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CN-121974087-A - System and method for quantitatively and automatically distributing screws and gaskets according to process requirements

CN121974087ACN 121974087 ACN121974087 ACN 121974087ACN-121974087-A

Abstract

The invention discloses a system for quantitatively and automatically distributing screws and gaskets according to process requirements, which comprises a plurality of sets of tray groups, an upper line buffer station, a tray disassembling station, an automatic distributing station, a code tray station and a main controller, wherein the upper line buffer station is used as an initial station and used for placing and conveying empty tray groups, the tray disassembling station is used for sequentially dividing the empty tray groups into single trays, the automatic distributing station is used for distributing the gaskets and the screws to the trays according to two-dimensional code information on the read trays, the code tray station is used for sequentially stacking the single trays which are distributed into the tray groups, the lower line buffer station is used for conveying the tray groups which are distributed, and the main controller is electrically connected with the stations and used for inputting distribution task information and controlling execution of the distribution tasks. The tray is adopted to distribute the screws and the gaskets, and the screws and the gaskets can be quantitatively and automatically distributed to matrix sequential round holes of the tray according to the process requirements, so that the distribution efficiency and accuracy are greatly improved. The invention also discloses a method for quantitatively and automatically distributing the screws and the washers according to the process requirements.

Inventors

  • ZHANG CHUNMING
  • JIA TINGGANG
  • GUO SHUQING
  • ZHANG YUESHAN
  • ZHANG BO
  • CHEN JINCHENG
  • ZOU XIN

Assignees

  • 上海电气自动化集团有限公司

Dates

Publication Date
20260505
Application Date
20260331

Claims (17)

