CN114515965B - Automatic assembling device for damper ring - Google Patents

Automatic assembling device for damper ring Download PDF

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Publication number
CN114515965B
CN114515965B CN202210244103.7A CN202210244103A CN114515965B CN 114515965 B CN114515965 B CN 114515965B CN 202210244103 A CN202210244103 A CN 202210244103A CN 114515965 B CN114515965 B CN 114515965B
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CN
China
Prior art keywords
cylinder
wave
elastic wave
damper
voice coil
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Active
Application number
CN202210244103.7A
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Chinese (zh)
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CN114515965A (en
Inventor
奚华
承健健
奚煜喆
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Wuhu Weifa Electronic Technology Co ltd
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Wuhu Weifa Electronic Technology Co ltd
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Priority to CN202210244103.7A priority Critical patent/CN114515965B/en
Publication of CN114515965A publication Critical patent/CN114515965A/en
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P21/00—Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with programme control
    • B23P21/004—Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with programme control the units passing two or more work-stations whilst being composed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05C—APPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05C13/00—Means for manipulating or holding work, e.g. for separate articles
    • B05C13/02—Means for manipulating or holding work, e.g. for separate articles for particular articles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05C—APPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05C5/00—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work
    • B05C5/02—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work the liquid or other fluent material being discharged through an outlet orifice by pressure, e.g. from an outlet device in contact or almost in contact, with the work
    • B05C5/0208—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work the liquid or other fluent material being discharged through an outlet orifice by pressure, e.g. from an outlet device in contact or almost in contact, with the work for applying liquid or other fluent material to separate articles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
    • B23P19/001—Article feeders for assembling machines
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
    • B23P19/001—Article feeders for assembling machines
    • B23P19/002—Article feeders for assembling machines orientating the articles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
    • B23P19/001—Article feeders for assembling machines
    • B23P19/007—Picking-up and placing mechanisms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • 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
    • B23P19/02—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 for connecting objects by press fit or for detaching same
    • B23P19/027—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 for connecting objects by press fit or for detaching same using hydraulic or pneumatic means
    • 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
    • B65G47/22—Devices influencing the relative position or the attitude of articles during transit by conveyors
    • B65G47/24—Devices influencing the relative position or the attitude of articles during transit by conveyors orientating the articles
    • B65G47/248—Devices influencing the relative position or the attitude of articles during transit by conveyors orientating the articles by turning over or inverting them
    • 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

Abstract

The invention discloses an automatic assembling device for a wave voice coil, which belongs to the technical field of automatic loudspeaker production equipment and comprises a wave feeding mechanism, wherein a first carrying manipulator grabs a wave from the wave feeding mechanism and places the wave into a wave assembling station, the first assembling manipulator is arranged at one side of the output end of the wave assembling station and a voice coil directional feeding mechanism, a voice coil is nested in a voice gauge, the first assembling manipulator grabs the voice gauge from the voice coil directional feeding mechanism and places the voice gauge into the wave assembling station, the voice coil directional feeding mechanism comprises a voice gauge tray, the voice coil is placed in the voice gauge tray, a plurality of guide posts are uniformly distributed on the upper end face of a supporting bottom plate in the voice gauge tray, horizontal internal threaded holes are formed in the guide posts along the direction perpendicular to an axis, wave bead screws are installed in the internal threaded holes of the guide posts, the wave beads in the wave bead screws face the direction away from the axis of the guide posts, the voice gauge is nested on the guide posts, and the wave beads in the wave bead screws are opposite to the voice gauge notch. The device can assemble the directional voice coil with the damper.

Description

Automatic assembling device for damper ring
Technical Field
The invention belongs to the technical field of automatic loudspeaker production equipment, and particularly relates to an automatic assembling device for a damper ring.
Background
Along with the rapid development of economy and continuous progress of science and technology, the social demand of electronic products is in an increasing trend nowadays, and particularly, electronic accessories which are indispensable to people in daily life are formed by using mobile phone speakers, acoustic horns and the like as electroacoustic devices, and the electronic accessories are required to be used at high frequency in various fields and environments, because the requirements on the production efficiency, the production quality and the like of industrial production are also higher and higher.
