CN113714764B - Automatic change equipment of assembling - Google Patents
Automatic change equipment of assembling Download PDFInfo
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- CN113714764B CN113714764B CN202111079039.3A CN202111079039A CN113714764B CN 113714764 B CN113714764 B CN 113714764B CN 202111079039 A CN202111079039 A CN 202111079039A CN 113714764 B CN113714764 B CN 113714764B
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- telescopic rod
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/001—Article feeders for assembling machines
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/001—Article feeders for assembling machines
- B23P19/007—Picking-up and placing mechanisms
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/905—Control arrangements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/907—Devices for picking-up and depositing articles or materials with at least two picking-up heads
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/02—Control or detection
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/04—Detection means
- B65G2203/042—Sensors
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Specific Conveyance Elements (AREA)
Abstract
The invention discloses automatic assembling equipment which comprises a first conveyor belt, a first grabbing device, a second grabbing device and a second conveyor belt, wherein a base one-way channel is arranged at the front end of the first conveyor belt, and a baffle is arranged on the one-way channel. The first grabbing device comprises a first grabbing rod, three first electric clamping jaws vertically downwards are fixed at one end of the first grabbing rod, the second grabbing device comprises a second grabbing rod, a swinging arm and a second telescopic rod, an assembling device is arranged on one side of the second conveying belt and comprises a third telescopic rod, three assembling heads are rotatably arranged at the top end of the third telescopic rod, a disc is fixed at the bottom end of each assembling head, and each disc is connected with a disc driving motor driving the disc to rotate. The invention has the characteristics of high efficiency and automatic assembly.
Description
Technical Field
The invention relates to automatic assembling equipment.
Background
Today, as the automation industry is developed, machines are used instead of workers, and it is expected that all enterprises will be free of labor. In the field of negative pressure generation, the existing negative pressure bag, such as the negative pressure bag used in the medical field, needs to be matched with a negative pressure drainage device for use, which is troublesome. In order to realize the independent use of the negative pressure bag without other matched equipment, a negative pressure bag capable of self-generating negative pressure is designed, a negative pressure generator is arranged in a vacuumized bag body, the negative pressure generator is shown in figures 8 and 9 in the attached drawings of the specification and comprises a base 61 and a top plate 62, a spring is arranged on the top plate 62, the base 61 and the top plate 62 are required to be assembled and then installed on the negative pressure bag, when the negative pressure bag is used, a sheet object is inserted into a rectangular open slot 621 through the bag body, the rectangular open slot 621 can be a blind hole, the outer surface of the top plate 62 is exposed outside the negative pressure bag, if the rectangular open slot 621 is a through hole, the whole negative pressure generator is required to be sealed in the negative pressure bag, when the negative pressure bag is used, the sheet object is inserted into the rectangular open slot 621 through the bag body, the base 61 and the top plate 62 can be separated by pinching the base 61 with the other hand, and the negative pressure bag is opened through the spring to generate negative pressure.
The negative pressure generator needs manual assembly in an assembly mode, and is very troublesome, so that automatic assembling equipment is designed.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides automatic assembling equipment which is high in efficiency and can be automatically assembled.
The technical scheme adopted by the invention for solving the technical problems is as follows:
an automatic assembling device comprises a first conveyor belt, a first grabbing device, a second grabbing device and a second conveyor belt, wherein the first grabbing device is arranged at the front end of the first conveyor belt;
a second gripping device is arranged between the first conveyor belt and the second conveyor belt, and the first gripping device can convey the object to the second gripping device;
a plurality of through holes are formed in the second conveying belt, and a plurality of clamping grooves for placing top plate limiting blocks are formed in the side wall of each through hole;
an assembling device is arranged on one side of the second conveyor belt and comprises a third telescopic rod, assembling heads are rotatably arranged at the top ends of the third telescopic rods, a disc is fixed at the bottom end of each assembling head, and each disc is connected with a disc driving motor; a storage barrel is arranged above the second conveyor belt, a plurality of limiting claws are hinged in the storage barrel, and a plurality of torsional springs for expanding the bottom ends of the limiting claws are arranged at the hinged connection positions; a plurality of pushing rods are arranged above the storage barrel, and the bottom end of each pushing rod is provided with an alignment block; the top end of the push rod is connected with a push rod driving cylinder; the pushing rod driving cylinder is arranged on a support in a left-right sliding mode, and the bottom end of the support is fixedly connected with the storage barrel; the bottom end of the bracket is connected with a bracket driving cylinder, and the bracket is connected with a bracket reciprocating motion driving mechanism; the bracket moves forwards and is synchronous with the second conveyor belt;
the second gripping device may deposit the articles conveyed by the first gripping device into the storage drum.
