CN113942242A

CN113942242A - Rubber sleeve conveying device, assembly system and assembly method

Info

Publication number: CN113942242A
Application number: CN202010681653.6A
Authority: CN
Inventors: 卫冬生; 张�杰; 孙聚川; 李明; 刘小龙; 杨培培; 崔云峰; 高瑞琪
Original assignee: Shanghai Marine Diesel Engine Research Institute
Current assignee: Shanghai Marine Diesel Engine Research Institute
Priority date: 2020-07-15
Filing date: 2020-07-15
Publication date: 2022-01-18

Abstract

The invention discloses a rubber sleeve conveying device, an assembly system and an assembly method. The gum cover conveyor is used for carrying the gum cover to the assembly bench, gum cover conveyor includes that gum cover charging equipment and gum cover pull the equipment, gum cover charging equipment is used for carrying the gum cover to the primary importance, be provided with a supporting bench between gum cover charging equipment and the assembly bench, a supporting bench supports the gum cover that is located the primary importance, the gum cover pulls the equipment and is used for removing the gum cover that is located a supporting bench to the assembly bench, a supporting bench is provided with the through-hole, the gum cover pulls the equipment and pulls the subassembly including vertical subassembly and the level of pulling, the vertical subassembly of pulling is including pulling the component, it can extend through-hole and get into the gum cover to pull the component, the level pulls the drive of component and pulls the component portable between a supporting bench and the assembly bench. According to the rubber sleeve conveying device, the full automation of rubber sleeve assembly is realized, manual operation is reduced, the assembly precision is more accurate, and the efficiency is high.

Description

Rubber sleeve conveying device, assembly system and assembly method

Technical Field

The invention relates to the technical field of automation equipment, in particular to a rubber sleeve conveying device, an assembly system and an assembly method.

Background

The application of the existing reversing radar is more and more extensive, and a rubber sleeve is sleeved outside the radar to protect the radar. In the existing assembly line, the assembly process of the rubber sleeve is generally completed manually. However, repeated rapid movements over a long period of time tend to make the manual work less efficient and prone to errors.

Accordingly, there is a need to provide a gum conveying apparatus, fitting system and fitting method that at least partially address the above-mentioned problems.

Disclosure of Invention

In this summary, concepts in a simplified form are introduced that are further described in the detailed description. This summary of the invention is not intended to identify key features or essential features of the claimed subject matter, nor is it intended to be used as an aid in determining the scope of the claimed subject matter.

In order to at least partially solve the above-mentioned problems, according to a first aspect of the present invention, there is provided a gum cover conveying device for conveying gum covers to an assembly station, the gum cover conveying device comprising:

the rubber sleeve feeding device is used for conveying the rubber sleeve to a first position, a supporting table is arranged between the rubber sleeve feeding device and the assembling table, and the supporting table supports the rubber sleeve located at the first position; and

the gum cover drags equipment, the gum cover drags equipment and is used for removing the gum cover that is located a supporting bench to the assembly bench, the gum cover drags equipment setting and is in the below of a supporting bench, and a supporting bench is provided with the through-hole, the gum cover drags equipment and includes:

a vertical drag assembly comprising a drag member movable in a height direction of the gum dragging device, the drag member being extendable through the through hole and into the gum; and

a horizontal drag assembly that drives the drag member to be movable between the support stage and the assembly stage.

The rubber sleeve conveying device comprises rubber sleeve feeding equipment and rubber sleeve dragging equipment, wherein the rubber sleeve feeding equipment is used for conveying a rubber sleeve to a first position, a supporting table is arranged between the rubber sleeve feeding equipment and the assembling table and supports the rubber sleeve at the first position, the rubber sleeve dragging equipment is used for moving the rubber sleeve at the supporting table to the assembling table, the rubber sleeve dragging equipment is arranged below the supporting table and provided with a through hole, the rubber sleeve dragging equipment comprises a vertical dragging component and a horizontal dragging component, the vertical dragging component comprises a dragging component, the dragging component can move in the height direction of the rubber sleeve dragging equipment, the dragging component can extend through the through hole and enter the rubber sleeve, and the horizontal dragging component drives the dragging component to move between the supporting table and the assembling table. Therefore, the full automation of rubber sleeve assembly is realized, manual operation is reduced, the assembly precision is more accurate, and the efficiency is high.

Optionally, the rubber sleeve feeding device includes:

the rubber sleeve feeding cabinet is internally provided with a plurality of rubber sleeves;

the rubber sleeve moving mechanism is used for sequentially conveying the plurality of rubber sleeves in the rubber sleeve feeding cabinet to the first position, the starting point end of the rubber sleeve moving mechanism is arranged in the rubber sleeve feeding cabinet, the supporting table is arranged between the terminal point end of the rubber sleeve moving mechanism and the assembling table, and the rubber sleeve moving mechanism is communicated with the supporting table.

Optionally, the supporting table is provided with a positioning groove and a guiding hole, the positioning groove is opposite to the terminal end of the rubber sleeve moving mechanism, the rubber sleeve located at the first position abuts against the positioning groove, the guiding hole is communicated with the positioning groove and the assembling table, the bottom of the positioning groove is provided with the through hole, and the dragging member can extend through the through hole of the positioning groove and enter the rubber sleeve located at the first position.

Optionally, the assembly table is provided with a positioning hole and a negative pressure hole located on a side of the positioning hole, the positioning hole corresponds to a central hole of the rubber sleeve, the guide hole communicates with the positioning groove and the positioning hole, the lower surface of the rubber sleeve seals the negative pressure hole, and the horizontal dragging assembly drives the dragging member to move between the positioning groove and the positioning hole.

