CN110406970A - Placement equipment - Google Patents
Placement equipment Download PDFInfo
- Publication number
- CN110406970A CN110406970A CN201910771868.4A CN201910771868A CN110406970A CN 110406970 A CN110406970 A CN 110406970A CN 201910771868 A CN201910771868 A CN 201910771868A CN 110406970 A CN110406970 A CN 110406970A
- Authority
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- China
- Prior art keywords
- jig
- assembly
- transfer passage
- charging tray
- feed bin
- 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.)
- Granted
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- 230000007246 mechanism Effects 0.000 claims abstract description 289
- 238000012546 transfer Methods 0.000 claims abstract description 142
- 238000007599 discharging Methods 0.000 claims abstract description 60
- 238000009826 distribution Methods 0.000 claims abstract description 17
- 230000000694 effects Effects 0.000 claims description 42
- 210000000078 claw Anatomy 0.000 claims description 40
- 238000010521 absorption reaction Methods 0.000 claims description 31
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 20
- 239000004744 fabric Substances 0.000 claims description 3
- 230000000630 rising effect Effects 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 38
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- 239000000463 material Substances 0.000 description 11
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- 238000003754 machining Methods 0.000 description 3
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- 238000011112 process operation Methods 0.000 description 3
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- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 1
- 229910052782 aluminium Inorganic materials 0.000 description 1
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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
- B23P19/001—Article feeders for assembling machines
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
- B25B27/00—Hand tools, specially adapted for fitting together or separating parts or objects whether or not involving some deformation, not otherwise provided for
- B25B27/02—Hand tools, specially adapted for fitting together or separating parts or objects whether or not involving some deformation, not otherwise provided for for connecting objects by press fit or detaching same
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/901—Devices for picking-up and depositing articles or materials provided with drive systems with rectilinear movements only
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Supply And Installment Of Electrical Components (AREA)
- Automatic Assembly (AREA)
Abstract
The invention discloses a kind of placement equipments, comprising: main frame；Jig conveying mechanism, equipped with along its axially extending jig transfer passage；Charging tray conveying mechanism, upper transfer passage and lower transfer passage equipped with distribution spaced apart；At least one jig charging and discharging mechanism, a jig charging and discharging mechanism are set to the feed end of jig conveying mechanism so that the jig for carrying assembly is delivered to jig transfer passage；At least two charging tray charging and discharging mechanisms, two charging tray charging and discharging mechanisms are respectively arranged on the feed end of corresponding upper transfer passage and lower transfer passage so that the charging tray for carrying assembly parts is delivered to upper transfer passage and lower transfer passage respectively；Executing agency is assembled, the assembly parts on upper transfer passage and/or lower transfer passage can be delivered to the assembly on jig transfer passage to assemble.The placement equipment can be improved assembly efficiency, reduces equipment and is taken up space, improves structural compactness.
Description
Technical field
The present invention relates to a kind of placement equipments.
Background technique
While production technology makes constant progress, more automated production equipments are applied to each in manufacturing industry
In a manufacture operating condition station, such as placement equipment.And realize this automation process, workpiece is defeated by conveying transfer device automatically
It send to machining position, after equipment is automatically positioned workpiece, the assembling work of the station is carried out by related execution unit.Tradition
Mounting method be usually single-station attachment with single loading and unloading module, this traditional approach has the assembly efficiency of workpiece low etc.
Disadvantage needs multiple devices line to realize the continuous assembly of different process, the assembly to product when encountering Alternative coordinating operation
Quality is difficult to ensure, and the line of multiple devices occupies a large amount of space, is unfavorable for the high efficiency of work piece production manufacture.And
And existing mounting device, it is all that there is loading and unloading inefficiency, assembly using single-station assembly and individual module loading and unloading
Part uniqueness, the problems such as can not achieve two kinds of assembly parts while assembling.
Summary of the invention
The present invention is directed at least solve one of the technical problems existing in the prior art.
For this purpose, the present invention proposes a kind of placement equipment, which has compact-sized, raising loading and unloading efficiency and assembly
The advantages that efficiency.
Placement equipment according to an embodiment of the present invention, comprising: main frame；Jig conveying mechanism, the jig conveying mechanism are set
In the main frame, the jig conveying mechanism is equipped with along its axially extending jig transfer passage；Charging tray conveying mechanism, it is described
Charging tray conveying mechanism is set to the main frame and is spaced apart distribution with the jig conveying mechanism, and the charging tray conveying mechanism is equipped with
It is spaced apart the upper transfer passage and lower transfer passage of distribution；At least one jig charging and discharging mechanism, a jig charging & discharging machine
Structure is set to the feed end of the jig conveying mechanism and is conveyed so that the jig for carrying the assembly is delivered to the jig
Channel；Charging tray charging and discharging mechanism, the charging tray charging and discharging mechanism are set to the main frame and can will carry the material of assembly parts
Disk is delivered to the upper transfer passage and the lower transfer passage respectively；Executing agency is assembled, the assembly executing agency is set to
The main frame and the assembly parts on the upper transfer passage and/or the lower transfer passage can be delivered to described control
Has the assembly on transfer passage to be assembled.
Placement equipment according to an embodiment of the present invention, by being equipped with jig conveying mechanism, charging tray conveyer on main frame
Structure, jig charging and discharging mechanism, charging tray charging and discharging mechanism and assembly executing agency, it is by jig charging and discharging mechanism that assembly is defeated
Jig transfer passage corresponding to jig conveying mechanism is sent, and it is defeated by charging tray charging and discharging mechanism assembly parts to be delivered to charging tray
Send the corresponding upper transfer passage of mechanism or lower transfer passage, then by assembly executing agency will be located at upper transfer passage and/
Or the assembly parts on lower transfer passage are delivered on the assembly on jig transfer passage to carry out assembling work.Due to upper defeated
Send channel and lower transfer passage to be spaced apart distribution, can be realized two kinds of assembly parts while assembling, the placement equipment with compact-sized,
It is easy to use, the advantages that high degree of automation.
According to an embodiment of the present invention, the main frame includes: pedestal；Multiple columns, multiple columns are spaced apart
If on the base；Support portion, the support portion is connected with multiple columns and by the upright supports, each described vertical
The upper end of column is upwardly extended beyond the support portion；At least one first boss, the first boss are located on the support portion,
The upper surface of the first boss is formed to be enough in the executing agency's mounting surface for installing the assembly executing agency.
According to an embodiment of the present invention, the first boss and it is described assembly executing agency quantity be respectively two and
Corresponding, two first boss are spaced apart and are located on the support portion relatively.
According to an embodiment of the present invention, the column includes at least four, and four columns are in rectanglar arrangement, described
First boss is linear and is connected with two adjacent columns, the assembly executing agency edge and corresponding described first
The direction that the axial direction of boss is perpendicular is movable.
According to an embodiment of the present invention, the main frame further include: at least one second boss, the second boss are set
On the support portion and it is located between two first boss, the upper surface of the second boss is formed to be enough in peace
Fill the conveying mechanism mounting surface of the jig conveying mechanism and/or the charging tray conveying mechanism.
According to an embodiment of the present invention, the jig conveying mechanism includes: jig conveying assembly, the jig conveying group
Part is axially arranged with jig transfer passage along it；Hold-down mechanism, the hold-down mechanism be set to the jig conveying assembly and its at least
A part is located at the top of the jig transfer passage；Lifting body, the lifting body be set to the jig transfer passage and
It is oppositely arranged with the hold-down mechanism, the lifting body can be moved upwards along up and down direction activity, the lifting body
When close to the hold-down mechanism, backwards to the hold-down mechanism when moving downward；Clip claw mechanism, the clip claw mechanism are set to described control
Has conveying assembly and can be along jig transfer passage activity, the clip claw mechanism is between open configuration and closed state
Movement, when the clip claw mechanism is located at closed state, the open end of the clip claw mechanism is closed, the opening of the clip claw mechanism
End can clamp the jig or only support at least part of the jig, when the clip claw mechanism is located at open configuration
When, the jig is unclamped in the open end of the clip claw mechanism.
According to an embodiment of the present invention, the upper transfer passage and the lower transfer passage are conveyed along the charging tray respectively
Axially extending, the upper transfer passage and the lower transfer passage distribution spaced apart along the vertical direction of component, the upper conveying
At least part of the projection of channel and the lower transfer passage in the horizontal direction is overlapped.
According to an embodiment of the present invention, the jig charging and discharging mechanism includes: jig lifting driving assembly；Jig support
Component, the jig support component are connected to be existed by jig lifting driving assembly driving with jig lifting driving assembly
It is movable in up and down direction；Jig positioning component, the jig positioning component is for placing workpiece feed bin, in the workpiece feed bin
The cavity with open ports is defined, at least one jig can be carried in the cavity, the jig positioning component is set to
The jig support component and movable in the horizontal direction；Jig gripper assembly, the jig gripper assembly are set to described control
The jig can be passed through the open ports and be put into the cavity by the side of tool lifting driving assembly, the jig gripper assembly
The jig that is interior or being placed in the cavity is taken out by the open ports.
According to an embodiment of the present invention, the charging tray charging and discharging mechanism includes: feed bin lifting driving assembly；Feed bin support
Component carries at least one workpiece feed bin in the feed bin support component, defines in the workpiece feed bin with open ports
Cavity, at least one charging tray can be carried in the cavity, the feed bin support component is gone up and down with the corresponding feed bin
Driving assembly is connected with movable in the up-down direction by feed bin lifting driving assembly driving；Charging tray gripper assembly, it is described
Charging tray gripper assembly is set to the side of feed bin lifting driving assembly, and the charging tray gripper assembly can pass through the charging tray
The open ports are put into the charging tray in the cavity or being placed in the cavity and are taken out by the open ports；Feed bin
Sensor module, the feed bin sensor module are set between feed bin lifting driving assembly and the feed bin support component,
The feed bin sensor module can go up and down driving assembly for the feed bin and provide origin position.
According to an embodiment of the present invention, the assembly executing agency includes: supporting beam, and the supporting beam is in the horizontal direction
Extend；Moving parts, the moving parts are set to the supporting beam and axially extending along its；Picture shooting assembly, the picture shooting assembly
Set on the supporting beam and the location informations of the assembly parts and/or the assembly can be obtained；Draw executing agency, institute
State draw executing agency be connected with the moving parts and can along its axial direction it is movable, the absorption executing agency can draw
Or unclamp the assembly parts；Actuator, the actuator receive the location information and adjust institute according to the positional information
State the position for drawing executing agency on the moving parts.
Additional aspect and advantage of the invention will be set forth in part in the description, and will partially become from the following description
Obviously, or practice through the invention is recognized.
Detailed description of the invention
Above-mentioned and/or additional aspect of the invention and advantage will become from the description of the embodiment in conjunction with the following figures
Obviously and it is readily appreciated that, in which:
Fig. 1 is the structural schematic diagram of placement equipment according to an embodiment of the present invention；
Fig. 2 is local interior's structural schematic diagram of placement equipment according to an embodiment of the present invention；
Fig. 3 is local interior's structural schematic diagram of the main frame of placement equipment according to an embodiment of the present invention；
Fig. 4 is the structural schematic diagram of the jig conveying mechanism of placement equipment according to an embodiment of the present invention；
Fig. 5 is the dress of the jig conveying mechanism of placement equipment according to an embodiment of the present invention determined between guide rail and Width adjusting mechanism
With schematic diagram；
When Fig. 6 is that the clip claw mechanism of the jig conveying mechanism of placement equipment according to an embodiment of the invention is located at closed state
Assembling schematic diagram between jaw member and jig disk；
Fig. 7 is that the clip claw mechanism of the jig conveying mechanism of the placement equipment of another embodiment according to the present invention is located at closed state
When jaw member and jig disk between assembling schematic diagram；
Fig. 8 is the structural schematic diagram of the lifting body of the jig conveying mechanism of placement equipment according to an embodiment of the present invention；
Fig. 9 is the structural schematic diagram of the charging tray conveying mechanism of placement equipment according to an embodiment of the present invention；
Figure 10 is the partial structurtes of the charging tray conveying assembly of the charging tray conveying mechanism of placement equipment according to an embodiment of the present invention
Schematic diagram；
Figure 11 be the upper transfer passage of the charging tray conveying mechanism of placement equipment according to an embodiment of the present invention, lower transfer passage and
The assembling schematic diagram of charging tray；
Figure 12 is the structural representation of the left gripper assembly of the charging tray conveying mechanism of placement equipment according to an embodiment of the invention
Figure；
Figure 13 is that the structure of the left gripper assembly of the charging tray conveying mechanism of the placement equipment of another embodiment according to the present invention is shown
It is intended to；
Figure 14 is the structural schematic diagram of the jig charging and discharging mechanism of placement equipment according to an embodiment of the present invention；
Figure 15 is the front view of Figure 14；
Figure 16 is that the structure of the jig positioning component of the jig charging and discharging mechanism of placement equipment according to an embodiment of the present invention is shown
It is intended to；
Figure 17 is the right view of Figure 16；
Figure 18 is the structural schematic diagram of the charging tray charging and discharging mechanism of placement equipment according to an embodiment of the present invention；
Figure 19 is the structural schematic diagram of the workpiece feed bin of the charging tray charging and discharging mechanism of placement equipment according to an embodiment of the present invention；
Figure 20 is the explosive view of Figure 19；
Figure 21 is that the structure of the feed bin support component of the charging tray charging and discharging mechanism of placement equipment according to an embodiment of the present invention is shown
It is intended to；
Figure 22 is the knot of the feed bin lifting driving assembly of the charging tray charging and discharging mechanism of placement equipment according to an embodiment of the present invention
Structure schematic diagram；
Figure 23 is that the clamping jaw of the charging tray conveying mechanism of the charging tray charging and discharging mechanism of placement equipment according to an embodiment of the present invention is stretched
Enter the schematic diagram of workpiece feed bin；
Figure 24 is the clamping jaw back of the charging tray conveying mechanism of the charging tray charging and discharging mechanism of placement equipment according to an embodiment of the present invention
To the schematic diagram of workpiece feed bin；
Figure 25 is the structural schematic diagram of the assembly executing agency of placement equipment according to an embodiment of the present invention；
Figure 26 is the main view of Figure 25；
Figure 27 is the assembly of the moving parts and actuator of the assembly executing agency of placement equipment according to an embodiment of the present invention
Schematic diagram；
Figure 28 is the structural schematic diagram of an angle of the absorption executing agency of placement equipment according to an embodiment of the present invention；
Figure 29 is the structural schematic diagram of another angle of the absorption executing agency of placement equipment according to an embodiment of the present invention；
Figure 30 is the right view of Figure 28；
Figure 31 is the structural representation of the U shaft fixing support of the absorption executing agency of placement equipment according to an embodiment of the present invention
Figure；
Figure 32 be placement equipment according to an embodiment of the present invention absorption executing agency U axis rotating mechanism and component suction nozzle it
Between assembling schematic diagram；
Figure 33 is the partial cutaway view of Figure 32.