  1. 1. A system for automatically dispensing a screw and washer on a process-by-process basis, comprising: The system comprises a plurality of sets of trays, a plurality of matrix sequence round holes, a plurality of control units and a plurality of control units, wherein each set of tray is formed by stacking a plurality of trays with the same number as the assembly process, and each tray is used for loading a gasket and a screw required by one process; The upper line buffer station is an initial station and comprises a first tray conveying chain for placing and conveying empty tray groups; The tray disassembling station is arranged behind the line loading buffer storage station and comprises a tray conveying chain II, a supporting hook mechanism, a tray disassembling clamping mechanism and a tray disassembling jacking mechanism, wherein the tray disassembling station is used for sequentially disassembling an empty tray group into single trays; The automatic distribution station is arranged behind the tray disassembly station and comprises a tray conveying chain III, a code reader, at least one automatic gasket feeding machine, at least one automatic screw feeding machine, a truss mechanical arm, a gasket pickup mechanism and a screw pickup mechanism which are arranged at the tail end of the truss mechanical arm, and is used for distributing gaskets and screws to the tray according to the read two-dimensional code information on the tray; The code disc station is arranged behind the automatic distribution station and comprises a tray conveying chain IV, a code disc clamping mechanism and a code disc jacking mechanism, and is used for sequentially stacking single trays after distribution into a tray group; The offline cache station is arranged behind the code disc station and is an end station, and comprises a tray conveying chain five for conveying a tray group for completing the distribution task; And the main controller is electrically connected with the stations and used for inputting the distribution task information and controlling the execution of the distribution task.
  2. 2. A system for automatically dispensing screw and washer on a process-by-process basis as in claim 1 wherein the number of sets of trays is equal to the number of daily assembled products.
  3. 3. A system for automatically dispensing screw and washer on a process-by-process basis as recited in claim 1, wherein a set of trays contains a number of trays equal to the number of processes for assembling a set of products.
  4. 4. A system for automatically dispensing screws and washers according to the needs of a process as set forth in claim 1, wherein the matrix sequential circular holes of a tray are in one-to-one correspondence with the washers and screws to be dispensed in a process.
  5. 5. A system for quantitatively and automatically dispensing screws and washers according to the needs of a process as in claim 1, wherein the pallet conveyor chains of each station are driven by separate servomotors for effecting the transport of the pallet or pallet groups within each station.
  6. 6. The system for quantitatively and automatically distributing screws and washers according to process requirements according to claim 1, wherein the upper line buffer station, the tray removing station, the automatic distributing station, the tray stacking station and the lower line buffer station are arranged in a shape of 'L', the upper line buffer station and the lower line buffer station are respectively arranged at two sides, and the tray removing station, the automatic distributing station and the tray stacking station are sequentially arranged between the upper line buffer station and the lower line buffer station.
  7. 7. A system for automatically dispensing screw and washer on a process-by-process basis as recited in claim 1, wherein in said tray removal station: The tray disassembly and lifting mechanism is arranged below the tray conveying chain II and used for lifting the tray group upwards, and comprises a lifting cylinder I, a lifting frame I and a guide rod I, wherein the output end of the lifting cylinder I is connected with the bottom end of the lifting frame I, and the lifting cylinder I drives the lifting frame I to move up and down along the guide rod I; The tray hook mechanism comprises two tray hook components, wherein the two tray hook components are respectively arranged on the outer sides of two side wallboards of the tray disassembly station, each tray hook component comprises a tray hook cylinder, a rotating shaft, a connecting rod, two supports and two tray hooks, the two supports are respectively fixed on the outer sides of the corresponding wallboards, the rotating shaft is positioned between the two supports, two ends of the rotating shaft are respectively and rotatably connected with the two supports, one end of the connecting rod is connected to the output end of the tray hook cylinder, and the other end of the connecting rod is fixed on the rotating shaft; the tray disassembling and clamping mechanism comprises two tray disassembling and clamping cylinders which are respectively arranged on the outer sides of wallboards on two sides of a tray disassembling station, and each tray disassembling and clamping cylinder is perpendicular to the corresponding wallboard and used for clamping two sides of a tray on the last but one layer of tray; the tray disassembling and jacking mechanism, the supporting hook mechanism and the tray disassembling and clamping mechanism are matched with each other, empty tray groups are disassembled, the lowest tray is sequentially extracted and placed on a second tray conveying chain of the station.
  8. 8. A system for automatically dispensing screw and washer on a process-by-process basis as recited in claim 7, wherein said tray removal station is configured to: the second pallet conveying chain conveys the pallet group to a pallet disassembling position; The jacking cylinder is jacked upwards, and the jacking frame drives the tray group to move upwards; the supporting hook cylinder drives the supporting hook to swing inwards to be in a supporting state; the lifting cylinder descends, and the tray group is supported by the supporting hooks to finish the storage of the tray group; The first jacking cylinder is jacked up again, so that the first jacking frame supports the bottommost tray; the disc disassembling and clamping cylinder clamps two sides of the penultimate layer of tray; the supporting hook cylinder drives the supporting hook to swing outwards to be in a separation state; the jacking cylinder descends, and the bottommost tray descends to the second tray conveying chain along with the jacking frame; The second tray conveying chain conveys the bottommost tray out; The lifting cylinder drives the lifting frame to lift again to support the penultimate pallet, the pallet disassembling clamping cylinder is loosened, the supporting hooks are in a supporting state again, and the lifting cylinder drives the lifting frame to descend to enable the pallet group to fall on the supporting hooks, so that pallet disassembling of one pallet is completed.
  9. 9. A system for automatically dispensing screws and washers according to a process requirement, as recited in claim 1, wherein said automatic dispensing station: The number of the automatic gasket feeding machines is equal to the specification number of gaskets required by assembling products, and the number of the automatic screw feeding machines is equal to the specification number of screws required by assembling products; The gasket automatic feeding machine and the screw automatic feeding machine are arranged on two sides of the pallet conveying chain III; the code reader is arranged at the inlet position of the pallet conveying chain III and used for reading the two-dimensional code information on the pallet; the truss mechanical arm is arranged above the pallet conveying chain III; The gasket pickup mechanism adopts a vacuum suction nozzle, and the vacuum suction nozzle is controlled to lift through a drop adjusting cylinder; The screw pick-up mechanism adopts a servo clamping jaw, and the opening size of the servo clamping jaw is controlled and adjusted by the main controller; A rotating motor is arranged at the tail end of the truss mechanical arm and used for realizing the position exchange of the vacuum suction nozzle and the servo clamping jaw; The side face of the truss mechanical arm is provided with a visual camera for positioning before picking up or placing.
