CN218426813U - Robot automatic assembly device of accurate plug connector - Google Patents

Robot automatic assembly device of accurate plug connector Download PDF

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Publication number
CN218426813U
CN218426813U CN202222748813.1U CN202222748813U CN218426813U CN 218426813 U CN218426813 U CN 218426813U CN 202222748813 U CN202222748813 U CN 202222748813U CN 218426813 U CN218426813 U CN 218426813U
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needle
assembly
sleeve
piece
pole
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刘辉
何骞
邰杨
许悦
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Chengdu Sichuan Harbin Industrial Robot And Intelligent Equipment Technology Research Institute Co ltd
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Chengdu Sichuan Harbin Industrial Robot And Intelligent Equipment Technology Research Institute Co ltd
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Abstract

The utility model discloses a robot automatic assembly device of a precise plug connector, which comprises an equipment main body, and a fixed assembly system, a rotating assembly system, an assembly displacement moving system and a first visual detection system which are arranged on the equipment main body; the fixed assembly system comprises a glass sleeve assembly system, a polar needle press-fitting assembly, a polar needle assembly system and a second visual detection system which are sequentially arranged. The utility model discloses can realize the automatic precision assembly of accurate plug connector, and assembly quality and precision are high, have effectively reduced the cost of labor.

Description

Robot automatic assembly device of accurate plug connector
Technical Field
The utility model relates to a high-end product manufacturing technical field specifically is a robot automatic assembly device of accurate plug connector.
Background
The glass sealing body or the glass welding part is a workpiece sealed by melting and resolidifying glass, the workpiece is effectively sealed by welding the glass in a specific area of the workpiece, and the glass has the characteristics of insulation, high temperature resistance and oxidation resistance, so that the glass has strong durability and stability after being sealed, can adapt to severe working environments, and is mainly used for microelectronic packaging, communication connecting devices and the like in the fields of military industry, electronic communication, aerospace and the like.
The utility model discloses an accurate plug connector is the semi-manufactured goods of a glass sealing body promptly, it mainly includes down the sealing body, the utmost point needle, the glass sleeve pipe, go up sealing body and shell, the utmost point needle lower extreme is installed on the utmost point needle pilot hole of sealing body down, utmost point needle upper end is then installed on the utmost point needle pilot hole of last sealing body, the glass sleeve pipe then cup joints on last sealing body and the utmost point needle between the sealing body down, the shell is then the cover establish on last sealing body and seal down between the sealing body and with the glass sleeve pipe including sealed, after the assembly more than the completion, reentrant glass butt fusion technology with the glass sleeve pipe butt fusion in last sealing body, seal down between body and the shell, and then can seal and ensure that the utmost point needle is in sealed isolated state completely with the cavity between the three, form ultimate finished product.
The prior precision plug connector is assembled by adopting the following process: (1) inserting the pole needle into a pole needle assembly hole of the lower sealing body → (2) sleeving the shell into the lower sealing body → (3) installing the glass tube in the pole needle assembly hole, pushing the glass tube into the pole needle assembly hole by using forceps, and positioning → (5) installing the upper sealing body. The assembly process is realized by manually adopting tool facilities such as tweezers, eyepieces, tables and the like, and the process quality control is finished through the visual, tactile and other senses of operators, but the fit clearance between the workpieces in the precise plug connector is small, for example, the fit clearance between the inner diameter of a glass sleeve and the outer diameter of an electrode needle is 0.06mm at least, the fit clearance between the electrode needle and an electrode needle assembly hole is 0.02mm at least, and the electrode needle (the diameter is 0.9-1.0 mm, the length is about 11-30 mm), the size of the glass sleeve (the diameter is 2-3 mm, the length is about 1.5-6 mm) is small, so that the labor intensity of the operators is high and the efficiency is low during assembly, the operators are easy to have visual fatigue and visual damage in the process, the assembly quality of the operators is easy to miss, miss inspection and the like after fatigue occurs, and the assembly quality cannot be completely guaranteed.
Therefore, how to realize accurate and quick low-cost assembly of the precise plug connector is the first problem which is urgently needed to be solved.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a robot automatic assembly device of accurate plug connector, this robot automatic assembly device of accurate plug connector can realize the automatic assembly of accurate plug connector overall process to combine image recognition to carry out the testing of assembly position and confirm, assemble effectual, the success rate is high.
The purpose of the utility model is mainly realized through the following technical scheme: a robot automatic assembly device of a precise plug connector comprises an equipment main body, a fixed assembly system, a rotating assembly system, an assembly displacement moving system and a first visual detection system, wherein the fixed assembly system, the rotating assembly system, the assembly displacement moving system and the first visual detection system are arranged on the equipment main body;
the fixed assembling system comprises a glass sleeve assembling system, a polar needle press-fitting assembly, a polar needle assembling system and a second visual detection system which are sequentially arranged, the polar needle assembling system is used for assembling a polar needle to a lower sealing body in a free falling mode, the polar needle press-fitting assembly is used for pressing the polar needle to an assembling position after the polar needle is assembled, the glass sleeve assembling system is used for assembling the glass sleeve to the assembled polar needle in the free falling mode, and the second visual detection system is used for detecting the plane position of a polar needle assembling hole on the lower sealing body before the polar needle is assembled and detecting the assembling result of the glass sleeve after the glass sleeve is assembled;
the assembly position moving system is used for positioning and adjusting the position of the lower sealing body and driving the lower sealing body to move to the fixed assembly system so as to complete the assembly of the pole needle, the assembly of the glass sleeve and the visual detection;
the rotating assembly system can rotate to the moving track of the assembly moving system, and is used for grabbing and adjusting the position of the shell or the upper sealing body and fixing the shell and the upper sealing body to the lower sealing body in sequence after the assembly of the assembly system is completed to form the precise plug connector;
the first visual detection system is used for detecting the plane position of the pole needle assembly hole of the shell or the upper sealing body after the rotating assembly system grabs the shell or the upper sealing body.
Based on the technical scheme, the automatic assembling device further comprises a material storing and conveying system, wherein the material storing and conveying system comprises a lower sealing body feeding system, an upper sealing body feeding system, a shell storing system and a finished product storing system;
the rotating assembly system can rotate to any position above the lower sealing body feeding system, the upper sealing body feeding system, the shell storage system and the finished product storage system to complete material storage and delivery.
Based on the technical scheme, the polar needle assembly system comprises a polar needle feeding system and a polar needle assembly which are sequentially arranged from top to bottom, and the polar needle assembly is connected to the equipment main body through a first lifting piece;
the pole needle assembly comprises a pole needle guide piece, a pole needle collecting piece and a pole needle discharging piece which are vertically arranged in sequence, wherein the pole needle guide piece, the pole needle collecting piece and the pole needle discharging piece are all provided with a pole needle collecting hole, and the aperture of the pole needle guide piece, the aperture of the pole needle collecting piece and the aperture of the pole needle collecting hole of the pole needle collecting piece are sequentially reduced and correspondingly communicated to form a pole needle feeding channel;
the needle collecting hole at the upper end of the pole needle material guiding piece is communicated with the pole needle feeding system;
at least the needle collecting hole of the pole needle collecting piece is of a special-shaped hole structure with a large upper part and a small lower part, and at least the lower end part of the needle collecting hole of the pole needle discharging piece is a straight hole.
Based on the technical scheme, the pole needle guide piece, the pole needle collecting piece and the pole needle discharging piece are all provided with a plurality of needle collecting holes, and the plurality of needle collecting holes are respectively communicated in a one-to-one correspondence mode to form a plurality of pole needle feeding channels with the same number as the pole needles;
the central distance between the pole needle feeding channels is gradually reduced until the central distance between the pole needle feeding channels at one end of the pole needle discharging piece is the same as the central distance between the pole needle assembling holes in the lower sealing body.
Based on the technical scheme, the polar needle collecting piece comprises a polar needle conical funnel piece and a polar needle inclined collecting piece which are vertically arranged in sequence;
the needle collecting hole of the polar needle conical funnel piece is an inclined special-shaped hole which is inclined from top to bottom towards the central direction of the polar needle conical funnel piece;
the upper end of a needle collecting material hole of the polar needle inclined folding piece forms a flat opening and is gradually folded towards the other end to form a circular material opening;
the lower extreme in needle collection material hole of utmost point needle toper funnel spare switches on with flat opening, circular material mouth with the needle collection material hole of utmost point needle ejection of compact piece switches on.
Based on the technical scheme, the pole needle assembly further comprises a pre-pressing mechanism;
the pre-pressing mechanism comprises a lifting motor arranged in the middle of the pole needle material guiding part and a lifting rod connected to the lifting motor, and the lifting rod can sequentially extend into the pole needle conical funnel part and the pole needle inclined drawing part and shield the flat opening or part of the flat opening.
Based on above technical scheme, still be provided with the through-hole with collection needle material hole intercommunication on the utmost point needle ejection of compact piece, install first sensor in the through-hole, the sense terminal of first sensor is downthehole towards collection needle material.
Based on the technical scheme, the polar needle press-fitting assembly comprises a second lifting component and a lower pressing piece;
the lower pressing piece comprises a fixed plate connected with the second lifting assembly, a lower pressing rod capable of freely lifting is arranged on the fixed plate, and a first elastic piece connected with the fixed plate is arranged at the upper end of the lower pressing rod;
the lower pressing piece further comprises a second sensor arranged on the fixing plate, and the detection end of the second sensor is arranged towards the lower pressing rod.
Based on the technical scheme, the glass sleeve assembling system comprises a glass sleeve feeding system and a glass sleeve assembling assembly which are sequentially arranged from top to bottom, and the glass sleeve assembling assembly is connected to the equipment main body through a third lifting piece;
the glass sleeve assembling assembly comprises a sleeve guide piece, a sleeve collecting piece and a sleeve discharging piece which are vertically arranged in sequence, sleeve conveying holes are formed in the sleeve guide piece, the sleeve collecting piece and the sleeve discharging piece, and the diameters of the sleeve conveying holes of the sleeve guide piece, the sleeve collecting piece and the sleeve discharging piece are sequentially reduced and are correspondingly communicated to form a sleeve feeding channel;
at least the sleeve conveying hole of the sleeve collecting piece is of a special-shaped hole structure with a large upper part and a small lower part, and at least the lower end part of the sleeve conveying hole of the sleeve discharging piece is a straight hole.
Based on the technical scheme, the sleeve material guiding part, the sleeve collecting part and the sleeve discharging part are respectively provided with a plurality of sleeve conveying holes, and the sleeve conveying holes are respectively communicated in a one-to-one correspondence manner to form a plurality of sleeve feeding channels with the same number as the pole needles;
the center distance among the plurality of sleeve feeding channels is gradually reduced until the center distance of the plurality of sleeve feeding channels at one end of the sleeve discharging piece is the same as the center distance of the pole needles assembled on the lower sealing body.
