CN111376015A - Robot assembly workshop section of box body and cross beam of disinfection cabinet production line - Google Patents
Robot assembly workshop section of box body and cross beam of disinfection cabinet production line Download PDFInfo
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- CN111376015A CN111376015A CN201911417778.1A CN201911417778A CN111376015A CN 111376015 A CN111376015 A CN 111376015A CN 201911417778 A CN201911417778 A CN 201911417778A CN 111376015 A CN111376015 A CN 111376015A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/001—Article feeders for assembling machines
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/04—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for assembling or disassembling parts
- B23P19/06—Screw or nut setting or loosening machines
- B23P19/069—Multi-spindle machines
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Abstract
The invention relates to a robot assembly workshop section of a box body and a cross beam of a disinfection cabinet production line. It comprises a feeding mechanical arm; the positioning conveying line is used for positioning the cross beam grabbed by the feeding manipulator; the top of the secondary positioning table is provided with a plurality of first positioning cylinders for carrying out secondary positioning on the cross beam; the box body assembly line is used for conveying the box body to the cross beam screwing machine; and the beam screwing machine is used for positioning the box body, positioning the beam and screwing the beam on the box body so as to fix the beam on the box body. According to the invention, the procedures of feeding, positioning, feeding, screwing and the like of the beam are realized through the beam tooling vehicle, the feeding manipulator, the positioning conveying line, the secondary positioning table, the feeding manipulator, the beam feeding robot, the box body assembly line and the beam screwing machine, so that the beam is automatically installed on the disinfection cabinet box body, the production efficiency is greatly improved, and the production cost is reduced.
Description
Technical Field
The invention relates to the technical field of disinfection cabinet production lines, in particular to a robot assembly workshop section of a box body and a cross beam of a disinfection cabinet production line.
Background
The screw operation of going up of crossbeam on current sterilizer production line all adopts the manual work to go up the screw, but the production efficiency of the manual work screw of going up is low, degree of automation is low. There is therefore a need for further improvements in existing sterilizer production lines.
Disclosure of Invention
The invention aims to provide a robot assembly workshop section of a box body and a cross beam of a disinfection cabinet production line, which has high cross beam screwing efficiency, high cross beam installation efficiency and high automation degree.
The purpose of the invention is realized as follows:
a robot assembly workshop section of a box body and a cross beam of a disinfection cabinet production line is characterized by comprising a cross beam tool car, a feeding manipulator, a positioning conveying line, a secondary positioning table, a feeding manipulator, a cross beam feeding robot, a box body production line and a cross beam screw-driving machine.
The beam tooling vehicle is used for placing a beam.
The feeding mechanical arm is used for grabbing the cross beam on the cross beam tooling vehicle onto the positioning conveying line,
and the positioning conveying line is used for positioning the cross beam grabbed by the feeding manipulator.
And the feeding manipulator is used for grabbing the positioned cross beam on the positioning conveying line onto the secondary positioning table.
And the top of the secondary positioning table is provided with a plurality of first positioning cylinders for carrying out secondary positioning on the two cross beams and ensuring the distance between the two cross beams.
And the beam feeding robot is used for simultaneously grabbing the beam on the secondary positioning table and placing the beam on the box body.
The box body assembly line is used for conveying the box body to the cross beam screwing machine.
The beam screwing machine is used for positioning the box body, positioning the beam and screwing the beam on the box body, so that the beam is fixed on the box body.
The present invention may be further improved as follows.
The crossbeam is beaten the screw machine and is included the frame, go up location hold-down mechanism, left side compress tightly and beat screw mechanism, right side and compress tightly and beat screw mechanism, the left side compresses tightly and beats screw mechanism, right side and compress tightly and beat the both sides that screw mechanism located the frame respectively, go up the top of location hold-down mechanism and locate the frame to be located the left side and compress tightly and beat screw mechanism, right side and compress tightly and beat between the screw mechanism.
The upper positioning and pressing mechanism comprises a positioning lifting servo motor and a lifting positioning plate, the lifting positioning plate is arranged on the rack in a vertically sliding mode, the positioning lifting servo motor is arranged on the rack and is in driving connection with the lifting positioning plate, a liner positioning cylinder and a first positioning slotting tool are arranged on the front side and the rear side of the lifting positioning plate, the liner positioning cylinder is located on the bottom surface of the lifting positioning plate, a cylinder rod of the liner positioning cylinder extends towards the direction of the first positioning slotting tool, and the first positioning slotting tool vertically extends downwards.
The left and right sides compress tightly and beat the screw mechanism and all include fixing base, translation seat, crossbeam location compress tightly subassembly, translation servo motor and screw supply machine, translation seat horizontal slip sets up on the fixing base, translation servo motor with translation seat screw drive is connected, the left and right both sides level of translation seat is equipped with second location slotting tool and pneumatic screwdriver, the discharging pipe of screw supply machine is connected with the screw direction mouth of pneumatic screwdriver, the crossbeam location compresses tightly the subassembly and locates on the translation seat.
The crossbeam positioning and compressing assembly comprises a positioning and compressing cylinder, a positioning and compressing frame, an upper positioning and compressing rod and a lower positioning and compressing rod, the cylinder rod of the positioning and compressing cylinder drives the positioning and compressing frame to horizontally slide, the upper positioning and compressing rod, the lower positioning and compressing rod and the positioning and compressing frame are connected in a shape of a rectangle, and the upper positioning and compressing rod and the lower positioning and compressing rod are respectively horizontally elastically and telescopically arranged at the upper end and the lower end of the positioning and compressing frame.