  10. 10. A system for dosing automatic dispensing screws and washers according to a process requirement, according to claim 9, wherein said automatic dispensing station is configured to perform the following actions: The code reader reads the two-dimensional code on the upper surface of the tray and transmits the two-dimensional code to the main controller, and the main controller invokes a corresponding procedure distribution task; The pallet conveying chain III conveys pallets from an inlet position to a delivery position; The vacuum suction nozzle is driven to descend by the fall adjusting cylinder, so that the bottom plane of the vacuum suction nozzle is lower than the bottom plane of the servo clamping jaw, the truss mechanical arm moves to an outlet of the automatic gasket feeding machine, and the vacuum suction nozzle picks up gaskets after the positioning of the vision camera; The main controller adjusts the opening diameter of the servo clamping jaw, the truss mechanical arm moves to an outlet of the automatic screw feeding machine, the servo clamping jaw picks up screws and is placed at corresponding round hole positions on the tray, and the actions are repeated until the distribution of all the screws is completed; And the pallet conveying chain III conveys the pallets which finish distribution to an outlet position.
  11. 11. A system for automatically dispensing screw and washer on a process-by-process basis as recited in claim 1, wherein in said coded-disc station: The code wheel jacking mechanism is arranged below the pallet conveying chain IV and used for jacking the pallet group upwards, and comprises a jacking cylinder II, a jacking frame II and a guide rod II, wherein the output end of the jacking cylinder II is connected with the bottom end of the jacking frame II, and the jacking cylinder II drives the jacking frame II to move up and down along the guide rod II; the code disc clamping mechanism comprises two code disc clamping air cylinders which are respectively arranged at the outer sides of wallboards at two sides of the code disc station, and each code disc clamping air cylinder is perpendicular to the corresponding wallboard and used for clamping two sides of the bottommost tray of the tray group; The code disc station is configured to convey the distributed trays to the code disc station through a fourth tray conveying chain, the new tray is located below the tray set at the moment, the second lifting frame is arranged above the new tray, the original tray set is arranged above the new tray by loosening the code disc clamping cylinder, then the second lifting cylinder drives the second lifting frame to lift upwards to enable the whole tray set to lift, the code disc clamping cylinder clamps two sides of the new tray, and the second lifting cylinder descends to finish the code disc of one tray.
  12. 12. The system for quantitatively and automatically dispensing screws and washers according to process requirements of claim 1, wherein the upper and lower line buffer stations are respectively used for interfacing with an AGV trolley or a person to effect automatic feeding and removal of the pallet group.
  13. 13. A system for quantitatively and automatically dispensing screws and washers according to the needs of a process as in claim 1, wherein the pallet conveyor chain of each station is provided with stop means at the desired stop for automatically stopping the conveyor when the pallet or pallet group is touched and lowering the conveyor when continued conveyor is desired.
  14. 14. A method for quantitatively and automatically dispensing screws and washers according to process requirements, using the system for quantitatively and automatically dispensing screws and washers according to process requirements according to any one of claims 1 to 12, for automatically dispensing screws and washers, comprising the steps of: S1, placing an empty tray group on a first tray conveying chain of an upper line buffer station by a manual or AGV trolley, and conveying the empty tray group to a joint position of the upper line buffer station and a tray disassembling station by the first tray conveying chain; S2, a tray disassembling station sequentially disassembles the tray group into single trays, and conveys the trays to an automatic distribution station inlet through a tray conveying chain II; S3, a two-dimensional code on a tray is read by a code reader of an automatic distribution station, distribution tasks of corresponding procedures are called, a truss mechanical arm drives a gasket pickup mechanism and a screw pickup mechanism, gaskets and screws are picked up from an automatic gasket feeding machine and an automatic screw feeding machine respectively, and the gaskets and the screws are accurately placed in matrix sequence round holes on the upper surface of the tray; S4, conveying the trays after the distribution to a stacking station by a third tray conveying chain, and stacking the trays into a tray group by the stacking station in sequence; And S5, conveying the tray group with the code plates to a fifth tray conveying chain of the lower line buffer storage station along a fourth tray conveying chain, and taking the tray group away by a manual or AGV trolley.
  15. 15. A system for automatically dispensing a screw and washer on a process-by-process basis as in claim 14 wherein the specific step of removing the disc in step S2 comprises: the tray group is stored in a tray disassembling station, wherein a tray conveying chain II conveys the tray group to a tray disassembling position, a tray disassembling jacking mechanism is lifted upwards, a supporting hook mechanism is in a supporting state, and the tray disassembling jacking mechanism descends to enable the tray group to fall on the supporting hook; The tray removing jacking mechanism is lifted upwards to support the bottommost tray, the tray removing clamping cylinder clamps the penultimate tray, the supporting hook mechanism is in a separation state, the tray removing jacking mechanism descends to enable the bottommost tray to fall on the second tray conveying chain and convey the tray to an automatic distribution station inlet, the tray removing jacking mechanism is lifted again to support the penultimate tray, the tray removing clamping cylinder is loosened, the supporting hook mechanism is in a supporting state, and the tray removing jacking mechanism descends to enable the tray group to fall on the supporting hook.
  16. 16. A system for automatically dispensing screws and washers according to the needs of a process, as in claim 14, wherein step S3 comprises: The code reader reads the two-dimensional code on the upper surface of the tray and transmits the two-dimensional code to the main controller, and the main controller invokes the procedure distribution task; The vacuum suction nozzle descends, the truss mechanical arm moves to the automatic gasket feeding machine, the gasket is picked up after visual positioning, the truss mechanical arm moves to the upper part of the tray, the gasket is placed in a corresponding round hole of the tray after visual positioning, and distribution of all gaskets is repeatedly completed; the vacuum suction nozzle ascends, the main controller adjusts the opening diameter of the servo clamping jaw, the truss mechanical arm moves to the screw automatic feeding machine, the screws are picked up after visual positioning, the truss mechanical arm moves to the upper part of the tray, the screws are placed in corresponding round holes of the tray after visual positioning, and all screw distribution is completed repeatedly; after the distribution is finished, the pallet is conveyed to an outlet position by a pallet conveying chain II.
  17. 17. The system for automatically dispensing screw and washer on a process-by-process basis of claim 14, wherein the specific step of the code wheel of step S4 comprises: a pallet conveying chain IV conveys the distributed pallets to a code pallet station, the new pallets are positioned below the pallet group, and the code pallet jacking mechanism is arranged above the code pallet jacking mechanism; The code disc clamping cylinder is loosened, and the original tray group falls above the new tray; The code disc jacking mechanism is jacked up to enable the whole tray group to ascend; The code disc clamping cylinder clamps two sides of the new tray; the code disc jacking mechanism descends and resets to finish the code disc of one tray.

