CN113649793B - Motor assembly system for intelligent production of gas meter - Google Patents
Motor assembly system for intelligent production of gas meter Download PDFInfo
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- CN113649793B CN113649793B CN202110935677.4A CN202110935677A CN113649793B CN 113649793 B CN113649793 B CN 113649793B CN 202110935677 A CN202110935677 A CN 202110935677A CN 113649793 B CN113649793 B CN 113649793B
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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
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Abstract
The invention discloses a motor assembly system for intelligent production of a gas meter, and relates to the technical field of automatic assembly. The method comprises the following steps: the first station is used for placing a motor base to be assembled; the second station is used for placing the motor to be assembled; the assembling station is provided with a motor base positioning clamp; the clamping assembly comprises a plurality of motor clamping units for clamping a motor and a plurality of motor base clamping units for clamping a motor base; under the drive of the manipulator: the clamping assembly can clamp the motor base at a first station and clamp the motor at a second station in sequence in a primary motion process; then the motor base and the motor are transported to an assembly station; and at the assembly station, the space positions of the manipulator driving motor clamping unit and the motor base clamping unit are changed, and the motor base and the motor are sequentially arranged in the assembly station to realize the assembly between the motor and the motor base.
Description
Technical Field
The invention relates to the technical field of automatic assembly, in particular to a motor assembly system for intelligent production of a gas meter.
Background
With the development of technology, automated production assembly is applied to more and more fields. In the assembly process of the motor, the key process is to install the motor into the motor base. In the working procedure, the method comprises a plurality of working steps of taking and placing the motor, carrying parts between different stations, positioning and assembling the motor and the motor base and the like.
In the prior art, a multi-part assembly represented by assembling a motor and a motor base with each other needs to use a plurality of conveying mechanisms to convey different parts. The use of a highly flexible robot, such as the one disclosed in utility model patent CN201620886032.0 and the gripper mounted thereto, enables one handling mechanism to handle different kinds of parts. However, with this gripper, only one part can be gripped and carried in one stroke. The efficiency is not high.
Disclosure of Invention
Therefore, the motor assembling system for intelligent production of the gas meter can complete assembling between the motor bases and the motors from different stations in one working stroke under the condition that only one carrying mechanism is used. The technical points of the scheme are as follows:
a motor assembly system for gas table wisdom production includes: the first station is used for placing a motor base to be assembled; the second station is used for placing the motor to be assembled; the assembling station is provided with a motor base positioning clamp; the clamping assembly comprises a plurality of motor clamping units for clamping a motor and a plurality of motor base clamping units for clamping a motor base; under the drive of the manipulator: the clamping assembly can clamp the motor base at a first station and clamp the motor at a second station in sequence in one movement stroke; then the motor base and the motor are transported to an assembly station; and at the assembly station, the space positions of the manipulator driving motor clamping unit and the motor base clamping unit are changed, and the motor base and the motor are sequentially arranged in the assembly station to realize the assembly between the motor and the motor base.
In the automatic production process of the motor, the motor is arranged in the matched motor base, which relates to the combination of the production flows of two different parts of the motor and the motor base, so that the step is very important. Therefore, the motor assembly system for intelligent production of the gas meter can automatically realize assembly between motors and motor bases from different stations. Specifically, the system comprises a first station and a second station which are respectively used for placing a motor base and a motor to be assembled. The two stations can be directly connected with the production lines of the motor and the motor base so as to realize the connection and smoothness of the whole automatic production process of the motor in a matching manner. In some embodiments, two motor bases can also be matched with some stacking and carrying devices so as to directly place the processed motors and motor bases. Suitable positioning fixtures including but not limited to positioning devices such as a mounting seat and a positioning baffle are arranged on the two stations, so that the motor and the motor seat are located at fixed positions to facilitate efficient fixed-point clamping of the subsequent clamping units. The assembly station with the motor base positioning fixture can position the motor base to complete the operation of assembling the motor into the motor base. In some embodiments, the assembly station may also include a motor positioning fixture, i.e., only the motor and the motor base can be assembled with each other by positioning and matching the clamping assembly. The clamping assembly is connected with the mechanical arm wrist and is provided with a motor clamping unit and a motor base clamping unit. The motor clamping unit is used for taking and placing the motor, and the motor base clamping unit is used for taking and placing the motor base matched with the motor. Because motor and motor cabinet are the cylinder usually, consequently can select the clamp of various clamping jaws realization motor and motor cabinet to get, because the motor cabinet is the casing that has the terminal surface, in some embodiments, also can select the sucking disc device as motor cabinet centre gripping unit, adsorb the realization through the sucking disc to the motor cabinet terminal surface and get putting the motor cabinet. The drive of cooperation manipulator under the centre gripping of this centre gripping unit, can realize getting the transport to the clamp of two kinds of parts of motor, motor cabinet simultaneously. The quantity of motor cabinet clamping unit and motor clamping unit is a plurality of, consequently uses the device can realize the transport of a plurality of parts at one time, compares the single clamping jaw