The loudspeaker assembly process generally requires a large amount of manual participation, and the production mode of adopting manual participation assembly has very high requirements on the proficiency of operators, often causes the phenomenon of unbalanced operation quality and speed, and finally causes the problems of low production efficiency and high cost. The acoustic wave is an important component of a loudspeaker system, the acoustic wave is made of cloth, fine holes are densely distributed on the surface of the acoustic wave, one surface of the acoustic wave is concave and the other surface is convex based on the plane height of the outermost ring of the acoustic wave, peak-shaped concave and convex are arranged between the internal through hole of the acoustic wave and the outer ring of the acoustic wave, the axes of the peak-shaped concave and the convex are coaxial with the internal through hole of the acoustic wave, and in the loudspeaker assembly process, the attitude of the acoustic wave to the convex is required to be adjusted, and a voice coil sound gauge is inserted into the acoustic wave. In order to facilitate the subsequent welding process, the voice coil soundgauge needs to be adjusted to be consistent in posture, namely, the to-be-welded ends of the voice coil extending out are ensured to be consistent in posture along the circumferential direction of the to-be-welded ends.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention provides an automatic assembling device for a damper ring, wherein a voice coil tray is provided with a wave bead screw, so that the loading gesture of a voice coil tone gauge can be ensured to be consistent, and a first assembling mechanical arm assembles an oriented voice coil and a damper to complete the automatic assembling process of the damper ring.
The technical scheme adopted by the invention is as follows: the utility model provides an automatic equipment device of bullet ripples sound circle, including the directional feeding mechanism of voice coil loudspeaker voice coil, bullet ripples feeding mechanism and first equipment manipulator, first transport manipulator sets up in one side of bullet ripples feeding mechanism, first transport manipulator snatchs the bullet ripples from the bullet ripples feeding mechanism and places in the bullet ripples equipment station, first equipment manipulator sets up in the one side of bullet ripples equipment station and audio orientation feeding mechanism output, the voice coil loudspeaker voice coil nestification is in the sound rule, the sound rule has vertical breach, first equipment manipulator snatchs the sound rule from the directional feeding mechanism of voice coil loudspeaker voice coil and places in the bullet ripples equipment station, the through-hole at bullet ripples middle part is placed to the sound rule that carries the voice coil loudspeaker voice coil, the voice coil loudspeaker voice coil is placed in the sound rule tray, the sound rule tray includes supporting baseplate and sets up the tray baffle around supporting baseplate, a plurality of guide posts equipartition are in the up end of supporting baseplate, along the direction perpendicular to the axis on the guide post open horizontal internal thread hole, the wave bead screw is installed in the internal thread hole of guide post, the wave bead screw is towards keeping away from the direction of guide axis, the sound rule setting up the sound bead screw is just to the sound bead nest.
Further, the first assembly manipulator includes first assembly manipulator body and first equipment tongs, and first assembly manipulator body has four degrees of freedom, and first assembly tongs are installed on the output flange of first assembly manipulator body, and first assembly manipulator body drives follow the equipment tongs along X, Y, Z three direction removal of axle and rotate around the Z axle, and first assembly tongs include third finger cylinder and voice coil clamping jaw, and the output at third finger cylinder is installed to the voice coil clamping jaw.
Further, the voice coil assembling device further comprises a gluing mechanism, the gluing mechanism is used for gluing the voice coil nested in the voice gauge, the first assembling gripper comprises a connecting upper plate, the connecting upper plate is arranged at the output end of the first assembling manipulator body, the connecting side plates are symmetrically arranged at the two ends of the connecting upper plate and positioned at the lower part of the connecting upper plate, the two ends of the first connecting shaft are rotatably arranged in the two connecting side plates, the second rotating cylinder is arranged on the outer side surface of the connecting side plates, one end of the first connecting shaft extends out of the connecting side plates and is fixedly connected with the output end of the second rotating cylinder, a horizontal through hole is formed in the rotating connecting frame, the first connecting shaft is inserted into the through hole of the rotating connecting frame, the rotating connecting frame is positioned between the two connecting side plates, and the second rotating cylinder drives the rotating connecting frame to rotate around a horizontal axis; the second rotating electrical machines setting is installed in the one end of rotating the connection frame, and the second rotating electrical machines passes through hold-in range drive mechanism with power transmission to the cylinder mounting panel on, and the third finger cylinder is vertical installs on the cylinder mounting panel, and the second rotating electrical machines drives voice coil clamping jaw and rotates around vertical axis.