Based on the technical scheme, the sleeve material guide piece comprises a material guide cylinder and a vibration guide base which are vertically arranged in sequence;
the vibration guide base comprises a fixed seat and a sleeve receiving disc flexibly connected to the fixed seat, a funnel-shaped receiving groove with a large upper part and a small lower part is arranged on the sleeve receiving disc, the receiving groove is positioned below a sleeve conveying hole of the guide cylinder, the bottom of the receiving groove is communicated with a guide pipe, and the guide pipe is communicated with the sleeve conveying hole of the sleeve collecting piece;
the vibration guide base further comprises at least one first vibration piece arranged on the fixing base, and the vibration end of the first vibration piece is attached to the outer side of the sleeve receiving disc.
Based on the technical scheme, the sleeve conveying hole of the sleeve furling piece is an inclined special-shaped hole which inclines from top to bottom towards the center direction of the sleeve furling piece.
Based on above technical scheme, the sleeve pipe ejection of compact spare still is provided with the through-hole with the sleeve pipe delivery hole intercommunication, install the third sensor in the through-hole, the sense terminal of third sensor is towards in the sleeve pipe delivery hole.
Based on above technical scheme, second visual inspection system includes the fourth lifting piece and connects the connecting plate body on the fourth lifting piece, and from the top down interval is provided with industry camera and light source on the connecting plate body, it still is provided with the height detection piece to lie in the industry camera outside on the connecting plate body.
Based on the technical scheme, the rotary assembling system comprises a clamping jaw assembly, a rotary arm robot for driving and connecting the clamping jaw assembly and a support frame for supporting and connecting the rotary arm robot, wherein the rotary arm robot can drive the clamping jaw assembly to move to a moving track of the assembling displacement moving system so as to sequentially install the shell and the upper sealing body;
the clamping jaw assembly comprises a shell clamping jaw and a sealing body clamping jaw which are arranged side by side, a fourth sensor is arranged on the outer side of the shell clamping jaw, and the detection end of the fourth sensor faces the inner side of the shell clamping jaw.
Based on the technical scheme, the assembly position moving system comprises a motion module and a multifunctional base arranged at the motion end of the motion module;
the multifunctional base comprises a rotating motor, a second vibrating part arranged at the upper end of the rotating motor and a clamping base flexibly connected to the upper end of the second vibrating part, and at least two lower sealing body clamping jaws for clamping a lower sealing body are arranged on the clamping base;
the second vibrating piece upper end still is provided with two at least automatic retaining members in pairs, automatic retaining member can follow centre gripping base circumference translation in order to lock or relieve the locking with the centre gripping base.
Compared with the prior art, the beneficial effects of the utility model are as follows:
1. the utility model utilizes the assembly displacement moving system as a reference holding structure to position and adjust the installation position of the lower sealing body, further can install other accessories of the precise plug connector based on the lower sealing body, and when the most precise polar pin assembly and the glass sleeve assembly are carried out, the glass sleeve assembly system and the polar pin assembly system can send out the glass sleeve and the polar pin in a free-falling mode, and the glass sleeve and the polar pin can realize the assembly mode without external force by utilizing gravity and/or inertia effect, thereby not only ensuring the assembly effect, but also protecting the glass sleeve and the polar pin excellently, and the assembly position and the assembly result can be detected by the second visual detection system before and after the assembly of the glass sleeve and the polar pin, further improving the assembly precision and the pairing precision of the lower sealing body, the polar pin and the glass sleeve, when the shell and the upper sealing body are assembled, the rotating assembly system is used for realizing the connection with the assembly displacement moving system, the rotating assembly system is used for realizing the assembly of the shell or the upper sealing body, the first visual detection system is used for detecting the positions of the polar pin assembly holes in the shell and the upper sealing body at the same time, so that the shell and the upper sealing body can be adjusted to more accurate matching positions to realize the matching connection with the lower sealing body and the shell, the connection and the assembly effectiveness among the fixed assembly system, the rotating assembly system and the assembly displacement moving system are realized through the detection modes of the positioning of the assembling positions and the detection of the installation result, the assembly process of the precise plug connector, which is automatic, high in precision and high in success rate, the labor cost investment can be reduced, and the assembly efficiency is improved.
2. The utility model discloses utmost point needle feeding system is arranged in depositing and send utmost point needle among utmost point needle assembly system, utmost point needle guide spare through vertical setting in proper order, the utmost point needle draws in a and utmost point needle ejection of compact spare carries out putting of utmost point needle pay-off passageway, utmost point needle can loop through utmost point needle feeding system, utmost point needle guide spare, utmost point needle draws in a and utmost point needle ejection of compact spare is with the ejection of compact of free fall mode, and utmost point needle pay-off passageway is turned on by the needle collecting hole that the diameter reduces in proper order and forms, thereby can carry out position correction from the optional position in proper order with utmost point needle, make it finally under needle collecting hole effect with vertical whereabouts mode and rely on gravity and/or inertial force directly to drop to the utmost point needle pilot hole of lower sealing body and accomplish the assembly, whole process utmost point needle all does not have external force to apply, the assembly can be accomplished by free state also guaranteed when protecting utmost point needle integrality, convenient assembling is swift, and simple structure.
3. The utility model discloses a glass sleeve pipe feeding system is used for depositing the glass sleeve pipe among the glass sleeve pipe assembly system, through the sleeve pipe guide spare of vertical setting in proper order, the sleeve pipe draws in a and sleeve pipe ejection of compact spare and carries out the buildding of sleeve pipe pay-off passageway, the glass sleeve pipe can loop through glass sleeve pipe pay-off system, sleeve pipe guide spare, the sleeve pipe draws in a and sleeve pipe ejection of compact spare is with the ejection of compact of free fall mode, and sleeve pipe pay-off passageway by the diameter sleeve pipe delivery hole that reduces in proper order switches on and forms, thereby can carry out the position correction in proper order with the glass sleeve pipe from the optional position, make it finally under the sleeve pipe delivery hole effect with vertical whereabouts mode and rely on gravity and/or inertial force directly drop to the utmost point needle of lower sealing body and accomplish the assembly, whole process glass sleeve pipe does not all have external force to apply, the integrality has also ensured that the glass sleeve pipe can the free state accomplish the assembly in protecting glass sleeve pipe, and convenient assembling is swift, and simple structure.
4. The utility model discloses a rotation assembly system utilizes the cooperation of rocking arm robot and clamping jaw subassembly, can realize snatching, transporting and the assembly of shell and last sealing body respectively, a station can realize accurate plug connector surplus shell and the whole installations of last sealing body, also can further shorten the installation cycle when simplifying the structure, and still can combine a visual detection system when utilizing the rotation assembly system assembly, the assembly displacement moving system cooperates to the assembly success rate of shell and last sealing body has been improved.
5. The utility model discloses an assembly displacement dynamic system utilizes the motion module to drive multifunctional base and removes in order to pair with the fixed assembly system, through fixed and removal down the sealing body and then realize the polar needle, the glass sleeve pipe, the sub-regional installation of shell and last sealing body, can ensure down the sealing body and keep an installation position and can not change, and then all have same installation standard position during all the other structures assembly, can reduce the assembly complexity, and vibration fit glass sleeve pipe and shell assembly that targets in place when needing, thereby the assembly success rate of accurate plug connector has been improved on the whole.
Drawings
The accompanying drawings, which are included to provide a further understanding of the embodiments of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the principle of the invention. In the drawings:
FIG. 1 is a schematic view of a precision connector according to the present invention;
FIG. 2 is a first perspective isometric view of a robotic assembly machine for precision plug connectors;
FIG. 3 is a second perspective isometric view of the robotic assembly for precision plug connectors;
FIG. 4 is a front view of the robotic assembly device of the precision plug connector;
FIG. 5 is a left side view of the device of FIG. 4;
FIG. 6 is a top view of the device shown in FIG. 4;
FIG. 7 is a schematic view of a portion of the apparatus of FIG. 4;
FIG. 8 is a schematic structural view of a fixture assembly system;
FIG. 9 is a schematic view of the complete structure of the pole pin assembly;
FIG. 10 is a view of the fitting structure of the needle guide, needle collecting and needle discharging;
FIG. 11 is a cross-sectional view of the structure of the needle guide, needle collecting and needle discharging assembly after being engaged;
FIG. 12 is a schematic view of the structure of the conical funnel of the polar needle;
FIG. 13 is a schematic structural view of a polar needle conical funnel from another perspective;
FIG. 14 is a schematic view of the structure of the needle tip collecting member;
FIG. 15 is a structural view of the needle tip oblique gathering member from another perspective;
FIG. 16 is a structural section view of the needle tip biasing element;
FIG. 17 is a schematic structural view of a pole pin press fitting assembly;
FIG. 18 is a schematic view of the complete structure of the glass sleeve assembly;
FIG. 19 is a schematic view of the glass sleeve mounting assembly with the outer casing removed;
FIG. 20 is a view of the fitting structure of the casing guiding member, the casing collecting member and the casing discharging member;
FIG. 21 is an enlarged view of the structure at A in FIG. 19;
FIG. 22 is a schematic view of the construction of the sleeve take-up reel;
FIG. 23 is a schematic structural view of the sleeve gathering member;
FIG. 24 is a structural schematic view of the sleeve gathering member from another perspective;
FIG. 25 is a schematic view of a first perspective configuration of a second vision inspection system;
FIG. 26 is a schematic view of a second perspective configuration of a second vision inspection system;
FIG. 27 is a schematic view of the structure of the integrated board and the quick release base;
FIG. 28 is a schematic view of the construction of the rotational fitting system;
FIG. 29 is an enlarged view of the structure at B in FIG. 28;
FIG. 30 is a schematic view of the construction of the swivel mount system;
fig. 31 is a schematic structural view of the multifunctional base.
Detailed Description
To make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to the following examples and drawings, and the exemplary embodiments and descriptions thereof of the present invention are only used for explaining the present invention, and are not intended as limitations of the present invention.
First, be right the utility model discloses before doing the detailed description, the utility model discloses earlier carry out the detailed description so that understand the accurate plug connector the utility model aims at.
As shown in fig. 1, the precision plug connector mainly includes a lower sealing body 1, a pole needle 2, a glass sleeve 3, an upper sealing body 4 and a housing 5, wherein the lower end of the pole needle 2 is installed on a pole needle assembling hole 1a of the lower sealing body 1, the upper end of the pole needle 2 is installed on a pole needle assembling hole 4a of the upper sealing body 4, the glass sleeve 3 is sleeved on the pole needle 2 between the upper sealing body 4 and the lower sealing body 1, and the housing 5 is sleeved between the upper sealing body 4 and the lower sealing body 1 and seals the glass sleeve 3 in a pole needle assembling hole 5a of the housing 5. The lower sealing body 1 and the upper sealing body 4 can be made of high-temperature-resistant materials such as graphite, the pole needle 2 and the shell 5 can be made of high-temperature-resistant metals, the outer dimensions of the lower sealing body 1, the upper sealing body 4 and the shell 5 are slightly different based on different models, the number of the pole needles 2 is the same as that of the glass sleeve 3, and the number and the size of the monomers can be changed.