The invention also provides an assembly system for assembling a gum cover and a radar, the assembly system comprising:

an assembly table and a support table;

gum cover conveyor, gum cover conveyor includes:

the rubber sleeve feeding device is used for conveying the rubber sleeve to a first position, the supporting table is arranged between the rubber sleeve feeding device and the assembling table, and the supporting table supports the rubber sleeve located at the first position;

the gum cover drags equipment, the gum cover drags equipment be used for with be located the first position the gum cover move to on the assembly bench, the gum cover drags equipment setting and is in the below of brace table to the brace table is provided with the through-hole, the gum cover drags equipment and includes:

a vertical drag assembly comprising a drag member movable in a height direction of the mounting system, the drag member being extendable through the through hole and into the gum cover at the first position; and

a horizontal drag assembly driving the drag member to be movable between the support stage and the assembly stage; and

and the mechanical arm clamps the radar and presses the radar and the rubber sleeve on the assembling table together.

The assembling system comprises an assembling table, a supporting table, a rubber sleeve conveying device and an mechanical arm, wherein the rubber sleeve conveying device comprises rubber sleeve feeding equipment and rubber sleeve dragging equipment, the rubber sleeve feeding equipment is used for conveying a rubber sleeve to a first position, the supporting table is arranged between the rubber sleeve feeding equipment and the assembling table, the supporting table supports the rubber sleeve at the first position, the rubber sleeve dragging equipment is used for moving the rubber sleeve at the first position onto the assembling table, the rubber sleeve dragging equipment is arranged below the supporting table, the supporting table is provided with a through hole, the rubber sleeve dragging equipment comprises a vertical dragging component and a horizontal dragging component, the vertical dragging component comprises a dragging component, the dragging component is movable along the height direction of the assembling system, the dragging component can extend through the through hole and enter the rubber sleeve at the first position, the horizontal dragging component drives the dragging component to move between the supporting table and the assembling table, the mechanical arm clamps the radar and presses the radar and the rubber sleeve together. Therefore, the full automation of assembling the radar and the rubber sleeve is realized, the manual operation is reduced, the assembling precision is more accurate, and the efficiency is high.

Optionally, still include radar charging equipment, radar charging equipment includes:

the radar feeding frame is internally provided with at least one material box, and a plurality of radars are arranged in the material box;

the radar moving mechanism is connected with the radar feeding frame so as to move the radar feeding frame to a second position; and

the radar receiving mechanism is arranged on the side of the radar feeding frame, and the material box in the radar feeding frame, which is located at the second position, is moved out of the radar feeding frame.

Optionally, the rubber sleeve feeding device includes:

Optionally, the device further comprises a rack, a first visual positioning device, a second visual positioning device and a third visual positioning device, wherein the first visual positioning device, the second visual positioning device and the third visual positioning device are all arranged on the rack,

the first visual positioning device is used for detecting the position of the rubber sleeve on the assembling table and the angle between the notch on the rubber sleeve and the normal line,

the second visual positioning device is used for detecting the position of the radar clamped by the mechanical arm and the position of a flange of the radar,

and the third visual positioning equipment is used for detecting the states of the assembled rubber sleeve and the assembled radar.

Optionally, the radar cable management system further comprises a rack and cable management equipment, wherein the cable management equipment is arranged on the rack, the mechanical arm drives the radar to move to the cable management equipment, and the cable management equipment is used for keeping the electric wire of the radar in a vertical state.

Optionally, the radar assembling machine further comprises a rack and a blowing device, wherein the blowing device is arranged on the rack and corresponds to the assembling table, and the blowing device conveys air to blow away the rubber sleeve which is not assembled with the radar on the assembling table.

Optionally, a control system is further included, the control system being electrically connected to each of the devices to control the operation of each of the devices.

The invention also provides an assembling method for the assembling system, which comprises the following steps:

the rubber sleeve feeding equipment conveys the rubber sleeve to the first position;

the rubber sleeve dragging equipment is used for moving the rubber sleeve positioned at the first position to the assembling table;

the mechanical arm clamps the radar and moves the radar to the upper part of the assembling table, and the mechanical arm drives the radar to move downwards so that the radar and the rubber sleeve are pressed together;

and the mechanical arm moves the assembled radar and the rubber sleeve away.

The assembling method is used for the assembling system, the assembling system is used for assembling the rubber sleeve and the radar, the assembling system comprises an assembling table, a supporting table, a rubber sleeve feeding device, a rubber sleeve dragging device and a mechanical arm, the rubber sleeve feeding device is used for conveying the rubber sleeve to a first position, the supporting table is arranged between the rubber sleeve feeding device and the assembling table, the supporting table supports the rubber sleeve located at the first position, the rubber sleeve dragging device is used for moving the rubber sleeve located at the first position onto the assembling table, the rubber sleeve dragging device is arranged below the supporting table, the supporting table is provided with a through hole, the rubber sleeve dragging device comprises a vertical dragging component and a horizontal dragging component, the vertical dragging component comprises a dragging component, the dragging component is movable along the height direction of the assembling system, the dragging component can extend through the through hole and enter the rubber sleeve located at the first position, the horizontal dragging component drives the dragging component to move between the supporting table and the assembling table, the mechanical arm clamps the radar and presses the radar and the rubber sleeve together, and the mechanical arm moves away the assembled rubber sleeve and the radar. Therefore, the full automation of assembling the radar and the rubber sleeve is realized, the manual operation is reduced, the assembling precision is more accurate, and the efficiency is high.