that sets up on the manipulator among the background art, and this application has promoted handling efficiency. Because the motor and the motor base need to be assembled, in the process of assembling the motor, especially the micro motor, to the motor base or the motor shell thereof, the operation step is usually to open the end cover of the motor base and place the motor into the motor base along the direction of the motor shaft. After the clamping of two kinds of parts is accomplished, this device need be assembled two kinds of parts transports to same position. If the arrangement positions of the two clamping units are not limited, the two parts may not be located at the same position after the parts are placed. For this reason, the scheme is limited as follows: and at the assembly station, the mechanical arm drives the motor clamping unit and the motor base clamping unit to change the spatial position, and the motor base and the motor are sequentially arranged in the assembly station to realize the assembly between the motor and the motor base. The application provides a motor assembly system can only use a transport mechanism's the condition under, accomplish the assembly between motor cabinet, the motor that come from different stations in a working stroke
The further technical scheme is as follows:
the clamping assembly comprises a mounting plate, the motor clamping unit comprises a clamping jaw cylinder and a clamping jaw driven by the clamping jaw cylinder, and the motor base clamping unit comprises a sucking disc; the sucker is arranged on the plate surface of the mounting plate, the adsorption plane of the sucker is parallel to the plate surface, the clamping jaw is arranged on the side surface of the mounting plate, and the movement plane of the clamping jaw is perpendicular to the plate surface; the clamping jaw and the sucking disc are positioned on the same side of the plate surface. In this technical feature, the structure included in the holding member is more specifically defined. The mounting plate is used for bearing and mounting the motor clamping unit and the motor base clamping unit. The mounting plate is simpler, more compact and less expensive to construct than other structures such as mounting frames. The mounting plate is directly connected with the wrist of the mechanical arm, and the motion output by the mechanical arm is directly reflected on the mounting plate. In this application, the absorption plane of injecing for the sucking disc is on a parallel with the face, the motion plane perpendicular to face of clamping jaw, consequently, the position of face, motion state and the absorption plane of sucking disc, the motion plane height of clamping jaw are relevant, and in some circumstances of in-service use, through carrying out the analysis to the face of mounting panel and judging just can obtain the position state of sucking disc, clamping jaw. The clamping jaw and the sucking disc are positioned on the same side of the plate surface, so that the movement distance of the working plane of the clamping jaw and the sucking disc can be shortened.
Motor clamping unit still includes the detection part, the detection part includes measuring device and cylinder trigger end, measuring device is located the clamping plane's of clamping jaw top, and when the motor was in by the clamping status, the terminal surface of motor can be supported to the bottom of cylinder trigger end, and the altitude variation of the relative clamping jaw of cylinder trigger end keeps unanimous with the altitude variation by the relative clamping jaw of centre gripping motor, and measuring device is used for detecting the altitude variation of the relative clamping jaw of cylinder trigger end. In this technical feature, the holding unit further includes a detecting portion. Specifically, the steps of using the motor assembling system to assemble the motor are as follows: the motor base clamping unit clamps the motor base and places the motor base in the motor base positioning clamp for positioning, and an opening of the motor base is exposed; then the motor clamping unit clamps the motor, the motor is placed at the opening of the motor base, the clamping jaw of the motor clamping unit is used for pressing the end face of the motor, the motor is pushed into the motor base, and the motor base are coaxially and tightly assembled. Between the two steps, the outer wall of the motor needs to be firstly close to the positioning structure on the inner side of the opening of the motor base to realize pre-positioning. For this reason, the motor clamping unit in this aspect further has a detection portion. The detection part comprises a measuring device and a cylinder triggering end, the cylinder triggering end can support the end face of the power distribution machine to be assembled, the height change of the cylinder triggering end relative to the clamping jaw is consistent with the height change of the clamped motor relative to the clamping jaw, and the measuring device is used for detecting the height change of the cylinder triggering end relative to the clamping jaw. The measuring device detects whether the clamping position of the clamping jaw relative to the motor meets the condition that the bottom of the motor is lower than the bottom end face of the clamping jaw or not through the cylinder triggering end, and whether the outer wall cylinder of the motor has an extending end with a certain length or not. Under the condition that these conditions all satisfied, when the clamping jaw carried the motor to the motor cabinet removal, motor outer wall could be close to each other with the opening inner wall of motor cabinet and realize prepositioning. In some embodiments, the measuring device is preferably a groove-type photoelectric switch having an infrared emitting end and an infrared receiving end, and the groove-type photoelectric switch is positioned such that the infrared emitting end and the infrared receiving end are respectively located at two sides of the motion track of the trigger end of the column. The position of the motor relative to the clamping jaw can meet the requirement that the motor is pre-positioned with the motor base, and the motor is defined to be in a correct position at the moment. The groove-type photoelectric switch is selected as a measuring device, the position and the length of the triggering end of the cylinder are reasonably set, when the clamped motor is not in a normal position relative to the clamping part in the axis direction, the end face of the motor pushes the triggering end of the cylinder to move to a position between the connecting line of the infrared transmitting end and the infrared receiving end, the triggering end of the cylinder shields infrared rays, and the groove-type photoelectric switch outputs a signal to warn that the position of the motor is incorrect.
