CN109663836B - Automatic shaping structure of sensor pin - Google Patents
Automatic shaping structure of sensor pin Download PDFInfo
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- CN109663836B CN109663836B CN201910130770.0A CN201910130770A CN109663836B CN 109663836 B CN109663836 B CN 109663836B CN 201910130770 A CN201910130770 A CN 201910130770A CN 109663836 B CN109663836 B CN 109663836B
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- 238000007493 shaping process Methods 0.000 title claims abstract description 27
- 230000007246 mechanism Effects 0.000 claims abstract description 87
- 238000003466 welding Methods 0.000 claims abstract description 44
- 238000007689 inspection Methods 0.000 claims abstract description 18
- 230000000007 visual effect Effects 0.000 claims abstract description 13
- 238000001514 detection method Methods 0.000 claims abstract description 11
- 230000001681 protective effect Effects 0.000 claims abstract description 11
- 238000002347 injection Methods 0.000 claims abstract description 10
- 239000007924 injection Substances 0.000 claims abstract description 10
- 230000033001 locomotion Effects 0.000 claims abstract description 10
- 238000006073 displacement reaction Methods 0.000 claims description 13
- 210000001503 joint Anatomy 0.000 claims description 11
- 239000000463 material Substances 0.000 claims description 10
- 230000002457 bidirectional effect Effects 0.000 claims description 6
- 238000000034 method Methods 0.000 claims description 6
- 230000003287 optical effect Effects 0.000 claims description 5
- 238000003754 machining Methods 0.000 claims 1
- 238000012545 processing Methods 0.000 description 12
- 239000000047 product Substances 0.000 description 7
- 238000005516 engineering process Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 230000007704 transition Effects 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000002844 melting Methods 0.000 description 2
- 230000008018 melting Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 238000004080 punching Methods 0.000 description 2
- 230000004044 response Effects 0.000 description 2
- 238000005096 rolling process Methods 0.000 description 2
- 241000282326 Felis catus Species 0.000 description 1
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 239000006227 byproduct Substances 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000002950 deficient Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 239000000446 fuel Substances 0.000 description 1
- 238000003032 molecular docking Methods 0.000 description 1
- 239000007921 spray Substances 0.000 description 1
- 238000011282 treatment Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21C—MANUFACTURE OF METAL SHEETS, WIRE, RODS, TUBES OR PROFILES, OTHERWISE THAN BY ROLLING; AUXILIARY OPERATIONS USED IN CONNECTION WITH METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL
- B21C51/00—Measuring, gauging, indicating, counting, or marking devices specially adapted for use in the production or manipulation of material in accordance with subclasses B21B - B21F
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D22/00—Shaping without cutting, by stamping, spinning, or deep-drawing
- B21D22/02—Stamping using rigid devices or tools
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/20—Bonding
- B23K26/21—Bonding by welding
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/70—Auxiliary operations or equipment
- B23K26/702—Auxiliary equipment
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P23/00—Machines or arrangements of machines for performing specified combinations of different metal-working operations not covered by a single other subclass
- B23P23/04—Machines or arrangements of machines for performing specified combinations of different metal-working operations not covered by a single other subclass for both machining and other metal-working operations
Abstract
The invention discloses an automatic shaping structure of a sensor pin, which comprises a rotary workbench and a tool clamp group arranged on the rotary workbench, wherein the automatic shaping structure is sequentially provided with: the device comprises a laser welding mechanism, a positioning quality inspection mechanism, a sleeve preassembling mechanism and a sleeve clamping mechanism; the laser welding mechanism comprises a laser lens, a protective gas nozzle and a jet member; the protective gas nozzle and the air injection component are arranged around the welding position, and synchronously move and adjust; the positioning quality inspection mechanism comprises: the visual camera assembly is used for positioning at least from two directions, the first clamping assembly is used for taking out a workpiece from the first clamp and rotating the workpiece in the direction, and the second clamping assembly is used for taking out the workpiece from the first clamping assembly and feeding the workpiece into the second clamp; the sleeve preassembling mechanism comprises: the lens assembly is vertically used for visual detection, and the third clamping assembly is used for realizing sleeve sleeving through opposite movement; the sleeve clamping mechanism comprises a clamping turntable assembly arranged on the lifting assembly.
Description
Technical Field
The invention relates to the field of sensor pin processing equipment, in particular to a riveting device for a sensor pin sleeve.