Further, the bullet wave feeding mechanism comprises a bullet wave feeding level, a bullet wave transition position and a bullet wave feeding machine frame, wherein the bullet wave feeding level, the bullet wave transition position and a first carrying manipulator are all arranged on the bullet wave feeding machine frame, the bullet wave convex surface is stacked at the bullet wave feeding level under the bullet wave feeding machine frame, the bullet wave feeding mechanism further comprises a bullet wave turning position, the first carrying manipulator comprises a first carrying manipulator body and two bullet wave grippers, the two bullet wave grippers are arranged on the first carrying manipulator body along the direction of a connecting line between the bullet wave transition position and the bullet wave turning position, and the first carrying manipulator body drives the bullet wave grippers to carry bullet waves among the bullet wave feeding level, the bullet wave transition position and the bullet wave turning position; a bullet wave gripper near the bullet wave feeding position conveys bullet waves between the bullet wave feeding position and the bullet wave transition position, and another bullet wave gripper conveys bullet waves between the bullet wave transition position and the bullet wave turning position; the elastic wave transition position is used for separating bonded elastic waves; the flick overturning position is used for overturning the flick to the convex surface of the flick.
Further, the elastic wave gripper comprises a first finger cylinder and a contact pin, the first finger cylinder is vertically arranged at the output end of the first carrying manipulator, the upper end of the contact pin clamping block is arranged at the output end of the first finger cylinder, and the middle part of the contact pin is embedded into a through hole at the lower part of the contact pin clamping block; the contact pin clamping block comprises an upper connecting block and a lower clamping block, the upper end of the upper connecting block is arranged at the output end of the first finger cylinder, the lower end of the upper connecting block is detachably and fixedly connected with the upper end of the lower clamping block, the connecting angle between the lower clamping block and the upper connecting block is adjustable, the upper connecting block and the lower clamping block are arranged in the direction away from the vertical axis of the first finger cylinder, and the upper connecting block and the lower clamping block are connected in an obtuse angle; the tip of the pin is disposed in a direction away from the vertical axis of the first finger cylinder.
Further, the bullet wave transition position comprises a bullet wave placing table and a plurality of limiting saturation mechanisms uniformly distributed along the periphery of the bullet wave placing table, the second mounting substrate is fixed on the upper end face of the bullet wave feeding machine frame, the bullet wave placing table is arranged on the upper end face of the second mounting substrate, the middle part of the bullet wave placing table is a round table, the limiting saturation mechanisms comprise first straight cylinders, the first straight cylinders are arranged towards the bullet wave placing table, limiting blocks are arranged on levers of the first straight cylinders, and the limiting blocks are located at one end of the first straight cylinders close to the bullet wave placing table; the air blowing pipe is arranged on the second mounting substrate, the air blowing pipe is horizontally arranged, and the air outlet nozzle of the air blowing pipe is arranged towards the elastic wave placing table.
Further, the bullet ripples upset position includes bullet ripples locating plate and tilting mechanism, and the up end at bullet ripples feeding frame is fixed to the second mounting substrate, and the bullet ripples locating plate sets up the up end at the second mounting substrate, and open at bullet ripples locating plate one end has the bullet ripples to place the recess, and the bullet ripples is placed the recess and is for having the circular of breach, and tilting mechanism sets up in being close to the one side that the recess breach was placed to the bullet ripples, and tilting mechanism is arranged in driving the bullet ripples and places the recess and put the degree of overturning.
