技术领域technical field
本发明涉及汽车配件生产加工技术领域，尤其涉及一种用于排挡框的机械手安装装置。The invention relates to the technical field of production and processing of auto parts, in particular to a manipulator installation device for a gear box.
背景技术Background technique
汽车排挡框在组装过程中，通常需要使用螺丝和卡扣将多个部件进行组装，目前螺丝及卡扣的组装分别为不同工序，即在不同工位组装完成，采用为人工或者半自动化辅助完成组装，这种人工或者半自动化生产方式，长时间的劳作，使人工产生疲惫感，使得生产的可控性较差，生产效率低，并且发生漏装螺丝或卡扣的现象，生产合格率降低。During the assembly process of the car gear box, it is usually necessary to use screws and buckles to assemble multiple parts. At present, the assembly of screws and buckles is a different process, that is, the assembly is completed at different stations, and it is completed manually or semi-automatically. Assembling, this kind of manual or semi-automatic production method, long-term labor, makes the manual feel tired, makes the production controllable, the production efficiency is low, and the phenomenon of missing screws or buckles occurs, and the production qualification rate decreases. .
发明内容Contents of the invention
为了克服现有技术中存在的汽车排挡框组装效率低、出现漏装现象的缺点，本发明的目的在于提供一种用于排挡框的机械手安装装置，实现自动安装，提高生产合格率。In order to overcome the disadvantages of low assembly efficiency and missing assembly of the gear box in the prior art, the purpose of the present invention is to provide a manipulator installation device for the gear box, which can realize automatic installation and improve the qualified rate of production.
为实现上述目的，本发明的技术方案为：To achieve the above object, the technical solution of the present invention is:
一种用于排挡框的机械手安装装置，包括横梁、第一滑轨、第一机械手组件、第二滑轨及第二机械手组件；A manipulator installation device for a gear frame, comprising a beam, a first slide rail, a first manipulator assembly, a second slide rail, and a second manipulator assembly;
所述第一滑轨与第二滑轨分别设于横梁的两侧，滑轨沿横梁的长度方向延伸设置，所述第一机械手组件滑动连接于第一滑轨，所述第二机械手组件滑动连接于第二滑轨；The first slide rail and the second slide rail are respectively arranged on both sides of the crossbeam, the slide rails are extended along the length direction of the crossbeam, the first manipulator assembly is slidably connected to the first slide rail, and the second manipulator assembly slides connected to the second slide rail;
所述第一机械手组件用于拾取外界螺丝并将螺丝安装于排挡框；The first manipulator assembly is used to pick up external screws and install the screws on the gear frame;
所述第二机械手组件用于拾取外界卡扣并将卡扣安装于排挡框；The second manipulator assembly is used to pick up the external buckle and install the buckle on the gear frame;
所述第一机械手组件包括电批、压力表及真空发生器，所述压力表、真空发生器及电批连通；The first manipulator assembly includes an electric batch, a pressure gauge and a vacuum generator, and the pressure gauge, the vacuum generator and the electric batch are connected;
所述第二机械手组件包括夹爪气缸、夹爪及感应器，所述感应器设于夹爪并用于感应夹爪有无夹到卡扣，所述夹爪气缸控制夹爪取放外界卡扣。The second manipulator assembly includes a gripper cylinder, a gripper and an inductor. The sensor is arranged on the gripper and is used to sense whether the gripper is clamped on the buckle. The gripper cylinder controls the gripper to pick and place the external buckle. .
进一步的，所述第一机械手组件还包括第一安装板、第一滑动板、第一气缸，所述第一安装板滑动连接于第一滑轨，所述第一气缸固定连接于第一安装板，所述第一滑动板滑动连接于第一安装板，所述第一气缸驱动所述第一滑动板升降，所述电批固定连接于第一滑动板，所述压力表固定连接于第一安装板。Further, the first manipulator assembly also includes a first mounting plate, a first sliding plate, and a first air cylinder, the first mounting plate is slidably connected to the first slide rail, and the first air cylinder is fixedly connected to the first mounting plate. The first sliding plate is slidably connected to the first mounting plate, the first cylinder drives the first sliding plate up and down, the electric batch is fixedly connected to the first sliding plate, and the pressure gauge is fixedly connected to the second a mounting plate.