The installation the face intersection line definition of the side of clamping jaw and installation sucking disc is first edge, keeps away from first edge one side on the face of installation sucking disc and is the second edge, the sucking disc sets up near the second edge, the connection installation department of mounting panel and manipulator is located between clamping jaw and the sucking disc. Because the clamping jaw is arranged on the side surface of the mounting plate, the sucker is arranged close to the second edge opposite to the side surface, and therefore the clamping jaw and the sucker are respectively arranged on two sides of the mounting plate. The two clamping units on the two sides of the mounting plate are separated by a certain distance, so that the two clamping units have enough working space for clamping. The unfavorable conditions that the other clamping unit collides and abuts against the clamped object due to too close distance when one clamping unit works are avoided. As mentioned above, the clamping jaw and the sucker are respectively arranged at two sides of the mounting plate, the manipulator connecting frame is fixed at the centroid of the mounting plate to connect the manipulator, and the connecting and mounting position of the mounting plate and the manipulator is arranged between the clamping jaw and the sucker, so that the stability of the manipulator driving the mounting plate is improved. For example, when the manipulator outputs a rotational motion to rotate the mounting plate in the plate plane, because the connection point of the manipulator and the mounting plate is arranged in the middle of the mounting plate, the moment of inertia of the mounting plate rotating around the shaft is small in this state, and the rotational motion is stable.
The motor base clamping units are arranged in a linear mode at intervals, the arrangement axis of the motor base clamping units is parallel to the arrangement axis of the motor clamping units at intervals, and the interval distance between the adjacent motor base clamping units is the same as that between the adjacent motor base clamping units. As previously mentioned, the present device requires that two parts be transported to the same location for assembly. If the arrangement positions of the two clamping units are not limited, the two parts may not be located at the same position after the parts are placed. Under the limitation of the technical characteristics, the motor clamping units and the motor base clamping units are in one-to-one correspondence, and the mounting plate is moved and rotated, so that the motor clamping units and the motor clamping units can move to the same assembly point position successively. Each motor clamping unit interval is arranged in one row, each motor cabinet clamping unit interval is arranged in one row, and the arrangement direction of motor clamping units is parallel with the arrangement direction of motor cabinet clamping units. Therefore, in the motion analysis of the motor clamping unit or the motor base clamping unit, each clamping unit is projected to a point in a plane perpendicular to the arrangement direction of the motor clamping unit, and the motion state of each clamping unit can be reflected by analyzing the motion of the point.
The motor base positioning fixtures on the assembly stations are the same in number as the motor clamping units, the motor base positioning fixtures are arranged along a straight line, the spacing distance between every two adjacent motor base positioning fixtures is the same, the motor positioning fixtures on the second station are the same in number as the motor clamping units, the motor positioning fixtures are arranged along a straight line, and the spacing distance between every two adjacent motor positioning fixtures is the same. The technical characteristics are that the motor positioning clamp and the motor base positioning clamp of the assembly station are limited to be in one-to-one correspondence. The number of the motor positioning clamps is the same as that of the motor clamping units, and the motor positioning clamps are arranged along a straight line, so that the motor clamping units can clamp a plurality of motors to be assembled on the second station at one time, and the clamping process of the whole motor is quick and efficient.
The first station comprises a motor base direct vibration feeding channel with a discharge end, and the motor base direct vibration feeding channel is provided with a conveying belt and guide plates respectively arranged on two sides of the conveying belt. The discharge end is arranged at the tail end of the conveying belt. Under the restraint of deflector, the conveyer belt carries the motor base in other places to the discharge end, and under the drive of manipulator, motor cabinet centre gripping unit moves to the discharge end and presss from both sides and get the motor cabinet. The discharge end should have certain locate function, avoids the motor cabinet to produce position error and leads to the unable accurate clamp of motor cabinet centre gripping unit to get the motor cabinet. The number of the motor base direct vibration feeding channels with the discharging ends of the device can be multiple or one. If in some embodiments, the number of the motor base direct vibration feeding channels with the discharge ends is multiple, the arrangement form and the size between the discharge ends are reasonably set, so that the motor base clamping units arranged at intervals on the mounting plate can correspond to the discharge ends one by one. In some embodiments, if the motor base direct vibration feeding channel and the discharging end thereof are only one, the specific use method of the motor base clamping unit for clamping the belt motor base is as follows: firstly, a conveying belt conveys a first motor base to a discharge end; then, the manipulator drives the first suction disc on the mounting plate to move until the discharge end adsorbs the first motor base; the first suction disc drives the first motor base to leave the motor base direct vibration feeding channel; the conveying belt conveys the second motor base to the discharge end; afterwards, the manipulator drives the second sucker on the mounting panel to move to the discharge end to adsorb the second motor cabinet, so reciprocating until all suckers on the mounting panel are all finished to clamp the motor cabinet.