Further, the turnover mechanism comprises a second straight cylinder, a third straight cylinder, a rotary cylinder and a second finger cylinder, wherein the second straight cylinder is horizontally arranged on the lower end face of the second mounting substrate, the third straight cylinder is vertically arranged and fixedly connected with an output lever of the second straight cylinder, the second adapter plate is fixedly connected with an output cylinder rod of the third straight cylinder, the rotary cylinder is arranged on one side close to the notch and horizontally arranged on the second adapter plate towards the notch, and the second finger cylinder is positioned between the rotary cylinder and the elastic wave positioning plate; the second finger cylinder is horizontally arranged on the cylinder rod of the rotary cylinder, the rotary cylinder and the second finger cylinder are both arranged towards the notch, and the elastic wave clamping jaw is arranged at the output end of the second finger cylinder.
Further, the lower end of the elastic wave positioning plate is connected with a second transverse moving mechanism, and the second transverse moving mechanism drives the elastic wave positioning plate to move towards a direction away from the first carrying mechanical arm.
The invention has the beneficial effects that: (1) In the manual feeding process, a voice gauge carried with a voice coil is placed on a guide post, a voice gauge notch is opposite to a wave bead in a wave bead screw, the wave bead in the wave bead screw is extruded, the wave bead moves towards the direction close to the axis of a guide shaft, after the voice gauge is placed on the guide post, a spring in the wave bead screw stretches and pushes the wave bead to return, and one end, far away from the axis of the guide post, of the wave bead is pressed into the voice gauge notch, so that the voice coil in the voice gauge is ensured to be consistent in gesture, and the subsequent welding process is facilitated; (2) Aiming at the morphological characteristics of the flick, stacking the flick concave surface in the charging barrel, inserting a flick gripper into a hole of the flick by using a contact pin so as to grasp the flick, and then turning the flick 180 degrees to a posture with the concave surface downward so as to adapt to the posture required by assembly; the elastic wave separation position is arranged to separate the bonding elastic waves grabbed by the elastic wave grabbing hand, the effective separation of the bonding elastic waves can be realized by blowing through the blowing nozzle, and the elastic waves are placed into the charging barrel by manual material arrangement, so that the condition of tight bonding does not exist, and the effective separation of the elastic waves can be realized by blowing through the blowing nozzle.
Drawings
Fig. 1 is a schematic overall perspective view of the device of the present invention.
Fig. 2 is a schematic perspective view of a soundtrack tray in the apparatus of the present invention.
FIG. 3 is a schematic cross-sectional view of a beaded screw in the device of the present invention.
Fig. 4 is a schematic perspective view of a first assembled gripper in the device of the present invention.
Fig. 5 is a schematic perspective view of an elastic wave feeding mechanism 8 in the device of the present invention.
Fig. 6 is a schematic perspective view of a cartridge in the apparatus of the present invention.
FIG. 7 is a schematic cross-sectional view of a cartridge in the apparatus of the present invention.
Fig. 8 is a schematic perspective view of a lifting mechanism in the device of the present invention.
Fig. 9 is a schematic perspective view of another view of the jacking mechanism in the device of the present invention.
FIG. 10 is a schematic perspective view of the separation position and inversion position of the damper in the device of the present invention.
Fig. 11 is a schematic view of a partial perspective structure of an elastic wave turning position in the device of the invention.
Fig. 12 is a schematic perspective view of a first handling robot in the apparatus of the present invention.
Fig. 13 is a schematic perspective view of an elastic wave gripper in the device of the present invention.
Fig. 14 is a schematic perspective view of another view of the spring finger in the device of the present invention.
Fig. 15 is a schematic view of the flip mechanism of the device according to the present invention after flip.
