CN110497201A - Lockpin subassembly material loading equipment - Google Patents
Lockpin subassembly material loading equipment Download PDFInfo
- Publication number
- CN110497201A CN110497201A CN201910920791.2A CN201910920791A CN110497201A CN 110497201 A CN110497201 A CN 110497201A CN 201910920791 A CN201910920791 A CN 201910920791A CN 110497201 A CN110497201 A CN 110497201A
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- Prior art keywords
- lock pin
- feeding
- spring
- jig
- driving device
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- 239000000463 material Substances 0.000 title abstract description 4
- 230000007246 mechanism Effects 0.000 claims description 94
- 238000001514 detection method Methods 0.000 claims description 54
- 235000014347 soups Nutrition 0.000 claims description 42
- 238000006073 displacement reaction Methods 0.000 claims description 22
- 238000007689 inspection Methods 0.000 claims description 4
- 239000007787 solid Substances 0.000 claims description 3
- 238000000034 method Methods 0.000 abstract description 7
- 238000010586 diagram Methods 0.000 description 8
- 230000000694 effects Effects 0.000 description 6
- 230000008569 process Effects 0.000 description 4
- 230000004044 response Effects 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 230000001939 inductive effect Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000000149 penetrating effect Effects 0.000 description 2
- 238000012216 screening Methods 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 238000010521 absorption reaction Methods 0.000 description 1
- 230000000692 anti-sense effect Effects 0.000 description 1
- RDYMFSUJUZBWLH-UHFFFAOYSA-N endosulfan Chemical compound C12COS(=O)OCC2C2(Cl)C(Cl)=C(Cl)C1(Cl)C2(Cl)Cl RDYMFSUJUZBWLH-UHFFFAOYSA-N 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
Classifications
-
- 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
- B23P19/00—Machines 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
- B23P19/001—Article feeders for assembling machines
-
- 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
- B23P19/00—Machines 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
- B23P19/001—Article feeders for assembling machines
- B23P19/007—Picking-up and placing mechanisms
-
- 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
- B23P21/00—Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with programme control
- B23P21/004—Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with programme control the units passing two or more work-stations whilst being composed
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automatic Assembly (AREA)
Abstract
The application provides lockpin subassembly material loading equipment belongs to spare part equipment technique. Lockpin subassembly material loading equipment includes lockpin loading attachment, lockpin spring loading attachment, spring holder loading attachment and manipulator. The lock pin feeding device is used for feeding the lock pins to a first position. The locking pin spring feeding device is used for feeding the locking pin spring to a second position. The spring seat feeding device is used for feeding the spring seat to a third position. The manipulator comprises a first clamping device and a suction device, the first clamping device is used for clamping the lock pin spring located at the second position to the first position and preassembling the lock pin, the first clamping device is used for clamping the lock pin spring located at the first position to the workpiece, and the suction device is used for sucking the spring seat located at the third position to the workpiece and riveting the spring seat. The lockpin assembly feeding and assembling equipment with the structure can efficiently complete the assembly of the lockpin, the lockpin spring, the spring seat and the workpiece, has high assembly precision, and effectively ensures the product quality.
Description
Technical field
This application involves components package technique fields, assemble equipment in particular to a kind of lock pin component feeding.
Background technique
Currently, set in cam phaser assembling process in existing, generally by have been manually done lock pin, lock pin spring,
The assembling of spring base, production efficiency are low.
Summary of the invention
The embodiment of the present application provides a kind of lock pin component feeding assembling equipment, the problem of to improve production low efficiency.
The embodiment of the present application is provided in a kind of lock pin component feeding assembling equipment, including lock pin feeding device, lock pin spring
Expect device, spring base feeding device and manipulator；
The lock pin feeding device is used for lock pin feeding to first position；
The lock pin spring feeding device is used for lock pin spring feeding to the second position；
The spring base feeding device is used for spring base feeding to the third place；
The manipulator includes the first clamp device and suction means, and first clamp device will be for that will be located at described the
The lock pin spring of two positions is clamped to the first position and lock pin and is pre-installed, and the lock pin for that will be located at the first position presss from both sides
It takes to workpiece, the suction means is used to draw the spring base for being located at the third place in workpiece and carrying out riveting.
In above-mentioned technical proposal, lock pin feeding device will lock lock pin feeding to first position, lock pin spring feeding device
Spring feeding is sold to the second position, and spring base feeding device after spring base feeding to the third place, will first pass through the first clamping dress
It sets and the lock pin spring for being located at the second position is clamped to first position and is pre-installed in lock pin, then pass through the first clamp device again
It will be located in lock pin (lock pin for the being preinstalled with lock pin spring) clamping to workpiece of first position, will be located at finally by suction means
The spring base of the third place draw in workpiece and with workpiece riveting.Assembling equipment by the lock pin component feeding of this structure can
The assembling of lock pin, lock pin spring, spring base and workpiece is efficiently completed, assembly precision is high, effective guarantee product quality.
In addition, the lock pin component feeding assembling equipment of the embodiment of the present application also has following additional technical characteristic:
In the embodiment once of the application, the manipulator further includes the first support base, the first sliding seat and the first drive
Dynamic device；
First sliding seat is movably arranged at first support base, first clamp device and the absorption
Device is all connected to first sliding seat；
The first driving device is used to drive the relatively described first support base transverse shifting of first sliding seat, so that
First clamp device is located at the top of the first position or positioned at the top of the second position, makes the suction means
Positioned at the top of the third place.
In above-mentioned technical proposal, the first sliding seat transverse shifting is driven by first driving device, the first clamping can be made to fill
Setting in the top of first position, in order to which the first clamp device clamps lock pin；Pass through the first activity of first driving device driving
Seat transverse shifting, can also make the first clamp device be located at the top of the second position, in order to which the first clamp device clamps lock pin bullet
Spring；The first sliding seat transverse shifting is driven by first driving device, suction means can also be made to be located at the top of the third place, with
Spring base is drawn convenient for suction means.
In the embodiment once of the application, the suction means includes the first fixing seat, first movement seat, soup stick, the
Two driving devices and third driving device；
First fixing seat is fixed on first sliding seat；It is solid that the first movement seat is movably arranged at described first
Reservation；The soup stick is movably arranged at the first movement seat；Second driving device is moved for driving described first
Relatively described first fixing seat of dynamic seat vertically moves back and forth；The third driving device is for driving the soup stick around vertically
The axis of arrangement rotates.
In above-mentioned technical proposal, the second driving device driving first movement seat vertically moves back and forth with respect to the first fixing seat
It is dynamic, to realize the round-trip of soup stick vertically；Third driving device drives soup stick to rotate around vertically arranged axis,
To realize the vertically arranged axis rotation of soup stick.I.e. soup stick not only can be rotated, but also removable.In practical set, can first lead to
It crosses the second driving device driving soup stick to move vertically downwards, soup stick is made to draw spring base；It is inhaled again by the driving of the second driving device
Bar vertical upward movement, and drive soup stick to laterally move to the position to be assembled above workpiece by first driving device；Then
Soup stick is driven to turn an angle around the axis being vertically arranged by third driving device, to adjust the angle of assembling of spring base,
Spring base is set to meet assembled condition；Finally again by the second driving device drive soup stick vertically move down, make spring base into
Enter in workpiece and carries out riveting assembly.