Background
With rapid development of automobile technology and electronic technology, electronic technology and computer technology are widely applied to automobiles, and electronic control devices are commonly adopted in fuel injection systems, electronic ignition systems, speed-extinguishing control systems, air intake control systems, exhaust emission and transmission systems, running systems, steering systems, braking systems and automobile bodies of engines. Automobiles have become an electromechanical integrated product. In an electronic control system of an automobile, a sensor plays a role in collecting and transmitting information, is an important component in the electronic control system, converts the information into an electric signal which can be accepted by a computer and sends the electric signal to an ECU, and the ECU carries out operation processing according to the information and further sends out instructions.
The sensor is used as an important electronic component in an increasingly large amount. In particular, the market prospect of high-end performance sensors is becoming wider and wider, and the production of sensors requires proper docking of pins to the sensor base or corresponding ends. In the process, a series of treatments are carried out on the pins, the defective products with polar defects are screened and removed, and finally, the welding height, the spacing and other dimensions are ensured to meet the specification. The prior art is divided into multiple steps, so that automatic production cannot be realized, and the production efficiency is low.
Disclosure of Invention
The technical scheme of the invention is as follows: the riveting device for the sensor pin sleeve comprises a rotary workbench and a tool clamp group arranged on the rotary workbench. The rotary workbench is an annular circular turntable, and the rotary workbench is supported by a bearing piece, and realizes rotary motion through a rotating force source at the bottom. The tool clamp group comprises two clamps with different clamping directions; the workpiece is maintained horizontally clamped by the first clamp, and the workpiece is maintained vertically clamped by the second clamp. The workpiece clamped on the first clamp is in a horizontal state, the workpiece is clamped by two pneumatic clamping fingers, and a workpiece end alignment block for end alignment is arranged at the front end position of the workpiece. The workpiece clamped on the second clamp is in a vertical state, and is clamped in a rolling way through the independent small rollers with elastic gaps between the two axial directions.
The rotary table is provided with: the device comprises a laser welding mechanism, a positioning quality inspection mechanism, a sleeve preassembling mechanism and a sleeve clamping mechanism; the laser welding mechanism, the positioning quality inspection mechanism and the sleeve clamping mechanism are arranged outside the ring of the rotary workbench, and the sleeve preassembling mechanism is arranged inside the ring of the rotary workbench.
The laser welding mechanism is arranged on a displacement module for realizing the position adjustment in the space, and the position adjustment in the space is realized through the displacement module; the laser welding mechanism comprises a laser lens, a protective gas nozzle and a jet member; the shielding gas nozzle and the air injection component are arranged around the welding position, and the shielding gas nozzle and the air injection component synchronously move and adjust.
The positioning quality inspection mechanism comprises: the visual camera assembly is used for positioning at least from two directions, the first clamping assembly is used for taking out a workpiece from the first clamp and rotating the workpiece in the direction, and the second clamping assembly is used for taking out the workpiece from the first clamping assembly and feeding the workpiece into the second clamp;
the sleeve preassembling mechanism comprises: the lens assembly is used for visual detection from the vertical direction, and the third clamping assembly is used for realizing sleeve sleeving through opposite movement;
the sleeve clamping mechanism comprises a clamping turntable assembly arranged on the lifting assembly; the clamping turntable assembly comprises a clamping head arranged in the guide groove; the plurality of clamping heads slide along the guide grooves and gather the butt joint parts of the stamping sleeve and the workpiece.
Preferably, the sensor pin sleeve riveting device further comprises a feeding mechanism and a pin shaping mechanism; the feeding mechanism comprises a bidirectional material belt for circularly feeding and a feeding clamping assembly for workpiece transportation transition. The feeding clamping assembly is erected on the rotary workbench and is used for transition transportation of products between the bidirectional material belt and the tool clamp. The pin shaping mechanism at least comprises a shaping head pushed by air pressure, and is also used for feeding a pin butt joint material, and shaping the pin into a butt joint shape required by a process through a pneumatic source in a punching mode, so that butt joint and positioning in subsequent processing are facilitated.
Preferably, the workpiece is maintained horizontally clamped by the first clamp, and the workpiece is maintained vertically clamped by the second clamp; the laser lens comprises the following components on the same optical axis: a vision camera, a laser generating unit and a camera light source; the laser generating unit is internally provided with an oscillator and an optical lens, and laser passes through the center of a camera light source and is focused on a melting pin at a welding position. The laser beam is taken as a central line, and shielding gas nozzles pulled by the interval adjusting members are respectively arranged on two sides of the welding position; and an air injection component which moves synchronously with the interval adjusting component and can extend to the lower part of the welding position is arranged on the side surface of the welding position.