The motor base directly shakes the pay-off way and still has the apron of setting in the conveyer belt top, the discharge end is including setting up the riser at the conveyer belt terminal point, the riser is opened and is had, vertical extension, the top that runs through two faces of riser and be the open-ended groove of stepping down, and the sucking disc can pass the riser through the groove of stepping down, riser face perpendicular to conveyer belt direction of delivery sets up, and the riser forms motor base with the tip interval of apron and gets the thing hole. The apron can avoid debris to get into the track, and the riser can retrain, the motor cabinet of spacing discharge end department. After the sucking disc passes the terminal surface that the groove of stepping down adsorbed the motor cabinet, vertical rebound leaves the motor base and directly shakes the pay-off way from the top in the groove of stepping down, and under the drive of sucking disc, the motor cabinet in the motor base directly shakes the pay-off way also gets the thing hole and leaves the motor base and directly shakes the pay-off way through clicking the base.
The discharge end is provided with an infrared measuring device. The infrared measuring device can detect whether the motor base is in place at the discharging end.
For the motion route that reduces the manipulator, improve production assembly speed efficiency, set up to: the first station, the second station and the third station are arranged around the manipulator at intervals.
Compared with the prior art, the invention has the beneficial effects that:
the motor assembling system is scientific and reasonable, and provides the motor assembling system for intelligent production of the gas meter. The application provides a motor assembly system, can only use the condition of a transport mechanism, accomplish the assembly between motor cabinet, the motor from different stations in a working stroke.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention.
FIG. 1 is an overall top view of the present invention;
FIG. 2 is a three-dimensional schematic view of a first station of the present invention;
FIG. 3 is a top plan view of the first station of the present invention;
FIG. 4 is a three-dimensional schematic view of a clamping assembly of the present invention;
FIG. 5 is a schematic view of the clamping assembly of the present invention gripping the motor base at the first station;
FIG. 6 is a schematic view of the clamping assembly of the present invention operating with the motor at the second station;
FIG. 7 is a schematic view of the clamping assembly of the present invention in an assembly position for positioning the motor base;
FIG. 8 is an operational view of the clamping assembly of the present invention in an assembly position with a power distribution machine installed in the motor mount;
in the figure: 1. a first station; 11. a motor base direct vibration feeding channel; 12. a guide plate; 13. a vertical plate; 14. a yielding groove; 15. a cover plate; 16. taking a hole; 17. an infrared measuring device; 2. a second station; 3. assembling stations; 31. a motor base positioning clamp; 4. a manipulator; 5. a clamping assembly; 51. mounting a plate; 511. plate surface; 512. a side surface; 513. a first edge; 514. a second edge; 52. a motor clamping unit; 521. a clamping jaw cylinder; 522. a clamping jaw; 523. a measuring device; 524. a cylinder trigger end; 53. a motor base clamping unit; 531. a suction cup; 6. a motor; 7. a motor base.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, rather than all embodiments, and all other embodiments obtained by a person skilled in the art without making creative efforts based on the embodiments of the present invention belong to the protection scope of the present invention.
The embodiment is as follows:
as shown in fig. 1 to 8, the motor assembling system for intelligent production of gas meters includes: the first station 1 is used for placing a motor base 7 to be assembled; a second station 2 for placing a motor 6 to be assembled; an assembly station 3 having a motor mount positioning jig 31; the manipulator 4 and the clamping assembly 5 arranged at the wrist part of the manipulator 4, wherein the clamping assembly 5 comprises a plurality of motor clamping units 52 for clamping the motor 6 and a plurality of motor base clamping units 53 for clamping the motor base 7; driven by the manipulator 4: the clamping assembly 5 can clamp the motor base 7 at the first station 1 and clamp the motor 6 at the second station 2 in sequence in one-time movement process; then the motor base 7 and the motor 6 are conveyed to the assembly station 3; at the assembly station 3, the manipulator 4 drives the motor clamping unit 52 and the motor base clamping unit 53 to change the spatial positions, so that the motor base 7 and the motor 6 are successively arranged in the assembly station 3, and the assembly between the motor 6 and the motor base 7 is realized.
