CN115255910A

CN115255910A - Industrial robot joint production line and spare and accessory part assembly line

Info

Publication number: CN115255910A
Application number: CN202210711858.3A
Authority: CN
Inventors: 姜宇; 刘培智; 刘培超
Original assignee: Rizhao Yuejiang Intelligent Technology Co ltd
Current assignee: Rizhao Yuejiang Intelligent Technology Co ltd
Priority date: 2022-06-22
Filing date: 2022-06-22
Publication date: 2022-11-01

Abstract

The invention discloses an industrial robot joint production line and an industrial robot joint part assembly line, wherein the part assembly line comprises: the conveying line is used for conveying the joints to be assembled, and at least three stations are arranged along the conveying path of the conveying line; the first mounting equipment is arranged at one station of the conveying line and used for mounting the wave spring to the motor rotor of the joint to be assembled; the second mounting equipment is arranged at one station of the conveying line and used for mounting the first flat cushion to the motor rotor of the joint to be assembled; the third mounting equipment is arranged at one station of the conveying line and sequentially mounts the hexagonal disc, the flat pad and the first clamp spring to the motor rotor of the joint to be assembled; the first installation equipment, the second installation equipment and the third installation equipment are distributed in sequence along the conveying path of the conveying line. According to the technical scheme, the assembly efficiency and the yield of spare and accessory parts of the joints of the industrial robot are improved.

Description

Industrial robot joint production line and spare and accessory part assembly line

Technical Field

The invention relates to the field of industrial robots, in particular to an industrial robot joint production line and a part assembly line.

Background

With the gradual rise of the demands for small-batch, multi-batch and customized production in the market, the development of robots is faster and faster. The robot is safe and easy to use, can be flexibly adjusted, can meet the industrial requirements of industries such as automobiles, hardware, 3C, semiconductors, textiles and food, and can be competent for picking, stacking, carrying, loading and unloading, detecting, assembling, gluing, welding, polishing and other various works.

In the production of industrial robots, the assembly of their joints is the most important and critical process. At present, the process of the existing joint assembly is basically completed manually, and in the joint assembly process of an industrial robot, parts such as clamp springs, flat pads, hexagonal discs, wave springs (namely wave springs) and the like which are sleeved on a motor rotor need to be installed in the joints. However, when the parts are installed, the parts need to be installed on the motor rotor one by one manually, and the manual installation speed is slow, the time consumption is long, and the efficiency is low; when a plurality of industrial robot joints need to be installed in batch, a large amount of same work is repeatedly performed manually, a plurality of spare parts need to be installed repeatedly according to the correct sequence, and the problem that the installation sequence of the spare parts is wrong cannot be avoided or easily occurs, so that unqualified industrial robot joints are produced.

Disclosure of Invention

The invention provides an industrial robot joint production line and a part assembly line, and aims to solve the problems that manual installation of parts is low in efficiency and errors are prone to occur when more parts are installed.

In order to achieve the above object, the present invention provides an assembly line for parts of joints of an industrial robot, comprising:

the joint assembling device comprises a conveying line, a connecting device and a connecting device, wherein the conveying line is used for conveying joints to be assembled and is provided with at least three stations along a conveying path;

the first mounting equipment is arranged at one station of the conveying line and used for mounting a wave spring to the motor rotor of the joint to be assembled;

the second mounting equipment is arranged at one station of the conveying line and used for mounting a first flat gasket to the motor rotor; and

and the third mounting equipment is arranged at the last station of the conveying path of the conveying line and used for sequentially sleeving the motor rotor with the hexagonal disc, the second flat pad and the first snap spring.

The first mounting equipment comprises a first rack, a first material taking mechanical arm and a first storage bin, wherein the first material taking mechanical arm and the first storage bin are arranged on the first rack, and the first material taking mechanical arm is used for taking out a wave spring from the first storage bin and sleeving the wave spring on a motor rotor of the joint to be assembled.

The first mounting device is used for sequentially mounting two wave springs to the motor rotor of the joint to be assembled, the two wave springs are respectively a first wave spring and a second wave spring according to the mounting sequence, and the first mounting device further comprises a visual detector which is arranged at the material taking end of the first material taking manipulator and used for obtaining a top side image of the first wave spring mounted on the motor rotor; and also for acquiring a topside image of the second wave spring to be mounted on the motor rotor.

Wherein the step of mounting the second wave spring by the first mounting apparatus includes:

controlling the first material taking manipulator to move the visual detector above the motor rotor, so that the visual detector acquires a top side image of the first wave spring, and identifying the position of an interface of the first wave spring according to the top side image of the first wave spring;

controlling the first material taking manipulator to move to the first bin;

controlling the vision detector to acquire a top side image of the second wave spring, and identifying the position of an interface of the second wave spring according to the top side image of the second wave spring;

calculating the moving track of the first material taking manipulator according to the position of the interface of the first wave spring and the position of the interface of the second wave spring;

and controlling the first material taking manipulator to install the second wave spring on the motor rotor according to the moving track.

The first material taking mechanical arm comprises a mechanical arm and a taking and placing head arranged at the tail end of the mechanical arm, and the taking and placing head is connected with the tail end of the mechanical arm through a quick-change piece.

The first rack is also provided with a placing frame, the placing frame is provided with a plurality of first placing parts, and the first placing parts are respectively used for placing different types of taking and placing heads; the mechanical arm is used for automatically replacing the picking and placing head from the first placing part.