In the embodiment once of the application, the manipulator further includes depth detection apparatus；
The depth detection apparatus includes that the second fixing seat, the second Mobile base, fourth drive device, detection bar and detection are single
Member；
Second fixing seat is fixed on first sliding seat, and second Mobile base is movably arranged at described
Two fixing seats；The fourth drive device for drive relatively described second fixing seat of second Mobile base vertically downwards or to
Upper movement；The detection bar can relatively described second Mobile base vertically upward or move down；Detection unit is for detecting institute
State the displacement of the relatively described second Mobile base vertical upward movement of detection bar.
In above-mentioned technical proposal, during driving the second Mobile base to move vertically downwards by fourth drive device, inspection
After surveying unit and detected component contact, detection bar will then can detect with respect to the second Mobile base vertical upward movement, detection unit
The displacement of detection bar out.Can be detected by the detection bar of depth detection apparatus in assembling process lock pin whether neglected loading and askew
Dress, detection lock pin spring whether neglected loading, stack and two-man act, detection spring seat whether neglected loading and it is askew dress, detection spring seat riveting be
It is no in place.
In the embodiment once of the application, the lock pin feeding device includes the first conveying mechanism, the first feeding distribution mechanism
With first in level detecting apparatus；
First feeding distribution mechanism is connected to first conveying mechanism, described first be connected in level detecting apparatus it is described
First feeding distribution mechanism, first feeding distribution mechanism have the first jig for placing single lock pin, and first conveying mechanism is used for
Lock pin is conveyed to first jig；
When lock pin is delivered to first jig by the first conveying mechanism, lock pin is located at the first position, and described
One issues the first signal in place in level detecting apparatus.
In above-mentioned technical proposal, lock pin can be delivered in feeding, through the first conveying mechanism by lock pin feeding device
On first jig of one feeding distribution mechanism, first can be examined in place in level detecting apparatus to whether there is lock pin on the first jig
It surveys.If detecting lock pin, first issues the first signal in place in level detecting apparatus, herein under the premise of, manipulator first folder
Take device that could clamp to lock pin.
In the embodiment once of the application, the lock pin spring feeding device includes second conveyor structure, the second sub-material
Mechanism and second is in level detecting apparatus；
Second feeding distribution mechanism is connected to the second conveyor structure, described second be connected in level detecting apparatus it is described
Second feeding distribution mechanism, second feeding distribution mechanism have the second jig for placing single lock pin spring, and second conveyor structure is used for
Lock pin spring is conveyed to second jig；
When lock pin spring is delivered to second jig by second conveyor structure, described second issues in level detecting apparatus
Second signal in place.
In above-mentioned technical proposal, lock pin spring feeding device, can be by lock pin spring by second conveyor structure in feeding
Be delivered on the second jig of the second feeding distribution mechanism, second level detecting apparatus can on the second jig whether there is lock pin spring
Carry out for detect.If detecting lock pin spring, second issues the second signal in place in level detecting apparatus, herein under the premise of,
First clamp device of manipulator could clamp lock pin spring.
In the embodiment once of the application, second feeding distribution mechanism further includes the second support base, guide sleeve, switch dress
It sets and the 5th driving device；
Second jig is movably arranged at second support base；The guide sleeve is connected to second support base,
The guide sleeve is for guiding the lock pin spring that the second conveyor structure conveys to second jig；The switch dress
Set the discharge port for being used to open or closing guide sleeve；
5th driving device is for driving the second jig edge to move perpendicular to vertical direction；
When described second when level detecting apparatus issues second signal in place, the 5th driving device drives described second
Jig perpendicular to vertical direction along moving, so that moved beneath of the lock pin spring being located on second jig from guide sleeve
To the second position.
In above-mentioned technical proposal, after lock pin spring is delivered in guide sleeve by second conveyor structure, beaten by switching device
The discharge port for opening guide sleeve makes the single lock pin spring in guide sleeve enter to the second jig, then can be closed by switching device
Close the discharge port of guide sleeve.It is detected on the second jig there are when lock pin spring in level detecting apparatus when second, then feeding success,
Second issues the second signal in place in level detecting apparatus, and the 5th driving device is in response to the second signal in place, the 5th driving device
By the second jig of driving along moving perpendicular to vertical direction, so that lock pin spring is delivered to the second position, guide sleeve is avoided
The clamping work of first clamp device is impacted, clamps the lock pin spring on the second jig convenient for the first clamp device.
In the embodiment once of the application, second feeding distribution mechanism further includes the 6th driving device；
The guide sleeve is movably arranged at second support base, and the 6th driving device is for driving described lead
It is vertically movable to covering.
In above-mentioned technical proposal, guide sleeve can be driven vertically movable by the 6th driving device, guide sleeve and can be reduced
The distance between two jigs enter precisely into the second jig from guide sleeve convenient for lock pin spring.
In the embodiment once of the application, the spring base feeding device includes third conveying mechanism, third depiler
Structure and third are in level detecting apparatus；
The third feeding distribution mechanism is connected to the third conveying mechanism, and the third is connected to described in level detecting apparatus
Third feeding distribution mechanism, the third feeding distribution mechanism have the third jig for placing single spring base, and the third conveying mechanism is used
In to the third jig convey spring base；
When spring base is delivered to the third jig by third conveying mechanism, the third issues the in level detecting apparatus
Three signals in place.
In above-mentioned technical proposal, spring base feeding device can be conveyed spring base by third conveying mechanism in feeding
To the third jig of third feeding distribution mechanism, third can be carried out in level detecting apparatus to whether there is spring base on third jig
For detection.If detecting spring base, third issues third signal in place in level detecting apparatus, herein under the premise of, manipulator
Suction means could draw spring base.
In the embodiment once of the application, the third feeding distribution mechanism further includes third support base and the 7th driving dress
It sets；
The third jig is movably arranged at the third support base, and the 7th driving device is described for driving
It is moved perpendicular to vertical direction on third jig edge；
When the third is in level detecting apparatus sending third signal in place, the 7th driving device drives the third
Jig perpendicular to vertical direction along moving, so that the spring base being located on the third jig moves to the third place.
In above-mentioned technical proposal, when third detects on the second jig in level detecting apparatus there are when spring base, then feeding
Success, third issue third signal in place in level detecting apparatus, and the 7th driving device is in response to third signal in place, the 7th driving
Device will drive third jig along moving perpendicular to vertical direction, spring base is moved to the third place, in order to draw
Device draws the spring base on third jig.
Detailed description of the invention
Technical solution in ord to more clearly illustrate embodiments of the present application, below will be to needed in the embodiment attached
Figure is briefly described, it should be understood that the following drawings illustrates only some embodiments of the application, therefore is not construed as pair
The restriction of range for those of ordinary skill in the art without creative efforts, can also be according to this
A little attached drawings obtain other relevant attached drawings.
Fig. 1 is the structural schematic diagram that lock pin component feeding provided by the embodiments of the present application assembles equipment；
Fig. 2 is the structural schematic diagram of lock pin feeding device shown in FIG. 1；
Fig. 3 is the structural schematic diagram of the second feeding distribution mechanism shown in FIG. 1；
Fig. 4 is the connection schematic diagram of switching device shown in Fig. 3 and guide sleeve；
Fig. 5 is the structural schematic diagram of spring base feeding device shown in FIG. 1；
Fig. 6 is structural schematic diagram of the suction means shown in FIG. 1 under the first visual angle；
Fig. 7 is structural schematic diagram of the suction means shown in FIG. 1 under the second visual angle；
Fig. 8 is the partial view of manipulator shown in FIG. 1；
Fig. 9 is the structural schematic diagram of depth detection apparatus shown in Fig. 8.