Figure 34 is the rotating platform of the absorption executing agency of placement equipment according to an embodiment of the present invention and the dress of component suction nozzle
With schematic diagram；
Figure 35 is the rotating platform of the absorption executing agency of placement equipment according to an embodiment of the present invention and the assembly of suction nozzle rod
Schematic diagram；
Figure 36 is the structural schematic diagram of the nozzle base of the component suction nozzle of placement equipment according to an embodiment of the present invention；
Figure 37 is the structural schematic diagram of the suction nozzle rod of the component suction nozzle of placement equipment according to an embodiment of the present invention；
Figure 38 is that the absorption executing agency of the assembly executing agency of placement equipment according to an embodiment of the invention draws assembly
The schematic diagram of part；
Figure 39 is the absorption executing agency clamping dress of the assembly executing agency of the placement equipment of another embodiment according to the present invention
The schematic diagram of accessory；
Figure 40 is the structural schematic diagram of the suction nozzle of the assembly executing agency of placement equipment according to an embodiment of the present invention；
Figure 41 is the picture shooting assembly of placement equipment according to an embodiment of the present invention and the assembling schematic diagram of linear guide；
Figure 42 is the partial exploded view of the picture shooting assembly of placement equipment according to an embodiment of the present invention；
Figure 43 is the inside partial structural diagram of the picture shooting assembly of placement equipment according to an embodiment of the present invention；
Figure 44 is the assembly of the picture shooting assembly of placement equipment according to an embodiment of the invention and an angle of driving assembly
Schematic diagram；
Figure 45 is the dress of the picture shooting assembly of placement equipment according to an embodiment of the invention and another angle of driving assembly
With schematic diagram；
Figure 46 is the assembling schematic diagram of the picture shooting assembly of the placement equipment of another embodiment and driving assembly according to the present invention；
Figure 47 is the top view of Figure 46；
Figure 48 is the dress of an angle of the picture shooting assembly of the placement equipment of another embodiment and driving assembly according to the present invention
With schematic diagram；
Figure 49 is another angle of the picture shooting assembly of the placement equipment of another embodiment and driving assembly according to the present invention
Assembling schematic diagram；
Figure 50 is the structural schematic diagram of the electrically-controlled component of placement equipment according to an embodiment of the present invention；
Figure 51 is the electrically-controlled component of placement equipment according to an embodiment of the present invention and the assembling schematic diagram of main frame.
Appended drawing reference:
Placement equipment 3000；
Charging tray charging and discharging mechanism 3100；
Feed bin goes up and down driving assembly 3110；Feed bin guiderail base 3111；Go up and down linear guide 3112；Ball screw component
3113；Driving motor 3114；Shaft coupling 3115；
Feed bin support component 3120；Support transverse slat 3121；Support riser 3122；Braced frame link block 3123；Feed bin is fixed
Hyte part 3124；First limiting section 3125；Second limiting section 3126；Inclined-plane 3127；
Feed bin sensor module 3130；
Workpiece feed bin 3140；Open ports 3141；Cavity 3142；Side panel 3143；Top plate 3144；Notch 3145；Observation
Region 3146；Spring handle 3147；Feed bin stiffened panel 3148；
Jig charging and discharging mechanism 3200；
Jig goes up and down driving assembly 3210；
Jig support component 3220；Support component ontology 3221；Slide rail 3222；Sliding block mounting plate 3223；
Jig positioning component 3230；Positioning framework link block 3231；Guide post 3232；Clamping jaw portion 3233；Clamping jaw actuator
3234；Lower clamping jaw 3235；Upper gripper jaw 3236；
Assemble executing agency 3300；
Supporting beam 3310；
Moving parts 3320；Linear guide 3321；Anticollision photoelectricity 3322；Grating scale 3323；Anticollision limiting section 3324；
Picture shooting assembly 3330；Shell 3331；Installation passage 3332；Light channel 3333；Camera assembly 3334；Camera lens
3335；Camera 3336；Light resource installing section 3337；
Draw executing agency 3340；
Executing agency's support base 3341；
U axis rotating mechanism 3342；Rotating platform 3342a；Channel 3342b；U shaft fixing support 3342c；Light hole 3342d；
Component suction nozzle 3343；Nozzle base 3343a；Suction nozzle 3343b；Mounting hole 3343c；Suction nozzle rod 3343d；Gas-tpe fitting
3343e；First connector 3343f；Second connector 3343g；First counterbore 3343h；Second counterbore 3343i；Positioning convex platform
3343j；Heavy platform 3343k；Groove 3343l；Mounting portion 3343m；Limiting section 3343n；Plane 3343o；Arcwall face 3343p；Crawl
Clamping jaw 3343q；Grab cylinder 3343r；Sucker 3343s；Annular groove 3343t；
X-axis linear guide 3344；X-axis motor 3344a；
Z axis guide rail fixed plate 3345；Z axis linear guide 3345a；Z axis linear motor 3345b；Z axis grating reading head 3345c；
Z axis grating scale 3345d；
Detection of negative pressure portion 3346；
Actuator 3350；
Driving assembly 3360；
Charging tray conveying mechanism 3400；
Charging tray conveying assembly 3410；Upper transfer passage 3411；Lower transfer passage 3412；Rolling bearing 3413；
Left gripper assembly 3420；First gripper jaw part 3421；First clamping jaw actuator 3422；First clamping jaw conveying
3423；Swing rod conveying 3424；Connector 3425；Feed member 3426；Swing rod actuator 3427；Swing rod 3428；Shaft 3429；
Right gripper assembly 3430；
Jig conveying mechanism 3500；
Jig conveying assembly 3510；Jig transfer passage 3511；Determine guide rail 3512；Dynamic guide rail 3513；
Hold-down mechanism 3520；
Lifting body 3530；Lifters 3531；Adsorption piece 3532；
Clip claw mechanism 3540；Jaw member 3541；Clip claw mechanism actuator 3542；
Width adjusting mechanism 3550；Adjust wide load pedestal 3551；Guide rail support mechanism 3552；Adjust wide sliding track mechanism 3553；It adjusts wide
Supporting mechanism 3554；Adjust wide driving mechanism 3555；Adjust wide screw rod part 3556；
The electrically-controlled component 3600 of placement equipment；
Fixed plate 3610；Sliding rail part 3620；Electric-controlled plate 3630；Bending part 3631；Knob 3640；
Main frame 100；
Pedestal 110；Column 120；
Support portion 130；First boss 131；Executing agency's mounting surface 132；Second boss 133；Conveying mechanism mounting surface
135。
Specific embodiment
The embodiment of the present invention is described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning to end
Same or similar label indicates same or similar element or element with the same or similar functions.Below with reference to attached
The embodiment of figure description is exemplary, and for explaining only the invention, and is not considered as limiting the invention.
In the description of the present invention, it is to be understood that, term " center ", " longitudinal direction ", " transverse direction ", " length ", " width ",
" thickness ", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom" "inner", "outside", " up time
The orientation or positional relationship of the instructions such as needle ", " counterclockwise ", " axial direction ", " radial direction ", " circumferential direction " be orientation based on the figure or
Positional relationship is merely for convenience of description of the present invention and simplification of the description, rather than the device or element of indication or suggestion meaning must
There must be specific orientation, be constructed and operated in a specific orientation, therefore be not considered as limiting the invention.In addition, limit
There is the feature of " first ", " second " to can explicitly or implicitly include one or more of the features surely.Of the invention
In description, unless otherwise indicated, the meaning of " plurality " is two or more.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It can
To be mechanical connection, it is also possible to be electrically connected；It can be directly connected, can also can be indirectly connected through an intermediary
Connection inside two elements.For the ordinary skill in the art, above-mentioned term can be understood at this with concrete condition
Concrete meaning in invention.
Below with reference to the accompanying drawings placement equipment 3000 according to an embodiment of the present invention is specifically described.
As shown in Fig. 1 to Figure 51, placement equipment 3000 according to an embodiment of the present invention includes: main frame 100, jig conveyer
Structure 3500, charging tray conveying mechanism 3400, at least one jig charging and discharging mechanism 3200, charging tray charging and discharging mechanism 3100 and assembly are held
Row mechanism 3300.
Specifically, jig conveying mechanism 3500 is set to main frame 100, jig conveying mechanism 3500 is equipped with to be prolonged along its axial direction
The jig transfer passage 3511 stretched, charging tray conveying mechanism 3400 are set to main frame 100 and are spaced apart with jig conveying mechanism 3500
It is distributed, upper transfer passage 3411 and lower transfer passage 3412 of the charging tray conveying mechanism 3400 equipped with distribution spaced apart, on a jig
The feed end that cutting agency 3200 is set to jig conveying mechanism 3500 is defeated the jig for carrying assembly is delivered to jig
Channel 3511 is sent, charging tray charging and discharging mechanism 3100 is set to main frame 100, and charging tray charging and discharging mechanism 3100 can will carry assembly
The charging tray of part is delivered to transfer passage 3411 and lower transfer passage 3412 respectively, and assembly executing agency 3300 is set to main frame
100 and the assembly parts on upper transfer passage 3411 and/or lower transfer passage 3412 can be delivered to jig transfer passage 3511
On assembly to be assembled.
In other words, placement equipment 3000 according to an embodiment of the present invention mainly by main frame 100, jig conveying mechanism 3500,
Charging tray conveying mechanism 3400, at least one jig charging and discharging mechanism 3200, charging tray charging and discharging mechanism 3100 and assembly executing agency
3300 compositions, are separately installed with that jig conveying mechanism 3500, charging tray conveying mechanism 3400, at least one controls on main frame 100
Have charging and discharging mechanism 3200, charging tray charging and discharging mechanism 3100 and assembly executing agency 3300.Charging tray conveying mechanism 3400 and jig
Conveying mechanism 3500 is spaced apart distribution, prevents from mutually generating interference in charging tray conveying and jig transmission process.Charging tray conveying mechanism
3400 are equipped with the upper transfer passage 3411 and lower transfer passage 3412 for being spaced apart distribution, can pass through upper transfer passage 3411 simultaneously
The charging tray of assembly parts is carried with the conveying of lower transfer passage 3412, it should be noted that with upper transfer passage 3411 and lower conveying
The corresponding assembly parts in channel 3412, which can be identical workpiece, can also be different the workpiece of kind.Jig conveying mechanism 3500 is equipped with
The jig transfer passage 3511 axially extending along its, can be conveyed by jig transfer passage 3511 and carry controlling for assembly
Tool.It can will be located at the assembly parts on upper transfer passage 3411 and/or lower transfer passage 3412 by assembly executing agency 3300
It is delivered to assembly and carries out assembling work, wherein assembly executing agency 3300 can be located at jig conveying mechanism 3500 and charging tray
The top of conveying mechanism 3400, convenient for conveying operation.One jig charging and discharging mechanism 3200 can be located at jig conveying mechanism 3500
The jig for carrying assembly can be delivered to jig transfer passage by jig charging and discharging mechanism 3200 by feed end
3511, it can also be equipped with a jig charging and discharging mechanism 3200 in the discharge end of jig conveying mechanism 3500, in jig transfer passage
Jig on 3511 can be transported to the corresponding jig charging and discharging mechanism 3200 of discharge end, the workpiece collection that can complete assembly
In, orderly placement.The quantity of charging tray charging and discharging mechanism 3100 is more than one, it is preferable that charging tray charging and discharging mechanism 3100
Quantity is two, and two charging tray charging and discharging mechanisms 3100 are corresponding with upper transfer passage 3411 and lower transfer passage 3412 respectively,
It can be improved the loading and unloading efficiency of assembly parts.
As a result, placement equipment 3000 according to an embodiment of the present invention mainly by main frame 100, control
Have conveying mechanism 3500, charging tray conveying mechanism 3400, at least one jig charging and discharging mechanism 3200, charging tray charging and discharging mechanism 3100
Executing agency 3300 forms with assembly, is cooperated by multiple mechanisms, the automated job of machine not only may be implemented, and operates
It is simple and convenient, transmission and high production efficiency, also have many advantages, such as it is compact-sized, reduction equipment taken up space.
The main frame 100 of placement equipment 3000 according to an embodiment of the present invention is specifically described in conjunction with attached drawing first below.
As shown in Figure 1 to Figure 3, main frame 100 according to an embodiment of the present invention includes: pedestal 110, multiple columns 120, branch
Support part 130 and at least one first boss 131.
Specifically, multiple columns 120 interval is provided on pedestal 110, support portion 130 be connected with multiple columns 120 and
It is supported by column 120, the upper end of each column 120 is upwardly extended beyond support portion 130, and first boss 131 is located at support portion 130
On, the upper surface of first boss 131 is formed to be enough in executing agency's mounting surface 132 of installation assembly executing agency 3300.
In other words, the main frame 100 of placement equipment 3000 according to an embodiment of the present invention is mainly by pedestal 110, multiple columns
120, support portion 130 and at least one first boss 131 composition, are equipped with the column of multiple settings spaced apart on pedestal 110
120, it can be equipped with support portion 130 on pedestal 110, support portion 130 can be supported by column 120, Mei Geli
The upper end of column 120 can exceed support portion 130 and upwardly extend, and can be enclosed with work chamber by support portion 130 and column 120,
Jig conveying mechanism 3500, charging tray conveying mechanism 3400 and assembly executing agency 3300 can be located in work chamber, on jig
Cutting agency 3200 and charging tray charging and discharging mechanism 3100 can be located on the outside of work chamber.It can be equipped at least on support portion 130
One first boss 131, the upper surface of first boss 131 are formed as executing agency's mounting surface 132, are installed by executing agency
Face 132 can install assembly executing agency 3300, be located in first boss 131, can be made by that will assemble executing agency 3300
Assemble executing agency 3300 has certain height in the up-down direction, and by assembly, executing agency 3300 can be defeated by assembly parts
It send to assembly.
As a result, placement equipment 3000 according to an embodiment of the present invention main frame 100 using pedestal 110, multiple columns 120,
The device that support portion 130 and at least one first boss 131 combine, in the corresponding executing agency's mounting surface of first boss 131
Assembly executing agency 3300 can be installed on 132, had and be easily installed and dismantle, easy to use, strong applicability, stable structure etc.