Wherein, still be equipped with a plurality of first sensor with a plurality of first portion one-to-one of placing on putting the frame.

The first material taking mechanical arm further comprises a taking and placing head rotary table, the taking and placing head rotary table is rotatably installed at the tail end of the mechanical arm, and a plurality of taking and placing heads of different models are installed on the taking and placing head rotary table at intervals.

The pick-and-place head turntable is rotationally connected with the tail end of the mechanical arm through a quick change piece; and/or the plurality of taking and placing heads are respectively connected with the taking and placing head turnplate through the quick-change piece.

The spare and accessory part assembly line further comprises fourth installation equipment, the first installation equipment and the second installation equipment are located between the fourth installation equipment and the third installation equipment, and the fourth installation equipment is used for installing a second clamp spring on the motor rotor of the joint to be assembled.

The joint to be assembled also comprises a reducer output shaft, and the motor rotor is sleeved on the outer side of the reducer output shaft; the third mounting equipment comprises a second rack, and a second material taking manipulator, a second storage bin and a pushing device which are arranged on the second rack;

the second material taking manipulator is used for sleeving a guide sleeve on the output shaft of the speed reducer and taking out the first clamp spring from the second bin and sleeving the first clamp spring on the guide sleeve, and the pushing device is used for pushing the hexagonal disc sleeved on the guide sleeve, the second flat pad and the first clamp spring downwards and sleeving the hexagonal disc, the second flat pad and the first clamp spring on the motor rotor.

The third mounting equipment further comprises a sleeve placing frame arranged on the second rack, at least one second placing part is arranged on the sleeve placing frame, and each second placing part is used for placing a guide sleeve with a corresponding type; and the second material taking mechanical arm is used for taking and placing the guide sleeve from the sleeve placing frame.

And at least one second sensor corresponding to the second placing part one to one is further arranged on the sleeve placing frame.

The assembling step of the third mounting apparatus includes:

controlling the second material taking manipulator to sleeve a guide sleeve on the output shaft of the speed reducer;

the second material taking mechanical arm is controlled to take out the hexagonal plate, the second flat gasket and the first clamp spring from a second bin in sequence and is sleeved to the guide sleeve;

and controlling the lower pushing device to push the first clamp spring on the guide sleeve downwards, and sleeving the hexagonal disc, the second flat pad and the first clamp spring on the guide sleeve on the motor rotor of the joint to be assembled.

The invention further provides an industrial robot joint production line which comprises the industrial robot joint part assembly line.

According to the technical scheme, the assembly line of the spare parts of the joints of the industrial robot is formed by the conveying line, the first installation equipment arranged at one station of the conveying line, the second installation equipment arranged at one station of the conveying line and the third installation equipment arranged at the last station along the conveying path of the conveying line, and the first installation equipment, the second installation equipment and the third installation equipment are respectively sleeved with part of spare parts to be assembled on the rotors of the joints to be assembled, so that the automatic assembly of the spare parts of the joints to be assembled is realized, and the assembly efficiency of the spare parts is improved; the plurality of installation equipment install corresponding accessories according to the delivery path order of transfer chain, ensure that the problem that the installation order of accessories is makeed mistakes can not appear when a plurality of industrial robot joints of the equipment of wholesale nature, improve the efficiency and the yields of the equipment of the accessory of industrial robot joint.

Drawings

FIG. 1 is a schematic view of a joint to be assembled;

fig. 2 is a schematic structural view of an assembly line for parts of a joint of an industrial robot according to an embodiment of the present invention;

FIG. 3 is a schematic view of a portion of a second mounting apparatus in accordance with an embodiment of the present invention;

fig. 4 is an exploded view of various components mounted on the reducer according to an embodiment of the present invention;

fig. 5 is a schematic structural view of the push-down device, the guide sleeve and the speed reducer in an embodiment of the invention;

FIG. 6 is a schematic diagram of a wave spring;

fig. 7 is a schematic flow chart of a second wave spring being installed by a second installation device according to an embodiment of the present invention;

fig. 8 is a schematic structural diagram of a placing rack of a second mounting device in an embodiment of the invention;

FIG. 9 is a schematic view of a third mounting apparatus according to an embodiment of the invention;

FIG. 10 is a schematic view of another perspective structure of a third mounting apparatus in an embodiment of the invention;

fig. 11 is a schematic structural view of a sleeve placing rack of a third mounting device according to an embodiment of the invention;

fig. 12 is a schematic assembly flow diagram of a third mounting device according to an embodiment of the invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely 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, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It should be noted that all directional indicators (such as up, down, left, right, front, and back \8230;) in the embodiments of the present invention are only used to explain the relative positional relationship between the components, the motion situation, etc. in a specific posture (as shown in the attached drawings), and if the specific posture is changed, the directional indicators are changed accordingly.

It will also be understood that when an element is referred to as being "secured to" or "disposed on" 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.

In addition, the descriptions related to "first", "second", etc. in the present invention are for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the feature. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.