Icon: 100- lock pin component feeding assembles equipment；10- lock pin feeding device；The first conveying mechanism of 11-；111-
One vibrating disk；112- first straight line feed appliance；113- first support；The first feeding distribution mechanism of 12-；The first jig of 121-；122-
Two brackets；13- first is in level detecting apparatus；14- inductive switch；20- lock pin spring feeding device；21- second conveyor structure；
211- lock pin spring feeding station；212- charging line；The second feeding distribution mechanism of 22-；The second jig of 221-；The second support base of 222-；
223- guide sleeve；224- switching device；2241- block piece；2242- actuator；2243- shaft；2244- reset spring；225-
5th driving device；The first sliding block of 226-；The 6th driving device of 227-；The second sliding block of 228-；2281- feed opening；23- second exists
Level detecting apparatus；30- spring base feeding device；31- third conveying mechanism；The second vibrating disk of 311-；312- second straight line feeding
Device；313- third bracket；32- third feeding distribution mechanism；321- third jig；322- third support base；The 7th driving device of 323-；
324- third sliding block；33- third is in level detecting apparatus；40- manipulator；The first clamp device of 41-；411- third fixing seat；
412- third Mobile base；The 8th driving device of 413-；The first pneumatic-finger of 414-；42- suction means；The first fixing seat of 421-；
422- first movement seat；423- soup stick；4231- connector；The second driving device of 424-；425- third driving device；4251- pin
Axis；426- locating part；The first support base of 43-；The first sliding seat of 44-；45- first driving device；451- motor；452- screw rod；
46- depth detection apparatus；The second fixing seat of 461-；The second Mobile base of 462-；463- fourth drive device；464- detection bar；
4641- fixed block；4642- blocker ring；465- pusher cylinder；466- tangent displacement sensor；467- displacement detecting is to penetrating out
It closes；The second clamp device of 47-；The 4th fixing seat of 471-；The 4th Mobile base of 472-；The 9th driving device of 473-；The second gas of 474-
It starts to refer to.
Specific embodiment
To keep the purposes, technical schemes and advantages of the embodiment of the present application clearer, below in conjunction with the embodiment of the present application
In attached drawing, the technical scheme in the embodiment of the application is clearly and completely described, it is clear that described embodiment is
Some embodiments of the present application, instead of all the embodiments.The application being usually described and illustrated herein in the accompanying drawings is implemented
The component of example can be arranged and be designed with a variety of different configurations.
Therefore, the detailed description of the embodiments herein provided in the accompanying drawings is not intended to limit below claimed
Scope of the present application, but be merely representative of the selected embodiment of the application.Based on the embodiment in the application, this field is common
Technical staff's every other embodiment obtained without creative efforts belongs to the model of the application protection
It encloses.
It should also be noted that similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined in a attached drawing, does not then need that it is further defined and explained in subsequent attached drawing.
In the description of the embodiment of the present application, it should be noted that indicating position or positional relationship is based on shown in attached drawings
Orientation or positional relationship this application product using when the orientation or positional relationship usually put or this field
Orientation or positional relationship that technical staff usually understands or this application product using when the orientation usually put or position close
System is merely for convenience of description the application and simplifies description, rather than the device or element of indication or suggestion meaning must have
Specific orientation is constructed and operated in a specific orientation, therefore should not be understood as the limitation to the application.In addition, term " the
One ", " second ", " third " etc. are only used for distinguishing description, are not understood to indicate or imply relative importance.
In the description of the embodiment of the present application, it is also necessary to which explanation is unless specifically defined or limited otherwise, term
" setting ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integrally connect
It connects；It can be and be directly connected to, can also be indirectly connected with by intermediary.For the ordinary skill in the art, may be used
The concrete meaning of above-mentioned term in this application is understood with concrete condition.
Embodiment
As shown in Figure 1, the embodiment of the present application provides a kind of lock pin component feeding assembling equipment 100, including lock pin feeding dress
Set 10, lock pin spring feeding device 20, spring base feeding device 30 and manipulator 40.Lock pin feeding device 10 is used for lock pin
Expect to first position.Lock pin spring feeding device 20 is used for lock pin spring feeding to the second position.Spring base feeding device 30
For by spring base feeding to the third place.Manipulator 40 includes the first clamp device 41 and suction means 42, the first clamping dress
It sets 41 to pre-install for clamping the lock pin spring for being located at the second position to first position and lock pin, and for first position will to be located at
Lock pin clamp to workpiece, suction means 42 is used to draw the spring base for being located at the third place in workpiece and carrying out riveting
Pressure.
Lock pin feeding device 10 by lock pin feeding to first position, lock pin spring feeding device 20 by lock pin spring feeding extremely
The second position, spring base feeding device 30, which after spring base feeding to the third place, will first pass through the first clamp device 41, to be located at
The lock pin spring of the second position is clamped to first position and is pre-installed in lock pin, will be then located at by the first clamp device 41 again
In lock pin (lock pin for the being preinstalled with lock pin spring) clamping to workpiece of first position, third will be located at finally by suction means 42
The spring base of position draw in workpiece and with workpiece riveting.Assembling equipment 100 by the lock pin component feeding of this structure can
The assembling of lock pin, lock pin spring, spring base and workpiece is efficiently completed, assembly precision is high, effective guarantee product quality.
Wherein, the effect of lock pin feeding device 10 is by lock pin feeding to first position, and first position is that lock pin waits for
The position of one clamp device 41 clamping.
In the present embodiment, as shown in Fig. 2, lock pin feeding device 10 includes the first conveying mechanism 11, the first feeding distribution mechanism 12
With first in level detecting apparatus 13.First feeding distribution mechanism 12 is connected to the first conveying mechanism 11, and first connects in level detecting apparatus 13
It is connected to the first feeding distribution mechanism 12, the first feeding distribution mechanism 12 has the first jig 121 for placing single lock pin, the first conveying mechanism 11
For conveying lock pin to the first jig 121.When lock pin is delivered to the first jig 121 by the first conveying mechanism 11, lock pin is located at
First position, first issues the first signal in place in level detecting apparatus 13.
Lock pin can be delivered to the first feeding distribution mechanism 12 in feeding, through the first conveying mechanism 11 by lock pin feeding device 10
The first jig 121 on, first level detecting apparatus 13 can on the first jig 121 whether there is lock pin be detected in place.
If detecting lock pin, first level detecting apparatus 13 issue the first signal in place, herein under the premise of, manipulator 40 first folder
Take device 41 that could clamp to lock pin.
Optionally, the first conveying mechanism 11 includes the first vibrating disk 111 and first straight line feed appliance 112, and first straight line is sent
The arrival end of glassware 112 is connect with the first vibrating disk 111, the outlet end of first straight line feed appliance 112 and the first feeding distribution mechanism 12
The first jig 121 connection.The specific structure of first vibrating disk 111 and first straight line feed appliance 112 can be found in the relevant technologies, In
This is repeated no more.
When feeding, batch lock pin is put into the first vibrating disk 111, and lock pin is advised after 111 vibration screening of the first vibrating disk
First straight line feed appliance 112 then is entered to, lock pin is delivered on the first jig 121 by first straight line feed appliance 112.
Wherein, the bottom of first straight line feed appliance 112 is equipped with first support 113.First feeding distribution mechanism 12 further includes second
Bracket 122, the first jig 121 are fixed on the top of first support 113, and second support 122 is connected and fixed on first support 113.