In the automatic production process of the motor 6, the motor 6 is arranged in the matched motor base 7, which involves the combination of the production flows of two different parts of the motor 6 and the motor base 7, so that the step is very important. Therefore, the motor assembling system for intelligent production of the gas meter can automatically realize assembly between the motor 6 and the motor base 7 from different stations. Specifically, the system comprises a first station 1 and a second station 2 for placing a motor base 7 and a motor 6 to be assembled, respectively. The two stations can be directly connected with the production lines of the motor 6 and the motor base 7 so as to realize the connection and smoothness of the whole automatic production process of the motor 6 in a matching manner. In some embodiments, two motor bases 7 may also be matched with some palletizing and carrying devices to directly place the processed motors 6 and motor bases 7. Suitable positioning fixtures including but not limited to positioning devices such as a mounting seat and a positioning baffle are arranged on the two stations, so that the motor 6 and the motor seat 7 are located at fixed positions to facilitate efficient fixed-point clamping of subsequent clamping units. The assembly station 3 with the motor mount positioning jig 31 can position the motor mount 7 to complete the operation of assembling the motor 6 into the motor mount 7. In some embodiments, the assembly station 3 may also include a motor 6 positioning fixture, i.e., only the motor 6 and the motor base 7 can be assembled with each other by positioning and matching the clamping assembly 5. The clamping assembly 5 is connected with the wrist of the manipulator 4, and the clamping assembly 5 is provided with a motor clamping unit 52 and a motor base clamping unit 53. The motor clamping unit 52 is used for taking and placing the motor 6, and the motor base clamping unit 53 is used for taking and placing the motor base 7 matched with the motor 6. Since the motor 6 and the motor base 7 are generally cylinders, various clamping jaws 522 may be selected to clamp the motor 6 and the motor base 7, and since the motor base 7 is a casing having an end face, in some embodiments, the suction cup 531 device may also be selected as the motor base clamping unit 53, and the motor base 7 is taken and placed by adsorbing the end face of the motor base 7 by the suction cup 531. The drive of cooperation manipulator 4 under the centre gripping of this centre gripping unit, can realize the transport of getting of the clamp of two kinds of parts of motor 6, motor cabinet 7 simultaneously. The quantity of motor cabinet clamping unit 53 and motor clamping unit 52 is a plurality of, consequently uses the device can realize the transport of a plurality of parts at one time, compares the single clamping jaw 522 that sets up on manipulator 4 among the background art, and this application has promoted handling efficiency. Because the motor 6 and the motor base 7 need to be assembled, in the process that the motor 6, especially the micro motor 6 is assembled to the motor base 7 or the shell of the motor 6, the operation steps are usually to open the end cover of the motor base 7 and place the motor 6 into the motor base 7 along the axial direction of the motor 6. After the clamping of two kinds of parts is accomplished, this device need be assembled two kinds of parts transports to same position. If the arrangement positions of the two clamping units are not limited, the two parts may not be located at the same position after the parts are placed. For this reason, the scheme is limited to: at the assembling station 3, the manipulator 4 drives the motor clamping unit 52 and the motor base clamping unit 53 to change the spatial positions, so that the motor base 7 and the motor 6 are successively arranged in the assembling station 3, and the assembly between the motor 6 and the motor base 7 is realized. The application provides a motor 6 assembly system, can only use a transport mechanism's the condition, accomplish the assembly between motor cabinet 7, the motor 6 that come from different stations in a working stroke
The further technical scheme is as follows:
the clamping assembly 5 comprises a mounting plate 51, the motor clamping unit 52 comprises a clamping jaw air cylinder 521 and a clamping jaw 522 driven by the clamping jaw air cylinder, and the motor base clamping unit 53 comprises a suction cup 531; the suction cup 531 is arranged on the plate surface 511 of the mounting plate 51, the adsorption plane of the suction cup 531 is parallel to the plate surface 511, the clamping jaw 522 is arranged on the side surface 512 of the mounting plate 51, and the movement plane of the clamping jaw 522 is vertical to the plate surface 511; the jaw 522 and suction cup 531 are both on the same side of the panel 511. In this technical feature, the structure included in the holding member 5 is more specifically defined. The mounting plate 51 is used to carry a mounting motor clamping unit 52 and a motor base clamping unit 53. The mounting plate 51 is simpler, more compact and less expensive to construct than other structures such as a mounting frame. The mounting plate 51 is directly connected to the wrist of the robot 4, and the motion output from the robot 4 is directly reflected on the mounting plate 51. In the present application, it is defined that the suction plane of the suction cup 531 is parallel to the plate surface 511, and the movement plane of the clamping jaw 522 is perpendicular to the plate surface 511, so that the position and the movement state of the plate surface 511 are highly related to the suction plane of the suction cup 531 and the movement plane of the clamping jaw 522, and in some cases of actual use, the position state of the suction cup 531 and the clamping jaw 522 can be obtained by analyzing and judging the plate surface 511 of the mounting plate 51. By locating both the jaw 522 and the suction cup 531 on the same side of the panel 511, the path of movement for replacing the working plane of the jaw 522 and the suction cup 531 is reduced.