The invention provides a spare and accessory part assembly line of an industrial robot joint, which is mainly applied to an industrial robot joint production line and used for mounting spare and accessory parts on a motor rotor 201 of a joint 200 to be assembled, wherein the spare and accessory parts comprise a clamp spring, a flat pad, a hexagonal disc 04, a wave spring 01 and the like. Referring to fig. 1, the joint 200 to be assembled has an open end opposite to the reducer, when the joint 200 to be assembled is installed on a component assembly line, the open end faces upward, and the component assembly line sleeves the components on the motor rotor 201 of the joint 200 to be assembled from the open end of the joint 200 to be assembled. Generally, the wave spring 01, the flat pad, the hexagonal disc, the flat pad, the snap spring, etc. are sequentially installed on the motor rotor 201, wherein the snap spring is installed on the outermost side. Certainly also have some other circumstances, when the speed reducer of installation different specifications or model, except that the jump ring is the final installation, the installation order of other each accessories has corresponding adjustment.

Referring to fig. 2 and 4, fig. 2 is a schematic structural view of an assembly line of parts of an industrial robot joint according to an embodiment of the present invention.

In the present embodiment, the parts assembly line of the joint of the industrial robot includes a transfer line 100, a first mounting apparatus 10, a second mounting apparatus 20, and a third mounting apparatus 30. Wherein:

the conveying line 100 is used for conveying the joints 200 to be assembled, and at least three stations are arranged on the conveying line 100 along the conveying path; the first mounting device 10 is arranged at one of the stations of the conveyor line 100 and is used for mounting a wave spring 01 (namely, a wave spring) to a motor rotor 201 of the joint 200 to be assembled; the second mounting equipment 20 is arranged at one station of the conveying line 100 and is used for mounting the first flat pad 03 to the motor rotor 201 of the joint 200 to be assembled; and the third mounting equipment 30 is arranged at the last station along the conveying path of the conveying line 100 and is used for sequentially mounting the hexagonal disc 04, the second flat pad 05 and the first clamp spring 02 to the motor rotor 201 of the joint 200 to be assembled in a sleeved mode. In the embodiment shown in fig. 2, the second mounting apparatus 20 is disposed between the first mounting apparatus 10 and the third mounting apparatus 30, and in other embodiments, the positions of the second mounting apparatus 20 and the first mounting apparatus 10 may be changed, and the positions may be changed according to the mounting order requirements corresponding to the types of the joints of the industrial robot to be assembled.

In this embodiment, the conveying path of the conveying line 100 may be a track moving from the left end of the conveying line 100 to the right end thereof in one direction as shown in fig. 1; in some embodiments, the transport path of the transport line 100 may also be a track that traverses back and forth along the transport line 100 between its stations.

The work flow of the spare and accessory part assembly line of the industrial robot joint is as follows: firstly, the joint 200 to be assembled conveyed on the conveying line 100 is conveyed to a station where the first mounting device 10 is arranged, the first mounting device 10 mounts the wave spring 01 corresponding to the product model of the joint 200 to be assembled on the motor rotor 201 of the joint 200 to be assembled in a sleeved mode, and the number of the mounted wave springs 01 is generally multiple according to the model of the joint of the industrial robot (the number is preset in the first mounting device); then, the joint 200 to be assembled, on which the wave spring 01 is installed by the first installation device 10, is conveyed to a station where the second installation device 20 is arranged by the conveyor line 100, and the second installation device 20 mounts the first flat pad 03 corresponding to the product model of the joint 200 to be assembled on the motor rotor 201 of the joint 200 to be assembled in a sleeved manner; finally, the joint 200 to be assembled, on which the first flat pad 03 is mounted by the second mounting device 20, is conveyed to a station where the third mounting device 30 is arranged by the conveyor line 100, the third mounting device 30 sequentially mounts, to the motor rotor 201 of the joint 200 to be assembled, the hexagonal plate 04, the second flat pad 05 and the first snap spring 02 corresponding to the product model of the joint 200 to be assembled in a sleeved manner, the number of the hexagonal plate 04 and the number of the first snap spring 02 mounted at the station are both one, and the number of the second flat pad 05 is usually one, or certainly multiple (according to the preset setting); after the hexagonal plate 04, the second pad 05 and the first clamp spring 02 are mounted by the third mounting device 30, the joint 200 to be assembled completes the assembly of the parts, and the parts are conveyed to the next assembly line or the assembly device through the assembly line.

According to the technical scheme of the embodiment, the parts assembly line of the joint of the industrial robot is formed by the conveying line 100, the first installation equipment 10 arranged at one station of the conveying line 100, the second installation equipment 20 arranged at one station of the conveying line 100 and the third installation equipment 30 arranged at the last station along the conveying path of the conveying line 100, and the first installation equipment 10, the second installation equipment 20 and the third installation equipment 30 respectively install corresponding parts on the motor rotor 201 of the joint 200 to be assembled according to a certain sequence, so that the automatic assembly of the parts of the joint 200 to be assembled is realized, and the assembly efficiency of the parts is improved; in addition, the sequence of the parts installed at each installation device is preset, so that the situation that the installation sequence of the parts is wrong in the installation process is avoided, and the assembly efficiency and the yield of the parts of the joints of the industrial robot are improved.

Referring to fig. 3 and 4, fig. 3 is a partial structural schematic diagram of the second mounting device 20 according to an embodiment of the present invention; fig. 4 is an exploded view of the components mounted on the reducer according to an embodiment of the present invention.

In this embodiment, the first mounting apparatus 10 includes a first frame 21, and a first material taking manipulator 22 and a first material bin 23 which are arranged on the first frame 21, wherein the first material taking manipulator 22 is used for taking out the wave spring 01 from the first material bin 23 and placing the wave spring onto the motor rotor 201 of the joint 200 to be assembled.