Further, a rubber layer is arranged on the bottom end surface of the first support rod.
Further, the support reciprocating motion driving mechanism comprises an annular cylinder, an incomplete gear driving motor and a fixing plate, wherein a rack is arranged on the bottom wall of the annular cylinder, a rack meshed with the incomplete gear is arranged in the annular cylinder, and the incomplete gear driving motor is fixed on the fixing plate; two guide rods are respectively connected to the front end and the rear end of the annular cylinder, and a reset spring is sleeved on the guide rod at the front end.
Furthermore, the pushing rod driving cylinder is connected with a traction rope, and the other end of the traction rope penetrates through the support and then is connected with the support driving cylinder; one side of the pushing rod driving cylinder is connected with two horizontal rods, the other ends of the horizontal rods penetrate through the support, and compression springs are sleeved on the horizontal rods.
Furthermore, each side plate 11 is provided with an auxiliary conveyor belt 111, and the conveying directions of the two auxiliary conveyor belts 111 are the same.
Further, the second grabbing device comprises a second grabbing rod, a swing arm and a second telescopic rod, a second electric clamping jaw is fixed on the second grabbing rod, one side of each jaw of the second electric clamping jaw is connected with a second support rod through a buffer spring, and the bottom end of the second support rod slides on the second electric clamping jaw; a distance sensor is arranged on the second support rod; the electric clamping jaw type gripper is characterized in that a second electric clamping jaw driving motor is arranged in the second gripper rod, a second gripper rod driving motor is arranged on the swing arm, the swing arm can be rotatably arranged at the top end of the second telescopic rod, and a swing arm driving motor is fixed at the top end of the second telescopic rod.
Furthermore, the first grabbing device comprises a first grabbing rod, one end of the first grabbing rod is fixedly provided with a first electric clamping jaw which faces downwards vertically, and each jaw of the first electric clamping jaw is fixedly provided with a first support rod; the other end of the first grabbing rod is fixed on a first telescopic rod, and the bottom end of the first telescopic rod is connected with a first telescopic rod driving mechanism.
The invention has the beneficial effects that:
the base is conveyed to the base one-way channel through the first conveying belt, then the first grabbing device grabs the base and conveys the base to the second grabbing device, and the second grabbing device places the base in the storage barrel. The second conveyor belt is used for conveying the top plate of the negative pressure generator, and then the assembling device assembles the base and the top plate together.
Through connect a second vaulting pole through buffer spring on every claw of electronic clamping jaw of second, can realize when the centre gripping base, the second vaulting pole can not the rigid collision when touching the quad slit lateral wall of base. When two second vaulting poles were located the diagonal angle position of quad slit, two second vaulting poles interval was the biggest, and distance sensor sends the signal for the controller this moment, and electronic clamping jaw driving motor stall of second avoids electronic clamping jaw driving motor of second to last the rotation. When the base and the top plate are assembled by the aid of the support reciprocating motion driving mechanism, the base and the top plate are assembled along with the second conveyor belt in the process of moving together, assembling and conveying time is saved, and assembling efficiency is improved.
