CN111546026B

CN111546026B - Automatic change equipment robot

Info

Publication number: CN111546026B
Application number: CN202010413494.1A
Authority: CN
Inventors: 王健; 李耀
Original assignee: Changzhou Suolinke Automation Equipment Co ltd
Current assignee: CHANGZHOU WUJIN SANJING AUTOMATION EQUIPMENT Co.,Ltd.
Priority date: 2020-05-15
Filing date: 2020-05-15
Publication date: 2021-02-19
Anticipated expiration: 2040-05-15
Also published as: CN111546026A

Abstract

The invention relates to the technical field of automatic assembly, in particular to an automatic assembly robot, which comprises a piece conveying mechanism, a second piece conveying mechanism, an assembly mechanism and a discharge mechanism, wherein the piece conveying mechanism comprises a first part supply device and a first part conveying device; the second part conveying mechanism comprises a second part supply device and a second part conveying device; the assembling mechanism is used for assembling the first part from the first part conveying device and the second part from the second part conveying device; the discharge mechanism is used for discharging the assembled product out of the assembly mechanism. According to the part assembling machine, the first parts in the first part supply device are conveyed to the assembling mechanism through the first part conveying device, the second parts in the second part supply device are conveyed to the assembling mechanism through the second part conveying device to be automatically assembled with the first parts, and the assembled products are automatically discharged through the discharging mechanism, so that the automation of part assembling is realized, and the assembling efficiency is improved.

Description

Automatic change equipment robot

Technical Field

The invention relates to the technical field of automatic assembly, in particular to an automatic assembly robot.

Background

Automation refers to a process of realizing an expected target by automatic detection, information processing, analysis and judgment, and manipulation control of machine equipment, systems or processes (production and management processes) according to the requirements of people without direct participation of people or few people. Automation technology is widely used in industry, agriculture, military, scientific research, transportation, commerce, medical treatment, services, and home. The automatic technology can not only liberate people from heavy physical labor, partial mental labor and severe and dangerous working environments, but also expand the functions of human organs, greatly improve the labor productivity and enhance the ability of human to know the world and transform the world. Therefore, automation is an important condition and a significant sign for the modernization of industry, agriculture, national defense and scientific technology.

The parts are required to be assembled according to the specified requirements in the process of assembling the parts. Manual assembly is time-consuming and labor-consuming, and in some industries with higher precision requirements, manual assembly often cannot achieve the required precision, so that a large number of unqualified products are generated, the production efficiency is low, and a large amount of resources are wasted. Therefore, it is necessary to develop an automated assembly robot with high assembly accuracy.

Disclosure of Invention

The technical problem to be solved by the invention is as follows: in order to solve the problems of low efficiency and poor precision of manually assembling parts, the invention provides an automatic assembling robot, wherein a first part in a first part supply device is automatically conveyed to an assembling mechanism through a first part conveying device, a second part in a second part supply device is automatically conveyed to the assembling mechanism through a second part conveying device to be automatically assembled with the first part, and an assembled product is automatically discharged through a discharging mechanism, so that the automation of part assembling is realized, the assembling efficiency is improved, the whole assembling process is automatically controlled, and the assembling precision is high.

The technical scheme adopted by the invention for solving the technical problems is as follows:

an automated assembly robot, comprising

A feeding mechanism comprising a first part supply and a first part delivery;

a second part feeding mechanism comprising a second part supply device and a second part conveying device;

an assembly mechanism for assembling the first part from the first part conveyor and the second part from the second part conveyor; and

and the discharging mechanism is used for discharging the assembled product out of the assembling mechanism.

Preferably, the first part supply device comprises a plastic suction pipe for storing the first part and a part pushing device, and the part pushing device is used for pushing the first part stored in the plastic suction pipe to the first part conveying device.

Preferably, the first part supply device further comprises a first part supply cabinet, a plastic uptake pipe accommodating device and a plastic uptake pipe transmission device are arranged in the first part supply cabinet, and the plastic uptake pipe transmission device is used for transmitting the plastic uptake pipes stored in the plastic uptake pipe accommodating device to a working position.

Preferably, a plastic suction pipe detecting sensor is further disposed in the first part supplying cabinet, and is configured to detect whether the plastic suction pipe reaches a working position.

Preferably, at least one plastic uptake pipe fixing device is further arranged in the first part supply cabinet, the plastic uptake pipe fixing device comprises a plastic uptake pipe pressing device, a plastic uptake pipe clamping device and a plastic uptake pipe fixing cylinder, and the plastic uptake pipe fixing cylinder is used for driving the plastic uptake pipe pressing device and the plastic uptake pipe clamping device to ascend or descend.

Preferably, the feeding mechanism further comprises a plastic suction pipe recovery device, and the plastic suction pipe recovery device is connected with the plastic suction pipe transmission device and used for recovering the plastic suction pipe with the first part discharged completely.

Preferably, the second part supplying device includes a second part supplying cabinet, and a second part vibration tray and an ion fan which are arranged in the second part supplying cabinet, the ion fan is used for removing static electricity of the second part in the second part vibration tray, and the second part vibration tray is used for discharging the second part to the second part conveying device in a certain direction.

Preferably, the automated assembly robot further includes a parts transfer mechanism provided between the first or second parts transfer device and the assembly mechanism, and configured to transfer the first or second parts transferred by the first or second parts transfer device to the assembly mechanism for assembly.

Preferably, the assembling mechanism includes an assembling turntable fixedly disposed on the worktable, and a plurality of component assembling modules disposed on the assembling turntable at intervals.

Preferably, the discharge mechanism includes a product carrying mechanism for carrying the assembled product to the discharge conveyor, and a discharge conveyor.

The invention has the beneficial effects that:

(1) according to the automatic assembly robot, the first parts in the first part supply device are automatically conveyed to the assembly mechanism through the first part conveying device, the second parts in the second part supply device are automatically conveyed to the assembly mechanism through the second part conveying device to be automatically assembled with the first parts, and assembled products are automatically discharged through the discharge mechanism, so that the automation of part assembly is realized, the assembly efficiency is improved, the whole assembly process is automatically controlled, and the assembly precision is high;

(2) first part feeding mechanism includes the plastic uptake pipe, part pusher, plastic uptake pipe holds device and plastic uptake pipe transmission device, still set up plastic uptake pipe recovery unit in sending a mechanism, earlier by plastic uptake pipe transmission device with the plastic uptake pipe conveying of plastic uptake pipe holding device in to the operating position, again by part pusher with the intraductal first part propelling movement of plastic uptake to first part conveyor on, the empty plastic uptake pipe that has used up can get into plastic uptake pipe recovery unit under plastic uptake pipe transmission device's effect automatically, the feed process of whole first part is highly automatic, the feed is efficient, in addition, can design accommodation space according to the requirement of reloading time in the plastic uptake pipe holds the device.

Drawings

The invention is further illustrated with reference to the following figures and examples.

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a schematic structural view of a first feeding mechanism of the present invention;

FIG. 3 is a partial schematic view of a first feed mechanism of the present invention (showing the blister tube work position);

FIG. 4 is a partial schematic view of a first feed mechanism of the present invention (showing a blister tube transfer device);

FIG. 5 is an enlarged view of a portion a of FIG. 4;

FIG. 6 is a schematic view of the blister tube receiving apparatus of the present invention;

FIG. 7 is an enlarged view of portion b of FIG. 6;

FIG. 8 is a schematic view of the construction of the vertical transport mechanism of the present invention;

FIG. 9 is a schematic view of the construction of the lateral transfer mechanism of the present invention;

FIG. 10 is a schematic structural view of a plastic suction pipe fixing device according to the present invention;

FIG. 11 is an enlarged view of portion c of FIG. 10;

FIG. 12 is a schematic structural view of a first parts feeder according to the present invention;

FIG. 13 is a schematic view showing the construction of a first part feeder and a second part transfer apparatus according to the present invention;

FIG. 14 is an enlarged view of portion d of FIG. 13;

fig. 15 is a schematic structural view of the first part transfer device and the second part transfer device (on the other side, the suction hood is omitted);

fig. 16 is a schematic view of the construction of the air blowing nozzle of the present invention;

FIG. 17 is a schematic view of a first part feeder and a second part conveyor (alternative blower mounting);

FIG. 18 is a schematic structural view of the parts handling mechanism of the present invention;

FIG. 19 is an enlarged view of section e of FIG. 18;

FIG. 20 is a partial schematic view of the parts handling mechanism of the present invention;

FIG. 21 is an enlarged view of portion f of FIG. 20;

fig. 22 is a schematic view showing a positional relationship of the first part feeder, the second part feeder, the assembling mechanism, and the discharging mechanism;

fig. 23 is an enlarged view of the portion n in fig. 22;

FIG. 24 is an enlarged view of portion g of FIG. 22;

FIG. 25 is a schematic view of the structure of a first part pressing apparatus of the present invention;

FIG. 26 is a schematic view of the assembled hold-down mechanism of the present invention;

FIG. 27 is a schematic view of the assembled push down module of the present invention;

FIG. 28 is a schematic structural view of a product acceptance inspection mechanism according to the present invention;

FIG. 29 is an enlarged view of portion h of FIG. 28;

FIG. 30 is a schematic view of a non-defective marking mechanism according to the present invention;

fig. 31 is an internal structural view of a portion a in fig. 30;

FIG. 32 is a schematic view of the discharge mechanism of the present invention;

FIG. 33 is an enlarged view of portion k of FIG. 32;

FIG. 34 is a schematic view of the construction of the discharge conveyor of the present invention;

FIG. 35 is an enlarged view of portion m of FIG. 34;

FIG. 36 is a schematic view showing the correspondence between different parts and the detection points when the part variety detection apparatus detects the first part;

figure 37 is a schematic view of a u-shaped element holder according to the invention for different elements of the element-cutting device;