Drawings

The following drawings of the invention are included to provide a further understanding of the invention. The drawings illustrate embodiments of the invention and, together with the description, serve to explain the principles and apparatus of the invention. In the drawings, there is shown in the drawings,

FIG. 1 is a top view of a mounting system according to a preferred embodiment of the present invention;

FIG. 2 is a perspective view of the radar loading apparatus of FIG. 1;

FIG. 3 is a right partial perspective view of the mounting system of FIG. 1;

FIG. 4 is a partial perspective view from the left of the mounting system of FIG. 3 with the gum cover feeding apparatus omitted;

FIG. 5 is a top partial perspective view of the mounting system shown in FIG. 3, with the radar and gum cover omitted; and

FIG. 6 is a top partial perspective view of the mounting system of FIG. 5, showing the radar and gum cover.

Description of reference numerals:

100: the assembling system 101: rack

102: the mounting station 103: locating hole

104: the negative pressure hole 110: radar charging equipment

111: radar charging frame 112: material box

113: radar moving mechanism 114: radar receiving mechanism

120: rubber sleeve feeding equipment 121: rubber sleeve feeding cabinet

122: the rubber sleeve moving mechanism 123: terminal end of rubber sleeve moving mechanism

124: support table 125: locating slot

126: guide hole 130: rubber sleeve dragging equipment

131: vertical towing assembly 132: drag member

133: horizontal drag assembly 134: dragging rack

135: dragging slide rail 136: baffle plate

140: the robot arm 161: first visual positioning device

163: third visual positioning device 164: wire arranging equipment

165: the blowing device 166: guide cover

167: the material collecting box 200: radar apparatus

201: first gum cover 202: second rubber sleeve

Detailed Description

In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the present invention. It will be apparent, however, to one skilled in the art, that the present invention may be practiced without one or more of these specific details. In other instances, well-known features have not been described in order to avoid obscuring the invention.

In the following description, for purposes of explanation, specific details are set forth in order to provide a thorough understanding of the present invention. It is apparent that the practice of the invention is not limited to the specific details set forth herein as are known to those of skill in the art. The following detailed description of the preferred embodiments of the present invention, however, the present invention may have other embodiments in addition to the detailed description, and should not be construed as being limited to the embodiments set forth herein.

It is to be understood that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention, as the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. When the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. The terms "upper", "lower", "front", "rear", "left", "right" and the like as used herein are for purposes of illustration only and are not limiting.

Ordinal words such as "first" and "second" are referred to herein merely as labels, and do not have any other meaning, such as a particular order, etc. Also, for example, the term "first component" does not itself imply the presence of "second component", and the term "second component" does not itself imply the presence of "first component".

In the following, specific embodiments of the present invention will be described in more detail with reference to the accompanying drawings, which illustrate representative embodiments of the invention and do not limit the invention.

The invention provides a rubber sleeve conveying device which is used for conveying rubber sleeves to an assembly table.

Specifically, as shown in fig. 1, the gum cover conveying device includes a gum cover feeding device 120 and a gum cover dragging device 130, and the gum cover feeding device 120 is configured to convey the gum cover to the first position. The rubber sleeve feeding device 120 includes a rubber sleeve feeding cabinet 121 and a rubber sleeve moving mechanism 122, and a plurality of rubber sleeves are accommodated in the rubber sleeve feeding cabinet 121. The gum cover moving mechanism 122 can convey a plurality of gum covers in the gum cover feeding cabinet 121 out of the gum cover feeding cabinet 121. A plurality of gum caps may be located in the gum cap moving mechanism 122.

As shown in fig. 3 to 6, the rubber sleeve moving mechanism 122 includes a starting end and an ending end 123 (the ending end 123 is shown in fig. 5), and the rubber sleeve located at the starting end of the rubber sleeve moving mechanism 122 can move to the ending end 123. The starting end of the rubber sleeve moving mechanism 122 is arranged in the rubber sleeve feeding cabinet 121, and the ending end 123 of the rubber sleeve moving mechanism 122 corresponds to the first position. The gum cover moving mechanism 122 can drive a plurality of gum covers to move in sequence in a column. The gum cover moving mechanism 122 may be configured as a vibratory tray to sequentially bring a plurality of gum covers out of order in the gum cover loading cabinet and sequentially deliver to the first location.

Further, a support table 124 is disposed between the gum cover loading apparatus 120 and the assembly table 102. As shown in fig. 5, a support table 124 is disposed between the terminal end 123 of the gum cover moving mechanism 122 and the mounting table 102, and the support table 124 can support the gum cover located at the first position to prevent the gum cover located at the first position from falling. The gum cover moving mechanism 122 may be in communication with the support 124 such that the gum cover discharged from the terminal end 123 of the gum cover moving mechanism 122 moves to a first position on the support 124.

The gum cover dragging device 130 is used to move the gum cover located at the support table 124 onto the mounting table 102. Preferably, the mounting station 102 may be disposed in the middle of the support table 124 to facilitate movement of the gum cover from the first position onto the mounting station 102. The mounting block 102 may be coupled to the support block 124 by a coupling member, such as a bolt, to improve the structural strength and prevent the support block 124 or the mounting block 102 from moving during the movement of the rubber sleeve.

