CN113579705A - Full-automatic assembly equipment of robot sweeps floor - Google Patents
Full-automatic assembly equipment of robot sweeps floor Download PDFInfo
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- CN113579705A CN113579705A CN202111001423.1A CN202111001423A CN113579705A CN 113579705 A CN113579705 A CN 113579705A CN 202111001423 A CN202111001423 A CN 202111001423A CN 113579705 A CN113579705 A CN 113579705A
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- 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
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Abstract
The invention discloses full-automatic assembly equipment of a sweeping robot, which comprises an assembly cabinet body, wherein the assembly cabinet body comprises an assembly bottom cabinet, an upper cabinet body and an upper cabinet body bottom plate, a turntable mechanism is arranged on the upper cabinet body bottom plate and fixed in the front left of the upper cabinet body bottom plate, a material tower mechanism is arranged behind the turntable mechanism and fixed in the rear left of the upper cabinet body bottom plate, a first four-axis mechanical arm is fixed in the middle of the upper cabinet body bottom plate, an industrial motion camera assembly is arranged on the right side in front of the first four-axis mechanical arm, a PCB (printed circuit board) oiling assembly is fixed in the front right of the industrial motion camera assembly, an oil pump assembly is arranged on the right side of the material tower mechanism, and the oil pump assembly is fixed in the rear right of the upper cabinet body bottom plate; the invention has the advantages of reasonable station configuration structure, high automation degree, high production efficiency, improved product quality and good market application value.
Description
Technical Field
The invention relates to the field of intelligent manufacturing equipment, in particular to full-automatic assembling equipment for a sweeping robot.
Background
The sweeping robot is a product which is exploded in the market in recent years, the sweeping robot is complex in structure and multiple in assembly process, manual operation processes are multiple, the existing sweeping robot is unreasonable in production line station structure, low in automation degree and production efficiency, and product quality cannot be effectively guaranteed.
Accordingly, the prior art is deficient and needs improvement.
Disclosure of Invention
The invention provides full-automatic assembly equipment of a sweeping robot, aiming at solving the defects of more manual operation procedures, unreasonable station structure, low automation degree, low production efficiency and the like.
The technical scheme provided by the invention comprises an assembly cabinet body, wherein the assembly cabinet body comprises an assembly bottom cabinet, an upper cabinet body and an upper cabinet body bottom plate, a turntable mechanism is arranged on the upper cabinet body bottom plate, the turntable mechanism is fixed in the left front of the upper cabinet body bottom plate, a material tower mechanism is arranged behind the turntable mechanism, the material tower mechanism is fixed in the left rear of the upper cabinet body bottom plate, a first four-axis mechanical arm is arranged between the turntable mechanism and the material tower mechanism, the first four-axis mechanical arm is fixed in the middle of the upper cabinet body bottom plate, an industrial motion camera assembly is arranged on the right side in front of the first four-axis mechanical arm, the industrial motion camera assembly is fixed in the right front of the upper cabinet body bottom plate, a PCB oil injection assembly is fixed on the right front of the industrial motion camera assembly, and an oil pump assembly is arranged on the right side of the material tower mechanism, the oil pump assembly is fixed on the right rear side of the bottom plate of the upper cabinet body.
Preferably, the bottom plate of the upper cabinet body is fixed on the upper part of the assembly bottom cabinet, and the upper cabinet body is fixed on the upper part of the bottom plate of the upper cabinet body; the upper cabinet body comprises an upper cabinet body support frame, organic glass, an emergency stop starting table, a safety grating, a safety door, a door stopper, a safety door switch and an equipment control box, the upper cabinet body support frame is fixed on the upper surface of the upper cabinet body bottom plate, the organic glass is fixed on the outer surface of the upper cabinet body support frame, the emergency stop starting table is fixed on the lower part in front of the upper cabinet body support frame, the safety grating is fixed on the two front sides of the upper cabinet body support frame, the safety door is fixed on the back of the upper cabinet body support frame, the door stopper is fixed on the upper part of the safety door, and the equipment control box is fixed on the front of the upper cabinet body support frame.
In order to fix the turntable mechanism, the material tower mechanism, the first four-axis mechanical arm, the industrial motion camera assembly, the oil pump assembly and the PCB oil injection assembly, an upper cabinet body bottom plate is arranged at the upper part of the assembly bottom cabinet; organic glass is fixed on the supporting frame of the upper cabinet body, so that the running state of equipment can be clearly observed; the emergency stop and start platform is arranged at the lower part in front of the upper cabinet body support frame and can be used for stopping and starting equipment, and the safety grating is matched with the emergency stop and start platform for use, so that the operation safety can be effectively ensured; in order to facilitate the maintenance of equipment and the oil injection operation, a safety door is assembled behind a support frame of an upper cabinet body, in order to ensure the safety of operation through the safety door, a door stopper and a safety door switch are arranged above the safety door, and when the equipment runs, the safety door switch is always in a locking state; the equipment control box is used for displaying and controlling the overall operation condition of the equipment.