The visual camera assembly in the positioning quality inspection mechanism comprises two visual cameras, and the two visual cameras calibrate the positions of the workpieces on the first clamp along the two side directions of the first clamp; meanwhile, a back light source is arranged, so that the detection position can be lightened by matching with a vision camera; the lens component in the sleeve preassembling mechanism detects the upper end angle of the workpiece on the second clamp which moves to the lower part of the lens component; the clamping turntable assembly clamps the workpiece and the sleeve on the second clamp which are moved to the lower part of the clamping turntable assembly.
Preferably, the spacing adjusting component comprises two parallel sliding guide rods with height difference, and the guide rods are matched in the guide grooves on the base; a connecting rod is arranged between the two guide rods, a guide groove is arranged on the connecting rod, and the center of the guide groove is used as a rotation center to be fixed on the base. The two guide rods are simultaneously displaced oppositely or reversely by the protrusion on the guide rod being matched in the guide groove; the guide rod is provided with a connecting end for fixing the protective gas nozzle; at least one guide rod is connected to the first cylinder; the first cylinder also drives the air injection component at the same time; the air jet component comprises an air jet head pushed out by a second air cylinder; the surface of the jet head is provided with a plurality of air outlet holes. The first cylinder is also provided with a stop switch for position sensing of the first cylinder.
Preferably, the displacement module comprises an X-axis member, a Y-axis member and a Z-axis member; the X-axis component and the Y-axis component are both horizontal linear modules driven by a motor; the Z-axis component is a vertical linear module pushed and pulled by the air cylinder. The Z-axis component comprises a third cylinder and a Z-axis sliding rail; the cylinder body of the third cylinder is in sliding fit on the vertical guide rail; a guide sliding block is arranged on the Z-axis sliding rail; the laser welding assembly is simultaneously fixed on the cylinder body and the sliding block of the third cylinder.
Preferably, the first clamping assembly comprises a first transverse cylinder, a first vertical cylinder, a rotary cylinder and a first clamping hand; a first vertical cylinder in the Z-axis direction vertically pushes and pulls the first clamping hand; the rotating cylinder drives the first vertical cylinder to rotate; the first transverse cylinder in the X-axis direction drives the rotary cylinder to transversely move.
Preferably, the second clamping assembly comprises a second transverse cylinder, a third transverse cylinder, a fourth transverse cylinder and a second clamping hand; the second transverse cylinder in the X-axis direction pushes the Y-axis direction at the same time: a third transverse cylinder, a fourth transverse cylinder; the third transverse cylinder pushes and pulls the second clamping hand; a fourth transverse cylinder pushes and pulls a push rod; the ejector rod is aligned with a workpiece end alignment block on the first clamp.
Preferably, the third clamping assembly comprises a fifth transverse cylinder in the Y-axis direction, a second vertical cylinder in the Z-axis direction, a sensor, a third clamping hand, a third vertical cylinder in the Z-axis direction and a sleeve loading head; the fifth transverse cylinder pushes and pulls the second vertical cylinder and the third clamping hand at the same time; the second vertical cylinder is positioned at the upper side of the third clamp, and the second vertical cylinder pushes and pulls the sensor and the third vertical cylinder simultaneously; the third vertical cylinder pushes and pulls the sleeve loading head, and a sleeve positioning hole on the sleeve loading head corresponds to a workpiece clamping hole on the third clamping head; the sensor is used to detect a cartridge on the cartridge loading head.
Preferably, the lifting assembly comprises a base plate that slides along the vertical guide bar; the clamping turntable assembly is fixed on the bottom plate; the clamping turntable assembly comprises a turntable body and a cover plate which are coaxially arranged and can generate relative rotation; a plurality of sliding grooves are arranged on the tray body along the radial direction; the clamping head is matched in the chute; the cover plate is provided with a waist-shaped groove which is matched with the clamping head and pushes the clamping head to move along the chute; the cover plate is pushed by the pneumatic member along the rotation direction thereof.
The invention has the advantages that:
1. the implementation of each processing step is realized in an automatically controlled mechanized structure based on the processing procedure of the sensor pins. And follow the technological characteristics in the pin processing course, ensure that every processing frock all has specific and accurate reliable response action, provide comprehensive automation help for sensor pin processing course.
2. According to the product processing characteristics, different working clamps are matched, and accurate positioning and monitoring are achieved through controlling the positions and angles of the clamps for clamping the pins. The accurate positioning effect of a plurality of directions is achieved through the cooperation of a series of sensing devices, and the operation precision of the structure and the processing quality of products are improved.