in the figure: 11. a first part supply device; 111. plastic absorbing pipes; 1111. plugging the hole; 112. a first part pushing device; 1121. a first part pushing block; 11211. a wire rope fixing hole; 1122. the first part pushes a steel wire rope; 1123. pushing a driving wheel; 1124. pushing the pinch roller; 1125. pushing a driving motor; 1126. a pusher block push sensor; 1127. the pushing block exits the sensor; 1128. the pushing device fixing support; 11281. pre-pushing the track; 11282. a wire rope limiting plate; 1129. a wire rope sleeve; 113. a first parts supply cabinet; 114. a blister tube containment device; 1141. a left limiting splint and a right limiting splint; 1142. an upper and lower limiting mechanism; 11421. a limiting strip; 11422. a limiting cylinder; 1143. plastic suction pipe barrier strips; 1144. a plastic suction pipe shutter; 1145. a shutter sensor; 1146. a plastic uptake pipe induction sensor; 115. a plastic uptake pipe transmission device; 116. a plastic uptake pipe detection sensor; 117. a plastic suction pipe fixing device; 1171. a plastic suction pipe compression device; 11711. a plastic suction pipe compresses the drive plate; 11712. the plastic suction pipe compresses the spring; 11713. the plastic suction pipe compresses the guide post; 11714. pressing plates of the plastic suction pipes; 1172. a plastic suction pipe clamping device; 11721. a plastic suction pipe clamping block; 1173. a plastic suction pipe fixes the cylinder; 1174. a plastic suction pipe anti-reverse device; 11741. an anti-reverse insertion sheet; 11742. an anti-reflection sensor; 11743. an anti-reverse fixing plate; 11744. an anti-reverse pressing block; 11745. anti-reverse pressing of the spring; 1175. fixing a cylinder connecting plate; 12. a first part conveying device; 13. a plastic uptake pipe recovery device; 21. a second parts supply device; 211. a second parts supply cabinet; 212. a second part vibration plate; 213. an ion fan; 22. a second part conveying device; 3. an assembly mechanism; 31. assembling the turntable; 32. a part assembly module; 33. assembling a fixed disc; 331. a first part sensor 332, a second part sensor; 34. a part variety detection device; 341. detecting points of part varieties; 35. a first part pressing device; 351. a first part compact; 352. the pressing block drives the air cylinder; 36. assembling a pressing mechanism; 361. assembling a pressing module; 3611. assembling a lower pressing cover; 36111. pressing the cover body; 361111. the side is open; 36112. a cover body fixing part; 3612. assembling a lower pressing block; 36121. a convex edge; 3613. a pressing block limiting plate is arranged; 3614. a lower pressing block pressurizing spring; 362. the pressing module drives the air cylinder; 363. assembling a pressing slide rail; 364. assembling a pressing slide block; 365. pressing down the mechanism supporting block; 366. the pressing module drives the cylinder fixing plate; 367. assembling a pressing module fixing plate; 368. a cylinder pressure regulating device; 3691. pressing down the height limiting block; 3692. depressing the height limiting post; 37. a product qualification detection mechanism; 371. a detection mechanism support; 372. a height detection sensor; 373. a sensor driving device; 3731. a sensor front and rear driving device; 37311. an "L-shaped" sensor mounting plate; 37312. the sensor drives the electric cylinder front and back; 3732. a sensor left and right driving device; 37321. an electric cylinder fixing device; 373211. the electric cylinder fixes the transverse plate; 373212. the vertical plate is fixed by the electric cylinder; 37322. the sensor drives the slide rail left and right; 37323. the sensor drives the slide block left and right; 37324. the sensor drives the cylinder left and right; 37325. a left-right driving buffer device; 373251. a left buffer device fixing plate; 373252. a left inductor; 373253. a left buffer; 373254. a right buffer fixing plate; 373255. a right inductor; 373256. a right buffer; 374. a height fine-tuning device; 38. a qualified product marking mechanism; 381. laser marking machine; 382. a flue gas absorption device; 383. marking a qualified product with a mark cover; 384. a laser marking and blowing device; 385. a qualified product sensor; 386. a qualified product pressing device; 3861. qualified product pressed blocks; 3862. the qualified product pressing block drives the air cylinder; 4. a discharge mechanism; 41. a product handling mechanism; 411. a product handling rack; 412. a product clamping mechanism; 413. a product up-and-down conveying driving mechanism; 414. a product front and rear carrying driving mechanism; 42. a discharge conveyor; 421. a discharge conveyor; 422. a product discharge barrier; 423. a product discharge sensing device; 424. a product accumulation prevention sensing device; 425. a nonconforming product recovery mechanism; 4251. a unqualified product recovery box; 4252. a defective product sensing device; 5. a parts carrying mechanism; 51. a part cutting device; 511. u-shaped part supporting plate; 5111. a pallet sidewall recess; 512. cutting out a cylinder; 513. a part cutting induction device; 5131. cutting out an assembly plate; 5132. cutting out an induction shifting piece; 5133. sensing a plectrum shaft; 5134. a paddle pressurizing spring; 5135. a spring guide post; 5136. cutting out the inductor; 5137. a shifting piece adjusting screw rod; 514. the U-shaped part is connected with the supporting plate; 52. a parts conveyance device; 521. a part holding mechanism; 5211. a part clamp block; 5212. a part clamping cylinder; 522. a parts carrying drive mechanism; 5221. a draw bar; 5222. a cam drive device; 52221. a drive chassis; 52222. a drive plate; 52223. a drive shaft; 52224. a drive motor; 52225. a linkage plate; 52226. a bearing follower; 52227. a bearing follower block; 522281. an upper auxiliary slide rail and a lower auxiliary slide rail; 522282. an upper and lower auxiliary slide block; 522283. front and rear auxiliary sliders; 522284. a front and rear auxiliary plate; 5223. a carrying mechanism protecting device; 52231. a protection limit base plate; 52232. a draw bar connecting plate; 52233. a part clamping cylinder connecting plate; 52234. a part clamping cylinder fixing plate; 52235. protecting the slide rail; 52236. protecting the sliding block; 522371. an upper protection pull rod; 522372. a lower protection pull rod; 522373. a protection tension spring; 522381. a protection start sensor; 522382. protecting the starting induction sheet; 522383. a sensor height adjustment plate; 53. a parts handling rack; 81. a part transfer belt; 82. a belt drive; 83. a belt support; 84. a belt support plate; 85. a part barrier strip; 86. a part limiting plate; 87. a part cleaning device; 871. a blowing device; 8711. a blowing nozzle; 87111. a strip-shaped air outlet; 87112. a blowing air path; 8712. a blowing pipe joint; 872. an air suction device; 8721. a suction nozzle; 8722. an air suction hood; 8723. an air suction pipe joint; 88. a part hold down; 881. a part pinch roller; 882. pressing the leather strips; 883. a pinch roller fixing plate; 884. a compression height adjusting device; 8841. a height adjustment rocking handle; 8842. a first rotating shaft; 8843. a second rotation shaft; 8844. a support bolt; 891. the coming element detects the photoelectric sensor; 892. a delivery limit photosensor; 91. a first part; 92. a second part; 93. qualified products; 94. unqualified products; 99. a work bench.

Detailed Description

The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic views illustrating only the basic structure of the present invention in a schematic manner, and thus show only the constitution related to the present invention.

An automated assembly robot, as shown in fig. 1, includes a feeding mechanism including a first part supplying device 11 and a first part conveying device 12, a second feeding mechanism, an assembling mechanism 3, and a discharging mechanism 4; the second feeding mechanism comprises a second part supply device 21 and a second part conveying device 22; the assembling mechanism 3 is used for assembling the first part 91 from the first part conveying device 12 and the second part 92 from the second part conveying device 22; the discharge mechanism 4 is used for discharging the assembled product out of the assembly mechanism 3.

The first parts 91 in the first part supply device 11 are automatically conveyed to the assembly mechanism 3 through the first part conveying device 12, the second parts 92 in the second part supply device 21 are automatically conveyed to the assembly mechanism 3 through the second part conveying device 22 to be automatically assembled with the first parts 91, and assembled products are automatically discharged through the discharge mechanism 4, so that the automation of part assembly is realized, the assembly efficiency is improved, the whole assembly process is automatically controlled, and the assembly precision is high.

In a specific embodiment, as shown in fig. 2-3, the first parts supply device 11 comprises a blister tube 111 for storing the first parts 91 and a parts pusher 112, and the parts pusher 112 is used for pushing the first parts 91 stored in the blister tube 111 onto the first parts conveyor 12.

In a specific embodiment, as shown in fig. 2 to 4, the first part supplying device 11 further includes a first part supplying cabinet 113, a plastic sucking pipe accommodating device 114 and a plastic sucking pipe transferring device 115 are disposed in the first part supplying cabinet 113, and the plastic sucking pipe transferring device 115 is configured to transfer the plastic sucking pipes 111 stored in the plastic sucking pipe accommodating device 114 to a working position.

In a specific embodiment, as shown in fig. 3, a plastic suction pipe detecting sensor 116 is further disposed in the first part supplying cabinet 113 for detecting whether the plastic suction pipe 111 reaches the working position. In one embodiment, as shown in fig. 3, the blister tube detecting sensor 116 emits a radiation γ, and when the blister tube 111 is detected, the parts pusher 112 is instructed to push the first part 91 out of the blister tube 111 and onto the first part feeder 12.

In a specific embodiment, as shown in fig. 10, at least one plastic sucking pipe fixing device 117 is further disposed in the first part supplying cabinet 113, the plastic sucking pipe fixing device 117 includes a plastic sucking pipe pressing device 1171, a plastic sucking pipe clamping device 1172, and a plastic sucking pipe fixing cylinder 1173, and the plastic sucking pipe fixing cylinder 1173 is configured to drive the plastic sucking pipe pressing device 1171 and the plastic sucking pipe clamping device 1172 to ascend or descend. In the embodiment, as shown in fig. 3 and 10, the blister tube detecting sensor 116 emits the ray γ, and when the blister tube 111 is detected, the blister tube fixing cylinder 1173 is instructed to drive the blister tube pressing device 1171 and the blister tube clamping device 1172 to descend, so as to fix the blister tube 111, and after the fixation is completed, the part pushing device 112 is instructed to push the first part 91 out of the blister tube 111 and send the first part to the first part transporting device 12. In a particular embodiment, the blister tube detection sensor 116 may employ an E3Z-B61 photosensor.

In a specific embodiment, as shown in fig. 2, the feeding mechanism further includes a plastic suction pipe recycling device 13, and the plastic suction pipe recycling device 13 is connected to the plastic suction pipe conveying device 115 for recycling the plastic suction pipe 111 of the first part 91 after being discharged.

In the exemplary embodiment, when the blister tube transfer device 115 delivers a new filled blister tube 111 to the work position, the new blister tube 111 pushes the empty blister tube 111 forward to the blister tube recycling device 13.

In a specific embodiment, as shown in fig. 1, the second parts supply device 21 includes a second parts supply cabinet 211, and a second parts vibration tray 212 and an ion fan 213 disposed in the second parts supply cabinet 211, wherein the ion fan 213 is used for removing static electricity from the second parts 92 in the second parts vibration tray 212, and the second parts vibration tray 212 is used for discharging the second parts 92 to the second parts conveying device 22 in a certain direction. The part can constantly vibrate in the process of vibration dish discharge part, and the part that easily rubs and damage is not suitable for adopting the vibration dish mode to discharge, and the big problem of vibration dish friction has been overcome to the discharge mode of plastic uptake pipe.

In a specific embodiment, as shown in fig. 1 and 18, the automated assembly robot further includes a parts transporting mechanism 5, and the parts transporting mechanism 5 is disposed between the first parts transporting device 12 or the second parts transporting device 22 and the assembly mechanism 3, and is configured to transport the first parts 91 or the second parts 92 transported by the first parts transporting device 12 or the second parts transporting device 22 to the assembly mechanism 3 for assembly.

In a specific embodiment, as shown in fig. 22, the assembling mechanism 3 includes an assembling turntable 31 fixedly disposed on the working table 99 and a plurality of part assembling modules 32 disposed on the assembling turntable 31 at intervals. The part carrying mechanism 5 connected with the first part conveying device 12 carries the first part 91 conveyed by the first part conveying device 12 to the part assembling module 32, the part assembling module 32 rotates to an assembling station along with the assembling turntable 31, and the part carrying mechanism 5 connected with the second part conveying device 22 carries the second part 92 conveyed by the second part conveying device 22 to the part assembling module 32 to be assembled with the first part 91; the component assembly module 32 rotates to the discharge station along with the assembly turntable 31, and the discharge mechanism 4 discharges the product assembled on the component assembly module 32 out of the assembly mechanism 3.

In a specific embodiment, as shown in fig. 22, the discharge mechanism 4 includes a product handling mechanism 41 and a discharge conveyor 42, and the product handling mechanism 41 is used for handling the assembled product onto the discharge conveyor 42.

In a specific embodiment, as shown in fig. 4-6, the plastic uptake pipe accommodating device 114 includes a plurality of pairs of left and right spacing clamp plates 1141 and upper and lower spacing mechanisms 1142 disposed at two ends of the bottom of each pair of left and right spacing clamp plates 1141 for preventing the plastic uptake pipe 111 from dropping, one end of each pair of left and right spacing clamp plates 1141 is provided with a plastic uptake pipe barrier 1143, the other end is provided with a plastic uptake pipe barrier 1144 for laterally limiting the plastic uptake pipe 111 between each pair of left and right spacing clamp plates 1141, the plastic uptake pipe barrier 1144 is hinged to one of each pair of left and right spacing clamp plates 1141, and a barrier sensor 1145 is disposed above the plastic uptake pipe barrier 1144 for detecting whether the plastic uptake pipe barrier 1144 is closed. In one embodiment, the plastic uptake door 1144 is detected by the door sensor 1145 before subsequent operations are initiated. In particular embodiments, the door sensor 1145 may employ an E2S-Q21 proximity sensor.