Advantage.
According to one embodiment of present invention, first boss 131 and the quantity of assembly executing agency 3300 are respectively two
And it is corresponding, two first boss 131 are spaced apart and are located on support portion 130 relatively, the upper surface shape of each first boss 131
As the executing agency's mounting surface 132 that can be used in installation assembly executing agency 3300, it is suitable for duplexing bit manipulation.It needs to illustrate
, two assembly executing agencies 3300 can be corresponding with upper transfer passage 3411 and lower transfer passage 3412 respectively, can
Further increase assembly efficiency.
In certain specific embodiments of the invention, column 120 includes at least four, and four columns 120 are arranged in rectangle
Cloth, first boss 131 is linear and is connected with two adjacent columns 120, and stability is strong, and assembly executing agency 3300 can
It is movable along the direction perpendicular with the axial direction of corresponding first boss 131, it can be realized the conveying for assembly parts.
Further, main frame 100 further includes at least one second boss 133, and second boss 133 is located at support portion 130
Above and it is located between two first boss 131, the upper surface of second boss 133 is formed to be enough in assembling fixture conveying mechanism
3500 and/or charging tray conveying mechanism 3400 conveying mechanism mounting surface 135, be not only convenient for mounting and dismounting, but also can adopt
Delivery precision is improved with certain flatness.
The main frame 110 of placement equipment 3000 according to an embodiment of the present invention as a result, by using pedestal 110, multiple columns
120, the structure that support portion 130 and at least one first boss 131 match, may be implemented for assembly parts and assembly it
Between quick assembling, which has the advantages that compact-sized, preparation is convenient, strong applicability, and single, double station is compatible.
According to one embodiment of present invention, support portion 130 is formed as rectangle, four apex angles of support portion 130 respectively with
Four columns 120 are connected.
In certain specific embodiments of the invention, second boss 133 is formed as the straight line perpendicular to first boss 131
Shape.Jig conveying mechanism 3500 and charging tray conveying mechanism 3400 can be along the axially extending of second boss 133.
According to one embodiment of present invention, pedestal 110 is formed as rectangular panel body, and column 120 is four and is respectively provided at
Four vertex of pedestal 110, the size of the length direction of main frame 100 are 990mm-1010mm, the width side of main frame 100
To size be 980mm-1000mm, the size of the short transverse of main frame 100 is 1500mm-1550mm.
In certain specific embodiments of the invention, the mineral that column 120 and support portion 130 are integrally formed are poured
Part, production easy to process, intensity are high.
The jig conveying mechanism 3500 of placement equipment 3000 according to an embodiment of the present invention is specifically described with reference to the accompanying drawing.
As shown in Fig. 4 to Fig. 8, jig conveying mechanism 3500 according to an embodiment of the present invention includes: jig conveying assembly
3510, hold-down mechanism 3520, lifting body 3530 and clip claw mechanism 3540.
Specifically, jig conveying assembly 3510 is axially arranged with jig transfer passage 3511 along it, hold-down mechanism 3520 is set
In jig conveying assembly 3510 and its at least part is located at the top of jig transfer passage 3511, and lifting body 3530 is set to and controls
Have transfer passage 3511 and be oppositely arranged with hold-down mechanism 3520, lifting body 3530 can be jacked along up and down direction activity
Close to hold-down mechanism 3520 when mechanism 3530 moves upwards, backwards to hold-down mechanism 3520 when moving downward, clip claw mechanism 3540 is set
In jig conveying assembly 3510 and can be along the activity of jig transfer passage 3511, clip claw mechanism 3540 is in open configuration and closure
It is moved between state, when clip claw mechanism 3540 is located at closed state, the open end of clip claw mechanism 3540 is closed, clip claw mechanism
3540 open end clamping fixture or can only be supported at least part of jig, when clip claw mechanism 3540 is located at open configuration
When, jig is unclamped in the open end of clip claw mechanism 3540.
In other words, jig conveying mechanism 3500 according to an embodiment of the present invention is mainly by jig conveying assembly 3510, compression
Mechanism 3520, lifting body 3530 and clip claw mechanism 3540 form, and jig conveying assembly 3510 is equipped with jig transfer passage 3511,
Jig transfer passage 3511 is axially extending along jig conveying assembly 3510, and hold-down mechanism is equipped on jig conveying assembly 3510
3520, at least part of hold-down mechanism 3520 protrudes into the top of jig transfer passage 3511, in jig transfer passage 3511
Lower section is equipped with lifting body 3530, and lifting body 3530 can be along up and down direction activity, when jig is transported to hold-down mechanism
When 3520 lower section, lifting body 3530 is moved upwards and is matched with hold-down mechanism 3520, at this time the upper and lower ends of jig point
It is not only supported with hold-down mechanism 3520 and lifting body 3530, jig can be positioned and be fixed, be convenient for subsequent machining operations.
After subsequent operation, when needing to continue to convey jig, lifting body 3530 is moved downward, and unclamps jig, jig and jacking
Mechanism 3530 and hold-down mechanism 3520, which are detached from and continue on the conveying direction of jig transfer passage 3511, to be continued to convey.In jig
Clip claw mechanism 3540 is installed on conveying assembly 3510, jig can be clamped or released by clip claw mechanism 3540, and press from both sides
Pawl mechanism 3540 can along the axial activity of jig transfer passage 3511, thus be able to drive by clip claw mechanism 3540 or
It pushes jig movable on jig transfer passage 3511, by using the mode for pushing jig, clip claw mechanism 3540 can be expanded
Conveying stroke.
Jig conveying mechanism 3500 according to an embodiment of the present invention uses jig conveying assembly 3510, hold-down mechanism as a result,
3520, the device that lifting body 3530 and clip claw mechanism 3540 combine, can not only realize the conveying for jig, additionally it is possible to
It is positioned after jig is transported to designated position, prevents jig from relative displacement occurs, be convenient for next step operational sequence,
Such as assembled, it can effectively ensure that assembly precision.Jig conveying mechanism 3500 according to an embodiment of the present invention has operation
The advantages that convenient, structure is simple, easy to use.
As shown in Figure 6 and Figure 7, according to one embodiment of present invention, clip claw mechanism 3540 includes jaw member 3541 and folder
Pawl mechanism actuator 3542, jaw member 3541 is movable between open configuration and closed state, is located at closure in jaw member 3541
When state, the open end clamping fixture of jaw member 3541 or only supported at least part of jig, clip claw mechanism actuator
3542 are connected with jaw member 3541, clip claw mechanism actuator 3542 can drive jaw member 3541 drive or push jig along
The axial activity of jig transfer passage 3511.That is, when jaw member 3541 is located at closed state, when jaw member 3541 presss from both sides
When tight jig, jaw member 3541 can be fixedly clamped jig, and drive jig along 3511 reciprocating movement of jig transfer passage, when
When at least part of jaw member 3541 and jig is only supported, jig can be pushed living along the axial direction of jig transfer passage 3511
It is dynamic.
Further, when jaw member 3541 is located at closed state, the open end of jaw member 3541 is towards jig.Namely
It says, the open end of jaw member 3541 is towards jig, and when jaw member 3541 is located at closed state, the open end of jaw member 3541 is closed
It closes and is only supported with the outer surface of jig, jig activity is pushed under the driving of clip claw mechanism actuator 3542.
In certain specific embodiments of the invention, jig conveying mechanism 3500 further include: Width adjusting mechanism 3550 is adjusted wide
Mechanism 3550 is connected with the size for regulating jig transfer passage 3511 in the width direction with jig conveying assembly 3510, can
Suitable for various sizes of jig.
Optionally, jig conveying assembly 3510 includes determining guide rail 3512 and dynamic guide rail 3513, determines guide rail 3512 and dynamic guide rail
Jig transfer passage 3511 is formed between 3513；Width adjusting mechanism 3550 includes: to adjust wide load pedestal 3551, guide rail support mechanism
3552, wide sliding track mechanism 3553 is adjusted, wide supporting mechanism 3554 is adjusted and adjusts wide driving mechanism 3555.
As shown in figure 5, specifically, adjusting the wide lower section for loading pedestal 3551 and being located at jig conveying assembly 3510, guide rail branch
The lower end of support mechanism 3552 is connected with wide load pedestal 3551 is adjusted, the upper end of guide rail support mechanism 3552 with determine 3512 phase of guide rail
Even, guide rail support mechanism 3552 can play a supporting role to guide rail 3512 is determined.It adjusts wide sliding track mechanism 3553 to be set to and adjusts wide load
Pedestal 3551 adjusts the axial direction of wide sliding track mechanism 3553 and the axial direction of jig transfer passage 3511 perpendicular, adjusts wide supporting mechanism
3554 are set to the wide load pedestal 3551 of tune, and the lower end of wide supporting mechanism 3554 is adjusted to be connected with wide sliding track mechanism 3553 is adjusted, and adjust wide branch
The upper end of support mechanism 3554 is connected with dynamic guide rail 3513, adjusts wide supporting mechanism 3554 that can play support to dynamic guide rail 3513 and makees
With.It adjusts wide driving mechanism 3555 to be connected with wide supporting mechanism 3554 is adjusted, adjusts wide driving mechanism 3555 that can drive the wide support machine of tune
Structure 3554 adjusts the clearance ruler determined between guide rail 3512 and dynamic guide rail 3513 along the axial activity for adjusting wide sliding track mechanism 3553
It is very little, so as to the size of regulating jig transfer passage 3511 in the width direction.
Further, adjusting wide driving mechanism 3555 includes adjusting wide screw rod part 3556 and adjusting wide actuator, adjusts wide screw rod part
3556 are connected with wide supporting mechanism 3554 is adjusted, and adjust wide actuator with adjusting wide screw rod part 3556 to be connected to drive the wide screw rod part 3556 of tune
Around its axial-rotation.Optionally, adjusting wide actuator may include adjusting wide synchronous belt.Adjusting wide screw rod part 3556 may include one group of silk
Stem nut adjusts wide actuator driving to adjust the helical screw subband of wide screw rod 3556 is dynamic to adjust wide supporting mechanism 3554 along the wide sliding rail of tune
Mechanism 3553 moves back and forth, and plays and adjusts wide effect.
According to one embodiment of present invention, lifting body 3530 includes lifters 3531, the upper end shape of lifters 3531
As jacking face, when the activity upwards of lifters 3531, the lower end surface of jacking face and jig is only supported, be capable of increasing itself and jig it
Between contact area, improve position stability and reliability.
Optionally, lifting body 3530 further includes adsorption piece 3532, and adsorption piece 3532 is set to jacking face, 3532 energy of adsorption piece
Jig is unclamped in enough absorption.Adsorption piece 3532 may include vacuum generator, or including suction tray etc., can be according to specific
Situation is selected.
In certain specific embodiments of the invention, jig transfer passage 3511 is successively arranged two along its conveying direction
It is spaced apart the rigging position of distribution, the quantity of hold-down mechanism 3520, lifting body 3530 and clip claw mechanism 3540 is respectively two,
The corresponding hold-down mechanism 3520 of each rigging position, a lifting body 3530 and a clip claw mechanism 3540.It should be noted that can
To carry out assembly process operation to jig respectively in two rigging positions, wherein assembly process operation can be identical assembler
Sequence operation, or different assembly process operations.
Jig conveying mechanism 3500 according to an embodiment of the present invention uses jig conveying assembly 3510, hold-down mechanism as a result,
3520, lifting body 3530 and clip claw mechanism 3540 combine, and can not only realize the conveying for jig, additionally it is possible to convey
Jig is processed more than once in the process, machining kinds can be assembling work.The jig conveying mechanism 3500 have make
With convenient, convenient for operation, the advantages that stability is high.
The charging tray conveying mechanism 3400 of placement equipment 3000 according to an embodiment of the present invention is specifically described with reference to the accompanying drawing.
As shown in Fig. 9 to Figure 13, charging tray conveying mechanism 3400 according to an embodiment of the present invention includes: charging tray conveying assembly
3410, left gripper assembly 3420 and right gripper assembly 3430.
Specifically, charging tray conveying assembly 3410 is equipped with the upper transfer passage 3411 and lower transfer passage for being spaced apart distribution
3412, left gripper assembly 3420 is located at one end of charging tray conveying assembly 3410 and is oppositely arranged with upper transfer passage 3411, Zuo Jia
It takes component 3420 that charging tray can be delivered to upper transfer passage 3411 and drives charging tray along upper 3411 activity of transfer passage, right folder
Component 3430 is taken to be located at the other end of charging tray conveying assembly 3410 and be oppositely arranged with lower transfer passage 3412, right gripper assembly
Charging tray can be delivered to lower transfer passage 3412 and drive charging tray along lower 3412 activity of transfer passage by 3430.
In other words, charging tray conveying mechanism 3400 according to an embodiment of the present invention is mainly by charging tray conveying assembly 3410, Zuo Jia
Component 3420 and right gripper assembly 3430 is taken to form, charging tray conveying assembly 3410 is equipped with upper transfer passage 3411 and lower transfer passage
3412.It is equipped with left gripper assembly 3420 in one end of charging tray conveying assembly 3410, can will be located at by left gripper assembly 3420
The charging tray of one end of charging tray conveying assembly 3410 is delivered to transfer passage 3411, and charging tray can also be driven along upper conveying
The axial activity in channel 3411.It is equipped with right gripper assembly 3430 in the other end of charging tray conveying assembly 3410, passes through right clamping group
The charging tray for being located at the other end of charging tray conveying assembly 3410 can be delivered to lower transfer passage 3412 by part 3430, and can also be driven
Dynamic charging tray passes through 3430 phase interworking of left gripper assembly 3420 and right gripper assembly along the axial activity of lower transfer passage 3412
It closes, can be realized two assembly parts while assembling.Wherein, upper transfer passage 3411 and lower transfer passage 3412 can be vertically square
It, can also be along same level EDS maps to being in staggered distribution.
Charging tray conveying mechanism 3400 according to an embodiment of the present invention uses charging tray conveying assembly 3410, left clamping group as a result,
Part 3420 and right gripper assembly 3430 combine, defeated under by being equipped with upper transfer passage 3411 on charging tray conveying assembly 3410
Channel 3412 is sent, and is respectively equipped with left gripper assembly 3420 and right gripper assembly at the both ends of charging tray conveying assembly 3410
3430, charging tray can be delivered to upper transfer passage 3411 by left gripper assembly 3420, and right gripper assembly 3430 can be defeated by charging tray
It send to lower transfer passage 3412, using double layer design, can be realized two assembly parts while being assembled.The charging tray conveying mechanism
3400 have the advantages that compact-sized, to occupy little space, save space, improve working efficiency.
