CN105817873A - Nut mounting station of quick joint automatic assembly machine - Google Patents

Nut mounting station of quick joint automatic assembly machine Download PDF

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Publication number
CN105817873A
CN105817873A CN201610345934.8A CN201610345934A CN105817873A CN 105817873 A CN105817873 A CN 105817873A CN 201610345934 A CN201610345934 A CN 201610345934A CN 105817873 A CN105817873 A CN 105817873A
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China
Prior art keywords
nut
feeding
station
stubborn
cylinder
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Granted
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CN201610345934.8A
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Chinese (zh)
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CN105817873B (en
Inventor
姜昌国
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Ningbo Xinbang Technology Co.,Ltd.
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Ningbo Sinppa Tools Co Ltd
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Priority to CN201610345934.8A priority Critical patent/CN105817873B/en
Publication of CN105817873A publication Critical patent/CN105817873A/en
Application granted granted Critical
Publication of CN105817873B publication Critical patent/CN105817873B/en
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23PMETAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P19/00Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
    • B23P19/04Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for assembling or disassembling parts
    • B23P19/06Screw or nut setting or loosening machines

Abstract

The invention relates to the technical field of quick joint assembly equipment, in particular to a nut mounting station of a quick joint automatic assembly machine. The nut mounting station comprises a nut feeding pre-screwing station and a nut screwing station which are arranged in the material flow direction of the automatic assembly machine. The nut feeding pre-screwing station comprises a nut feeding mechanism, a nut feeding pre-screwing mechanical arm, a nut gluing mechanism and a nut pre-screwing mechanism. Nut accessories are conveyed to the specified position through the nut feeding pre-screwing mechanical arm. The nut pre-screwing mechanism and the nut gluing mechanism cooperate to firstly complete the action of coating the nut accessories with sealant, and after the sealant coating action is completed, the nut feeding pre-screwing mechanical arm completes the assembly action of the nut accessories in cooperation with the nut pre-screwing mechanism. The nut screwing station is used for locking the pre-screwed nut accessories. Step-by-step work in the nut mounting process is achieved, it is guaranteed that the nut accessories are mounted in place, and it is ensured that the air tightness index of a quick joint is qualified.

Description

The nut of a kind of snap joint automatic assembling machine installs station
Technical field
The present invention relates to snap joint and assemble equipment technical field, the nut particularly to a kind of snap joint automatic assembling machine installs station.
Background technology
Snap joint, is that a kind of instrument that need not can be achieved with the joint of pipeline connection or disconnection.Snap joint can be divided into: air snap joint, oxygen fuel gas snap joint, gas liquid share snap joint, oil pressure snap joint, noble gas snap joint, coolant water temperature oil snap joint, quasiconductor snap joint.
The installation of snap joint and loaded down with trivial details, first has to sequentially be installed in maincenter steel ball, sealing gasket, spool, valve core spring, and in and the gap that is installed between maincenter and overcoat by outer casing spring outer at the maincenter that is enclosed within by overcoat, nut is threadeded with maincenter the most at last.The manual assembly efficiency of snap joint is low, and the situation of part neglected loading often occurs, and each snap joint is required for after having assembled carrying out air-leakage test, and operation is loaded down with trivial details.Therefore, in order to improve the efficiency of assembling of snap joint, reduce percent defective, continue a kind of production line of snap joint assembling that is specifically designed to improve the efficiency of assembling of snap joint.
Nut fittings and maincenter accessory are carried out assembly connection by finally the needing of snap joint assembling work, during the assembling of this nut fittings, mounted in pairing mode is carried out firstly the need of by nut fittings and maincenter accessory, will be by nut fittings pre-screwing on maincenter accessory while mounted in pairing mode, the most again nut fittings is locked on maincenter accessory, finally the complete snap joint of assembling is carried out airtight test, whether nut fittings is the most correctly installed and is installed and put in place, and whether nut fittings tightens to put in place directly influences the air-tightness index of snap joint.Therefore need to configure in snap joint automatic assembling machine and be specifically designed to the station that nut is installed.
Summary of the invention
Present invention aims to the deficiencies in the prior art, the nut providing a kind of snap joint automatic assembling machine installs station, this nut installs the pre-stubborn station of nut feeding and the nut screwing clamping station that station includes arranging along automatic assembling machine material flow path direction, completed the feeding of nut fittings, gluing by the pre-stubborn station of nut feeding and turned work in advance, the locking action of nut is completed by nut screwing clamping station, achieve the substep operation in nut mounting process, ensure that nut fittings is installed to put in place, it is ensured that the air-tightness qualified of snap joint.
For solving the problems referred to above, the present invention provides techniques below scheme:
nullThe nut of a kind of snap joint automatic assembling machine installs station,Including the pre-stubborn station of nut feeding arranged along automatic assembling machine material flow path direction and nut screwing clamping station,The pre-stubborn station of nut feeding has been used for the feeding of nut fittings、Gluing and turn work in advance,The pre-stubborn station of nut feeding includes nut feed mechanism、The pre-stubborn mechanical arm of nut feeding、Nut rubber-coated mechanism and nut Yu Ning mechanism,Mechanical arm is installed on the pre-stubborn mechanical arm of nut feeding and drives cylinder and the pre-stubborn mechanical hand of nut feeding,Nut Yu Ning mechanism is arranged on the pre-stubborn mechanical hand of nut feeding,The pre-stubborn mechanical hand of air cylinder driven nut feeding is driven to move in the horizontal direction by mechanical arm,Nut feed mechanism is connected with the vibrating disk of conveying nut fittings,Continuously it is transported to nut fittings specify position to capture for the pre-stubborn mechanical hand of nut feeding,The nut fittings captured by the pre-stubborn mechanical hand of nut feeding is shifted into appointment position,With nut Yu Ning mechanism and nut rubber-coated mechanism, first complete to smear in nut fittings the action of fluid sealant,Gluing action completes the assembling action of nut fittings under the pre-stubborn mechanical arm of nut feeding is with nut Yu Ning mechanism after completing;Nut screwing clamping station has been used for locking the nut fittings after pre-twisting.
Further, the pre-stubborn mechanical arm of described nut feeding includes across the portal frame above guide board device, horizontal guide rail is installed on portal frame, cross slide for installing the pre-stubborn mechanical hand of nut feeding is installed on horizontal guide rail, cross slide is slidably connected with horizontal guide rail by slide block, mechanical arm drives cylinder to be arranged on the end of portal frame, the outfan of mechanical arm driving cylinder is fixing with cross slide to be connected, mechanical arm drive air cylinder driven cross slide to slide to drive the pre-stubborn mechanical hand of nut feeding to move horizontally.