Based on above structure, show as table one below and be each partial structure size table of the accurate plug connector of different models, table two below shows and is each partial structure fit clearance of the accurate plug connector of different models:
table one (in mm in all dimensions in the table):
Figure DEST_PATH_GDA0003980633780000061
Figure DEST_PATH_GDA0003980633780000071
table two (in the table, the units of dimensions are mm):
Figure DEST_PATH_GDA0003980633780000072
the combination of the first table and the second table shows that the structural sizes and the fit gaps of the lower sealing body 1, the pole needle 2, the glass sleeve 3, the upper sealing body 4 and the shell 5 are all small, wherein the minimum diameter of the pole needle 2 is only about 1mm, the minimum diameter of the glass sleeve 3 is only about 2mm, the fit gaps of the pole needle 2, the pole needle assembly hole 1a and the pole needle assembly hole 4a are only 0.02mm at the minimum, and the fit gap of the pole needle 2 and the inner diameter of the glass sleeve 3 is only 0.06mm at the minimum.
Therefore, the precision plug connector is small in installation clearance among all structures and structures, the precision plug connector is required to be high in matching degree and freedom degree when being assembled, high assembling precision is required to achieve assembling, the size and assembling precision of the structures are limited in the prior art, the precision plug connector is not provided with complete equipment to achieve all automatic assembling, assembling can be achieved only by means of manual tools and combination experience, the whole process is high in labor cost and long in time, assembling quality cannot be well guaranteed, and high-quality mass production of the precision plug connector cannot be achieved.
The structure and the assembly problem based on above accurate plug connector especially provide the utility model discloses.
As shown in fig. 2-7, the first embodiment of the present invention provides a robot automatic assembling device for precision plug connectors, which is mainly composed of an apparatus main body 6, a fixed assembling system 7, a rotary assembling system 8, an assembling displacement moving system 9 and a first visual inspection system 10, wherein the fixed assembling system 7, the rotary assembling system 8, the assembling displacement moving system 9 and the first visual inspection system 10 are disposed on the apparatus main body 6.
The device main body 6 is mainly used for installing and supporting a fixed assembling system 7, a rotating assembling system 8, an assembling displacement moving system 9 and a first visual detection system 10, the fixed assembling system 7 is mainly used for realizing the automatic installation of the polar needle 2 and the glass sleeve 3, the rotating assembling system 8 is mainly used for realizing the automatic installation of the shell 5 and the upper sealing body 4, the assembling displacement moving system 9 is mainly used for positioning and adjusting the lower sealing body 1 and moves during assembling, so that the polar needle 2, the glass sleeve 3, the shell 5 and the upper sealing body 4 are sequentially installed by taking the lower sealing body 1 as a reference piece, the connection between the fixed assembling system 7 and the rotating assembling system 8 is realized, the first visual detection system 10 is mainly used for detecting the plane positions of the polar needle assembling hole 5a of the shell 5 and the polar needle assembling hole 4a of the upper sealing body 4, and further confirming and adjusting the plane positions of the shell 5 and the upper sealing body 4 based on the detection result.
As shown in fig. 8, the fixed assembling system 7 includes a glass sleeve assembling system 11, a pole needle assembling system 12 and a second visual detection system 13, which are arranged in sequence, wherein the pole needle assembling system 12 is used for assembling the pole needle 2 onto the lower sealing body 1 in a free-fall manner, the glass sleeve assembling system 11 is used for assembling the glass sleeve 3 onto the assembled pole needle 2 in a free-fall manner, and the second visual detection system 13 is used for detecting the plane position of the pole needle assembling hole 1a on the lower sealing body 1 before the pole needle 2 is assembled and for detecting the assembling result of the glass sleeve 3 after the glass sleeve 3 is assembled.
Before installing the polar needle 2 and the glass sleeve 3, the assembly displacement moving system 9 drives the lower sealing body 1 to move to the position of the second vision detection system 13 to detect the plane position of the polar needle assembling hole 1a, the assembly displacement moving system 9 adjusts the plane position of the lower sealing body 1 based on the detection result, so that the position of the polar needle assembling hole 1a meets the assembly position or the design position, then the assembly displacement moving system 9 respectively moves to the polar needle assembling system 12 and the glass sleeve assembling system 11 to complete the assembly of the polar needle 2 and the glass sleeve 3, wherein the polar needle 2 is directly matched with the positioned polar needle assembling hole 1a in a free falling mode, and moves up and down to the assembly position under the action of gravity and inertia at the polar needle 2, the assembly of the polar needle 2 without external force can be completed, the assembly of the glass sleeve 3 is directly sleeved with the polar needle 2 in a free falling mode, the assembly result of the glass sleeve 3 can be detected after the assembly of the glass sleeve 3 is completed, and the uniform automatic assembly of the polar needle 2 and the glass sleeve 3 can be ensured through the above modes.
As shown in fig. 7 and 9-16, the pole needle assembly system 12 comprises a pole needle feeding system 14 and a pole needle assembly 15 which are arranged in sequence from top to bottom, wherein the pole needle assembly 15 is connected to the device main body 6 through a first lifting piece 16; the pole needle assembly 15 comprises a pole needle guide member 17, a pole needle collecting member 18 and a pole needle discharging member 19 which are vertically arranged in sequence, the pole needle guide member 17, the pole needle collecting member 18 and the pole needle discharging member 19 are all provided with a pole needle collecting hole 20, and the diameters of the pole needle guide member 17, the pole needle collecting member 18 and the pole needle discharging member 19 are sequentially reduced and correspondingly communicated to form a pole needle feeding channel; the needle collecting hole 20 at the upper end of the pole needle material guiding piece 17 is communicated with the pole needle feeding system 14; at least the needle collecting hole 20 of the pole needle collecting piece 18 is of a special-shaped hole structure with a large upper part and a small lower part, and at least the lower end part of the needle collecting hole 20 of the pole needle discharging piece 19 is a straight hole.
When using, first piece 16 that goes up and down can drive the vertical lift of utmost point needle assembly 15, and then can be according to different models, the lower sealing body 1 of size, utmost point needle 2 assembles altitude mixture control, so that adjust the height of lower extreme ejection of compact position and the lower sealing body 1 up end in needle collection material hole 20 of utmost point needle ejection of compact piece 19, when the assembly, utmost point needle feeding system 14 sends out utmost point needle 2 to utmost point needle assembly 15, and the rethread utmost point needle assembly 15 carries out the guide and the ejection of compact.
It should be noted that, because the pole needle 2 is longer than the diameter, if the structural design is unreasonable, the pole needle can be jammed due to the length problem during pole needle assembly, so that the pole needle 2 cannot be assembled normally to cause assembly errors or failures, which is also a place difficult to break through in pole needle assembly at present.
The pole needle assembly 15 is designed based on the consideration of the problems, the problems can be well solved during assembly, when the pole needle 2 is assembled, the pole needle 2 is sent into the pole needle guide part 17, the pole needle 2 is guided through the needle collecting material hole 20 of the pole needle guide part 17, the pole needle 2 can be ensured to be approximately kept in a small-angle inclined state and enters the pole needle collecting part 18, the pole needle 2 can be further corrected in the pole needle collecting part 18 due to the reduction of the aperture of the needle collecting material hole 20, so that the pole needle can be gradually changed into a basically vertical state from the small-angle inclined state, and finally enters the pole needle discharging part 19 for final guiding and correction, make it finally keep vertical state, including the design that the end part is straight hole under needle collecting hole 20 at least, further prescribe its vertical ejection of compact position, utmost point needle 2 can be under the needle collecting hole 20 effect of utmost point needle ejection of compact piece 19 with the deviation interior ejection of compact of regulation, and then better and the utmost point needle pilot hole 1a of lower sealing body 1 carry out the shaft hole cooperation, and lower sealing body 1 is located utmost point needle ejection of compact piece 19 below, and then can rely on the action of gravity to directly get into utmost point needle pilot hole 1a according to ejection of compact direction behind the ejection of compact of utmost point needle 2, further ensure that it installs and target in place, can realize the automatic assembly of utmost point needle 2.
When specifically applying, first lift 16 can be elevator motor, and utmost point needle feeding system 14 can be vibration feed tray system, and the utmost point needle can vibrate single ejection of compact through the vibration dish, because elevator motor and vibration feed tray system have existed a great deal of technical structure in prior art, and its specific structure is not being further described to this embodiment, and the suitable structure of prior art can be selected based on the two function to the technical staff in the field and the two utility model aims are realized, can realize not paying out the mobility creation the utility model discloses.
In a specific application, since the number of the pole needles 2 to be assembled is more than one, and the assembly distance of the plurality of pole needles 2 is very small, if the pole needles 2 are assembled according to the assembly distance of the pole needles 2, the pole needles 2 not only need a relatively precise structure to drive the pole needles 2 to enter when entering the pole needle guide member 17, but also are clamped in the needle collecting hole 20 due to the slender characteristic of the pole needles.
In view of this, in this embodiment, the pole needle guiding member 17, the pole needle collecting member 18, and the pole needle discharging member 19 are all provided with a plurality of needle collecting holes 20, and the plurality of needle collecting holes 20 are respectively communicated in one-to-one correspondence to form a plurality of pole needle feeding channels with the same number as that of the pole needles 2; the center distance among the pole needle feeding channels is gradually reduced until the center distance of the pole needle feeding channels at one end of the pole needle discharging piece 19 is the same as the center distance of the pole needle assembling holes 1a on the lower sealing body 1. Therefore, through the above mode, the hole mouth spacing of the needle collecting holes 20 on the needle guide member 17 can be larger, so that the needle 2 can better enter, meanwhile, the needle feeding channel is gradually drawn in to be the same as the center spacing of the needle assembling holes 1a in a mode of gradually reducing the center spacing, and then the needle collecting holes 20 are gradually drawn in combination with the step-by-step reduction of the needle collecting holes 20, so that the center spacing adjustment of a plurality of needles 2 is realized while the needle 2 is guided, so that the needle 2 cannot be jammed due to the sudden spacing change of the needle collecting holes 20 in the falling process, the whole process of free falling of the needle 2 is ensured, and the convenient feeding and discharging of the needle 2 in a non-jamming state can be realized.
On the basis, the lower end of the pole needle guide member 17 is further provided with a furling tube 21 communicated with the needle collecting hole 20, and the lower end of the furling tube 21 furls towards the pole needle furling member 18 and is communicated with the needle collecting hole 20 of the pole needle furling member 18. The collecting tube 21 of the present embodiment can extend the falling length of the needle pole 2, so that it can be transited for a longer distance so as to collect the needle pole at a proper angle and center distance when entering the needle pole collecting part 18, thereby further reducing the probability of the needle pole 2 being stuck.
As one of the core structures, the needle collecting element 18 mainly serves to collect the needle pole 2 gradually, so that the needle pole 2 can keep a substantially vertical state and a small center distance state when entering the needle pole discharging element 19.