In the figure: 5. a gluing mechanism; 6. a first assembly robot; 601. a first assembly robot body; 602. a first assembly grip; 621. a third finger cylinder; 622. a voice coil clamping jaw; 623. a second rotating electric machine; 624. rotating the connecting frame; 625. a synchronous belt transmission mechanism; 626. connecting an upper plate; 627. a second rotary cylinder; 628. connecting side plates; 629. a cylinder mounting plate; 7. the voice coil orients the feeding mechanism; 701. a tone gauge tray; 711. a guide post; 712. a support base plate; 713. a tray baffle; 714. a wave bead screw; 8. a spring wave feeding mechanism; 801. a bullet wave feeding level; 812. a slide plate; 813. a charging barrel; 8131. a cylinder; 8132. a circular support plate; 8133. a pressing plate; 814. a jacking mechanism; 8141. a vertical plate; 8142. a first rotating electric machine; 8143. a driving pulley; 8144. a driven pulley; 8145. a guide rail; 8146. a lifting rod; 802. a bullet wave separation position; 821. a bullet wave placing table; 822. a limit saturation mechanism; 8221. a first straight cylinder; 8222. a limiting block; 823. an air blowing pipe; 803. a flick turning position; 831. a spring wave positioning plate; 832. a turnover mechanism; 8321. a second straight cylinder; 8322. a third straight cylinder; 8323. a first rotary cylinder; 8324. a second finger cylinder; 8325. a first adapter plate; 8326. a second adapter plate; 804. a spring wave feeder; 841. a first mounting substrate; 842. a second mounting substrate; 805. a first handling robot; 851. a first transfer robot body 851;852. a grip transfer plate 852;853. a flick grip; 8531. a first finger cylinder; 8532. an upper connecting block; 8533. a lower clamping block; 8534. a contact pin; 8535. a cylinder connecting block; 8536. pressing the blocks.
Detailed Description
As shown in fig. 1-15, an automatic assembling device for a damper coil comprises a voice coil directional feeding mechanism 7, a damper feeding mechanism 8 and a first assembling manipulator 6, wherein the first carrying manipulator is arranged on one side of the damper feeding mechanism 8, the first carrying manipulator grabs a damper from the damper feeding mechanism 8 and places the damper into a damper assembling station, the first assembling manipulator 6 is arranged on one side of an output end of the damper assembling station and a voice coil directional feeding mechanism 7, the voice coil is nested in a voice gauge, the voice gauge is provided with a vertical notch, the first assembling manipulator 6 grabs the voice gauge from the voice coil directional feeding mechanism 7 and places the voice gauge into the damper assembling station, and a voice coil carrying voice gauge is placed into a through hole in the middle of the damper.
And (3) manually feeding, wherein in the process of placing the voice gauge carrying the voice coil on the guide post 711, the voice gauge notch is opposite to the wave bead in the wave bead screw 714, the wave bead in the wave bead screw 714 is extruded, the wave bead moves towards the direction close to the axis of the guide shaft, after the voice gauge is placed on the guide post 711, the spring in the wave bead screw 714 stretches and pushes the wave bead to return, and one end of the wave bead, which is far away from the axis of the guide post 711, is pressed into the voice gauge notch.
The first assembly manipulator 6 includes a first assembly manipulator body 601 and a first assembly gripper 602, the first assembly manipulator body 601 has four degrees of freedom, the first assembly gripper 602 is mounted on an output flange of the first assembly manipulator body 601, the first assembly manipulator body 601 drives the slave assembly gripper to move along X, Y, Z axes in three directions and rotate around a Z axis, the first assembly gripper 602 includes a third finger cylinder 621 and a voice coil clamping jaw 622, and the voice coil clamping jaw 622 is mounted at an output end of the third finger cylinder 621.
The voice coil gluing device further comprises a gluing mechanism 5, and the gluing mechanism 5 gluing the voice coil nested in the voice gauge. To simplify the construction of the glue mechanism 5, the construction of the first assembly gripper 602 is designed to fit the glue. The first assembling gripper 602 comprises a connecting upper plate 626, the connecting upper plate 626 is arranged at the output end of the first assembling manipulator body 601, connecting side plates 628 are symmetrically arranged at two ends of the connecting upper plate 626 and are positioned at the lower part of the connecting upper plate, two ends of a connecting shaft are rotatably arranged in the two connecting side plates 628, a second rotary air cylinder 627 is arranged on the outer side surface of the connecting side plate 628, one end of the connecting shaft extends out of the connecting side plate 628 to be fixedly connected with the output end of the second rotary air cylinder 627, a horizontal through hole is formed in a rotary connecting frame 624, the connecting shaft is inserted into the through hole of the rotary connecting frame 624, the rotary connecting frame 624 is positioned between the two connecting side plates 628, and the second rotary air cylinder 627 drives the rotary connecting frame 624 to rotate around a horizontal axis; the second rotating electrical machines 623 are arranged at one end of the rotating connection frame 624, the rotating joint is arranged at the lower part of the rotating connection frame 624, a vertical through hole is formed in the rotating joint, the output end of the synchronous transmission mechanism is fixedly connected with the upper end of the second connection shaft, the middle part of the second connection shaft penetrates through the through hole of the rotating joint, the cylinder connection plate is fixedly connected with the lower end of the second connection shaft, and the finger cylinder is vertically arranged on the cylinder mounting plate 629. The second rotating motor 623 transmits power to the second connecting shaft via the timing belt drive mechanism 625, which rotates the cylinder mounting plate 629 and its upper components, i.e., the voice coil clamping jaw 622 about the vertical axis.