Further, the pre-stubborn mechanical hand of described nut feeding includes mechanical hand installing plate, robot drives cylinder, vertical slide plate and rotary pneumatic pawl, mechanical hand installing plate is connected by bolt and cross slide are fixing, robot drives vertical cylinder is arranged on the top of mechanical hand installing plate, on mechanical hand installing plate, vertical guide rail is installed, vertical slide plate is slidably connected with vertical track by slide block, vertical slide plate is fixing with the outfan of robot drives cylinder to be connected, it is the level of state on vertical slide plate and horizontal mounting plate is installed, rotary pneumatic pawl is vertically mounted on the lower end of this horizontal mounting plate, moved up and down gas pawl vertical movement is rotated by the vertical slide plate of robot drives air cylinder driven.
Further, described nut Yu Ning mechanism is mainly used in controlling the rotation of rotary pneumatic pawl, include and be arranged on, by support, the rotary drive motor that horizontal mounting plate upper end rotates for driving rotary pneumatic pawl, the top of rotary pneumatic pawl is provided through horizontal mounting plate the rotating shaft being connected with the outfan of rotary drive motor, when the nut fittings grabbed is moved to rest on the surface that the clamping workpiece of the pre-station of nut feeding puts tool by the pre-stubborn mechanical hand of nut feeding, rotary pneumatic pawl is driven to rotate by nut Yu Ning mechanism, on the external screw thread of nut fittings, fluid sealant is smeared with attaching nut rubber-coated mechanism.
Further, described nut Yu Ning mechanism also includes the rotating control assembly for controlling the rotary pneumatic pawl anglec of rotation, this device include be the level of state by bolt fix with vertical slide plate be connected guide cell body, the tooth bar being slidably fitted in this gathering sill body and be arranged in the rotating shaft of rotary pneumatic pawl and with tooth bar meshed gears, guide in cell body and the sensor for positioning tooth bar sliding distance be installed.
Further, described nut rubber-coated mechanism includes depositing glue box and glue filling device, deposit glue box to be arranged on portal frame by a fixed support, glue filling device includes the extending bracket of a L-type and is installed on the telescopic glue injecting head of this extending bracket front end, glue injecting head is connected with depositing glue box by flexible pipe, and the front end of extending bracket is also equipped with the injecting glue cylinder for driving glue injecting head to stretch out.
Further, described nut screwing clamping station includes hoistable platform, lifting support, lifting drives cylinder and pneumatic air screwdriver, lifting support is arranged on the outside of guide board device, include left guide pillar, right guide pillar and top board, hoistable platform is arranged between two guide pillars by guide pin bushing, lifting drives cylinder to be arranged on top board, lifting drives the outfan of cylinder to be connected to drive hoistable platform vertical movement through top board and hoistable platform are fixing, hoistable platform is T font structure, it is provided with and puts, to the clamping workpiece resting on this station, the extension extended directly over tool, pneumatic air screwdriver is arranged on this extension, the outfan of pneumatic air screwdriver downwardly extends through this extension, outfan at pneumatic air screwdriver is provided with pneumatic screwdriver sleeve, the lower end of this pneumatic screwdriver sleeve is provided with the interior hexagonal deep gouge that can coordinate with nut fittings.
Further, the bottom of described hoistable platform is positioned at lifting and drives the underface of cylinder to be also equipped with gag lever post, and this gag lever post is provided with pressure transducer.
Beneficial effect: the present invention provides the nut of a kind of snap joint automatic assembling machine to install station, this nut installs the pre-stubborn station of nut feeding and the nut screwing clamping station that station includes arranging along automatic assembling machine material flow path direction, completed the feeding of nut fittings, gluing by the pre-stubborn station of nut feeding and turned work in advance, the locking action of nut is completed by nut screwing clamping station, achieve the substep operation in nut mounting process, ensure that nut fittings is installed to put in place, it is ensured that the air-tightness qualified of snap joint.
Accompanying drawing explanation
Fig. 1 is the perspective view 1 of multistation snap joint automatic assembling machine;
Fig. 2 is the perspective view 2 of multistation snap joint automatic assembling machine;
Fig. 3 is the perspective view of the present invention;
Fig. 4 is enlarged diagram at A in Fig. 3;
Fig. 5 is the perspective view of maincenter feeding station in multistation snap joint automatic assembling machine;
Fig. 5 a is the perspective view of maincenter feed mechanism in multistation snap joint automatic assembling machine;
Fig. 5 b is the perspective cross-sectional structural representation of steel ball stuffing box in multistation snap joint automatic assembling machine;
Fig. 5 c is the perspective view of maincenter feeder mechanical arm in multistation snap joint automatic assembling machine;
Fig. 5 c1 is the perspective view of maincenter reclaimer robot in multistation snap joint automatic assembling machine;
Fig. 5 c2 is the perspective view of maincenter feeding manipulator in multistation snap joint automatic assembling machine;
Fig. 6 is the perspective view that feeding station overlaps in multistation snap joint automatic assembling machine China and foreign countries;
Fig. 7 is the perspective view of sealing gasket feeding station in multistation snap joint automatic assembling machine;
Fig. 8 is the perspective view of spool feeding station in multistation snap joint automatic assembling machine;
Fig. 9 is the perspective view 1 of the pre-stubborn station of nut feeding in multistation snap joint automatic assembling machine;
Figure 10 is the perspective view 2 of the pre-stubborn station of nut feeding in multistation snap joint automatic assembling machine;
Figure 11 is the perspective view of nut screwing clamping station in multistation snap joint automatic assembling machine;
Figure 12 is the perspective view of air-leakage test station in multistation snap joint automatic assembling machine;
Figure 13 is the perspective view of pickup station in multistation snap joint automatic assembling machine;
Figure 14 is the sectional structure schematic diagram of rapid structural;
nullDescription of reference numerals: workpiece transfer mechanism 1,Maincenter feeding station 2,Maincenter feed mechanism 2a,Maincenter material-pushing frame 2a1,Maincenter feeding track 2a2,Steel ball loads box 2b,Box body 2b1,Box body bearing 2b2,Steel ball pallet 2b3,Steel ball loads seat 2b4,Central location post 2b5,Spring 2b6,Maincenter reclaimer robot 2c,Maincenter feeding manipulator 2d,Overcoat feeding station 3,Overcoat feed mechanism 3a,Overcoat material-pushing frame 3a1,Overcoat feeding track 3a2,Overcoat feeding manipulator 3b,Sealing gasket feeding station 4,Sealing gasket feed mechanism 4a,Sealing gasket feeding manipulator 4b,Spool feeding station 5,Spool feed mechanism 5a,Spool feeding manipulator 5b,The pre-stubborn station 6 of nut feeding,Nut feed mechanism 6a,The pre-stubborn mechanical hand 6b of nut feeding,Nut rubber-coated mechanism 6c,Nut Yu Ning mechanism 6d,Nut check station 7,Hoistable platform 7a,Lifting support 7b,Left guide pillar 7b1,Right guide pillar 7b2,Top board 7b3,Lifting drives cylinder 7c,Pneumatic air screwdriver 7d,Pneumatic screwdriver sleeve 7e,Gag lever post 7f,Air-leakage test station 8,Pickup station 9,Sorting track 9a,Rail bed 9a1,Certified products track 9a2,Defective work track 9a3,Transmission chain 10,Clamping workpiece puts tool 11,Location hole 11a,Guide pad 11b,Leading block 11c,Keyhole 11d,Detection hole 11e,Guide board device 12,Gathering sill 12a,Positioning and locking device 13,Locking cylinder 13a,Lock plunger 13b,Alignment sensor 14,Pusher guide plate 15,Charging aperture 15a,Move material block 16,U-type groove 16a,Pusher cylinder 17,Portal frame 18,Horizontal guide rail 19,Cross slide 20,Mechanical arm drives cylinder 21,Mechanical hand installing plate 22,Robot drives cylinder 23,Vertical slide plate 24,Air-actuated jaw 25,Vertical guide rail 26,Horizontal mounting plate 27,Hold-down devices 28,Guide post 28a,Lower lock block 28b,Elastic buffer set 28c,Bar magnet 29,Bar magnet drives cylinder 30,Aerodynamic suction rod 31,Aspirating hole 31a,Air pump connecting tube 31b,Pneumatic suction nozzle 32,Rotary pneumatic pawl 33,Rotating shaft 33a,Rotary drive motor 34,Guide cell body 35,Tooth bar 36,Gear 37,Deposit glue box 38,Glue filling device 39,Extending bracket 39a,Glue injecting head 39b,Flexible pipe 39c,Injecting glue cylinder 39d,Detection support 40,Vertical support 40a,Horizontal support 40b,Cylinder mount bracket 40c,Detection 41,Elastic sealing element 41a,Trachea arm 41b,Lower air cylinder 42,Maincenter accessory 43,Overcoat accessory 44,Outer casing spring accessory 45,Steel ball accessory 46,Sealing gasket accessory 47,Spool accessory 48,Valve core spring accessory 49,Nut fittings 50.