And reset springs are arranged between the upper ends of the upper positioning pressing rod and the positioning pressing frame and between the front end of the lower positioning pressing rod and the lower end of the positioning pressing frame, so that the elastic pre-pressing of the beam can be realized in the sliding process of the translation seat by the upper positioning pressing rod and the lower positioning pressing rod.
The left and right sides of the lifting positioning plate are provided with inner container flanging reshaping components, each inner container flanging reshaping component comprises a reshaping lifting cylinder, a translation frame, a reshaping translation cylinder and an inner container flanging reshaping plate, the reshaping translation cylinder drives the translation frame to move horizontally, the reshaping lifting cylinder is arranged on the translation frame, the inner container flanging reshaping plate is horizontally arranged on a cylinder rod of the reshaping lifting cylinder, and the reshaping lifting cylinder drives the inner container flanging reshaping plates to move up and down.
The inner side surfaces of the first positioning slotting tool and the second positioning slotting tool are provided with guide inclined surfaces which guide the first positioning slotting tool and the second positioning slotting tool to be inserted outside the side plate of the box body, so that the first positioning slotting tool and the second positioning slotting tool can be conveniently inserted outside the side plate of the box body.
The inner sides of the first positioning slotting tool and the second positioning slotting tool are provided with positioning blocks, and the lifting positioning plate corresponds to the corner of the positioning box body of the positioning slotting tool, so that the box body is pressed tightly.
When the screw driver is used for driving screws, the side plate of the box body and the inner container are positioned between the positioning push plate and the first positioning slotting tool, and the positioning push plate and the side plate of the first positioning slotting tool positioning box body.
The feeding manipulator comprises a mounting rack, a horizontal moving servo motor, a horizontal moving seat, a lifting servo motor, a lifting seat, an arm rotating cylinder and a whole row of material suction arms, the horizontal moving seat is horizontally arranged on the mounting frame in a sliding manner, the horizontal moving servo motor is arranged on the mounting frame and is in driving connection with the horizontal moving seat, the lifting seat is arranged on the horizontal moving seat in a sliding way along the vertical direction, the lifting servo motor is arranged on the horizontal moving seat and is in driving connection with the lifting seat, the arm rotating cylinder is arranged on the lifting seat, the whole row of material sucking arms comprise a material sucking cross arm, a material sucking cylinder, a magnet and a magnet shield, the material sucking cross arm is horizontally arranged on the driving end of the arm rotating cylinder, the magnet shield is arranged on the material sucking cross arm, the magnet blocks are arranged in the magnet shield in a vertically sliding mode, and the material sucking air cylinder is arranged on the material sucking cross arm and is in driving connection with the magnet blocks.
The horizontal movement servo motor is in driving connection with the front synchronous belt wheel, the front synchronous belt wheel and the rear synchronous belt wheel are arranged on the mounting frame in tandem, the synchronous belt is arranged on the front synchronous belt wheel and the rear synchronous belt wheel, and the horizontal movement seat is fixed on the synchronous belt and located between the front synchronous belt wheel and the rear synchronous belt wheel. The mounting bracket is equipped with horizontal guide along the horizontal direction, the horizontal migration seat slides and sets up on horizontal guide, horizontal migration servo motor drive hold-in range rotates to drive horizontal migration seat horizontal migration.
The lifting seat is provided with a lifting straight rack along the vertical direction, a driving gear is arranged on a motor shaft of the lifting servo motor and meshed with the lifting straight rack, and the lifting servo motor rotates forwards or backwards, so that the lifting seat is lifted or lowered.
The magnetic blocks are strip-shaped magnetic blocks, and the shape of the strip-shaped magnetic blocks can be matched with that of the material sucking cross arm, so that the whole row of slide rails can be sucked up.
The positioning conveying line comprises a fixing frame, a feeding motor, a first guide wheel and a second guide wheel, the first guide wheel and the second guide wheel are respectively rotatably arranged at the front end and the rear end of the fixing frame, a second positioning cylinder, a blocking piece and a feeding belt are arranged at the top of the fixing frame, the feeding motor is in driving connection with the first guide wheel, and the feeding belt is connected with the first guide wheel and the second guide wheel.
The feeding manipulator comprises a mounting rack, a translational feeding servo motor, a lifting feeding servo motor, a horizontal sliding seat, a lifting sliding seat and a grabbing arm assembly, the translational feeding servo motor is arranged on the mounting rack and is connected with the horizontal sliding seat in a driving mode, the horizontal sliding seat is arranged on the mounting rack in a horizontal sliding mode, the lifting sliding seat is arranged on the horizontal sliding seat in a vertical sliding mode, the lifting feeding servo motor is arranged on the horizontal sliding seat and is connected with the lifting sliding seat in a lead screw transmission mode, the grabbing arm assembly is arranged on the lifting sliding seat, and the grabbing arm assembly comprises a grabbing arm and a grabbing sucker arranged on the grabbing arm.
The horizontal sliding seat can be driven to move horizontally by the translation feeding servo motor and the horizontal sliding seat through a belt pulley transmission mechanism or a gear rack transmission mechanism.