In this embodiment, the first storage bin 23 is used for storing the wave spring 01, and one or more first storage bins 23 may be provided; for example, each first storage bin 23 corresponds to the wave spring 01 for storing joint products of one type, or the first storage bin 23 has a plurality of material racks therein, each material rack stores the wave spring 01 for storing joint products of different types, and the first material taking manipulator 22 takes the wave spring 01 corresponding to the current product type from the corresponding first storage bin 23 or the corresponding material rack. The inner diameter of the wave spring 01 is larger than the outer diameter of the motor rotor 201 of the joint 200 to be assembled, so that the first material taking manipulator 22 can directly sleeve the wave spring 01 on the motor rotor 201 in alignment with the motor rotor 201.

Referring to fig. 3, in this embodiment, the first mounting device is configured to sequentially mount two wave springs 01 to the motor rotor 201 of the joint 200 to be assembled, where the two wave springs 01 are a first wave spring and a second wave spring according to a mounting sequence, and the first mounting device further includes a vision detector, where the vision detector is disposed at a material taking end of the first material taking manipulator and is configured to obtain a top-side image of the first wave spring mounted on the motor rotor 201; and also for acquiring a topside image of the second wave spring to be mounted on the motor rotor 201.

Referring to fig. 6, since the wave spring 01 usually has one interface 011 (i.e. the junction between two ends of the wave spring 01), two end portions of the wave spring 01 at the interface 011 are stacked in a staggered manner, and the thickness of the interface 011 is larger than that of the rest positions of the wave spring 01, when the wave spring 01 is installed in a sleeved manner, the interfaces 011 of two adjacent wave springs 01 need to be staggered, so as to prevent the wave spring 01 from inclining to one side and affecting the normal function thereof. In this embodiment, when the first wave spring 01 is installed, since the wave spring 01 is not yet installed on the motor rotor 201, the first wave spring 01 may be directly received and sleeved on the motor rotor 201, and then the top-side image of the motor rotor 201 is obtained through the visual detector, so as to identify the first wave spring and obtain the position of the interface 011 of the first wave spring; before the second wave spring 01 is installed and sleeved on the motor rotor 201 of the joint 200 to be assembled, the first material taking manipulator moves to the first bin again, the second wave spring is recognized through the visual detector, the position of the interface 011 of the second wave spring is calculated, then the first material taking manipulator calculates the moving motion track according to the position of the interface 011 of the first wave spring and the position of the interface 011 of the second wave spring, and when the second wave spring is placed on the first wave spring, the positions of the two interfaces 011 are staggered with each other, so that the installation of the two wave springs 01 is completed. In other embodiments, if more wave springs 01 need to be installed, the installation is performed according to the above-mentioned idea.

Referring to fig. 4 and 7, fig. 4 is an exploded view of parts and components mounted on the reducer according to an embodiment of the present invention; fig. 7 is a schematic flow chart of the second wave spring 01 installed by the second installation device in an embodiment of the present invention.

In the present embodiment, the step of mounting the second wave spring of the second mounting apparatus 20 includes:

step S1, controlling the first material taking manipulator to move the visual detector above the motor rotor 201, enabling the visual detector to obtain a top side image of the first wave spring, and identifying the position of an interface 011 of the first wave spring according to the top side image of the first wave spring;

after the first wave spring is installed, the first material taking mechanical arm moves to enable the vision detector to be located above the motor rotor 201, then the vision detector takes a picture of the motor rotor 201, so that a picture containing a top-side image of the first wave spring is obtained, the picture is sent to the controller to be subjected to image recognition processing, and the position of the interface 011 of the first wave spring is obtained through calculation. Since the position of the interface 011 is obvious fault, obvious chromatic aberration exists in the photo, and the position of the interface 011 can be easily calculated.

S2, controlling the first material taking manipulator to move to the first stock bin;

and after the position of the interface 011 of the first wave spring is obtained, the first storage bin is removed to remove the second wave spring.

S3, controlling the vision detector to acquire a top side image of the second wave spring, and identifying the position of the interface 011 of the second wave spring according to the top side image of the second wave spring;

after first material taking manipulator arrived first feed bin, the vision detector was located the top of first feed bin, has a plurality of ripples springs 01 in the first feed bin, discerns a plurality of ripples springs 01 through the vision detector, and control first material taking manipulator selects one of them ripples spring 01 to remove as second ripples spring and snatchs, and the vision detector also acquires the top side image of second ripples spring simultaneously, and the rethread controller calculates the position of obtaining the interface of second ripples spring.

S4, calculating a moving track of the first material taking manipulator according to the position of the interface 011 of the first wave spring and the position of the interface 011 of the second wave spring;

the controller is provided with a first wave spring interface 011 position and a second wave spring interface 011 position at the same time, the position of the second wave spring arranged on the motor rotor 201 is calculated according to the two interface 011 positions and the parameters of the first material taking mechanical arm and the principle that the two interface 011 positions can not be overlapped, and then the moving track of the first material taking mechanical arm is reversely calculated.

And S5, controlling the first material taking manipulator to install the second wave spring on the motor rotor 201 according to the moving track. And then the first material taking manipulator is controlled to loosen, so that the second wave spring falls on the motor rotor 201, and the installation of the second wave spring is completed.