Drawings
FIG. 1 is a schematic perspective view of the present invention;
FIG. 2 is a schematic top view of the present invention;
FIG. 3 is a schematic view of a first grasping apparatus according to the present invention in a partial cross-sectional configuration;
FIG. 4 is a schematic view of a second grasping apparatus according to the present invention in partial cross section;
FIG. 5 is a schematic perspective view of the assembly head and the third telescopic rod of the present invention;
FIG. 6 is a schematic side view of the assembly head and the third telescopic rod of the present invention;
FIG. 7 is a schematic perspective view of a first motorized jaw of the present invention;
FIG. 8 is a schematic perspective view of the assembled base and top plate of the present invention;
FIG. 9 is a schematic perspective view of the top plate and spring of the present invention;
FIG. 10 is a schematic perspective view of an assembly device according to the present invention;
FIG. 11 is a schematic perspective view of the assembly apparatus of the present invention (showing an incomplete gear drive motor);
FIG. 12 is a side view of the assembled device of the present invention;
FIG. 13 is a schematic cross-sectional view of the storage canister and the spacing pawl of the present invention;
in the figure, a first conveyor belt 1, a side plate 11, an auxiliary conveyor belt 111, a base single-track way 12, a baffle plate 121, a frame body 13, a first gripping device 2, a first gripping rod 21, a first electric clamping jaw 22, a first support rod 221, a rubber layer 2211, a first telescopic rod 23, a first telescopic rod driving mechanism 231, a box body 2311, a first telescopic rod driving motor 2312, a bevel gear 2313, a slide rod 232, a sleeve 233, a slide rod driving cylinder 234, a second gripping device 3, a second gripping rod 31, a second gripping rod driving motor 311, a swing arm 32, a swing arm driving motor 321, a second telescopic rod 33, a second electric clamping jaw 34, a buffer spring 341, a second support rod 342, a distance sensor 343, a second electric clamping jaw driving motor 344, a second conveyor belt 4, a through hole 41, a clamping groove 411, an assembling device 5, a third telescopic rod 51, a telescopic motor 511, a threaded rod 512, an assembling head 52, a disc driving motor 521, a rack body 13, a first gripping device 2, a first electric clamping rod 232, a sleeve 233, a sleeve barrel 232, a sleeve barrel, a second clamping jaw driving motor, a second clamping barrel, a clamping jaw driving motor, a clamping barrel driving motor, a clamping device driving motor, a clamping device driving motor, a, The device comprises a disc 522, a storage barrel 53, a limiting claw 531, an open slot 532, a push rod 54, an alignment block 541, a push rod driving cylinder 542, a traction rope 5421, a horizontal rod 5422, a compression spring 5423, a bracket 55, a bracket driving cylinder 551, a bracket reciprocating motion driving mechanism 552, an annular barrel 5521, an incomplete gear 5522, an incomplete gear driving motor 5523, a fixing plate 5524, a rack 5525, a guide rod 5526, a return spring 5527, a negative pressure generator 6, a base 61, a square hole 611, a top plate 62, a rectangular open slot 621 and a limiting block 622.
Detailed Description
For a better understanding of the present invention, embodiments thereof are explained in detail below with reference to the accompanying drawings.
The automated assembling equipment shown in fig. 1 to 13 comprises a first conveyor belt 1, a first gripping device 2, a second gripping device 3 and a second conveyor belt 4, wherein the bottom end of the first conveyor belt 1 is fixed on a frame body 13. A curb plate 11 is fixed respectively to the left and right sides of first conveyer belt 1, the front end opening of two curb plates 11 is the splayed setting, and only hold a negative pressure generator 6's base 61 and pass through, as shown in fig. 8, negative pressure generator 6 includes base 61 and roof 62, there is the spring groove in the base 61, there is quad slit 611 bottom of base 61, there is rectangular open slot 621 on the roof 62, there are four stopper 622 at the edge of roof 62, have described in last application about negative pressure generator 6, no longer describe here.
A base single-way channel 12 is arranged at the front end of the first conveyor belt 1, the base single-way channel 12 is a box with an opening at the top end and the rear end, as shown in fig. 1, four bases 61 can be accommodated on the base single-way channel 12, the first gripping device 2 can sequentially grip three bases 61, and a baffle 121 is arranged on the base single-way channel to avoid taking out the fourth base 61. In order to avoid the base 61 from blocking the openings of the two side plates 11, an auxiliary conveyor belt 111 is installed on each side plate 11, the conveying directions of the two auxiliary conveyor belts 111 are the same, and for convenience of illustration, the auxiliary conveyor belt 111 is only shown in fig. 2. Of course, a vibration spring and a vibration motor may be installed between the first conveyor belt 1 and the frame body 13, so that the first conveyor belt 1 continuously shakes in the horizontal direction.