In a specific embodiment, as shown in fig. 6-7, a pair of blister tube sensors 1146 is disposed at the bottom of the left and right position-limiting clamps 1141 at the end near the blister tube door 1144 for detecting whether the blister tube 111 filled with the first part 91 needs to be filled between the left and right position-limiting clamps 1141. In a specific embodiment, as shown in fig. 7, the plastic suction pipe sensor 1146 emits the ray γ, and when the plastic suction pipe sensor 1146 cannot detect the plastic suction pipe 111, it indicates that the plastic suction pipe 111 between the left and right retaining clips 1141 has been conveyed, the worker is reminded to replenish the plastic suction pipe 111 filled with the first part 91. In a particular embodiment, the blister tube inductive sensor 1146 may employ a fiber optic sensor FU-54 TZ.

In a specific embodiment, as shown in fig. 7, the upper and lower spacing mechanism 1142 includes a spacing bar 11421 and a spacing cylinder 11422 for driving the spacing bar 11421 to insert into or withdraw from the plastic uptake pipe 111.

In one specific embodiment, as shown in fig. 3-4, the blister tube transporting device 115 includes two vertical transporting mechanisms 1151, a horizontal transporting mechanism 1152 and two horizontal transporting rails 1153, the vertical transporting mechanism 1151 is used for lowering the lowermost blister tube 111 in the blister tube accommodating device 114 onto the horizontal transporting rails 1153, and the horizontal transporting mechanism 1152 is used for horizontally transporting the blister tube 111 on the horizontal transporting rails 1153 to the working position.

In the specific embodiment, the two vertical transmission mechanisms 1151 are lifted first to lift the blister pipe 111 between the left and right limiting splints 1141 by 1-5mm, and then the limiting cylinder 11422 drives the limiting strip 11421 to exit the blister pipe 111; the two vertical transmission mechanisms 1151 drive the plastic suction pipes 111 between the left limiting clamp plate 1141 and the right limiting clamp plate 1141 to descend to the position where the second plastic suction pipe 111 from bottom to top can be inserted with the limiting strip 11421, then the limiting cylinder 11422 drives the limiting strip 11421 to be inserted into the penultimate plastic suction pipe 111, and then the two vertical transmission mechanisms 1151 drive the lowermost plastic suction pipe 111 to reach the two horizontal transmission tracks 1153; thereafter, the horizontal transfer mechanism 1152 moves the two suction pipes 111 on the horizontal transfer rails 1153 to the working position.

In a specific embodiment, as shown in fig. 8, two vertical transfer mechanisms 1151 are disposed between two horizontal transfer rails 1153, each vertical transfer mechanism 1151 comprises an upper vertical transfer device and a lower vertical transfer device, the upper vertical transfer device comprises an upper supporting plate 11511 and an upper cylinder 11512 for driving the upper supporting plate 11511 to ascend or descend, and the upper supporting plate 11511 is used for supporting the plastic suction pipes 111; the lower vertical transfer device includes a lower cylinder 11513 for driving the entire upper vertical transfer device to ascend or descend and a lower cylinder fixing bracket 11514 for fixing the lower cylinder 11513, and the lower cylinder fixing bracket 11514 is fixed to the table 99.

In one embodiment, as shown in fig. 8, the lower cylinder fixing bracket 11514 includes a plurality of bracket posts 115141 and a bracket fixing plate 115142 fixed above the bracket posts 115141, and the lower cylinder 11513 is fixed on the lower surface of the bracket fixing plate 115142.

In a specific embodiment, as shown in fig. 8, the upper vertical transfer device further includes an upper cylinder fixing plate 11515, the upper cylinder 11512 is fixed on the upper cylinder fixing plate 11515, and the lower cylinder 11513 drives the upper cylinder fixing plate 11515 to ascend or descend to drive the entire upper vertical transfer device.

In the specific embodiment, as shown in fig. 8, the upper supporting plate 11511 is driven to ascend by the upper cylinder 11512, the blister tube 111 between the left and right limiting clamping plates 1141 is lifted by 1-5mm, and then the limiting cylinder 11422 drives the limiting strip 11421 to exit the blister tube 111; the lower cylinder 11513 drives the upper cylinder fixing plate 11515 to drive the whole upper vertical transmission device to descend, so that the plastic suction pipes 111 between the left limiting clamp plate 1141 and the right limiting clamp plate 1141 descend to the position where the second plastic suction pipe 111 from bottom to top can be inserted into the limiting strip 11421, and then the limiting cylinder 11422 drives the limiting strip 11421 to be inserted into the second plastic suction pipe 111 from bottom to top; then the lower cylinder 11513 drives the upper cylinder fixing plate 11515 to drive the whole upper vertical transmission device to descend, so that the lowermost plastic suction pipe 111 reaches two horizontal transmission rails 1153; thereafter, the horizontal transfer mechanism 1152 moves the two suction pipes 111 on the horizontal transfer rails 1153 to the working position. According to specific conditions, the upper supporting plate 11511 can be directly driven by the upper cylinder 11512 to drive the plastic sucking pipe 111 to descend for the first descent or the second descent.

In a specific embodiment, as shown in fig. 8, the upper vertical transfer device further includes a first height limiting plate 11516, and the first height limiting plate 11516 is disposed above the upper cylinder fixing plate 11515 for limiting a descending height of the upper blade 11511; the lower vertical transmission device further comprises a second height limiting plate 11517, the second height limiting plate 11517 is L-shaped and comprises a second long portion 115171 and a second short portion 115172 which are perpendicular to each other, the second long portion 115171 penetrates through the bracket fixing plate 115142 and then is fixed on the upper cylinder fixing plate 11515, and the rising height of the upper vertical transmission device is limited through the interaction between the second short portion 115172 and the bracket fixing plate 115142.

In a specific embodiment, as shown in fig. 8, the first height-limiting plate 11516 is also L-shaped, and includes a first long portion 115161 and a first short portion 115162 perpendicular to each other, and the first short portion 115162 is provided with a first height-limiting adjustment device for adjusting the limited descending distance of the upper supporting plate 11511; the second short portion 115172 is provided with a second height limit adjusting device for adjusting the limit ascending distance of the upper vertical transmission device.

In a specific embodiment, as shown in fig. 8, each of the first height-limiting adjustment device and the second height-limiting adjustment device includes a height-limiting adjustment bolt 115163, a height-limiting adjustment nut 115164, and a height-limiting top block 115165, the height-limiting top block 115165 is fixed to the lower surface of the upper supporting plate 11511 or the bracket fixing plate 115142, the height-limiting adjustment bolt 115163 sequentially passes through the height-limiting adjustment nut 115164 and the first short portion 115162 or the height-limiting adjustment nut 115164 and the second short portion 115172, and then is fixed to the first short portion 115162 or the second short portion 115172 through the height-limiting adjustment nut 115164, and the descending height of the upper supporting plate 11511 or the ascending height of the upper vertical transmission device is limited through the contact between the height-limiting adjustment bolt 115163 and the height-limiting top block 115165 during descending or ascending.

In a specific embodiment, as shown in fig. 8, each vertical transmission mechanism 1151 further comprises a vertical transmission balancing device, and the vertical transmission balancing device comprises a balancing plate 11518 and two balancing rods 11519, one end of each balancing rod 11519 is fixed to each end of the upper supporting plate 11511, and the other end of each balancing rod 11519 passes through the upper cylinder fixing plate 11515 and the bracket fixing plate 115142 in sequence and is fixedly connected to each end of the balancing plate 11518 located below the lower cylinder 11513. In a particular embodiment, as shown in FIG. 4, the table 99 is provided with through holes for facilitating passage of the balancing plate 11518. The vertical transmission balancing device is beneficial to the stability of the whole vertical transmission process, and can play a good stabilizing role especially when the upper supporting plate 11511 is long.

In one embodiment, as shown in fig. 9, the horizontal transport mechanism 1152 is located between two vertical transport mechanisms 1151, and comprises a blister tube holding device and a horizontal driving electric cylinder 11521, wherein the horizontal driving electric cylinder 11521 is used for driving the blister tube holding device to move forward or backward, so as to transport the blister tube 111 in the blister tube holding device to a working position along the horizontal transport track 1153.

In a particular embodiment, as shown in figure 9, the plastic tube support device comprises a support base 11522 and at least one U-shaped support plate 11523, which U-shaped support plate 11523 is fixed to support base 11522 to limit the position of plastic tube 111.

In one embodiment, as shown in fig. 10, two plastic suction pipe fixing devices 117 are provided for fixing both ends of the plastic suction pipe 111; the plastic uptake pipe fixing device 117 further comprises a fixing cylinder connecting plate 1175, and the fixing cylinder connecting plate 1175 is fixed on the plastic uptake pipe fixing cylinder 1173 and used for fixing the plastic uptake pipe clamping device 1171 and the plastic uptake pipe clamping device 1172.

In one specific embodiment, as shown in fig. 10, the plastic tubing compression device 1171 comprises a plastic tubing compression drive plate 11711, two plastic tubing compression springs 11712, two plastic tubing compression guide posts 11713, and a plastic tubing compression plate 11714, the plastic tubing compression device 1171 is fixed to the stationary cylinder connecting plate 1175 by the plastic tubing compression drive plate 11711; the two plastic suction pipe pressing guide posts 11713 respectively penetrate through the plastic suction pipe pressing plate 11714 and the plastic suction pipe pressing spring 11712 in sequence and then are slidably connected with the plastic suction pipe pressing driving plate 11711, so that the plastic suction pipe pressing spring 11712 is positioned between the plastic suction pipe pressing driving plate 11711 and the plastic suction pipe pressing plate 11714; the plastic uptake pipe clamping device 1172 comprises two plastic uptake pipe clamping blocks 11721, the two plastic uptake pipe clamping blocks 11721 are fixed on the fixed cylinder connecting plate 1175 and are connected with the plastic uptake pipe fixed cylinder 1173 through the fixed cylinder connecting plate 1175. The two blister tube compression guide posts 11713 are each fixed at one end to a blister tube compression plate 11714 and slidably connected at the other end to a blister tube compression drive plate 11711.

In a specific embodiment, as shown in fig. 10 to 12, the plastic uptake pipe fixing device 117 further includes a plastic uptake pipe anti-reflection device 1174 connected to the plastic uptake pipe fixing cylinder 1173 through a fixing cylinder connecting plate 1175, two ends of the upper side wall of the plastic uptake pipe 111 in the length direction are respectively provided with a plug hole 1111 for fixing the first part 91 inside the plastic uptake pipe 111, and the distances from the plug hole 1111 to the two side faces of the plastic uptake pipe 111 are unequal; the plastic uptake pipe anti-reverse device 1174 comprises an anti-reverse inserting sheet 11741 and an anti-reverse sensor 11742, the plastic uptake pipe fixing air cylinder 1173 drives the anti-reverse inserting sheet 11741 to descend to be inserted into the plug hole 1111 or ascend to leave the plug hole 1111, if the anti-reverse sensor 11742 detects the anti-reverse inserting sheet 11741, the anti-reverse inserting sheet 11741 cannot be inserted into the plug hole 1111, and the plastic uptake pipe 111 is placed reversely. In actual operation, there may be two kinds of errors: firstly, since the operator may put the plastic suction pipe 111 upside down in the process of putting the plastic suction pipe 111, and the first part 91 inside is also upside down after the plastic suction pipe 111 is put upside down, the subsequent assembly with the second part 92 cannot be smoothly performed; second, the operator may forget to remove the plug from the plug hole 1111 of the plastic straw 111. When these circumstances appear, these errors can effectively be avoided in the setting of plastic uptake pipe anti-device 1174, improve work efficiency and yields.