In certain specific embodiments of the invention, upper transfer passage 3411 and lower transfer passage 3412 are respectively along charging tray
Axially extending, upper transfer passage 3411 and the distribution spaced apart along the vertical direction of lower transfer passage 3412 of conveying assembly 3410, on
At least part of the projection of transfer passage 3411 and lower transfer passage 3412 in the horizontal direction is overlapped, that is to say, that upper conveying
Channel 3411 is located at the top of lower transfer passage 3412, and at least part of of upper transfer passage 3411 is arranged right below lower conveying
At least part in channel 3412 can effectively reduce 3400 institute of charging tray conveying mechanism while improving charging tray loading efficiency
It takes up space.
According to one embodiment of present invention, upper transfer passage 3411 and lower transfer passage 3412 are respectively equipped with multiple rollings
Bearing 3413, axially spaced distribution of multiple rolling bearings 3413 along charging tray conveying assembly 3410, each rolling bearing 3413
It is connected with charging tray conveying assembly 3410 and material can be carried on the axial-rotation of rolling bearing 3413, rolling bearing 3413
Disk can not only play carrying, supporting role, additionally it is possible to improve charging tray transfer efficiency, prevent charging tray in transmission process to charging tray
In be worn.
As shown in figure 12, in certain specific embodiments of the invention, left gripper assembly 3420 includes the first clamping jaw portion
Part 3421 and the first clamping jaw actuator 3422, the first gripper jaw part 3421 is movable between deployed position and closed position, when
First gripper jaw part 3421 clamps charging tray when being located at closed position, and material is unclamped when the first gripper jaw part 3421 is located at deployed position
Disk, the first clamping jaw actuator 3422 are connected with the first gripper jaw part 3421, and the first clamping jaw actuator 3422 can drive the first folder
Tine 3421 drives charging tray to match along upper 3411 activity of transfer passage, the first gripper jaw part 3421 and the first clamping actuator
It closes, can charging tray be pulled in or be released upper transfer passage 3411.That is, when needing to convey charging tray, the first clamping jaw portion
Charging tray is fixedly clamped by part 3421, along upper 3411 activity of transfer passage under the driving of the first clamping jaw actuator 3422, is inciting somebody to action
After assembly parts on charging tray are drawn, the first clamping jaw actuator 3422 can drive the first gripper jaw part 3421 to drive charging tray remote
From upper transfer passage 3411.
Further, left gripper assembly 3420 further includes the first clamping jaw conveying 3423, the first clamping jaw conveying
3423 are set to one end of charging tray conveying assembly 3410, and the first gripper jaw part 3421 can be along the first clamping jaw conveying 3423
Axial activity, can be improved the conveying stability and transfer efficiency of the first gripper jaw part 3421, realize that charging tray repeats loading and unloading.
Optionally, the axial direction of charging tray conveying assembly 3410 and the axial direction of the first clamping jaw conveying 3423 are coaxial or flat
Row can be improved stability of charging tray when movable on upper transfer passage 3411.
As shown in figure 13, according to one embodiment of present invention, left gripper assembly 3420 includes: swing rod conveying
3424, connector 3425, feed member 3426 and actuator, swing rod conveying 3424 are set to the one of charging tray conveying assembly 3410
End, can play the role of support and guiding.Connector 3425 is set to swing rod conveying 3424 and along swing rod conveying
3424 axial direction is movable, feed member 3426 be located at it is on connector 3425 and movable between feeding state and receiving state,
When feed member 3426 is located at feeding state, at least part of feed member 3426 can push or hook feeding disk activity, feeding
When part 3426 is located at receiving state, feed member 3426 can avoid charging tray, energy with 3425 activity of connector and in active procedure
It is enough back to the feed end of transfer passage 3411 and continues to convey next charging tray, actuator is connected to drive with connector 3425
3425 activity of follower link.
As shown in figure 13, further, feed member 3426 includes: swing rod 3428, shaft 3429 and swing rod actuator 3427,
One end of swing rod 3428 towards charging tray direction extend, shaft 3429 be set to connector 3425 and with swing rod 3428 at least one
Part is pivotly connected, and swing rod actuator 3427 is connected to drive swing rod 3428 around the shaft 3429 with the other end of swing rod 3428
Axis activity.
Optionally, swing rod 3428 is formed as L shape part, and swing rod 3428 includes: that horizontal end is held with perpendicular, the one end at horizontal end and swing rod
Actuator 3427 is connected, and the one end at perpendicular end is connected with the other end at horizontal end, and the other end at perpendicular end can push or hook feeding disk.
Swing rod hole 3428 can be equipped on charging tray, the perpendicular end of swing rod 3428 can be matched with swing rod hole 3428.
According to one embodiment of present invention, swing rod 3428 further includes corner portion, corner portion be set to the other end at perpendicular end and
Its radial dimension is less than the radial dimension at perpendicular end, can be improved the perpendicular end of swing rod 3428 and the efficiency of charging tray assembly.In order into one
Step improves stability, and charging tray can be equipped with the mating groove extended along its thickness direction, and perpendicular end can extend into mating groove.
Charging tray conveying mechanism 3400 according to an embodiment of the present invention uses charging tray conveying assembly 3410, left clamping group as a result,
Part 3420 and right gripper assembly 3430 combine, and charging tray conveying assembly 3410 is equipped with upper transfer passage 3411 and lower transfer passage
3412, upper transfer passage 3411 is matched with left gripper assembly 3420, and lower transfer passage 3412 matches with right gripper assembly 3430
It closes, can be improved charging tray loading and unloading efficiency, which has many advantages, such as compact-sized, and transfer efficiency is high.
The jig charging and discharging mechanism 3200 of placement equipment 3000 according to an embodiment of the present invention is specifically described with reference to the accompanying drawing.
As shown in Figure 14 to Figure 17, jig charging and discharging mechanism 3200 according to an embodiment of the present invention, comprising: jig lifting is driven
Dynamic component 3210, jig support component 3220, jig positioning component 3230 and jig gripper assembly.
Specifically, jig support component 3220 is connected with jig lifting driving assembly 3210 to go up and down driving group by jig
The driving of part 3210 is movable in the up-down direction, and jig positioning component 3230 is for placing workpiece feed bin 3140, workpiece feed bin
The cavity with open ports is defined in 3140, at least one jig can be carried in cavity, and jig positioning component 3230 is set
In jig support component 3220 and movable in the horizontal direction, jig gripper assembly is set to jig lifting driving assembly 3210
Jig can be passed through open ports and be put into cavity or be placed on the jig in cavity by opening wide by side, jig gripper assembly
Mouth takes out.
In other words, jig charging and discharging mechanism 3200 according to an embodiment of the present invention mainly goes up and down driving assembly by jig
3210, jig support component 3220, jig positioning component 3230 and jig gripper assembly composition, in jig support component 3220
Jig positioning component 3230 is installed, jig lifting driving assembly 3210 can drive jig support component 3220 and drive jig
Positioning component 3230 can carry workpiece feed bin 3140 along up and down direction activity, jig positioning component 3230, in workpiece feed bin
Cavity is defined in 3140, cavity has open ports, and workpiece feed bin 3140 can be used for placing jig.It can be incited somebody to action by open ports
Jig is sent into cavity, can also be taken out by open ports by the jig in cavity is located at.It can in the side of jig lifting assembly
Equipped with jig gripper assembly, jig can be sent into or taken out by jig gripper assembly.
Jig charging and discharging mechanism 3200 according to an embodiment of the present invention uses jig lifting driving assembly 3210, controls as a result,
Tool support component 3220, jig positioning component 3230 and jig gripper assembly combine, can be realized jig be automatically fed into or
Person automatically takes out, and improves the degree of automation of jig loading and unloading process.
According to one embodiment of present invention, jig positioning component 3230 includes: positioning framework link block 3231, guide post
3232, clamping jaw portion 3233 and clamping jaw actuator 3234, positioning framework link block 3231 vertically extend, and guide post 3232 is set
In positioning framework link block 3231 and along its it is axially extending, guide post 3232 can play guiding role.Clamping jaw portion 3233 is located at
Backwards to guide post 3232, clamping jaw portion 3233 is movable with clamp or release at the open ports end in guide post 3232 and clamping jaw portion 3233
Workpiece feed bin 3140, clamping jaw actuator 3234 are connected with clamping jaw portion 3233 and clamping jaw portion 3233 can be driven to open or be closed,
It can be realized the positioning and fixation for workpiece feed bin 3140 by clamping jaw portion 3233, clamping jaw actuator 3234 can be used as power
Source.
Further, clamping jaw portion 3233 includes lower clamping jaw 3235 and upper gripper jaw 3236, and lower clamping jaw 3235 is set to positioning framework
Link block 3231 and the lower section for being located at guide post 3232, lower clamping jaw 3235 can place workpiece feed bin 3140, and upper gripper jaw 3236
In lower clamping jaw 3235 top and be movably connected with guide post 3232, upper gripper jaw 3236 is connected with clamping jaw actuator 3234 by it
Driving is along the axial movable of guide post 3232, under the driving of clamping jaw actuator 3234, upper gripper jaw 3236 and lower clamping jaw 3235
The distance between change, can be cooperated according to the workpiece feed bin 3140 of different height dimensions.
Optionally, clamping jaw actuator 3234 is lead screw motor.
In certain specific embodiments of the invention, jig support component 3220 includes: support component ontology 3221, slides
Dynamic guide rail 3222, sliding block mounting plate 3223 and sliding actuator, support component ontology 3221 is horizontally extending, slide rail
3222 are set to support component ontology 3221 and can play carrying and guiding role, and lower end and the sliding of sliding block mounting plate 3223 are led
Rail 3222 is connected, and the upper end for the plate that is slidably installed is connected with positioning framework link block 3231, sliding actuator and sliding block mounting plate
3223 are connected to drive it along the axial activity of slide rail 3222, and sliding actuator can be used as power source.
According to one embodiment of present invention, the horizontally extending length of lower clamping jaw 3235 is greater than 3236 edge of upper gripper jaw
The length that horizontal direction extends, lower clamping jaw 3235 can play a supporting role, and be easily carried various sizes of workpiece feed bin 3140.
Optionally, sliding actuator is lead screw motor.
It should be noted that the workpiece feed bin 3140 for the workpiece feed bin 3140 of bearing fixture and for carrying charging tray can
With general, as illustrated in figures 19 and 20, according to one embodiment of present invention, workpiece feed bin 3140 include jig feed bin ontology and
Feed bin stiffened panel 3148, jig feed bin ontology are formed as cuboid, are defined in jig feed bin ontology along jig feed bin ontology
The cavity 3142 of length direction perforation, is respectively equipped with that position is corresponding to be used to pacify in the opposite two side walls of jig feed bin ontology
The mounting groove of jig is filled, jig is plugged in mounting groove along the length direction of jig feed bin ontology, can be improved the grafting of jig
Efficiency, the quantity of mounting groove can be it is multiple, multiple mounting grooves are spaced apart distribution along the short transverse of jig feed bin ontology, prevent
Interference is generated between two neighboring jig.Feed bin stiffened panel 3148 is detachably arranged on jig feed bin ontology and is located at cavity
3142 one end, in assembling fixture, one end of jig can only be supported with 3148 phase of feed bin stiffened panel.
Optionally, feed bin stiffened panel 3148 is formed as the strip part vertically extended, feed bin stiffened panel 3148
There are gaps between two sides and the two side walls of jig feed bin ontology, easy to process, reduce production cost.
Jig charging and discharging mechanism 3200 according to an embodiment of the present invention uses jig lifting driving assembly 3210, controls as a result,
Tool support component 3220, jig positioning component 3230 and jig gripper assembly combine, and can be realized jig automatic loading/unloading, fit
It is applied widely for various sizes of workpiece feed bin 3140.
The charging tray charging and discharging mechanism 3100 of placement equipment 3000 according to an embodiment of the present invention is specifically described with reference to the accompanying drawing.
As shown in Figure 18 to Figure 24, charging tray charging and discharging mechanism 3100 according to an embodiment of the present invention, comprising: feed bin lifting is driven
Dynamic component 3110, feed bin support component 3120, charging tray conveying mechanism 3400 and feed bin sensor module 3130.
Specifically, at least one workpiece feed bin 3140 is carried in feed bin support component 3120, in workpiece feed bin 3140
The cavity 3142 with open ports 3141 is defined, at least one charging tray, feed bin support component can be carried in cavity 3142
3120 are connected to be driven in the up-down direction by feed bin lifting driving assembly 3110 with corresponding feed bin lifting driving assembly 3110
Movable, charging tray clamping group 3400 are set to the side of feed bin lifting driving assembly 3110, and charging tray conveying mechanism 3400 can incite somebody to action
Charging tray is put into the charging tray in cavity 3142 or being placed in cavity 3142 across open ports 3141 and is taken out by open ports 3141,
Feed bin sensor module 3130 is set between feed bin support component 3120 and feed bin lifting driving assembly 3110, feed bin sensor group
Part 3130 can go up and down driving assembly 3110 for feed bin and provide origin signal.
In other words, charging tray charging and discharging mechanism 3100 according to an embodiment of the present invention mainly goes up and down driving assembly by feed bin
3110, feed bin support component 3120, charging tray conveying mechanism 3400 and feed bin sensor module 3130 form, in feed bin support component
At least one workpiece feed bin 3140 is carried on 3120, feed bin support component 3120 is connected with feed bin lifting driving assembly 3110,
Driving assembly 3110, which is gone up and down, by feed bin is able to drive feed bin support component 3120 and workpiece feed bin 3140 along up and down direction
It is movable.The cavity 3142 with open ports 3141 is defined in workpiece feed bin 3140, can be equipped in cavity 3142 to
Charging tray can be sent into cavity 3142 by open ports 3141 or take out charging tray out of cavity 3142 by a few charging tray.
The reset that feed bin sensor module 3130 can go up and down driving assembly 3110 for feed bin provides origin position, provides for relative displacement
Foundation, wherein feed bin sensor module 3130 includes sensor stand and sensor, and sensor stand can be located at feed bin support group
Part 3120, sensor can be set to feed bin and go up and down driving assembly 3110.