The motor clamping unit 52 further comprises a detection portion, the detection portion comprises a measuring device 523 and a cylinder triggering end 524, the measuring device 523 is located above the clamping plane of the clamping jaw 522, when the motor 6 is in a clamped state, the bottom of the cylinder triggering end 524 can abut against the end surface of the motor 6, the height change of the cylinder triggering end 524 relative to the clamping jaw 522 is consistent with the height change of the clamped motor 6 relative to the clamping jaw 522, and the measuring device 523 is used for detecting the height change of the cylinder triggering end 524 relative to the clamping jaw 522. In the technical feature, the clamping unit is limited to further comprise a detection part. Specifically, the steps of assembling the motor 6 by using the motor 6 assembling system are as follows: the motor base clamping unit 53 clamps the motor base 7 and places the motor base 7 in the motor base positioning clamp 31 for positioning, and an opening of the motor base 7 is exposed; then, the motor clamping unit 52 clamps the motor 6, places the motor 6 at the opening of the motor base 7, presses the end surface of the motor 6 by using the clamping jaw 522 of the motor clamping unit 52, and pushes the motor 6 into the motor base 7, so that the motor 6 and the motor base 7 are coaxially and tightly assembled. Between the two steps, the outer wall of the motor 6 needs to be close to the positioning structure on the inner side of the opening of the motor base 7 to realize pre-positioning. For this reason, the motor clamp unit 52 in this embodiment further has a detection portion. The detection part comprises a measuring device 523 and a cylinder triggering end 524, the cylinder triggering end 524 can abut against the end surface of the motor 6 to be assembled, the height change of the cylinder triggering end 524 relative to the clamping jaw 522 is consistent with the height change of the clamped motor 6 relative to the clamping jaw 522, and the measuring device 523 is used for detecting the height change of the cylinder triggering end 524 relative to the clamping jaw 522. The measuring device 523 detects whether the clamping position of the clamping jaw 522 relative to the motor 6 meets the condition that the bottom of the motor 6 is lower than the bottom end face of the clamping jaw 522 and whether the outer wall cylindrical surface of the motor 6 has an extending end with a certain length through the cylinder triggering end 524. Under the condition that the conditions are met, when the clamping jaws 522 carry the motor 6 to move towards the motor base 7, the outer wall of the motor 6 and the inner wall of the opening of the motor base 7 can be close to each other to realize pre-positioning. In some embodiments, the measuring device 523 is preferably a slot-type photoelectric switch having an infrared emitting end and an infrared receiving end, and the slot-type photoelectric switch is positioned to satisfy the two sides of the motion trajectory of the cylinder triggering end 524 at the infrared emitting end and the infrared receiving end. The position of motor 6 with respect to jaw 522 is such that it achieves a pre-positioning with respect to motor seat 7, defined by motor 6 now being in the correct position. The groove-type photoelectric switch is selected as the measuring device 523, the position and the length of the cylinder triggering end 524 are reasonably set, when the clamped motor 6 is not in a normal position in the axial direction relative to the clamping part, the end surface of the motor 6 pushes the cylinder triggering end 524 to move to a position between the connecting line of the infrared transmitting end and the infrared receiving end, the cylinder triggering end 524 shields infrared rays, and the groove-type photoelectric switch outputs a signal to warn that the position of the motor 6 is incorrect.
The intersection of the side 512 on which the gripper 522 is mounted and the surface 511 on which the suction cup 531 is mounted defines a first edge 513, the side of the surface 511 on which the suction cup 531 is mounted away from the first edge 513 defines a second edge 514, the suction cup 531 is disposed adjacent to the second edge 514, and the connection between the mounting plate 51 and the robot arm 4 is located between the gripper 522 and the suction cup 531. Since the gripping jaw 522 is located on the side 512 of the mounting plate 51, the suction cup 531 is mounted against the second edge 514 of the side 512, such that the gripping jaw 522 and the suction cup 531 are located on opposite sides of the mounting plate 51. The two clamping units on both sides of the mounting plate 51 are separated by a certain distance, so that the two clamping units have enough working space for clamping. The unfavorable conditions that the other clamping unit collides and abuts against the clamped object due to too close distance when one clamping unit works are avoided. As described above, the gripping jaw 522 and the suction pad 531 are respectively located on both sides of the mounting plate 51, the robot 4 is connected to the mounting plate 51 by fixing the robot 4 connection frame at the centroid of the mounting plate 51, and the connection mounting point between the mounting plate 51 and the robot 4 is provided between the gripping jaw 522 and the suction pad 531, which contributes to stability when the lifting robot 4 drives the mounting plate 51. For example, when the robot 4 outputs a rotational motion to rotate the mounting plate 51 in its plate plane, since the connection point of the robot 4 and the mounting plate 51 is disposed in the middle of the mounting plate 51, the moment of inertia of the mounting plate 51 about the axis rotation is small in this state, and the rotational motion is smooth.
The number of the motor base clamping units 53 is the same as that of the motor clamping units 52, the motor base clamping units 53 are arranged at intervals along a straight line, the motor clamping units 52 are arranged at intervals along a straight line, the arrangement axis of the motor base clamping units 53 is parallel to that of the motor clamping units 52 at intervals, and the interval distance between every two adjacent motor base clamping units 53 is the same as that between every two adjacent motor base clamping units 53. As previously mentioned, the present device requires that two parts be transported to the same location for assembly. If the arrangement positions of the two clamping units are not limited, the two parts may not be located at the same position after the parts are placed. Under the limitation of the technical characteristics, the motor clamping units 52 and the motor base clamping units 53 are in one-to-one correspondence, and the mounting plate 51 is moved and rotated, so that the motor clamping units 52 and the motor clamping units 52 can move to the same assembly point position successively. The motor clamping units 52 are arranged in a row at intervals, the motor base clamping units 53 are arranged in a row at intervals, and the arrangement direction of the motor clamping units 52 is parallel to the arrangement direction of the motor base clamping units 53. Therefore, in the motion analysis of the motor holding unit 52 or the motor base holding unit 53, the motion state of each holding unit can be reflected by projecting each holding unit to a point in a plane perpendicular to the arrangement direction thereof and analyzing the motion of the point.