In the present embodiment, the first jig 121 is rectangular block shape structure, and the first jig 121 is equipped with the first circular-shaped notch,
First circular-shaped notch can accommodate a lock pin.The lock pin that first straight line feed appliance 112 is conveyed to the first jig 121 finally will
It enters in the first arc gap.
Optionally, first is first pair in level detecting apparatus 13 and penetrates switch, first pair penetrate switch include first transmitter with
First receiver, first transmitter and the first receiver are positioned opposite in second support 122, and the first receiver is for receiving the
The light (such as infrared ray) that one generator issues.When lock pin enters the first arc gap of the first jig 121, lock pin will be blocked
The light that first transmitter issues, the first receiver can not receive the light of first transmitter sending, it will be appreciated that be first pair
It penetrates switch to detect in the first arc gap of the first jig 121 there are lock pin, penetrates switch for first pair and issue the first signal in place.
The precondition that first signal in place is acted as the first clamp device 41 of manipulator 40, i.e., only when the first detection dress in place
It sets 13 and detects that, there are lock pin in the first jig 121, the first clamp device 41 can clamp lock pin.
Penetrating switch and the first clamp device 41 for first pair can be electrically connected with the controller, and controller is receiving first in place
After signal, controller just can control the movement of the first clamp device 41.
In addition, in the present embodiment, be additionally provided in second support 122 inclination arrangement for detecting the whether anti-sense expected of lock pin
Inductive switch 14.
The effect of lock pin spring feeding device 20 is by lock pin spring feeding to the second position, and the second position is lock pin bullet
Spring waits for the position of the first clamp device 41 clamping.
In the present embodiment, as shown in Figure 1, it includes second that lock pin spring feeding device 20, which includes lock pin spring feeding device 20,
Conveying mechanism 21, the second feeding distribution mechanism 22 and second are level detecting apparatus 23 (Fig. 1 is not shown).Second feeding distribution mechanism 22 is connected to
Second conveyor structure 21, second is connected to the second feeding distribution mechanism 22 in level detecting apparatus 23, and the second feeding distribution mechanism 22, which has, to be placed
Second jig 221 of single lock pin spring, second conveyor structure 21 are used to convey lock pin spring to the second jig 221.When second
When lock pin spring is delivered to the second jig 221 by conveying mechanism 21, second issues the second signal in place in level detecting apparatus 23.
Lock pin spring can be delivered to second point in feeding, through second conveyor structure 21 by lock pin spring feeding device 20
Expect mechanism 22 the second jig 221 on, second level detecting apparatus 23 can on the second jig 221 whether there is lock pin spring into
Row for detect.If detecting lock pin spring, second level detecting apparatus 23 issue the second signal in place, herein under the premise of,
First clamp device 41 of manipulator 40 could clamp lock pin spring.
Optionally, second conveyor structure 21 includes lock pin spring feeding station 211 and charging line 212.Lock pin spring feeding
It stands and 211 is connected to the second feeding distribution mechanism 22 by charging line 212.The specific structure at lock pin spring feeding station 211 can be found in phase
Pass technology, details are not described herein.
When feeding, batch lock pin spring is put into lock pin spring feeding station 211, and lock pin spring feeding station 211 is by lock pin bullet
Spring is delivered to the second feeding distribution mechanism 22 by charging line 212, and lock pin spring eventually enters into the second jig 221.
Further, as shown in figure 3, the second feeding distribution mechanism 22 further includes the second support base 222, guide sleeve 223, switch dress
Set 224 and the 5th driving device 225.Second jig 221 is movably arranged at the second support base 222.Guide sleeve 223 is connected to
Second support base 222, guide sleeve 223 is for guiding the lock pin spring that second conveyor structure 21 conveys to the second jig 221.
Switching device 224 is used to open or closes the discharge port of guide sleeve 223.5th driving device 225 is for driving the second jig 221
It is moved perpendicular to vertical direction on edge.When second level detecting apparatus 23 issue the second signal in place when, the 5th driving device 225
The second jig 221 is driven to move along perpendicular to vertical direction, so that the lock pin spring being located on the second jig 221 is from guide sleeve
223 moved beneath is to the second position.
After lock pin spring is delivered in guide sleeve 223 by second conveyor structure 21, guide sleeve is opened by switching device 224
223 discharge port makes the single lock pin spring in guide sleeve 223 enter to the second jig 221, then can pass through switching device
224 close the discharge port of guide sleeve 223.Detect that there are lock pin springs on the second jig 221 in level detecting apparatus 23 when second
When, then feeding success, second level detecting apparatus 23 issue the second signal in place, the 5th driving device 225 in response to second
Position signal, the 5th driving device 225 will drive the second jig 221 to move along perpendicular to vertical direction, thus by lock pin spring
It is delivered to the second position, guide sleeve 223 is avoided to impact the clamping work of the first clamp device 41, convenient for the first clamping dress
Set the lock pin spring on 41 the second jigs of clamping 221.
Wherein, the second support base 222 is equipped with the first guide rail, and the first guide rail is equipped with movably the first sliding block 226, the
Two jigs 221 are fixed on the first sliding block 226, and the first sliding block 226 is mobile then to drive the second jig 221 mobile.Second jig 221
It is vertically arranged in the first sliding block 226, the second jig 221 is the multi-diameter shaft being gradually reduced from lower curtate to top radius.Lock pin spring
After falling from guide sleeve 223, lock pin spring will be set in the outside of the top shaft part of the second jig 221.
In the present embodiment, the 5th driving device 225 is cylinder, and the cylinder body of cylinder is connected and fixed with the second support base 222, gas
The piston rod of cylinder is connected and fixed with the first sliding block 226.Cylinder operation can be such that the first sliding block 226 slides, to make the second jig 221
Mobile perpendicular to vertical direction.
Optionally, second is second pair in level detecting apparatus 23 and penetrates switch, second pair penetrate switch include second transmitter with
Second receiver, second transmitter and second receiver are positioned opposite on the first sliding block 226, and second receiver is for receiving the
The light (such as infrared ray) that two generators issue.When lock pin spring is set in the outside of the top shaft part of the second jig 221, lock
Pin spring will block the light of second transmitter sending, and second receiver can not receive the light of the second generator sending, can
It is interpreted as, penetrates switch for second pair and detect there are lock pin spring on the second jig 221, penetrate switch for second pair and issue the second letter in place
Number.
Second pair penetrate switch and the 5th driving device 225 can be electrically connected with the controller, controller receive second
The 5th driving device 225 of control movement after the signal of position, so that the lock pin spring on the second jig 221 is delivered to the second position,
To be clamped to the first clamp device 41 to lock pin spring.Certainly, the first clamp device 41 is to the lock pin for being located at the second position
The condition for the premise that spring is clamped is that second detects that there are lock pin springs on the second jig 221 in level detecting apparatus 23.
Further, the second feeding distribution mechanism 22 further includes the 6th driving device 227, and guide sleeve 223 is movably arranged at
Second support base 222, the 6th driving device 227 is for driving guide sleeve 223 vertically movable.It can by the 6th driving device 227
It drives guide sleeve 223 vertically movable, the distance between guide sleeve 223 and the second jig 221 can be reduced, convenient for lock pin spring from leading
The second jig 221 is enter precisely intoed to set 223.
Second support base 222 is equipped with the second guide rail, and the second guide rail is equipped with the second vertically movable sliding block 228, leads
It is fixed on the bottom of the second sliding block 228 to set 223, the feed opening 2281 led to inside guide sleeve 223 is set on the second sliding block 228,
Feed opening 2281 is connected to charging line 212.