The beam tooling vehicle, the beam feeding robot and the box body assembly line are all the prior art, and the beam feeding robot is a six-axis robot, so the structure and the working principle of the beam tooling vehicle, the beam feeding robot and the box body assembly line are not described in detail herein.
The invention has the following beneficial effects:
according to the invention, the procedures of feeding, positioning, feeding, screwing and the like of the beam are realized through the beam tooling vehicle, the feeding manipulator, the positioning conveying line, the secondary positioning table, the feeding manipulator, the beam feeding robot, the box body assembly line and the beam screwing machine, so that the beam is automatically installed on the box body of the disinfection cabinet, the production efficiency is greatly improved, and the production cost is reduced.
The left and right pressing and screwing mechanisms can be used for screwing a plurality of screws and installing a plurality of beams at one time, so that the screw screwing efficiency is high, the screw installation is accurate, and the beam installation efficiency is high.
And thirdly, the cross beam is pre-compacted by the cross beam positioning and compacting assembly so that the pneumatic screwdriver can screw.
And the material suction cylinder and the magnetic block are arranged on the material suction cross arm, and the material suction cylinder drives the magnetic block to be far away from or close to the magnet shield, so that the material suction cross arm has or loses magnetic force, and a plurality of cross beams are sucked or unloaded. The invention realizes the whole row of conveying beams, has high feeding efficiency, high automation degree and low production cost, thereby improving the production efficiency. In addition, the transverse beam can be rotated through the arm rotating cylinder, the feeding direction of the transverse beam is changed, and therefore the sliding rail can be conveyed directionally.
Drawings
FIG. 1 is a schematic structural view of a robot assembly station of a box body and a cross beam of a disinfection cabinet production line.
FIG. 2 is a top view of the robotic assembly station of the cabinet and beam of the sterilizer production line of the present invention.
Fig. 3 is a schematic structural view of the feeding robot of the present invention.
Fig. 4 is a schematic view of the structure of fig. 3 at another angle.
Fig. 5 is an exploded view of fig. 3.
Fig. 6 is a schematic structural view of the feeding robot of the present invention.
Fig. 7 is an enlarged schematic view of a structure at a in fig. 6.
Fig. 8 is a front view of the cross beam screwing machine of the present invention.
FIG. 9 is a schematic structural view of the positioning and pressing box body of the beam screwing machine of the present invention.
FIG. 10 is a schematic structural diagram of the cross beam screwing machine of the present invention for screwing screws on the box body.
Fig. 11 is a front view of fig. 10.
Fig. 12 is a schematic structural view of an upper positioning and pressing mechanism of the beam screwing machine of the present invention.
Fig. 13 is a structural view of another angle of the upper positioning and pressing mechanism of the beam screwing machine of the present invention.
Fig. 14 is a schematic structural view of a left pressing and screwing mechanism of the beam screwing machine of the present invention.
Fig. 15 is a schematic structural view of a right pressing and screwing mechanism of the beam screwing machine of the present invention.
Fig. 16 is a schematic structural view of the case of the present invention.
FIG. 17 is a schematic view of another angular configuration of the housing of the present invention.
Detailed Description
The invention is further described with reference to the following figures and examples.
In the first embodiment, as shown in fig. 1 to 17, a robot assembly workshop section for a box body and a cross beam of a disinfection cabinet production line includes a cross beam tool car 1i, a feeding manipulator 1a, a positioning conveyor line 1b, two secondary positioning tables 1d and 1e, a feeding manipulator 1c, two cross beam feeding robots 1g and 1f, a box body production line 1h, and a cross beam screwing machine 10.
The beam tooling vehicle 1i is used for arranging and placing a plurality of beams 6.
And the feeding manipulator 1a is used for grabbing the arranged multiple beams 6 on the beam tool car 1i to the positioning conveying line 1 b.
And the positioning conveying line 1b is used for positioning a plurality of rows of cross beams 6 grabbed by the feeding manipulator 1 a.
And the feeding manipulator 1c is used for grabbing the two positioned cross beams 6 on the positioning conveying line 1b onto the secondary positioning tables 1d and 1 e.
The top of the secondary positioning tables 1d and 1e is provided with a plurality of first positioning cylinders for performing secondary positioning on the two beams 6 and ensuring the distance between the two beams 6.
The beam feeding robots 1g and 1f are used for simultaneously grabbing two beams on the secondary positioning tables 1d and 1e and placing the two beams on the box body.
And the box body assembly line 1h is used for conveying the box body to the beam screwing machine 10.
The beam screwing machine 10 is used for positioning the box body, positioning the beam and screwing the beam on the box body so as to fix the beam on the box body.
The feeding manipulator 1a comprises an installation frame 21a, a horizontal moving servo motor 22a, a synchronous belt 281a, a front synchronous belt wheel 282a, a rear synchronous belt wheel 283a, a horizontal moving seat 23a, a feeding lifting servo motor 24a, a lifting seat 25a, an arm rotating cylinder 26a and a whole row of material sucking arms 27a, wherein the horizontal moving seat 23a is horizontally arranged on the installation frame 21a in a sliding manner, the horizontal moving servo motor 22a is arranged on the installation frame 21a and is in driving connection with the horizontal moving seat 23a, the lifting seat 25a is arranged on the horizontal moving seat 23a in a sliding manner along the vertical direction, the feeding lifting servo motor 24a is arranged on the horizontal moving seat 23a and is in driving connection with the lifting seat 25a, the arm rotating cylinder 26a is arranged on the lifting seat 25a, and the whole row of material sucking arms 27a comprises a material sucking cross arm 271a, a material sucking cylinder 272a, The magnetic block 273a and the magnet shield 274a, the material sucking cross arm 271a is horizontally arranged on the driving end of the arm rotating cylinder 26a, the magnet shield 274a is arranged on the material sucking cross arm 271a, the magnetic block 273a is vertically and slidably arranged in the magnet shield 274a, and the material sucking cylinder 272a is arranged on the material sucking cross arm 271a and is in driving connection with the magnetic block 273 a.