进一步的，所述第一机械手组件还包括第一缓冲件，所述第一缓冲件的两端分别连接第一气缸的伸缩杆与第一滑动板。Further, the first manipulator assembly further includes a first buffer, and the two ends of the first buffer are respectively connected to the telescopic rod of the first cylinder and the first sliding plate.
进一步的，所述第二机械手组件包括第二安装板、第二升降气缸及第二滑动板，所述第二安装板滑动连接于第二滑轨，所述第二升降气缸驱动第二滑动板沿第二安装板升降，所述夹爪气缸固定连接于第二滑动板。Further, the second manipulator assembly includes a second mounting plate, a second lifting cylinder and a second sliding plate, the second mounting plate is slidably connected to the second slide rail, and the second lifting cylinder drives the second sliding plate Lifting and descending along the second mounting plate, the jaw cylinder is fixedly connected to the second sliding plate.
进一步的，所述第二机械手组件还包第二缓冲件，所述第二缓冲件安装于第二安装板并用于对所述第二滑动板进行限位。Further, the second manipulator assembly also includes a second buffer, the second buffer is installed on the second mounting plate and is used to limit the second sliding plate.
进一步的，第二机械手组件包括导向板，所述夹爪包括左滑块、左爪、右滑块及右爪，所述夹爪气缸安装于导向板，所述左滑块与右滑块分别滑动连接于导向板，所述左滑块与左爪固定连接，所述右滑块与右爪固定连接，夹爪气缸经由滑块驱动左爪及右爪彼此靠近或彼此远离。Further, the second manipulator assembly includes a guide plate, the jaws include a left slider, a left claw, a right slider and a right claw, the jaw cylinder is installed on the guide plate, and the left slider and the right slider are respectively Slidingly connected to the guide plate, the left slider is fixedly connected with the left claw, the right slider is fixedly connected with the right claw, and the jaw cylinder drives the left claw and the right claw to approach or move away from each other through the slider.
本发明的有益效果：通过在横梁安装第一机械手组件及第二机械手组件，实现同一工位完成锁螺丝及装卡扣的两个工序，确保安装精准度，压力表及感应器的分别设置，提高生产质量及工件组装合格率。Beneficial effects of the present invention: by installing the first manipulator assembly and the second manipulator assembly on the crossbeam, the two processes of locking the screw and installing the buckle can be completed at the same station, ensuring the accuracy of the installation, and the separate settings of the pressure gauge and the sensor, Improve production quality and workpiece assembly pass rate.
附图说明Description of drawings
图1为本发明的立体结构示意图；Fig. 1 is the three-dimensional structure schematic diagram of the present invention;
图2为本发明的第一机械手组件立体结构示意图；2 is a schematic diagram of the three-dimensional structure of the first manipulator assembly of the present invention;
图3为本发明的第二机械手组件立体结构示意图；3 is a schematic diagram of the three-dimensional structure of the second manipulator assembly of the present invention;
图4为本发明的夹爪气缸、夹爪及感应器拆分结构示意图；Fig. 4 is a schematic diagram of the split structure of the jaw cylinder, jaws and inductor of the present invention;
图5为本发明的夹爪气缸、导向板、左滑块及右滑块拆分结构示意图。Fig. 5 is a schematic diagram of the disassembled structure of the jaw cylinder, the guide plate, the left slider and the right slider of the present invention.