In the present embodiment, the 6th driving device 227 is cylinder, and the cylinder body of cylinder is connected and fixed with the second support base 222, gas
The piston rod of cylinder is connected and fixed with the second sliding block 228.Cylinder operation can be such that the second sliding block 228 slides, to make the second jig 221
Vertically move.
The effect of switching device 224 is on or off the discharge port of 223 bottom of guide sleeve.In the present embodiment, such as Fig. 4 institute
Show, switching device 224 includes block piece 2241 and actuator 2242, and block piece 2241 is rotatablely arranged at guide sleeve 223, is driven
The discharge port that moving part 2242 is used to drive the rotation of block piece 2241 to open or close guide sleeve 223.
Illustratively, block piece 2241 is L shape, and block piece 2241 is rotatablely connected by shaft 2243 and guide sleeve 223, resistance
Reset spring 2244 is equipped between block piece 2241 and guide sleeve 223.Actuator 2242 is cylinder, and the cylinder body of cylinder is fixed on second
Sliding block 228, the piston rod of cylinder with block piece 2241 for contacting, to push block piece 2241 to rotate, to open guide sleeve
223 discharge port.Under normal conditions, under the action of reset spring 2244, block piece 2241 closes the discharge port of guide sleeve 223
It closes；When the piston cylinder of cylinder stretches out and block piece 2241 is pushed to rotate, the discharge port of guide sleeve 223 will be opened.
In feeding process, guide sleeve 223 can be made to move vertically downwards by the 6th driving device 227, so that guide sleeve
223 close to the second jig 221；Then block piece 2241 can be pushed to rotate by actuator 2242, to open guide sleeve 223
Discharge port makes in guide sleeve 223 lock pin spring just be sheathed on the outside of the top shaft part of the second jig 221；Then,
Actuator 2242 is retracted, and block piece 2241 playbacks under the action of reset spring 2244, and the discharge port of guide sleeve 223 is closed
It closes.
The effect of spring base feeding device 30 is by spring base feeding to the third place, and the third place is that spring base waits inhaling
The position for taking device 42 to draw.
In the present embodiment, as shown in figure 5, spring base feeding device 30 includes third conveying mechanism 31, third feeding distribution mechanism
32 and third in level detecting apparatus 33.Third feeding distribution mechanism 32 is connected to third conveying mechanism 31, and third is in level detecting apparatus 33
It is connected to third feeding distribution mechanism 32, third feeding distribution mechanism 32 has the third jig 321 for placing single spring base, third conveyer
Structure 31 is used to convey spring base to third jig 321.When spring base is delivered to third jig 321 by third conveying mechanism 31,
Third issues third signal in place in level detecting apparatus 33.
Spring base can be delivered to third depiler in feeding, through third conveying mechanism 31 by spring base feeding device 30
On the third jig 321 of structure 32, third level detecting apparatus 33 can on third jig 321 whether there is spring base carry out for
Detection.If detecting spring base, third issues third signal in place in level detecting apparatus 33, herein under the premise of, manipulator 40
Suction means 42 spring base could be drawn.
Optionally, third conveying mechanism 31 includes the second vibrating disk 311 and second straight line feed appliance 312, and second straight line is sent
The arrival end of glassware 312 is connect with the second vibrating disk 311, the outlet end of second straight line feed appliance 312 and third feeding distribution mechanism 32
Third jig 321 connect.The specific structure of second vibrating disk 311 and second straight line feed appliance 312 can be found in the relevant technologies, In
This is repeated no more.
When feeding, the spring base of batch is put into the second vibrating disk 311, and spring base passes through 311 vibration screening of the second vibrating disk
Second straight line feed appliance 312 is regularly entered to afterwards, and lock pin is delivered on third jig 321 by second straight line feed appliance 312.
Wherein, the bottom of second straight line feed appliance 312 is equipped with third bracket 313.
Optionally, third feeding distribution mechanism 32 further includes third support base 322 and the 7th driving device 323, third jig 321
It is movably arranged at third support base 322, the 7th driving device 323 is for driving third jig 321 along perpendicular to vertical
Direction is mobile.When third is in the sending of level detecting apparatus 33 third signal in place, the 7th driving device 323 drives third jig
321 perpendicular to vertical direction along moving, so that the spring base being located on third jig 321 moves to the third place.
When third detects that then feeding success, third exist there are when spring base on the second jig 221 in level detecting apparatus 33
Level detecting apparatus 33 issues third signal in place, and the 7th driving device 323 is in response to third signal in place, the 7th driving device
323 move driving third jig 321 along perpendicular to vertical direction, spring base are moved to the third place, in order to inhale
Device 42 is taken to draw the spring base on third jig 321.
Third support base 322 is connected and fixed on third bracket 313.Third support base 322 is equipped with guide rail, and guide rail is equipped with
Slideably third sliding block 324, third jig 321 are connected and fixed on third sliding block 324, and third sliding block 324 is slided along guide rail
Then third sliding block 324 can be made to move along perpendicular to vertical direction.
In the present embodiment, third jig 321 is rectangular block shape structure, and third jig 321 is equipped with the second arc gap, the
Two arc gaps can accommodate a spring base.The spring base that second straight line feed appliance 312 is conveyed to third jig 321 finally into
Enter to the second arc gap.
In the present embodiment, the 7th driving device 323 is cylinder, and cylinder body and the third support base 322 of cylinder are connected and fixed, gas
The piston rod of cylinder is connected and fixed with third sliding block 324.Cylinder operation can be such that third sliding block 324 slides, to make third jig 321
Mobile perpendicular to vertical direction.
Optionally, third level detecting apparatus 33 be third to penetrate switch, third to penetrate switch include third transmitter and
Third receiver, third transmitter and third receiver are positioned opposite on third sliding block 324, and third receiver is for receiving the
The light (such as infrared ray) that three generators issue.When spring base enters to the second arc gap of third jig 321, spring base
The light of third transmitter sending will be blocked, third receiver can not receive the light of third generator sending, it will be appreciated that be,
Third detects that, there are spring base on third jig 321, third issues third signal in place to switch is penetrated to switch is penetrated.
Third can be electrically connected with the controller to switch and the 7th driving device 323 is penetrated, and controller exists receiving third
The 7th driving device 323 of control movement after the signal of position, so that the spring base on third jig 321 is delivered to the third place, with
Spring base is drawn to suction means 42.Certainly, suction means 42 clamps the lock pin spring for being located at the third place
Precondition be that third detects that there are spring bases on third jig 321 in level detecting apparatus 33.
It should be noted that third jig 321 can also be directly anchored to third support in the other embodiments of the application
On seat 322.
As shown in Figure 1, lock pin feeding device 10, lock pin spring feeding device 20 and spring base feeding dress are arranged side by side.Its
In, the lock pin spring feeding station 211 of lock pin spring feeding device 20 is located at the first vibrating disk 111 and bullet of lock pin feeding device 10
Between second vibrating disk 311 of spring abutment feeding device 30；The third feeding distribution mechanism 32 of spring base feeding device 30 is located on lock pin
Expect between the first feeding distribution mechanism 12 of device 10 and the second feeding distribution mechanism 22 of lock pin spring feeding device 20.
Further, manipulator 40 further includes the first support base 43, the first sliding seat 44 and first driving device 45.First
Sliding seat 44 is movably arranged at the first support base 43, and the first clamp device 41 and suction means 42 are all connected to the first activity
Seat 44.First driving device 45 is for driving opposite first support base, 43 transverse shifting of the first sliding seat 44, so that the first clamping
Device 41 is located at the top of first position or the top positioned at the second position, and suction means 42 is made to be located at the top of the third place.