Preferably, the turntable mechanism comprises a turntable, a turntable motor component, a flip bottom plate, a code scanning light source component, a screw guide mechanism, a first positioning assembly platform, a second positioning assembly platform, a laser sensor and a golden finger clamping claw cylinder, the turntable is fixed on the upper surface of the bottom plate of the upper cabinet body, the turntable motor component is arranged below the turntable, the turntable motor component is fixed in the assembly bottom cabinet, the flip bottom plate is fixed on the turntable, the code scanning light source component is fixed on the upper portion of the flip bottom plate, the screw guide mechanism is arranged on the first positioning assembly platform, the first positioning assembly platform is fixed on one side of the flip bottom plate, the second positioning assembly platform is fixed on the other side of the flip bottom plate, and the laser sensor is arranged on the side surface of the first positioning assembly platform, the laser sensor is fixed in the side of carousel, gold finger clamping jaw jar set up in the upper portion of second location assembly platform.
In order to facilitate the operations of blanking of golden fingers of the sweeping robot, PCB oil spraying, screwing of a lower cover and the like, a turntable mechanism is arranged on a bottom plate of the upper cabinet body; the turntable motor assembly drives the turntable to rotate, and the code scanning light source assembly is used for scanning the two-dimensional codes of the large shell assembly, the PCB and the driving slider so as to confirm the two-dimensional codes before assembly; the screw guiding mechanism helps to position and screw, the first positioning assembly table and the second positioning assembly table are used for accurately fixing all assembly parts of the floor sweeping robot, the laser sensor is used for measuring and transmitting a result to the control box, and the gold finger clamping claw cylinder is used for being matched with the first four-axis mechanical arm to perform grabbing, oil injection and other operations.
Preferably, screw guiding mechanism includes the direction bottom plate, the higher authority of direction bottom plate is fixed with the short stroke cylinder of two effects, the higher authority of the short stroke cylinder of two effects is provided with bearing unit, respectively be provided with a guiding axle around the direction bottom plate, the guiding axle with the higher authority of bearing unit is provided with the guide holder, the left side upper portion of guide holder is connected with left screw deflector, the right upper portion of guide holder is connected with right screw deflector, left side screw deflector with the centre of right screw deflector is provided with deflector coupling unit, the left side of deflector coupling unit is connected left screw deflector, the right side of deflector coupling unit is connected right screw deflector.
In order to better carry out the operation of twisting screws to the robot of sweeping the floor, set up screw guiding mechanism on carousel mechanism, two effect short stroke cylinders provide rotary power for bearing unit, and the guiding axle is used for fixing the guide holder, and left screw deflector and right screw deflector are placed to the guide holder, and left screw deflector and right screw deflector cooperate bearing unit to fix a position the screw.
Preferably, golden finger clamping jaw jar includes that flange, clamping jaw mounting panel, pneumatic clamping jaw, magnetic switch, middle liftout cross cab apron, claw piece, clamping jaw middle uide bushing, thimble, spraying valve mounting panel and spraying valve, flange connection the first four-axis arm, the clamping jaw mounting panel is connected flange's bottom, pneumatic clamping jaw is connected the both sides of clamping jaw mounting panel, magnetic switch set up in pneumatic clamping jaw's centre, middle liftout is crossed the cab apron and is connected pneumatic clamping jaw's front, the claw piece is fixed in below the pneumatic clamping jaw, the uide bushing is established in the centre of clamping jaw in the middle of the clamping jaw, the uide bushing is connected in the middle of the clamping jaw the below of cab apron is crossed to middle liftout, the thimble is connected the below of the uide bushing in the middle of the clamping jaw, the spraying valve mounting panel is connected the rear of clamping jaw mounting panel, the spray valve is connected with the spray valve mounting plate.
In order to cooperate first four-axis arm to snatch and the operation such as oiling, set up golden finger clamping jaw jar on carousel mechanism 2, flange is used for connecting first four-axis arm and golden finger clamping jaw jar, the clamping jaw mounting panel is used for fixing pneumatic clamping jaw, pneumatic clamping jaw is used for snatching and places the operation such as golden finger, magnetic switch is used for controlling the clamp of pneumatic clamping jaw and gets and open, middle liftout transition plate top gets golden finger accessory, the uide bushing is placed to the golden finger accessory of pressing from both sides with the top in the middle of the claw piece cooperation clamping jaw, the atomizing valve mounting panel is used for fixing the atomizing valve, the atomizing valve is used for carrying out the oiling operation for PCB.
Preferably, the material tower mechanism comprises a first large golden finger material tower, a second large golden finger material tower and a small golden finger material tower, the first large golden finger material tower is fixed on the upper surface of the bottom plate of the upper cabinet body, the second large golden finger material tower is fixed on the left side of the first large golden finger material tower, and the small golden finger material tower is fixed on the left side of the second large golden finger material tower.
In order to supply materials for the floor sweeping robot, a material tower mechanism is fixed on the bottom plate of the upper cabinet body, a first large golden finger material tower and a second large golden finger material tower supply materials for large golden finger accessories, and a small golden finger material tower supplies materials for small golden finger accessories.