3. High-precision positioning of welding positions is carried out by using a visual detection structure, and the problem of manual calibration is solved. In particular, the accurate positioning and feedback of the position can be performed when the welding device is matched, and the control degree of the equipment is improved.
Drawings
The invention is further described below with reference to the accompanying drawings and examples:
FIG. 1 is a perspective view of an auto-shaping structure of a sensor pin;
FIG. 2 is a perspective view of a laser welding mechanism;
FIG. 3 is a partial block diagram of a laser welding mechanism;
FIG. 4 is a perspective view of the positioning quality inspection mechanism facing;
FIG. 5 is a rear perspective view of the positioning quality inspection mechanism;
FIG. 6 is a side view of the positioning quality inspection mechanism;
FIG. 7 is a front perspective view of the sleeve preassembling mechanism;
FIG. 8 is a rear perspective view of the sleeve preassembling mechanism;
FIG. 9 is a front perspective view of the sleeve chuck;
FIG. 10 is a perspective view of a clamping carousel assembly on a sleeve clamping mechanism;
FIG. 11 is an internal structural view of the clamping carousel assembly
Wherein: 1. a laser welding mechanism; 2. positioning a quality inspection mechanism; 3. a sleeve preassembling mechanism; 4. a sleeve clamping mechanism; 5. a first clamp; 6. a second clamp; 7. a rotary table; 8. a feeding mechanism; 9. a pin shaping mechanism; 11. a laser lens; 12. a shielding gas nozzle; 13. a jet member; 14. a pitch adjustment member; 15. a protective cover; 16. an X-axis member; 17. a Y-axis member; 18. a Z-axis member; 111. a vision camera; 112. a laser generating unit; 113. a camera light source; 114. a focusing device; 131. a second cylinder; 132. a jet head; 141. a guide rod; 142. a base; 143. a connecting rod; 144. a connection end; 145. a U-shaped plate; 146. a first cylinder; 147. a stop switch; 20. a push rod; 21. a vision camera; 22. a first transverse cylinder; 23. a rotary cylinder; 24. a first grip; 25. a first vertical cylinder; 26. a second transverse cylinder; 27. a third transverse cylinder; 28. a fourth transverse cylinder; 29. a second clamping hand; 30. a lens assembly; 31. a fifth transverse cylinder; 32. a second vertical cylinder; 33. a first sensor; 34. a third grip; 35. a third vertical cylinder; 36. a third vertical cylinder; 37. a second sensor; 40. a Yi cat shopping cart; 41. a bottom plate; 42. a tray body; 43. a cover plate; 44. mounting a chuck; 45. mounting a chuck; 46. and a guide groove.
Detailed Description
Examples:
as shown in fig. 1-11, the automatic shaping structure of the sensor pin comprises a rotary workbench 7 and a fixture set arranged on the rotary workbench 7. The rotary table 7 is an annular circular turntable which is supported by bearing members and which performs a turning motion by means of a bottom turning force source 7. The tool clamp group comprises two clamps with different clamping directions; the workpiece is maintained horizontally clamped by a first clamp 5 and vertically clamped by a second clamp 6. The workpiece held on the first clamp 5 is in a horizontal state, the workpiece is clamped by two pneumatic clamping fingers, and a workpiece end alignment block for end alignment is arranged at the front end position of the workpiece. The workpiece clamped on the second clamp 6 is in a vertical state, and is clamped in a rolling way through independent small rollers with elastic gaps between the two axial directions.
Along the rotation edge of the rotary table 7, there are sequentially provided: the device comprises a feeding mechanism 8, a pin shaping mechanism 9, a laser welding mechanism 1, a positioning quality inspection mechanism 2, a sleeve preassembling mechanism 3 and a sleeve clamping mechanism 4; the feeding mechanism, the pin shaping mechanism, the laser welding mechanism 1, the positioning quality inspection mechanism 2 and the sleeve clamping mechanism 4 are arranged outside the ring of the rotary workbench 7, and the sleeve preassembling mechanism is arranged inside the ring of the rotary workbench 7. The feeding mechanism 8 comprises a bidirectional material belt for circularly feeding and a feeding clamping assembly for workpiece conveying transition, wherein the bidirectional material belt is formed by two parallel material belts, and the conveying directions of the two material belts are opposite and continuously roll-fed. The feeding clamping assembly is erected on the rotary workbench and is used for transition transportation of products between the bidirectional material belt and the tool clamp. The pin shaping mechanism 9 at least comprises a shaping head pushed by air pressure, and shapes the pins into the butt joint shape required by the process through the punching of an air source, so that the butt joint and the positioning in the subsequent processing are facilitated. The pin shaping mechanism is also used for feeding and mounting pin butt joint materials, wherein the pin shaping mechanism is mainly embodied on positioning butt joint of a pin end joint and a pin.