44 transverse shifting of the first sliding seat is driven by first driving device 45, the first clamp device 41 can be made to be located at first
The top of position, in order to which the first clamp device 41 clamps lock pin；Drive the first sliding seat 44 horizontal by first driving device 45
To movement, the first clamp device 41 can also be made to be located at the top of the second position, in order to which the first clamp device 41 clamps lock pin bullet
Spring；44 transverse shifting of the first sliding seat is driven by first driving device 45, suction means 42 can also be made to be located at the third place
Top, in order to which suction means 42 draws spring base.
Intelligible, first position, the second position and the third place are horizontally conllinear.
Wherein, the first sliding seat 44 is block, and the first support base 43 is equipped with for 44 transverse shifting of the first sliding seat
Guide rail.
In the present embodiment, first driving device 45 includes motor 451 and screw rod 452, and screw rod 452 is fixed on the first support base
43, screw rod 452 is connected to the output shaft of motor 451, and the first sliding seat 44 is bolted in the outside of screw rod 452.451 work belt of motor
When dynamic screw rod 452 rotates, the first sliding seat 44 will be with respect to 43 transverse shifting of the first support base.
In the present embodiment, as shown in Figure 6, Figure 7, suction means 42 includes the first fixing seat 421, first movement seat 422, inhales
Bar 423, the second driving device 424 and third driving device 425.First movement seat 422 is movably arranged at the first fixing seat
421, soup stick 423 is movably arranged at first movement seat 422.Second driving device 424 is for driving 422 phase of first movement seat
First fixing seat 421 is vertically moved back and forth.Third driving device 425 is for driving soup stick 423 around vertically arranged axis
Line rotation.Wherein, as shown in figure 8, the first fixing seat 421 is fixed on the first sliding seat 44.
Second driving device 424 driving first movement seat 422 is vertically moved back and forth with respect to the first fixing seat 421, thus
Realize the round-trip of soup stick 423 vertically；Third driving device 425 drives soup stick 423 to turn around vertically arranged axis
It is dynamic, to realize the vertically arranged axis rotation of soup stick 423.I.e. soup stick 423 not only can be rotated, but also removable.In practical set
When, the second driving device 424 driving soup stick 423 can be first passed through and moved vertically downwards, soup stick 423 is made to draw spring base；Pass through again
Second driving device 424 drives 423 vertical upward movement of soup stick, and drives soup stick 423 laterally to move by first driving device 45
Move the position to be assembled to workpiece；Then soup stick 423 is driven to turn around the axis being vertically arranged by third driving device 425
Dynamic certain angle makes spring base meet assembled condition to adjust the angle of assembling of spring base；Finally pass through the second driving device again
424 driving soup sticks 423 vertically move down, and enter spring base in workpiece and carry out riveting assembly.
Wherein, the first fixing seat 421 is equipped with the guide rail vertically moved for first movement seat 422.
With continued reference to Fig. 6, Fig. 7, soup stick 423 is hollow tubular structures.Soup stick 423 is rotated relative to first movement seat 422
Axis is the axis of soup stick 423 itself.Connector 4231 is installed on soup stick 423, connector 4231 is bars, connector
4231 extending direction is vertical with the extending direction of soup stick 423, and third driving device 425 acts on connector 4231, so that even
Fitting 4231 is rotated together with soup stick 423.
It should be noted that when being drawn using soup stick 423 to spring base, soup stick 423 by extraneous getter device, thus
Make to generate negative pressure inside soup stick 423, so that soup stick 423 generates suction to spring base.
In the present embodiment, the second driving device 424 is cylinder, and the cylinder body of cylinder is connected and fixed with the first fixing seat 421, gas
The piston rod of cylinder is connected and fixed with first movement seat 422.The piston rod of cylinder stretches out, then first movement seat 422 will vertically downwards
It is mobile；The piston rod of cylinder retracts, then first movement seat 422 is by vertical upward movement.
In the present embodiment, third driving device 425 is cylinder, and cylinder body and the first movement seat 422 of cylinder are connected and fixed, gas
The piston rod of cylinder is flexibly connected with connector 4231 by pin shaft 4251.The piston rod of cylinder, which is stretched out or retracted, can then make soup stick
423 positive and negative rotations.
Further, suction means 42 further includes locating part 426, and locating part 426 is connected to first movement seat 422, limit
Part 426 is located on the track of the rotation of connector 4231.During rotation, connector 4231 will for connector 4231 and soup stick 423
It is contacted with locating part 426, locating part 426 plays the role of that connector 4231 is prevented to rotate, and rotates to reach limitation soup stick 423
Angle purpose.
In the present embodiment, locating part 426 is cylinder, and the cylinder body of cylinder is connected and fixed on first movement seat 422, the work of cylinder
Stopper rod is located on the track of the rotation of connector 4231.By adjusting the stroke of the piston rod of cylinder, then it can make connector 4231
Plunger rod contacts in different positions and cylinder are adjusted the range of the rotational angle of soup stick 423 to realize.
Further, manipulator 40 further includes depth detection apparatus 46.As shown in figure 9, depth detection apparatus 46 includes the
Two fixing seats 461, the second Mobile base 462, fourth drive device 463, detection bar 464 and detection unit.Second Mobile base 462 can
Movably it is set to the second fixing seat 461.Fourth drive device 463 is for driving opposite second fixing seat of the second Mobile base 462
461 vertically downwards or move up.Detection bar 464 vertically upward or can be moved down with respect to the second Mobile base 462.Detection is single
Member is for detecting displacement of the detection bar 464 with respect to 462 vertical upward movement of the second Mobile base.Wherein, as shown in figure 8, second
Fixing seat 461 is fixed on the first sliding seat 44.
During driving the second Mobile base 462 to move vertically downwards by fourth drive device 463, detection unit and quilt
After detection part contact, detection bar 464 will then can detect that inspection with respect to 462 vertical upward movement of the second Mobile base, detection unit
The displacement of measuring staff 464.In assembling process can by depth detection apparatus 46 detect lock pin whether neglected loading and askew dress, detection lock
Sell spring whether neglected loading, stack and two-man act, detection spring seat whether neglected loading and it is askew dress, detection spring seat riveting whether in place.
Wherein, the second fixing seat 461 is equipped with the guide rail vertically movable for the second Mobile base 462.
In the present embodiment, fourth drive device 463 is cylinder, and the cylinder body of cylinder is connected and fixed on the second fixing seat 461, gas
The piston rod of cylinder is connected to the second Mobile base 462.Make the second Mobile base 462 perpendicular by the stretching or retraction of the piston rod of cylinder
To moving up or down.
In addition, depth detection apparatus 46 further includes pusher cylinder 465, the cylinder body of pusher cylinder 465 and in the present embodiment
Two fixing seats 461 are connected and fixed, and the piston rod movement of pusher cylinder 465 can be contacted with the second Mobile base 462, and push second
Mobile base 462 vertically moves down.That is, there is no connect for the piston rod of pusher cylinder 465 and the second Mobile base 462
Relationship is connect, pusher cylinder 465 can be such that the second Mobile base 462 moves vertically downwards, cannot make the second Mobile base 462 vertically upward
Mobile, the movement of the vertical upward movement of the second Mobile base 462 is driven by fourth drive device 463 to be completed.