Preferably, the first large golden finger material tower comprises a material tower support, an indexing disc is arranged in the middle of the material tower support, a material pipe indexing disc is arranged below the indexing disc, a support shaft is arranged in the middle of the indexing disc and the material pipe indexing disc, the support shaft penetrates through the indexing disc and the material pipe indexing disc and is fixed on the material tower support, an indexing disc cylinder support is fixed on the back of the material tower support, an indexing disc cylinder is fixed in front of the indexing disc cylinder support, a guide chute is arranged below the material pipe indexing disc, a material distribution unit is arranged at the front end of the guide chute, the material distribution unit is fixed at the front end of the material tower support, and a material distribution cylinder is fixed on the right side of the material distribution unit.
In order to supply large golden fingers for the assembly of a floor sweeping robot, a first large golden finger material tower is fixed on a bottom plate of an upper cabinet body, a dividing plate is matched with a material pipe dividing plate to perform blanking operation on the large golden fingers, a supporting shaft supports the dividing plate and the material pipe dividing plate to rotate, a dividing plate cylinder support is used for fixing a dividing plate cylinder, the dividing plate cylinder provides power support for the rotation of the dividing plate, a guide chute is used for placing the large golden fingers, and the dividing cylinder is matched with a dividing unit to perform dividing operation on the large golden fingers.
Preferably, a motion camera display is arranged in front of the industrial motion camera assembly and fixed to the inner top of the upper cabinet.
The industrial motion camera component is used for shooting to confirm whether the variants of the curved surface block, the PCB and the driving slide block are correct or not, and the motion camera display is used for displaying and storing pictures of the industrial motion camera and is matched with the detection and the recording of the industrial motion camera.
Preferably, the preceding second four-axis arm that is provided with of the assembly cabinet body, the both sides of second four-axis arm respectively set up a handle slide, the preceding accessory rack that is provided with of handle slide.
In order to replace the manual work to placing the accessory, be provided with second four-axis arm in the front of the assembly cabinet body, for the convenience of second four-axis arm to sweeping the floor placing and snatching of robot, respectively set up a handle slide in the both sides of second four-axis arm, for the convenience of placing each spare part, be provided with the accessory rack in the front of handle slide.
Compared with the prior art, the automatic station arranging device has the advantages of reasonable station arranging structure, high automation degree, high production efficiency, product quality improvement and good market application value.
Drawings
Fig. 1 is a schematic view of the overall structure of a full-automatic assembly device of a sweeping robot according to the present invention;
fig. 2 is a left side schematic view of the full-automatic assembling equipment of the sweeping robot of the invention;
fig. 3 is a right side schematic view of the full-automatic assembling equipment of the sweeping robot of the invention;
FIG. 4 is a schematic structural view of an assembled cabinet according to the present invention;
FIG. 5 is a schematic structural diagram of the upper cabinet of the present invention;
FIG. 6 is a schematic structural diagram of a turntable mechanism according to the present invention;
FIG. 7 is a schematic structural view of a screw guide mechanism of the present invention;
FIG. 8 is a schematic structural view of a gold finger gripper cylinder according to the present invention;
FIG. 9 is a schematic structural diagram of a material tower mechanism of the present invention;
FIG. 10 is a schematic view of a first large golden finger material tower according to the present invention;
reference numerals: 1. assembling a cabinet body; 11. assembling a bottom cabinet; 12. an upper cabinet body; 121. a support frame of the upper cabinet body; 122. organic glass; 123. an emergency stop and start station; 124. a safety grating; 125. a safety door; 126. a door stopper; 127. a safety door switch; 128. an equipment control box; 13. a bottom plate of the upper cabinet body; 2. A turntable mechanism; 21. a turntable; 22. a turntable motor assembly; 23. a flip cover chassis; 24. a code scanning light source assembly; 25. a screw guide mechanism; 251. a guide base plate; 252. a double-acting short-stroke cylinder; 253. a bearing unit; 254. a guide shaft; 255. a guide seat; 256. a left screw guide plate; 257. a right screw guide plate; 258. a guide plate connection unit; 26. a first positioning assembly table; 27. a second positioning assembly table; 28. a laser sensor; 29. a golden finger gripper cylinder; 291. a connecting flange; 292. a clamping jaw mounting plate; 293. a pneumatic clamping jaw; 294. a magnetic switch; 295. a middle liftout transition plate; 296. a claw piece; 297. a clamping jaw middle guide sleeve; 298. a thimble; 299. an aerosol valve mounting plate 2910, an aerosol valve; 3. a material tower mechanism; 31. a first large golden finger material tower; 311. a material tower bracket; 312. an index plate; 313. a material pipe dividing disc; 314. a support shaft; 315. a graduated disk cylinder support; 316. an index plate cylinder; 317. a material guide chute; 318. a material distributing unit; 319. a material distributing cylinder; 32. a second big golden finger material tower; 33. a small golden finger material tower; 4. a first four-axis mechanical arm; 5. an industrial motion camera assembly; 51. a motion camera display; 6. an oil pump assembly; 7. a PCB oiling component; 8. a second four-axis mechanical arm; 9. a handle slide; 10. accessory rack.
Detailed Description
The technical features mentioned above are combined with each other to form various embodiments which are not listed above, and all of them are regarded as the scope of the present invention described in the specification; also, modifications and variations may be suggested to those skilled in the art in light of the above teachings, and it is intended to cover all such modifications and variations as fall within the true spirit and scope of the invention as defined by the appended claims.