The gluing head in the gluing mechanism 5 is obliquely upwards, the second rotary air cylinder 627 drives the rotary connecting frame 624 and the upper component thereof to incline towards the gluing head in the gluing mechanism 5, and the second rotary electric motor 623 drives the voice coil clamping jaw 622 and the upper component thereof to rotate along the output end of the third finger air cylinder 621, so that the voice coil is glued along the circumferential direction thereof.
As shown in fig. 5, the bullet wave feeding mechanism 8 includes a bullet wave feeding level 801, a bullet wave transition level 802, and a bullet wave feeding frame 804, where the bullet wave feeding level 801, the bullet wave transition level 802, and a first conveyance manipulator 805 are all disposed on the bullet wave feeding frame 804, and the bullet wave convex surface is stacked on the bullet wave feeding level 801 at a lower concave surface, and further includes a bullet wave turning level 803, the first conveyance manipulator 805 includes a first conveyance manipulator body 851 and two bullet wave grippers 853, the two bullet wave grippers 853 are disposed on the first conveyance manipulator body 851 along a direction of a connection line between the bullet wave transition level 802 and the bullet wave turning level 803, and the first conveyance manipulator body 851 conveys the bullet wave between the bullet wave feeding level 801, the bullet wave transition level 802, and the bullet wave turning level 803 with the bullet wave grippers 853; a flick grip 853 near the flick supply level 801 carries flick between the flick supply level 801 and the flick transition level 802, and another flick grip 853 carries flick between the flick transition level 802 and the flick inversion level 803; the bullet wave transition bit 802 is used for separating the bonded bullet waves; the flick inversion bit 803 is used to invert the flick 180 degrees to have its concave surface on the lower convex surface.
The first mounting substrate 841 and the second mounting substrate 842 are both fixed on the upper end face of the bullet wave feeding machine frame 804, the second mounting substrate 842 is located on one side of the first mounting substrate 841, the bullet wave feeding position 801 is arranged on the first mounting substrate 841, the bullet wave separation position 802 and the bullet wave turning position 803 are both arranged on the second mounting substrate 842, and the bullet wave separation position 802 is arranged in the middle of the bullet wave feeding position 801 and the bullet wave turning position 803.
The bullet wave feeding level 801 includes a feed cylinder 813 and a sliding plate 812, the sliding plate 812 is arranged above the first mounting substrate 841, a through hole is formed in the sliding plate 812, the feed cylinder 813 is arranged in the through hole of the sliding plate 812, the lifting mechanism 814 is arranged at the lower part of the bullet wave feeding machine frame 804 and is located below the feed cylinder 813, a corresponding through hole for the lifting mechanism 814 to penetrate is formed in the first mounting substrate 841, and the lifting mechanism 814 is used for pushing the bullet wave to ascend in the feed cylinder 813.
In order to reduce the frequency of manual feeding, the sliding plate 812 is slidably disposed on the first mounting substrate 841, and the sliding plate pushing mechanism is mounted on the first mounting substrate 841 and disposed below the sliding plate 812, and is used for pushing the sliding plate 812 to slide relative to the first mounting substrate 841; two cartridges 813 are provided therein in the sliding direction of the sliding plate 812, and the two cartridges 813 are alternately fed.