Charging tray charging and discharging mechanism 3100 according to an embodiment of the present invention is using feed bin lifting driving assembly 3110, material as a result,
Storehouse support component 3120, charging tray conveying mechanism 3400 and feed bin sensor module 3130 combine, and can be improved charging tray loading and unloading
Efficiency and precision shorten the process-cycle, reduce production cost.
According to one embodiment of present invention, feed bin support component 3120 includes: multiple support transverse slats 3121, multiple supports
Riser 3122 and multiple braced frame link blocks 3123, multiple support transverse slats 3121 along the vertical direction be spaced apart and parallel to each other
It is located on feed bin lifting driving assembly 3110, supports and carry workpiece feed bin 3140 on transverse slat 3121, support transverse slat 3121 can be made
For the support plate of workpiece feed bin 3140, the thickness direction along support transverse slat 3121 can be equipped with lightening hole, can reduce weight.It is multiple
Support riser 3122 is located between two neighboring support transverse slat 3121 to support transverse slat 3121, phase with vertically extending
At least two support risers 3122 parallel to each other, multiple braced frame link blocks are equipped between adjacent two support transverse slats 3121
3123 are connected respectively with support transverse slat 3121, support riser 3122 and feed bin lifting driving assembly will support transverse slat 3121 and branch
Support riser 3122 is mounted on lifting driving assembly, and sensor stand can be set to braced frame link block 3123, and sensor can be with
For groove profile photoelectricity.
Further, feed bin support component 3120 further include: multiple feed bin positioning components 3124, multiple feed bin positioning components
3124 are set on corresponding support transverse slat 3121 to improve reliability of positioning and fastness for fixing workpiece feed bin 3140.
According to one embodiment of present invention, support transverse slat 3121 is formed as corresponding with the shape of workpiece feed bin 3140
Rectangular slab, each feed bin positioning component 3124 respectively include: two the first limiting sections 3125 and the second limiting section 3126, two
One limiting section 3125 is located at the two sides of support transverse slat 3121 along the length direction of support transverse slat 3121 respectively to limit work with extending
The placement location of part feed bin 3140, the first limiting section 3125 can be used as the side baffle of workpiece feed bin 3140, can be according to workpiece material
Position of the adjustment side baffle of different size in storehouse 3140 on support transverse slat 3121.In the width direction close to support transverse slat 3121
Two sides can be respectively equipped with position adjustment hole, the positional relationship between adjustable first limiting section 3125 and position adjustment hole,
Realize the adjusting of the position for the first limiting section 3125.Second limiting section 3126 extends along the width direction of support transverse slat 3121
Ground is located at one end of support transverse slat 3121 to be matched for clamping tightly workpiece feed bin 3140 with the first limiting section 3125.
Further, support transverse slat 3121 is equipped with multiple elongated holes extended along its width direction, the first limiting section
The width direction of 3125 edge support transverse slats 3121 is movably connected with elongated hole.
As shown in figure 21, optionally, one end of the first limiting section 3125 towards 3400 direction of charging tray conveying mechanism is set
There is the inclined-plane 3127 with taper, convenient for workpiece feed bin 3140 is put into support transverse slat 3121.
As shown in figure 22, in certain specific embodiments of the invention, it includes: feed bin that feed bin, which goes up and down driving assembly 3110,
Guiderail base 3111, lifting linear guide 3112, ball screw component 3113 and driving motor 3114, feed bin guiderail base 3111
It vertically extends, lifting linear guide 3112 is set to feed bin guiderail base 3111 and, feed bin guide rail bottom axially extending along its
Seat 3111 can play a supporting role to lifting linear guide 3112.Ball screw component 3113 is movably arranged at lifting straight line
Guide rail 3112 and it is connected with feed bin support component 3120, lifting linear guide 3112 can play carrying and guiding role.Ball
Screw component 3113 may include screw mandrel support seat component and ball screw, and wherein screw mandrel support seat component can be fixed on feed bin
On guiderail base 3111, it can be used for fixed support ball screw.Ball screw can be realized feed bin lifting driving assembly 3110
Along up and down direction activity.Driving motor 3114 is connected for driving ball screw component 3113 with ball screw component 3113
Along the axial activity of lifting linear guide 3112.
Further, the mounting surface flatness for going up and down linear guide 3112 is 0.04mm-0.06mm, can guarantee to have assembled
Run smoothly not Caton.
Preferably, the mounting surface flatness for going up and down linear guide 3112 is 0.05mm.
According to one embodiment of present invention, feed bin goes up and down driving assembly 3110 further include: shaft coupling 3115, shaft coupling
3115 are connected with ball screw component 3113 and driving motor 3114 respectively, can compensate between two axis since manufacture installation is not smart
Offset that deformation or the reasons such as thermal expansion when really, working are occurred (including axial dipole field, radial deflection, angular variation or synthesis
Offset), and have the effects that mitigate impact, absorbing.Driving motor 3114 can be used as the dynamic of feed bin lifting driving assembly 3110
Power source.
As illustrated in figures 19 and 20, in certain specific embodiments of the invention, workpiece feed bin 3140 includes: two sides
Panel 3143 and two top plates 3144, two side panels 3143, which are spaced apart, to be oppositely arranged, and is capable of fixing by side panel 3143
It is corresponding for installing charging tray to be respectively equipped with position in the opposing sidewalls of two side panels 3143 for upper and lower two top plates 3144
Mounting groove, charging tray can be supported.Side panel 3143 can offer multiple long holes U along its thickness direction, can reduce weight.Material
The length direction of disk laterally plate 3143 is plugged in mounting groove, and two top plates 3144, which are spaced apart, to be oppositely arranged, each top
The two sides of plate 3144 are connected with two side panels 3143 respectively, and top plate 3144 and side panel 3143 are enclosed with cavity 3142.Such as
Shown in Figure 23, one end vertex of top plate 3144 towards 3141 direction of open ports is equipped with notch 3145, can avoid material
The clamping jaw of disk carrying mechanism 3400 clamps charging tray, hooks feeding disk convenient for charging tray conveying mechanism 3400.
According to one embodiment of present invention, at least one sight is equipped in the top plate 3144 being located above cavity 3142
Region 3146 to be examined, has feed bin window board viewing area 3146 is mountable, transparent organic glass material can be used in feed bin window board,
Dust can not only be obstructed and fall into charging tray, the charging tray situation being also convenient for inside observation workpiece feed bin 3140.
Optionally, workpiece feed bin 3140 further includes spring handle 3147, and spring handle 3147 can be fixed on positioned at cavity
In the top plate 3144 of 3142 tops, when use, can lift the pull ring of spring handle 3147, for lifting workpiece feed bin 3140,
Pull ring can be laid flat, and can effectively save space.
In certain specific embodiments of the invention, workpiece feed bin 3140 further includes feed bin stiffened panel 3148, and feed bin adds
Gusset 3148 is set to cavity 3142 backwards to one end of open ports 3141, is capable of fixing two tops by using feed bin stiffened panel 3148
Portion's plate 3144, and can thereby may be ensured that each charging tray is neat as the benchmark of charging tray when charging tray is put into workpiece feed bin 3140
It is flat.
Charging tray charging and discharging mechanism 3100 according to an embodiment of the present invention is using feed bin lifting driving assembly 3110, material as a result,
The device that storehouse support component 3120, charging tray conveying mechanism 3400 and feed bin sensor module 3130 combine, can not only realize
Charging tray loading and unloading, additionally it is possible to improve the stability in feeding speed and feeding process.
The assembly executing agency 3300 of placement equipment 3000 according to an embodiment of the present invention is specifically described with reference to the accompanying drawing.
As shown in Figure 25 to Figure 27, assembly executing agency 3300 according to an embodiment of the present invention, comprising: supporting beam 3310,
Moving parts 3320, draw executing agency 3340 and actuator 3350 at picture shooting assembly 3330.
Specifically, supporting beam 3310 is horizontally extending, moving parts 3320 are set to supporting beam 3310 and along its axis
To extension, picture shooting assembly 3330 is set to supporting beam 3310 and can obtain the location information of assembly parts and/or assembly, draws
Executing agency 3340 is connected with moving parts 3320 and can be axial movable along it, draw executing agency 3340 can draw or
Person unclamps assembly parts, and actuator 3350, which receives location information and adjusted according to location information, draws executing agency 3340 in exercise group
Position on part 3320.
In other words, assembly executing agency 3300 according to an embodiment of the present invention is mainly by supporting beam 3310, moving parts
3320, picture shooting assembly 3330, absorption executing agency 3340 and actuator 3350 form, and supporting beam 3310 is horizontally extending,
Moving parts 3320 are installed in supporting beam 3310, supporting beam 3310 can play a supporting role to moving parts 3320.Fortune
Component 3320 is moved along the axially extending of supporting beam 3310, picture shooting assembly 3330 is also equipped in supporting beam 3310, passes through shooting
Component 3330 can obtain the characteristic information of assembly parts and/or assembly, and characteristic information can be location information etc..It is moving
It is equipped on component 3320 and draws executing agency 3340, actuator 3350 is connected with executing agency 3340 is drawn, and passes through actuator
3350 can drive the axial activity for drawing executing agency 3340 along moving parts 3320, and specifically, actuator 3350 receives
The location information that picture shooting assembly 3330 obtains, and adjusted according to location information and draw executing agency 3340 in moving parts 3320
On position, executing agency 3340 will be drawn and be aligned with assembly parts, by draw executing agency 3340 can draw or pine
Open assembly parts.It is matched by drawing executing agency 3340 and actuator 3350, can draw, move and unclamp assembly parts.
Assembly executing agency 3300 according to an embodiment of the present invention is using supporting beam 3310, moving parts 3320, bat as a result,
The device that component 3330, absorption executing agency 3340 and actuator 3350 combine is taken the photograph, is held by picture shooting assembly 3330 and absorption
Row mechanism 3340 matches, and realization automatically moves and adsorbs assembly parts to carry out the next step operation, can be improved for dress
The positioning accuracy and processing efficiency of accessory.
According to one embodiment of present invention, moving parts 3320 include: linear guide 3321 and anticollision photoelectricity 3322, directly
Line guide rail 3321 is set to supporting beam 3310 and axially extending along its, and linear guide 3321 can play the role of support and guiding,
Executing agency 3340 is drawn to be set to linear guide 3321 and supporting beam 3310 can be set to along its axial activity, anticollision photoelectricity 3322
And it is located at the axial end of linear guide 3321, it can effectively prevent drawing executing agency 3340 in active procedure due to soft
Part is out of control to be caused to collide.
Optionally, the quantity of anticollision photoelectricity 3322 is two, and two anticollision photoelectricity 3322 are located at the axis of linear guide 3321
To both ends, moving parts 3320 further include: grating scale 3323 and grating reading head, grating scale 3323 be set to supporting beam 3310 and edge
Horizontal direction extends, and grating scale 3323 is located between two anticollision photoelectricity 3322, and grating reading head and grating scale 3323 match, energy
Movement enough for actuator 3350 provides precise displacement data.
In certain specific embodiments of the invention, actuator 3350 is linear motor.
Further, moving parts 3320 further include anticollision limiting section 3324, and anticollision limiting section 3324 is set to linear motor
Both ends, can be avoided causes linear motor beyond hitting outside after range of operation because anticollision photoelectricity 3322 fails.
According to one embodiment of present invention, draw executing agency 3340 in define along its axially through have both ends
The channel of opening, picture shooting assembly 3330 are located at the top in channel, and assembly parts and assembly are located at the lower section in channel, shooting
Component 3330 can shoot the characteristic information of assembly parts or assembly through channel.
In certain specific embodiments of the invention, supporting beam 3310 is formed as aluminum profile part.
According to one embodiment of present invention, supporting beam 3310 is formed as horizontally extending long elements, exercise group
Part 3320 is set to the side of supporting beam 3310, and picture shooting assembly 3330 is set to the top surface of supporting beam 3310, and moving parts 3320 are located at
At least part of the side of supporting beam 3310, moving parts 3320 is connected with the side of supporting beam 3310.Cabling channel can be from branch
Support the underrun of beam 3310.
Further, the flatness of side is that can guarantee the corresponding absorption executing agency 3340 in side within 0.05mm
Traveling comfort, the flatness of top surface and side is respectively that can guarantee that linear motor quick and stable is transported within 0.05mm
Row.
Assembly executing agency 3300 according to an embodiment of the present invention is using supporting beam 3310, moving parts 3320, bat as a result,
The device that component 3330, absorption executing agency 3340 and actuator 3350 combine is taken the photograph, can not only be improved for assembly parts
Positioning accuracy, additionally it is possible to which realization is automatically moved and adsorbed, unclamps assembly parts, improves assembly parts processing efficiency and the degree of automation.
The absorption executing agency 3340 of placement equipment 3000 according to an embodiment of the present invention is specifically described with reference to the accompanying drawing.
As shown in Figure 28 to Figure 33, absorption executing agency 3340 according to an embodiment of the present invention can be set to placement equipment
The lower section of picture shooting assembly simultaneously cooperates with picture shooting assembly, and drawing executing agency 3340 includes: executing agency's support base 3341 and the rotation of U axis
Rotation mechanism 3342, U axis rotating mechanism 3342 include rotating platform 3342a and component suction nozzle 3343, and U axis rotating mechanism 3342 is set to
Executing agency's support base 3341, rotating platform 3342a be equipped with along its axially through channel 3342b and can around its axially revolve
Turn, rotating platform 3342a is located at the lower section of picture shooting assembly, component suction nozzle 3343 set on rotating platform 3342a and can draw or
Person unclamps assembly parts, component suction nozzle 3343 be equipped with along its axially through venthole, the camera of picture shooting assembly can be through logical
Road 3342b and venthole shooting assembly parts or assembly.
In other words, absorption executing agency 3340 according to an embodiment of the present invention is mainly by executing agency's support base 3341 and U
Axis rotating mechanism 3342 forms, and U axis rotating mechanism 3342 is equipped on executing agency's support base 3341, can be rotated to U axis
Mechanism 3342 plays a supporting role.U axis rotating mechanism 3342 is mainly made of rotating platform 3342a and component suction nozzle 3343, In
The lower section of picture shooting assembly is equipped with rotating platform 3342a, is capable of providing spinning movement.It is defined in rotating platform 3342a along its axis
To the channel 3342b of perforation, defined in the component suction nozzle 3343 that is connected with rotating platform 3342a along its axially through ventilation
Hole, in channel, the camera of the picture shooting assembly of the top of 3342b to assembly parts or can be filled through channel 3342b and venthole
Accessory is shot, and the information of assembly parts or assembly is obtained.Component suction nozzle 3343 can draw assembly parts or unclamp dress
Accessory, so as to realize the absorption for assembly parts.