附图标记包括：Reference signs include:
1—横梁 2—第一滑轨 3—第一机械手组件1—beam 2—the first slide rail 3—the first manipulator assembly
31—电批 32—压力表 33—真空发生器31—electric batch 32—pressure gauge 33—vacuum generator
34—第一安装板 35—第一滑动板 36—第一气缸34—the first mounting plate 35—the first sliding plate 36—the first cylinder
37—第一缓冲件 4—第二滑轨 5—第二机械手组件37—the first buffer piece 4—the second sliding rail 5—the second manipulator assembly
51—夹爪气缸 52—夹爪 521—左滑块51—Gripper Cylinder 52—Gripper 521—Left Slider
522—左爪 523—右滑块 524—右爪522—Left Claw 523—Right Slider 524—Right Claw
53—感应器 54—第二安装板 55—第二升降气缸53—Inductor 54—The second mounting plate 55—The second lifting cylinder
56—第二滑动板 57—第二缓冲件 58—导向板。56—the second sliding plate 57—the second buffer member 58—the guide plate.
具体实施方式Detailed ways
为了便于本领域技术人员的理解，下面结合实施例及附图对本发明作进一步的说明，实施方式提及的内容并非对本发明的限定。In order to facilitate the understanding of those skilled in the art, the present invention will be further described below in conjunction with the embodiments and accompanying drawings, and the contents mentioned in the implementation modes are not intended to limit the present invention.
请参阅图1至图5，本发明的一种用于排挡框的机械手安装装置，包括横梁1、第一滑轨2、第一机械手组件3、第二滑轨4及第二机械手组件5；Please refer to FIG. 1 to FIG. 5 , a manipulator installation device for a gear frame according to the present invention includes a beam 1 , a first slide rail 2 , a first manipulator assembly 3 , a second slide rail 4 and a second manipulator assembly 5 ;
所述第一滑轨2与第二滑轨4分别设于横梁1的两侧，滑轨沿横梁1的长度方向延伸设置，所述第一机械手组件3滑动连接于第一滑轨2，所述第二机械手组件5滑动连接于第二滑轨4；The first slide rail 2 and the second slide rail 4 are respectively arranged on both sides of the crossbeam 1, the slide rails extend along the length direction of the crossbeam 1, and the first manipulator assembly 3 is slidably connected to the first slide rail 2, so that The second manipulator assembly 5 is slidably connected to the second slide rail 4;
所述第一机械手组件3用于拾取外界螺丝并将螺丝安装于排挡框；The first manipulator assembly 3 is used to pick up external screws and install the screws on the gear frame;
所述第二机械手组件5用于拾取外界卡扣并将卡扣安装于排挡框；The second manipulator assembly 5 is used to pick up the external buckle and install the buckle on the gear frame;
所述第一机械手组件3包括电批31、压力表32及真空发生器33，所述压力表32、真空发生器33及电批31连通；Described first manipulator assembly 3 comprises electric batch 31, pressure gauge 32 and vacuum generator 33, and described pressure gauge 32, vacuum generator 33 and electric batch 31 communicate;
所述第二机械手组件5包括夹爪气缸51、夹爪52及感应器53，所述感应器53设于夹爪52并用于感应夹爪52有无夹到卡扣，所述夹爪气缸51控制夹爪52取放外界卡扣。The second manipulator assembly 5 includes a jaw cylinder 51, a jaw 52 and an inductor 53. The inductor 53 is arranged on the jaw 52 and is used for sensing whether the jaw 52 is clamped to the buckle. The jaw cylinder 51 Control the jaw 52 to pick and place the external buckle.