The feed cylinder 813 comprises a cylindrical body 8131 and a circular support plate 8132 with a cylindrical curved surface, the lower end of the body 8131 is an annular support seat, the outer diameter of the circular support plate 8132 is slightly smaller than the inner diameter of the body 8131, the circular support plate 8132 is placed in the body 8131, the lower end face of the circular support plate 8132 is in contact with the upper end face of the annular support seat, the upper end of the body 8131 is an annular check ring, the outer diameter of the annular check ring is larger than the aperture of a through hole in the sliding plate 812, the body 8131 is placed in the through hole of the sliding plate 812, each feed cylinder 813 is provided with at least two pressing plates 8133, the pressing plates 8133 are uniformly distributed along the circumferential direction of the through hole in the sliding plate 812, one end of each pressing plate 8133 is hinged on the sliding plate 812, and the pressing plates 8133 can vertically rotate along one end of each pressing plate 8133 is used for compressing the annular check ring of the body 8131. The lifting mechanism 814 is disposed at the lower portion of the elastic wave feeding machine frame 804 and below the cylinder 813, and a corresponding through hole for the lifting mechanism 814 to penetrate is formed in the first mounting substrate 841, and the lifting mechanism 814 is used for pushing the circular support plate 8132 to ascend in the cylinder 8131.
When feeding the cylinder 813, the rotary pressing plate 8133 moves towards a direction away from the cylinder 8131, the cylinder 813 is manually taken down, after the cylinder 813 is loaded with the spring, the cylinder 813 is placed into the through hole of the sliding plate 812, the rotary pressing plate 8133 moves towards the cylinder 8131, and the pressing plate 8133 presses the annular retainer ring of the cylinder 8131.
The first handling robot 805 includes a first handling robot body 851 and two elastic wave grippers 853, the gripper adapter plate 852 is mounted on an output flange of the first handling robot body 851, the two elastic wave grippers 853 are disposed at two ends of the gripper adapter plate 852 along a direction of a connection line between the elastic wave separation position 802 and the elastic wave turning position 803, the first handling robot body 851 has two freedom modes, and the first handling robot body 851 is used for driving the gripper adapter plate 852 to move along a direction and a vertical direction of a connection line between the elastic wave feeding position 801 and the elastic wave separation position 802. The first handling robot body 851 drives the gripper adapter plate 852 and two bullet wave grippers 853 thereon to handle bullet waves among the bullet wave separation position 802, the bullet wave overturning position 803 and the bullet wave feeding position 801.
The bullet ripples tongs 853 include first finger cylinder 8531 and contact pin 8534, and first finger cylinder 8531 is vertical installs the one end at tongs keysets 852, and the output at the finger cylinder is installed to the upper end of contact pin grip block, and the through-hole of contact pin grip block lower part is embedded at contact pin 8534's middle part. The contact pin clamping block comprises an upper connecting block 8532 and a lower clamping block 8533, the upper end of the upper connecting block 8532 is arranged at the output end of the first finger cylinder 8531, the lower end of the upper connecting block 8532 is detachably and fixedly connected with the upper end of the lower clamping block 8533, the connection angle between the lower clamping block 8533 and the upper connecting block 8532 is adjustable, the upper connecting block 8532 and the lower clamping block 8533 are arranged in the direction away from the vertical axis of the first finger cylinder 8531, and the upper connecting block 8532 and the lower clamping block 8533 are connected in an obtuse angle; the tip of the pin 8534 is disposed in a direction away from the vertical axis of the first finger cylinder 8531.
In order to ensure that the gripping position of the elastic wave gripper 853 is accurate, that is, the height of the uppermost elastic wave in the cylinder 813 and the position of the elastic wave in the top view projection are accurate, the elastic wave gripper 853 further comprises a pressing portion, the pressing portion is arranged at the lower portion of the first finger cylinder 8531 and is coaxially arranged with the first finger cylinder 8531, the pressing portion comprises a cylinder connecting block 8535 and a pressing block 8536, the lower end of the cylinder body of the first finger cylinder 8531 is fixedly connected with the cylinder connecting block 8535, the upper end of the pressing block 8536 is fixedly connected with the lower end of the cylinder connecting block 8535, the lower portion of the pressing block 8536 is in a truncated cone shape with a large upper portion and a small lower portion, a vertical through hole is formed in the pressing block 8536 along the axis of the pressing block, and the lower end face of the pressing block 8536 is in a circular shape. The lower end surface of the pin 8534 is slightly lower than the lower end surface of the pressing block 8536. The lower end surface of the lower clamping block 8533 is higher than the lower end surface of the pressing block 8536.