As shown in fig. 4 and 6, a gum cover dragging device 130 is disposed below the support table 124, and the support table 124 is provided with a through hole to drag a gum cover located at a first position on the support table 124. The support table 124 is provided with a positioning groove 125 and a guide hole 126, and the positioning groove 125 is opposite to the terminal end 123 of the gum cover moving mechanism 122. The first gum cover 201 discharged from the gum cover moving mechanism 122 falls into the positioning groove 125 by the pushing force applied by the gum cover moving mechanism, and the positioning groove 125 can position the first gum cover 201 to the first position. The first rubber sleeve 201 in the first position abuts against the positioning slot 125 to prevent the rubber sleeve from moving further away from the rubber sleeve moving mechanism 122 under the action of inertia.

The guide hole 126 may be configured as a substantially elongated hole, and the guide hole 126 communicates the upper and lower portions of the support table 124 in the height direction of the gum dragging device 130. Guide holes 126 may communicate with detent 125 and mounting station 102 to facilitate movement of the gum cover in the first position onto mounting station 102. The bottom of the positioning groove 125 is provided with a through hole, the gum cover dragging device 130 is arranged below the support table 124, and the gum cover dragging device 130 can move upwards along the height direction of the gum cover dragging device 130 so as to extend into the central hole of the first gum cover 201 at the first position through the through hole of the positioning groove 125. The gum dragging device 130 may be movable along the extension direction of the guide hole 126 to move the first gum cover in the positioning groove 125 onto the assembly station 102.

Further, as shown in fig. 5, the mounting table 102 is provided with a positioning hole 103 and a negative pressure hole 104, and the positioning hole 103 communicates the upper and lower portions of the mounting table 102 in the height direction of the gum cover dragging device 130. The guide hole 126 may communicate the positioning groove 125 and the positioning hole 103. The gum cover dragging device 130 can drag and move the gum cover located at the first position to the positioning hole 103 along the extending direction of the guide hole 126. The rubber boot can be elastically deformed to move in the guide hole 126.

The negative pressure holes 104 are located on the side of the positioning hole 103, and preferably, a plurality of negative pressure holes 104 may be provided on the side of the positioning hole 103, and the plurality of negative pressure holes 104 are provided at intervals along the circumferential direction of the positioning hole 103. A suction device for sucking air in the negative pressure hole 104 is provided below the mount 102. The locating hole 103 may correspond to a central hole of the gum cover located on the mounting station 102 to facilitate movement of the gum cover into position. The lower surface of the rubber sleeve closes the negative pressure hole 104, and the suction device sucks air in the negative pressure hole 104 to form a negative pressure environment, and as shown in fig. 6, the negative pressure hole can suck the second rubber sleeve 202 on the assembly table 102, so as to prevent the second rubber sleeve 202 from moving.

As shown in fig. 4, the gum cover dragging device 130 comprises a vertical dragging assembly 131 and a horizontal dragging assembly 133, the vertical dragging assembly 131 comprises a dragging member 132, and the dragging member 132 can drag the gum cover to move along the extending direction of the guide hole 126. The drag member 132 is configured in a generally cylindrical configuration. The dimensions of the drag member 132 are matched to the dimensions of the registration aperture 103 to ensure that the drag member 132 and the gum cover can move together within the registration aperture 103.

Specifically, the vertical drag assembly 131 includes a vertical drag cylinder that may be connected to the drag member 132 and that may drive the drag member 132 to be movable in a height direction of the gum dragging device 130. The vertical drag cylinder may drive the drag member 132 to move up into the center hole of the gum cover in the height direction of the gum cover drag apparatus 130. In particular, the drag member 132 may extend through a through hole of the support table 124 and into the gum in the first position, and in particular the drag member 132 may extend through a through hole of the bottom of the positioning slot 125 and into the gum in the first position.

The horizontal drag assembly 133 may be coupled to the vertical drag assembly 131 to drive the vertical drag assembly 131 to move. Alternatively, the horizontal drag assembly 133 may be connected to the vertical drag cylinder such that the vertical drag cylinder and the drag member 132 are movable together along the extension direction of the guide hole 126 between the support table 124 and the mounting table 102, and particularly, the horizontal drag assembly 133 may drive the drag member 132 to be movable along the extension direction of the guide hole 126 between the positioning groove 125 and the positioning hole 103.

Specifically, the gum cover dragging device 130 further comprises a dragging frame body, a horizontal dragging cylinder and a dragging slide rail 135, wherein the dragging frame body 134 is connected with the dragging slide rail 135 to support the dragging slide rail 135. The horizontal drag cylinder is connected to the horizontal drag assembly 133 to drive the horizontal drag assembly 133 to be movable relative to the drag slide 135. The horizontal dragging component 133 is provided with a vertical dragging component 131, optionally, the upper surface of the horizontal dragging component 133 is connected with the bottom of a vertical dragging cylinder, and the dragging slide rail 135 can drive the vertical dragging cylinder and the dragging member 132 to move together.

The dragging member 132 may move the gum cover in a radial direction of the gum cover. The horizontal drag assembly 133 can move the drag member 132 between the positioning groove 125 and the positioning hole 103 along the extending direction of the guide hole 126, so that the gum cover located in the positioning groove 125 is moved onto the positioning hole 103. The dragging member 132 at the position of the assembly station 102 can be moved in the height direction of the gum cover dragging device 130 to be separated from the positioning hole 103, and the horizontal dragging assembly 133 can drive the dragging member 132 to be reset. Thereby improving assembly efficiency.