Referring to fig. 3, 5 and 8, fig. 5 is a schematic structural diagram of a push-down device, a guide sleeve 300 and a speed reducer according to an embodiment of the present invention; fig. 8 is a schematic structural diagram of the holding frame 26 of the second mounting device 20 according to an embodiment of the present invention.

In this embodiment, the first material handling robot 22 includes a robot arm 221 and a pick-and-place head 222 mounted at an end of the robot arm 221, and the pick-and-place head 222 is coupled to the end of the robot arm 221 via a quick-change member, such as a quick-change disk or other structural member capable of being automatically quickly disassembled and quickly assembled. The first rack 21 is further provided with a placing frame 26, the placing frame 26 is provided with a plurality of first placing parts 261, and the plurality of first placing parts 261 are respectively used for placing different types of picking and placing heads 222; the robot arm 221 is used to automatically replace the pick-and-place head 222 from the holding frame 26.

In this embodiment, the pick-and-place head 222 is connected to the end of the mechanical arm 221 through a quick-change member (not shown in the figure), so that the mechanical arm 221 can automatically replace the pick-and-place head 222, and according to the different types of the wave springs 01 required to be installed in the joints 200 to be assembled, the mechanical arm 221 can replace the pick-and-place head 222 of the corresponding type from the placing frame 26, so as to pick up the wave spring 01 required to be installed in the joints 200 to be assembled at present, and when the types of the assembled joints are switched, the second installation device 20 can be quickly switched to the installation requirements of the wave springs 01 of the joints of the corresponding types.

In this embodiment, the manner of automatically replacing the pick-and-place head 222 by the first material taking manipulator 22 is as follows: controlling the mechanical arm 221 to move the tail end of the mechanical arm 221 to the first placing part 261 corresponding to the tail end pick-and-place head 222, controlling the quick change piece to be disconnected with the tail end pick-and-place head 222, enabling the tail end pick-and-place head 222 to be placed on the first placing part 261, controlling the mechanical arm 221 to move the tail end of the mechanical arm 221 to the first placing part 261 of the required pick-and-place head 222, enabling the quick change piece to be in butt joint with the pick-and-place head 222, controlling the quick change piece to be connected with the pick-and-place head 222, and controlling the mechanical arm 221 to move the tail end of the mechanical arm 221 from the placing frame 26 back to the standby position to complete replacement of the pick-and-place head 222.

In some embodiments, the placing shelf 26 is further provided with a plurality of first sensors 262 corresponding to the plurality of first placing parts 261 one by one, and the first sensors 262 can be used to detect whether the pick-and-place heads 222 on the corresponding first placing parts 261 are in place, so as to determine whether the placing and the taking out of the pick-and-place heads 222 are completed. In this embodiment, the first sensor 262 may be a laser ranging sensor, or other sensor such as an infrared sensor.

In some embodiments, the first material taking manipulator 22 further comprises a pick-and-place head turntable rotatably mounted at the end of the robot arm 221, wherein a plurality of different types of pick-and-place heads 222 are mounted on the pick-and-place head turntable at intervals, and each type of pick-and-place head 222 is used for picking and placing a wave spring 01 of a corresponding type. So, according to waiting to assemble the ripples spring model of the required installation of joint 200 different, arm 221 can get through control and put first carousel rotation, in order to get the head 222 of getting of corresponding the model and switch to the workstation, be used for getting the ripples spring 01 of waiting to assemble the required installation of joint 200 at present, make when the articulated model of the industrial robot of having changed the equipment, second erection equipment 20 can the fast switch-over to the installation demand of the ripples spring 01 of the articular model of corresponding current industrial robot.

In some embodiments, the pick-and-place head carousel may be coupled to the end of the robot arm 221 via a quick-change connector, and a turret frame may be provided on the first frame 21, on which a plurality of different pick-and-place head carousels may be placed, and from which the robot arm 221 may change the pick-and-place head carousel.

In some embodiments, each pick-and-place head 222 on the pick-and-place head carousel may be coupled to the pick-and-place head carousel via a quick-change coupling, such that the pick-and-place head carousel may replace the pick-and-place heads 222 on the presentation racks 26.

Referring to fig. 2, in this embodiment, the component assembly line further includes a fourth installation device 40, the first installation device 10 and the second installation device 20 are both located between the fourth installation device 40 and the third installation device 30, and the fourth installation device 40 is configured to socket-mount a clamp spring to the motor rotor 201 of the joint 200 to be assembled.

Because part joint product need install jump ring twice, need install jump ring once earlier promptly and install flat pad, ripples spring 01 again, install hexagonal dish 04, flat pad and install the jump ring for the second time finally. According to the embodiment, the fourth installation equipment 40 is additionally arranged at the most front end station of the conveying line 100 to serve as reserved installation equipment, when joints of industrial robots of some models are assembled, the snap spring needs to be installed at the most front end, the fourth installation equipment 40 starts to work, when the joints 200 to be assembled reach the station of the fourth installation equipment 40, the snap spring is installed on the motor rotor 201 of the joints 200 to be assembled in a sleeved mode (the number of the snap spring is preset), and then the joints are conveyed to the station of the following spare part installation through the conveying line 100. If the current joint product does not need to be provided with the clamp spring twice, the fourth installation device 40 is not started to be used.