Absorption executing agency 3340 according to an embodiment of the present invention is mainly by executing agency's support base 3341 and U axis as a result,
Rotating mechanism 3342 forms, and can guarantee the rigidity and assembly precision of entire mechanism by executing agency's support base 3341, uses
Rotatable U axis rotating mechanism 3342 with hollow structure, can not only realize positioning of taking pictures, additionally it is possible to pass through the side of rotation
Formula changes the angle for drawing assembly parts.
According to one embodiment of present invention, channel 3342b and venthole are coaxial, and channel 3342b and venthole can phases
To setting, camera can be directed through channel 3342b and venthole obtains the information of assembly parts or assembly.
As shown in figure 32, further, component suction nozzle 3343 includes that nozzle base 3343a, suction nozzle 3343b and vacuum occur
Device (not shown), nozzle base 3343a are connected with rotating platform 3342a and are formed as hollow structure, rotating platform 3342a
It is capable of fixing nozzle base 3343a.Suction nozzle 3343b is connected with nozzle base 3343a and is formed as hollow structure, passes through suction nozzle bottom
Seat 3343a can install suction nozzle 3343b.At least the one of the hollow space composition venthole of suction nozzle 3343b, nozzle base 3343a
Part, suction nozzle 3343b are equipped with the sucker 3343s penetrated through along its thickness direction, and vacuum generator is connected to sucker 3343s, passes through
Vacuum generator is capable of providing negative pressure, generates adsorption capacity to assembly parts.
As shown in figure 32, in certain specific embodiments of the invention, component suction nozzle 3343 further include: suction nozzle rod
3343d and gas-tpe fitting 3343e, the top and bottom of suction nozzle rod 3343d respectively with nozzle base 3343a and suction nozzle 3343b phase
Even, suction nozzle 3343b can be installed by suction nozzle rod 3343d, suction nozzle 3343b can detachably be connected with suction nozzle rod 3343d, can
Different suction nozzle 3343b, which is replaced, according to different product carries out product absorption.Suction nozzle rod 3343d is formed as hollow structure and is equipped with edge
One end of the mounting hole 3343c of its wall thickness direction perforation, gas-tpe fitting 3343e are set to mounting hole 3343c, gas-tpe fitting 3343e
The other end be connected to vacuum generator, be easily installed vacuum generator.
As shown in figure 31, according to one embodiment of present invention, U axis rotating mechanism 3342 further include: U shaft fixing support
3342c, U shaft fixing support 3342c are connected with executing agency support base 3341 and rotating platform 3342a respectively, can will rotate
Platform 3342a is mounted on executing agency's support base 3341.U shaft fixing support 3342c is equipped with to be led to along what its thickness direction penetrated through
Unthreaded hole 3342d, light hole 3342d are oppositely arranged with channel 3342b, and the picture shooting assembly above rotating platform 3342a can
Pass sequentially through light hole 3342d and channel 3342b shooting assembly parts or assembly.
Optionally, executing agency 3340 is drawn further include: X-axis linear guide 3344, Z axis guide rail fixed plate 3345, Z axis are straight
Line guide rail 3345a, Z axis linear motor 3345b and X-axis motor 3344a, X-axis linear guide 3344 are set to executing agency's support base
3341 and horizontally extending, Z axis guide rail fixed plate 3345 is set to X-axis linear guide 3344, and Z axis linear guide 3345a is set
It in Z axis guide rail fixed plate 3345 and vertically extends, U axis rotating mechanism 3342, Z is installed on Z axis linear guide 3345a
Axis linear motor 3345b is set to Z axis guide rail fixed plate 3345 and is connected with U axis rotating mechanism 3342 straight to drive it along Z axis
The axial activity of line guide rail 3345a, X-axis motor 3344a are connected to drive Z axis guide rail fixed plate with Z axis guide rail fixed plate 3345
3345 along the axial movable of X-axis linear guide 3344.That is, Z axis guide rail fixed plate 3345 is able to drive U axis rotating mechanism
3342 is movable back and forth along the axial direction of X-axis linear guide 3344, while U axis rotating mechanism 3342 can also be led along Z axis straight line
The axial activity of rail 3345a, wherein X-axis linear guide 3344 can extend along horizontal direction, and Z axis linear guide 3345a can
To extend along up and down direction, it can be realized U axis rotating mechanism 3342 and adjusted in the horizontal direction with the position in up and down direction.
It should be noted that Z axis linear guide 3345a can not only fix U shaft fixing support 3342c, additionally it is possible to fixed Z
The mover of axis linear motor 3345b and play guiding role.
Further, drawing executing agency 3340 further includes Z axis grating reading head 3345c and Z axis grating scale 3345d, Z axis light
Grid read head 3345c is set to U shaft fixing support 3342c, for controlling the precision and stroke of Z axis movement；Z axis grating scale 3345d is set
It is matched in Z axis guide rail fixed plate 3345 and with Z axis grating reading head 3345c, the movement for Z axis linear motor 3345b provides essence
True displacement data.
In certain specific embodiments of the invention, Z axis linear motor 3345b includes pressure feedback module, and pressure is anti-
Presenting module can be according to the pressure information between current value acquisition assembly parts and assembly, the driving of Z axis linear motor 3345b
Portion can receive pressure information and drive suction nozzle 3343b movable along the vertical direction according to pressure information.Draw executing agency 3340
Assembly parts can be adsorbed, and assembly parts is driven to be moved on assembly, in assembly, suction nozzle 3343b pushes assembly, this
When can be by size of current that Z axis linear motor driver is fed back come pressure size when practical set that converts.That is,
Z axis linear motor 3345b carries pressure feedback, pressure size can be judged by setting electric current value, after reaching preset pressure
It is fed back with signal.
Optionally, executing agency 3340 is drawn further include: detection of negative pressure portion 3346, detection of negative pressure portion 3346 are set to execution machine
It structure support base 3341 and is connected to sucker 3343s, detection of negative pressure portion 3346 being capable of detection when suction nozzle 3343b adsorbs assembly parts
Negative pressure value in sucker 3343s, can judge whether negative pressure of vacuum of the suction nozzle 3343b in adsorption production is adsorbed securely, thus
It can guarantee the negative pressure requirements worked normally, it can be with feedback information when being unsatisfactory for negative pressure requirements.
Absorption executing agency 3340 according to an embodiment of the present invention is revolved using executing agency's support base 3341 and U axis as a result,
Rotation mechanism 3342 combines, and is matched by hollow structure with picture shooting assembly to obtain the feature of assembly parts or assembly letter
Breath.And U axis rotating mechanism 3342 and X-axis linear guide 3344 and Z axis linear guide 3345a are cooperated, U axis is rotated
Mechanism 3342 has front and back, upper and lower, three directions of motion of rotation, installs X-axis respectively using the two sides of Z axis guide rail fixed plate 3345
Linear guide 3344 and Z axis linear guide 3345a, then U axis rotating mechanism 3342 is fixed on Z axis, it can be realized entire machine
Conformational space is compact.
In actual production, the type of assembly parts usually has a variety of, it usually needs is furnished with corresponding suction nozzle 3343b, mentions
High production cost, in order to solve this problem, the absorption executing agency 3340 of placement equipment 3000 according to an embodiment of the present invention has
There is Quick-disassembling mechanism.
The quick-disassembly structure according to an embodiment of the present invention for drawing executing agency 3340 is specifically described with reference to the accompanying drawing.
As shown in Figure 32 to Figure 35, the component suction nozzle 3343 according to an embodiment of the present invention for drawing executing agency 3340 is also wrapped
Include the first connector 3343f and the second connector 3343g.
Specifically, the first connector 3343f is located on nozzle base 3343a, the second connector 3343g is connect with first
Part 3343f structure is corresponding and is detachably connected with the first connector 3343f, and suction nozzle 3343b is located at the second connector 3343g
Above and be formed as hollow structure.
In other words, the component suction nozzle 3343 according to an embodiment of the present invention for drawing executing agency 3340 is mainly by nozzle base
3343a, the first connector 3343f, the second connector 3343g, suction nozzle 3343b and vacuum generator composition, the first connector
3343f is set to nozzle base 3343a, and the second connector 3343g is set to suction nozzle 3343b, the connection of the first connector 3343f and second
It can be connected between part 3343g to be detachable, convenient for being rapidly assembled and disassembled between nozzle base 3343a and suction nozzle 3343b.
The component suction nozzle 3343 according to an embodiment of the present invention for drawing executing agency 3340 uses nozzle base as a result,
The device that 3343a, the first connector 3343f, the second connector 3343g, suction nozzle 3343b and vacuum generator combine, suction nozzle
Pedestal 3343a is connected with suction nozzle 3343b by the first connector 3343f and the second connector 3343g, convenient for suction nozzle 3343b's
Installation and removal are easy to use.
In certain specific embodiments of the invention, component suction nozzle 3343 further includes suction nozzle rod 3343d, suction nozzle rod
The upper end of 3343d is equipped with the second connector 3343g, detachable phase between the second connector 3343g and the first connector 3343f
Even, the lower end of suction nozzle rod 3343d is connected with suction nozzle 3343b, and suction nozzle rod 3343d is formed as hollow structure and its hollow space is constituted
At least part of venthole.
Preferably, the lower end of suction nozzle rod 3343d is detachably connected with suction nozzle 3343b, convenient for according to different assembly parts
Replacement of products different suction nozzle 3343b, it is applied widely.
Optionally, the first connector 3343f and the second connector 3343g are respectively formed as the opposite magnetic part of magnetic pole, mention
The high efficiency of installation and removal, is easy to use.It, can when the second connector 3343g is mounted on the upper end of suction nozzle rod 3343d
Suction nozzle rod 3343d and nozzle base 3343a is set to be attached together, convenient for fast quick-detach and replacement suction nozzle 3343b.
According to one embodiment of present invention, the lower end of nozzle base 3343a is equipped with corresponding hollow space and is connected to
The first counterbore 3343h, the first connector 3343f is installed on the first counterbore 3343h, is easily installed.
In certain specific embodiments of the invention, the upper end of suction nozzle rod 3343d is equipped with corresponding hollow space
Second counterbore 3343i of connection, the second connector 3343g are installed on the second counterbore 3343i, are easily installed, and improve appearance looks elegant
Property.
Optionally, the first connector 3343f and/or the second connector 3343g are formed as hollow ring part, can be improved suction
Adsorption capacity between the seat 3343a and suction nozzle 3343b of gonys, and the camera of picture shooting assembly is not stopped also to work.
According to one embodiment of present invention, the lower end of nozzle base 3343a is equipped with positioning convex platform 3343j, suction nozzle rod
The upper end of 3343d is equipped with the heavy platform 3343k matched with positioning convex platform 3343j, can be by positioning convex platform 3343j in assembly
It is aligned and installs with heavy platform 3343k, positioning convex platform 3343j and heavy platform 3343k are coupled, and can guarantee suction nozzle rod
The central axis coaxial of 3343d and nozzle base 3343a.
The component suction nozzle 3343 according to an embodiment of the present invention for drawing executing agency 3340 is mainly by nozzle base as a result,
3343a, the first connector 3343f, the second connector 3343g, suction nozzle 3343b and vacuum generator composition, the first connector
Between 3343f and the second connector 3343g by the way of being detachably connected, nozzle base 3343a and suction nozzle can be realized
Being rapidly assembled and disassembled between 3343b.
In actual production assembling process, when being assembled assembly parts and assembly, usually it is unable to accurately control
Pressure between assembly parts and assembly is easy to cause to weigh wounded to assembly, in order to solve this problem, real according to the present invention
Pressure feedback module can be equipped with by applying in the component suction nozzle 3343 of the absorption executing agency 3340 of example, can by pressure feedback module
The pressure information between assembly parts and assembly is obtained, and assembly parts can be adjusted according to the pressure information of acquisition and be assembled
Pressure between part.
Below with reference to the accompanying drawings the component suction nozzle 3343 according to an embodiment of the present invention with pressure feedback module is specifically described.
As shown in Figure 32, Figure 33, Figure 35 to Figure 37, component suction nozzle 3343 according to an embodiment of the present invention further includes that pressure is anti-
Present module.
Specifically, pressure feedback module can be received by between the suction nozzle 3343b assembly parts adsorbed and assembly
Pressure information, driving assembly can receive pressure information and drive suction nozzle 3343b movable along the vertical direction according to pressure information.
In other words, when suction nozzle 3343b drives at least part of assembly parts and assembly to be contacted, pass through pressure
Feedback module receives the pressure information between assembly parts and assembly, and driving assembly can receive the pressure of pressure sensor acquisition
Force information, and drive suction nozzle 3343b movable along the vertical direction according to pressure information, so as to realize for assembly parts and filled
Pressure between accessory is adjusted.
Component suction nozzle 3343 according to an embodiment of the present invention is using nozzle base 3343a, suction nozzle 3343b, vacuum hair as a result,
Raw device and pressure feedback module combine, and obtain the pressure between assembly parts and assembly by using pressure feedback module and believe
Breath, to realize being precisely controlled for assembling pressure, avoids damaging very much assembly and assembly parts by pressure greatly because of pressure, or because of pressure
Too small assembly loosening leads to unqualified, raising assembly qualified rate, reduction scrap.
According to one embodiment of present invention, pressure feedback module is the pressure sensor set on nozzle base 3343a, is led to
It crosses and pressure sensor is set in nozzle base 3343a, the pressure information between assembly parts and assembly can be obtained, pressure is big
Small difference can be monitored by the size of current difference that pressure sensor is fed back, and pressure sensor can be built in nozzle base
3343a, and design can be an integral structure between nozzle base 3343a.
In certain specific embodiments of the invention, pressure feedback module is set to driving assembly to obtain according to current value
Pressure information.Driving assembly can be linear motor, and pressure feedback can be realized by the driver of linear motor, pass through monitoring
Electric current carrys out reduced pressure, that is to say, that judges pressure size by the size of current of the driver feedback of linear motor, specifically
Ground can judge pressure size by setting electric current value, have signal feedback after reaching setting pressure.
According to one embodiment of present invention, the lower end of suction nozzle rod 3343d is equipped with annular groove 3343t, and suction nozzle 3343b's is upper
End is plugged in annular groove 3343t, and annular groove 3343t is connected to sucker 3343s.