具体的，本实施例中，用于排挡框的机械手安装装置完成两个工序：螺丝的拾取及安装、卡扣的抓取及安装，第一机械手组件3通过在第一滑轨2做水平运动完成螺丝的拾取及安装，真空发生器33产生真空，使得电批31吸附到螺丝，此时压力表32显示为负数，表示吸附成功，若压力表32未显示为负数，则表示螺丝缺料，发出报警信号，防止漏装螺丝的现象，第一机械手组件3整体移动至待处理的工件上方，需要锁螺丝时，第二机械手组件5通过在第二滑轨4做水平运动完成卡扣的抓取及安装，感应器53安装在夹爪52，感应器53为光纤感应器，用于判断夹爪52有无卡扣，若夹爪52无卡扣，发出报警信号，防止漏装卡扣的现象。Specifically, in this embodiment, the manipulator installation device used for the gear box completes two processes: picking up and installing screws, grabbing and installing buckles, and the first manipulator assembly 3 moves horizontally on the first slide rail 2 After the screw is picked up and installed, the vacuum generator 33 generates a vacuum to make the electric screwdriver 31 adsorb to the screw. At this time, the pressure gauge 32 shows a negative number, indicating that the adsorption is successful. If the pressure gauge 32 does not show a negative number, it indicates that the screw is short of material. Send an alarm signal to prevent the phenomenon of missing screws. The first manipulator assembly 3 moves to the top of the workpiece to be processed as a whole. Picking and installation, the sensor 53 is installed on the jaw 52, the sensor 53 is an optical fiber sensor, used to judge whether the jaw 52 has a buckle, if the jaw 52 has no buckle, an alarm signal is sent to prevent the failure of the buckle to be installed Phenomenon.
通过在横梁1安装第一机械手组件3及第二机械手组件5，实现同一工位完成锁螺丝及装卡扣的两个工序，压力表32及感应器53的分别设置，提高生产质量及工件组装合格率。By installing the first manipulator assembly 3 and the second manipulator assembly 5 on the beam 1, the two processes of screw locking and buckle installation can be completed at the same station, and the pressure gauge 32 and the sensor 53 can be set separately to improve production quality and workpiece assembly Pass rate.
所述第一机械手组件3还包括第一安装板34、第一滑动板35、第一气缸36，所述第一安装板34滑动连接于第一滑轨2，所述第一气缸36固定连接于第一安装板34，所述第一滑动板35滑动连接于第一安装板34，所述第一气缸36驱动所述第一滑动板35升降，所述电批31固定连接于第一滑动板35，所述压力表32固定连接于第一安装板34，第一安装板34实现电批31水平运动的平稳性，第一滑动板35实现电批31垂直运动的平稳性，实现电批31吸附及安装螺丝的生产顺畅性。The first manipulator assembly 3 also includes a first mounting plate 34, a first sliding plate 35, and a first cylinder 36, the first mounting plate 34 is slidably connected to the first slide rail 2, and the first cylinder 36 is fixedly connected On the first mounting plate 34, the first sliding plate 35 is slidably connected to the first mounting plate 34, the first cylinder 36 drives the first sliding plate 35 up and down, and the electric batch 31 is fixedly connected to the first sliding plate 34. Plate 35, the pressure gauge 32 is fixedly connected to the first mounting plate 34, the first mounting plate 34 realizes the stability of the horizontal movement of the electric batch 31, the first sliding plate 35 realizes the stability of the vertical movement of the electric batch 31, and realizes the stability of the electric batch 31 Smooth production of adsorption and mounting screws.
所述第一机械手组件3还包括第一缓冲件37，所述第一缓冲件37的两端分别连接第一气缸36的伸缩杆与第一滑动板35，第一缓冲件37采用弹簧，用于缓冲第一滑动板35的变速，防止电批31对工件的碰撞，提高生产安全性。The first manipulator assembly 3 also includes a first buffer member 37, the two ends of the first buffer member 37 are respectively connected to the telescopic rod of the first cylinder 36 and the first sliding plate 35, the first buffer member 37 adopts a spring, with It is used to buffer the speed change of the first sliding plate 35, prevent the electric batch 31 from colliding with the workpiece, and improve production safety.