The present invention is a more specific embodiment.
The horizontal movement servo motor 22a is drivingly connected to a front timing pulley 282a, the front and rear timing pulleys 282a, 283a are disposed in tandem on the mounting frame 21a, the timing belt 281a is disposed on the front and rear timing pulleys 282a, 283a, and the horizontal movement base 23a is fixed to the timing belt 281a and is located between the front and rear timing pulleys 282a, 283 a.
The mounting frame 21a is provided with a horizontal guide rail 211a along the horizontal direction, and the horizontal moving seat 23a is slidably arranged on the horizontal guide rail 211 a.
The lifting seat 25a is provided with a lifting spur rack 251a along the vertical direction, a motor shaft of the feeding lifting servo motor 24a is provided with a driving gear 241a, the driving gear 241a is meshed with the lifting spur rack 251a, and the feeding lifting servo motor rotates forwards or backwards, so that the lifting seat is lifted or lowered.
A lifting guide rail 252a is arranged between the lifting seat 25a and the horizontal moving seat 23a along the vertical direction, so that the lifting seat can stably lift and slide.
The magnetic block 273a is a strip-shaped magnetic block 273a, and the shape of the strip-shaped magnetic block can be matched with that of the material sucking cross arm, so that the whole row of cross beams can be sucked up.
The lifting seat 25a is in a vertical strip shape, the lifting seat is simple and reasonable in structural design, the size and the weight of the lifting seat cannot be increased, and the lifting seat is convenient to transport and install.
A guide mechanism 29a is arranged between the magnetic block 273a and the material suction cross arm 271a, the guide mechanism comprises a guide rod 291a and a guide sleeve 292a, the guide rod 291a penetrates through the guide sleeve 292a, and the guide rod 291a and the guide sleeve 292a are respectively arranged on the magnetic block 273a and the material suction cross arm 271 a.
When the feeding manipulator of the invention works, the horizontal movement servo motor 22a is started, the horizontal movement servo motor 22a drives the front and rear synchronous pulleys 282a, 283a and the synchronous belt 281a to rotate, the synchronous belt 281a drives the horizontal movement seat 23a, the feeding lifting servo motor 24a, the lifting seat 25a, the arm rotating cylinder 26a and the whole row of material sucking arms 27a to move horizontally, the whole row of material sucking arms 27a move to the upper part of the arranged plurality of cross beams, then the feeding lifting servo motor 24a drives the whole row of material sucking arms 27a to suck materials, meanwhile, the material sucking cylinder 272a drives the magnetic block 273a to descend to be close to the magnet shield 274a so as to make the material sucking cross arm 271a generate magnetism, thereby sucking up the whole row of cross beams, when the invention discharges, the material sucking cylinder 272a drives the magnetic block 273a to be far away from the magnet shield 274a so as to make the material sucking cross arm 271a lose magnetism, and unloading the whole row of cross beams.
The positioning conveying line 1b comprises a fixing frame 2b, a feeding motor, a first guide wheel 4b and a second guide wheel 5b, the first guide wheel 4b and the second guide wheel are respectively rotatably arranged at the front end and the rear end of the fixing frame 2b, a second positioning cylinder 8b, a blocking piece 6b and a feeding belt 7b are arranged at the top of the fixing frame 2b, the feeding motor is in driving connection with the first guide wheel 4b, the feeding belt 7b is connected with the first guide wheel 4b and the second guide wheel 5b, the feeding motor drives the first guide wheel 4b and the second guide wheel to rotate so as to drive the feeding belt 7b to rotate, the feeding belt 7b conveys a cross beam on the feeding belt forwards, the blocking piece 6b blocks the cross beam to continuously advance, and the second positioning cylinder 8b positions the cross beam at two sides of the cross beam.
The feeding manipulator 1c comprises a mounting frame 2c, a translational feeding servo motor 3c, a lifting feeding servo motor 4c, a horizontal sliding seat 5c, a lifting sliding seat 6c and a material grabbing arm component 7c, wherein the translational feeding servo motor 3c is arranged on the mounting frame 2c and is in driving connection with the horizontal sliding seat 5c, the horizontal sliding seat 5c is horizontally arranged on the mounting frame 2c in a sliding manner, the lifting sliding seat 6c is vertically arranged on the horizontal sliding seat 5c in a sliding manner, the lifting feeding servo motor 4c is arranged on the horizontal sliding seat 5c and is in screw rod transmission connection with the lifting sliding seat 6c, the material grabbing arm component 7c is arranged on the lifting sliding seat 6c, therefore, the lifting feeding servo motor drives the lifting sliding seat 6c and the material grabbing arm component 7c to slide up and down, the translational feeding servo motor 3c drives the lifting sliding seat 6c and the material grabbing arm component 7c to slide horizontally, the material grabbing arm assembly 7c comprises a material grabbing arm 8c and a material grabbing sucker 9c arranged on the material grabbing arm. Therefore, the feeding manipulator 1c of the invention can realize lifting feeding and horizontal feeding.