As shown in fig. 11-16, the polar needle collecting element 18 comprises a polar needle conical funnel element 22 and a polar needle inclined collecting element 23 which are vertically arranged in sequence; the needle collecting hole 20 of the polar needle conical funnel piece 22 is an inclined special-shaped hole which is inclined from top to bottom towards the center direction of the polar needle conical funnel piece 22; the upper end of the needle collecting hole 20 of the polar needle inclined collecting piece 23 forms a flat opening 23a and gradually collects towards the other end to form a circular material opening 23b; the lower end of the needle collecting hole 20 of the pole needle conical funnel piece 22 is communicated with the flat opening 23a, and the circular material opening 23b is communicated with the needle collecting hole 20 of the pole needle discharging piece 19. Based on this, the pole needle conical funnel part 22 gradually shrinks the falling aperture of the pole needle 2 and simultaneously gradually folds to change the direction under the action of the inclined special-shaped hole, so as to realize the adjustment of the falling angle of the pole needle 2 and the distance between the plurality of pole needles 2, and finally enters the pole needle inclined folding part 23, the upper end of the needle collecting hole 20 of the pole needle inclined folding part 23 forms a flat opening 23a and gradually folds to the other end to form a circular material opening 23b, so that a transition hole structure with large upper end and small lower end and flat transition can be formed, the pole needle 2 can well enter the needle collecting hole 20 of the pole needle inclined folding part 23 and fall along the transition direction, and a larger space can be provided for the pole needle 2 when the pole needle is further guided and folded, so that the pole needle conical funnel part 22 is prevented from being blocked between the pole needle conical funnel part 22 and the pole needle inclined folding part 23 due to the length.
On the basis, the pole needle assembly 15 further comprises a pre-pressing mechanism; the pre-pressing mechanism comprises a lifting motor 24 arranged in the middle of the pole needle guiding member 17 and a lifting rod 25 connected to the lifting motor 24, and the lifting rod 25 can sequentially extend into the pole needle conical funnel member 22 and the pole needle inclined gathering member 23 and shield or partially shield the flat opening 23 a. During assembly, the lifting rod 25 can be lifted under the action of the lifting motor 24 to shield the flat opening 23a, so that the upper-end polar needle 2 is prevented from discharging when the lower-end lower sealing body 1 is not in place, and discharging as required and material preparation in advance can be realized; meanwhile, the pole needle 2 has a certain length, and a part of the pole needle 2 is still located in the pole needle inclined furling piece 23 and located at the upper end of the flat opening 23a after installation, when the lower sealing body 1 is moved to the next process, the pole needle assembly 15 needs to be lifted by a certain height to stagger the pole needle 2, but the pole needle 2 can not be assembled in place or assembled at a deeper position because the pole needle 2 is assembled in a free falling body, namely the depth of the pole needle assembly in the pole needle assembly hole 1a is uncertain, and meanwhile, the pole needle 2 is partially located in the pole needle inclined furling piece 23, so that the pole needle 2 can be taken out or pulled out when the pole needle assembly 15 is integrally lifted, and the pole needle 2 is assembled to fail to be assembled, based on this, the lifting rod 25 in the embodiment can descend and pre-press the pole needle 2 for a certain distance before the pole needle assembly 15 is integrally lifted, so that the pole needle 2 can enter the lower sealing body 1 more to increase the contact area or resistance of the pole needle 2 with the lower sealing body 1, and further, when the needle assembly 15 is integrally lifted, the pole needle assembly can be stably assembled on the lower sealing body 1. Furthermore, the lifting rod 25 vertically penetrates through the middle position of the polar needle conical funnel part 22 among the plurality of needle collecting holes 20, so that the purpose of the invention is realized while the layout of the needle collecting holes 20 on the lifting rod is not influenced, and the flat openings 23a of the polar needle inclined gathering part 23 are shielded or partially shielded. Further, a through groove 22a is provided in the middle of the polar needle conical funnel member 22 between the plurality of needle collecting holes 20 so that the elevating rod 25 can be freely elevated. Further, the circular material opening 23b can be disposed at a position far away from the lifting rod 25, that is, the needle collecting hole 20 of the needle collecting member 23 is away from the central position of the needle collecting member 23 when being collected, so as to form the circular material opening 23b, and then the needle 2 can directly fall into the circular material opening 23b under the shielding of the lifting rod 25, so as to collect the needle 2 more quickly and effectively.
On the basis, the pole needle discharging piece 19 is further provided with a through hole communicated with the needle collecting hole 20, a first sensor 26 is installed in the through hole, and the detection end of the first sensor 26 faces the interior of the needle collecting hole 20. First sensor 26 can detect and whether the utmost point needle 2 that corresponds collection needle material hole 20 falls to can judge whether utmost point needle 2 assembles based on this, play the purpose of detecting utmost point needle 2 installation detection. Further, when there are a plurality of needle collecting holes 20 of the needle discharge member 19, each needle collecting hole 20 is provided with the first sensor 26. Specifically, the first sensor 26 may be a fiber optic sensor.
It should be noted that the pole needle assembly 15 may further include an integral casing 27 for integrally supporting and enclosing the pole needle guiding member 17, the pole needle collecting member 18 and the pole needle discharging member 19, so as to support the three components and provide an installation base while ensuring that the corresponding structures therein are not contaminated by dust or other foreign substances.
After the pole needle 2 is assembled, because there is friction or disalignment between the pole needle 2 and the pole needle pilot hole 1a, can lead to the pole needle can't reach the hole bottom of pole needle pilot hole 1a when relying on gravity or inertia effect to assemble, and then make the unable assembly of pole needle target in place, lead to the assembly failure, influence the assembly of follow-up accessory.
Based on this, as shown in fig. 17, the fixing and assembling system 7 in this embodiment further includes a pole pin press-fitting assembly 28, where the pole pin press-fitting assembly 28 is used for pressing down the pole pin 2 to an assembling position after the pole pin 2 is assembled; the glass sleeve assembling system 11, the polar pin press-fitting assembly 28, the polar pin assembling system 12 and the second visual inspection system 13 are sequentially arranged. This embodiment can carry out the pressure equipment to the utmost point needle 2 of installation through setting up utmost point needle pressure equipment assembly 28 to order about utmost point needle 2 and can move down to the hole bottom along utmost point needle pilot hole 1a, ensure that utmost point needle 2 can install completely to the assembly position, and then ensure that utmost point needle 2 can install the accuracy and with the precision and the pairing effect that improve follow-up accessory installation, glass sleeve pipe fitting system 11 simultaneously, utmost point needle pressure equipment assembly 28, utmost point needle fitting system 12 and second visual detection system 13 set up in order, can carry out the pressure equipment through utmost point needle pressure equipment assembly 28 after utmost point needle fitting system 12 accomplishes the assembly, be convenient for in time the pressure equipment after utmost point needle 2 assembles.
Specifically, the polar pin press-mounting assembly 28 includes a second lifting assembly 29 and a lower pressing member 30; the lower pressing piece 30 comprises a fixing plate 31 connected with the second lifting assembly 29, a lower pressing rod 32 capable of freely lifting is arranged on the fixing plate 31, and a first elastic piece 33 connected with the fixing plate 31 is arranged at the upper end of the lower pressing rod 32; the pressing member 30 further includes a second sensor 34 disposed on the fixing plate 31, and a detection end of the second sensor 34 is disposed toward the pressing rod 32. The gravity of the lower press rod 32 and the gravity of the first elastic part 33 are balanced mutually in the initial state, the first elastic part 33 is in a stretching state, when the lower press rod is pressed down, the second lifting assembly 29 drives the lower press rod 32 to descend, when the lower press rod 32 is pressed down to be in contact with the polar needle 2 until the lower press rod reaches the specified height, due to the supporting force of the polar needle 2 and the elastic force of the first elastic part 33, the lower press rod 32 is lifted upwards until the second sensor 34 detects the rising position, namely the lower press is completed, the effect of assisting the installation of the polar needle 2 is achieved, and after the completion, the second lifting assembly 29 is lifted back.
In the process, if the press-down rod 32 is not lowered to the press-down designated height, that is, the press-down rod 32 is detected to ascend again, it indicates that the pole needle still does not completely enter the pole needle assembly hole 1a after being press-fitted, or the press-down rod 32 is lowered to the press-down designated height, that is, the press-down rod 32 is not detected to ascend again, it indicates that the pole needle 2 is not assembled, and it indicates that the pole needle 2 is completely assembled only when the press-down height is reached and the press-down rod 32 ascends again is detected, so that when the pole needle 2 is press-fitted through the pole needle press-fitting assembly 28, the pole needle 2 assembly result detection can be synchronously realized. Specifically, the second sensor 34 may be a fiber optic sensor. Specifically, the first elastic member 33 is a telescopic spring. Specifically, the second lifting assembly 29 can also be implemented by a lifting motor.
When the polar pin press-fitting assembly 28 needs to press-fit each polar pin 2 separately, if the polar pin 2 needs to be mounted separately, the linear direction and the circumferential direction displacement of the lower sealing body 1 can be adjusted by the mounting and moving system 9, so that only one polar pin 2 in the vertical direction of the lower pressing rod 32 is used for press-fitting, and then the lower pressing rod 32 can press-fit one polar pin 2 separately each time, and only the other polar pins 2 need to be staggered each time of press-fitting.
As a further structural optimization of the pole pin press-fitting assembly 28, a through groove 35 is formed in the fixing plate 31, a positioning step 36 is arranged in the through groove 35, the upper end of the lower pressing rod 32 extends into the through groove 35 and is provided with a positioning block 37 positioned on the positioning step 36, the upper end of the positioning block 37 is provided with the first elastic element 33, and the detection end of the second sensor 34 faces the inner side of the through groove 35 at the upper end of the positioning block 37. In the structure, the positioning step 36 at the upper end of the lower pressing rod 32 initially stretches and positions the first elastic part 33 under the action of the positioning step 36, and when the press fitting is carried out, the positioning block 37 can be lifted in the through groove 35 and then detected by the second sensor 34, so that a better vertical lifting state is realized.
It should be noted that the designated height of the pressing rod 32 can be obtained by detecting the height of the lower sealing body 1 or the depth of the pole pin mounting hole 1a by the second visual detection system 13, that is, the entire height of the lower sealing body 1 or the depth of the pole pin mounting hole 1a can be detected by the second visual detection system 13, and then the remaining height of the pole pin 2 after being completely mounted in the pole pin mounting hole 1a can be obtained according to the entire height of the lower sealing body 1 or the depth of the pole pin mounting hole 1a, and this remaining height can be used as a reference height, and a height difference between the remaining height and the initial position of the pressing rod 32 can be obtained based on the reference height, and then the designated height of pressing can be formed based on the height difference and a specific value or a design value, so as to achieve a return-up after the pressing rod 32 is pressed in place, the pressing rod 30 can press the pole pin 2 to a desired mounting height based on the designated height of pressing to ensure that the pole pin 2 is mounted in the mounting position while protecting the pole pin 2, and further explaining the structure of the second visual detection system 13, and further explaining the detailed description herein.
As shown in fig. 18 to 24, the glass sleeve assembling system 11 comprises a glass sleeve feeding system 38 and a glass sleeve assembling assembly 39 which are arranged from top to bottom, wherein the glass sleeve assembling assembly 39 is connected to the equipment main body 6 through a third lifting piece 40; the glass sleeve assembling assembly 39 comprises a sleeve guiding member 41, a sleeve furling member 42 and a sleeve discharging member 43 which are vertically arranged in sequence, sleeve conveying holes 44 are formed in the sleeve guiding member 41, the sleeve furling member 42 and the sleeve discharging member 43, and the diameters of the sleeve conveying holes 44 of the sleeve guiding member 41, the sleeve furling member 42 and the sleeve discharging member 43 are sequentially reduced and correspondingly communicated to form a sleeve feeding channel; at least the sleeve conveying hole 44 of the sleeve collecting piece 42 is in a special-shaped hole structure with a large upper part and a small lower part, and at least the lower end part of the sleeve conveying hole 44 of the sleeve discharging piece 43 is a straight hole.