When the workpiece passes through each mechanism in turn along with the rotation of the rotary workbench 7, corresponding processing can be completed on the corresponding station. Wherein the workpiece is clamped on the first clamp 5 as it passes through the positioning quality inspection mechanism; when the workpiece is fed into the sleeve preassembling mechanism, it is moved by the sleeve preassembling mechanism from the first clamp 5 to the second clamp 6, and the clamping orientation of the workpiece is changed.
The laser welding mechanism 1 is arranged on a displacement module. The displacement module is used for realizing position adjustment in space, and the displacement module has the displacement adjustment capability in the X, Y, Z axial direction in space. The displacement module specifically comprises an X-axis component, a Y-axis component and a Z-axis component, wherein the X-axis component and the Y-axis component are all horizontal linear modules driven by a motor, and 3 proximity sensors are matched on the horizontal linear modules for sensing the positions of three nodes of the displacement module. The X-axis component 16 and the Y-axis component 17 are driven by a motor-driven screw rod to realize transmission, and the screw rod is matched with a guiding track to realize linear movement. The Z-axis member 18 is a vertical linear module pushed and pulled by a cylinder, and unlike the X-axis member 16 and the Y-axis member 17, the power source of the Z-axis member 18 is a quick-response pneumatic component.
The laser welding mechanism 1 mainly includes a protective cover 15 provided therein: the laser lens 11 and the shielding gas nozzle 12 can enclose the welding position when the laser welding mechanism 1 descends along with the Z-axis member 18, and the shielding gas nozzle can spray shielding gas.
The laser lens 11 can detect and position the welding position by the vision member while supplying high-energy laser rays. The laser lens 11 includes on the same optical axis: the visual camera 111, the laser generating unit 112 and the camera light source 113, wherein an oscillator and an optical lens are arranged in the laser generating unit 112, and laser passes through the center of the camera light source 113 and is focused on a melting pin at a welding position. The vision camera 111 is located the laser generation unit 112 upside, and its vertical downward positioning picture, and the vision camera carries out position accuracy detection to focus point and the welding point of laser beam through the high definition picture. The control system of the equipment performs recognition comparison between the photographed picture of the vision camera and the preset picture of the system, alarms and pauses the action under the condition of position deviation until the adjustment is accurate and then releases the pause prohibition. The laser lens 11 is also provided with a focusing device 114, and an operator can adjust the focal length of the laser lens through the focusing device 114.
The laser beam is used as a symmetrical central line, the two sides of the welding position are respectively provided with a protective gas nozzle 12, and the side surface of the welding position is provided with an air injection component 13 which moves synchronously with the protective gas nozzle. The air jet member 13 is projected to the lower side of the welding position simultaneously, and jets the shielding gas from below the welding position, thereby providing the welding position with the environmental protection at an overall angle.
The two side shielding gas nozzles 12 are linked by a distance adjusting member 14 in a displacement action, the distance adjusting member 14 comprises two parallel sliding guide rods 141 with height difference, and the guide rods 141 are matched in guide grooves on a base 142. A connecting rod 143 is arranged between the two guide rods 141, a guide groove is arranged on the connecting rod 143, the guide groove is used as a rotation center to be fixed on the base 142, and the two guide rods 141 are simultaneously displaced in opposite directions or in opposite directions by matching the protrusions on the guide rods 141 in the guide groove. A connecting end 144 for fixing the shielding gas nozzle is provided on the guide rod 141, and the connecting end 144 can be axially rotated around the connecting end to satisfy multi-angle adjustment. As shown, the connecting end 144 on the right guide bar 141 snaps onto a U-shaped plate 145, which U-shaped plate 145 is pushed and pulled laterally by a first cylinder 146. A stop switch 147 is also provided on the first cylinder 146 for position sensing of the first cylinder 146. Meanwhile, the air injecting member 13 is installed on the U-shaped plate 145, the air injecting member 13 includes an air injecting head 132 pushed out by the second air cylinder 131, and a plurality of air outlet holes are provided on the surface of the air injecting head 132. The gas jet head 132 jets the shielding gas upward from the underside of the welding site.