Preferably, the terminal end 123 of the gum cover moving mechanism 122 is further provided with a baffle 136, and the baffle 136 is disposed above the first gum cover 201 located at the first position. When the dragging member 132 moves upward into the first rubber sleeve 201 along the height direction of the rubber sleeve dragging device 130, the baffle 136 can prevent the first rubber sleeve 201 from moving due to upward acting force, so as to prevent the rubber sleeve from being ejected.

The invention provides an assembling system for assembling a rubber sleeve and a radar. The rubber sleeve is constructed in a substantially cylindrical structure in which the radar can be placed. The assembly system can accurately assemble the rubber sleeve and the radar together, full automation is realized in the production process, the production efficiency is improved, and the error rate is reduced.

As shown in fig. 1, the mounting system 100 includes a frame 101, a radar charging device 110, a gum cover conveying device, and a robot arm 140. The radar feeding device may move the radar 200, and the gum cover feeding device 120 serves to move the gum cover, thereby facilitating assembly. The gum cover conveying device includes a gum cover feeding device 120 and a gum cover dragging device 130 (the gum cover dragging device 130 is shown in fig. 3), and for the sake of making pages concise, detailed description of the specific structure of the gum cover conveying device will not be repeated later.

The gantry 101 includes an assembly station 102 and a support station 124, on which assembly station 102 the gum cover and radar can be assembled together. The gum cover loading apparatus 120 may deliver gum covers to a first location and the gum cover dragging apparatus 130 may be used to move gum covers located at the first location onto the assembly station 102. The height direction of the gum dragging device 130 is parallel to the height direction of the mounting system 100 (rack 101). The robotic arm 140 may grip the radar, and in particular the robotic arm 140 may grip the radar 200 on the radar-loading device 110 and will move over the mounting station 102. The mechanical arm 140 may also move the radar 200 downward to press the radar 200 and the rubber sleeve together.

The structure of the radar charging apparatus 110 is described below.

Specifically, as shown in fig. 2, the radar charging apparatus 110 includes a radar charging frame 111, a radar moving mechanism 113, and a radar charging mechanism 114, and the radar charging frame 111 may be configured in a substantially hexahedral structure. The height direction of the radar feeding frame 111 is parallel to the height direction of the assembling system 100, the length direction of the radar feeding frame 111 is parallel to the length direction of the assembling system 100, and the width direction of the radar feeding frame 111 is parallel to the width direction of the assembling system 100.

At least one magazine 112 is accommodated in the radar charging frame 111, and a plurality of radars 200 are disposed in the magazine 112. Multiple radars 200 may be arranged side-by-side in magazine 112 to facilitate subsequent assembly. The lower surface of the radar 200 is provided with electric wires extending downward from the lower surface of the radar 200. The bottom of the magazine 112 may be provided with a plurality of wire holes through which the wires may extend, and the lower surface of the radar 200 may contact the upper surface of the bottom of the magazine 112, thereby preventing the wires from being bent.

A plurality of support plates are provided in the radar charging frame 111, and two of the plurality of support plates may be arranged oppositely for supporting the magazine 112. A plurality of magazines 112 may be spaced apart along the height of the mounting system 100 to accommodate a plurality of radars 200. Both sides of radar charging frame 111 are open, and magazine 112 can be moved in and out from the open sides.

A radar moving mechanism 113 may be connected to the radar feeding frame 111 to drive the radar feeding frame 111 to be movable in the height direction of the mounting system 100, so that the plurality of magazines 112 are collectively movable in the height direction of the mounting system 100. The radar moving mechanism 113 includes a servo motor, a lead screw, and a guide rail lifter, and the servo motor is connected to the lead screw to drive the lead screw to rotate. The radar feeding frame 111 is connected with a lead screw through a rail elevator, and the lead screw rotates to drive the radar feeding frame 111 to move in the height direction of the assembling system 100.

The radar moving mechanism 113 may drive the radar feeding frame 111 to move to the second position, and the magazine 112 in the radar feeding frame 111 at the second position may be removed from the radar feeding frame 111. The bottom of the radar loading frame 111 at the second position may correspond to the upper surface of the rack 101 to facilitate the subsequent robot arm 140 to grasp the radar 200. Further, the radar receiving mechanism 114 is disposed on a side of the radar feeding frame 111. The radar feeding frame 111 can move to the second position, and the radar receiving mechanism 114 can move the magazine 112 in the radar feeding frame 111 located at the second position out of the radar feeding frame 111. In this way, the radar 200 can be smoothly and smoothly removed from the radar charging device 110.

Optionally, assembly system 100 further includes a control system, which may be electrically connected to radar charging device 110 as described above to control the operation of radar charging device 110. In particular, the control system may be electrically connected to the radar moving mechanism 113 and the radar receiving mechanism 114 to achieve automated movement of the radar loading frame 111 and the magazine 112.

Optionally, the control system may also be electrically connected to the rubber sleeve moving mechanism 122 to control the operation of the rubber sleeve moving mechanism, so as to realize the automation of the rubber sleeve movement.

Optionally, the control system may also be electrically connected to the gum dragging device 130 to control the operation of the gum dragging device. Alternatively, the control system may be electrically connected to the vertical and

horizontal drag assemblies

131 and 133 to effect automatic movement of the gum cover from the first position onto the mounting station 102.