In a specific embodiment, as shown in fig. 11, the plastic uptake tube anti-reflection device 1174 further comprises an anti-reflection fixing plate 11743, an anti-reflection block 11744, an anti-reflection spring 11745 and an anti-reflection sensor fixing plate 11746, and the plastic uptake tube anti-reflection device 1174 is fixed on the fixing cylinder connecting plate 1175 through an anti-reflection fixing plate 11743; the anti-reverse pressing block 11744 is of a right-angle structure, is fixed on the anti-reverse fixing plate 11743 through one side of the right-angle structure, and is provided with two pressing spring blind holes at intervals on one side close to the anti-reverse fixing plate 11743; the anti-reverse inserting piece 11741 is L-shaped and comprises an inserting piece long part 117411 and an inserting piece short part 117412 which are perpendicular to each other, wherein the inserting piece long part 117411 penetrates through the anti-reverse fixing plate 11743 and is clamped on the anti-reverse fixing plate 11743 through the inserting piece short part 117412, one end of the anti-reverse pressing spring 11745 is inserted into the pressing spring blind hole, and the other end of the anti-reverse pressing spring 11745 presses the inserting piece short part 117412; the anti-reverse sensor fixing plate 11746 is fixed on the anti-reverse fixing plate 11743, and the anti-reverse sensor 11742 penetrates through the anti-reverse fixing plate 11743 and is used for detecting the short part 117412 of the plug-in sheet. Under the condition that the plastic suction pipe 111 is normally put in and the plug in the plug hole 1111 is normally taken out, the anti-reverse insertion piece 11741 is smoothly inserted into the plug hole 1111 in the descending process of the plastic suction pipe fixing device 117, and at the moment, the anti-reverse sensor 11742 cannot detect the anti-reverse insertion piece 11741. When the plastic suction pipe 111 is reversely placed or the plug in the plug hole 1111 is forgotten to be taken out, because the distance from the plug hole 1111 to the two side surfaces of the plastic suction pipe 111 is unequal or because of the existence of the plug, the anti-reverse insertion piece 11741 cannot be inserted into the plug hole 1111, and the anti-reverse insertion piece 11741 is forced to compress the anti-reverse pressing spring 11745 after the long part 117411 of the insertion piece is contacted with the upper surface of the plastic suction pipe 111 or the plug, so that the anti-reverse insertion piece 117412 moves upwards, the anti-reverse sensor 11742 detects the short part 117412 of the insertion piece, and an alarm prompts an operator to check whether the plastic suction pipe 111 is reversely placed or not to take out.

In a specific embodiment, as shown in fig. 12, the part pushing device 112 includes a first part pushing block 1121, a first part pushing wire rope 1122, a pushing driving wheel 1123, a pushing pressing wheel 1124, and a pushing driving motor 1125, the first part pushing block 1121 is fixedly connected to the first part pushing wire rope 1122, the first part pushing wire rope 1122 is pressed between the pushing driving wheel 1123 and the pushing pressing wheel 1124, and the pushing driving motor 1125 is used for driving the pushing driving wheel 1123 to rotate, so that the first part pushing wire rope 1122 drives the first part pushing block 1121 to push the first part 91 stored in the plastic absorbing pipe 111 onto the first part conveying device 12.

In a specific embodiment, as shown in fig. 12, a steel wire rope accommodating hole is formed in a side wall of the first part pushing block 1121 along the pushing direction, and a plurality of steel wire rope fixing holes 11211 are formed from top to bottom at intervals for fixedly connecting the first part pushing steel wire rope 1122 with the first part pushing block 1121.

In a specific embodiment, as shown in fig. 11, the part pushing device 112 further includes a pushing block pushing sensor 1126, and the pushing block pushing sensor 1126 is disposed at an end of the first part conveying device 12 near the blister tube 111 and is used for detecting whether the first part pushing block 1121 pushes all the first parts 91 in the blister tube 111 onto the first part conveying device 12. In an embodiment, as shown in fig. 11-12, when the pushing block pushing sensor 1126 detects the first part pushing block 1121, it indicates that all the first parts 91 in the plastic sucking pipe 111 have been pushed onto the first part conveying device 12, and then commands the pushing driving motor 1125 to drive the pushing driving wheel 1123 to rotate in opposite phases, so that the first part pushing block 1121 exits from the plastic sucking pipe 111.

In a specific embodiment, as shown in fig. 12, the part pushing device 112 further includes a pushing block withdrawing sensor 1127, and the pushing block withdrawing sensor 1127 is disposed on a side of the part pushing device 112 close to the blister tube 111 for detecting whether the first part pushing block 1121 has been withdrawn from the blister tube 111. In an embodiment, as shown in fig. 12, when the pushing block withdrawing sensor 1127 detects the first part pushing block 1121, it indicates that the first part pushing block 1121 has been withdrawn from the plastic sucking pipe 111, and then commands the pushing driving motor 1125 to stop driving the pushing driving wheel 1123 to rotate.

In a specific embodiment, as shown in fig. 12, the part pushing device 112 further includes a pushing device fixing bracket 1128, the bottom of the pushing device fixing bracket 1128 is fixed on the workbench 99, the top of the pushing device fixing bracket 1128 is used for fixing a pushing driving wheel 1123 and a pushing pressing wheel 1124, a pre-pushing rail 11281 is arranged on the top of the pushing device fixing bracket 1128 between the pushing driving wheel 1123 and the blister pipe 111 and is used for accommodating the first part pushing block 1121 before the first part pushing block 1121 enters the blister pipe 111, and a notch is arranged on one side of the pre-pushing rail 11281 close to the pushing driving wheel 1123 so that the first part pushing steel wire rope 1122 passes through and is fixedly connected with the first part pushing block 1121; a pusher block exit sensor 1127 is provided on the side wall of the pre-pusher rail 11281. In one embodiment, as shown in fig. 12, a vertical fixing plate is disposed on the top of the pushing device fixing bracket 1128, the pushing driving wheel 1123 passes through the fixing plate and is connected to the pushing driving motor 1125, and the pushing pressing wheel 1124 also passes through the fixing plate.

In a specific embodiment, as shown in fig. 12, a steel wire rope limiting plate 11282 is disposed on the top of the pushing device fixing bracket 1128 at an end away from the plastic suction pipe 111, a steel wire rope limiting hole is disposed on the steel wire rope limiting plate 11282, and the first part pushing steel wire rope 1122 passes through the steel wire rope limiting hole and is pressed between the pushing driving wheel 1123 and the pushing pressing wheel 1124.

In a specific embodiment, as shown in fig. 12, the part pushing device 112 further includes a wire rope sleeve 1129, one end of the wire rope sleeve 1129 is fixed on the wire rope limiting hole, the other end naturally hangs down and inclines toward the bottom of the workbench 99, and a section of the first part pushing wire rope 1122 close to the pushing driving wheel 1123 is accommodated in the wire rope sleeve 1129 for facilitating arrangement.

In one embodiment, as shown in fig. 2, the plastic uptake tube recycling device 13 is disposed at an end of the horizontal conveying track 1153 away from the plastic uptake tube accommodating device 114, and is used for recycling the plastic uptake tube 111 with the first part 91 discharged. In the embodiment, after the horizontal driving cylinder 11521 drives the plastic suction pipe supporting device to send the plastic suction pipe 111 to the working position, the upper pallets 11511 of the two vertical transfer mechanisms 1151 are raised, holding the plastic suction pipes 111, then the horizontal driving cylinder 11521 drives the plastic sucking pipe supporting device to retreat, then the upper supporting plates 11511 of the two vertical transmission mechanisms 1151 descend, the plastic sucking pipes 111 are placed on the two horizontal transmission rails 1153, after all the first parts 91 in the plastic sucking pipes 111 are pushed to the first part conveying device 12, the horizontal driving cylinder 11521 will drive the blister tube support device to bring the next blister tube 111 to the working position, during which, the "U-shaped" support plate 11523 of the plastic tube support will push the empty plastic tube 111 one step forward, the whole process is repeated, finally the empty plastic tube 111 is pushed into the plastic tube recycling device 13 arranged at the end of the horizontal transmission rail 1153 far away from the plastic tube containing device 114. In a particular embodiment, the length of the upper pallet 11511 may be designed according to actual requirements.

In a specific embodiment, as shown in fig. 13 and 15, each of the first part conveyor 12 and the second part conveyor 22 includes a part transfer belt 81, a belt driving device 82, and a belt support 83, the belt support 83 is fixed to the table 99 and supports the part transfer belt 81, and the belt driving device 82 is fixed to the belt support 83 and drives the part transfer belt 81 to operate.

In a specific embodiment, as shown in fig. 13 and 15, a belt supporting plate 84 is provided between two transmission wheels of the parts conveying belt 81, parts bars 85 are provided on both sides of the parts conveying belt 81, and the parts bars 85 are fixed to the belt supporting plate 84 for preventing the parts from falling.

In a specific embodiment, as shown in fig. 13, 15 and 17, the first part conveying device 12 and the second part conveying device 22 further include a part limiting plate 86, the part limiting plate 86 is fixed on the part barrier 85, so that a traveling space for the parts to advance is formed between the part limiting plate 86 and the part conveying belt 81, and the traveling space can ensure that the placement direction of the parts is not changed during the conveying process.

In the embodiment, as shown in fig. 15, the parts retainer plate 86 has a notch as viewed from the left side of fig. 15, and the notch is designed such that the whole parts retainer plate 86 forms a retainer plate above the parts conveyer 81 and a barrier at the side of the parts conveyer 81, i.e., in this embodiment, the parts retainer plate 86 and the parts barrier 85 are of an integral structure.

In a specific embodiment, as shown in fig. 13 and 15, the first part conveying device 12 and the second part conveying device 22 further comprise a part cleaning device 87, the part cleaning device 87 is fixed on the belt supporting plate 84 and comprises an air blowing device 871 and an air suction device 872, the air blowing device 871 is used for blowing air to the parts to clean the parts, and the air suction device 872 is used for sucking away the air blown to the parts by the air blowing device 871. The part cleaning device 87 can blow away dust on the surface of the part by the blowing device 871, and suck away wind blowing toward the part by the blowing device 871 and the blown dust by the wind suction device 872.

In a specific embodiment, as shown in fig. 13 and fig. 15 to 16, the blowing device 871 comprises a blowing nozzle 8711 fixed on the belt supporting plate 84 or the part limiting plate 86, one end of the blowing nozzle 8711 is provided with a strip-shaped air outlet 87111, and the other end is connected with a blowing air pipe joint 8712 for connecting with a blowing device; the air suction device 872 comprises an air suction nozzle 8721 fixed at the bottom of the belt supporting plate 84 and an air suction cover 8722 fixed on the air suction nozzle 8721 and used for covering the air blowing device 871 and the air blowing section part conveying belt 81, the upper part of the air suction nozzle 8721 is of an open structure, and the lower part of the air suction nozzle 8721 is connected with an air suction pipe joint 8723 for connecting air suction equipment.

In one particular embodiment, the blowing device 871 blows air to the part from above or from the side, as shown in fig. 15-16.

In the specific embodiment, as shown in fig. 17, the blowing air passage 87112 indicates that the blowing nozzle 8711 blows air to the part from the side through a strip-shaped passage provided in the part bar 85.

In a specific embodiment, as shown in fig. 13, the first part conveyor 12 and the second part conveyor 22 further include a part pressing device 88, and the part pressing device 88 is disposed above the part conveyor belt 81 and is used for pressing the parts to help the parts to smoothly advance along with the part conveyor belt 81. The weight of the part is light, and the part pressing device 88 can press the part, so that the friction force between the part and the part conveying belt 81 is increased, and the part is ensured to smoothly move forward along with the part conveying belt 81.

In a specific embodiment, as shown in fig. 14-15, the part pressing device 88 includes two spaced apart part pressing wheels 881, a pressing leather strap 882 covering the two part pressing wheels 881, and a pressing wheel fixing plate 883, the pressing wheel fixing plate 883 is fixed on the part limiting plate 86 or the part barrier strip 85, and the part pressing wheels 881 are fixed at both ends of the pressing wheel fixing plate 883.