Detailed description of the invention
Below in conjunction with Figure of description and embodiment, the specific embodiment of the present invention is described in further detail:
Shown in seeing figures.1.and.2, the agent structure of multistation snap joint automatic assembling machine is the workpiece transfer mechanism 1 that step motor drive realizes stepwise motion, has been sequentially arranged on the direction of transfer of workpiece transfer mechanism 1: the pre-stubborn station 6 of maincenter feeding station 2, overcoat feeding station 3, sealing gasket feeding station 4, spool feeding station 5, nut feeding, nut check station 7, air-leakage test station 8 and pickup station 9.
nullIn conjunction with Fig. 1、Shown in Fig. 2,Workpiece transfer mechanism 1 is provided with by the transmission chain 10 of step motor drive rotated stepwise,Clamping workpiece for fixed and positioned workpiece is installed on whole transmission chain 10 equally spacedly and puts tool 11,Both sides along transmission chain 10 direction of transfer arrange that the clamping workpiece in moving is put tool 11 plays guiding and the guide board device 12 of positioning action,It is provided with in the outside of guide board device 12 and the positioning and locking device 13 of corresponding station interoperation,The effect of positioning and locking device 13 is in the gap of motor stepwise motion,I.e. clamping workpiece put tool 11 just rest on corresponding station position time,The clamping workpiece of this position is put tool 11 lock,So that workpiece can put in place by feeding accurately in corresponding feeding station,Similarly,In the pre-stubborn station 6 of nut feeding and nut check station 7,Positioning and locking device 13 can ensure that clamping workpiece is put tool 11 and is locked,To overcome in the pre-stubborn impact that with coupling mechanism force in locking action, clamping workpiece is put tool 11 stability of nut.
See shown in Fig. 3 and Fig. 4, clamping workpiece is put bottom and the transmission chain 10 of tool 11 and is fixed and be connected, clamping workpiece is put the top of tool 11 and is provided with for clamping and hole, the location 11a of location snap joint maincenter, put at clamping workpiece and bottom tool 11, be provided with the guide pad 11b extended to both sides, the gathering sill 12a coordinated with this guide pad 11b it is provided with in the inner side of guide board device 12, guide pad 11b matched in clearance is in gathering sill 12a, clamping workpiece is put the gathering sill 12a of tool 11 both sides and whole clamping workpiece is put tool 11 is served the effect of lifting, ensure generally all in working order under clamping workpiece put tool 11 all in same level height, to ensure accuracy of action on corresponding station.nullAdditionally,The both sides putting tool 11 at clamping workpiece are also equipped with leading block 11c,Because the clamping workpiece under all working state to be ensured puts tool 11 ensures the accuracy of horizontal level along with transmission chain 10 while moving,Simplest way is to make the inwall of guide board device 12 and clamping workpiece put as far as possible little of gap between tool 11 sidewalls,But too small gap inevitably occurs clamping workpiece to put between tool 11 and guide board device 12 collides and rubs,Easily cause whole connecting gear stuck,And leading block 11c is arranged on clamping workpiece and puts the sidepiece of tool 11,Leading block 11c and the inner side Structure deformation of guide board device 12,Avoid because of collision or frictional force is excessive causes connecting gear stuck,Also ensure that the clamping workpiece under all working state is put all along a rectilinear direction motion simultaneously,Summary,The cooperation of guide pad 11b and gathering sill 12a serves the location of the vertical direction that the clamping workpiece under duty is put tool 11,And leading block 11c and rolling of guide board device 12 inwall coordinate the location serving the horizontal direction that clamping workpiece under duty is put tool 11,The location of both direction guarantees the accuracy of manipulator behavior on each station.
Positioning and locking device 13 is arranged on the outside being positioned at guide board device 12 at corresponding station, mainly in horizontally-mounted locking cylinder 13a, the outfan of locking cylinder 13a is provided with lock plunger 13b, this lock plunger 13b can be inserted into clamping workpiece through guide board device 12 under the promotion of locking cylinder 13a and put in tool 11, and the both sides putting tool 11 at clamping workpiece all offer the keyhole 11d inserted for lock plunger 13b.Similarly, when positioning and locking device 13 action, lock plunger 13b to be ensured is inserted into the accuracy of keyhole 11d, although motor is stepwise motion, when step motor drive clamping workpiece puts tool 11 motion corresponding station, clamping workpiece puts tool 11 stop motions, but the precision of chain drive is the most relatively low, so the time of positioning and locking device 13 action needs accurately to control.nullTherefore,In the inner side of guide board device 12, the position corresponding to each station is mounted on an alignment sensor 14,Put tool 11 both sides medium positions at clamping workpiece and all offer a detection hole 11e,When clamping workpiece put tool 11 move to specify position and alignment sensor 14 this detection hole 11e to be detected time,Show that clamping workpiece puts tool 11 positions accurate,While alignment sensor 14 is triggered, locking cylinder 13a ejects,Lock plunger 13b is driven quickly to eject and be inserted in keyhole 11d,Finally realize that clamping workpiece is put tool 11 and be locked in appointment position,Required movement is completed for corresponding station,After corresponding station completes required movement,Locking cylinder 13a controls lock plunger 13b release clamping workpiece and puts tool 11,Then motor continuation action drives transmission chain 10 drives clamping workpiece to put tool 11 and travels forward.