When the glass sleeve assembling device is used, the third lifting piece 40 can drive the glass sleeve assembling assembly 39 to vertically lift, and then assembly height adjustment can be carried out according to the lower sealing body 1 and the polar needle 2 with different models and sizes, so that the discharging position of the lower end of the sleeve conveying hole 44 of the sleeve discharging piece 43 and the height of the upper end face of the lower sealing body 1 can be adjusted conveniently, during assembly, the glass sleeve feeding system 38 sends the glass sleeve 3 out to the glass sleeve assembling assembly 39, and then guiding and discharging are carried out through the glass sleeve assembling assembly 39.
Based on this, when the glass bushing assembly 39 assembles the glass bushing 3, the glass bushing 3 is fed into the bushing material guiding member 41 through the outer glass bushing feeding system 38, and is guided through the bushing conveying hole 44 of the bushing material guiding member 41, so as to ensure that the glass bushing 3 can approximately keep a small-angle inclined state and enter the bushing furling member 42, because the aperture of the bushing conveying hole 44 is sequentially reduced in the bushing furling member 42, the glass bushing 3 enters the bushing discharging member 43 in a basically vertical state through a further correction position, and is finally corrected and guided in the bushing discharging member 43, so that the glass bushing 3 can keep a completely vertical state to be discharged when being discharged from the bushing discharging member 43, and the bushing conveying hole 44 of the bushing furling member 42 is in a special-shaped hole structure with a large upper part and a small lower part, so as to increase the moving space of the glass bushing 3 and gradually reduce, thereby ensure that the glass bushing 3 is not clamped in the bushing conveying hole due to sudden reduction of the hole when being guided and corrected, and at least the lower end part 44 of the bushing conveying hole 44 of the bushing 3 is a straight hole, so as to finally guide and further ensure that the bushing 3 can be sealed and connected with the bushing 2 according to the discharging needle by the specified gravity of the bushing 43, and the bushing can be directly matched with the discharging needle by the discharging needle.
In particular, the third lifting member 40 can also adopt a lifting motor, and the glass sleeve feeding system 38 can also adopt a vibration disk feeding system in the prior art to feed the glass sleeve 3, and since the two-part structure is more in the prior art, the embodiment will not be described too much here.
Since the glass sleeve 3 needs to be assembled with the pole pin 2, and since the pole pin 2 is positioned and assembled with the pole pin assembling hole 1a with a smaller distance, the glass sleeve 3 also needs to consider the distance change and the problem of the jamming of the glass sleeve 3 during the falling process.
In view of this, the casing guiding member 41, the casing collecting member 42 and the casing discharging member 43 of the present embodiment are all provided with a plurality of casing conveying holes 44, and the plurality of casing conveying holes 44 are respectively communicated in a one-to-one correspondence manner to form a plurality of casing feeding channels with the same number as the number of the pole needles 2; the center distance between the plurality of sleeve feeding channels is gradually reduced until the center distance between the plurality of sleeve feeding channels at one end of the sleeve discharging piece 43 is the same as the center distance between the pole needles 2 assembled on the lower sealing body 1. By adopting the structure, when the glass sleeve 3 is guided and corrected in a vertical state through the sleeve conveying holes 44 with gradually reduced aperture, the central distance of the glass sleeve is synchronously adjusted through the sleeve conveying channels with gradually reduced central distance, so that the specified distance is gradually corrected through the initial large distance, further, the distance between the sleeve conveying holes 44 on the sleeve material guiding part 41 can be larger, the glass sleeve 3 can better enter the respective sleeve conveying holes 44, the central distance between the sleeve conveying channels can be gradually reduced, the shell clamping caused by the sudden distance change of the sleeve conveying holes 44 in the falling process of the glass sleeve can be avoided, the whole process of the free falling of the glass sleeve 3 is ensured, and the convenient and shell-clamping-free feeding and discharging of the glass sleeve 3 can be realized.
As shown in fig. 20 to 22, as one of the core structures, the thimble material guiding member 41 includes a material guiding cylinder 45 and a vibration guiding base 46 which are vertically arranged in sequence; the vibration guide base 46 comprises a fixed seat 47 and a sleeve receiving tray 48 flexibly connected to the fixed seat 47, a funnel-shaped receiving groove 49 with a large upper part and a small lower part is arranged on the sleeve receiving tray 48, the receiving groove 49 is positioned below the sleeve conveying hole 44 of the guide cylinder 45, the bottom of the receiving groove 49 is communicated with a guide pipe 50, and the guide pipe 50 is communicated with the sleeve conveying hole 44 of the sleeve furling piece 42; the vibration guide base 46 further comprises at least one first vibration piece 51 arranged on the fixed base 47, and the vibration end of the first vibration piece 51 is attached to the outer side of the sleeve receiving tray 48.
Since the length of the glass sleeve 3 is not longer than that of the pole needle 2 and the ratio of the length to the diameter is not large, the glass sleeve may not be inclined at a small angle after being conveyed to the sleeve guide 41 and enter the sleeve delivery hole 44 of the sleeve guide 41, and may be directly stuck at the upper end opening position of the sleeve delivery hole 44 of the sleeve guide 41, so that the glass sleeve 3 cannot be normally dropped and assembled.
Based on this, when the casing material guiding member 41 of the embodiment guides the glass casing 3, firstly, the glass casing 3 enters the material guiding cylinder 45 to drop the glass casing 3 to the vibration guiding base 46 in a free state according to the respective casing conveying holes 44, in the vibration guiding base 46, the glass casing 3 directly falls into the material receiving groove 49 on the corresponding casing material receiving tray 48, because the material receiving groove 49 is in a funnel-shaped structure with a large upper part and a small lower part, the glass casing 3 can slide to the bottom along the glass casing 3 and is conveyed into the guiding tube 50, and after the glass casing 3 enters the material receiving groove 49, the first vibrating member 51 can be synchronously opened, because the first vibrating member 51 is attached to and contacted with the outer side of the casing material receiving tray 48, and because the casing material receiving tray 48 is flexibly connected with the fixing base 47, and further, the vibration of the first vibrating member 51 can drive the casing material receiving tray 48 to synchronously vibrate, so that the glass casing 3 synchronously vibrates in the material receiving groove 49 and moves randomly to improve the probability of entering the guiding tube 50, and the glass casing 3 can basically realize guiding and dropping after vibrating. Specifically, the receiving slots 49 are provided in the same number as the number of the casing delivery holes 44 of the guide cylinder 45, so as to respectively perform the vibration falling of each glass casing 3. Furthermore, the first vibrating member 51 may be disposed at the outer side of the sleeve receiving tray 48 uniformly to vibrate the sleeve receiving tray 48 better, so as to ensure that all the glass sleeves 3 can be discharged in a vibrating manner. Specifically, the first vibration member 51 may be a vibration motor.
It should be noted that the flexible connection mentioned above and below is also called flexible connection or flexible connection, and is a connection manner that allows the connection portion to axially expand or contract, and to be folded and vertically displaced. The sleeve take-up (take-up) pan 48 can vibrate along with it under first vibration piece 51 vibration after realizing flexonics with fixing base 47 in this embodiment, and then realizes that glass sleeve 3 vibrates and changes its state position, initiatively adjusts it to required state in order to can be faster better to enter into to stand pipe 50, has realized glass sleeve 3's unloading.
As shown in fig. 23 and 24, in the above structure of the sleeve closing member 42, the sleeve conveying hole 44 of the sleeve closing member 42 is an inclined profile hole which is inclined from top to bottom toward the center of the sleeve closing member 42. With such a structure, the conveying distance of the glass sleeve 3 can be adjusted while the diameter of the sleeve conveying hole 44 of the sleeve furling piece 42 is reduced, and further the guiding and vertical angle correction of the glass sleeve 3 is realized through the reasonable furling structure.
In the above casing discharging member 43, the casing discharging member 43 is further provided with a through hole communicated with the casing conveying hole 44, the through hole is internally provided with a third sensor 52, and a detection end of the third sensor 52 faces the inside of the casing conveying hole 44. In this embodiment, the third sensor 52 is mainly used for detecting whether the glass sleeve 3 falls down in the sleeve conveying hole 44 of the sleeve discharging member 43, so as to determine whether the glass sleeve 3 is installed. Further, when there are a plurality of cannula delivery holes 44, there is one third sensor 52 for each cannula delivery hole 44. Specifically, the third sensor 52 is a fiber optic sensor.
It should be noted that, as described above, after the glass sleeve 3 is completely installed, the assembling position moving system 9 is further required to move the lower sealing body 1 with the installed pole needle 2 and the glass sleeve 3 to the position of the second visual inspection system 13 for installation and inspection, so as to ensure whether the glass sleeve 3 is installed or not or whether the glass sleeve 3 is installed in place, and further achieve the purpose of inspecting the installation condition of the glass sleeve 3.
It should be noted that the glass sleeving assembly system 11 may also be provided with an integral housing for integrally supporting and enclosing the sleeving material guiding member 41, the sleeving closing member 42 and the sleeving material discharging member 43, so as to support the three members and provide a mounting base, and at the same time, ensure that the corresponding structure therein is not contaminated by dust or other foreign matters.
As shown in fig. 25 and 26, the second visual inspection system 13 mainly includes two major functions: the first is used for detecting the plane position of a polar needle assembling hole 1a on the lower sealing body 1 before the polar needle 2 is assembled; and the second is for detecting the assembly result of the glass sleeve 3 after the glass sleeve 3 is assembled.
When the effect is achieved: the assembly position moving system 9 can drive the detection positions of the lower sealing body 1 to the second visual detection system 13 after the lower sealing body 1 is positioned, the second visual detection system 13 can detect the plane position of the polar needle assembly hole 1a on the lower sealing body 1, the specific position and angle of the polar needle assembly hole 1a on the sealing body 1 can be confirmed through visual detection, the assembly position moving system 9 can adjust the lower sealing body 1 based on the detection result, the polar needle assembly hole 1a on the lower sealing body can be adjusted to the required position or angle, all subsequent accessory installation can be carried out by taking the lower sealing body 1 as a reference, and the accuracy and the assembly effect of each accessory installation are improved.
When the second action is realized: after the glass sleeve 3 is installed, the assembly displacement moving system 9 drives the lower sealing body 1 to return to the detection position of the second vision detection system 13, the second vision detection system 13 can detect whether the glass sleeve 3 on the lower sealing body 1 is installed or is installed in place, and then the installation result of the glass sleeve 3 is judged through detection, so that the installation detection purpose is achieved.
Based on this, the second visual inspection system 13 includes a fourth lifting member 53 and a connection plate 54 connected to the fourth lifting member 53, and an industrial camera 55 and a light source 56 are provided on the connection plate 54 at an interval from top to bottom. When implementing, the assembly displacement moving system 9 orders about the lower sealing body 1 to move to the light source 56 below, industrial camera 55 can provide the environment of shooing through the light source 56 and then shoot the lower sealing body 1 below, and then can confirm the plane position of the polar pin assembly hole 1a, thereby can control the assembly displacement moving system 9 to adjust the horizontal position of the lower sealing body 1, adjust the polar pin assembly hole 1a to the required position, and then satisfy the assembly of the polar pin 2, and after the installation of the glass sleeve 3, industrial camera 55 can also shoot the lower sealing body 1, according to the different sharpening degrees corresponding to the glass sleeve 3 in the shooting, and then can detect whether the glass sleeve 3 is installed and installed in place, realize the installation detection of the glass sleeve 3. Further, the industrial camera 55 and the light source 56 are detachably mounted on the connecting plate 54 for easy replacement and installation and as required, a distance therebetween. Further, the fourth lifting member 53 can also be used with a lifting motor.