In order to facilitate an understanding of the invention, the invention is described in more detail below with reference to the accompanying drawings and specific examples. Preferred embodiments of the present invention are shown in the drawings. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for descriptive purposes only.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.
The present invention will be described in detail with reference to the accompanying drawings.
Example 1: as shown in fig. 1, 2 and 3, in order to overcome the defects of more manual operation procedures, unreasonable station structure, low automation degree, low production efficiency and the like in the prior art, the invention provides full-automatic assembly equipment of a sweeping robot, which comprises an assembly cabinet body 1, wherein the assembly cabinet body 1 comprises an assembly bottom cabinet 11, an upper cabinet body 12 and an upper cabinet body bottom plate 13, a turntable mechanism 2 is arranged on the upper cabinet body bottom plate 13, the turntable mechanism 2 is fixed in the left front of the upper cabinet body bottom plate 13, a material tower mechanism 3 is arranged behind the turntable mechanism 2, the material tower mechanism 3 is fixed in the left rear of the upper cabinet body bottom plate 13, a first four-axis mechanical arm 4 is arranged between the turntable mechanism 2 and the material tower mechanism 3, the first four-axis mechanical arm 4 is fixed in the middle of the upper cabinet body bottom plate 13, and an industrial motion camera assembly 5 is arranged on the right side of the first four-axis mechanical arm 4, the industrial motion camera component 5 is fixed on the right front side of the bottom plate 13 of the upper cabinet body, the PCB oiling component 7 is fixed on the right front side of the industrial motion camera component 5, the oil pump component 6 is arranged on the right side of the material tower mechanism 3, and the oil pump component 6 is fixed on the right rear side of the bottom plate 13 of the upper cabinet body.
The industrial motion camera component 5 takes a picture to confirm whether the variety of the curved surface block, the PCB and the driving slide block is correct or not, the turntable mechanism 2 rotates 180 degrees, the first four-axis mechanical arm 4 puts the golden finger of the material tower mechanism 3 on the turntable mechanism 2, the scanning light source component 24 scans the two-dimensional code of the large shell, the first four-axis mechanical arm 4 moves to the position above the PCB, the spray valve 2910 is opened to fill oil into the PCB, the turntable mechanism 2 rotates 180 degrees, and the industrial motion camera component 5 takes a picture to confirm that the golden finger is assembled correctly; the second four-axis mechanical arm 8 takes a large shell assembly to install the PCB into the large shell, soft boards on two sides are inserted into the PCB, the industrial motion camera assembly 5 takes pictures to confirm whether the soft boards are inserted in place, and the scanning light source assembly 24 scans the two-dimensional code of the PCB; the first four-axis arm 4 takes off the lid and packs into big casing, and carousel mechanism 2 carries out the screw assembly and detects and targets in place, and second four-axis arm 8 takes out the work piece and puts into handle slide 9.
Example 2: as shown in fig. 4 and 5, in order to fix the turntable mechanism 2, the material tower mechanism 3, the first four-axis mechanical arm 4, the industrial motion camera component 5, the oil pump component 6 and the PCB oiling component 7, an upper cabinet body bottom plate 13 is arranged at the upper part of the assembly bottom cabinet 11; the upper cabinet body bottom plate 13 is fixed on the upper part of the assembly bottom cabinet 11, and the upper cabinet body 12 is fixed on the upper part of the upper cabinet body bottom plate 13; the upper cabinet body 12 comprises an upper cabinet body support frame 121, organic glass 122, an emergency stop starting platform 123, a safety grating 124, a safety door 125, a door stopper 126, a safety door switch 127 and an equipment control box 128, the upper cabinet body support frame 121 is fixed on the upper surface of the upper cabinet body bottom plate 13, the organic glass 122 is fixed on the outer surface of the upper cabinet body support frame 121, the emergency stop starting platform 123 is fixed on the front lower part of the upper cabinet body support frame 121, the safety grating 124 is fixed on the front two sides of the upper cabinet body support frame 121, the safety door 125 is fixed on the rear surface of the upper cabinet body support frame 121, the door stopper 126 and the safety door switch 127 are fixed on the upper part of the safety door 125, and the equipment control box 128 is fixed on the front surface of the upper cabinet body support frame 121.
When manual operation is performed, the safety grating 124 detects and stops the assembly equipment of the sweeping robot, and after the operation is completed, a start button of the emergency stop and start platform 123 is pressed to start the equipment; when the oil injection operation is needed, the equipment stops working, the safety door switch 127 opens the safety door 125, the operation is completed, the safety door 125 is closed, and the door stopper 126 closes the safety door 125.