Hereinafter each concrete station is described in detail, so that the specific works principle of the present invention to be described.
nullShown in Figure 5,Maincenter feeding station 2 includes maincenter feed mechanism 2a、Steel ball loads box 2b and maincenter feeder mechanical arm,Mechanical arm is installed in maincenter feeder mechanical arm and drives cylinder 21、Maincenter reclaimer robot 2c and maincenter feeding manipulator 2d,Cylinder 21 is driven to drive maincenter reclaimer robot 2c and maincenter feeding manipulator 2d synchronizing moving in the horizontal direction by mechanical arm,Maincenter feed mechanism 2a is connected with the vibrating disk of conveying maincenter accessory 43,Continuously it is transported to maincenter accessory 43 specify position to capture for maincenter reclaimer robot 2c,It is shifted into steel ball by the maincenter accessory 43 of maincenter reclaimer robot 2c gripping to load in box 2b,Maincenter feeding manipulator 2d loads from steel ball while capturing maincenter accessory 43 in box 2b and completes steel ball accessory filling action,And by maincenter feeding manipulator 2d the maincenter assembly being filled with steel ball accessory is transplanted on and to rest on the clamping workpiece of maincenter feeding station 2 and put in hole, the location 11a on tool 11,The feeding action of complete whole maincenter assembly.
See shown in Fig. 5 a, maincenter feed mechanism 2a includes maincenter material-pushing frame 2a1 and maincenter feeding track 2a2, one end of maincenter feeding track 2a2 is connected with vibrating disk, the other end is connected with maincenter material-pushing frame 2a1, maincenter accessory 43 is delivered on maincenter material-pushing frame 2a1 by maincenter feeding track 2a2 one by one, maincenter material-pushing frame 2a1 be pushed to specify position to capture for maincenter reclaimer robot 2c by single maincenter accessory 43;nullTwo pieces of pusher guide plates 15 being perpendicular to maincenter feeding track 2a2 are installed on maincenter material-pushing frame 2a1,Shifting material block 16 is installed between two pusher guide plates 15,It is also equipped with on maincenter material-pushing frame 2a1 for driving shifting material block 16 pusher cylinder 17 of movement between two pusher guide plates 15,Charging aperture 15a is offered on the pusher guide plate 15 of maincenter feeding track 2a2 side,Move and be provided with accommodating U-type groove 16a of a maincenter accessory 43 on material block 16,The opening direction of this U-type groove 16a is towards charging aperture 15a side,The maincenter accessory 43 come by maincenter feeding track 2a2 conveying is entered in U-type groove 16a by charging aperture 15a,Pusher cylinder 17 drives to move expects that block 16 moves,The maincenter accessory 43 moved in material block 16 is transplanted on appointment position capture for maincenter reclaimer robot 2c,After maincenter accessory 43 grasping movement completes, pusher cylinder 17 retraction makes shifting material block 16 reset to receive next maincenter accessory 43 to be captured.
nullSee shown in Fig. 5 b,Steel ball loads box 2b and includes box body 2b1、Box body bearing 2b2、Steel ball pallet 2b3 and steel ball load seat 2b4,Steel ball is loaded seat 2b4 and is placed on box body 2b1 inside and steel ball is loaded by bolt seat 2b4 from top to bottom、Box body 2b1 is fixing together with box body bearing 2b2 to be connected,Steel ball pallet 2b3 is enclosed within box body 2b1 top for depositing steel ball accessory 46 to be loaded,The middle part of steel ball pallet 2b3 is provided with through hole,Periphery at through hole is provided with upwardly extending annular projection,Steel ball loads installs one for the central location post 2b5 lifting maincenter accessory 43 on seat 2b4,The lower end of this central location post 2b5 is provided with one and central location post 2b5 is upwards ejected and passed the spring 2b6 of through hole on steel ball pallet 2b3,Maincenter reclaimer robot 2c will capture the top that the maincenter accessory 43 come is transplanted in steel ball loads box 2b and maincenter accessory 43 is placed on central location post 2b5,While maincenter reclaimer robot 2c captures next maincenter accessory 43 again,Maincenter feeding manipulator 2d moves to steel ball and loads the surface of box 2b to capture the maincenter accessory 43 in steel ball filling box 2b,Maincenter feeding manipulator 2d is inserted into a bar magnet 29 to maincenter accessory 43 while capturing maincenter accessory 43,After inserting bar magnet 29,Maincenter feeding manipulator 2d continues decline forces central location post 2b5 to overcome spring 2b6 power to continue to decline,The steel ball accessory 46 in steel ball pallet 2b3 is made to move to the center of steel ball pallet 2b3,The bar magnet 29 being inserted in maincenter accessory 43 near the steel ball accessory 46 of maincenter accessory 43 is made to attract,Steel ball accessory 46 enters on maincenter accessory 43 as in the reserved hole of steel ball accessory 46,Maincenter feeding manipulator 2d loads from steel ball to capture and be transplanted in box 2b and just rests on the clamping workpiece of maincenter feeding station 2 by having loaded the maincenter assembly of steel ball accessory 46 and put in tool 11 subsequently,Complete the feeding action of maincenter assembly.
It addition, the steel ball accessory 46 in order to ensure in steel ball pallet 2b3 while central location post 2b5 declines can be concentrated and move to center, the bottom design of steel ball pallet 2b3 is become the spherical bottom surface of concave downward.
See shown in Fig. 5 c, maincenter feeder mechanical arm also includes across the portal frame 18 above guide board device 12, horizontal guide rail 19 is installed on portal frame 18, it is provided with for installing maincenter reclaimer robot 2c and the cross slide 20 of maincenter feeding manipulator 2d on horizontal guide rail 19, cross slide 20 is slidably connected with horizontal guide rail 19 by slide block, mechanical arm drives cylinder 21 to be arranged on the end of portal frame 18, the outfan of mechanical arm driving cylinder 21 is fixing with cross slide 20 to be connected, cylinder 21 is driven to drive cross slide 20 to slide laterally to drive maincenter reclaimer robot 2c and maincenter feeding manipulator 2d synchronizing moving by mechanical arm.