In combination with the above, the second visual inspection system 13 further comprises the third action: detect sealing body 1 up end down when utmost point needle pilot hole 1a detects or after utmost point needle 2 assembles to confirm sealing body 1's whole height or utmost point needle pilot hole 1 a's hole depth down, thereby can detect arbitrary data in two data and support with the data that are used for utmost point needle pressure equipment assembly 28 to push down the height, can ensure that utmost point needle 2 can more accurate installation and better obtains the protection.
Based on the third role, in the present embodiment, a height detection piece 57 is further disposed on the connecting plate body 54 and outside the industrial camera 55. The height detection piece 57 can detect the hole depth of the upper end face of the lower sealing body 1 or the pole needle assembly hole 1a, and then can detect the height of the pole needle 2 left after being completely assembled in the pole needle assembly hole 1a based on any data of the two, and then can use the height as the reference height of the pole needle press-fitting assembly 28, and further convert the overall pressing height of the pressing rod 30 in the pole needle press-fitting assembly 28 through the height, so that the protection and detection of the pole needle 2 can be realized while the pole needle 2 is pressed. Specifically, the height detecting member 16 may be a fiber optic sensor.
On the basis, with reference to fig. 8, in order to better realize the function of the fixing and assembling system 7, in this embodiment, the device main body 1 is further provided with a manifold board, and the glass bushing assembling system 11, the pole pin press-fitting assembly 28, the pole pin assembling system 12, and the second visual inspection system 13 are sequentially installed on the manifold board along the moving direction of the assembling displacement moving system 9. And the integrated structure of the fixed assembly system 7 can be well installed and supported through the integration plate 57.
In a specific application, the first lifting part 16 of the pole pin assembling system 12, the second lifting component 29 of the pole pin press-fitting assembly 28, the third lifting part 40 of the glass sleeve assembling system 11, and the fourth lifting part 53 of the second visual inspection system 13 are all disposed on the integrated board.
In practical applications, the glass sleeve assembling assembly 39 and the pole pin assembling assembly 15 may have different sizes of the pin collecting holes 20, the sleeve conveying holes 44, and the like due to different models and sizes of the tight plug connectors, so that the two assemblies may be matched as required.
Based on this, as shown in fig. 9 and 27, in order to ensure that the glass bushing assembly 39 and the pole pin assembly 15 are conveniently disassembled and can be repositioned after being replaced and reassembled, and to avoid the situation that the new assembly structure after being replaced and replaced is displaced to affect the precision of the assembly of the glass bushing assembly 39 and the pole pin assembly 40, in this embodiment, the lifting ends of the first lifting member 16 and the third lifting member 40 are both provided with a quick-release base 58, the glass bushing assembly 39 and the pole pin assembly 15 are detachably arranged on the respective quick-release bases 58, and the glass bushing assembly 39 and the pole pin assembly 15 are both provided with a quick-release support plate 59 that is paired with the quick-release bases 58; two hanging plates 60 are arranged at the upper end of the quick-release base 58 at intervals, the end parts of the two hanging plates 60 are bent upwards to form a clamping part, two supporting seats 61 are arranged at the lower end of the quick-release base 58 at intervals, and positioning columns 62 are arranged on the upper end surfaces of the two supporting seats 61; the glass sleeve assembling assembly 39 or the polar pin assembling assembly 15 is matched with the quick-release base 58 by one side, the two sides of the upper end of the matched side are also provided with L-shaped clamping grooves 63 which are used for hanging and holding plates 60 to stretch into and are buckled with the clamping parts, and the two sides of the lower end of the matched side are also provided with positioning holes matched with shaft holes of positioning columns 62. Through the structure, the upper end of the glass sleeve assembly 39 or the pole needle assembly 15 can be firmly fastened with the quick-release base 58 through the L-shaped clamping groove 63 fastened with the clamping part, and the glass sleeve assembly 39 or the pole needle assembly 15 is transversely and longitudinally positioned through the matching of the positioning column 62 at the lower end and the positioning hole shaft hole, so that the lower end part can always keep the positioning position and discharge materials after being installed, the assembly precision of the glass sleeve assembly 39 or the pole needle assembly 15 is ensured, and the upper ends of the glass sleeve assembly 39 or the pole needle assembly can be conveniently disassembled by adopting the mode that the L-shaped clamping groove 63 is fastened with the clamping part.
Further, still be provided with at least one spare work piece storage area on the equipment main part, be provided with at least one structure similar with quick detach base 58 in the spare work piece storage area and be used for placing some adapted, or the glass sleeve pipe assembly 39 or the utmost point needle assembly 15 of different models, and then can be more convenient when using indicates that getting of glass sleeve pipe assembly 39 or utmost point needle assembly 15 is put, and also can be better guarantee the two can not harm after depositing, in order to guarantee its appearance structural integrity, avoid damaging and influence follow-up installation accuracy.
It should be noted that, the glass bushing assembly 39 or the pole pin assembly 15 can be paired with the quick-release base 58 through the respective quick-release support plate 59, so as to ensure that the glass bushing assembly 39 or the pole pin assembly 15 can be attached to the quick-release base 58 as much as possible after installation to reduce the influence caused by vibration of the device, and meanwhile, the glass bushing assembly 39 or the pole pin assembly 15 can also be used as a carrier for fixing or installing a specific structure of the glass bushing assembly 39 or the pole pin assembly 15. Further, an electrical device installation cavity can be further formed on the side of the quick-release support plate 59 facing the quick-release base 58 for installing electrical devices required by the glass bushing assembly 39 or the pole pin assembly 15, and the electrical device installation cavity can be covered by a cover body which does not protrude out of the electrical device installation cavity to protect the electrical devices.
The rotary assembling system 8 is mainly used for assembling the shell 5 and the upper sealing body 4.
As shown in fig. 28 and 29, the rotary assembling system 8 comprises a clamping jaw assembly, a rotary arm robot 64 for driving the connecting clamping jaw assembly, and a support frame 65 for supporting the connecting rotary arm robot 64, wherein the rotary arm robot 64 can drive the clamping jaw assembly to move to the moving track of the assembling displacement moving system 9 so as to sequentially install the shell 5 and the upper sealing body 4; the clamping jaw assembly comprises a shell clamping jaw 66 and a sealing body clamping jaw 67 which are arranged side by side, a fourth sensor 68 is arranged on the outer side of the shell clamping jaw 66, and the detection end of the fourth sensor 68 faces the inner side of the shell clamping jaw 66.
The rotary assembling system 8 of the embodiment can drive the jaw assembly to move to the storage area of the housing 5 or the upper seal 4 through the swing arm robot 64 to sequentially grab the housing 5 or the upper seal 4 and can drive the jaw assembly to move to the moving track of the assembling displacement moving system 9 to sequentially install the housing 5 and the upper seal 4, when a specific clamp is taken, the housing jaw 66 is used for grabbing the housing 5, the seal jaw 67 is used for grabbing the upper seal 4, and further, the grabbing operation of the two can be met, when the housing 5 or the upper seal 4 reaches the designed position, the jaw assembly can release the housing 5 or the upper seal 4, the housing 5 or the upper seal 4 can directly fall onto the lower seal 1 by gravity, the assembly is completed, after the installation, because the housing 5 needs to be partially sleeved on the lower seal 1, at this time, the housing jaw 66 can be controlled to continue to move downwards at a certain time after the discharge, the moving distance is 0.1-0.5 mm from the upper end surface of the housing 5 after the normal assembly, and the fourth sensor 68 is opened to detect whether the shield exists in the housing jaw 66, if the shield exists, the shield 5 is not stated, if the shield 5 exists, the shield does not exist, the normal assembly is not yet. Specifically, the fourth sensor 68 is a fiber optic sensor.
With reference to fig. 7, the first visual inspection system 10 is mainly used to detect the plane positions of the polar needle mounting hole 5a of the housing 5 and the polar needle mounting hole 4a of the upper sealing body 4, so as to adjust the housing 5 or the upper sealing body 4 to be matched with the lower sealing body 1 by using the rotary arm robot 64 based on the detection result, thereby improving and ensuring the assembly of the whole precision plug connector.
Specifically, the first vision inspection system 10 is disposed on the apparatus main body 5 and located in the motion track of the swing arm robot 64, and the inspection end thereof is disposed vertically upward so as to directly inspect the grasped shell 5 or the upper sealing body 4. Further, the first visual inspection system 10 is an industrial camera.
It should be noted that, the effect of the swing arm robot 64 is to realize the movement of the clamping jaw assembly, and order the clamping jaw assembly to take and put the shell 5 and the upper sealing body 4, and be used for rotating the clamping jaw assembly to adjust the pole needle assembling hole 4a, the plane position of the pole needle assembling hole 5a, the robot of above functions exists in the prior art and the technology is mature, such as multi-axis industrial robot, multi-degree of freedom industrial robot, etc., this embodiment does not relate to the structural design or improvement of the swing arm robot 64, and further does not further describe the concrete structure of the swing arm robot 64, the skilled person can be based on the prior art and the function of the swing arm robot 64 of this embodiment, can implement the utility model without creative work.
In a specific application, in order to further realize the rationality and full automation of the assembly, the sealing body clamping jaw 67 of the embodiment can also be used for grabbing the lower sealing body 1, so that the lower sealing body 1 can be placed on the assembly displacement moving system 9 according to a required position, the assembly of the lower sealing body 1 is automatically completed, and the position of the lower sealing body 1 can be ensured.
In specific application, the sealing body clamping jaw 67 or the shell clamping jaw 66 can also be used for grabbing and discharging a final assembly body after all the assemblies of the precise plug connector are completed, so that automatic discharging is realized, and the unsuccessful assembly bodies with problems such as unsuccessfully installed parts, neglected installation and the like which are partially detected can be grabbed and discharged, so that normal assembly is ensured.
Based on this, with continued reference to fig. 7, in this embodiment, the automatic assembling apparatus further includes a material storage and delivery system disposed on the apparatus main body 6, and the material storage and delivery system includes a lower sealing body feeding system 69, an upper sealing body feeding system 70, a housing storage system 71, and a finished product storage system 72; the rotary arm robot 64 of the rotary assembling system 8 can rotate to any position above the lower sealing body feeding system 69, the upper sealing body feeding system 70, the shell storage system 71 and the finished product storage system 72 to complete material storage and delivery.
In concrete application, because the lower sealing body 1 and the upper sealing body 4 are of a convex structure, and the pole needle assembly holes of the lower sealing body 1 and the upper sealing body 4 are both positioned on the middle upright column, the lower sealing body feeding system 69 and the upper sealing body feeding system 70 can adopt a vibration disc feeding system in the prior art to guide and feed, in order to be matched with the rotary arm robot 64 for grabbing and assembling, the lower sealing body feeding system 69 can output the lower sealing body 1 in a vertical mode that the pole needle assembly holes 1a face upwards, so that the rotary arm robot 64 can vertically grab the lower sealing body and can be directly placed in the assembly moving system 9 for positioning when grabbing, similarly, the upper sealing body feeding system 70 can grab the upper sealing body 4 in a mode that the pole needle assembly holes 4a face downwards, and can be directly assembled in a free-falling mode after adjustment, the shell storage system 71 can be designed into a positioning disc structure, a plurality of stations with standard sizes and intervals can be arranged on the positioning disc for placing the shell 5, so that the shell can be directly grabbed and manually assisted in loading, and the shell storage system 72 can be arranged into a same structure as a final storage system for grabbing and precisely for completing the precise assembly of the shell.