Further, detection unit includes tangent displacement sensor 466, and detection bar 464 is equipped with fixed block 4641, connects
Touch displacement sensor 466 is located at fixed block 4641 and follows on the track of 464 vertical upward movement of detection bar.Detection bar 464 with
When detected member contact and vertical upward movement, fixed block 4641 contacts the sensing head with tangent displacement sensor 466, from
And push the sensing head of tangent displacement sensor 466 mobile, to obtain shift value, which is fixed block 4641 and connect
Displacement caused by detection bar 464 after the sensing head contact of touch displacement sensor 466.
Optionally, it includes transmitting to switch 467 is penetrated to switch 467, displacement detecting is penetrated that detection unit, which further includes displacement detecting,
The receiver of device and the light for receiving transmitter sending, transmitter and receiver are relatively arranged on the second Mobile base 462.Inspection
Measuring staff 464 is equipped with blocker ring 4642, and blocker ring 4642 follows 464 vertical upward movement of detection bar transmitter can be stopped to issue
Light.
After the light that blocker ring 4642 stops transmitter to issue, displacement detecting will generate a switch letter to switch 467 is penetrated
Number, the corresponding shift value of a switching signal.
It should be noted that displacement detecting can be one to switch 467 is penetrated, it is also possible to multiple (including two, three
It is a, four etc.)；2241 ring of block piece can be one, be also possible to multiple (including two, three, four etc.).
In the present embodiment, displacement detecting is spaced apart three to switch 467 is penetrated, and block piece 2241 is spaced apart
Six.
It is detected, is improved to 467 pairs of detection bars 464 of switch are penetrated by tangent displacement sensor 466 and displacement detecting
The accuracy of detection.In other embodiments, can also only setting tangent displacement sensor 466 and displacement detecting to penetrate switch
One of both 467.
Further, as shown in figure 8, the first clamp device 41 includes third fixing seat 411, third Mobile base the 412, the 8th
Driving device 413 and the first pneumatic-finger 414.Third fixing seat 411 is fixed on the first sliding seat 44, and third Mobile base 412 can
It is movably set to third fixing seat 411, the first pneumatic-finger 414 is installed on third Mobile base 412, the 8th driving device 413
For driving the opposite third fixing seat 411 of third Mobile base 412 vertically upward or moving down.
When driving 44 transverse shifting of the first sliding seat of first driving device 45, and the first clamp device 41 is made to be located at first
When setting, third Mobile base 412 can be driven to move vertically downwards relative to third fixing seat 411 by the 8th driving device 413, make the
One pneumatic-finger 414 reaches designated position and clamps lock pin；When driving 44 transverse shifting of the first sliding seat of first driving device 45, and
When the second clamp device 47 being made to be located at the second position, third Mobile base 412 can be driven with respect to third by the 8th driving device 413
Fixing seat 411 moves vertically downwards, and the first pneumatic-finger 414 is made to reach designated position clamping lock pin spring.
Wherein, third fixing seat 411 is equipped with the guide rail slid vertically for third Mobile base 412.
In the present embodiment, the 8th driving device 413 is cylinder, and the cylinder body of cylinder is connected and fixed on third fixing seat 411, gas
The piston rod of cylinder is connected to third Mobile base 412.Make third Mobile base 412 perpendicular by the stretching or retraction of the piston rod of cylinder
To moving downward or upward.
First pneumatic-finger 414 include the first gripper cylinder and be movably disposed on third Mobile base 412 first
Holding finger makes the movement of the first holding finger to clamp lock pin or lock pin spring by the first gripper cylinder.
Further, please continue to refer to Fig. 1, manipulator 40 further includes the second clamp device 47, and the second clamp device 47 is used
Underproof product is assembled in clamping riveting.
As shown in figure 8, the second clamp device 47 includes the 4th fixing seat 471, the 4th Mobile base 472, the 9th driving device
473 and second pneumatic-finger 474.4th fixing seat 471 is fixed on the first sliding seat 44, and the 4th mobile sit is movably arranged at
4th fixing seat 471, the second pneumatic-finger 474 are installed on the 4th Mobile base 472, and the 9th driving device 473 is for driving the 4th
Mobile base 472 vertically upward or is moved down with respect to the 4th fixing seat 471.
After spring base and workpiece riveting, by the riveting depth of 46 detection spring seat of depth detection apparatus, to judge spring
In place whether seat riveting.If the non-riveting of spring base is in place, the first sliding seat 44 can be driven by first driving device 45 laterally
It is mobile, and the second clamp device 47 is made to be located at the top of workpiece；The 4th Mobile base 472 is driven by the 9th driving device 473 again
It is moved vertically downwards relative to the 4th fixing seat 471, the second pneumatic-finger 474 is made to reach designated position clamping workpiece；Second is pneumatic
After 474 clamping workpiece of finger, then it is vertical by the 9th driving device 473 driving 472 opposite 4th fixing seats 471 of the 4th Mobile base
It moves up, unqualified workpiece is taken away.
Wherein, the 4th fixing seat 471 is equipped with the guide rail slid vertically for the 4th Mobile base 472.
In the present embodiment, the 9th driving device 473 is cylinder, and the cylinder body of cylinder is connected and fixed on the 4th fixing seat 471, gas
The piston rod of cylinder is connected to the 4th Mobile base 472.Make the 4th Mobile base 472 perpendicular by the stretching or retraction of the piston rod of cylinder
To moving downward or upward.
Second pneumatic-finger 474 include the second gripper cylinder and be movably disposed on the 4th Mobile base 472 second
Holding finger makes the movement of the second holding finger to clamp unqualified workpiece by the second gripper cylinder.
The above is only preferred embodiment of the present application, are not intended to limit this application, for those skilled in the art
For member, various changes and changes are possible in this application.Within the spirit and principles of this application, it is made it is any modification,
Equivalent replacement, improvement etc., should be included within the scope of protection of this application.
Claims (10)
1. a kind of lock pin component feeding assembles equipment characterized by comprising
Lock pin feeding device, the lock pin feeding device are used for lock pin feeding to first position；
Lock pin spring feeding device, the lock pin spring feeding device are used for lock pin spring feeding to the second position；
Spring base feeding device, the spring base feeding device are used for spring base feeding to the third place；And
Manipulator, the manipulator include the first clamp device and suction means, and first clamp device will be for that will be located at institute
The lock pin spring for stating the second position, which is clamped to the first position and lock pin, to be pre-installed, and for that will be located at the lock of the first position
To in workpiece, the suction means is used to draw the spring base for being located at the third place in workpiece and carrying out riveting for pin clamping
Pressure.
2. lock pin component feeding according to claim 1 assembles equipment, which is characterized in that the manipulator further includes first
Support base, the first sliding seat and first driving device；
First sliding seat is movably arranged at first support base, first clamp device and the suction means
It is all connected to first sliding seat；
The first driving device is for driving the relatively described first support base transverse shifting of first sliding seat, so that described
First clamp device is located at the top of the first position or positioned at the top of the second position, is located at the suction means
The top of the third place.
3. lock pin component feeding according to claim 2 assembles equipment, which is characterized in that the suction means includes first
Fixing seat, first movement seat, soup stick, the second driving device and third driving device；
First fixing seat is fixed on first sliding seat；It is solid that the first movement seat is movably arranged at described first
Reservation；The soup stick is movably arranged at the first movement seat；Second driving device is moved for driving described first
Relatively described first fixing seat of dynamic seat vertically moves back and forth；The third driving device is for driving the soup stick around vertically
The axis of arrangement rotates.