The first gripping device 2 comprises a first gripping bar 21, as shown in fig. 1, one end of the first gripping bar 21 is T-shaped, and the other end is fixed with three cylindrical joints. Three first electric clamping jaws 22 which vertically face downwards are fixed at one end of the first grabbing rod 21, and each first electric clamping jaw 22 is connected with a cylindrical joint respectively. The first electric clamping jaw 22 is of a conventional structure, and the opening and closing of the two jaws are controlled by a controller, as shown in fig. 7, a first stay bar 221 is fixed on each jaw of the first electric clamping jaw 22, and the outer surface of the first stay bar 221 is arc-shaped, so that the inner wall of the spring groove of the base 61 can be prevented from being abraded. Preferably, for more firm clamping, the bottom end surface of the first stay 221 is provided with a rubber layer 2211.
The other end of the first grabbing rod 21 is fixed on a first telescopic rod 23, as shown in fig. 3 and fig. 4, the first telescopic rod 23 and the second telescopic rod 33 have the same structure, and both include a sliding rod 232 and a sleeve 233 sleeved on the sliding rod 232, and a sliding rod driving cylinder 234 is disposed in the sleeve 233 and is used for driving the sliding rod 232 to extend and retract. The bottom end of the first telescopic rod 23 is connected with a first telescopic rod driving mechanism 231 for driving the first telescopic rod 23 to rotate. As shown in fig. 3, the bottom end of the sleeve 233 of the first telescopic rod 23 is set to be cylindrical, the bottom end of the first telescopic rod 23 is rotatably disposed on a box 2311, a first telescopic rod driving motor 2312 is disposed in the box 2311, and a bevel gear 2313 engaged with each other is respectively sleeved on the output shaft of the first telescopic rod driving motor 2312 and the bottom end of the sleeve 233. When in use, the sleeve 233 is driven to transfer by the first telescopic rod driving motor 2312.
The movement process of the first gripping device 2 is as follows: the controller lowers the slide bar 232 by controlling the slide bar drive cylinder 234 to extend the two jaws of the first clamping jaw 22 into the base 31, and then the controller opens the two jaws by controlling the first clamping jaw 22 to clamp the base 61. Then the controller controls the slide bar 232 to ascend, and then controls the first telescopic rod driving motor 2312 to rotate, so that the three bases 61 are located above the second grabbing device 3. Then the sliding rod 232 descends to make the square hole 611 of the base 31 to be sleeved on the two second supporting rods 342.
A second gripper device is disposed between the first conveyor and the second conveyor, the first gripper device being capable of transferring articles to the second gripper device. The second grasping device 3 includes a second grasping rod 31, a swing arm 32 and a second telescopic rod 33, three second electric clamping jaws 34 are fixed on the second grasping rod 31, one side of each jaw of the second electric clamping jaws 34 is connected with a second support rod 342 through a buffer spring 341, the bottom end of the second support rod 342 slides on the second electric clamping jaws 34, in specific implementation, a T-shaped groove is formed in the second electric clamping jaws 34, and the T-shaped groove is only provided with a section at the edge of the second electric clamping jaws 34. And the bottom end of the second stay 342 is provided with a T-shaped head which is engaged with the T-shaped groove. Thus, as the two jaws are opened and closed, the two second struts 342 are opened and closed, and the two second struts 342 move in parallel with the second motorized jaw 34. By providing the buffer spring 341, when the second stay bar 342 is opened, the second stay bar will not rigidly collide with the square hole 611 of the base 61, and along with the rotation of the second electric clamping jaw 34, the two second stay bars 342 will quickly find the diagonal positions of the square hole 611. The second support rods 342 are provided with a distance sensor 343, when the two second support rods 342 are located at the diagonal positions of the square hole 611, the distance sensor 343 detects that the distance between the two second support rods 342 is the largest, the distance sensor 343 sends a signal to the controller, and the controller controls the second electric clamping jaw driving motor 344 to stop rotating. At the same time, the second electric clamping jaw 34 controls the two jaws to be opened continuously, so that the second support rod 342 is ensured to clamp the base 61.