The number of the motor base positioning fixtures 31 arranged in the assembly station 3 is the same as that of the motor clamping units 52, the motor base positioning fixtures 31 are arranged along a straight line, the spacing distance between the adjacent motor base positioning fixtures 31 is the same, the second station 2 is provided with a plurality of motor 6 positioning fixtures, the number of the motor 6 positioning fixtures is the same as that of the motor clamping units 52, the motor 6 positioning fixtures are arranged along a straight line, and the spacing distance between the adjacent motor 6 positioning fixtures is the same. The technical characteristics define that the positioning clamp of the motor 6 and the positioning clamp 31 of the motor base of the assembly station 3 are in one-to-one correspondence. The number of the motor 6 positioning fixtures is the same as that of the motor clamping units 52, and the motor 6 positioning fixtures are arranged along a straight line, so that the motor clamping units 52 can clamp a plurality of motors 6 to be assembled placed on the second station 2 at one time, and the whole clamping process of the motors 6 is quick and efficient.
The first station 1 comprises a motor base direct vibration feeding channel 11 with a discharging end, and the motor base direct vibration feeding channel 11 is provided with a conveying belt and guide plates 12 respectively arranged on two sides of the conveying belt. The discharge end is arranged at the tail end of the conveying belt. Under the restraint of deflector 12, the conveyer belt carries the motor 6 base of other places to the discharge end, and under the drive of manipulator 4, motor cabinet centre gripping unit 53 moves to the discharge end and presss from both sides and get motor cabinet 7. The discharge end should have certain locate function, avoids motor cabinet 7 to produce position error and leads to motor cabinet centre gripping unit 53 can't the accuracy to press from both sides and get motor cabinet 7. The number of the motor base direct vibration feeding channels 11 with the discharging ends of the device can be a plurality of or one. If the number of the motor base direct vibration feeding channels 11 with the discharge ends is multiple in some embodiments, the arrangement form and the size between the discharge ends should be reasonably set, so that the motor base clamping units 53 arranged on the mounting plate 51 at intervals can correspond to the discharge ends one by one. In some embodiments, if the feeding channel 11 is directly vibrated by the motor base and has only one discharging end, the specific use method of the motor base clamping unit 53 for clamping the belt motor base 7 is as follows: firstly, the conveyer belt conveys the first motor base 7 to a discharge end; then, the manipulator 4 drives the first suction disc 531 on the mounting plate 51 to move to the discharge end to adsorb the first motor base 7; the first suction cup 531 drives the first motor base 7 to leave the motor base direct vibration feeding channel 11; the conveyer belt conveys the second motor base 7 to the discharge end; afterwards, the manipulator 4 drives the second suction cups 531 on the mounting plate 51 to move to the discharge end to adsorb the second motor base 7, and the operation is repeated until all the suction cups 531 on the mounting plate 51 finish clamping the motor base 7.
Motor base directly shakes pay-off way 11 still has the apron 15 of setting in the conveyer belt top, the discharge end is including setting up the riser 13 at the conveyer belt terminal point, riser 13 is opened and is had two faces 511 of running through riser 13, vertical extension, top be the open-ended groove of stepping down 14, and sucking disc 531 can pass riser 13 through the groove of stepping down 14, riser 13 face 511 perpendicular to conveyer belt direction of delivery sets up, and riser 13 gets thing hole 16 with the tip interval formation motor 6 base of apron 15. The cover plate 15 can prevent sundries from entering the track, and the vertical plate 13 can restrict and limit the motor base 7 at the discharge end. After the suction cup 531 penetrates through the yielding groove 14 to adsorb the end face of the motor base 7, the suction cup moves vertically upwards, the motor base directly-vibrating feeding channel 11 is separated from the top of the yielding groove 14, and the motor base 7 in the motor base directly-vibrating feeding channel 11 is also separated from the motor base directly-vibrating feeding channel 11 by clicking the base object taking hole 16 under the driving of the suction cup 531.
The discharge end is provided with an infrared measuring device 17. The infrared measuring device 17 can detect whether the base of the motor 6 is in place at the discharge end.
For reducing the motion path of manipulator 4, improve production assembly speed efficiency, set up as: the first station 1, the second station 2 and the third station are arranged around the manipulator 4 at intervals.
The above embodiments are preferred embodiments of the present invention, and those skilled in the art can make variations and modifications to the above embodiments, so that the present invention is not limited to the above embodiments, and any obvious improvements, substitutions or modifications based on the present invention by those skilled in the art are within the protection scope of the present invention.