4. lock pin component feeding according to claim 2 assembles equipment, which is characterized in that the manipulator further includes depth
Detection device；
The depth detection apparatus includes the second fixing seat, the second Mobile base, fourth drive device, detection bar and detection unit；
Second fixing seat is fixed on first sliding seat, and it is solid that second Mobile base is movably arranged at described second
Reservation；The fourth drive device is for driving relatively described second fixing seat of second Mobile base vertically downwards or Xiang Shangyi
It is dynamic；The detection bar can relatively described second Mobile base vertically upward or move down；Detection unit is for detecting the inspection
The displacement of the relatively described second Mobile base vertical upward movement of measuring staff.
5. lock pin component feeding according to claim 1 assembles equipment, which is characterized in that the lock pin feeding device includes
First conveying mechanism, the first feeding distribution mechanism and first are in level detecting apparatus；
First feeding distribution mechanism is connected to first conveying mechanism, and described first is connected to described first in level detecting apparatus
Feeding distribution mechanism, first feeding distribution mechanism have the first jig for placing single lock pin, and first conveying mechanism is used for institute
State the first jig conveying lock pin；
When lock pin is delivered to first jig by the first conveying mechanism, lock pin is located at the first position, described first
Level detecting apparatus issues the first signal in place.
6. lock pin component feeding according to claim 1 assembles equipment, which is characterized in that the lock pin spring feeding device
Including second conveyor structure, the second feeding distribution mechanism and second in level detecting apparatus；
Second feeding distribution mechanism is connected to the second conveyor structure, and described second is connected to described second in level detecting apparatus
Feeding distribution mechanism, second feeding distribution mechanism have the second jig for placing single lock pin spring, and second conveyor structure is used for institute
State the second jig conveying lock pin spring；
When lock pin spring is delivered to second jig by second conveyor structure, described second issues second in level detecting apparatus
Signal in place.
7. lock pin component feeding according to claim 6 assembles equipment, which is characterized in that second feeding distribution mechanism also wraps
Include the second support base, guide sleeve, switching device and the 5th driving device；
Second jig is movably arranged at second support base；The guide sleeve is connected to second support base, described
Guide sleeve is for guiding the lock pin spring that the second conveyor structure conveys to second jig；The switching device is used
In the discharge port for opening or closing guide sleeve；
5th driving device is for driving the second jig edge to move perpendicular to vertical direction；
When described second when level detecting apparatus issues second signal in place, the 5th driving device drives second jig
Along being moved perpendicular to vertical direction, so that the lock pin spring being located on second jig is from the moved beneath of guide sleeve to institute
State the second position.
8. lock pin component feeding according to claim 7 assembles equipment, which is characterized in that second feeding distribution mechanism also wraps
Include the 6th driving device；
The guide sleeve is movably arranged at second support base, and the 6th driving device is for driving the guide sleeve
It is vertically movable.
9. lock pin component feeding according to claim 1 assembles equipment, which is characterized in that the spring base feeding device packet
Third conveying mechanism, third feeding distribution mechanism and third are included in level detecting apparatus；
The third feeding distribution mechanism is connected to the third conveying mechanism, and the third is connected to the third in level detecting apparatus
Feeding distribution mechanism, the third feeding distribution mechanism have a third jig for placing single spring base, the third conveying mechanism be used for
The third jig conveys spring base；
When spring base is delivered to the third jig by third conveying mechanism, the third issues third in level detecting apparatus and exists
Position signal.
10. lock pin component feeding according to claim 9 assembles equipment, which is characterized in that the third feeding distribution mechanism is also
Including third support base and the 7th driving device；
The third jig is movably arranged at the third support base, and the 7th driving device is for driving the third
It is moved perpendicular to vertical direction on jig edge；
When the third is in level detecting apparatus sending third signal in place, the 7th driving device drives the third jig
Along being moved perpendicular to vertical direction, so that the spring base being located on the third jig moves to the third place.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910920791.2A CN110497201B (en) | 2019-09-26 | 2019-09-26 | Lockpin subassembly material loading equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910920791.2A CN110497201B (en) | 2019-09-26 | 2019-09-26 | Lockpin subassembly material loading equipment |
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| CN110497201A true CN110497201A (en) | 2019-11-26 |
| CN110497201B CN110497201B (en) | 2024-08-09 |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111622691A (en) * | 2020-04-17 | 2020-09-04 | 四川宏华石油设备有限公司 | Material turning mechanism, power catwalk cloud beam adopting material turning mechanism and power catwalk |
| CN113001172A (en) * | 2019-12-18 | 2021-06-22 | 杭州通产机械有限公司 | Assembling equipment and assembling method |
| CN113320938A (en) * | 2021-04-30 | 2021-08-31 | 深圳市迪尔泰设备有限公司 | Shaft part pressure spring feeding system and pressure spring feeding method |
| WO2021196021A1 (en) * | 2020-03-31 | 2021-10-07 | 广东利元亨智能装备股份有限公司 | Phaser actuator assembly line |
| CN113681282A (en) * | 2021-08-03 | 2021-11-23 | 巴士麦普科技(武汉)有限公司 | Car seat shoulder unblock handle assembly rigging equipment |
| CN116674954A (en) * | 2023-08-03 | 2023-09-01 | 昆山鸿仕达智能科技股份有限公司 | Automatic feeding method and automatic feeding equipment |
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| CN113001172B (en) * | 2019-12-18 | 2023-08-18 | 杭州三花研究院有限公司 | Assembling equipment and assembling method |
| CN113001172A (en) * | 2019-12-18 | 2021-06-22 | 杭州通产机械有限公司 | Assembling equipment and assembling method |
| CN114901423A (en) * | 2020-03-31 | 2022-08-12 | 广东利元亨智能装备股份有限公司 | Phase executor assembly line |
| WO2021196021A1 (en) * | 2020-03-31 | 2021-10-07 | 广东利元亨智能装备股份有限公司 | Phaser actuator assembly line |
| CN114901423B (en) * | 2020-03-31 | 2024-01-16 | 广东利元亨智能装备股份有限公司 | Assembly line of phase actuator |
| CN111622691B (en) * | 2020-04-17 | 2021-10-15 | 四川宏华石油设备有限公司 | Material turning mechanism, power catwalk cloud beam adopting material turning mechanism and power catwalk |
| CN111622691A (en) * | 2020-04-17 | 2020-09-04 | 四川宏华石油设备有限公司 | Material turning mechanism, power catwalk cloud beam adopting material turning mechanism and power catwalk |
| CN113320938B (en) * | 2021-04-30 | 2022-09-13 | 深圳市迪尔泰设备有限公司 | Shaft part pressure spring feeding system and pressure spring feeding method |
| CN113320938A (en) * | 2021-04-30 | 2021-08-31 | 深圳市迪尔泰设备有限公司 | Shaft part pressure spring feeding system and pressure spring feeding method |
| CN113681282A (en) * | 2021-08-03 | 2021-11-23 | 巴士麦普科技(武汉)有限公司 | Car seat shoulder unblock handle assembly rigging equipment |
| CN113681282B (en) * | 2021-08-03 | 2024-03-22 | 巴士麦普科技(武汉)有限公司 | Car seat shoulder unblock handle assembly rigging equipment |
| CN116674954A (en) * | 2023-08-03 | 2023-09-01 | 昆山鸿仕达智能科技股份有限公司 | Automatic feeding method and automatic feeding equipment |
| CN116674954B (en) * | 2023-08-03 | 2023-10-10 | 昆山鸿仕达智能科技股份有限公司 | Automatic feeding method and automatic feeding equipment |
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