See shown in Fig. 5 c1, maincenter reclaimer robot 2c includes by mechanical hand installing plate 22, robot drives cylinder 23, vertical slide plate 24 and air-actuated jaw 25, mechanical hand installing plate 22 is connected by bolt is fixing with cross slide 20, robot drives cylinder 23 is vertically mounted on the top of mechanical hand installing plate 22, vertical guide rail 26 is installed on mechanical hand installing plate 22, vertical slide plate 24 is slidably connected with vertical guide rail 26 by slide block, vertical slide plate 24 is fixing with the outfan of robot drives cylinder 23 to be connected, horizontal on vertical slide plate 24 horizontal mounting plate 27 is installed, air-actuated jaw 25 is vertically mounted on the lower end of horizontal mounting plate 27, vertical slide plate 24 is driven to move up and down to drive air-actuated jaw 25 to move vertically by robot drives cylinder 23.
nullSee shown in Fig. 5 c2,Maincenter feeding manipulator 2d includes mechanical hand installing plate 22、Robot drives cylinder 23、Vertical slide plate 24、Hold-down devices 28、Bar magnet 29 and bar magnet drive cylinder 30,Mechanical hand installing plate 22 is connected by bolt is fixing with cross slide 20,Robot drives cylinder 23 is vertically mounted on the top of mechanical hand installing plate 22,Vertical guide rail 26 is installed on mechanical hand installing plate 22,Vertical slide plate 24 is slidably connected with vertical guide rail 26 by slide block,Vertical slide plate 24 is fixing with the outfan of robot drives cylinder 23 to be connected,It is the level of state on vertical slide plate 24 and horizontal mounting plate 27 is installed,Hold-down devices 28 is arranged on the bottom of horizontal mounting plate 27,Bar magnet drives the outfan of cylinder 30 to be provided with the aerodynamic suction rod 31 can being perpendicularly inserted in maincenter accessory 43,Bar magnet 29 is arranged on the bottom of this aerodynamic suction rod 31 and is inserted in the lump in maincenter accessory 43.
Wherein, hold-down devices 28 includes guide post 28a and lower lock block 28b, the through hole for installing guide post 28a it is provided with on horizontal mounting plate 27, elastic buffer set 28c is installed in this through hole, guide post 28a and fixes with bolt through this elastic buffer set 28c to the top of horizontal mounting plate 27 from bottom to top, lower lock block 28b is the lower end that level dress is arranged on guide post 28a, and the center of lower lock block 28b offers the through hole passed for aerodynamic suction rod 31.
The lower end sidepiece of aerodynamic suction rod 31 offers aspirating hole 31a, the upper end sidepiece of aerodynamic suction rod 31 is provided with air pump connecting tube 31b for connecting vacuum pump, inside aerodynamic suction rod 31, be communicated with aspirating hole 31a and the pump-line of air pump connecting tube 31b, after aerodynamic suction rod 31 is inserted in maincenter accessory 43 by vacuum pump bleed generation bigger suction make adsorbed close between the inwall of maincenter accessory 43 and the outer wall of aerodynamic suction rod 31.
nullShown in Figure 6,Overcoat feeding station 3 includes overcoat feed mechanism 3a and overcoat feeder mechanical arm,Mechanical arm is installed in overcoat feeder mechanical arm and drives cylinder 21 and overcoat feeding manipulator 3b,Cylinder 21 is driven to drive overcoat feeding manipulator 3b horizontal direction to move by mechanical arm,Overcoat feed mechanism 3a is connected with the vibrating disk of conveying overcoat accessory 44,Continuously it is transported to overcoat accessory 44 specify position to capture for overcoat feeding manipulator 3b,And captured by overcoat feeding manipulator 3b and be transplanted on and rest on the clamping workpiece of overcoat feeding station 3 and put and assemble with maincenter assembly on tool 11,It should be noted that,Artificial prepackage outer casing spring 2b6 in overcoat accessory 44 was needed before overcoat accessory 44 is by gripping,Constitute the outer jacket member captured for overcoat feeding manipulator 3b,Complete feeding and the assembling action of whole outer jacket member.
Overcoat feed mechanism 3a includes overcoat material-pushing frame 3a1 and overcoat feeding track 3a2, one end of overcoat feeding track 3a2 is connected with vibrating disk, the other end is connected with overcoat material-pushing frame 3a1, outer casing spring 2b6 will be pre-installed on overcoat feeding track 3a2 in the overcoat accessory 44 of overcoat material-pushing frame 3a1 one end by the way of manual assembly outer casing spring accessory 45, the outer jacket member being pre-installed is delivered on overcoat material-pushing frame 3a1 one by one, overcoat material-pushing frame 3a1 be pushed to specify position to capture for overcoat feeding manipulator 3b by single outer jacket member;Overcoat material-pushing frame 3a1 and maincenter material-pushing frame 2a1 is the most identical in structure with operation principle, also include pusher guide plate 15, move material block 16 and move, for driving, the pusher cylinder 17 that material block 16 moves, except for the difference that, the size of U-type groove 16a moved on material block 16 at this is more suitable for the location of outer jacket member, to ensure that outer jacket member is pushed to specified location.
Overcoat feeder mechanical arm also includes across the portal frame 18 above guide board device 12, horizontal guide rail 19 is installed on portal frame 18, cross slide 20 for installing maincenter feeding manipulator 2d is installed on horizontal guide rail 19, cross slide 20 is slidably connected with horizontal guide rail 19 by slide block, mechanical arm drives cylinder 21 to be arranged on the end of this portal frame 18, the outfan of mechanical arm driving cylinder 21 is fixing with cross slide 20 to be connected, mechanical arm drive cylinder 21 to drive cross slide 20 to slide laterally to drive overcoat feeding manipulator 3b to move horizontally.
It should be noted that the structure of overcoat feeding manipulator 3b is identical with maincenter reclaimer robot 2c with operation principle, do not repeating.
Shown in Figure 7, sealing gasket feeding station 4 includes sealing gasket feed mechanism 4a and sealing gasket feeder mechanical arm, mechanical arm is installed in sealing gasket feeder mechanical arm and drives cylinder 21 and sealing gasket feeding manipulator 4b, cylinder 21 is driven to drive sealing gasket feeding manipulator 4b horizontal direction to move by mechanical arm, sealing gasket feed mechanism 4a is connected with the vibrating disk of conveying sealing gasket accessory 47, continuously it is transported to sealing gasket accessory 47 specify position to capture for sealing gasket feeding manipulator 4b, and captured by sealing gasket feeding manipulator 4b and be transplanted on and rest on the clamping workpiece of sealing gasket feeding station 4 and put tool 11 enterprising luggages and join.
It should be noted that, sealing gasket feed mechanism 4a and overcoat feed mechanism 3a is essentially identical in structure and operation principle, except for the difference that in sealing gasket feed mechanism 4a, on expeller, the size of U-type groove 16a is more suitable for the location of sealing gasket, to ensure that sealing gasket accessory 47 is shifted into specified location.
nullAdditionally,The structure of sealing gasket feeder mechanical arm is essentially identical with the structure of overcoat feeder mechanical arm,Including by mechanical hand installing plate 22、Robot drives cylinder 23、Vertical slide plate 24 and Pneumatic suction nozzle 32,Mechanical hand installing plate 22 is connected by bolt is fixing with cross slide 20,Robot drives cylinder 23 is vertically mounted on the top of mechanical hand installing plate 22,Vertical guide rail 26 is installed on mechanical hand installing plate 22,Vertical slide plate 24 is slidably connected with vertical guide rail 26 by slide block,Vertical slide plate 24 is fixing with the outfan of robot drives cylinder 23 to be connected,It is the level of state on vertical slide plate 24 and horizontal mounting plate 27 is installed,Pneumatic suction nozzle 32 is vertically mounted on the lower end of horizontal mounting plate 27,Vertical slide plate 24 is driven to move up and down to drive Pneumatic suction nozzle 32 to move vertically by robot drives cylinder 23,Assemble to draw sealing gasket and be transplanted on to rest in the clamping workpiece at sealing gasket feeding station 4 puts tool 11.