所述第二机械手组件5包括第二安装板54、第二升降气缸55及第二滑动板56，所述第二安装板54滑动连接于第二滑轨4，所述第二升降气缸55驱动第二滑动板56沿第二安装板54升降，所述夹爪气缸51固定连接于第二滑动板56，第二安装板54实现夹爪52水平运动的平稳性，第二滑动板56实现夹爪52垂直运动的平稳性，实现夹爪52抓取及安装卡扣的生产顺畅性。The second manipulator assembly 5 includes a second mounting plate 54, a second lifting cylinder 55 and a second sliding plate 56, the second mounting plate 54 is slidably connected to the second slide rail 4, and the second lifting cylinder 55 drives The second sliding plate 56 rises and falls along the second mounting plate 54, and the jaw cylinder 51 is fixedly connected to the second sliding plate 56. The second mounting plate 54 realizes the stability of the horizontal movement of the jaws 52, and the second sliding plate 56 realizes clamping. The stability of the vertical movement of the claw 52 realizes the production smoothness of the claw 52 grabbing and installing the buckle.
所述第二机械手组件5还包括第二缓冲件57，所述第二缓冲件57安装于第二安装板54并用于对所述第二滑动板56进行限位，第二缓冲件57的设置，限制第二滑动板56升降过程的最高位，同时避免第二滑动板56速度的瞬间变化引起对工件。The second manipulator assembly 5 also includes a second buffer 57, the second buffer 57 is installed on the second mounting plate 54 and is used to limit the second sliding plate 56, the setting of the second buffer 57 , limit the highest position of the lifting process of the second sliding plate 56, and at the same time prevent the instantaneous change of the speed of the second sliding plate 56 from causing damage to the workpiece.
第二机械手组件5包括导向板58，所述夹爪52包括左滑块521、左爪522、右滑块523及右爪524，所述夹爪气缸51安装于导向板58，所述左滑块521与右滑块523分别滑动连接于导向板58，所述左滑块521与左爪522固定连接，所述右滑块523与右爪524固定连接，夹爪气缸51经由滑块驱动左爪522及右爪524彼此靠近或彼此远离，导向板58的一侧安装夹爪气缸51，导向板58远离夹爪气缸51的一侧加工有滑槽，左滑块521与右滑块523滑动连接于滑槽内，确保左爪52及右爪524开合的稳定性，方便拆装及维修。The second manipulator assembly 5 includes a guide plate 58, the jaw 52 includes a left slider 521, a left claw 522, a right slider 523 and a right claw 524, the jaw cylinder 51 is installed on the guide plate 58, and the left slide The block 521 and the right slider 523 are slidingly connected to the guide plate 58 respectively, the left slider 521 is fixedly connected with the left claw 522, the right slider 523 is fixedly connected with the right claw 524, and the jaw cylinder 51 drives the left claw through the slider. The claw 522 and the right claw 524 are close to each other or far away from each other. The jaw cylinder 51 is installed on one side of the guide plate 58. The side of the guide plate 58 away from the jaw cylinder 51 is processed with a chute, and the left slider 521 and the right slider 523 slide It is connected in the chute to ensure the stability of the opening and closing of the left claw 52 and the right claw 524, which is convenient for disassembly and maintenance.
以上内容仅为本发明的较佳实施例，对于本领域的普通技术人员，依据本发明的思想，在具体实施方式及应用范围上均会有改变之处，本说明书内容不应理解为对本发明的限制。The above content is only a preferred embodiment of the present invention. For those of ordinary skill in the art, according to the idea of the present invention, there will be changes in the specific implementation and application scope. limits.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910665802.7ACN110303470A (en) | 2019-07-23 | 2019-07-23 | A kind of manipulator installation device for gear box |
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910665802.7ACN110303470A (en) | 2019-07-23 | 2019-07-23 | A kind of manipulator installation device for gear box |
| Publication Number | Publication Date |
|---|---|
| CN110303470Atrue CN110303470A (en) | 2019-10-08 |
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910665802.7APendingCN110303470A (en) | 2019-07-23 | 2019-07-23 | A kind of manipulator installation device for gear box |
| Country | Link |
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| CN (1) | CN110303470A (en) |
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| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | Application publication date:20191008 | |
| RJ01 | Rejection of invention patent application after publication |