The horizontal sliding seat 5c can be driven to horizontally move by a belt pulley transmission mechanism or a gear rack transmission mechanism between the translation feeding servo motor 3c and the horizontal sliding seat 5 c.
The crossbeam is beaten screw machine 10 and is included frame 1, go up location hold-down mechanism 4, left side and compress tightly and beat screw mechanism 2, right side and compress tightly and beat screw mechanism 3, the left side compresses tightly and beats screw mechanism 2, right side and compress tightly and beat screw mechanism 3 and locate the both sides of frame 1 respectively, go up location hold-down mechanism 4 and locate the top of frame 1 to be located the left side and compress tightly and beat screw mechanism 2, right side and compress tightly and beat between the screw mechanism 3.
The upper positioning and pressing mechanism 4 comprises a fixing plate 40, a positioning lifting servo motor 41 and a lifting positioning plate 42, the fixing plate 40 is vertically arranged on the rack 1, the lifting positioning plate 42 is arranged on the fixing plate 40 in a vertical sliding mode, the positioning lifting servo motor 41 is arranged on the fixing plate 40 and is in driving connection with the lifting positioning plate 42, a liner positioning cylinder 44 and a first positioning slotting cutter 43 are arranged on the front side and the rear side of the lifting positioning plate 42, the liner positioning cylinder 44 is located on the bottom surface of the lifting positioning plate 42, a cylinder rod of the liner positioning cylinder 44 extends towards the direction of the first positioning slotting cutter 43, and the first positioning slotting cutter 43 vertically extends downwards.
Left and right side compresses tightly and beat screw mechanism 2, 3 and all include fixing base 21, translation seat 22, crossbeam location compress tightly subassembly 25, translation servo motor and screw supply machine 27, translation seat 22 horizontal slip sets up on fixing base 21, translation servo motor with translation seat 22 screw drive is connected, the left and right both sides level of translation seat 22 is equipped with second location slotting tool 26 and pneumatic screwdriver 24, the discharging pipe of screw supply machine 27 is connected with pneumatic screwdriver 24's screw direction mouth 240, crossbeam location compresses tightly subassembly 25 and locates on translation seat 22.
The beam positioning and pressing assembly 25 comprises a positioning and pressing cylinder 250, a positioning and pressing frame 251, an upper positioning and pressing rod 252 and a lower positioning and pressing rod 254, the cylinder rod of the positioning and pressing cylinder 250 drives the positioning and pressing frame 251 to horizontally slide, the upper positioning and pressing rod 252 and the lower positioning and pressing rod 254 are connected with the positioning and pressing frame 251 in a ] shape, and the upper positioning and pressing rod 252 and the lower positioning and pressing rod 254 are respectively arranged at the upper end and the lower end of the positioning and pressing frame 251 in a horizontally elastic telescopic manner.
And a return spring 253 is arranged between the upper positioning pressing rod 252 and the upper end of the positioning pressing frame 251 and between the front end of the lower positioning pressing rod 254 and the lower end of the positioning pressing frame 251, so that the elastic pre-pressing of the beam can be realized by the upper positioning pressing rod 252 and the lower positioning pressing rod 254 in the sliding process of the translation seat 22.
The left side and the right side of the lifting positioning plate 42 are provided with liner flanging reshaping components 45, each liner flanging reshaping component 45 comprises a reshaping lifting cylinder 451, a translation frame 452, a reshaping translation cylinder 450 and a liner flanging reshaping plate 453, the reshaping translation cylinder 450 drives the translation frame 452 to move horizontally, the reshaping lifting cylinder 451 is arranged on the translation frame 452, the liner flanging reshaping plate 453 is horizontally arranged on a cylinder rod of the reshaping lifting cylinder 451, and the reshaping lifting cylinder 451 drives the liner flanging reshaping plate 453 to move up and down.
The inner side surfaces of the first positioning slotting tool 43 and the second positioning slotting tool 26 are provided with guide inclined surfaces 261, and the guide inclined surfaces 261 guide the first positioning slotting tool 43 and the second positioning slotting tool 26 to be inserted outside the side plates of the box body, so that the first positioning slotting tool 43 and the second positioning slotting tool 26 are conveniently inserted outside the side plates of the box body.
The inner sides of the first and second positioning slotting tools 43 and 26 are provided with positioning blocks 46, and the positioning blocks 46 and the corresponding positioning slotting tools position the corners of the box body together, thereby realizing the compression positioning of the box body.
A positioning push plate 440 is arranged on a cylinder rod of the liner positioning cylinder 44, and the positioning push plate 440 is arranged away from the first positioning slotting tool 43.
The beam tooling vehicle, the beam feeding robots 1g and 1f and the box body assembly line 1h are all the prior art, and the beam feeding robots 1g and 1f are six-axis robots, so the structures and the working principles of the beam tooling vehicle, the beam feeding robots 1g and 1f are not described in detail herein.