Shown in Figure 8, overall structure and the operation principle of spool feeding material station are essentially identical with sealing gasket feeding station 4, spool feed mechanism 5a and spool feeder mechanical arm are generally included, mechanical arm is installed in spool feeder mechanical arm and drives cylinder 21 and spool feeding manipulator 5b, cylinder 21 is driven to drive spool material mechanical hand horizontal direction to move by mechanical arm, spool feed mechanism 5a is connected with the vibrating disk of conveying spool accessory 48, continuously it is transported to spool accessory 48 specify position to capture for spool feeding manipulator 5b, and captured by spool feeding manipulator 5b and be transplanted on and rest on the clamping workpiece of spool feeding station 5 and put tool 11 enterprising luggages and join.
Difference is, in spool feeding station 5, spool accessory 48 needs to pre-install valve core spring 2b6, the step of prepackage valve core spring 2b6 is identical with the prepackage of outer casing spring 2b6 accessory in overcoat feeding station 3, and the size of U-type groove 16a on expeller is also more suitable for the location of spool accessory 48 in spool feed mechanism 5a, to ensure that the core assembly having pre-installed valve core spring 2b6 is shifted into specified location.
Additionally be also provided with can be in the Pneumatic suction nozzle 32 of movement in vertical direction for the spool feeding manipulator 5b in spool feeder mechanical arm, in vertical downward movement extend into valve core spring 2b6, spool is drawn by this Pneumatic suction nozzle 32, complete the spool feeding manipulator 5b grasping movement to core assembly.
Seeing shown in Fig. 9 and Figure 10, the pre-stubborn station 6 of nut feeding includes nut feed mechanism 6a, the pre-stubborn mechanical arm of nut feeding, nut rubber-coated mechanism 6c and nut Yu Ning mechanism 6d.nullMechanical arm is installed on the pre-stubborn mechanical arm of nut feeding and drives cylinder 21 and the pre-stubborn mechanical hand 6b of nut feeding,Nut Yu Ning mechanism 6d is arranged on the pre-stubborn mechanical hand 6b of nut feeding,Cylinder 21 is driven to drive the pre-stubborn mechanical hand 6b of nut feeding to move in the horizontal direction by mechanical arm,Nut feed mechanism 6a is connected with the vibrating disk of conveying nut fittings 50,Continuously it is transported to nut fittings 50 specify position to capture for the pre-stubborn mechanical hand 6b of nut feeding,The nut fittings 50 captured by the pre-stubborn mechanical hand 6b of nut feeding is shifted into and rests on the clamping workpiece of the pre-stubborn station 6 of nut feeding and put the surface of tool 11,First completed to smear the action of fluid sealant in nut fittings 50 by nut Yu Ning mechanism 6d and nut rubber-coated mechanism 6c interoperation,Gluing action completes the assembling action of nut fittings 50 under the pre-stubborn mechanical arm of nut feeding is with nut Yu Ning mechanism 6d after completing.
Wherein, structure and the operation principle of nut feed mechanism 6a are essentially identical with overcoat feed mechanism 3a, except for the difference that on the expeller in nut feed mechanism 6a, the size of U-type groove 16a is more suitable for the location of nut fittings 50, to ensure that nut fittings 50 is shifted into specified location.
The pre-stubborn mechanical arm of nut feeding includes across the portal frame 18 above guide board device 12, horizontal guide rail 19 is installed on portal frame 18, cross slide 20 for installing the pre-stubborn mechanical hand 6b of nut feeding is installed on horizontal guide rail 19, cross slide 20 is slidably connected with horizontal guide rail 19 by slide block, mechanical arm drives cylinder 21 to be arranged on the end of portal frame 18, the outfan of mechanical arm driving cylinder 21 is fixing with cross slide 20 to be connected, mechanical arm drive cylinder 21 to drive cross slide 20 to slide to drive the pre-stubborn mechanical hand 6b of nut feeding to move horizontally.
The pre-stubborn mechanical hand 6b of nut feeding includes mechanical hand installing plate 22, robot drives cylinder 23, vertical slide plate 24 and rotary pneumatic pawl 33, mechanical hand installing plate 22 is connected by bolt is fixing with cross slide 20, robot drives cylinder 23 is vertically mounted on the top of mechanical hand installing plate 22, vertical guide rail 26 is installed on mechanical hand installing plate 22, vertical slide plate 24 is slidably connected with vertical track by slide block, vertical slide plate 24 is fixing with the outfan of robot drives cylinder 23 to be connected, it is the level of state on vertical slide plate 24 and horizontal mounting plate 27 is installed, rotary pneumatic pawl 33 is vertically mounted on the lower end of this horizontal mounting plate 27, driven vertical slide plate 24 to move up and down that gas pawl 33 is rotated by robot drives cylinder 23 to move vertically.
Nut Yu Ning mechanism 6d is mainly used in controlling the rotation of rotary pneumatic pawl 33, include and be arranged on, by support, the rotary drive motor 34 that horizontal mounting plate 27 upper end rotates for driving rotary pneumatic pawl 33, the rotating shaft 33a that the top of rotary pneumatic pawl 33 is provided through horizontal mounting plate 27 and the outfan with rotary drive motor 34 is connected, when the nut fittings 50 grabbed is moved to rest on the surface that the clamping workpiece of the pre-station of nut feeding puts tool 11 by the pre-stubborn mechanical hand 6b of nut feeding, rotary pneumatic pawl 33 is driven to rotate at least one week by nut Yu Ning mechanism 6d, on the external screw thread of nut fittings 50, fluid sealant is smeared with attaching nut rubber-coated mechanism 6c.
Nut Yu Ning mechanism 6d also includes the rotating control assembly for controlling rotary pneumatic pawl 33 anglec of rotation, this device include by bolt be the level of state guiding cell body 35, the tooth bar 36 that be slidably fitted in this guiding cell body 35 in that be connected fixing with vertical slide plate 24 and be arranged on the rotating shaft 33a of rotary pneumatic pawl 33 and with tooth bar 36 meshed gears 37.While rotary drive motor 34 drives rotary pneumatic pawl 33 33a around the shaft to rotate, gear 37 drives tooth bar 36 to slide in guiding cell body 35, in guiding cell body 35, the sensor for positioning tooth bar 36 sliding distance is installed, while in nut gluing action, rotary pneumatic pawl 33 rotated at least one week, tooth bar 36 slides in guiding cell body 35 and stops operating, to show that nut gluing action completes to control rotary drive motor 34 with triggering the sensor.
Vertical slide plate 24 is driven to move downward rotary cylinder is dropped to specified altitude assignment by robot drives cylinder 23 after nut gluing action completes, now rotary drive motor 34 drives rotary pneumatic pawl 33 to reversely rotate nut and turns work in advance, will complete the assembling action of nut.