In addition, some joint products may need to be provided with clamp springs twice and do not need to be provided with flat pads, and the first mounting device 10 can be used without being started; or some special joint products, only the sequential clamp springs are required to be installed, and the flat pads are not required to be installed, and the first installation device 10 and the fourth installation device 40 are not started.

In the parts assembly line of this embodiment, the first mounting apparatus 10, the second mounting apparatus 20, the third mounting apparatus 30 and the fourth mounting apparatus 40 are correspondingly arranged at four stations of the conveying line 100, and each mounting apparatus is respectively responsible for mounting different parts, so that the parts assembly line can be used universally to meet the requirements of various types of joint products, and the parts assembly line can be used universally, thereby greatly saving the cost of the parts assembly line.

In some embodiments, the second installation device, the fourth installation device, and the third installation device are the same device (referred to as a multi-process device), and the second installation device, the fourth installation device, and the third installation device may be structures of the multi-process device for installing corresponding component functions, respectively; that is, in this embodiment, the conveying path of the conveying line 100 is a track along which the conveying line 100 moves back and forth between the stations, and the station for installing the first flat pad 03, the station for installing the first snap spring 02, and the station for installing the hexagonal plate 04, the second flat pad 05, and the first snap spring 02 are located at the same position of the conveying line 100, and the joint 200 to be assembled passes through the position multiple times in the whole assembly process of the parts. In this embodiment, the assembly process flow of the joint 200 to be assembled on the component assembly line is as follows: the joint 200 to be assembled initially flows into a multi-process device, the multi-process device executes the installation process of a fourth installation device, the second clamp spring is installed, and the second clamp spring is installed; the multi-process equipment executes the installation process of the second installation equipment, and the first flat pad 03 is installed; and then the multi-process equipment executes the mounting process of the third mounting equipment, and the hexagonal plate 04, the second flat pad 05 and the first clamp spring 02 are mounted. It is understood that the second mounting device, the fourth mounting device and the third mounting device are the same device, and when the device mounts the first flat pad 03, the device can be regarded as the second mounting device, and when the device mounts the hexagonal plate 04, the second flat pad 05 and the first snap spring 02, the device can be regarded as the third mounting device; only when different accessories are installed, the accessories are distinguished by different names according to the current operation content.

In the above embodiment, when the first flat pad 03 and the second flat pad 05 are the same type flat pads, or the first snap spring 02 and the second snap spring are the same type snap springs, the second mounting device process and the third mounting device process of the multi-process device can share the part magazine for holding the flat pads, or the fourth mounting device process and the third mounting device process of the multi-process device can share the part magazine for holding the snap springs, so that the number of the magazines can be reduced, and the magazines can be saved.

Referring to fig. 9 and 10, fig. 9 is a schematic view of a third mounting apparatus 30 according to an embodiment of the present invention, and fig. 10 is a schematic view of another mounting apparatus 30 according to an embodiment of the present invention.

In this embodiment, the joint 200 to be assembled further includes a reducer output shaft 202, and the motor rotor 201 is sleeved outside the reducer output shaft 202; the third mounting device 30 comprises a second rack 31, a second material taking manipulator 32, a second storage bin 33 and a pushing-down device 34, wherein the second material taking manipulator 32, the second storage bin 33 and the pushing-down device 34 are arranged on the second rack 31; the second material taking manipulator 32 is used for sleeving the guide sleeve 300 on the output shaft 202 of the speed reducer and for taking the first clamp spring out of the second bin 33 and sleeving the first clamp spring on the guide sleeve 300, and the pushing device 34 is used for pushing the hexagonal disc 04 sleeved on the guide sleeve 300, the second flat pad 05 and the first clamp spring downwards and sleeving the first clamp spring on the motor rotor 201 of the joint 200 to be assembled. In some embodiments, the pushing action portion of the pushing device 34 may be a sleeve that fits over the guide sleeve 300, or other structural member.

Since the reducer output shaft 202 of the joint 200 to be assembled and the motor rotor 201 are different in size greatly (refer to fig. 1), a step shape is formed between the end of the motor rotor 201 and the end of the reducer output shaft 202. Before first jump ring 02 installs, its internal diameter is less than electric motor rotor 201's external diameter, and first jump ring 02 is in the installation, and the cover is in electric motor rotor 201's outside after need strutting it. The outer diameter of one end to the other end of guide sleeve 300 gradually increases, and wherein one end outer diameter slightly is greater than electric motor rotor 201's external diameter, butt joint in electric motor rotor 201 when supplementary assembly the tip, the external diameter of the other end then slightly is less than the internal diameter of first jump ring 02, makes each first jump ring 02 can easily overlap on guide sleeve 300. As an embodiment, the third installation device 30 comprises the following working processes: the second material taking manipulator 32 firstly puts the guide sleeve 300 on the reducer output shaft 202 of the joint 200 to be assembled, so that the end with the slightly larger outer diameter is butted with the end part of the motor rotor 201, then the second material taking manipulator 32 takes the first clamp spring 02 out of the second storage bin 33 and sleeves the guide sleeve 300, then the first clamp spring 02 is pushed downwards (i.e. towards the direction of the motor rotor 201, the state that the end to be assembled of the motor rotor 201 is placed upwards is set for facilitating the operation) by the push-down device 34, so that the first clamp spring 02 gradually and elastically expands along with the outer diameter of the guide sleeve 300, and finally the first clamp spring 02 is taken out of the bottom end of the guide sleeve 300 and sleeves the motor rotor 201, and the installation is completed. In another embodiment, after the second material taking manipulator firstly puts the guide sleeve 300 on the reducer output shaft 202 of the joint 200 to be assembled, the hexagonal plate 04, the second flat pad 05 and the first snap spring 02 are respectively sleeved on the guide sleeve 300, the hexagonal plate 04 and the second flat pad 05 slide down onto the reducer output shaft 202 along the guide sleeve 300 under the influence of gravity, the first snap spring 02 cannot slide onto the reducer output shaft 202 without being subjected to external force, and then the pushing device 34 pushes down along the guide sleeve 300, so that the first snap spring 02 is sleeved on the reducer output shaft 202. In some embodiments, the inner diameter of the hexagonal disc 04 and the second flat pad 05 is substantially the same as the outer diameter of the bottommost end of the guide sleeve 300, and when the hexagonal disc 04 and the second flat pad 05 slide down from the top end of the guide sleeve 300 to the bottom end of the guide sleeve 300, the hexagonal disc 04 and the second flat pad 05 can be ensured to be kept in a horizontal state, just clamped at the bottom end of the guide sleeve 300, and then pushed downwards by the pushing device 34, so that the hexagonal disc 04, the second flat pad 05 and the first snap spring 02 are sequentially sleeved on the motor rotor 201.