Three second electric clamping jaw driving motors 344 for driving the second electric clamping jaws 34 to rotate are arranged in the second grabbing rod 31, the second grabbing rod 31 is rotatably arranged on the swinging arm 32, a second grabbing rod driving motor 311 for driving the second grabbing rod 31 to rotate is arranged on the swinging arm 32, the swinging arm 32 is rotatably arranged at the top end of the second telescopic rod 33, and a swinging arm driving motor 321 is fixed at the top end of the second telescopic rod 33.
In the motion process of the second gripping device 3, the controller controls each second electric clamping jaw driving motor 344 to rotate, when the distance sensor 343 detects that the two second supporting rods 342 are at the maximum distance, the controller controls the corresponding second electric clamping jaw driving motor 344 to stop rotating, and then the controller controls the two jaws of the second electric clamping jaw 34 to open to a set length, so as to ensure that the second supporting rods 342 can clamp the base 61. When all three bases 61 are clamped, the controller controls the slide rod 232 of the first telescopic rod 23 to ascend, and then controls the first telescopic rod driving motor 2312 to rotate, so that the first grabbing rod 21 is located above (i.e. at an initial position) the base one-way path 12. Then the controller controls the slide rod 232 on the second telescopic rod 33 to ascend, then the controller controls the swing arm driving motor 321 to rotate 180 degrees, so that the second grabbing rod 31 is positioned above the second conveyor belt 4, then the controller controls the second grabbing rod driving motor 311 to rotate, so that the bases 61 on the three second electric clamping jaws 34 correspond to the storage barrel 53, and then the controller controls the three second electric clamping jaws 34 to close the second support rods 342 on the second electric clamping jaws 34, so that the bases 61 fall into the storage barrel 53. The controller then controls the second gripping means 3 to be reset.
A plurality of through holes 41 are formed in the second conveyor belt 4, and a plurality of clamping grooves 411 for placing top plate limiting blocks are formed in the side wall of each through hole 41; in use, the top plates 62 are placed on the second conveyor belt 4 manually or by a mechanical arm one by one, and the stopper 622 on the top plate 62 is positioned on the catch slot 411.
The assembling device 5 is arranged on one side of the second conveyor belt 4, the assembling device 5 comprises a third telescopic rod 51, as shown in fig. 6, the third telescopic rod 51 also comprises a sliding rod 232 and a sleeve 233, the difference is that a telescopic motor 511 is fixed at the bottom end of the sleeve 233, a threaded rod 512 is fixed on an output shaft of the telescopic motor 511, and a threaded hole matched with the threaded rod 512 is arranged on the sliding rod 232. The top end of the third telescopic rod 51 is rotatably provided with three assembling heads 52, the bottom end of each assembling head 52 is fixed with a disc 522, and the diameter of the disc 522 is smaller than the inner diameter of the spring placing groove of the base 61. Each disk 522 is connected to a disk drive motor 521 for driving the disk 522 to rotate. The third telescopic rod 51 and the assembly head 52 are located inside the second conveyor belt 4.
The storage barrel 53 is arranged above the second conveyor belt 4, the storage barrel 53 is internally hinged with a plurality of limiting claws 531, as shown in fig. 13, in the specific implementation, a plurality of open grooves 532 can be arranged on the side wall of the storage barrel 53, the limiting claws 531 are hinged in the open grooves 532, the bottom ends of the limiting claws 531 are arc-shaped, and the alignment block 541 can be prevented from being clamped in the resetting process. And a plurality of torsion springs which enable the bottom ends of the limiting claws 531 to open are arranged at the hinged connection positions, the torsion springs are sleeved on the hinged connection shafts, one ends of the torsion springs are fixed with the limiting claws 531, and the other ends of the torsion springs are fixed with the storage barrel 53. The plurality of pushing rods 54 are arranged above the storage barrel 53, the bottom end of each pushing rod 54 is provided with an aligning block 541, the bottom end of each aligning block 541 is provided with a chamfer, the chamfer is arranged for aligning, and the base 61 can be pushed out of the storage barrel 53 by the aligning blocks 541. The push rod 54 and the cartridge 53 are located above the second conveyor belt 4.