Nut rubber-coated mechanism 6c includes depositing glue box 38 and glue filling device 39, deposit glue box 38 to be arranged on portal frame 18 by a fixed support, glue filling device 39 includes the extending bracket 39a of a L-type and is installed on the telescopic glue injecting head 39b of this extending bracket 39a front end, glue injecting head 39b is connected with depositing glue box 38 by flexible pipe 39c, the front end of extending bracket 39a is also equipped with the injecting glue cylinder 39d for driving glue injecting head 39b to stretch out, when the pre-stubborn mechanical hand 6b of nut feeding move to clamping workpiece at this station put tool 11 directly over time, injecting glue cylinder 39d controls glue injecting head 39b and stretches out, by glue injecting head 39b as spreading glue on the external screw thread of nut fittings 50 while rotary pneumatic folder clamping screw nut accessory 50 rotation, complete nut gluing action.
nullShown in Figure 11,Nut screwing clamping station includes hoistable platform 7a、Lifting support 7b、Lifting drives cylinder 7c and pneumatic air screwdriver 7d,Lifting support 7b is arranged on the outside of guide board device 12,Include left guide pillar 7b1、Right guide pillar 7b2 and top board 7b3,Hoistable platform 7a is arranged between two guide pillars by guide pin bushing,Lifting drives cylinder 7c to be arranged on top board 7b3,Lifting drives the outfan of cylinder 7c to be connected to drive hoistable platform 7a vertical movement through top board 7b3 and hoistable platform 7a is fixing,Hoistable platform 7a is T font structure,It is provided with and puts, to the clamping workpiece resting on this station, the extension extended directly over tool 11,Pneumatic air screwdriver 7d is arranged on this extension,The outfan of pneumatic air screwdriver 7d downwardly extends through this extension,Outfan at pneumatic air screwdriver 7d is provided with pneumatic screwdriver sleeve 7e,The lower end of this pneumatic screwdriver sleeve 7e is provided with the interior hexagonal deep gouge that can coordinate with nut fittings 50.
The bottom of hoistable platform 7a is positioned at lifting and drives the underface of cylinder 7c to be also equipped with gag lever post 7f, when the clamping workpiece resting on this station put tool 11 be positioned locking device 13 lock time, lifting drives cylinder 7c to drive hoistable platform 7a to decline, gag lever post 7f just withstands the outfan of locking cylinder 13a in locking device, it should be noted that, this gag lever post 7f is provided with pressure transducer, when hoistable platform 7a drops to specified altitude assignment, gag lever post 7f is obstructed, pressure transducer is triggered, i.e. show that pneumatic screwdriver sleeve 7e drops to specified altitude assignment, and in the interior hexagonal counterbore that nut fittings 50 is just at pneumatic screwdriver sleeve 7e lower end, now pneumatic air screwdriver 7d starts working and carries out nut screwing clamping action.If instead the pressure transducer on gag lever post 7f is not triggered, even if pneumatic screwdriver sleeve 7e drops to appointment position, pneumatic air screwdriver 7d appoints and so will not start.
It should be noted that, due in nut screwing clamping station, pneumatic air screwdriver 7d drives pneumatic screwdriver sleeve 7e bigger to the dynamics of nut screwing clamping, therefore 11 rock for avoiding clamping workpiece at this station to put tool, two positioning and locking devices 13 it are provided with especially at this station, one positioning and locking device 13 is i.e. respectively installed in the both sides of guide board device 12, lock plunger 13b is inserted into clamping workpiece simultaneously and puts in tool 11 by two positioning and locking devices 13, guarantee that in nut check action, clamping workpiece puts stablizing of tool 11, it is ensured that locking force.
Shown in Figure 12, air-leakage test station 8 includes detecting support 40, detection 41, lower air cylinder 42, detection support 40 is fixedly mounted on the sidepiece of guide board device 12, detection support 40 includes vertical support 40a and is arranged on the horizontal support 40b at vertical support 40a top, the front end of horizontal support 40b extends to rest on the clamping workpiece at this station and puts the surface of tool 11, the Cylinder mount bracket 40c of " work " font is installed in the front end of horizontal support 40b, lower air cylinder 42 is vertically mounted on the top of Cylinder mount bracket 40c, detection 41 is fixing with the outfan of lower air cylinder 42 to be connected, detection 41 vertical movement is driven by lower air cylinder 42.
nullThe lower end of detection 41 is provided with elastic sealing element 41a,It is provided with air cavity in detection 41,The sidepiece of detection 41 is provided with the trachea arm 41b connected with this air cavity,Detection 41 is connected with high-pressure pump by this trachea arm 41b,It is also equipped with air gauge between trachea arm 41b and high-pressure cylinder,When detection 41 moves downward under lower air cylinder 42 drives and passes through elastic sealing element 41a, the snap joint assembled is compressed,It is filled with pressure-air in thinking snap joint by cylinder tube arm,Inflation pressurize is stopped after air gauge display atmospheric pressure value reaches setting value,If barometric pressure drop is in calibration range in pressure maintaining period,I.e. show that the air-leakage test of snap joint being detected is qualified,And it is sent to main frame by detecting qualified signal,There is the work of host computer control next one operation.
Shown in Figure 13, the effect of pickup station 9 is the snap joint after air-leakage test to be sorted according to testing result gap, and pickup station 9 includes reclaimer mechanical arm and sorting track 9a.Wherein, the structure of reclaimer mechanical arm is identical with overcoat feeding station 3 China and foreign countries set feeding mechanical arm with operation principle, is not repeating.
Sorting track 9a includes rail bed 9a1 and the certified products track 9a2 being arranged in rail bed 9a1 and defective work track 9a3, when in preceding working procedure, the air-tightness of the snap joint of detection is qualified, by reclaimer mechanical arm, this snap joint is gripped and put in certified products track 9a2, by certified products track 9a2, these certified products are transported in certified products circulating frame, when in preceding working procedure, the air-tightness of the snap joint of detection is defective, by reclaimer mechanical arm this snap joint being gripped and put into does not conforms in product track, by defective work track 9a3, this is not conformed to product be transported in defective work circulating frame.
The above, it it is only presently preferred embodiments of the present invention, not the technical scope to the present invention makes any restriction, therefore every any trickle amendment, equivalent variations and modification above example made according to the technical spirit of the present invention, all still fall within the range of technical scheme.