Example 3: as shown in fig. 6, in order to facilitate the operations of blanking the golden finger of the sweeping robot, spraying oil to the PCB, screwing the lower cover, etc., a turntable mechanism 2 is disposed on the bottom plate 13 of the upper cabinet, the turntable mechanism 2 includes a turntable 21, a turntable motor assembly 22, a flip bottom plate 23, a code scanning light source assembly 24, a screw guide mechanism 25, a first positioning assembly table 26, a second positioning assembly table 27, a laser sensor 28, and a golden finger clamping claw cylinder 29, the turntable 21 is fixed on the top plate 13 of the upper cabinet, the turntable motor assembly 22 is disposed below the turntable 21, the turntable motor assembly 22 is fixed inside the assembly bottom cabinet 11, the flip bottom plate 23 is fixed on the turntable 21, the code scanning light source assembly 24 is fixed on the upper portion of the flip bottom plate 23, the screw guide mechanism 25 is disposed on the first positioning assembly table 26, one side of flip bottom plate 23 is fixed with first location assembly platform 26, the opposite side of flip bottom plate 23 is fixed with second location assembly platform 27, laser sensor 28 set up in the side of first location assembly platform 26, laser sensor 28 is fixed in the side of carousel 21, golden finger clamping jaw jar 29 set up in the upper portion of second location assembly platform 27.
The turntable motor assembly 22 drives the turntable 21 to rotate, and the code scanning light source assembly 24 is used for scanning the two-dimensional codes of the large shell assembly, the PCB and the driving slider so as to confirm before assembly; the screw guide mechanism 25 helps to position and screw, the first positioning assembly table 26 and the second positioning assembly table 27 are used for accurately fixing each assembly part of the sweeping robot, the laser sensor 28 is used for measuring and transmitting the result to the control box, and the gold finger clamping claw cylinder 29 is used for matching with the first four-axis mechanical arm 4 to perform grabbing, oiling and other operations.
Example 4: as shown in fig. 7, in order to better perform the screwing operation on the sweeping robot, a screw guide mechanism 25 is arranged on the turntable mechanism 2, the screw guide mechanism 25 comprises a guide bottom plate 251, a double-acting short stroke air cylinder 252 is fixed on the guide bottom plate 251, a bearing unit 253 is arranged on the double-acting short-stroke cylinder 252, a guide shaft 254 is respectively arranged on the periphery of the guide bottom plate 251, guide seats 255 are provided on the guide shaft 254 and the bearing unit 253, a left screw guide plate 256 is connected to the left upper portion of the guide holder 255, a right screw guide plate 257 is connected to the right upper portion of the guide holder 255, a guide plate connecting unit 258 is provided in the middle of the left and right screw guide plates 256 and 257, the left side of the guide plate connecting unit 258 is connected to the left screw guide plate 256, and the right side of the guide plate connecting unit 258 is connected to the right screw guide plate 257.
The double-acting short-stroke air cylinder 252 provides rotary power for the bearing unit 253, the guide shaft 254 is used for fixing the guide seat 255, the left screw guide plate 256 and the right screw guide plate 257 are placed on the guide seat 255, the left screw guide plate 256 and the right screw guide plate 257 are matched with the bearing unit 253 to press down and position screws, screw screwing operation is carried out, and the left screw guide plate 256 and the right screw guide plate 257 are unscrewed.
Example 5: as shown in fig. 8, in order to perform operations such as grasping and oil injection in cooperation with the first four-axis robot arm 4, a gold finger grip cylinder 29 is provided on the turntable mechanism 2, the gold finger grip cylinder 29 includes a connection flange 291, a grip mounting plate 292, a pneumatic grip 293, a magnetic switch 294, an intermediate topping transition plate 295, a grip tab 296, a grip intermediate guide sleeve 297, a thimble 298, a spray valve mounting plate 299, and a spray valve 2910, the connection flange 291 connects the first four-axis robot arm 4, the grip mounting plate 292 connects the bottom of the connection flange 291, the pneumatic grip 293 connects both sides of the grip mounting plate 292, the magnetic switch 294 is provided in the middle of the pneumatic grip 293, the intermediate topping transition plate 295 connects the front of the pneumatic grip 293, the grip tab 296 is fixed below the pneumatic grip 293, the grip intermediate guide sleeve 297 is provided in the middle of the grip tab 296, uide bushing 297 is connected in the middle of the clamping jaw below of transition plate 295 is crossed to middle liftout, thimble 298 is connected the below of uide bushing 297 in the middle of the clamping jaw, spray valve mounting panel 299 is connected the rear of clamping jaw mounting panel 292, spray valve 2910 is connected spray valve mounting panel 299.
The connecting flange 291 is used for connecting the first four-axis mechanical arm 4 and the golden finger clamping jaw cylinder 29, the clamping jaw mounting plate 292 is used for fixing the pneumatic clamping jaw 293, the pneumatic clamping jaw 293 is used for grabbing and placing golden fingers and the like, the magnetic switch 294 is used for controlling the clamping and opening of the pneumatic clamping jaw 293, the middle ejection transition plate 295 is used for ejecting golden finger fittings, the jaw piece 296 is matched with the clamping jaw middle guide sleeve 297 and the ejector pin 298 to place the clamped golden finger fittings, the atomizing valve mounting plate 299 is used for fixing the atomizing valve 2910, and the atomizing valve 2910 is used for oiling the PCB.