The positioning quality inspection mechanism 2 includes: the visual camera component respectively positions from the two sides of the workpiece, the first clamping component which takes out the workpiece from the first clamp 5 and rotates in the direction, and the second clamping component which takes out the workpiece from the first clamping component and feeds the workpiece into the second clamp 6. The vision camera assembly comprises two vision cameras 21, the two vision cameras 21 are arranged on the section bars on two sides of the station by the plate which is fixed in a rotatable mode, because the pins are generally two, the two vision cameras 21 can conduct position calibration from two side directions of a workpiece at the same time when the two pins are in a flat-laying position, and meanwhile shooting angles of the two vision cameras 21 are adjusted by adjusting the plate which is fixed by the vision cameras 21. In order to further guarantee the accuracy of detection, a back light source is further arranged and fixed on the first clamping assembly, and the back light source is aligned with the workpiece on the first clamp and is matched with the vision camera 21 to lighten the detection position.
Similar to most of the rectilinear motion assemblies in the prior art, the first clamping assembly and the second clamping assembly are based on such a motion pattern. The first clamping assembly comprises a first transverse air cylinder 22, a first vertical air cylinder 25, a rotating air cylinder 23 and a first clamping hand 24; the first transverse cylinder 22 in the X-axis direction drives the rotary cylinder 23 to move transversely along its slide rail, and the rotary cylinder 23 realizes a rotation of at least 90 ° which removes the workpiece from the first jig 5 and rotates the horizontally placed workpiece to the vertical placement direction. The rotating cylinder 23 drives the first vertical cylinder 25, the first vertical cylinder 25 in the Z-axis direction vertically pushes and pulls the first clamping hand 24 along the sliding rail to clamp the workpiece, and the first clamping hand 24 mainly comprises two clamping fingers pushed by the cylinder. The second clamping assembly comprises a second transverse cylinder 26, a third transverse cylinder 27, a fourth transverse cylinder 28 and a second clamping hand 29; the second transverse air 26 cylinder in the X-axis direction pushes the Y-axis direction along the sliding rail simultaneously: a third lateral cylinder 27, a fourth lateral cylinder 28; the third transverse cylinder 27 pushes and pulls the second clamping hand 29 horizontally along the sliding rail, the second clamping hand 29 is also a pneumatic clamping finger, the pneumatic clamping finger moves to the first clamping hand 24, the workpiece is taken from the first clamping hand 24, moves to the position of the second clamping tool 6, and the workpiece is embedded into the second clamping tool 6. The fourth transverse cylinder 28 pushes and pulls one ejector rod 20, the ejector rod 20 is aligned with the workpiece end alignment block on the first clamp 5, and the initial position of the workpiece clamped, namely the clamped accurate size of the workpiece can be further ensured through the ejector rod 20 and the workpiece end alignment block on the first clamp, so that overlarge size deviation is avoided in the following transferring process.
The sleeve preassembling mechanism 3 includes: the lens assembly for visual detection vertically and the third clamping assembly for realizing sleeve sleeving through opposite movement. The lens assembly 30 and the corresponding light source 31 move to above the second fixture 6, and detect the angle of the upper end of the workpiece on the second fixture 6, because the sleeve and the root of the pin are elliptical, the butt joint needs to be accurate, otherwise, the product is damaged. The third clamping assembly comprises a fifth transverse cylinder 31 in the Y-axis direction, a second vertical cylinder 32 in the Z-axis direction, a sensor, a third clamping hand 34, a third vertical cylinder 35 in the Z-axis direction and a sleeve loading head 36. The fifth transverse cylinder 31 simultaneously pushes and pulls the second vertical cylinder 35 and the third gripper 34 transversely along its slide rail, which moves the second vertical cylinder 35 and the third gripper 34 to the clamping position. And the second vertical cylinder 35 is located at the upper side of the third clamping hand 34, and the second vertical cylinder 35 pushes and pulls the first sensor 33 and the third vertical cylinder 35 up and down at the same time, and the third vertical cylinder 35 pushes and pulls the sleeve loading head 36. The sleeve loading head 36 loads the sleeve through a sleeve positioning hole, the sleeve positioning hole corresponds to a workpiece clamping hole on the third clamping hand 34, and after the third vertical air cylinder 35 works, the sleeve loading head 36 descends with the sleeve and is accurately sleeved on the workpiece clamped by the third clamping hand 34. The sensors are arranged in two, wherein the first sensor is arranged at a higher position, emits detection light rays of an inclined side, and is used for monitoring the lower end of a workpiece vertically clamped on the first clamp 5, so that the condition that the workpiece is in a state without a detection result can be ensured to prove that the clamping state of the first clamp 5 is correct. The second sensor 37 is then used to detect a cartridge on the cartridge loading head 36, determining that a cartridge is loaded on the cartridge loading head 36 during operation.