In certain specific embodiments of the invention, mounting hole 3343c annular groove corresponding with suction nozzle rod 3343d
3343t connection, the end face of the upper end of suction nozzle 3343b and outer peripheral surface can only be supported with the bottom wall and inner sidewall of annular groove 3343t,
Annular groove 3343t can be sealed, hollow space isolation corresponding with suction nozzle 3343b prevents gas leakage, can guarantee sucker 3343s
It is connected to gas-tpe fitting 3343e.
Further, the upper end of suction nozzle rod 3343d is equipped with the groove of hollow space corresponding with suction nozzle rod 3343d connection
3343l, nozzle base 3343a include: nozzle base ontology and mounting portion 3343m, and mounting portion 3343m is set to nozzle base ontology
And the lower end of nozzle base ontology is protruded from, at least part of mounting portion 3343m is plugged in groove 3343l, can be realized suction
Fast Installation between mouth bar 3343d and nozzle base 3343a.
Optionally, the upper end of suction nozzle rod 3343d sets that there are two the limits that protrude from the upper end of suction nozzle rod 3343d and be oppositely arranged
Position portion 3343n, groove 3343l are located between two limiting section 3343n, and there are two planes for the outer peripheral surface tool of mounting portion 3343m
3343o and arcwall face 3343p, two plane 3343o are between two limiting section 3343n and stop respectively with limiting section 3343n
It supports, can be realized for the position restriction between suction nozzle rod 3343d and nozzle base 3343a, prevent suction nozzle rod 3343d from axially turning
Dynamic, arcwall face 3343p is connected with the edge of two plane 3343o respectively, can be improved the aesthetics of appearance.
In certain specific embodiments of the invention, the radial dimension of mounting portion 3343m is less than nozzle base ontology
Radial dimension improves aesthetics.
According to one embodiment of present invention, nozzle base 3343a further includes boss, the upper end of boss and mounting portion
The lower end of 3343m is connected, and the lower end of boss is plugged in groove 3343l, and the radial dimension of boss is less than the radial direction of mounting portion 3343m
Size, the axial direction of boss hollow space corresponding with suction nozzle rod 3343d is coaxial, can guarantee the axial direction and suction of suction nozzle rod 3343d
Gonys seat 3343a's is axial concentric.
Further, the cross section of boss is annular, at least one of the inner wall of the outer peripheral surface and groove 3343l of boss
Divide and only support, prevents from shaking between nozzle base 3343a and suction nozzle rod 3343d.
Component suction nozzle 3343 according to an embodiment of the present invention is using nozzle base 3343a, suction nozzle 3343b, vacuum hair as a result,
Raw device and pressure sensor combine, and by the way that pressure feedback module is arranged, realize being precisely controlled for assembling pressure, avoid because
Pressure damages greatly very much assembly parts and assembly by pressure, or because the too small assembly loosening of pressure leads to unqualified, raising assembly qualified rate,
Reduce scrap.
When needing to be assembled different types of assembly parts and assembly, especially for tool, there are two assembly to hold
The double-station equipment of row mechanism 3300, it usually needs different suction nozzles, the replacement of suction nozzle are equipped with for different types of assembly parts
Process is complex.Assembly executing agency 3300 according to an embodiment of the present invention can fill part according to the type of assembly parts
Accessory can be drawn by adsorption function, and the assembly parts that can not be adsorbed to another part clamp.
Below with reference to the accompanying drawings the assembly executing agency 3300 according to an embodiment of the present invention for having and inhaling and grabbing function is specifically described.
Such as Figure 25, Figure 26, shown in Figure 38 to Figure 40, the absorption of assembly executing agency 3300 according to an embodiment of the present invention is held
Row mechanism 3340, which can be drawn, perhaps clamps assembly parts by drawing or clamping assembly parts, can position to assembly parts
And fixation.
It is according to an embodiment of the present invention as a result, to grab the assembly executing agency 3300 of function by using with absorption with suction
Or the absorption executing agency 3340 of clamping function matches with actuator 3350, can be realized assembly parts movement, can be improved
Assembly parts processing efficiency, and different types of assembly parts can be directed to, reduce production cost.
As shown in figure 39, in certain specific embodiments of the invention, drawing executing agency 3340 includes: crawl clamping jaw
3343q and crawl cylinder 3343r, crawl clamping jaw 3343q are located at the lower section of nozzle base 3343a and can clamp or unclamp dress
Accessory, crawl cylinder 3343r and nozzle base 3343a are detachably connected, and crawl cylinder 3343r can drive crawl clamping jaw
3343q is opened or closure.That is, when drawing executing agency 3340 and being clamped to assembly parts, it can will be corresponding
After grabbing cylinder 3343r and crawl clamping jaw 3343q assembly, and crawl cylinder 3343r is installed to nozzle base 3343a.
Further, crawl cylinder 3343r is located at lower section and its axial and nozzle base 3343a of nozzle base 3343a
It is axial coaxial, be easily installed and dismantle, reduction is taken up space.
As a result, it is according to an embodiment of the present invention have inhale grab the assembly executing agency 3300 of function using supporting beam 3310,
The device that moving parts 3320, absorption executing agency 3340 and actuator 3350 combine, can be directed to different types of assembly
Part selects suction operation or clamping operation, can be improved assembly parts processing efficiency, reduces production cost, improves Device-General
Property, when being set on placement equipment 3000 there are two when assembly executing agency 3300, two assembly executing agencies 3300 corresponding two inhale
It takes executing agency 3340 that can execute identical suction operation or identical clamping operation respectively, absorption can also be executed respectively
Operation or clamping operation, can select different types of assembly parts different operating methods, improve applicability, reduce
Equipment input cost.
Below with reference to the accompanying drawings the picture shooting assembly 3330 of placement equipment 3000 according to an embodiment of the present invention is specifically described.
As shown in Figure 41 to Figure 43, the picture shooting assembly of the placement equipment according to an embodiment of the present invention suitable for the confined space
3330, it can be mounted on the location information that assembly parts and assembly on placement equipment are obtained in the linear guide 3321 of placement equipment,
Picture shooting assembly 3330 includes: shell 3331, reflection subassembly (not shown) and camera assembly 3334.
Specifically, shell 3331 is formed as horizontally extending strip and perpendicular to linear guide 3321, shell
Body 3331 is movably located in linear guide 3321 along the axial direction of linear guide 3321, is defined in shell 3331 along its axial direction
The installation passage 3332 of extension, one end of installation passage 3332 are equipped with the light channel 3333 penetrated through along the vertical direction, and light is logical
The lower end in road 3333 is oppositely arranged with assembly parts or assembly, and the upper end of light channel 3333 can be used in obtaining or penetrating light
Line, reflection subassembly are located in light channel 3333, and reflection subassembly has at least one reflecting surface, at least one reflecting surface can incite somebody to action
The location information of assembly parts or assembly reflexes in installation passage 3332, and camera assembly 3334 is located at installation passage 3332
Interior, at least part of camera assembly 3334 obtains towards reflecting surface and shoots the picture of reflecting surface.
In other words, the picture shooting assembly 3330 of the placement equipment according to an embodiment of the present invention suitable for the confined space is mainly by shell
Body 3331, reflection subassembly and camera assembly 3334 form, and placement equipment is equipped with linear guide 3321, pacify in linear guide 3321
Equipped with picture shooting assembly 3330, the characteristic information of assembly parts and assembly, such as position can be obtained by picture shooting assembly 3330
Confidence breath etc..Shell 3331 is mounted in linear guide 3321 and can adjust it along the axial activity of linear guide 3321
The adjustment of its position between assembly parts and assembly is realized in position in linear guide 3321.Limit in shell 3331
Surely have along its axially extending installation passage 3332, installation passage 3332 is towards one end of assembly parts and assembly position
Equipped with the light channel 3333 penetrated through along the vertical direction, 3333 upper end of light channel can obtain or penetrate light, and light is logical
The lower end in road 3333 is oppositely arranged with assembly parts or assembly, and light can reach corresponding dress by light channel 3333
Accessory or assembly.Since light channel 3333 is located at the side of installation passage 3332, in order to make light reach assembly parts
Or assembly, reflection subassembly is equipped in light channel 3333, reflection subassembly has at least one reflecting surface, passes through reflection
Face can reflex to the characteristic information of assembly parts or assembly in installation passage 3332, and be carried out by camera assembly 3334
It receives to shoot to obtain the characteristic information of assembly parts or assembly by reflection.
The picture shooting assembly 3330 of the placement equipment according to an embodiment of the present invention suitable for the confined space uses shell as a result,
3331, the device that reflection subassembly and camera assembly 3334 combine adjusts the position of camera assembly 3334, In by reflection subassembly
While effective characteristic information for obtaining assembly parts or assembly, reduces picture shooting assembly 3330 and taken up space, save assembly
Structural compactness is improved in space.
According to one embodiment of present invention, the two sides up and down of one end of shell 3331 are opened wide form light channel respectively
3333, extraneous light can be obtained by the upside of shell 3331.
It further, further include light source suitable for the picture shooting assembly 3330 of the placement equipment of the confined space, light source is located at shell
The top of 3331 one end is specifically to pass through source emissioning light line, light energy to assembly parts or assembly transmitting light
Enough across 3333 directive assembly parts of light channel or assembly.
Optionally, light source is located on shell 3331 with extending along the vertical direction.
According to one embodiment of present invention, the picture shooting assembly suitable for the placement equipment of the confined space further includes light source installation
Portion 3337, light resource installing section 3337 extend ground in one end of installation passage 3332, light resource installing section 3337 along the vertical direction
Light channel 3333 is defined, light source is set to light resource installing section 3337 and is located at the top of light channel 3333, and reflection subassembly is set
In light resource installing section 3337 and positioned at the lower section of light source.It should be noted that the thickness direction along light resource installing section 3337 penetrates through
There is reflection hole, camera assembly 3334 can be connected to by reflection hole with light channel 3333 towards reflection hole, installation passage 3332,
Reflection subassembly is oppositely arranged with reflection hole.
In certain specific embodiments of the invention, camera assembly 3334 includes camera lens 3335 and camera 3336, camera lens
3335 are located in installation passage 3332 and towards reflecting surface, and the feature of assembly parts or assembly by reflective surface is believed
At least part of breath can be received by camera lens 3335.Camera 3336 leads to along the installation that is located at of installation passage 3332 axially extendingly
In road 3332, camera 3336 is connected to receive the image information that camera lens 3335 focuses shooting with camera lens 3335.
According to one embodiment of present invention, the section of light channel 3333 is formed as rectangle, and reflecting surface is logical positioned at light
In the diagonal plane in road 3333, the efficiency for obtaining the characteristic information of assembly parts or assembly is improved.
Preferably, the angle between reflecting surface and horizontal plane is 45 °, is capable of the reflected range in spread reflection face.
The picture shooting assembly 3330 of placement equipment according to an embodiment of the present invention suitable for the confined space as a result, using shell
3331, the device that reflection subassembly and camera assembly 3334 combine, can not only quick obtaining assembly parts or assembly
Characteristic information, also have many advantages, such as it is compact-sized, be suitable for the confined space.
Below with reference to the accompanying drawings the driving assembly 3360 of placement equipment 3000 according to an embodiment of the present invention is specifically described.
As shown in Figure 43 to Figure 49, placement equipment 3000 according to an embodiment of the present invention further include: driving assembly 3360, driving
Component 3360 is connected to drive it along the axial activity of linear guide 3321 with picture shooting assembly 3330.
In other words, placement equipment 3000 according to an embodiment of the present invention, is equipped at least one bat in linear guide 3321
Component 3330 is taken the photograph, the characteristic information of assembly parts and/or assembly can be obtained by picture shooting assembly 3330, that is to say, that when
It, can be by the picture shooting assembly 3330 successively to the feature of assembly parts and assembly when the quantity of picture shooting assembly 3330 is one
Information is shot, can be using 3330 pairs of corresponding picture shooting assembly dresses when the quantity of picture shooting assembly 3330 is more than two
The characteristic information of accessory or assembly is obtained, and can be controlled by the driving assembly 3360 being connected with picture shooting assembly 3330
Picture shooting assembly 3330 processed adjusts position of the picture shooting assembly 3330 in linear guide 3321 along 3321 carry out activity of linear guide
It sets.
Placement equipment 3000 according to an embodiment of the present invention uses linear guide 3321, at least one picture shooting assembly as a result,
3330 and the device that combines of driving assembly 3360, at least one picture shooting assembly 3330 is installed in linear guide 3321, no
It only can be realized the acquisition of the characteristic information for assembly parts and/or assembly, additionally it is possible to improve structural compactness, additionally it is possible to
The position of picture shooting assembly 3330 is adjusted by the driving assembly 3360 being connected with picture shooting assembly 3330, it is easy to use.
In certain specific embodiments of the invention, picture shooting assembly 3330 is two, and two picture shooting assemblies 3330 are along straight
The axially spaced-apart of line guide rail 3321 is provided in linear guide 3321, and one of picture shooting assembly 3330 can be used in obtaining assembly
The location information of part, another picture shooting assembly 3330 can be used in obtaining the location information of assembly, can be improved shooting effect
Rate.
As shown in figures 44 and 45, optionally, driving assembly 3360 includes lead screw motor and linear motor, that is to say, that
Driving assembly 3360 takes the photograph the form of bi-motor using doublebeat, and lead screw motor is connected with a picture shooting assembly 3330 to drive it along
The axial activity of linear guide 3321, linear motor are connected with another picture shooting assembly 3330 to drive it along linear guide
3321 axial activity, it should be noted that using when linear motor to the location parameter of assembly parts or assembly require compared with
Height, it is guaranteed to position precision using linear motor.
As shown in Figure 46 and Figure 47, according to one embodiment of present invention, driving assembly 3360 includes two linear motors,
That is, driving assembly 3360 takes the photograph double acting sub- form using doublebeat, two linear motors respectively with two picture shooting assemblies 3330
It is connected to respectively drive picture shooting assembly 3330, compared with using the embodiment of lead screw motor and linear motor, has fast speed
Advantage.
As shown in Figure 48 and Figure 49, in certain specific embodiments of the invention, the quantity of picture shooting assembly 3330 is one
A, driving assembly 3360 is linear motor, and linear motor is connected to drive it along linear guide 3321 with picture shooting assembly 3330
Axial activity.That is, linear motor drives picture shooting assembly 3330 to move in the characteristic information for needing to obtain assembly parts
To the top of assembly parts, in the characteristic information for needing to obtain assembly, linear motor driving picture shooting assembly 3330 is moved to
The top of assembly.Two linear motors of embodiment and use matched with use lead screw motor and linear motor
Embodiment is compared, and is had the advantages that using a linear motor at low cost.