The top end of the pushing rod 54 is connected with a pushing rod driving cylinder 542; on push rod drive cylinder 542 can slide left and right one support 55, the concrete embodiment is: the pushing rod driving cylinder 542 is connected with a traction rope 5421, and the other end of the traction rope 5421 penetrates through the bracket 55 and then is connected with the bracket driving cylinder 551; one side of the pushing rod driving cylinder 542 is connected with two horizontal rods 5422, the other end of each horizontal rod 5422 penetrates through the support 55, and the horizontal rod 5422 is sleeved with a compression spring 5423. When the bracket 55 is raised, the pushing rod driving cylinder 542 slides rightwards under the action of the pulling rope 5421, and when the bracket is raised to the topmost end, the pushing rod driving cylinder 542 slides rightmost, so that the second grabbing bar 31 can normally place the base 61 in the storage barrel 53. As shown in fig. 10, push rod drive cylinder 542 should now slide to the right. At this point pull cord 5421 is not yet installed and push rod drive cylinder 542 is still in the home position.
The bottom end of the bracket 55 is fixedly connected with the storage barrel 53; the bottom end of the bracket 55 is connected with a bracket driving cylinder 551 which can drive the bracket 55 to lift, and the bracket 55 is connected with a bracket reciprocating driving mechanism 552 which can drive the bracket 55 to reciprocate back and forth; as shown in fig. 11 and 12, the support reciprocating driving mechanism 552 includes an annular cylinder 5521, an incomplete gear 5522, an incomplete gear driving motor 5523, and a fixing plate 5524, a rack 5525 is disposed on a bottom wall of the annular cylinder 5521, the rack 5525 engaged with the incomplete gear 5522 is disposed in the annular cylinder 5521, the incomplete gear driving motor 5523 is fixed on the fixing plate 5524, the fixing plate 5524 is fixed on one side of the second conveyor 4, two guide rods 5526 are respectively connected to front and rear ends of the annular cylinder 5521, and a return spring 5527 is respectively sleeved on the guide rod 5526 at the front end.
When the forwardly moving carriage 55 moves in synchronism with the second conveyor belt 4. When the incomplete gear rotates to drive the annular cylinder 5521 to move forwards in use, the conveying speed is the same as that of the second conveying belt 4. When the incomplete gear 5522 rotates to the toothless position, the annular cylinder 5521 is immediately reset by the return spring 5527 to move to the rear end initial position. When the incomplete gear 5522 rotates one turn, the conveyor belt 4 moves by the distance between the three through holes 41, so that when the incomplete gear 5522 rotates the next turn, the three negative pressure generators 6 can be continuously installed. When the ring drum 5521 moves, the support driving cylinder 551 controls the support 55 to descend, so that the bottom end of the storage drum 53 contacts the second conveyor belt 4, then the pushing rod driving cylinder 542 pushes the pushing rod 54 to move downwards, the base 61 is pushed to move downwards, the base 61 and the top plate 62 are aligned, then the telescopic motor 511 rotates, the disc 522 and the assembling head 52 are lifted, and then the disc driving motor 51 drives the disc 522 to rotate, so that the top plate 62 is screwed into the base 61. After the installation is completed, the bracket driving cylinder 551 controls the bracket 55 to ascend, and during the ascending process, the pushing rod driving cylinder 542 continues to push the pushing rod 54 to move downwards, so that the assembled negative pressure generator 6 is pushed out from the storage barrel 53. After the push-out, push-lever drive cylinder 542 is immediately reset. The stand 55 is then moved to the top initial position, and when the ring cylinder 5521 is returned to the rear end, the ring cylinder 5521 is fixed for a while the incomplete gear 5522 is rotated, and at this time, the second grip lever 31 of the second grip device 3 places the base 61 in the storage cylinder 53. After placement, the second gripper is reset, and the negative pressure generator 6 is continuously installed while the teeth on the incomplete gear 5522 continue to drive forward. When the device is used, a timer or a sensor can be arranged in the controller, when the incomplete gear 5522 rotates for one circle, the assembling device 5 is controlled to assemble the negative pressure generator 6, and when the incomplete gear 5522 rotates for the next circle, the controller controls the assembly to continue.