Claims (8)

  1. null1. the nut of a snap joint automatic assembling machine installs station,It is characterized in that: include the pre-stubborn station of nut feeding (6) and the nut screwing clamping station (7) arranged along automatic assembling machine material flow path direction,The pre-stubborn station of nut feeding (6) has been used for the feeding of nut fittings (50)、Gluing and turn work in advance,The pre-stubborn station of nut feeding (6) includes nut feed mechanism (6a)、The pre-stubborn mechanical arm of nut feeding、Nut rubber-coated mechanism (6c) and nut Yu Ning mechanism (6d),Mechanical arm is installed on the pre-stubborn mechanical arm of nut feeding and drives cylinder (21) and the pre-stubborn mechanical hand of nut feeding (6b),Nut Yu Ning mechanism (6d) is arranged on the pre-stubborn mechanical hand of nut feeding (6b),Cylinder (21) is driven to drive the pre-stubborn mechanical hand of nut feeding (6b) to move in the horizontal direction by mechanical arm,Nut feed mechanism (6a) is connected with the vibrating disk of conveying nut fittings (50),Continuously it is transported to nut fittings (50) specify position to capture for the pre-stubborn mechanical hand of nut feeding (6b),The nut fittings (50) captured by the pre-stubborn mechanical hand of nut feeding (6b) is shifted into appointment position,With nut Yu Ning mechanism (6d) and nut rubber-coated mechanism (6c), first complete to smear in nut fittings (50) action of fluid sealant,Gluing action completes the assembling action of nut fittings (50) under the pre-stubborn mechanical arm of nut feeding is with nut Yu Ning mechanism (6d) after completing;Nut screwing clamping station (7) has been used for locking the nut fittings (50) after pre-twisting.
  2. The nut of a kind of snap joint automatic assembling machine the most according to claim 1 installs station, it is characterized in that: the pre-stubborn mechanical arm of described nut feeding includes across the portal frame (18) in guide board device (12) top, horizontal guide rail (19) is installed on portal frame (18), cross slide (20) for installing the pre-stubborn mechanical hand of nut feeding (6b) is installed on horizontal guide rail (19), cross slide (20) is slidably connected with horizontal guide rail (19) by slide block, mechanical arm drives cylinder (21) to be arranged on the end of portal frame (18), the outfan of mechanical arm driving cylinder (21) is fixing with cross slide (20) to be connected, cylinder (21) is driven to drive cross slide (20) to slide to drive the pre-stubborn mechanical hand of nut feeding (6b) to move horizontally by mechanical arm.
  3. nullThe nut of a kind of snap joint automatic assembling machine the most according to claim 2 installs station,It is characterized in that: the pre-stubborn mechanical hand of described nut feeding (6b) includes mechanical hand installing plate (22)、Robot drives cylinder (23)、Vertical slide plate (24) and rotary pneumatic pawl (33),Mechanical hand installing plate (22) is connected by bolt and cross slide (20) are fixing,Robot drives cylinder (23) is vertically mounted on the top of mechanical hand installing plate (22),Vertical guide rail (26) is installed on mechanical hand installing plate (22),Vertical slide plate (24) is slidably connected with vertical track by slide block,Vertical slide plate (24) is fixing with the outfan of robot drives cylinder (23) to be connected,It is the level of state on vertical slide plate (24) and horizontal mounting plate (27) is installed,Rotary pneumatic pawl (33) is vertically mounted on the lower end of this horizontal mounting plate (27),Vertical slide plate (24) is driven to move up and down gas pawl (33) vertical movement is rotated by robot drives cylinder (23).
  4. nullThe nut of a kind of snap joint automatic assembling machine the most according to claim 3 installs station,It is characterized in that: described nut Yu Ning mechanism (6d) is mainly used in controlling the rotation of rotary pneumatic pawl (33),Include and be arranged on, by support, the rotary drive motor (34) that horizontal mounting plate (27) upper end is used for driving rotary pneumatic pawl (33) to rotate,The rotating shaft (33a) that the top of rotary pneumatic pawl (33) is provided through horizontal mounting plate (27) and the outfan with rotary drive motor (34) is connected,When the nut fittings (50) grabbed is moved to rest on the surface that the clamping workpiece of the pre-station of nut feeding puts tool (11) by the pre-stubborn mechanical hand of nut feeding (6b),Rotary pneumatic pawl (33) is driven to rotate by nut Yu Ning mechanism (6d),On the external screw thread of nut fittings (50), fluid sealant is smeared with attaching nut rubber-coated mechanism (6c).
  5. The nut of a kind of snap joint automatic assembling machine the most according to claim 4 installs station, it is characterized in that: described nut Yu Ning mechanism (6d) also includes the rotating control assembly for controlling rotary pneumatic pawl (33) anglec of rotation, this device includes to be the level of state by bolt fixes, with vertical slide plate (24), the guiding cell body (35) being connected, be slidably fitted in the tooth bar (36) in this guiding cell body (35) and be arranged on the rotating shaft (33a) of rotary pneumatic pawl (33) upper and with tooth bar (36) meshed gears (37), in guiding cell body (35), the sensor for positioning tooth bar (36) sliding distance is installed.
  6. The nut of a kind of snap joint automatic assembling machine the most according to claim 2 installs station, it is characterized in that: described nut rubber-coated mechanism (6c) includes depositing glue box (38) and glue filling device (39), deposit glue box (38) to be arranged on portal frame (18) by a fixed support, glue filling device (39) includes the extending bracket (39a) of a L-type and is installed on the telescopic glue injecting head (39b) of this extending bracket (39a) front end, glue injecting head (39b) is connected with depositing glue box (38) by flexible pipe (39c), the front end of extending bracket (39a) is also equipped with the injecting glue cylinder (39d) for driving glue injecting head (39b) to stretch out.
  7. nullThe nut of a kind of snap joint automatic assembling machine the most according to claim 1 installs station,It is characterized in that: described nut screwing clamping station includes hoistable platform (7a)、Lifting support (7b)、Lifting drives cylinder (7c) and pneumatic air screwdriver (7d),Lifting support (7b) is arranged on the outside of guide board device (12),Include left guide pillar (7b1)、Right guide pillar (7b2) and top board (7b3),Hoistable platform (7a) is arranged between two guide pillars by guide pin bushing,Lifting drives cylinder (7c) to be arranged on top board (7b3),Lifting drives the outfan of cylinder (7c) to be connected to drive hoistable platform (7a) vertical movement through top board (7b3) and hoistable platform (7a) are fixing,Hoistable platform (7a) is T font structure,It is provided with and puts, to the clamping workpiece resting on this station, the extension extended directly over tool (11),Pneumatic air screwdriver (7d) is arranged on this extension,The outfan of pneumatic air screwdriver (7d) downwardly extends through this extension,Outfan at pneumatic air screwdriver (7d) is provided with pneumatic screwdriver sleeve (7e),The lower end of this pneumatic screwdriver sleeve (7e) is provided with the interior hexagonal deep gouge that can coordinate with nut fittings (50).
  8. The nut of a kind of snap joint automatic assembling machine the most according to claim 7 installs station, it is characterized in that: the bottom of described hoistable platform (7a) is positioned at lifting and drives the underface of cylinder (7c) to be also equipped with gag lever post (7f), and this gag lever post (7f) is provided with pressure transducer.
CN201610345934.8A 2016-05-23 2016-05-23 A kind of nut installation station of quick coupling automatic assembling machine Active CN105817873B (en)

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CN115625506A (en) * 2022-11-15 2023-01-20 大连理工大学 Micro part assembling device and method integrating dispensing and locking

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