Referring to fig. 9 to 11, fig. 11 is a schematic structural diagram of a sleeve placing rack 35 of the third installation apparatus 30 according to an embodiment of the present invention.

In this embodiment, the third mounting apparatus 30 further includes a sleeve placing rack 35 provided on the second rack 31, the sleeve placing rack 35 is provided with at least one second placing portion 351 and at least one second sensor 352 in one-to-one correspondence with the second placing portion 351 (in the drawing, the second placing portion 351 and the second sensor 352 are both taken as an example), the second placing portion 351 is used for placing a corresponding type of guide sleeve 300, and the second sensor 352 can be used for detecting whether the guide sleeve 300 on the corresponding second placing portion 351 is in place; the second picking robot 32 is used to pick and place the guide sleeve 300 from the sleeve holder 35. In the operation of the third mounting device 30, the second reclaiming manipulator 32, according to the model of the joint 200 to be assembled at present, takes the guide sleeve 300 with the corresponding model from the corresponding second placing portion 351 on the sleeve placing rack 35 and sleeves the speed reducer output shaft 202 of the joint 200 to be assembled, takes the spare part from the second storage bin 33 and sleeves the spare part on the guide sleeve 300 sleeved on the speed reducer output shaft 202, pushes down the spare part by the push-down device 34 and sleeves the motor rotor 201 of the joint 200 to be assembled, and after the mounting is completed, the second reclaiming manipulator 32 takes the guide sleeve 300 from the speed reducer output shaft 202 back to the corresponding second placing portion 351 of the sleeve placing rack 35. In this embodiment, the second sensor 352 may be a laser ranging sensor, or other sensor such as an infrared sensor.

In some embodiments, the sleeve placing rack 35 may not be provided, and the second material taking robot 32 is provided with a plurality of taking and placing heads 222, some of the taking and placing heads 222 carry guide sleeves 300 of different models, some of the taking and placing heads 222 are used for taking parts from the second storage bin 33, and according to the model of the joint 200 to be assembled, the corresponding guide sleeve 300 on the taking and placing head 222 is selected to be sleeved on the reducer output shaft 202 of the joint 200 to be assembled.

Referring to fig. 12, fig. 12 is a schematic view illustrating an assembly process of the third mounting apparatus 30 according to an embodiment of the present invention.

In the present embodiment, the assembling step of the third mounting apparatus 30 includes:

step S11, the second material taking manipulator 32 sleeves a guide sleeve 300 on a reducer output shaft 202 of the joint 200 to be assembled;

step S12, the second material taking manipulator 32 sequentially takes out the hexagonal plate 04, the second flat pad 05 and the first clamp spring 02 from the second storage bin 33 and sleeves the hexagonal plate onto the guide sleeve 300;

the second material taking manipulator 32 may take out the hexagonal plate 04, the second flat pad and the first snap spring 02 from the second storage bin 33 through a plurality of taking and placing heads 222, and then sequentially sleeve the hexagonal plate 04, the second flat pad and the first snap spring 02 on the guide sleeve 300 sleeved on the output shaft 202 of the speed reducer, or the second material taking manipulator 32 may take out the hexagonal plate 04 from the second storage bin 33 and sleeve the hexagonal plate 04 on the guide sleeve 300, then take out the second flat pad 05 from the second storage bin 33 and sleeve the second flat pad on the guide sleeve 300, and finally take out the first snap spring 02 from the second storage bin 33 and sleeve the first snap spring 02 on the guide sleeve 300 through one taking and placing head 222.

In step S13, the push-down device 34 pushes the first clamp spring 02 on the guide sleeve 300 downward, and the hexagonal disc 04, the second flat pad 05 and the first clamp spring 02 on the guide sleeve 300 are fitted onto the motor rotor 201 of the joint 200 to be assembled. In this step, the hexagonal plate 04 and the second flat pad 05 may also slide down onto the reducer output shaft 202 along the guide sleeve 300 under the influence of gravity, the first snap spring 02 cannot slide onto the reducer output shaft 202 without being subjected to an external force, and then the pushing device 34 pushes down along the guide sleeve 300, so that the first snap spring 02 is sleeved on the reducer output shaft 202.