In a specific embodiment, as shown in fig. 14-15 and 17, the part pressing device 88 further includes a pressing height adjuster 884, the pressing height adjuster 884 includes a height adjusting lever 8841, a first rotating shaft 8842, a second rotating shaft 8843, and two supporting bolts 8844, the first rotating shaft 8842 is fixed to the belt supporting plate 84 after passing through one end of the height adjusting lever 8841 so that the height adjusting lever 8841 can rotate around the first rotating shaft 8842, the second rotating shaft 8843 is fixed to the pressing wheel fixing plate 883 after passing through the other end of the height adjusting lever 8841 so that the pressing wheel fixing plate 883 can rotate around the second rotating shaft 8843, and the two supporting bolts 8844 respectively pass through the pressing wheel fixing plate 883 and abut against the part stopper 86 or the part stopper 85 for keeping the pressing leather strap 882 parallel to the part conveying belt 81. In a specific embodiment, as shown in fig. 14, when the heights of the parts are different and the height of the pressing leather strap 882 needs to be adjusted, taking the height adjustment as an example, the height adjustment rocking handle 8841 is rotated about the first rotating shaft 8842 to raise the pressing leather strap 882, then the pressing wheel fixing plate 883 is rotated about the second rotating shaft 8843 to keep the pressing leather strap 882 parallel to the part conveying belt 81, and after the height adjustment is completed, the two supporting bolts 8844 are rotated to abut against the part limiting plate 86 or the part barrier 85 to complete the height adjustment. When the adjustment is required, the two support bolts 8844 are rotated counterclockwise to avoid jamming during adjustment, and then other steps are performed.

In a specific embodiment, as shown in fig. 13-14, the first part feeding device 12 and the second part feeding device 22 further include a pair of coming element detecting photosensors 891 disposed near the assembly mechanism 3 for detecting whether a part is about to be fed to the assembly mechanism 3, the pair of coming element detecting photosensors 891 are disposed at two sides of the part conveyor belt 81 in a staggered manner, and the part barrier 85 is provided with a through hole for passing light emitted from the coming element detecting photosensors 891.

In the embodiment, as shown in fig. 13 to 14, the coming element detection photosensor 891 emits the radiation γ, and when the coming element detection photosensor 891 detects a part, it indicates that the part is about to be sent to the assembly mechanism 3. In a specific embodiment, the receiver detection photosensor 891 may be an EX-23 photosensor.

In a specific embodiment, as shown in fig. 13, the first part feeding device 12 and the second part feeding device 22 further include a pair of feeding-limiting photoelectric sensors 892 disposed near the feeding mechanism or the second feeding mechanism for detecting whether the parts on the part conveyor 81 are full, the pair of feeding-limiting photoelectric sensors 892 are disposed at both sides of the part conveyor 81 in a staggered manner, and the part barrier 85 is provided with a through hole for passing light emitted from the part detecting photoelectric sensor 891.

In the embodiment, as shown in fig. 13, the feeding-limit photosensor 892 emits the radiation γ, and when the feeding-limit photosensor 892 can always detect the component granted, which indicates that the component on the component conveying belt 81 is full, the component supply of the first component supply apparatus 11 or the second component supply apparatus 21 may be suspended. In a specific embodiment, the transport limit photosensor 892 may be an EX-23 photosensor.

In a specific embodiment, as shown in fig. 18, the part conveying mechanism 5 includes a part cutting device 51, a part conveying device 52, and a part conveying rack 53, the part cutting device 51 and the part conveying device 52 are both fixed on the table 99 by the part conveying rack 53, the part cutting device 51 communicates with the first part conveying device 12 or the second part conveying device 22, and is used for receiving the parts conveyed by the first part conveying device 12 or the second part conveying device 22 and cutting the parts transversely to a longitudinal rail deviated from the conveyed parts, and the part conveying device 52 is used for conveying the parts cut by the part cutting device 51 to the assembling mechanism 3.

In one specific embodiment, shown in fig. 20, part-cutting device 51 comprises a "u-shaped" part-support 511 and a cutting cylinder 512 for driving "u-shaped" part-support 511 back and forth in the transverse direction. In one embodiment, "U-shaped" element support 511 may be an integral structure or may be a separate assembly structure as shown in FIG. 20.

In one embodiment, shown in figure 18, the part-cutting means 51 further comprises part-cutting sensing means 513 attached to the part-handling bracket 53 for sensing the arrival of a part on the "U-shaped" part-pallet 511 and preventing further advancement of the part once it is in place.

In one particular embodiment, as shown in FIGS. 20-21, part cut sensing apparatus 513 includes a cut-out assembly plate 5131, a cut-out sensing finger 5132, a sensing finger shaft 5133, a finger pressure spring 5134, a spring guide post 5135, and a cut-out sensor 5136; the cut-out assembly plate 5131 comprises an L-shaped support plate, a first connecting shaft plate 51311 and a second connecting shaft plate 51312, wherein the L-shaped support plate comprises a support plate long part 51313 and a support plate short part 51314 which are perpendicular to each other, and the L-shaped support plate is fixed on the part conveying bracket 53 through the support plate short part 51314; the first connecting shaft plate 51311 and the second connecting shaft plate 51312 are longitudinally arranged at intervals on one side of the long supporting plate 51313 close to the assembling mechanism 3, and the induction shifting piece shaft 5133 sequentially penetrates through the first connecting shaft plate 51311 and the cut-out induction shifting piece 5132 to be fixed on the second connecting shaft plate 51312, so that the cut-out induction shifting piece 5132 can rotate for a certain angle around the induction shifting piece shaft 5133; the long supporting plate 51313 has a pressing spring hole on the side of the sensing pulling piece shaft 5133 away from the u-shaped element support plate 511, the spring guide post 5135 is fixed in the spring hole, one end of the pulling piece pressing spring 5134 is sleeved on the spring guide post 5135, and the other end abuts against the cutting sensing pulling piece 5132.

In the embodiment shown in figures 21 and 37, when part-cutting sensing means 513 is in the free state, finger pressure spring 5134 presses cutting sensing finger 5132 against the end of the "U" part-pallet 511, biasing the end of cutting sensing finger 5132 near the "U" part-pallet 511 towards the part transfer belt 81. When a part arrives on the "u" -shaped part-carrier 511, the part pushes on the cutting-out sensing finger 5132, causing the cutting-out sensing finger 5132 to rotate around sensing finger axis 5133 until the end of the cutting-out sensing finger 5132 remote from the "u" -shaped part-carrier 511 contacts cutting-out sensor 5136, which senses cutting-out sensing finger 5132 indicating that the part has arrived on the "u" -shaped part-carrier 511, and thereupon commands the cutting-out cylinder 512 to drive the "u" -shaped part-carrier 511 to move laterally away from the longitudinal trajectory of the delivered part.

In one embodiment, as shown in figure 37, the side walls of "U" shaped element support plate 511 near cutting-out sensing finger 5132 are provided with support plate side wall recesses 5111 to facilitate the extension of cutting-out sensing finger 5132 into "U" shaped element support plate 511 to contact the element.

In a specific embodiment, as shown in fig. 21, the part cutting sensing device 513 further includes a dial adjusting screw 5137, the dial adjusting screw 5137 and the dial pressurizing spring 5134 are respectively located at two sides of the sensing dial shaft 5133, and the dial adjusting screw 5137 is disposed in the through hole of the supporting plate long portion 51313 for adjusting the initial rotation angle of the cutting sensing dial 5132.

In an exemplary embodiment, as shown in fig. 21, if one end of the dial plate adjusting screw 5137 near the cut-out sensing dial 5132 does not contact the cut-out sensing dial 5132, the initial rotation angle of the cut-out sensing dial 5132 is maximized, and if the dial plate adjusting screw 5137 protrudes from the through hole of the support plate long portion 51313 and contacts the cut-out sensing dial 5132, the initial rotation angle of the cut-out sensing dial 5132 can be adjusted by the protruding length of the dial plate adjusting screw 5137.

In a specific embodiment, as shown in fig. 20 to 21, the cutting-out assembly plate 5131 further includes a cutting-out position adjustment plate 51315 and an assembly fixing plate 51316, the cutting-out position adjustment plate 51315 is fixed on the parts carrying bracket 53 and has a plurality of fixing holes arranged at intervals, so that the proper fixing holes can be selected according to the length of the parts; the assembly fixing plate 51316 and the L-shaped support plate are integrated, and are connected with one end of the support plate short portion 51314 far away from the support plate long portion 51313, and a waist-shaped through hole is formed in the assembly fixing plate 51316, so that the L-shaped support plate can be conveniently fixed at a proper position according to the length of a part.

In one embodiment, shown in fig. 18 and 20, element-cutting device 51 further comprises "u-shaped" element-engaging plates 514 secured to element-handling support 53, u-shaped element-engaging plates 514 being located between "u-shaped" element-receiving plates 511 and first element-delivering means 12 or second element-delivering means 22 for temporarily storing at least one first element 91 or second element 92 to be delivered by first element-delivering means 12 or second element-delivering means 22.

In a specific embodiment, as shown in fig. 18, the parts conveyance device 52 includes a parts gripping mechanism 521 and a parts conveyance driving mechanism 522 for driving the parts gripping mechanism 521 to advance or retreat.

In a particular embodiment, as shown in fig. 20, the part clamp mechanism 521 includes a part clamp block 5211 for clamping a part and a part clamp cylinder 5212 for driving the part clamp block 5211 to close or open.

In a specific embodiment, as shown in fig. 18, the parts handling driving mechanism 522 includes a pulling rod 5221 fixedly connected to the parts holding mechanism 521 and a cam driving device 5222 for driving the pulling rod 5221 to advance or retreat.

In a specific embodiment, as shown in fig. 18 to 19, the cam driving device 5222 comprises a driving base plate 52221, a driving plate 52222 with an "inverted U" driving track, a driving shaft 52223, a driving motor 52224, a linkage plate 52225, a bearing follower 52226 and a bearing follower block 52227, wherein the driving plate 52222 is fixed on the driving base plate 52221, one end of the driving shaft 52223 penetrates through the driving base plate 52221 and is connected with the driving motor 52224, the other end of the driving shaft 52223 is fixedly connected with one end of the linkage plate 52225, the other end of the linkage plate 52225 is provided with a oval through hole, one end of the bearing follower 52226 penetrates through the oval through hole and is arranged in the "inverted U" driving track, the other end of the bearing follower block 52227 is fixedly connected with one end of the bearing follower block 52227, and the other end of the bearing follower block 52227 is fixedly connected. In a specific embodiment, as shown in fig. 19, the driving motor 52224 drives the driving shaft 52223 to drive the linkage plate 52225 to rotate clockwise, the linkage plate 52225 drives the bearing follower 52226 to ascend, advance and descend in the "inverted U-shaped" driving track, and further drives the traction rod 5221 to ascend, advance and descend, so as to move the component to the assembling mechanism.

In a specific embodiment, as shown in fig. 19, the cam driving means 5222 further comprises an up-down movement assisting means and a back-and-forth movement assisting means, the up-down movement assisting means comprising an up-down auxiliary slide rail 522281 fixed to the driving base plate 52221 at an end close to the assembling mechanism 3 and an up-down auxiliary slide block 522282 slidably connected to the up-down auxiliary slide rail 522281; the forward and backward movement assisting device includes a forward and backward assisting slider 522283 fixed to the upper and lower assisting sliders 522282, and the forward and backward assisting slider 522283 is provided with a forward and backward assisting sliding groove for facilitating the forward and backward sliding of the drawbar 5221 in the forward and backward assisting sliding groove. The provision of the up-down movement assisting device and the forward-backward movement assisting device is advantageous to ensure that the drawbar 5221 is kept stable during ascent, advancement and descent.

In a specific embodiment, as shown in fig. 19, two upper and lower auxiliary sliders 522282 and two front and rear auxiliary sliders 522283 are provided, and the forward and rearward movement assisting device further includes a front and rear auxiliary plate 522284, the front and rear auxiliary plate 522284 is fixed to the two upper and lower auxiliary sliders 522282, and the two front and rear auxiliary sliders 522283 are fixed to the front and rear auxiliary plate 522284.