Placement equipment 3000 according to an embodiment of the present invention as a result, using linear guide 3321, at least one picture shooting assembly
3330 and the device that combines of driving assembly 3360, can using one or more picture shooting assembly 3330 to assembly parts and/or
The characteristic information of assembly is obtained, and the driving assembly 3360 being connected with picture shooting assembly 3330 uses linear motor or silk
Bar motor selects different types of driving assembly 3360 according to different situations, can be improved working efficiency, reduction is produced into
This.
Below with reference to the accompanying drawings the electrically-controlled component 3600 of placement equipment 3000 according to an embodiment of the present invention is specifically described.
As shown in Figure 50 and Figure 51, the electrically-controlled component 3600 of placement equipment according to an embodiment of the present invention, the master with placement equipment
Frame 100 is movably connected, and electrically-controlled component 3600 includes: 3620, two fixed plate 3610, sliding rail part electric-controlled plates 3630 and draws
Hand 3640.
Specifically, at least part of fixed plate 3610 is connected with main frame 100, sliding rail part 3620 is set to fixed plate
3610, two electric-controlled plates 3630 are oppositely arranged and are spaced apart distribution, are equipped with electric components, electric-controlled plate on electric-controlled plate 3630
3630 are movably connected and can be along the axial activity of sliding rail part 3620, knob 3640 and 3630 phase of electric-controlled plate with sliding rail part 3620
Even.
In other words, the electrically-controlled component 3600 of placement equipment according to an embodiment of the present invention is mainly by fixed plate 3610, sliding rail part
3620,3640 composition of two electric-controlled plates 3630 and knob, at least part of fixed plate 3610 are mounted on main frame 100, energy
It is enough to play the role of fixing and supporting to fixed plate 3610, be equipped with sliding rail part 3620 in fixed plate 3610, electric-controlled plate 3630 with
Sliding rail part 3620 is connected and can be along the axial activity of sliding rail part 3620.The quantity of electric-controlled plate 3630 can be two, two
Electric-controlled plate 3630 is oppositely arranged and is spaced apart distribution, is equipped with electric components on electric-controlled plate 3630, can be to electrical zero
Part is installed and is supported.By pull the knob 3640 that is connected with electric-controlled plate 3630 can drive electric-controlled plate 3630 towards or
Backwards to 100 direction activity of main frame.
As a result, placement equipment according to an embodiment of the present invention electrically-controlled component 3600 using fixed plate 3610, sliding rail part 3620,
Two electric-controlled plates 3630 and knob 3640 combine, and can not only realize the installation of electrically-controlled component 3600, are convenient for electrically-controlled component
3600 pull out in propulsion main frame 100, are also convenient for the maintenance of electric components, are easy to use, reduce maintenance cost.
According to one embodiment of present invention, the quantity of fixed plate 3610 is two, at least one of a fixed plate 3610
Divide and be connected with main frame 100, at least another part of a fixed plate 3610 is connected with the upper end of an electric-controlled plate 3630, another fixation
At least part of plate 3610 is connected with main frame 100, at least another part and another electric-controlled plate of another fixed plate 3610
3630 lower end is connected, and cooperates respectively with two electric-controlled plates 3630 by using two fixed plates 3610, can be improved dress
With stability and reliability.
Further, the quantity of sliding rail part 3620 be two, two sliding rail parts 3620 respectively with corresponding fixed plate 3610
At least another part be connected, improve sliding efficiency.
Optionally, the section of each fixed plate 3610 is formed as L shape, and the perpendicular end of each fixed plate 3610 is automatically controlled positioned at two
It is connected between plate 3630 and with corresponding sliding rail part 3620, the horizontal end of each fixed plate 3610 is connected with main frame 100, Neng Gou
While realizing the installation of sliding rail part 3620, structural compactness is improved.
In certain specific embodiments of the invention, the horizontal end of two fixed plates 3610 is located at the two of knob 3640
Sliding efficiency and structural stability are improved in side.
Optionally, each sliding rail part 3620 is located at the same side at the corresponding perpendicular end of two fixed plates 3610, convenient for peace
Dress.
According to one embodiment of present invention, knob 3640 is connected with two electric-controlled plates 3630 respectively, can expand force
Range.
In certain specific embodiments of the invention, the size of fixed plate 3610 along its length is greater than electric-controlled plate 3630
Size along its length, convenient for the installation between fixed plate 3610 and main frame 100.
According to one embodiment of present invention, the upper end of each electric-controlled plate 3630 is equipped with where another electric-controlled plate 3630
The bending part 3631 of direction bending, when pulling electric-controlled plate 3630 by knob 3640, bending part 3631 can be with corresponding horizontal end
It is slidably connected, prevents that horizontal end and operator are caused to damage in drawing process.
Optionally, the size of horizontal end in the width direction is greater than the size of electric-controlled plate 3630 in the width direction, fast convenient for horizontal end
Speed is connected with main frame 100.
The electrically-controlled component 3600 of placement equipment according to an embodiment of the present invention as a result, using fixed plate 3610, sliding rail part
3620,3640 devices that combine of two electric-controlled plates 3630 and knob, can by knob 3640 by electric-controlled plate 3630 and with
Its connected electric components pulls out and the inside of push-in main frame 100, easy to repair.And two electric-controlled plates 3630 are opposite to be set
It sets, saves installation space.
To sum up, placement equipment 300 according to an embodiment of the present invention, using main frame 100, jig conveying mechanism 3500,
Charging tray conveying mechanism 3400, at least one jig charging and discharging mechanism 3200, charging tray charging and discharging mechanism 3100 and assembly executing agency
3300 combine, and can be achieved at the same time the assembling work of multiple assembly parts, improve assembly efficiency, reduce production cost, and diminution is set
It is standby to be taken up space.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " illustrative examples ",
The description of " example ", " specific example " or " some examples " etc. means specific features described in conjunction with this embodiment or example, knot
Structure, material or feature are included at least one embodiment or example of the invention.In the present specification, to above-mentioned term
Schematic representation may not refer to the same embodiment or example.Moreover, specific features, structure, material or the spy of description
Point can be combined in any suitable manner in any one or more of the embodiments or examples.
Although an embodiment of the present invention has been shown and described, it will be understood by those skilled in the art that: not
A variety of change, modification, replacement and modification can be carried out to these embodiments in the case where being detached from the principle of the present invention and objective, this
The range of invention is defined by the claims and their equivalents.
Claims (10)
1. a kind of placement equipment characterized by comprising
Main frame；
Jig conveying mechanism, the jig conveying mechanism are set to the main frame, and the jig conveying mechanism is equipped with along its axial direction
The jig transfer passage of extension；
Charging tray conveying mechanism, the charging tray conveying mechanism are set to the main frame and are spaced apart with the jig conveying mechanism point
Cloth, the charging tray conveying mechanism are equipped with the upper transfer passage and lower transfer passage for being spaced apart distribution；
At least one jig charging and discharging mechanism, a jig charging and discharging mechanism be set to the jig conveying mechanism feed end with
The jig for carrying assembly is delivered to the jig transfer passage；
Charging tray charging and discharging mechanism, the charging tray charging and discharging mechanism are set to the main frame and can will carry the charging tray of assembly parts
It is delivered to the upper transfer passage and the lower transfer passage respectively；
Executing agency is assembled, the assembly executing agency is set to the main frame and can be by the upper transfer passage and/or institute
It states the assembly parts on lower transfer passage and is delivered to the assembly on the jig transfer passage to be assembled.
2. placement equipment according to claim 1, which is characterized in that the main frame includes:
Pedestal；
Multiple columns, multiple column intervals are provided on the pedestal；
Support portion, the support portion are connected with multiple columns and by the upright supports, and the upper end of each column is super
The support portion upwardly extends out；
At least one first boss, the first boss are located on the support portion, and the upper surface of the first boss is formed as
It can be used in installing executing agency's mounting surface of the assembly executing agency.
3. placement equipment according to claim 2, which is characterized in that the number of the first boss and the assembly executing agency
Amount is respectively two and corresponding, and two first boss are spaced apart and opposite are located on the support portion.
4. placement equipment according to claim 2 or 3, which is characterized in that the column includes at least four, and four described vertical
Column is in rectanglar arrangement, and the first boss is linear and is connected with two adjacent columns, the assembly executing agency
It is movable along the direction perpendicular with the axial direction of the corresponding first boss.
5. placement equipment according to claim 4, which is characterized in that the main frame further include:
At least one second boss, the second boss are located on the support portion and are located between two first boss,
The upper surface of the second boss, which is formed to be enough in, installs the jig conveying mechanism and/or the charging tray conveying mechanism
Conveying mechanism mounting surface.
6. placement equipment according to claim 1, which is characterized in that the jig conveying mechanism includes:
Jig conveying assembly, the jig conveying assembly are axially arranged with jig transfer passage along it；
Hold-down mechanism, the hold-down mechanism is set to the jig conveying assembly and its at least part is located at jig conveying and leads to
The top in road；
Lifting body, the lifting body are set to the jig transfer passage and are oppositely arranged with the hold-down mechanism, the top
Rising mechanism can be along up and down direction activity, close to the hold-down mechanism when lifting body moves upwards, when moving downward
Backwards to the hold-down mechanism；
Clip claw mechanism, the clip claw mechanism are set to the jig conveying assembly and can be movable along the jig transfer passage,
The clip claw mechanism moves between open configuration and closed state, when the clip claw mechanism is located at closed state, the folder
The open end of pawl mechanism is closed, the open end of the clip claw mechanism can clamp the jig or with the jig at least one
Part is only supported, and when the clip claw mechanism is located at open configuration, the jig is unclamped in the open end of the clip claw mechanism.
7. placement equipment according to claim 1, which is characterized in that the upper transfer passage and the lower transfer passage difference
Along the axially extending of the charging tray conveying assembly, the upper transfer passage and the lower transfer passage are spaced apart divide along the vertical direction
Cloth, at least part overlapping of the projection of the upper transfer passage and the lower transfer passage in the horizontal direction.
8. placement equipment according to claim 1, which is characterized in that the jig charging and discharging mechanism includes:
Jig goes up and down driving assembly；
Jig support component, the jig support component are connected with jig lifting driving assembly to be gone up and down and be driven by the jig
Dynamic Component driver is movable in the up-down direction；
Jig positioning component, the jig positioning component are defined in the workpiece feed bin for placing workpiece feed bin with spacious
The cavity of opening, at least one jig can be carried in the cavity, and the jig positioning component is supported set on the jig
Component and movable in the horizontal direction；
Jig gripper assembly, the jig gripper assembly are set to the side of jig lifting driving assembly, the jig clamping
The jig can be passed through the open ports and be put into the cavity or be placed on the jig in the cavity by component
It is taken out by the open ports.
9. placement equipment according to claim 1, which is characterized in that the charging tray charging and discharging mechanism includes:
Feed bin goes up and down driving assembly；
Feed bin support component carries at least one workpiece feed bin in the feed bin support component, limits in the workpiece feed bin
Have the cavity with open ports, can carry at least one charging tray in the cavity, the feed bin support component with it is corresponding
The feed bin lifting driving assembly is connected with movable in the up-down direction by feed bin lifting driving assembly driving；
Charging tray gripper assembly, the charging tray gripper assembly are set to the side of feed bin lifting driving assembly, the charging tray clamping
The charging tray can be passed through the open ports and be put into the cavity or be placed on the charging tray in the cavity by component
It is taken out by the open ports；
Feed bin sensor module, the feed bin sensor module are set to feed bin lifting driving assembly and the feed bin support group
Between part, the feed bin sensor module can go up and down driving assembly for the feed bin and provide reset origin.
10. placement equipment according to claim 1, which is characterized in that the assembly executing agency includes:
Supporting beam, the supporting beam are horizontally extending；
Moving parts, the moving parts are set to the supporting beam and axially extending along its；
Picture shooting assembly, the picture shooting assembly are set to the supporting beam and can obtain the assembly parts and/or the assembly
Location information；
Executing agency is drawn, the absorption executing agency is connected with the moving parts and can be axial movable along it, described
The assembly parts can be drawn or unclamp by drawing executing agency；
Actuator, the actuator, which receives the location information and adjusts the absorption executing agency according to the positional information, to exist
Position on the moving parts.
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| CN111022457A (en) * | 2019-12-31 | 2020-04-17 | 武汉协和齿环有限公司 | Radial carbon frock of pasting of ring gear |
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| CN204038558U (en) * | 2014-09-12 | 2014-12-24 | 德清工业智能制造技术研究院 | The stile feeding device of automatic assembling |
| JP2017114629A (en) * | 2015-12-24 | 2017-06-29 | 平田機工株式会社 | Transfer device and transfer method |
| CN206598041U (en) * | 2017-04-11 | 2017-10-31 | 河北骄阳丝网设备有限责任公司 | Metal welding machine horizontal hair material storage mechanism |
| CN206705080U (en) * | 2017-04-17 | 2017-12-05 | 河南中原智信科技股份有限公司 | Cylinder jacket conveying device |
| CN207524494U (en) * | 2017-11-14 | 2018-06-22 | 深圳市海目星激光智能装备股份有限公司 | A kind of automatic matching equipment of battery core buffer storage and battery battery core |
| CN108689156A (en) * | 2018-05-30 | 2018-10-23 | 常州铭赛机器人科技股份有限公司 | Fluid coater |
| CN109292335A (en) * | 2018-10-16 | 2019-02-01 | 常州铭赛机器人科技股份有限公司 | Feed bin handling equipment and miniature lens module detection system with it |
| CN109132526A (en) * | 2018-10-26 | 2019-01-04 | 苏州富强科技有限公司 | A kind of workpiece feeding device and workpiece feeding method |
| CN109317967A (en) * | 2018-11-28 | 2019-02-12 | 深圳市诺峰光电设备有限公司 | A kind of automatic precision kludge |
| CN210735506U (en) * | 2019-08-21 | 2020-06-12 | 常州铭赛机器人科技股份有限公司 | Mounting machine |
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| CN110980268A (en) * | 2019-12-06 | 2020-04-10 | 中科天工（武汉）智能技术有限公司 | Tray-dividing feeding process and device |
| CN111022457A (en) * | 2019-12-31 | 2020-04-17 | 武汉协和齿环有限公司 | Radial carbon frock of pasting of ring gear |
| CN111022457B (en) * | 2019-12-31 | 2021-04-06 | 武汉协和齿环有限公司 | Radial carbon frock of pasting of ring gear |
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