It should be noted that, in the assembly process, the second vision detection system, the first vision detection system, the polar pin press-fitting assembly and the first to fourth sensors may detect that there is an abnormality in corresponding data, such as a problem of the size of the fitting, an assembly problem (an assembly is not in place, an assembly is not performed, etc.), and the like, which may affect the specific assembly power, so that when such a problem occurs and cannot be overcome, the workpiece at this time may be captured as a waste product by the clamping jaw assembly. Correspondingly, a waste collection box 73 may be provided on the apparatus body 6 for collecting waste for recycling.
The assembly displacement system 9 is mainly used for positioning and adjusting the lower sealing body 1 and driving the lower sealing body 1 to displace so as to complete the installation or detection of the pole needle 2, the glass sleeve 3, the upper sealing body 4 and the shell 5.
As shown in fig. 30 and 31, the assembly displacement motion system 9 includes a motion module 73 and a multifunctional base disposed at a motion end of the motion module 73; the multifunctional base comprises a rotating motor 74, a second vibrating piece 75 arranged at the upper end of the rotating motor 74 and a clamping base 76 flexibly connected to the upper end of the second vibrating piece 75, wherein at least two lower sealing body clamping jaws 77 for clamping the lower sealing body 1 are arranged on the clamping base 76; the second vibrating member 75 is further provided at an upper end thereof with at least two paired automatic locking members 78, and the automatic locking members 78 are circumferentially translatable along the clamping base 76 to lock or unlock the clamping base 76.
The motion module 73 of this embodiment can drive the multifunctional base to move so as to move the lower sealing body 1 to the corresponding assembly position or detection position to execute the corresponding operation, when in specific use, the lower sealing body 1 is stably clamped on the clamping base 76 through the lower sealing body clamping jaw 77, when the pole needle assembly hole 1a of the lower sealing body 1 needs to be adjusted, the rotating motor 74 can be opened to drive the second vibrating member 75 and the clamping base 76 to rotate, further synchronously drive the lower sealing body 1 to rotate so as to adjust to a proper angle, meanwhile, after the glass sleeve 3 and the shell 5 are installed, in order to enable the two to be assembled in place, the automatic locking member 78 can be controlled to release the locking of the clamping base 76 and open the second vibrating member 75, the second vibrating member 75 can drive the clamping base 76 to vibrate, further through vibration, the sleeve 3 and the shell 5 are further assembled in place under the action of gravity, the assembly precision of the two with the corresponding structure can be ensured and improved, after vibrating for a certain time, the second vibrating member 75 is closed, the automatic locking member 78 locks the clamping base 76 again, the clamping base 76 can be fixed again, and the lower sealing body 1 can be stably positioned and supported again. Further, the second vibration member 75 may be used as a vibration motor.
On the basis, the clamping base 76 can be a multi-axis chuck, and the moving axis thereof is connected with the lower sealing body clamping jaw 77 so as to control the axial translation of the lower sealing body clamping jaw 77, thereby realizing the clamping or unclamping of the lower sealing body 1. Specifically, the automatic locking member 78 may be a push rod, a slide table, a telescopic cylinder, or the like. Further, in order to ensure the locking effect of the automatic locking piece 78, a locking groove 79 matched with the automatic locking piece 78 is arranged on the outer side of the clamping base 76 relative to the automatic locking piece 78, the automatic locking piece 78 and the locking groove 79 form a matched locking clamping base 76, the locking effect of the automatic locking piece 78 can be improved, the clamping base 76 can be ensured to be kept in a stable state after being locked so as to support the lower sealing body 1, and the positioning accuracy of the lower sealing body 1 is further ensured. Further, the middle parts of the rotating motor 74, the second vibrating piece 75 and the clamping base 76 are respectively provided with a wire feeding hole which is communicated with each other, the wire feeding holes are used for feeding wires to the lower sealing body clamping jaw 77, the automatic locking piece 78, the second vibrating piece 75 and the rotating motor 74, and therefore the stability of the multifunctional base is affected due to the fact that the wires are not exposed well and the influence of the wires on assembly is reduced. Specifically, the moving module 73 is a linear module, and the linear moving direction of the linear module is the same as the configuration direction of each system in the fixed assembling system 7, so that the polar needle 2 and the glass sleeve 3 can be well installed in a matched manner.
It should be noted that, the intelligent assembling system of the precise plug connector of this embodiment may further include a control system, the control system may be used for data processing and interaction, and control the cooperative work of each system, the control system already exists in the prior art and the technology is relatively mature, for example, a PLC control system, etc., a person skilled in the art may select a suitable control system based on the prior art and each function of this embodiment to assist with simple data processing and programming, and the present invention may be implemented without creative labor.
In order to implement the utility model discloses, the utility model discloses the second embodiment still provides the automatic assembly technology of accurate plug connector based on the robot automatic assembly device of above accurate plug connector, and this technology specifically includes following step:
s1, the rotary arm robot 64 drives the sealing body clamping jaw 67 to rotate to a lower sealing body feeding system 69, vertically grabs the lower sealing body 1 in a mode that the polar needle assembling hole 1a is upward, transfers the lower sealing body 1 to an initial multifunctional base and clamps the lower sealing body by the lower sealing body clamping jaw 77;
the S2 movement module 73 drives the multifunctional base to move to a detection position of the second vision detection system 13, the second vision detection system 13 detects the plane position of the pole needle assembly hole 1a on the lower sealing body 1, and the rotating motor 74 rotates based on the detection result of the plane position of the pole needle assembly hole 1a to drive the lower sealing body 1 to rotate to a design position;
s3, starting the first sensor 26, enabling the motion module 73 to drive the multifunctional base to move to a pole needle assembly position of the pole needle assembly system 12, enabling the pole needles 2 to sequentially pass through the pole needle feeding system 14, the pole needle guide piece 17, the pole needle collecting piece 18 and the pole needle discharging piece 19, then discharging in a free-fall mode, and enabling the pole needles 2 to fall into pole needle assembly holes 1a in the lower sealing body 1 by means of gravity or inertia of the pole needles 2 to complete assembly of the pole needles 2;
s4, after the first sensor 26 detects that the polar needle 2 falls and waits for the design time, the motion module 73 drives the multifunctional base to move to the working position of the polar needle press-mounting assembly 28, the second lifting assembly 29 drives the lower pressing rod 30 to press the polar needle 2 to the mounting position, the second sensor 34 is synchronously started to detect the pressing height of the lower pressing rod 30, and the pressing is stopped when the pressing height is the same as the depth of the polar needle mounting hole 1 a;
in this step, when the first sensor 26 detects whether the needle bar 2 falls, the discharge condition of the needle bar 2 can be determined based on this, and the time for starting the motion module 73 to the next station can be controlled according to the falling time after the fall is detected.
In the step, the second sensor 34 is started to detect whether the pressing rod 30 rebounds after pressing down the designated height in the pressing down process of the pressing down rod 30, if the rebounds in advance or no rebounds, it is indicated that the pole needle 2 is not installed in place or not, at the moment, the initial position can be moved back through the control motion module 73, the lower sealing body 1 is grabbed and discharged to the waste collection box 73 through the rotating assembly system, and the step S1 is returned again.
S5, starting the third sensor 52, driving the multifunctional base to move to a sleeve assembling position of the glass sleeve assembling system 11 by the motion module 73, discharging the glass sleeve 3 in a free-falling mode after sequentially passing through the glass sleeve feeding system 38, the sleeve guiding piece 41, the sleeve furling piece 42 and the sleeve discharging piece 43, and sleeving the glass sleeve 3 on the needle 2 by means of gravity or inertia to complete the assembling of the glass sleeve 3;
s6, after the third sensor 52 detects that the glass sleeve 3 falls and waits for the design time, the movement module 73 drives the multifunctional base to move to the detection position of the second vision detection system 13, the second vision detection system 13 detects whether the installation result of the glass sleeve 3 is abnormal, and when the glass sleeve 3 is detected to be normally installed, the movement module 73 drives the multifunctional base to move to the initial position;
in this step, when the second vision inspection system 13 detects that the glass sleeve 3 is not installed, it is determined to be abnormal, and if it is detected that the glass sleeve 3 is not assembled in place, the vibration motor may be started to vibrate for a certain time and then re-inspection is performed, and if it is still not satisfied after re-inspection, it is determined to be abnormal, and when it is determined to be abnormal, the lower sealing body 1 is grabbed and discharged to the waste collection box 73 by using the method in step S4, and the process returns to step S1 again.
S7, the swing arm robot 64 drives the shell clamping jaw 66 to rotate to the shell storage system 71, the shell 5 is grabbed in a vertical mode, the position of a polar needle assembly hole 5a on the shell 5 is detected through the first visual detection system 10, the swing arm robot 64 rotates the shell 5 to a design position based on the position of the polar needle assembly hole 5a on the shell 5, the shell 5 is transported to the position above a multifunctional base at an initial position after the shell clamping jaw is moved downwards to a design height through the swing arm robot 64, the shell 5 is loosened, the shell 5 falls in a free-falling mode to be matched with the lower sealing body 1, the fourth sensor 68 is opened and detects whether the shell 5 falls to the design height, when the design height is not reached, the automatic locking piece 78 unlocks the clamping base 76 and locks, the second vibrating piece 75 is opened for vibration design time and then is closed, the automatic locking piece 78 locks the clamping base 76 again, the fourth sensor 68 is reopened for detection, and the shell 5 is detected to be assembled in place, and then the shell 5 is assembled;
in this step, after the second vibrating member 75 vibrates for 1 to 2 times and the fourth sensor 68 still detects that the housing 5 is abnormally assembled, the lower sealing body 1 is grabbed and discharged to the waste collection box 73 in the step S4, and the step S1 is returned again.
S8, the rotary arm robot 64 drives the sealing body clamping jaw 67 to rotate to the upper sealing body feeding system 70, the upper sealing body 4 is grabbed in a mode that the polar needle assembling hole 4a faces downwards and then moves to the detection position of the first visual detection system 10, the first visual detection system 10 detects the position of the polar needle assembling hole 4a of the upper sealing body 4, the rotary arm robot 64 drives the sealing body clamping jaw 67 to rotate to the design position based on the detection result, the sealing body clamping jaw 67 is driven to move to the design position above the multifunctional base, and after the rotary arm robot 64 is in place, the sealing body clamping jaw 67 loosens the upper sealing body 4 to enable the upper sealing body 4 to fall in a free-falling mode to be matched with the shell 5 and the polar needle 2, so that the automatic assembly of the precise plug connector is completed;
after the sealing body 4 is assembled on the S9, the swing arm robot 64 drives the sealing body clamping jaw 67 to the original multifunctional base, and the precision plug connector is grabbed and transferred to the finished product storage system 72 for storage.
The automatic assembly process of the precise plug connector comprises the steps of mutually connecting a fixed assembly system, a rotary assembly system and an assembly displacement moving system, respectively realizing the installation of a polar needle and a glass sleeve through the fixed assembly system, realizing the installation of a shell and an upper sealing body through the rotary assembly system, detecting and confirming the assembly position of a corresponding accessory by combining a first visual detection system and a second visual detection system, further adjusting the assembly position of each accessory based on a detection result, and improving the assembly precision.
The above-mentioned embodiments, further detailed description of the objects, technical solutions and advantages of the present invention, it should be understood that the above description is only the embodiments of the present invention, and is not intended to limit the scope of the present invention, and any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the scope of the present invention.