The working principle of the invention is as follows:
when the horizontal movement servo motor 22a of the feeding manipulator is started, the horizontal movement servo motor 22a drives the front and rear synchronous pulleys 282a, 282a and 283a of the front synchronous pulley and the synchronous belt 281a to rotate, the synchronous belt 281a drives the horizontal movement seat 23a, the feeding lifting servo motor 24a, the lifting seat 25a, the arm rotating cylinder 26a and the whole row of material suction arms 27a to move horizontally, the whole row of material suction arms 27a move to the upper part of the cross beam tooling vehicle, then the feeding lifting servo motor 24a drives the whole row of material suction arms 27a to suck materials, meanwhile, the material suction cylinder 272a drives the magnetic block 273a to fall to be attached to the magnet shield 274a, so that the material suction cross arm 271a generates magnetism to suck up the whole row of cross beams, then the arm rotating cylinder drives the whole row of material suction arms 27a and the whole row of cross beams to rotate 90 degrees to ensure the directional input of the cross beams, then the feeding lifting servo motor 24a drives the whole row of material suction arms 27a to ascend, and then the horizontal moving servo motor 22a drives the whole row of material suction arms 27a to translate to the upper part of the positioning conveying line. Next, the feeding lifting servo motor 24a drives the whole row of material suction arms 27a to descend, the material suction cylinders 272a of the whole row of material suction arms 27a drive the magnetic blocks 273a to ascend away from the magnet shields 274a, so that the material suction cross arms 271a lose magnetic force, the whole row of cross beams are dismounted, and the whole row of cross beams fall on the feeding belt of the positioning conveying line.
Then, a feeding motor of the positioning conveying line is started, the feeding belt 7b conveys the whole row of cross beams forwards, the blocking piece 6b blocks the cross beams to continue to advance, and the second positioning cylinder 8b positions the cross beams on one side of the cross beams.
Then, the material grabbing arm assembly 7c of the feeding manipulator 1c moves to the position above the positioning conveying line, then the material grabbing arm assembly 7c descends to grab two beams on the positioning conveying line, then the two beams are conveyed to the secondary positioning table 1d, and then the material grabbing arm assembly 7c returns to the position above the positioning conveying line, and the two beams are grabbed again and then conveyed to the secondary positioning table 1 e. And a plurality of first positioning cylinders on the two secondary positioning tables 1d and 1e are used for carrying out secondary positioning on the beam.
After the box body on the box body assembly line reaches the cross beam screwing machine along with the tooling plate, the jacking cylinder on the assembly line can jack the tooling plate and the box body 5, and the opening of the inner container 7 of the box body 5 faces upwards. Then the left and right pressing and screwing mechanisms 3 of the invention start to work, the translation servo motors of the two mechanisms rotate in the positive direction to drive the screw rods of the translation seats 22 of the two mechanisms to move towards the box body 5, the translation seats 22 of the two mechanisms slide in opposite directions, the second positioning slotting tools 26 on the left and right sides of the two translation seats 22 are respectively inserted into the front and rear side plates of the box body 5 (at this time, the second positioning slotting tools 26 are not abutted against the left and right side plates of the box body 5), the box body 5 is positioned between the four second positioning slotting tools 26, and the box body 5 cannot slide back and forth.
Then the positioning and lifting servo motor 41 of the upper positioning and pressing mechanism 4 drives the lifting slide and the lifting positioning plate 42 to descend together, the first positioning slotting tools 43 on the front side and the rear side of the lifting positioning plate 42 are respectively inserted on the front side plate and the rear side plate of the box body 5, the lifting positioning plate 42 on the first positioning slotting tool 43 is abutted against the top surface of the box body 5, the four liner 7 positioning cylinders 44 are moved into the liners 7 of the box body 5, then the cylinder rods of the two liner 7 positioning cylinders 44 in the front extend to the front side of the box body 5, the positioning push plates of the two liner 7 positioning cylinders 44 in the front push the liners 7 and the front side plate of the box body 5 outwards, the positioning push plates of the two liner 7 positioning cylinders 44 in the rear push the liners 7 and the rear side plate of the box body 5 outwards, so that the liner 7 and the front side plate and the rear side plate of the box body 5 are in correct positions, and the.
Then, the two shaping translation cylinders 450 drive the translation frame 452, the two shaping lifting cylinders 451 and the liner 7 flanging shaping plate 453 to translate outwards together, the two shaping lifting cylinders 451 drive the liner 7 flanging shaping plate 453 to descend until the liner 7 flanging shaping plate 453 moves to the position below the opening flanging of the liner 7, then the two shaping translation cylinders 450 drive the translation frame 452, the two shaping lifting cylinders 451 and the liner 7 flanging shaping plate to translate inwards together, the liner 7 flanging shaping plate 453 is inserted into the position below the opening flanging of the liner 7, the two shaping lifting cylinders 451 drive the liner 7 flanging shaping plate 453 to ascend, the liner 7 flanging shaping plate 453 lifts the flanging of the liner 7, and therefore the flanging of the liner 7 can be separated from the box body 5, and the cross beam 6 can be inserted conveniently; secondly, the deformation of the outward flanging of the inner container 7 can be avoided.
Then, the beam loading robots 1g and 1f on the two sides of the box body respectively grab the two beams 6 and respectively horizontally place the two beams on the specific positions of the left side plate and the right side plate of the box body 5, so that the screw mounting holes 61 on the beams 6, the connecting holes on the box body 5 and the threaded holes on the liner 7 are aligned.