Example 6: as shown in fig. 9, in order to supply materials for the assembly of the sweeping robot, a material tower mechanism 3 is fixed on the upper surface of the bottom plate 13 of the upper cabinet, the material tower mechanism 3 includes a first large golden finger material tower 31, a second large golden finger material tower 32 and a small golden finger material tower 33, the first large golden finger material tower 31 is fixed on the upper surface of the bottom plate 13 of the upper cabinet, the second large golden finger material tower 32 is fixed on the left side of the first large golden finger material tower 31, and the small golden finger material tower 33 is fixed on the left side of the second large golden finger material tower 32; the first large golden finger material tower 31 and the second large golden finger material tower 32 supply large golden finger accessories, and the small golden finger material tower 33 supplies small golden finger accessories.
Further, as shown in fig. 10, in order to supply a large golden finger for the assembly of the sweeping robot, a first large golden finger material tower 31 is fixed on the upper surface of the bottom plate 13 of the upper cabinet, the first large golden finger material tower 31 includes a material tower support 311, an index plate 312 is arranged in the middle of the material tower support 311, a material pipe index plate 313 is arranged below the index plate 312, a support shaft 314 is arranged in the middle of the index plate 312 and the material pipe index plate 313, the support shaft 314 passes through the index plate 312 and the material pipe index plate 313, the support shaft 314 is fixed on the upper surface of the material tower support 311, an index plate cylinder support 315 is fixed on the rear surface of the material tower support 311, an index plate cylinder 316 is fixed in front of the index plate cylinder support 315, a material pipe 317 is arranged below the index plate 313, and a material distributing unit 318 is arranged at the front end of the material guiding groove 317, the material distributing unit 318 is fixed at the front end of the material tower bracket 311, and a material distributing cylinder 319 is fixed at the right side of the material distributing unit 318.
The index plate cylinder 316 rotates the index plate 312 and the material pipe index plate 313, the golden finger drops downwards along the material guide chute 317, and the separating cylinder 319 pushes the golden finger out of the separating unit 318.
The index plate 312 is matched with the material pipe index plate 313 to perform blanking operation on the large golden fingers, the supporting shaft 314 supports the index plate 312 and the material pipe index plate 313 to rotate, the index plate cylinder support 315 is used for fixing the index plate cylinder 316, the index plate cylinder 316 provides power support for the rotation of the index plate 312, the guide chute 317 is used for placing the large golden fingers, and the material distribution cylinder 319 is matched with the material distribution unit 318 to perform material distribution operation on the large golden fingers.
Example 7: as shown in fig. 1, a motion camera display 51 is disposed on the front of the industrial motion camera assembly 5, and the motion camera display 51 is fixed on the inner top of the upper cabinet 12.
The industrial motion camera assembly 5 takes a picture to confirm whether the variations of the curved block, the PCB and the driving slider are correct or not, and the motion camera display 51 is used for displaying and storing the picture of the industrial motion camera, and is matched with the detection and recording of the industrial motion camera.
Example 8: as shown in fig. 1 and 2, in order to replace manual placement of accessories, a second four-axis mechanical arm 8 is arranged in front of the assembly cabinet 1, in order to facilitate placement and grasping of the second four-axis mechanical arm 8 on the sweeping robot, two handle slideways 9 are respectively arranged on two sides of the second four-axis mechanical arm 8, and in order to facilitate placement of various parts, an accessory placing rack 10 is arranged in front of the handle slideways 9.
Example 9: different from the above embodiment, in order to realize the automatic screwing operation, the automatic screwing mechanism is arranged on the left side of the turntable mechanism 2, the automatic screwing mechanism is fixed above the inside of the upper cabinet body 12, when the left screw guide plate 256 and the right screw guide plate 257 of the screw guide mechanism are pressed down for positioning, the automatic screwing mechanism screws the large shell through the telescopic shaft, and after the screwing is completed, the telescopic shaft pulls up the automatic screwing mechanism.
In order to realize continuous feeding of screws, a screw spiral vibration disk is arranged at the top of the upper cabinet body 12, a screw guide groove of the screw spiral vibration disk penetrates through the upper cabinet body 12, and the screw guide groove is connected with an automatic screw twisting mechanism.
The working principle of the invention is as follows: the second four-axis mechanical arm 8 takes a large shell assembly and a PCB and puts the large shell assembly and the PCB into a turntable 21 tool; the second four-axis mechanical arm 8 takes the driving slide block, manually injects oil into the driving slide block, and then installs the driving slide block into the large shell, and the industrial motion camera component 5 takes a picture to confirm whether the varieties of the curved surface block, the PCB and the driving slide block are correct or not; the turntable 21 of the turntable mechanism 2 rotates 180 degrees, the first four-axis mechanical arm 4 moves to the small golden finger material tower 33, the golden finger clamping claw cylinder 29 clamps the golden finger tightly, the small golden finger is grabbed, the first four-axis mechanical arm 4 moves to the second assembling and positioning table, and the golden finger clamping claw cylinder 29 is opened to load the small golden finger; the first four-axis mechanical arm 4 is moved to a second big golden finger material tower 32, the golden finger clamping claw cylinder 29 is clamped to grab a big golden finger, the first four-axis mechanical arm 4 is moved to a second assembling and positioning table, and the golden finger clamping claw cylinder 29 is opened to load the big golden finger; the first four-axis mechanical arm 4 moves to a first big golden finger material tower 31, the golden finger clamping claw cylinder 29 clamps the golden finger, the golden finger is grabbed and moves to a second assembling and positioning table, and the golden finger clamping claw cylinder 29 is opened to be filled with the golden finger; scanning light source subassembly 24 scans big casing two-dimensional code, and first four-axis arm 4 moves to the PCB top, opens spray valve 2910 and gives the PCB oiling, and carousel 21 rotates 180 degrees, and industry motion camera subassembly 5 shoots and confirms that the golden finger assembly is errorless.