Claims (11)

1. A robot automatic assembly device of a precise plug connector is characterized by comprising an equipment main body, and a fixed assembly system, a rotating assembly system, an assembly displacement moving system and a first visual detection system which are arranged on the equipment main body;
the fixed assembling system comprises a glass sleeve assembling system, a polar needle press-fitting assembly, a polar needle assembling system and a second visual detection system which are sequentially arranged, the polar needle assembling system is used for assembling a polar needle to a lower sealing body in a free falling mode, the polar needle press-fitting assembly is used for pressing the polar needle to an assembling position after the polar needle is assembled, the glass sleeve assembling system is used for assembling the glass sleeve to the assembled polar needle in the free falling mode, and the second visual detection system is used for detecting the plane position of a polar needle assembling hole on the lower sealing body before the polar needle is assembled and detecting the assembling result of the glass sleeve after the glass sleeve is assembled;
the assembly position moving system is used for positioning and adjusting the position of the lower sealing body and driving the lower sealing body to move to the fixed assembly system so as to finish the assembly of the polar needle, the assembly of the glass sleeve and the visual detection;
the rotating assembly system can rotate to the moving track of the assembly moving system, is used for grabbing and adjusting the position of the shell or the upper sealing body, and is used for fixing the shell and the upper sealing body to be sequentially arranged on the lower sealing body after the assembly of the assembly system is finished to form the precise plug connector;
the first visual detection system is used for detecting the plane position of the pole needle assembly hole of the shell or the upper sealing body after the rotating assembly system grabs the shell or the upper sealing body.
2. The automatic assembling device of claim 1, wherein the polar needle assembling system comprises a polar needle feeding system and a polar needle assembling assembly which are arranged from top to bottom in sequence, and the polar needle assembling assembly is connected to the equipment main body through a first lifting piece;
the pole needle assembly comprises a pole needle guide piece, a pole needle collecting piece and a pole needle discharging piece which are vertically arranged in sequence, wherein the pole needle guide piece, the pole needle collecting piece and the pole needle discharging piece are all provided with a pole needle collecting hole, and the aperture of the pole needle guide piece, the aperture of the pole needle collecting piece and the aperture of the pole needle collecting hole of the pole needle collecting piece are sequentially reduced and correspondingly communicated to form a pole needle feeding channel;
the needle collecting hole at the upper end of the pole needle material guiding piece is communicated with the pole needle feeding system;
at least the needle collecting hole of the pole needle collecting piece is of a special-shaped hole structure with a large upper part and a small lower part, and at least the lower end part of the needle collecting hole of the pole needle discharging piece is a straight hole.
3. The automatic assembling device according to claim 2, wherein the pole needle guiding member, the pole needle collecting member and the pole needle discharging member are provided with a plurality of pole needle collecting holes, and the pole needle collecting holes are respectively communicated in a one-to-one correspondence manner to form a plurality of pole needle feeding channels with the same number as the pole needles;
the central distance between the pole needle feeding channels is gradually reduced until the central distance between the pole needle feeding channels at one end of the pole needle discharging piece is the same as the central distance between the pole needle assembling holes in the lower sealing body.
4. The automatic assembling device of claim 3, wherein the polar needle collecting piece comprises a polar needle conical funnel piece and a polar needle inclined collecting piece which are vertically arranged in sequence;
the needle collecting hole of the polar needle conical funnel piece is an inclined special-shaped hole which is inclined from top to bottom towards the central direction of the polar needle conical funnel piece;
the upper end of the needle collecting material hole of the polar needle inclined folding piece forms a flat opening and is gradually folded towards the other end to form a circular material port;
the lower extreme in needle collection material hole of utmost point needle toper funnel spare switches on with flat opening, circular material mouth with the needle collection material hole of utmost point needle ejection of compact piece switches on.
5. The automatic assembly device of claim 1, wherein the pole pin press-fitting assembly comprises a second lifting assembly and a lower pressing member;
the lower pressing piece comprises a fixed plate connected with the second lifting assembly, a lower pressing rod capable of freely lifting is arranged on the fixed plate, and a first elastic piece connected with the fixed plate is arranged at the upper end of the lower pressing rod;
the pushing piece further comprises a second sensor arranged on the fixing plate, and the detection end of the second sensor faces the downward pressing rod.
6. The automatic assembling device according to claim 1, wherein the glass sleeve assembling system comprises a glass sleeve feeding system and a glass sleeve assembling assembly which are arranged from top to bottom in sequence, and the glass sleeve assembling assembly is connected to the equipment main body through a third lifting piece;
the glass sleeve assembling assembly comprises a sleeve guide piece, a sleeve collecting piece and a sleeve discharging piece which are vertically arranged in sequence, sleeve conveying holes are formed in the sleeve guide piece, the sleeve collecting piece and the sleeve discharging piece, and the diameters of the sleeve conveying holes of the sleeve guide piece, the sleeve collecting piece and the sleeve discharging piece are sequentially reduced and are correspondingly communicated to form a sleeve feeding channel;
at least the sleeve conveying hole of the sleeve collecting piece is of a special-shaped hole structure with a large upper part and a small lower part, and at least the lower end part of the sleeve conveying hole of the sleeve discharging piece is a straight hole.
7. The automatic assembling device according to claim 6, wherein the sleeve guiding member, the sleeve collecting member and the sleeve discharging member are provided with a plurality of sleeve conveying holes, and the plurality of sleeve conveying holes are respectively communicated in a one-to-one correspondence manner to form a plurality of sleeve feeding channels with the same number as the pole needles;
the center distance among the plurality of sleeve feeding channels is gradually reduced until the center distance of the plurality of sleeve feeding channels at one end of the sleeve discharging piece is the same as the center distance of the pole needles assembled on the lower sealing body.
8. The automatic assembly device of claim 6, wherein the casing material guiding member comprises a material guiding barrel and a vibration guiding base which are vertically arranged in sequence;
the vibration guide base comprises a fixed seat and a sleeve receiving disc flexibly connected to the fixed seat, a funnel-shaped receiving groove with a large upper part and a small lower part is arranged on the sleeve receiving disc, the receiving groove is positioned below a sleeve conveying hole of the guide cylinder, the bottom of the receiving groove is communicated with a guide pipe, and the guide pipe is communicated with the sleeve conveying hole of the sleeve collecting piece;
the vibration guide base further comprises at least one first vibration piece arranged on the fixing base, and the vibration end of the first vibration piece is attached to the outer side of the sleeve receiving disc.
9. The automatic assembling device of claim 1, wherein the second visual inspection system comprises a fourth lifting member and a connecting plate connected to the fourth lifting member, the connecting plate is provided with an industrial camera and a light source at intervals from top to bottom, and the connecting plate is further provided with a height detection member outside the industrial camera.
10. The automatic assembling device according to claim 1, wherein the rotary assembling system comprises a clamping jaw assembly, a rotary arm robot for driving and connecting the clamping jaw assembly, and a support frame for supporting and connecting the rotary arm robot, wherein the rotary arm robot can drive the clamping jaw assembly to move to a moving track of the assembling displacement moving system so as to sequentially mount the shell and the upper sealing body;
the clamping jaw assembly comprises a shell clamping jaw and a sealing body clamping jaw which are arranged side by side, a fourth sensor is arranged on the outer side of the shell clamping jaw, and the detection end of the fourth sensor faces the inner side of the shell clamping jaw.
11. The automatic assembly device of claim 1, wherein the assembly position moving system comprises a motion module and a multifunctional base disposed at a motion end of the motion module;
the multifunctional base comprises a rotating motor, a second vibrating piece arranged at the upper end of the rotating motor and a clamping base flexibly connected to the upper end of the second vibrating piece, and at least two lower sealing body clamping jaws for clamping a lower sealing body are arranged on the clamping base;
the second vibrating piece upper end still is provided with two at least automatic locking pieces in pairs, the automatic locking piece can be followed centre gripping base circumference translation in order to lock the centre gripping base or relieve the locking.
CN202222748813.1U 2022-10-19 2022-10-19 Robot automatic assembly device of accurate plug connector Active CN218426813U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202222748813.1U CN218426813U (en) 2022-10-19 2022-10-19 Robot automatic assembly device of accurate plug connector

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202222748813.1U CN218426813U (en) 2022-10-19 2022-10-19 Robot automatic assembly device of accurate plug connector

Publications (1)

Publication Number Publication Date
CN218426813U true CN218426813U (en) 2023-02-03

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Family Applications (1)

Application Number Title Priority Date Filing Date
CN202222748813.1U Active CN218426813U (en) 2022-10-19 2022-10-19 Robot automatic assembly device of accurate plug connector

Country Status (1)

Country Link
CN (1) CN218426813U (en)

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