The sleeve clamping mechanism 4 comprises a clamping turntable assembly arranged on the lifting assembly, and the clamping turntable assembly clamps the workpiece and the sleeve on the second clamp 6 which moves to the lower part of the clamping turntable assembly. The lifting assembly comprises a bottom plate 41 sliding along a vertical guide rod 40, and the clamping turntable assembly is fixed on the bottom plate 41. The clamping turntable assembly comprises a turntable body 42 and a cover plate 43 which are coaxially arranged and can generate relative rotation; a plurality of slide grooves 46 are provided in the disk 42 in the radial direction, and a chuck 44 is fitted to each slide groove 46. The clamping heads 44 are matched in the sliding grooves 46, and a plurality of clamping heads 44 simultaneously slide along the respective sliding grooves 46 and gather the butt joint positions of the stamping sleeves and the workpiece. Cover plate 43 is arranged on tray body 42 outside the sliding groove, waist-shaped grooves 45 corresponding to each clamping head are arranged on cover plate 43, round protrusions matched with waist-shaped grooves 45 are arranged on each clamping head 44, when cover plate 43 and tray body 42 rotate relatively, waist-shaped grooves 45 play a role in guiding, according to the angle set by waist-shaped grooves 45, pushing effect of clamping heads 44 can be achieved, all clamping heads 44 can move along sliding 46 grooves at the same time, the front ends of clamping heads 44 are designed to be clamping surfaces specified by products, and the requirement of fixing is met after stamping. The cover plate 43 is driven by a separate air cylinder which is designed to be pushed to be matched with the size of the waist-shaped groove 45 so as to meet the clamping force of the clamping head 44.
The above embodiments are merely illustrative of the principles of the present invention and its effectiveness, and are not intended to limit the invention. Modifications and variations may be made to the above-described embodiments by those skilled in the art without departing from the spirit and scope of the invention. Accordingly, it is intended that all equivalent modifications and variations which can be accomplished by persons skilled in the art without departing from the spirit and technical spirit of the present invention shall be covered by the appended claims.
Claims (6)
1. The automatic shaping structure of the sensor pin comprises a rotary workbench and a tool clamp group arranged on the rotary workbench, wherein the tool clamp group comprises two clamps with different clamping directions; the method is characterized in that: the rotary edge along the rotary workbench is provided with: the device comprises a laser welding mechanism, a positioning quality inspection mechanism, a sleeve preassembling mechanism and a sleeve clamping mechanism; the laser welding mechanism is arranged on a displacement module for realizing position adjustment in space; the laser welding mechanism comprises a laser lens, a protective gas nozzle and a jet member; the protective gas nozzle and the air injection component are arranged around the welding position, and synchronously move and adjust; the positioning quality inspection mechanism comprises: the visual camera assembly is used for positioning at least from two directions, the first clamping assembly is used for taking out a workpiece from the first clamp and rotating the workpiece in the direction, and the second clamping assembly is used for taking out the workpiece from the first clamping assembly and feeding the workpiece into the second clamp; the sleeve preassembling mechanism comprises: the lens assembly is used for visual detection from the vertical direction, and the third clamping assembly is used for realizing sleeve sleeving through opposite movement; the sleeve clamping mechanism comprises a clamping turntable assembly arranged on the lifting assembly; the clamping turntable assembly comprises a clamping head arranged in the chute; the clamping heads slide along the sliding grooves and gather the butt joint parts of the stamping sleeve and the workpiece;
the automatic shaping structure of the sensor pin further comprises a feeding mechanism and a pin shaping mechanism; the feeding mechanism comprises a bidirectional material belt for circularly feeding; the pin shaping mechanism comprises a shaping head pushed by air pressure;
the workpiece is maintained to be clamped horizontally through a first clamp, and the workpiece is maintained to be clamped vertically through a second clamp; the laser lens focuses on the welding position; the laser beam is taken as a central line, and the two sides of the welding position are respectively provided with the protective gas nozzles pulled by the interval adjusting members; the side surface of the welding position is also provided with an air injection component which moves synchronously with the interval adjusting component and can extend to the lower part of the welding position; the vision camera component performs position calibration on the workpiece on the first clamp along the two side directions of the first clamp; the lens assembly detects the upper end angle of the workpiece on the second clamp which moves to the lower part of the lens assembly; the clamping turntable assembly clamps the workpiece and the sleeve on the second clamp which are moved to the lower part of the clamping turntable assembly;
the first clamping assembly comprises a first transverse cylinder, a first vertical cylinder, a rotating cylinder and a first clamping hand; a first vertical cylinder in the Z-axis direction vertically pushes and pulls the first clamping hand; the rotating cylinder drives the first vertical cylinder to rotate; a first transverse cylinder in the X-axis direction drives the rotary cylinder to transversely move;
when the workpiece rotates along with the rotary workbench, corresponding machining is completed on the corresponding station sequentially through the laser welding mechanism, the positioning quality inspection mechanism, the sleeve preassembling mechanism and the sleeve clamping mechanism, wherein the workpiece is clamped on the first clamp when passing through the positioning quality inspection mechanism, and the workpiece is moved from the first clamp to the second clamp by the sleeve preassembling mechanism when being fed into the sleeve preassembling mechanism, so that the clamping orientation of the workpiece is changed.