The second four-axis mechanical arm 8 takes a large shell assembly to install the PCB into the large shell, soft boards on two sides are inserted into the PCB, the industrial motion camera assembly 5 takes pictures to confirm whether the soft boards are inserted in place, and the scanning light source assembly 24 scans the two-dimensional code of the PCB; the first four-axis mechanical arm 4 takes off a cover and is arranged in a large shell, the screw guide mechanism 25 is rotated in place, the proximity switch is detected in place, the left screw guide plate 256 and the right screw guide plate 257 are pressed downwards for positioning, and the screw screwing operation is carried out; the left screw guide plate 256 and the right screw guide plate 257 are unscrewed, the proximity switch detects the position, and the second four-axis mechanical arm 8 takes out the workpiece and puts the workpiece into the handle slide way 9.
The technical features mentioned above are combined with each other to form various embodiments which are not listed above, and all of them are regarded as the scope of the present invention described in the specification; also, modifications and variations may be suggested to those skilled in the art in light of the above teachings, and it is intended to cover all such modifications and variations as fall within the true spirit and scope of the invention as defined by the appended claims.
Claims (9)
1. A full-automatic assembly device of a sweeping robot is characterized by comprising an assembly cabinet body, wherein the assembly cabinet body comprises an assembly bottom cabinet, an upper cabinet body and an upper cabinet body bottom plate, a turntable mechanism is arranged on the upper cabinet body bottom plate and fixed in the front left of the upper cabinet body bottom plate, a material tower mechanism is arranged behind the turntable mechanism and fixed in the rear left of the upper cabinet body bottom plate, a first four-axis mechanical arm is arranged between the turntable mechanism and the material tower mechanism and fixed in the middle of the upper cabinet body bottom plate, an industrial motion camera assembly is arranged on the right side in front of the first four-axis mechanical arm and fixed in the front right of the upper cabinet body bottom plate, a PCB oil injection assembly is fixed in the front right of the industrial motion camera assembly, and an oil pump assembly is arranged on the right side of the material tower mechanism, the oil pump assembly is fixed on the right rear side of the bottom plate of the upper cabinet body.
2. The full-automatic assembly equipment of the floor sweeping robot as claimed in claim 1, wherein the bottom plate of the upper cabinet body is fixed on the upper part of the assembly bottom cabinet, and the upper cabinet body is fixed on the upper part of the bottom plate of the upper cabinet body; the upper cabinet body comprises an upper cabinet body support frame, organic glass, an emergency stop starting table, a safety grating, a safety door, a door stopper, a safety door switch and an equipment control box, the upper cabinet body support frame is fixed on the upper surface of the upper cabinet body bottom plate, the organic glass is fixed on the outer surface of the upper cabinet body support frame, the emergency stop starting table is fixed on the lower part in front of the upper cabinet body support frame, the safety grating is fixed on the two front sides of the upper cabinet body support frame, the safety door is fixed on the back of the upper cabinet body support frame, the door stopper is fixed on the upper part of the safety door, and the equipment control box is fixed on the front of the upper cabinet body support frame.
3. The full-automatic assembling equipment of the sweeping robot according to claim 1, wherein the turntable mechanism comprises a turntable, a turntable motor assembly, a flip bottom plate, a code sweeping light source assembly, a screw guide mechanism, a first positioning assembly table, a second positioning assembly table, a laser sensor and a golden finger clamping claw cylinder, the turntable is fixed on the upper surface of the bottom plate of the upper cabinet body, the turntable motor assembly is arranged below the turntable, the turntable motor assembly is fixed in the assembly bottom cabinet, the flip bottom plate is fixed on the turntable, the code sweeping light source assembly is fixed on the upper portion of the flip bottom plate, the screw guide mechanism is arranged on the first positioning assembly table, the first positioning assembly table is fixed on one side of the flip bottom plate, the second positioning assembly table is fixed on the other side of the flip bottom plate, laser sensor set up in the side of first location assembly platform, laser sensor is fixed in the side of carousel, golden finger clamping jaw jar set up in the upper portion of second location assembly platform.
4. The full-automatic assembly equipment of a robot of sweeping floor of claim 3, characterized in that, the screw guiding mechanism includes the direction bottom plate, be fixed with two effect short stroke cylinders on the top of direction bottom plate, be provided with the bearing unit on the two effect short stroke cylinders, respectively be provided with a guiding axle around the direction bottom plate, the guiding axle with the top of bearing unit is provided with the guide holder, the upper portion of the left side of guide holder is connected with left screw deflector, the upper portion of the right side of guide holder is connected with right screw deflector, the centre of left screw deflector with the right screw deflector is provided with the deflector coupling unit, the left side of deflector coupling unit is connected left screw deflector, the right side of deflector coupling unit is connected right screw deflector.