Preferably, as shown in fig. 1, the mounting system 100 further comprises a first visual positioning device 161, and the first visual positioning device 161 is disposed on the frame 101 and corresponds to the position of the mounting table 102. The first visual positioning device 161 may be configured as a camera to detect and photograph the gum cover on the mounting station 102. A notch is provided on the rubber sleeve to facilitate positioning of the assembly angle of the rubber sleeve with the radar 200. The first visual positioning device 161 can detect whether the position of the gum cover on the mounting station 102 is correct and whether the angle between the notch on the gum cover and the normal is correct. Therefore, accurate visual positioning ensures that the rubber sleeve is accurately assembled with the radar 200, and the error rate is reduced.

The control system is electrically connected with the first visual positioning device 161, the first visual positioning device 161 can feed back the detected signal to the control system, and the control system judges whether the position and the angle of the rubber sleeve are correct. If not, the operation is stopped.

The robotic arm 140 may grip the radar 200 in the magazine 112 of the radar receiving mechanism 114. Preferably, the robot arm 140 may be configured as a four-axis robot, and the robot arm 140 is used to hold the radar 200. The robotic arm 140 can grip the radar 200 from the radar loading device 110 and can also press fit the radar 200 with a gum cover on the mounting station 102.

Alternatively, a control system may be electrically coupled to the robotic arm 140 to control the operation of the robotic arm 140. Specifically, the mechanical arm 140 may be moved above the radar receiving mechanism 114. The robot arm 140 moves downward in the height direction of the mounting system 100 to hold one radar 200 in the magazine 112. The robot arm 140 holds the radar 200 and moves upward in the height direction of the mounting system 100. The mechanical arm 140 holds the radar 200 and moves above the mounting table 102 in the horizontal direction, and drives the radar 200 to move downwards in the height direction of the mounting system 100, so that the radar 200 and the rubber sleeve are pressed together.

The robotic arm 140 may also remove the assembled radar and gum cover from the assembly station 102. The robotic arm 140 moves the gum cover and radar upward along the height of the mounting system 100. The robotic arm 140 moves the gum cover and radar downward along the height of the mounting system 100 to remove the mounted gum cover and radar. The mechanical arm 140 releases the radar 200 and moves back.

Optionally, as shown in fig. 3 and 4, the assembling system 100 further includes a blowing device 165, and the blowing device 165 is disposed on the rack 101 and corresponds to the assembling station 102. The outlet end of the blow equipment 165 may be aligned with the mounting station 102. The blow-off device 165 may deliver air to blow off gum covers on the mounting station 102 that are not mounted with the radar 200. The mounting system 100 further comprises a guide cover 166 and a magazine 167, the guide cover 166 being arranged opposite the blowing device 165. The inlet end of the guide rod is located at the end of the air flow path of the blowing device 165, and the blowing device 165 delivers air which can exert a force on the gum cover such that the gum cover is blown to the inlet end of the guide cap 166.

To ensure that the gum cover enters the guide cap 166, the inlet end of the guide cap 166 is sized larger than the outlet end, and the inlet end of the guide cap 166 is sized substantially the same as the support table 124. The gum cover may be moved through the inlet end of the guide cap 166 to the outlet end of the guide cap 166, the outlet end of the guide cap 166 being opposite the collection box 167. Preferably, the outlet end of the guide cover 166 is located below the inlet end, and the opening direction of the collection box 167 is upward and opposite to the outlet end of the guide cover 166, so that the gum cover drops in the collection box 167 via the outlet end of the guide cover 166.

The control system may be electrically connected to the blowing apparatus 165 to control the operation of the blowing apparatus 165. The mounting station 102 may be provided with a pressure sensor that may detect the weight on the mounting station 102. If the robotic arm 140 is not clamped to the radar 200 or the radar 200 is not press-fit with the gum cover, the pressure sensor may detect that the weight on the mounting station 102 is only the weight of the gum cover. The pressure sensor feeds back a signal to the control system, and the control system can send a signal to the suction device, and the suction device no longer sucks the air in the negative pressure hole 104, so that the pressure in the negative pressure hole 104 recovers to the atmospheric pressure, and the negative pressure hole 104 no longer adsorbs the rubber sleeve. The control system may send a signal to the blow-off device 165 that the blow-off device 165 sends out air to blow off the gum cover.

Optionally, as shown in fig. 1, in order to ensure that the radar and the rubber sleeve can be assembled together, the assembling system 100 further comprises a wire arranging device 164, and the wire arranging device 164 is arranged on the rack 101. The mechanical arm 140 drives the radar 200 to move to the wire arranging device 164, and the wire arranging device 164 is used for keeping the wires of the radar 200 in a vertical state.

Preferably, the robot arm 140 moves to the wire handling device 164 while holding the radar 200, and the wire handling device 164 arranges the wires of the radar 200 in the height direction of the mounting system 100 so that the wires of the radar 200 are maintained in a vertical state. The mechanical arm 140 drives the radar 200 after wire arrangement to move to the upper part of the assembling table 102, and drives the radar 200 to move downwards, so that the radar 200 and the rubber sleeve are pressed together. Thereby, the wire is prevented from interfering with the assembly of the radar and the rubber sleeve. The control system is also electrically connected to the wire management device 164 to control operation of the wire management device 164.

Optionally, the mounting system 100 further comprises a second visual positioning device disposed on the rack 101 and corresponding to the position of the wire management device 164. The second visual positioning apparatus may be configured as a camera to detect and photograph the radar 200 held by the robot arm 140. A flange is provided on the radar 200 to facilitate positioning of the assembly angle of the radar 200 with the gum cover. The second visual positioning device can detect whether the position of the radar 200 is correct, and can detect whether the position of the flange of the radar 200 is correct. Therefore, accurate visual positioning ensures that the radar 200 is accurately assembled with the rubber sleeve, and the error rate is reduced.