And then, two location of two mechanisms compress tightly cylinder 250 drive location and compress tightly frame 251 and move towards box 5, the location of two mechanisms compresses tightly frame 251 and moves in opposite directions, the last location on the location of the left side board that the left side compressed tightly and beat screw mechanism compresses tightly on two crossbeams 6 of box 5 compress tightly on the left side board of box 5 with lower location compress tightly pole 252, the location of the right side compressed tightly and beat screw mechanism compresses tightly on the frame 251 last location compress tightly pole 252 and lower location compress tightly pole 254 with two crossbeams 6 on the right side board of box 5 and compress tightly on the right side board of box 5.
Then, the translation servo motors of the two mechanisms continue to rotate forward to drive the translation seats 22 of the two mechanisms to move towards the box body 5, the upper positioning pressing rod 252 and the lower positioning pressing rod 254 retreat backward, the return spring 253 is compressed, the two translation seats 22 and the screwdrivers of the two mechanisms slide in opposite directions until the lifting positioning plate 42 on the second positioning slotting tool 26 abuts against the left side plate and the right side plate of the box body 5, meanwhile, the screw guide mouths 240 on the pneumatic screwdrivers 24 of the two mechanisms are also close to the screw mounting holes 61 of the cross beam 6, the screw supply machine 27 outputs screws to the screw guide mouths 240 on the pneumatic screwdrivers 24, then the pneumatic screwdrivers 24 of the two mechanisms start screwing, the eight pneumatic screwdrivers 24 are screwed at the same time, and the screws sequentially pass through the screw mounting holes 61 of the cross beam 6 and the connecting holes of the box body 5 and are in threaded connection with the threaded holes of the liner 7.
So far, the present invention realizes the mounting work of the cross beam 6 on the box body 5.
Thereafter, the box assembly line conveys the box 5 with the beam 6, most of the devices of the invention return to the original position, and the previous actions are repeated, thereby realizing continuous batch production.
Claims (10)
1. A robot assembly workshop section of a box body and a cross beam of a disinfection cabinet production line is characterized by comprising a cross beam tool car, a feeding manipulator, a positioning conveying line, a secondary positioning table, a feeding manipulator, a cross beam feeding robot, a box body production line and a cross beam screw-driving machine;
the feeding mechanical arm is used for grabbing the cross beam on the cross beam tooling vehicle onto the positioning conveying line;
the positioning conveying line is used for positioning the cross beam grabbed by the feeding manipulator;
the feeding manipulator is used for grabbing the positioned cross beam on the positioning conveying line onto the secondary positioning table;
the top of the secondary positioning table is provided with a plurality of first positioning cylinders for carrying out secondary positioning on the cross beam;
the beam feeding robot is used for grabbing the beam on the secondary positioning table and placing the beam on the box body;
the box body assembly line is used for conveying the box body to the cross beam screwing machine;
and the beam screwing machine is used for positioning the box body, positioning the beam and screwing the beam on the box body so as to fix the beam on the box body.
2. The robot assembly workshop section of the box body and the beam of the disinfection cabinet production line as claimed in claim 1, wherein the beam screwing machine comprises a frame, an upper positioning pressing mechanism, a left pressing and screwing mechanism and a right pressing and screwing mechanism, the left pressing and screwing mechanism and the right pressing and screwing mechanism are respectively arranged on two sides of the frame, the upper positioning pressing mechanism is arranged on the top of the frame and is positioned between the left pressing and screwing mechanism and the right pressing and screwing mechanism;
the upper positioning and pressing mechanism comprises a positioning lifting servo motor and a lifting positioning plate, the lifting positioning plate is arranged on the rack in a vertically sliding mode, the positioning lifting servo motor is arranged on the rack and is in driving connection with the lifting positioning plate, a liner positioning cylinder and a first positioning slotting tool are arranged on the front side and the rear side of the lifting positioning plate, the liner positioning cylinder is located on the bottom surface of the lifting positioning plate, a cylinder rod of the liner positioning cylinder extends towards the direction of the first positioning slotting tool, and the first positioning slotting tool vertically extends downwards;
the left and right sides compress tightly and beat the screw mechanism and all include fixing base, translation seat, crossbeam location compress tightly subassembly, translation servo motor and screw supply machine, translation seat horizontal slip sets up on the fixing base, translation servo motor with translation seat screw drive is connected, the left and right both sides level of translation seat is equipped with second location slotting tool and pneumatic screwdriver, the discharging pipe of screw supply machine is connected with the screw direction mouth of pneumatic screwdriver, the crossbeam location compresses tightly the subassembly and locates on the translation seat.
3. The robot assembly workshop section of the box body and the cross beam of the disinfection cabinet production line as claimed in claim 2, wherein the cross beam positioning and compressing assembly comprises a positioning and compressing cylinder, a positioning and compressing frame, an upper positioning and compressing rod and a lower positioning and compressing rod, the cylinder rod of the positioning and compressing cylinder drives the positioning and compressing frame to horizontally slide, the upper positioning and compressing rod, the lower positioning and compressing rod and the positioning and compressing frame are connected in a ] shape, and the upper positioning and compressing rod and the lower positioning and compressing rod are respectively horizontally elastically and telescopically arranged at the upper end and the lower end of the positioning and compressing frame.
4. The robot assembling workshop section of the box body and the cross beam of the disinfection cabinet production line as claimed in claim 3, wherein a return spring is arranged between the upper end of the upper positioning pressing rod and the positioning pressing frame, and between the front end of the lower positioning pressing rod and the lower end of the positioning pressing frame.