5. The full-automatic assembly equipment of claim 3, wherein the golden finger clamping jaw cylinder comprises a connecting flange, a clamping jaw mounting plate, a pneumatic clamping jaw, a magnetic switch, an intermediate liftout transition plate, a clamping jaw, an intermediate clamping jaw guide sleeve, a thimble, a spray valve mounting plate and a spray valve, the connecting flange is connected with the first four-axis mechanical arm, the clamping jaw mounting plate is connected with the bottom of the connecting flange, the pneumatic clamping jaw is connected with two sides of the clamping jaw mounting plate, the magnetic switch is arranged in the middle of the pneumatic clamping jaw, the intermediate liftout transition plate is connected with the front of the pneumatic clamping jaw, the clamping jaw is fixed below the pneumatic clamping jaw, the intermediate clamping jaw guide sleeve is arranged in the middle of the clamping jaw, the intermediate clamping jaw guide sleeve is connected with the lower part of the intermediate liftout transition plate, the thimble is connected with the lower part of the intermediate clamping jaw guide sleeve, the spray valve mounting plate is connected with the rear part of the clamping jaw mounting plate, and the spray valve is connected with the spray valve mounting plate.
6. The full-automatic assembling equipment of a sweeping robot as claimed in claim 1, wherein the material tower mechanism comprises a first large golden finger material tower, a second large golden finger material tower and a small golden finger material tower, the first large golden finger material tower is fixed on the bottom plate of the upper cabinet body, the second large golden finger material tower is fixed on the left side of the first large golden finger material tower, and the small golden finger material tower is fixed on the left side of the second large golden finger material tower.
7. The full-automatic assembly equipment of claim 6, characterized in that the first large golden finger material tower comprises a material tower support, an index plate is arranged in the middle of the material tower support, a material pipe index plate is arranged below the index plate, a support shaft is arranged in the middle of the index plate and the material pipe index plate, the support shaft penetrates through the index plate and the material pipe index plate, the support shaft is fixed on the material tower support, an index plate cylinder support is fixed on the back of the material tower support, an index plate cylinder is fixed in front of the index plate cylinder support, a guide chute is arranged below the material pipe index plate, a material distributing unit is arranged at the front end of the guide chute, the material distributing unit is fixed at the front end of the material tower support, and a material distributing cylinder is fixed on the right side of the material distributing unit.
8. The full-automatic assembling equipment of a floor sweeping robot as claimed in claim 1, wherein a motion camera display is arranged in front of the industrial motion camera assembly and fixed to the inner top of the upper cabinet body.
9. The full-automatic assembly equipment of a sweeping robot according to claim 1, wherein a second four-axis mechanical arm is arranged in front of the assembly cabinet body, two handle slide ways are respectively arranged on two sides of the second four-axis mechanical arm, and an accessory placing frame is arranged in front of each handle slide way.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111001423.1A CN113579705A (en) | 2021-08-30 | 2021-08-30 | Full-automatic assembly equipment of robot sweeps floor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111001423.1A CN113579705A (en) | 2021-08-30 | 2021-08-30 | Full-automatic assembly equipment of robot sweeps floor |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113579705A true CN113579705A (en) | 2021-11-02 |
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ID=78240386
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111001423.1A Withdrawn CN113579705A (en) | 2021-08-30 | 2021-08-30 | Full-automatic assembly equipment of robot sweeps floor |
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| Country | Link |
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| CN (1) | CN113579705A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116954391A (en) * | 2023-05-10 | 2023-10-27 | 深圳市英浩科实业有限公司 | Wireless mouse based on Bluetooth transmission and assembly equipment thereof |
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| DE3362603D1 (en) * | 1982-07-27 | 1986-04-24 | Nessmann Maschinen Kg | Automatically operated apparatus for assembling, measuring, treating or the like of workpieces |
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2021
- 2021-08-30 CN CN202111001423.1A patent/CN113579705A/en not_active Withdrawn
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| DE3362603D1 (en) * | 1982-07-27 | 1986-04-24 | Nessmann Maschinen Kg | Automatically operated apparatus for assembling, measuring, treating or the like of workpieces |
| DE102005009181A1 (en) * | 2005-03-01 | 2006-09-07 | Daimlerchrysler Ag | Turntable manual workstation operated in conjunction with assembly line operation e.g. automotive assembly |
| CN210360229U (en) * | 2019-04-29 | 2020-04-21 | 浙江亚太机电股份有限公司 | Semi-automatic assembly device of drum brake |
| CN112318085A (en) * | 2020-11-21 | 2021-02-05 | 深圳中科精工科技有限公司 | Semiconductor double-optical-filter switcher assembling equipment based on AA (advanced) manufacturing process |
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| CN116954391A (en) * | 2023-05-10 | 2023-10-27 | 深圳市英浩科实业有限公司 | Wireless mouse based on Bluetooth transmission and assembly equipment thereof |
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