The control system is electrically connected with the second vision positioning equipment, the second vision positioning equipment can feed back the detected signal to the control system, and the control system judges whether the position and the angle of the radar 200 are correct. If not, the operation is stopped.

The mounting system 100 further comprises a third visual positioning device 163, the third visual positioning device 163 being arranged on the frame 101 and corresponding to the flipping mechanism 151. The third visual positioning device 163 may be configured as a camera to detect and photograph the status of the assembled gum cover and radar. For example, the third visual alignment device 163 may detect whether the rubber sleeve and the radar are completely press-fitted together, and whether the installation angle of the rubber sleeve and the radar is correct. Therefore, accurate visual positioning ensures that the radar 200 is accurately assembled with the rubber sleeve, and the error rate is reduced.

The control system is electrically connected with the third visual positioning device 163, the third visual positioning device 163 can feed back the detected signal to the control system, and the control system judges whether the states of the assembled gum cover and the radar are correct. If not, the operation is stopped.

Preferably, the mounting system 100 may include a plurality of robotic arms 140 and a plurality of wire management devices 164, and the number of robotic arms 140 and wire management devices 164 may be maintained consistent. The plurality of wire management apparatuses 164 may individually organize the wires of the radars 200 on the plurality of robot arms 140. The plurality of robot arms 140 may be individually operated and each may be capable of gripping the radar 200 from the magazine 112.

As shown in fig. 1, the assembling system 100 includes two robot arms 140 and two wire arranging devices 164, the two robot arms 140 and the two wire arranging devices 164 are located at two sides of the turnover mechanism 151, the two robot arms 140 can respectively operate to respectively clamp two radars 200, the two radars 200 can respectively press-fit with the rubber sleeves on the assembling table 102, and the two robot arms 140 can respectively move the assembled rubber sleeves and radars on the assembling table 102 onto the turnover mechanism 151. The motions of the two robotic arms 140 may be alternated, such as one robotic arm 140 may move one radar in the magazine 112 to the line handling device 164 while the other robotic arm 140 is holding the other radar. Therefore, the production efficiency is greatly improved.

The assembling system comprises an assembling table, a supporting table, a radar feeding device, a rubber sleeve dragging device and a mechanical arm, wherein the radar feeding device is used for moving the radar, the rubber sleeve feeding device is used for conveying the rubber sleeve to a first position, the rubber sleeve dragging device is used for moving the rubber sleeve located at the first position to the assembling table, the mechanical arm clamps the radar on the radar feeding device and presses the radar and the rubber sleeve together, and the mechanical arm moves the assembled rubber sleeve and the radar away. Therefore, the full automation of assembling the radar and the rubber sleeve is realized, the manual operation is reduced, the assembling precision is more accurate, and the efficiency is high.

The invention also provides an assembling method for the assembling system. The assembling method comprises the following steps:

the rubber sleeve feeding equipment conveys the rubber sleeve to a first position.

As shown in fig. 1, the gum cover feeding device 120 includes a gum cover feeding cabinet 121 and a gum cover moving mechanism 122, and a plurality of gum covers are accommodated in the gum cover feeding cabinet 121. A plurality of gum caps may be located in the gum cap moving mechanism 122. The gum cover moving mechanism 122 can convey a plurality of gum covers in the gum cover feeding cabinet 121 out of the gum cover feeding cabinet 121. The gum cover moving mechanism 122 can arrange a plurality of unordered gum covers in the gum cover feeding cabinet in sequence and convey the gum covers to the first position in sequence.

As shown in fig. 3 and 5, a support table 124 is disposed between the gum cover moving mechanism 122 and the mounting table 102, and the support table 124 can support the gum cover located at the first position to prevent the gum cover located at the first position from falling.

The rubber sleeve dragging device is used for moving the rubber sleeve located at the first position to the assembling table.

As shown in fig. 4 and 6, an adhesive sheath drawing device 130 is disposed below the support table 124 to facilitate drawing an adhesive sheath located at a first position on the support table 124. The support table 124 is provided with a positioning groove 125 and a guide hole 126, the first rubber sleeve 201 discharged from the rubber sleeve moving mechanism 122 falls into the positioning groove 125 by the thrust applied to the first rubber sleeve 201 by the rubber sleeve moving mechanism 122, and the first rubber sleeve 201 can be positioned to the first position by the positioning groove 125.

Guide holes 126 communicate with detent 125 and mounting station 102 to facilitate movement of the gum cover in the first position onto mounting station 102. The positioning slot 125 comprises a through hole, and the gum dragging device 130 is arranged below the support table 124, and the gum dragging device 130 can move upwards along the height direction of the assembling system 100 and extend through the through hole of the positioning slot 125 into the center hole of the gum in the first position. The gum cover dragging device 130 may be movable along the extension direction of the guide hole 126 to move the gum cover in the positioning groove 125 onto the assembly table 102.

The assembling table 102 is provided with a positioning hole 103 and a negative pressure hole 104, and the gum cover dragging device 130 can drag and move the gum cover located at the first position to the positioning hole 103 along the extending direction of the guide hole 126. The rubber boot can be elastically deformed to move in the guide hole 126.

The negative pressure hole 104 is located at the side of the positioning hole 103, the lower surface of the rubber sleeve closes the negative pressure hole 104, and the suction device sucks air in the negative pressure hole 104 to form a negative pressure space, so that the second rubber sleeve 202 located on the assembly table 102 is adsorbed, and the second rubber sleeve 202 is prevented from moving.