In a specific embodiment, as shown in fig. 19, the cam driving device 5222 further comprises a cam protection sensing device, the cam protection sensing device comprises a cam protection sensor 522291 fixed on the driving bottom plate 52221 and a semicircular cam protection sensing piece 522292 fixedly connected with the driving shaft 52223, when the pulling rod 5221 is located at the initial position, the straight edge of the semicircular cam protection sensing piece 522292 is located in the sensing area of the cam protection sensor 522291, so that during the process that the pulling rod 5221 ascends, advances and descends along with the rotation of the driving shaft 52223, the semicircular cam protection sensing piece 522292 is always located in the sensing area of the cam protection sensor 522291, and at the end of descending, the straight edge of the semicircular cam protection sensing piece 522292 is located in the sensing area of the cam protection sensor 522291.

In one particular embodiment, as shown in fig. 19, the cam drive 5222 further comprises two drawbar drop prevention devices, each comprising a prevention device securing plate 522201, a prevention strut 522202, and a prevention nut 522203; the two stopping device fixing plates 522201 are respectively fixed right below two ends of the inverted U-shaped driving rail, and the two stopping support posts 522202 are respectively screwed on the two stopping device fixing plates 522201 in a height-adjustable manner and are fixed through the stopping nuts 522203, so that the stopping support posts 522202 are abutted against the bearing follower block 52227. The draw bar descent prevention means can effectively prevent the draw bar 5221 from being damaged by a failure continuing to descend after the draw bar 5221 descends to the set position.

In a specific embodiment, as shown in fig. 20, the part conveying driving mechanism 522 further includes a conveying mechanism protecting device 5223, and the conveying mechanism protecting device 5223 is disposed between the part holding mechanism 521 and the part conveying driving mechanism 522, and is used for enabling the part holding mechanism 521 to slide upwards to prevent damage when the part holding mechanism 521 cannot be further lowered due to an obstruction in the process of driving the part holding mechanism 521 to be lowered by the part conveying driving mechanism 522.

In a specific embodiment, as shown in fig. 20, the handling mechanism protection device 5223 comprises a protection limiting base plate 52231, a drawbar connection plate 52232, a part clamp cylinder connection plate 52233, a part clamp cylinder fixing plate 52234, a protection slide rail 52235 and a protection slide block 52236; the traction rod connecting plate 52232 is fixed on the protection limiting bottom plate 52231 and fixedly connected with the traction rod 5221, the protection slide rail 52235 is fixed on the traction rod connecting plate 52232, one side of the protection slide block 52236 is slidably connected with the protection slide rail 52235, the other side of the protection slide block 52236 is fixedly connected with the part clamping cylinder connecting plate 52233, the part clamping cylinder fixing plate 52234 is located between the part clamping cylinder connecting plate 52233 and the part clamping cylinder 5212 and fixedly connected with the part clamping cylinder 52233, and when the part clamping cylinder 5212 is located at a working position, the part clamping cylinder connecting plate 52233 is in contact with the upper surface of the protection limiting bottom plate. In an embodiment, if an obstacle is located below the part holding mechanism 521 to prevent the part holding mechanism 521 from descending, the part holding mechanism 521 will be lifted along the protection slide 52235 by the protection slide 52236, so as to prevent the part holding mechanism 521 from being damaged.

In one particular embodiment, as shown in fig. 20, the handling mechanism protection device 5223 further comprises a protection tensioning mechanism comprising an upper protection tension bar 522371, a lower protection tension bar 522372, and a protection tension spring 522373; two upper protection pull rods 522371 are arranged and are L-shaped, one ends of the two upper protection pull rods are respectively fixed at the tops of two sides of the part clamping cylinder connecting plate 52233, the other ends of the two upper protection pull rods are bent towards one side of the traction rod connecting plate 52232, two lower protection pull rods 522372 are also arranged and are respectively fixed at one end of the protection limiting bottom plate 52231, which is used for fixing the traction rod connecting plate 52232, and two ends of the protection tension spring 522373 are respectively sleeved on the upper protection pull rod 522371 and the lower protection pull.

In one particular embodiment, as shown in fig. 18 and 20, the handling mechanism protection device 5223 further comprises a protection activation sensing device comprising a protection activation sensor 522381, a protection activation sensing tab 522382, and a sensor height adjustment plate 522383; the sensor height adjusting plate 522383 is provided with a plurality of kidney-shaped through holes and is fixed above the traction rod connecting plate 52232, and the protection starting sensor 522381 is fixed on the sensor height adjusting plate 522383 through the kidney-shaped through holes, so that the installation height of the protection starting sensor 522381 can be adjusted through the kidney-shaped through holes conveniently; the protection starting sensing piece 522382 is L-shaped and fixed above the part clamping cylinder connection plate 52233, and when the part clamping cylinder 5212 is in a working position, the protection starting sensing piece 522382 is just located in an area which can be detected by the protection starting sensor 522381.

In an embodiment, when the cam driving device 5222 drives the pulling rod 5221 to drive the part clamping mechanism 521 to descend and encounter an obstacle, the protection sliding block 52236 drives the part clamping mechanism 521 to ascend, so that the protection starting sensing piece 522382 leaves a detection area of the protection starting sensor 522381, which indicates that an obstacle exists below the part clamping mechanism 521, and informs a worker of stopping for inspection.

In a specific embodiment, as shown in fig. 22, 23 and 25, the assembly mechanism 3 further includes an assembly fixing plate 33, the assembly fixing plate 33 is fixed on the working table 99, located above the assembly rotating plate 31, and has a smaller diameter than the assembly rotating plate 31, the assembly fixing plate 33 is provided with a first part sensor 331 at a position corresponding to the first part conveying device 12, and is provided with a second part sensor 332 at a position corresponding to the second part conveying device 22, for detecting whether the first part 91 and the second part 92 are loaded in the part assembly module 32, respectively. In one embodiment, as shown in FIG. 23, the first part sensor 331 emits a radiation γ, and when the first part sensor 331 detects a first part 92 on the part assembly module 32, the assembly turntable 31 is commanded to rotate to the next station. As shown in fig. 25, the second part sensor 332 emits the radiation γ, and when the second part sensor 332 detects the presence of the second part 92 on the part assembly module 32, the assembly turntable 31 is commanded to rotate to the next station. In a particular embodiment, first part sensor 331 and second part sensor 332 may employ EX-11EA photosensors.

In a specific embodiment, as shown in fig. 23 and 25, each of the first part sensor 331 and the second part sensor 332 includes a pair of photosensors, and each of the pair of photosensors is fixed to the assembly fixture plate 33 by a fixing plate and is located on both sides of the first part 91 and the second part 92, respectively.

In a specific embodiment, as shown in fig. 22 and 24, the assembly mechanism 3 further includes a part type detection device 34 provided between the first part feeder 12 and the second part feeder 22, and the part type detection device 34 is fixed to the table 99 and detects the type of the first part 91. In the embodiment, as shown in fig. 36, the detected part type can be determined by the number and positions of the different part type detection points 341.

In a specific embodiment, as shown in fig. 22 and 25, the assembly mechanism 3 further includes a first part pressing device 35 fixed to the assembly fixture 33 by a fixing plate, for pressing the first part 91 when receiving the second part 92 conveyed by the part conveying mechanism 5.

In a specific embodiment, as shown in fig. 25, the first part press 35 includes a first part press block 351 and a press block driving cylinder 352 for driving the first part press block 351 to ascend or descend.

In a specific embodiment, as shown in fig. 22 and 26, the assembling mechanism 3 further includes an assembling pressing mechanism 36 disposed between the second parts feeder 22 and the discharging mechanism 4, and the assembling pressing mechanism 36 is fixed to the assembling fixing plate 33 for pressing down the second parts 92 to fit the first parts 91 and the second parts 92 in place. The assembly precision is high.

In a specific embodiment, as shown in fig. 26, the assembly push-down mechanism 36 includes an assembly push-down module 361 and a push-down module driving cylinder 362 for driving the assembly push-down module 361 to descend or ascend.

In a specific embodiment, as shown in fig. 26, the assembling pressing mechanism 36 further includes an assembling pressing slide rail 363 and an assembling pressing slider 364 slidably connected to the assembling pressing slide rail 363, the assembling pressing module 361 is fixed on the assembling pressing slider 364, and the pressing module drives the air cylinder 362 to drive the assembling pressing slider 364 to move up and down to drive the assembling pressing module 361 to move up and down.

In a specific embodiment, as shown in fig. 26, the assembly push-down mechanism 36 further includes a push-down mechanism support block 365, a push-down module driving cylinder fixing plate 366 and an assembly push-down module fixing plate 367, the push-down mechanism support block 365 is fixed on the assembly fixing plate 33, the push-down module driving cylinder fixing plate 366 is fixed on the upper surface of the push-down mechanism support block 365, the assembly push-down slide rail 363 is fixed on the side surface of the push-down mechanism support block 365, the assembly push-down module fixing plate 367 is fixed on the assembly push-down slider 364, the assembly push-down module 361 is fixed on the assembly push-down module fixing plate 367, and the piston column of the push-down module driving cylinder 362 passes through the push-down module driving cylinder fixing plate 366 and is fixedly connected with the assembly.

In a specific embodiment, as shown in fig. 27, the assembly push-down module 361 includes an assembly push-down cage 3611, an assembly push-down block 3612, a push-down block stopper plate 3613, and two push-down block compression springs 3614; the assembly push cover 3611 is L-shaped, and comprises a push cover 36111 and a cover fixing part 36112, wherein the push cover 36111 is perpendicular to each other, the cover fixing part 36112 is used for fixing the assembly push module 361 on the assembly push module fixing plate 367, the bottom surface of the push cover 36111 is provided with a lower opening, the side surface of the push cover is provided with a side opening 361111, and the top end of the assembly push block 3612 is provided with a convex edge 36121 which protrudes outwards along one side surface; the assembled lower pressing block 3612 is arranged in the lower pressing cover body 36111, the bottom of the assembled lower pressing block passes through the lower opening of the lower pressing cover body 36111, the convex edge 36121 protrudes out of the side opening 361111 of the lower pressing cover body 36111, the lower pressing block limiting plate 3613 is fixed on the side opening 361111 of the lower pressing cover body 36111, the height of the assembled lower pressing block 3612 extending out of the lower pressing cover body 36111 is limited through matching with the convex edge 36121, and the lower pressing block pressurizing spring 3614 is arranged between the assembled lower pressing block 3612 and the inner top surface of the lower pressing cover body 36111 and used for buffering the assembled lower pressing block 3612 and avoiding crushing parts.

In a specific embodiment, as shown in fig. 27, the upper surface of the assembled pressing block 3612 has two first pressing spring blind holes arranged at intervals, the inner top surface of the assembled pressing cover 3611 has second pressing spring blind holes corresponding to the first pressing spring blind holes, and two ends of the assembled pressing block pressing spring 3614 extend into the first pressing spring blind holes and the second pressing spring blind holes respectively.

In a specific embodiment, as shown in fig. 26, the assembled push-down mechanism 36 further includes a cylinder pressure adjusting device 368 for adjusting the air pressure of the push-down module driving cylinder 362.

In a specific embodiment, as shown in fig. 26, the assembly hold-down mechanism 36 further includes a hold-down height limiting means including a hold-down height limiting piece 3691 fixed to the hold-down mechanism support block 365 and a hold-down height limiting post 3692 fixed to the assembly hold-down module fixing plate 367, and the lowered height of the assembly hold-down module 361 is limited by the engagement between the hold-down height limiting piece 3692 and the hold-down height limiting piece 3691.

In a specific embodiment, as shown in fig. 22, the assembling mechanism 3 further includes a product quality detecting mechanism 37 disposed between the assembling press mechanism 36 and the discharging mechanism 4, and the product quality detecting mechanism 37 is fixed to the table 99 for detecting whether or not the height difference between the first part 91 and the second part 92 is good.