It should be noted that although the present specification describes embodiments, not every embodiment includes only a single technical solution, and such description of the specification is only for clarity, and those skilled in the art should take the specification as a whole, and the technical solutions in the embodiments may be appropriately combined to form other embodiments that can be understood by those skilled in the art.
Claims (4)
1. The utility model provides an automatic change equipment of assembling which characterized in that: the device comprises a first conveyor belt, a first grabbing device, a second grabbing device and a second conveyor belt, wherein the first grabbing device is arranged at the front end of the first conveyor belt;
a second gripping device is arranged between the first conveyor belt and the second conveyor belt, and the first gripping device can convey the object to the second gripping device;
the negative pressure generator comprises a base and a top plate, a spring groove is formed in the base, a square hole is formed in the bottom end of the base, a rectangular open slot is formed in the top plate, and four limiting blocks are arranged on the edge of the top plate; a plurality of through holes are formed in the second conveying belt, and a plurality of clamping grooves for placing limiting blocks are formed in the side wall of each through hole;
an assembling device is arranged on one side of the second conveyor belt and comprises a third telescopic rod, assembling heads are rotatably arranged at the top ends of the third telescopic rods, a disc is fixed at the bottom end of each assembling head, and each disc is connected with a disc driving motor; a storage barrel is arranged above the second conveyor belt, a plurality of limiting claws are hinged in the storage barrel, and a plurality of torsional springs for expanding the bottom ends of the limiting claws are arranged at the hinged connection positions; a plurality of pushing rods are arranged above the storage barrel, and the bottom end of each pushing rod is provided with an alignment block; the top end of the push rod is connected with a push rod driving cylinder; the pushing rod driving cylinder is arranged on a support in a left-right sliding mode, and the bottom end of the support is fixedly connected with the storage barrel; the bottom end of the support is connected with a support driving cylinder, and the support is connected with a support reciprocating motion driving mechanism; the bracket moves forwards and is synchronous with the second conveyor belt;
the second grabbing device can place the object conveyed by the first grabbing device into the storage barrel;
the first grabbing device comprises a first grabbing rod, one end of the first grabbing rod is fixedly provided with a first electric clamping jaw which faces downwards vertically, and each jaw of the first electric clamping jaw is fixedly provided with a first support rod; the other end of the first grabbing rod is fixed on a first telescopic rod, and the bottom end of the first telescopic rod is connected with a first telescopic rod driving mechanism;
the support reciprocating motion driving mechanism comprises an annular cylinder, an incomplete gear driving motor and a fixed plate, wherein a rack is arranged on the bottom wall of the annular cylinder, a rack meshed with the incomplete gear is arranged in the annular cylinder, and the incomplete gear driving motor is fixed on the fixed plate; the front end and the rear end of the annular cylinder are respectively connected with two guide rods, and the guide rod at the front end is sleeved with a return spring;
the pushing rod driving cylinder is connected with a traction rope, and the other end of the traction rope penetrates through the support and then is connected with the support driving cylinder; one side of the pushing rod driving cylinder is connected with two horizontal rods, the other ends of the horizontal rods penetrate through the support, and compression springs are sleeved on the horizontal rods.
2. The automated assembly device of claim 1, wherein: the bottom end surface of the first support rod is provided with a rubber layer.
3. The automated assembly device of claim 1, wherein: the left side and the right side of the first conveying belt are respectively fixed with a side plate, the front end openings of the two side plates are arranged in a splayed manner, a base of only one negative pressure generator is contained to pass through the openings, each side plate is respectively provided with an auxiliary conveying belt, and the conveying directions of the auxiliary conveying belts are the same.
4. The automated assembly device of claim 1, wherein: the second grabbing device comprises a second grabbing rod, a swinging arm and a second telescopic rod, a second electric clamping jaw is fixed on the second grabbing rod, one side of each jaw of the second electric clamping jaw is connected with a second support rod through a buffer spring, and the bottom end of the second support rod slides on the second electric clamping jaw; a distance sensor is arranged on the second support rod; the second grabbing rod is internally provided with a second electric clamping jaw driving motor, the swing arm is provided with a second grabbing rod driving motor, the swing arm can be rotatably arranged at the top end of the second telescopic rod, and the swing arm driving motor is fixed at the top end of the second telescopic rod.
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