2. The automatic shaping structure of a sensor pin according to claim 1, wherein: the interval adjusting component comprises two guide rods with height difference and sliding in parallel; a guide groove with a rotation center is arranged between the two guide rods to enable the two guide rods to generate opposite or opposite displacement motions at the same time; the guide rod is provided with a bulge matched with the guide groove; at least one guide rod is connected to the first cylinder; the first cylinder also drives the air injection component at the same time; the jet component comprises a jet head pushed out by a second cylinder; the surface of the jet head is provided with a plurality of air outlet holes; the laser lens comprises the following components on the same optical axis: a vision camera, a laser generating unit and a camera light source; the vision camera detects the position accuracy of the focusing point and the welding point of the laser beam passing through the camera light source.
3. The automatic shaping structure of a sensor pin according to claim 2, wherein: the displacement module comprises an X-axis component, a Y-axis component and a Z-axis component; the X-axis component and the Y-axis component are both horizontal linear modules driven by a motor; the Z-axis component is a vertical linear module pushed and pulled by the air cylinder.
4. The automatic shaping structure of a sensor pin according to claim 1, wherein: the second clamping assembly comprises a second transverse cylinder, a third transverse cylinder, a fourth transverse cylinder and a second clamping hand; the second transverse cylinder in the X-axis direction pushes the Y-axis direction at the same time: a third transverse cylinder, a fourth transverse cylinder; the third transverse air cylinder pushes and pulls the second clamping hand; a fourth transverse cylinder pushes and pulls a push rod; the ejector rod is aligned with a workpiece end alignment block on the first clamp.
5. The automatic shaping structure of a sensor pin according to claim 4, wherein: the third clamping assembly comprises a fifth transverse cylinder in the Y-axis direction, a second vertical cylinder in the Z-axis direction, a sensor, a third clamping hand, a third vertical cylinder in the Z-axis direction and a sleeve loading head; a fifth transverse cylinder simultaneously pushes and pulls the second vertical cylinder and the third clamping hand; the second vertical cylinder is positioned at the upper side of the third clamp, and the second vertical cylinder pushes and pulls the sensor and the third vertical cylinder simultaneously; the third vertical cylinder pushes and pulls the sleeve loading head, and sleeve positioning holes on the sleeve loading head correspond to workpiece clamping holes on the third clamping head; the sensor is used to detect a cartridge on the cartridge loading head.
6. The automatic shaping structure of a sensor pin according to claim 5, wherein: the lifting assembly comprises a bottom plate sliding along the vertical guide rod; the clamping turntable assembly is fixed on the bottom plate; the clamping turntable assembly comprises a turntable body and a cover plate which are coaxially arranged and can generate relative rotation; a plurality of sliding grooves are arranged on the tray body along the radial direction; the clamping head is matched in the chute; the cover plate is provided with a waist-shaped groove which is matched with the clamping head and pushes the clamping head to move along the chute; the cover plate is pushed by the pneumatic element along the rotation direction of the cover plate.
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| CN109909326B (en) * | 2019-04-29 | 2024-04-16 | 中信戴卡股份有限公司 | Wheel rim orthopedic device |
| CN112008246B (en) * | 2019-05-30 | 2022-10-18 | 大族激光科技产业集团股份有限公司 | Laser paint removing device |
| CN111151684B (en) * | 2020-01-19 | 2021-10-26 | 江苏顺海科技有限公司 | Pin pressing device of electronic chip tray filler |
| CN115326816B (en) * | 2022-10-11 | 2023-01-17 | 荣旗工业科技(苏州)股份有限公司 | Workpiece surface detection device |
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