In a specific embodiment, as shown in fig. 28, the product quality detection mechanism 37 includes a detection mechanism support 371, a height detection sensor 372 and a sensor driving device 373, wherein the detection mechanism support 371 is fixed on the worktable 99, and the sensor driving device 373 is fixed on the detection mechanism support 371 and is used for driving the height detection sensor 372 to move to different detection positions to obtain height differences of the different detection positions.

In a specific embodiment, as shown in fig. 28, the height detection sensor 372 is fixed on the sensor driving device 373 by a height fine-adjustment device 374, and the height detection sensor 372 is a laser displacement sensor.

In a particular embodiment, as shown in FIG. 28, the distance from the height detection sensor 372 to the part may be adjusted by a height fine adjustment device 374.

In a specific embodiment, as shown in fig. 28, the sensor driving device 373 includes a sensor front-rear driving device 3731 and a sensor left-right driving device 3732; the sensor left-right driving device 3732 is fixed to the detection mechanism support 371, the sensor front-back driving device 3731 is fixed to the sensor left-right driving device 3732 and used for driving the height detection sensor 372 to move back and forth, and the sensor left-right driving device 3732 is used for driving the sensor front-back driving device 3731 to drive the height detection sensor 372 to move left and right.

In a specific embodiment, as shown in fig. 28, the sensor front-rear driving device 3731 includes an "L-shaped" sensor fixing plate 37311 and a sensor front-rear driving electric cylinder 37312, the "L-shaped" sensor fixing plate 37311 is used for fixing the height detecting sensor 372 on the sensor front-rear driving electric cylinder 37312, and the sensor front-rear driving electric cylinder 37312 is used for driving the "L-shaped" sensor fixing plate 37311 to move the height detecting sensor 372 back and forth.

In a specific embodiment, as shown in fig. 28, the left and right sensor driving device 3732 includes an electric cylinder fixing device 37321, a left and right sensor driving slide rail 37322, a left and right sensor driving slide block 37323 and a left and right sensor driving cylinder 37324, the left and right sensor driving slide rail 37322 is fixed on the detection mechanism support 371, the left and right sensor driving slide block 37323 is slidably connected to the left and right sensor driving slide rail 37322, the front and rear sensor driving electric cylinder 37312 is fixed on the left and right sensor driving slide block 37323 through the electric cylinder fixing device 37321, and the left and right sensor driving cylinder 37324 is fixed on the detection mechanism support 371 and is used for driving the left and right sensor driving slide block 37323 to move left and right to drive the front and rear sensor driving electric cylinder 37312 and further to drive the.

In one specific embodiment, as shown in FIG. 28, the sensor left and right driver 3732 further includes a left and right driver buffer 37325 for buffering the left and right movement of the height detection sensor 372.

In one particular embodiment, as shown in fig. 28, the left and right drive bumpers 37325 include a left bumper for providing cushioning for the movement of the height detection sensor 372 to the left and a right bumper for providing cushioning for the movement of the height detection sensor 372 to the right.

In a specific embodiment, as shown in fig. 28-29, the electric cylinder fixing device 37321 comprises an electric cylinder fixing cross plate 373211 and an electric cylinder fixing vertical plate 373212 which are vertically fixed together, the electric cylinder fixing cross plate 373211 is fixed on the left and right sensor driving sliders 37323, and the front and rear sensor driving electric cylinders 37312 are fixed on the electric cylinder fixing vertical plate 373212; the left buffer device comprises a left buffer device fixing plate 373251, a left sensor 373252 and a left buffer 373253, the left buffer device fixing plate 373251 is fixed on the detection mechanism support 371, the left sensor 373252 is a proximity sensor, the sensing end of the left sensor 373252 penetrates through the left buffer device fixing plate 373251 and is used for sensing an electric cylinder fixing transverse plate 373211 approaching gradually, the buffering end of the left buffer 373253 penetrates through the left buffer device fixing plate 373251 and provides buffering through contact with an electric cylinder fixing transverse plate 373211.

In a specific embodiment, as shown in fig. 29, the right buffer device includes a right buffer device fixing plate 373254, a right sensor 373255 and a right buffer 373256, the right buffer device fixing plate 373254 is fixed on the detection mechanism support 371, the right sensor 373255 is a proximity sensor, the sensing end of the proximity sensor passes through the right buffer device fixing plate 373254 and is used for sensing the electric cylinder fixing riser 373212 approaching gradually, and the buffer end of the right buffer 373256 passes through the right buffer device fixing plate 373254 and is buffered by contacting with the electric cylinder fixing riser 373212; the sensor left and right driving cylinder 37324 is fixed on the right bumper fixing plate 373254, and the piston rod thereof passes through the right bumper fixing plate 373254 and is fixedly connected with the electric cylinder fixing cross plate 373211.

In a specific embodiment, as shown in fig. 22, the assembling mechanism 3 further includes a non-defective product marking mechanism 38 disposed between the product non-defective detecting mechanism 37 and the discharging mechanism 4, for leaving a non-defective mark on a non-defective product to be detected.

In one particular embodiment, as shown in fig. 30-31, the good marking mechanism 38 includes a laser marking machine 381, a fume absorbing device 382, and a good marking cover 383; the qualified product marking cover 383 is fixed on the workbench 99 and the assembly fixing disc 33 to form a laser marking space, the laser marking machine 381 is used for carrying out laser marking on the specified position of the qualified product 93, and the smoke absorption device 382 is used for absorbing smoke generated in the qualified product marking cover 383 due to laser marking. In the embodiment, as shown in fig. 31, the laser marker 381 emits laser λ to perform laser marking at a designated position of the non-defective product 93.

In one embodiment, as shown in fig. 31, the non-defective marking mechanism 38 further includes a laser marking blowing device 384, and the laser marking blowing device 384 is fixed in the non-defective marking cover 383 for blowing off dust generated by laser marking.

In one particular embodiment, as shown in fig. 31, the good marking mechanism 38 further includes a good sensor 385 for detecting whether a good 93 is to be marked in the part assembly module 32. In the embodiment, as shown in fig. 31, the non-defective product sensor 385 emits a radiation γ to detect whether the non-defective product marking mechanism 38 has the non-defective product 93, and the laser marking is performed after the non-defective product 93 is detected. In a particular embodiment, the non-defective sensor 385 may be an EX-11EA photosensor.

In a specific embodiment, as shown in fig. 31, the assembling mechanism 3 further includes a non-defective product pressing device 386 fixed in the non-defective product marking cover 383 for fixing the non-defective product 93 during the laser marking process.

In a specific embodiment, as shown in fig. 31, the non-defective products pressing apparatus 386 includes a non-defective products pressing block 3861 and a non-defective products pressing block driving cylinder 3862 for driving the non-defective products pressing block 3861 to ascend or descend.

In one embodiment, as shown in fig. 32-33, the product handling mechanism 41 includes a product handling rack 411 and a product handling device, which is fixed on the work table 99 via the product handling rack 411, and includes a product gripping mechanism 412, a product up-and-down handling driving mechanism 413 for driving the product gripping mechanism 412 to ascend or descend, and a product forward-and-backward handling driving mechanism 414 for driving the product gripping mechanism 412 to advance or retreat.

In one particular embodiment, as shown in FIG. 33, the product gripping mechanism 412 includes a product clamp block 4121 for gripping a product and a product clamp cylinder 4122 for actuating the product clamp block 4121 to close or open.

In a specific embodiment, as shown in fig. 33, the product up-and-down transfer driving mechanism 413 includes a product clamp cylinder fixing plate 4131 fixedly connected to a product clamp cylinder 4122 and a product up-and-down driving cylinder 4132 for driving the product clamp cylinder fixing plate 4131 to ascend or descend.

In a specific embodiment, as shown in fig. 33, the product front-rear conveyance driving mechanism 414 includes a product up-down driving cylinder fixing plate 4141 fixedly connected to a product up-down driving cylinder 4132 and a product front-rear driving electric cylinder 4142 for driving the product up-down driving cylinder fixing plate 4141 forward or backward. In the embodiment, as shown in fig. 33, after the assembled product reaches the discharging position, the product up-and-down driving cylinder 4132 drives the product clamping cylinder fixing plate 4131 to drive the product clamping mechanism 412 to descend to the working position, and then the product clamping cylinder 4122 drives the product clamping block 4121 to close to clamp the product; the product up-and-down driving cylinder 4132 drives the product clamping cylinder fixing plate 4131 to drive the product clamping mechanism 412 clamped with the product to ascend, and the product front-and-back driving electric cylinder 4142 drives the product up-and-down driving cylinder fixing plate 4141 to drive the product up-and-down driving cylinder 4132 and further drive the product to advance to the discharge conveyer 42.

In a specific embodiment, as shown in fig. 34, the discharge conveyor 42 includes a discharge conveyor 421 and a product discharge bar 422, the discharge conveyor 421 is used for receiving the products conveyed by the product conveying mechanism 41, the product discharge bar 422 is fixed on both sides of the discharge conveyor 421 and on one end of the discharge conveyor 421 away from the assembling mechanism 3, and is used for preventing the products from falling.

In a specific embodiment, as shown in fig. 33-34, the discharge conveyor 42 further includes a product discharge sensing device 423, and the product discharge sensing device 423 is disposed at an end of the discharge conveyor 421 near the assembling mechanism 3 for detecting whether a product is placed on the discharge conveyor 421. In the exemplary embodiment, as shown in fig. 33, the product discharge sensing device 423 emits radiation γ to detect whether the product conveying mechanism 41 conveys the product onto the discharge conveyor 421. In a particular embodiment, the product discharge sensing device 423 may employ an EX-23 photosensor.

In a specific embodiment, as shown in fig. 34-35, the discharge conveyor 42 further comprises a product accumulation prevention sensing device 424, and the product accumulation prevention sensing device 424 is disposed at an end of the discharge conveyor 421 away from the assembling mechanism 3, and is used for detecting whether a product accumulation is formed on the discharge conveyor 421. In one embodiment, as shown in fig. 35, the product accumulation prevention sensing device 424 emits a ray γ to detect whether a product is present at the end of the discharge conveyor 421, and if so, prompts the operator to handle the discharged product in time. In a particular embodiment, the product discharge sensing device 423 may employ an EX-23 photosensor.

In a specific embodiment, as shown in fig. 32 to 33, the discharge mechanism 4 further includes a reject recovery mechanism 425, the reject recovery mechanism 425 being provided between the assembly mechanism 3 and the discharge conveyor 42, and including a reject recovery cassette 4251 and a reject sensing device 4252, the reject sensing device 4252 being located above the reject recovery cassette 4251 for detecting whether the reject 94 is placed in the reject recovery cassette 4251.

In a particular embodiment, reject sensing apparatus 4252 may employ fiber optic sensor FU-E40.

In light of the foregoing description of the preferred embodiment of the present invention, many modifications and variations will be apparent to those skilled in the art without departing from the spirit and scope of the invention. The technical scope of the present invention is not limited to the content of the specification, and must be determined according to the scope of the claims.