After the third mounting device 30 finishes the assembly of the spare parts of one joint 200 to be assembled, the second material taking manipulator 32 is controlled to take away the guide sleeve 300 on the output shaft 202 of the reducer, and the assembly step is repeated after the next joint 200 to be assembled reaches the assembly position.

The invention further provides an industrial robot joint production line which comprises the industrial robot joint part assembly line. The specific structure of the parts assembly line refers to the above embodiments, and the industrial robot joint production line adopts all technical solutions of all embodiments of the parts assembly line, so that at least all beneficial effects brought by the technical solutions of the embodiments are achieved, and no further description is given here.

The above description is only a part of or preferred embodiments of the present invention, and neither the text nor the drawings should be construed as limiting the scope of the present invention, and all equivalent structural changes made by using the contents of the present specification and the drawings or directly/indirectly applied to other related technical fields in the spirit of the present invention are included in the scope of the present invention.

Claims

1. A parts assembly line of an industrial robot joint, comprising:

2. The fitting assembly line of an industrial robot joint according to claim 1, wherein the first mounting device comprises a first frame, and a first material taking manipulator and a first storage bin which are arranged on the first frame, and the first material taking manipulator is used for taking out the wave spring from the first storage bin and sleeving the wave spring on the motor rotor of the joint to be assembled.

3. The parts assembly line of an industrial robot joint as claimed in claim 2, wherein the first mounting device is configured to sequentially mount two wave springs to the motor rotor of the joint to be assembled, the two wave springs are a first wave spring and a second wave spring according to the mounting sequence, the first mounting device further comprises a vision detector, the vision detector is arranged at the material taking end of the first material taking manipulator and is configured to obtain a top side image of the first wave spring mounted on the motor rotor; and is also used to acquire a topside image of the second wave spring to be mounted on the motor rotor.

4. The fitting assembly line of an industrial robot joint according to claim 3, wherein the step of the first mounting device mounting the second wave spring comprises:

controlling the first material taking manipulator to move the visual detector above the motor rotor, so that the visual detector obtains a top side image of the first wave spring, and identifying the position of an interface of the first wave spring according to the top side image of the first wave spring;

controlling the first material taking manipulator to move to the first stock bin;

5. The component assembly line of an industrial robot joint of claim 2 wherein the first material pick-and-place robot comprises a robot arm and a pick-and-place head mounted at the end of the robot arm, the pick-and-place head being connected to the end of the robot arm by a quick-change element.

6. The parts assembly line of an industrial robot joint as claimed in claim 5, wherein the first frame is further provided with a placing frame, the placing frame is provided with a plurality of first placing parts, and the first placing parts are respectively used for placing different types of pick-and-place heads; the mechanical arm is used for automatically replacing the picking and placing head from the first placing part.

7. The component assembly line for joints of an industrial robot according to claim 6, wherein the rack is further provided with a plurality of first sensors corresponding to the plurality of first placing portions one by one.

8. The component assembly line for an industrial robot joint as claimed in claim 5, wherein the first picking robot further comprises a pick-and-place head turntable rotatably mounted at the end of the robot arm, and a plurality of different types of pick-and-place heads are mounted on the pick-and-place head turntable at intervals.

9. The component assembly line of an industrial robot joint according to claim 8, characterized in that the pick-and-place head carousel is rotationally connected to the end of the robot arm by a quick-change element; and/or the plurality of taking and placing heads are respectively connected with the taking and placing head turnplate through quick change pieces.

10. The component assembly line of an industrial robot joint according to claim 1, characterized in that it further comprises a fourth mounting device, the first mounting device and the second mounting device being located between the fourth mounting device and the third mounting device, the fourth mounting device being adapted to mount a second clamping spring to the motor rotor of the joint to be assembled.

11. The component assembly line of an industrial robot joint according to claim 1, wherein the joint to be assembled further comprises a reducer output shaft, and the motor rotor is fitted outside the reducer output shaft; the third mounting equipment comprises a second rack, and a second material taking manipulator, a second storage bin and a pushing device which are arranged on the second rack;

the second material taking manipulator is used for sleeving a guide sleeve on the output shaft of the speed reducer and taking out the first clamp spring from the second bin and sleeving the first clamp spring on the guide sleeve, and the pushing device is used for pushing the hexagonal plate sleeved on the guide sleeve, the second flat pad and the first clamp spring downwards to be sleeved on the motor rotor.

12. The component assembly line for an industrial robot joint according to claim 11, wherein the third mounting apparatus further comprises a sleeve placing frame provided on the second frame, the sleeve placing frame being provided with at least one second placing portion, each of the second placing portions being for placing a corresponding type of guide sleeve; and the second material taking manipulator is used for taking and placing the guide sleeve from the sleeve placing frame.

13. The component assembly line for an industrial robot joint according to claim 12, wherein at least one second sensor is provided on the cartridge accommodating frame in one-to-one correspondence with the second accommodating portion.

14. The component assembly line of an industrial robot joint according to claim 11, characterized in that the assembling step of the third mounting device comprises:

15. An industrial robot joint production line, characterized by comprising a parts assembly line of an industrial robot joint according to any of claims 1-14.