reed machine
The lower part of tool hand, the lower reed sucker are located at the end of the lower reed manipulator, and the lower reed aligning gear is located at institute
The lower part of lower reed stock slot is stated, the lower reed aligning gear and the multidigit tooling match.
3. the multistation collaborative assembly automatic machine of multi-robot auxiliary according to claim 1, it is characterised in that：Described turn
It is provided on disc mechanism：Position screens station, partition board assembly station, test station, upper reed plate dress in lower reed assembly station, push rod
With station, housing assembly station；At the lower reed assembly station, lower reed is assembled in the multidigit tooling；Institute
It states in push rod at position screens station, the state of the multidigit tooling changes；In the partition board assembly station, partition board is assembled
On to the multidigit tooling；Detection operation is carried out in the test station；At the upper reed plate assembly station, by upper reed plate
It is assembled in the multidigit tooling；At the housing assembly station, shell is assembled in the multidigit tooling, is completed to lock
Fasten the assembling of seat with a bolt or latch.
4. the multistation collaborative assembly automatic machine of multi-robot auxiliary according to claim 1, it is characterised in that：It is described to push away
Bar island includes：Transfer bar mechanism, fixed disk, multidigit detector, the fixed disk are fixed on the workbench, the fixed disk and institute
The turntable for stating rotating disk mechanism is in coaxially arranged；The transfer bar mechanism, multidigit detector are fixed on the fixed disk；The push rod
The direction of motion that the fixture guiding rail of the push rod guide rail of mechanism and the multidigit detector maintains like, the multidigit detector and institute
The push rod bearing for stating multidigit tooling matches.
5. the multistation collaborative assembly automatic machine of multi-robot auxiliary according to claim 4, it is characterised in that：It is described to push away
Linkage includes：Flanged plate, push rod guide rail, push rod cylinder, push rod cup, the flanged plate is fixed on the fixed disk, described to push away
The cylinder block of bar cylinder is fixed on the flanged plate, and the end of the push rod cylinder piston rod is fixed on the push rod cup；It is described
Push rod guide rail is movably connected on the flanged plate, and the push rod cup is fixed on the end of the push rod guide rail, the push rod cup position
In the top of the multidigit tooling；It is provided with what can be matched with the push rod bearing of the multidigit tooling on the push rod cup
U-shaped mouth.
6. the multistation collaborative assembly automatic machine of multi-robot auxiliary according to claim 1, it is characterised in that：It is described more
Position tooling includes：Tool base plate, fixture guiding rail, multidigit push rod, positioning bead, limiting slot, assembling position, push rod bearing, the tooling
Bottom plate is fixed on the rotating disk mechanism, and the fixture guiding rail is fixed in the tool base plate, and the multidigit push rod activity connects
The fixture guiding rail is connected to, the top of one end of the multidigit push rod is provided with the push rod bearing；The multidigit push rod it is another
One end is movably connected on the assembling position；Several positioning beads are provided in the tool base plate, are pushed away in the multidigit
The side of bar is provided with the limiting slot to match with the positioning bead；The fixture guiding rail and multidigit push rod keep identical
Extending direction；The quantity of the positioning bead is three, respectively positioned at bottom position, medium position, front position；When the positioning
When pearl is entered in the limiting slot, the positioning bead can keep the multidigit push rod to remain stationary as.
7. the multistation collaborative assembly automatic machine of multi-robot auxiliary according to claim 6, it is characterised in that：It is described more
The end set of the multidigit push rod of position tooling has：For accommodate lower reed cavity of resorption, for accommodate partition board lumen, for accommodating
The epicoele of upper reed plate；The epicoele is located at the top of the cavity of resorption, and the lumen is between the epicoele and cavity of resorption.
8. the multistation collaborative assembly automatic machine of multi-robot auxiliary according to claim 6, it is characterised in that：It is described to push away
Linkage changes the position of the multidigit push rod, matches when the limiting slot and positioned at the positioning bead of the medium position
When, the assembling position can be used for assemble in diaphragm or upper reed plate.
9. the multistation collaborative assembly automatic machine of multi-robot auxiliary according to claim 6, it is characterised in that：It is described to push away
Linkage changes the position of the multidigit push rod, matches when the limiting slot and positioned at the positioning bead of the bottom position
When, the assembling position can be used for assembling lower reed.
10. the multistation collaborative assembly automatic machine of multi-robot auxiliary according to claim 6, it is characterised in that：It is described
Transfer bar mechanism changes the position of the multidigit push rod, when the limiting slot and the positioning bead phase positioned at the front position
With when, partition board, lower reed, upper reed plate are released enter in shell forward by the multidigit push rod.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810157892.4A CN108161444A (en) | 2018-02-25 | 2018-02-25 | The multistation collaborative assembly automatic machine of multi-robot auxiliary |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810157892.4A CN108161444A (en) | 2018-02-25 | 2018-02-25 | The multistation collaborative assembly automatic machine of multi-robot auxiliary |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108161444A true CN108161444A (en) | 2018-06-15 |
Family
ID=62510578
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810157892.4A Withdrawn CN108161444A (en) | 2018-02-25 | 2018-02-25 | The multistation collaborative assembly automatic machine of multi-robot auxiliary |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108161444A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108581473A (en) * | 2018-07-03 | 2018-09-28 | 苏州邦勒尔自动化科技有限公司 | Motor rotor indentation rear axle socket joint enters automatic assembling device |
| CN113182829A (en) * | 2021-04-30 | 2021-07-30 | 东风设备制造有限公司 | Sewing machine shell bottom plate position automatic correction screwing machine |
-
2018
- 2018-02-25 CN CN201810157892.4A patent/CN108161444A/en not_active Withdrawn
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108581473A (en) * | 2018-07-03 | 2018-09-28 | 苏州邦勒尔自动化科技有限公司 | Motor rotor indentation rear axle socket joint enters automatic assembling device |
| CN108581473B (en) * | 2018-07-03 | 2023-07-18 | 苏州邦勒尔自动化科技有限公司 | Automatic assembling device for bearing insertion after motor rotor pressing |
| CN113182829A (en) * | 2021-04-30 | 2021-07-30 | 东风设备制造有限公司 | Sewing machine shell bottom plate position automatic correction screwing machine |
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Application publication date: 20180615 |