5. The robot assembly workshop section of the box body and the cross beam of the disinfection cabinet production line as claimed in claim 4, wherein the left and right sides of the lifting positioning plate are provided with liner flanging and reshaping components, the liner flanging and reshaping components comprise a reshaping lifting cylinder, a translation frame, a reshaping translation cylinder and a liner flanging and reshaping plate, the reshaping translation cylinder drives the translation frame to move horizontally, the reshaping lifting cylinder is arranged on the translation frame, the liner flanging and reshaping plate is horizontally arranged on a cylinder rod of the reshaping lifting cylinder, and the reshaping lifting cylinder drives the liner flanging and reshaping plate to move up and down.
6. The robot assembly workshop section of the box body and the cross beam of the disinfection cabinet production line as claimed in claim 5, wherein the feeding manipulator comprises a mounting frame, a horizontal movement servo motor, a horizontal movement seat, a lifting servo motor, a lifting seat, an arm rotating cylinder and a whole row of material sucking arms, the horizontal movement seat is horizontally slidably arranged on the mounting frame, the horizontal movement servo motor is arranged on the mounting frame and is in driving connection with the horizontal movement seat, the lifting seat is slidably arranged on the horizontal movement seat along a vertical direction, the lifting servo motor is arranged on the horizontal movement seat and is in driving connection with the lifting seat, the arm rotating cylinder is arranged on the lifting seat, the whole row of material sucking arms comprises a material sucking cross arm, a material sucking cylinder, a magnetic block and a magnet shield, the material sucking cross arm is horizontally arranged on a driving end of the arm rotating cylinder, the magnet shield is arranged on the material sucking cross arm, the magnet blocks are arranged in the magnet shield in a vertically sliding mode, and the material sucking air cylinder is arranged on the material sucking cross arm and is in driving connection with the magnet blocks.
7. A robot assembling station of a cabinet and a beam of a disinfection cabinet production line as claimed in claim 6, further comprising a synchronous belt, a front synchronous pulley and a rear synchronous pulley, wherein the horizontal movement servo motor is drivingly connected with the front synchronous pulley, the front and rear synchronous pulleys are arranged on the mounting frame in tandem, the synchronous belt is arranged on the front and rear synchronous pulleys, and the horizontal movement base is fixed on the synchronous belt and is positioned between the front and rear synchronous pulleys.
8. A robot assembling station of a box body and a beam of a disinfection cabinet production line as claimed in claim 7, wherein the lifting seat is provided with a lifting spur rack along a vertical direction, a motor shaft of the lifting servo motor is provided with a driving gear, and the driving gear is meshed with the lifting spur rack.
9. The robot assembly workshop section of the box body and the cross beam of the disinfection cabinet production line as claimed in claim 8, wherein the positioning conveyor line comprises a fixed frame, a feeding motor, a first guide wheel and a second guide wheel, the first guide wheel and the second guide wheel are respectively rotatably arranged at the front end and the rear end of the fixed frame, a second positioning cylinder, a blocking piece and a feeding belt are arranged at the top of the fixed frame, the feeding motor is in driving connection with the first guide wheel, and the feeding belt is connected with the first guide wheel and the second guide wheel.
10. The robotic assembly station of the cabinet and the cross beam of the disinfection cabinet production line as claimed in claim 9, wherein the feeding manipulator comprises a mounting frame, a translational feeding servo motor, a lifting feeding servo motor, a horizontal sliding seat, a lifting sliding seat and a gripping arm assembly, the translational feeding servo motor is arranged on the mounting frame and is in driving connection with the horizontal sliding seat, the horizontal sliding seat is horizontally and slidably arranged on the mounting frame, the lifting sliding seat is vertically and slidably arranged on the horizontal sliding seat, the lifting feeding servo motor is arranged on the horizontal sliding seat and is in transmission connection with a screw of the lifting sliding seat, the gripping arm assembly is arranged on the lifting sliding seat, and the gripping arm assembly comprises a gripping arm and a gripping sucker arranged on the gripping arm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911417778.1A CN111376015A (en) | 2019-12-31 | 2019-12-31 | Robot assembly workshop section of box body and cross beam of disinfection cabinet production line |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911417778.1A CN111376015A (en) | 2019-12-31 | 2019-12-31 | Robot assembly workshop section of box body and cross beam of disinfection cabinet production line |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111376015A true CN111376015A (en) | 2020-07-07 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911417778.1A Pending CN111376015A (en) | 2019-12-31 | 2019-12-31 | Robot assembly workshop section of box body and cross beam of disinfection cabinet production line |
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| CN (1) | CN111376015A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112296672A (en) * | 2020-12-31 | 2021-02-02 | 佛山市顺德区凯硕精密模具自动化科技有限公司 | Flexible automatic stamping assembly production line for embedded disinfection cabinet |
-
2019
- 2019-12-31 CN CN201911417778.1A patent/CN111376015A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112296672A (en) * | 2020-12-31 | 2021-02-02 | 佛山市顺德区凯硕精密模具自动化科技有限公司 | Flexible automatic stamping assembly production line for embedded disinfection cabinet |
| CN112296672B (en) * | 2020-12-31 | 2021-04-16 | 佛山市顺德区凯硕精密模具自动化科技有限公司 | Flexible automatic stamping assembly production line for embedded disinfection cabinet |
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