Claims (8)
1. A motor assembly system for gas table wisdom production, its characterized in that includes:
the first station (1) is used for placing a motor base (7) to be assembled; a second station (2) for placing the motor (6) to be assembled; the assembling station (3) is provided with a motor base positioning clamp (31); the manipulator comprises a manipulator (4) and a clamping assembly (5) arranged at the wrist part of the manipulator (4), wherein the clamping assembly (5) comprises a plurality of motor clamping units (52) used for clamping a motor (6) and a plurality of motor base clamping units (53) used for clamping a motor base (7);
driven by the manipulator (4): the clamping assembly (5) can clamp the motor base (7) at the first station (1) and clamp the motor (6) at the second station (2) in sequence in one movement process; then the motor base (7) and the motor (6) are transported to an assembly station (3); at the assembly station (3), the manipulator (4) drives the motor clamping unit (52) and the motor base clamping unit (53) to carry out space position transformation, and the motor base (7) and the motor (6) are successively arranged in the assembly station (3) to realize the assembly between the motor (6) and the motor base (7);
the clamping assembly (5) comprises a mounting plate (51), the motor clamping unit (52) comprises a clamping jaw air cylinder (521) and a clamping jaw (522) driven by the clamping jaw air cylinder, and the motor base clamping unit (53) comprises a suction cup (531);
the sucker (531) is arranged on the plate surface (511) of the mounting plate (51), the adsorption plane of the sucker (531) is parallel to the plate surface (511), the clamping jaw (522) is arranged on the side surface (512) of the mounting plate (51), and the movement plane of the clamping jaw (522) is vertical to the plate surface (511); the clamping jaw (522) and the sucking disc (531) are positioned on the same side of the plate surface (511); the motor clamping unit (52) further comprises a detection part, the detection part comprises a measuring device (523) and a cylinder trigger end (524), the measuring device (523) is located above a clamping plane of the clamping jaw (522), when the motor (6) is in a clamped state, the bottom of the cylinder trigger end (524) can abut against the end surface of the motor (6), the height change of the cylinder trigger end (524) relative to the clamping jaw (522) is consistent with the height change of the clamped motor (6) relative to the clamping jaw (522), and the measuring device (523) is used for detecting the height change of the cylinder trigger end (524) relative to the clamping jaw (522).
2. The motor assembling system for intelligent gas meter production according to claim 1, wherein an intersection line of the side surface (512) where the clamping jaw (522) is installed and the plate surface (511) where the suction cup (531) is installed is defined as a first edge (513), a side of the plate surface (511) where the suction cup (531) is installed, which is far away from the first edge (513), is defined as a second edge (514), the suction cup (531) is arranged to abut against the second edge (514), and a connecting installation position of the installation plate (51) and the manipulator (4) is located between the clamping jaw (522) and the suction cup (531).
3. The motor assembling system for intelligent gas meter production according to claim 1, wherein the number of the motor base clamping units (53) is the same as the number of the motor clamping units (52), each motor base clamping unit (53) is arranged at intervals along a straight line, each motor clamping unit (52) is arranged at intervals along a straight line, the arrangement axis of each motor base clamping unit (53) is parallel to the arrangement axis of each motor clamping unit (52) at intervals, and the interval distance between adjacent motor base clamping units (53) is the same as the interval distance between adjacent motor base clamping units (53).
4. The motor assembling system for intelligent production of the gas meters as claimed in claim 3, wherein the assembling station (3) has the same number of motor base positioning fixtures (31) as the motor clamping units (52), each motor base positioning fixture (31) is arranged along a straight line, the spacing distance between the adjacent motor base positioning fixtures (31) is the same, the second station (2) has a plurality of motor (6) positioning fixtures, the number of the motor (6) positioning fixtures is the same as the number of the motor clamping units (52), each motor (6) positioning fixture is arranged along a straight line, and the spacing distance between the adjacent motor (6) positioning fixtures is the same.
5. The motor assembly system for the intelligent production of the gas meters as claimed in claim 3, wherein the first station (1) comprises a motor base direct vibration feeding channel (11) with a discharging end, and the motor base direct vibration feeding channel (11) is provided with a conveying belt and guide plates (12) which are respectively arranged at two sides of the conveying belt.
6. The motor assembly system for the intelligent production of the gas meters is characterized in that the motor base direct vibration feeding channel (11) is further provided with a cover plate (15) arranged above the conveying belt, the discharging end comprises a vertical plate (13) arranged at the end point of the conveying belt, the vertical plate (13) is provided with an abdicating groove (14) which runs through two surfaces (511) of the vertical plate (13), the vertical extension and the top of the abdicating groove are open, a sucking disc (531) can penetrate through the vertical plate (13) through the abdicating groove (14), the surface (511) of the vertical plate (13) is perpendicular to the conveying direction of the conveying belt, and the vertical plate (13) and the end part of the cover plate (15) are spaced to form a motor (6) base object taking hole (16).
7. The motor assembling system for intelligent production of gas meters as claimed in claim 6, wherein the discharge end is provided with an infrared measuring device (17).
8. The motor assembling system for the intelligent production of the gas meters as claimed in claim 1, wherein the first station (1), the second station (2) and the third station are arranged around the manipulator (4) at intervals.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110935677.4A CN113649793B (en) | 2021-08-16 | 2021-08-16 | Motor assembly system for intelligent production of gas meter |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110935677.4A CN113649793B (en) | 2021-08-16 | 2021-08-16 | Motor assembly system for intelligent production of gas meter |
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| CN113649793A CN113649793A (en) | 2021-11-16 |
| CN113649793B true CN113649793B (en) | 2022-06-17 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115319455A (en) * | 2022-07-04 | 2022-11-11 | 珠海格力电器股份有限公司 | Multi-workpiece assembly device and assembly method for air conditioner production |
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| EP0860259A2 (en) * | 1997-02-20 | 1998-08-26 | Leybold Systems GmbH | Apparatus for transporting substrates |
| CN1701928A (en) * | 2005-06-13 | 2005-11-30 | 西安思源职业学院 | Full pneumatic combined multifunctional industrial manipulator |
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