Description

System and method for quantitatively and automatically distributing screws and gaskets according to process requirements Technical Field The invention relates to the field of component distribution of complex electromechanical equipment assembly, in particular to a system and a method for quantitatively and automatically distributing screws and washers according to process requirements. Background Screws and washers are standard hardware that is very commonly used in mechanical connections, mainly for mechanical connection and fixation. According to different assembly demands, screws with different types and specifications can be selected, and the gasket is mainly matched with the screws for use and can play a role in preventing looseness. For a certain type of screw, different specifications can be selected by two parameters, namely a diameter d and a length h, and for a certain type of washer, different specifications can be selected by the parameter, namely the diameter d. For convenience and economy of assembly, on the premise of meeting design requirements, screws and washers which meet national or international standards are selected as much as possible, and models and specifications are concentrated as much as possible. The complex electromechanical device is electromechanical integrated equipment assembled by a plurality of mechanical and electrical parts, the assembly is a very complex process, and the assembly is required to be carried out strictly according to a design drawing and an assembly specification, so that the position and the connection mode of each part are accurate. The assembly process of the complex electromechanical equipment generally needs modularized decomposition, is divided into different independent modules according to functions, and is used for preferentially completing the assembly of the sub-modules and finally performing final assembly. In addition, the assembly sequence should follow the principle of 'from inside to outside and from static to dynamic', the basic frame is installed first, and then other sub-functional modules are installed step by step. Commercial satellites are typical complex electromechanical devices, and the assembly process of the commercial satellites can be divided into a plurality of working procedures, such as platform cable laying, load cable laying, platform automatic installation, load automatic installation, platform manual installation, load manual installation, platform load cabin closing and the like, and the assembly of different working procedures is completed on different working stations. Screws and washers are the most dominant attachment fasteners in commercial satellite assemblies, and each process uses different gauges and numbers of screws and washers, and each process uses washers and screws that are dosed prior to assembly. The existing distribution mode is generally carried out by adopting a manual counting mode, namely, the number of screws and gaskets with different specifications is counted manually according to the process requirements, and the screws and gaskets in each process are packaged into a bag for distribution. The method has the following defects that ① is easy to make mistakes and has low efficiency, some screws have small appearance difference and are easy to make mistakes, ② is easy to make the checked screws and washers into one bag for distribution, and the requirement of subsequent automatic assembly of the screws and washers is difficult to meet. The satellite assembly has extremely high requirements on the distribution of screws and washers, the distribution supply quantity and the process demand quantity are in one-to-one correspondence, and the situations of mismatch, excessive distribution and insufficient distribution are not allowed. In addition, the materials of the screws used in satellites are titanium alloy materials, and the cost is quite high, which is why the screws and gaskets are required to be quantitatively distributed as required. Disclosure of Invention The invention aims to overcome the defects of the prior art, and provides a system for quantitatively and automatically distributing screws and gaskets according to the process requirements, wherein the screws and gaskets are distributed by adopting a tray, so that the screws and the gaskets can be quantitatively and automatically distributed to matrix sequential round holes of the tray according to the process requirements, the distribution efficiency and accuracy are greatly improved, and meanwhile, the foundation is laid for the subsequent automatic assembly of the screws and the gaskets. It is a further object of the present invention to provide a method for automatically dispensing and dosing screws and washers according to process requirements, using the system described above. The technical scheme for achieving the purpose is that the system for quantitatively and automatically distributing the screws and the washers according to t