Claims

1. Automatic change equipment robot, its characterized in that: comprises that

A delivery mechanism comprising a first part supply (11) and a first part delivery (12);

a second feeding mechanism comprising a second part supply (21) and a second part transport (22);

an assembly mechanism (3), wherein the assembly mechanism (3) is used for assembling a first part (91) from the first part conveying device (12) and a second part (92) from the second part conveying device (22); and

a discharge mechanism (4), wherein the discharge mechanism (4) is used for discharging the assembled product out of the assembling mechanism (3);

the first part supply device (11) comprises a plastic suction pipe (111) used for storing the first parts (91) and a part pushing device (112), and the part pushing device (112) is used for pushing the first parts (91) stored in the plastic suction pipe (111) to the first part conveying device (12);

the first part supply device (11) further comprises a first part supply cabinet (113), a plastic suction pipe accommodating device (114) and a plastic suction pipe conveying device (115) are arranged in the first part supply cabinet (113), and the plastic suction pipe conveying device (115) is used for conveying the plastic suction pipes (111) stored in the plastic suction pipe accommodating device (114) to a working position;

the first part supply cabinet (113) is also internally provided with at least one plastic sucking pipe fixing device (117), the plastic sucking pipe fixing device (117) comprises a plastic sucking pipe pressing device (1171), a plastic sucking pipe clamping device (1172) and a plastic sucking pipe fixing cylinder (1173), and the plastic sucking pipe fixing cylinder (1173) is used for driving the plastic sucking pipe pressing device (1171) and the plastic sucking pipe clamping device (1172) to ascend or descend;

the plastic uptake pipe accommodating device (114) comprises a plurality of pairs of left and right limiting clamping plates (1141) and upper and lower limiting mechanisms (1142) which are arranged at two ends of the bottom of each pair of left and right limiting clamping plates (1141) and used for preventing the plastic uptake pipe (111) from falling, a plastic uptake pipe barrier strip (1143) is arranged at one end of each pair of left and right limiting clamping plates (1141), a plastic uptake pipe barrier door (1144) used for transversely limiting the plastic uptake pipe (111) between each pair of left and right limiting clamping plates (1141) is arranged at the other end of each pair of left and right limiting clamping plates (1141), the plastic uptake pipe barrier door (1144) is hinged with one of each pair of left and right limiting clamping plates (1141), and a door sensor (1145) is arranged above the plastic uptake pipe barrier door (1144) and used for;

a pair of plastic suction pipe induction sensors (1146) are arranged at one ends of the bottoms of the left and right limiting clamping plates (1141) close to the plastic suction pipe stop gate (1144) and used for detecting whether the plastic suction pipe (111) filled with the first part (91) needs to be supplemented between the left and right limiting clamping plates (1141);

the upper and lower limiting mechanisms (1142) comprise limiting strips (11421) and limiting cylinders (11422) for driving the limiting strips (11421) to insert into or withdraw from the plastic suction pipes (111);

the plastic uptake pipe conveying device (115) comprises two vertical conveying mechanisms (1151), a horizontal conveying mechanism (1152) and two horizontal conveying tracks (1153), wherein the vertical conveying mechanism (1151) is used for descending the plastic uptake pipe (111) positioned at the lowest position in the plastic uptake pipe containing device (114) to the horizontal conveying track (1153), and the horizontal conveying mechanism (1152) is used for horizontally conveying the plastic uptake pipe (111) on the horizontal conveying track (1153) to a working position;

the two vertical transmission mechanisms (1151) are positioned between two horizontal transmission rails (1153), each vertical transmission mechanism (1151) comprises an upper vertical transmission device and a lower vertical transmission device, each upper vertical transmission device comprises an upper supporting plate (11511) and an upper cylinder (11512) for driving the upper supporting plate (11511) to ascend or descend, and each upper supporting plate (11511) is used for supporting the plastic suction pipe (111); the lower vertical transmission device comprises a lower cylinder (11513) for driving the whole upper vertical transmission device to ascend or descend and a lower cylinder fixing bracket (11514) for fixing a lower cylinder (11513), and the lower cylinder fixing bracket (11514) is fixed on a workbench (99);

the lower cylinder fixing support (11514) comprises a plurality of support upright posts (115141) and a support fixing plate (115142) fixed above the support upright posts (115141), and the lower cylinder (11513) is fixed on the lower surface of the support fixing plate (115142);

the upper vertical transmission device also comprises an upper cylinder fixing plate (11515), the upper cylinder (11512) is fixed on the upper cylinder fixing plate (11515), and the lower cylinder (11513) drives the upper cylinder fixing plate (11515) to ascend or descend so as to drive the whole upper vertical transmission device to ascend or descend;

the upper vertical conveying device also comprises a first height limiting plate (11516), and the first height limiting plate (11516) is arranged above the upper cylinder fixing plate (11515) and used for limiting the descending height of the upper supporting plate (11511);

the lower vertical transmission device further comprises a second height limiting plate (11517), the second height limiting plate (11517) is L-shaped and comprises a second long part (115171) and a second short part (115172), the second long part (115171) penetrates through the bracket fixing plate (115142) and then is fixed on the upper cylinder fixing plate (11515), and the ascending height of the upper vertical transmission device is limited through the interaction between the second short part (115172) and the bracket fixing plate (115142);

the first height limiting plate (11516) is also L-shaped and comprises a first long part (115161) and a first short part (115162) which are perpendicular to each other, and a first height limiting and adjusting device is arranged on the first short part (115162) and used for adjusting the limiting and descending distance of the upper supporting plate (11511); the second short part (115172) is provided with a second height limiting and adjusting device for adjusting the limited ascending distance of the upper vertical transmission device;

the first height limiting and adjusting device and the second height limiting and adjusting device respectively comprise a height limiting and adjusting bolt (115163), a height limiting and adjusting nut (115164) and a height limiting top block (115165), the height limiting top block (115165) is fixed on the lower surface of an upper supporting plate (11511) or a bracket fixing plate (115142), the height limiting and adjusting bolt (115163) sequentially penetrates through a height limiting and adjusting nut (115164), a first short part (115162) or the height limiting and adjusting nut (115164) and a second short part (115172), then the height limiting and adjusting bolt (115164) is fixed on the first short part (115162) or the second short part (115172), and the descending height of the upper supporting plate (11511) or the ascending height of the upper vertical transmission device is limited through the contact of the height limiting and adjusting bolt (115163) and the height limiting top block (115165) in the descending or ascending process;

each vertical transmission mechanism (1151) further comprises a vertical transmission balancing device, the vertical transmission balancing device comprises a balancing plate (11518) and two balancing rods (11519), one ends of the two balancing rods (11519) are respectively fixed at two ends of the upper supporting plate (11511), and the other ends of the two balancing rods sequentially penetrate through the upper cylinder fixing plate (11515) and the bracket fixing plate (115142) to be fixedly connected with two ends of the balancing plate (11518) located below the lower cylinder (11513);

the horizontal transmission mechanism (1152) is positioned between the two vertical transmission mechanisms (1151) and comprises a plastic suction pipe supporting device and a horizontal driving electric cylinder (11521), wherein the horizontal driving electric cylinder (11521) is used for driving the plastic suction pipe supporting device to move forwards or backwards and transmitting a plastic suction pipe (111) in the plastic suction pipe supporting device to a working position along a horizontal transmission track (1153);

the two plastic suction pipe fixing devices (117) are respectively used for fixing two ends of the plastic suction pipe (111); the plastic suction pipe fixing device (117) further comprises a fixing cylinder connecting plate (1175), and the fixing cylinder connecting plate (1175) is fixed on a plastic suction pipe fixing cylinder (1173) and used for fixing a plastic suction pipe pressing device (1171) and a plastic suction pipe clamping device (1172);

the plastic suction pipe pressing device (1171) comprises a plastic suction pipe pressing driving plate (11711), two plastic suction pipe pressing springs (11712), two plastic suction pipe pressing guide columns (11713) and a plastic suction pipe pressing plate (11714), and the plastic suction pipe pressing device (1171) is fixed on the fixed cylinder connecting plate (1175) through the plastic suction pipe pressing driving plate (11711); the two plastic suction pipe compression guide posts (11713) respectively penetrate through the plastic suction pipe pressure plate (11714) and the plastic suction pipe compression spring (11712) in sequence and then are slidably connected with the plastic suction pipe compression drive plate (11711), so that the plastic suction pipe compression spring (11712) is positioned between the plastic suction pipe compression drive plate (11711) and the plastic suction pipe pressure plate (11714); the plastic suction pipe clamping device (1172) comprises two plastic suction pipe clamping blocks (11721), and the two plastic suction pipe clamping blocks (11721) are fixed on a fixed cylinder connecting plate (1175) and connected with a plastic suction pipe fixed cylinder (1173) through the fixed cylinder connecting plate (1175);

the plastic suction pipe fixing device (117) further comprises a plastic suction pipe anti-reverse device (1174) connected with a plastic suction pipe fixing cylinder (1173) through a fixing cylinder connecting plate (1175), plug holes (1111) used for fixing a first part (91) inside the plastic suction pipe (111) are formed in the two ends of the upper side wall of the plastic suction pipe (111) in the length direction, and the distances from the plug holes (1111) to the two side faces of the plastic suction pipe (111) are unequal; the plastic suction pipe anti-reverse device (1174) comprises an anti-reverse inserting piece (11741) and an anti-reverse sensor (11742), the plastic suction pipe fixing cylinder (1173) drives the anti-reverse inserting piece (11741) to descend to be inserted into the plug hole (1111) or ascend to leave the plug hole (1111), if the anti-reverse inserting piece (11741) is detected by the anti-reverse sensor (11742), the anti-reverse inserting piece (11741) cannot be inserted into the plug hole (1111), and the plastic suction pipe (111) is reversely placed;

the plastic suction pipe anti-reverse device (1174) further comprises an anti-reverse fixing plate (11743), an anti-reverse pressing block (11744), an anti-reverse pressing spring (11745) and an anti-reverse sensor fixing plate (11746), and the plastic suction pipe anti-reverse device (1174) is fixed on the fixed air cylinder connecting plate (1175) through the anti-reverse fixing plate (11743); the anti-reverse pressing block (11744) is of a right-angle structure, one side of the right-angle structure is fixed on the anti-reverse fixing plate (11743), and the other side of the right-angle structure is provided with two pressing spring blind holes at intervals at one side close to the anti-reverse fixing plate (11743); the anti-reverse inserting piece (11741) is L-shaped and comprises an inserting piece long part (117411) and an inserting piece short part (117412) which are perpendicular to each other, the inserting piece long part (117411) penetrates through the anti-reverse fixing plate (11743) and is clamped on the anti-reverse fixing plate (11743) through the inserting piece short part (117412), one end of the anti-reverse pressing spring (11745) is inserted into the pressing spring blind hole, and the other end of the anti-reverse pressing spring (11745) presses the inserting piece short part (117412); the anti-reverse sensor fixing plate (11746) is fixed on the anti-reverse fixing plate (11743), and the anti-reverse sensor (11742) penetrates through the anti-reverse fixing plate (11743) and is used for detecting the short part (117412) of the plug-in sheet.

2. The automated assembly robot of claim 1, wherein: and a plastic suction pipe detection sensor (116) is also arranged in the first part supply cabinet (113) and is used for detecting whether the plastic suction pipe (111) reaches a working position.

3. The automated assembly robot of claim 1, wherein: the piece feeding mechanism further comprises a plastic suction pipe recovery device (13), wherein the plastic suction pipe recovery device (13) is connected with a plastic suction pipe transmission device (115) and used for recovering the plastic suction pipe (111) with the first part (91) discharged completely.

4. The automated assembly robot of claim 1, wherein: the second part supply device (21) comprises a second part supply cabinet (211), and a second part vibration disc (212) and an ion fan (213) which are arranged in the second part supply cabinet (211), wherein the ion fan (213) is used for removing static electricity of the second part (92) in the second part vibration disc (212), and the second part vibration disc (212) is used for discharging the second part (92) to the second part conveying device (22) in a certain direction.

5. The automated assembly robot of claim 1, wherein: the part conveying mechanism (5) is arranged between the first part conveying device (12) or the second part conveying device (22) and the assembling mechanism (3) and is used for conveying the first part (91) or the second part (92) conveyed by the first part conveying device (12) or the second part conveying device (22) to the assembling mechanism (3) for assembling.

6. The automated assembly robot of claim 1, wherein: the assembling mechanism (3) comprises an assembling turntable (31) fixedly arranged on the workbench (99) and a plurality of part assembling modules (32) arranged on the assembling turntable (31) at intervals.

7. The automated assembly robot of claim 1, wherein: the discharge mechanism (4) comprises a product conveying mechanism (41) and a discharge conveying device (42), wherein the product conveying mechanism (41) is used for conveying the assembled products to the discharge conveying device (42).