The mechanical arm clamps the radar and moves the radar to the upper side of the assembling table, and the mechanical arm drives the radar to move downwards so that the radar and the rubber sleeve are pressed together.

The mechanical arm 140 can be moved above the radar receiving mechanism 114. The robot arm 140 moves downward in the height direction of the mounting system 100 to hold one radar 200 in the magazine 112. The robot arm 140 holds the radar 200 and moves upward in the height direction of the mounting system 100. The mechanical arm 140 holds the radar 200 and moves above the mounting table 102 in the horizontal direction, and drives the radar 200 to move downwards in the height direction of the mounting system 100, so that the radar 200 and the rubber sleeve are pressed together.

And the mechanical arm moves the assembled radar and the rubber sleeve away.

The assembling method is used for the assembling system, the assembling system is used for assembling the rubber sleeve and the radar, the assembling system comprises an assembling table, a supporting table, a radar feeding device, a rubber sleeve dragging device and a mechanical arm, the rubber sleeve feeding device is used for conveying the rubber sleeve to a first position, the rubber sleeve dragging device is used for moving the rubber sleeve located at the first position to the assembling table, the mechanical arm clamps the radar on the radar feeding device and presses the radar and the rubber sleeve together, and the mechanical arm moves the assembled rubber sleeve and the radar away. Therefore, the full automation of assembling the radar and the rubber sleeve is realized, the manual operation is reduced, the assembling precision is more accurate, and the efficiency is high.

Unless defined otherwise, technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. Terms such as "part," "member," and the like, when used herein, can refer to either a single part or a combination of parts. Terms such as "mounted," "disposed," and the like, as used herein, may refer to one component as being directly attached to another component or one component as being attached to another component through intervening components. Features described herein in one embodiment may be applied to another embodiment, either alone or in combination with other features, unless the feature is otherwise inapplicable or otherwise stated in the other embodiment.

The present invention has been described in terms of the above embodiments, but it should be understood that the above embodiments are for purposes of illustration and description only and are not intended to limit the invention to the scope of the described embodiments. Furthermore, it will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and that many variations and modifications may be made in accordance with the teachings of the present invention, which variations and modifications fall within the scope of the present invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.

Claims

1. The utility model provides a gum cover conveyor for carry the gum cover to the mount table, its characterized in that, gum cover conveyor includes:

2. The gum cover conveying apparatus according to claim 1, wherein the gum cover feeding device comprises:

3. The gum cover conveying apparatus according to claim 2, wherein the support table is provided with a positioning groove opposite to the terminal end of the gum cover moving mechanism, the gum cover located at the first position abuts against the positioning groove, and a guide hole communicating the positioning groove and the assembly table, wherein the bottom of the positioning groove is provided with the through hole, and the dragging member can extend through the through hole of the positioning groove and into the gum cover located at the first position.

4. The gum cover conveying device according to claim 3, wherein the assembly table is provided with a positioning hole and a negative pressure hole which is positioned at the side of the positioning hole, the positioning hole corresponds to the central hole of the gum cover, the guide hole is communicated with the positioning groove and the positioning hole, the lower surface of the gum cover closes the negative pressure hole, and the horizontal dragging component drives the dragging member to move between the positioning groove and the positioning hole.

5. An assembly system for assembling a gum cover and a radar, the assembly system comprising:

an assembly table and a support table;

gum cover conveyor, gum cover conveyor includes:

the rubber sleeve feeding device is used for conveying the rubber sleeve to a first position, the supporting table is arranged between the rubber sleeve feeding device and the assembling table, and the supporting table supports the rubber sleeve located at the first position; and

6. The assembly system of claim 5, further comprising a radar charging apparatus, the radar charging apparatus comprising:

7. The fitting system according to claim 6, wherein said gum cover loading apparatus comprises:

8. The mounting system according to claim 7, wherein the support table is provided with a positioning groove opposite to the terminal end of the gum cover moving mechanism, the gum cover in the first position abuts against the positioning groove, and a guide hole communicating the positioning groove and the mounting table, wherein the bottom of the positioning groove is provided with the through hole, and the dragging member is extendable through the through hole of the positioning groove and into the gum cover in the first position.

9. The mounting system of claim 8, wherein the mounting station is provided with a positioning hole and a negative pressure hole at a side of the positioning hole, the positioning hole corresponds to the center hole of the rubber sleeve, the guide hole communicates with the positioning groove and the positioning hole, the lower surface of the rubber sleeve closes the negative pressure hole, and the horizontal dragging component drives the dragging member to move between the positioning groove and the positioning hole.

10. The mounting system of claim 5, further comprising a rack, a first visual positioning device, a second visual positioning device, and a third visual positioning device, the first visual positioning device, the second visual positioning device, and the third visual positioning device all disposed on the rack,

11. The assembling system of claim 5, further comprising a rack and a wire arranging device, wherein the wire arranging device is arranged on the rack, the mechanical arm drives the radar to move to the wire arranging device, and the wire arranging device is used for keeping wires of the radar in a vertical state.

12. The mounting system of claim 5, further comprising a rack and a blowing device disposed on the rack and corresponding to the mounting station, the blowing device delivering air to blow away the gum cover on the mounting station that is not mounted to the radar.

13. The mounting system of any one of claims 5 to 12, further comprising a control system electrically connected to each device to control operation of each device.

14. An assembly method for the assembly system according to claim 5, characterized in that it comprises:

and the mechanical arm moves the assembled radar and the rubber sleeve away.