The first finger cylinder 8531 is preferably a finger cylinder having three output ends.
When the bullet wave is grabbed from the cylinder 813, the first carrying manipulator body 851 drives the bullet wave gripper 853 to move downwards, the lower end face of the pressing block 8536 is in contact with the upper end face of the bullet wave in the cylinder 813, the tip of the contact pin 8534 is inserted into the bullet wave, and the first carrying manipulator body 851 drives the bullet wave gripper 853 to move upwards to lift the bullet wave.
In order to enable the bullet wave gripper 853 to grip the bullet wave, the bullet wave gripping device further comprises a gripping detection mechanism, the gripping detection mechanism comprises a sensor, the sensor is installed on the first installation substrate 841 through a connecting support and located above the material barrel 813, the sensing end of the sensor is arranged from top to bottom, and the overlooking projection of the sensing end in the sensor is the circular outside formed by the outer ends of the pins 8534 in a surrounding mode, or the overlooking projection of the sensing end in the sensor is between the adjacent pins 8534. The sensor is used to detect whether the bullet wave grip 853 grips a bullet wave.
The jacking mechanism 814 includes a vertical plate 8141, a first rotating motor 8142 is mounted at the lower end of the vertical plate 8141, a driven pulley 8144 and a driving pulley 8143 are rotatably mounted on the vertical plate 8141, the driving pulley 8143 and the first rotating motor 8142 are arranged at both sides of the vertical plate 8141, so that the width of the jacking mechanism 814 is reduced, the driving pulley 8143 is arranged at the lower part of the vertical plate 8141, the driven pulley 8144 is arranged at the upper part of the vertical plate 8141, the output end of the first rotating motor 8142 is connected with the driving pulley 8143, and the driving pulley 8143 is connected with the driven pulley 8144 through a synchronous pulley, so that the power of the driving pulley 8143 is transmitted to the driven pulley 8144; the guide sliding rail 8145 and the driving pulley 8143 are arranged on two sides of the vertical plate 8141, the sliding blocks are nested on the sliding rail, a vertical through groove is formed in the vertical plate 8141, the connecting block penetrates through the vertical through groove, the sliding blocks and the vertical plate 8141 are fixedly connected through the connecting block, and the lower end of the jacking rod 8146 is fixedly connected with the sliding blocks.
The bullet wave separation position 802 is used for separating the adhered bullet waves, so that the bullet wave gripper 853 is guaranteed to grasp one bullet wave at a time and place the bullet wave in the bullet wave overturning position 803; the bullet wave separation station 802 includes a bullet wave placement table 821 and a plurality of spacing saturation mechanisms 822 uniformly distributed around the bullet wave placement table 821, in this embodiment, the number of the preferable spacing saturation mechanisms 822 is four, the middle part of the bullet wave placement table 821 is a round table, the number of the spacing saturation mechanisms 822 is four, the spacing saturation mechanisms 822 include a first straight cylinder 8221, the first straight cylinder 8221 is arranged towards the bullet wave placement table 821, a spacing block 8222 is mounted on a lever of the first straight cylinder 8221, the spacing block 8222 is located at one end of the first straight cylinder 8221 near the bullet wave placement table 821, the first straight cylinder 8221 returns in the spacing saturation mechanisms 822, and the spacing blocks 8222 in the four spacing saturation mechanisms 822 are far away from each other. When the first carrying manipulator 805 grabs the bullet wave from the first barrel 813 and places the bullet wave on the bullet wave placing table 821, the first straight cylinder 8221 in the limit saturation mechanism 822 extends to drive the limit block 8222 to be close to the bullet wave placing table 821.
The air blowing pipe 823 is provided on the second mounting substrate 842, the air blowing pipe 823 is horizontally provided and its air outlet nozzle is provided toward the axis of the bullet wave placement stage 821. The bullet wave gripper 853 grabs the bullet wave and places in spacing saturation mechanism 822, and the gas blowing pipe 823 blows to the bullet wave that bullet wave gripper 853 snatched from its side, and thereby bullet wave gripper 853 snatches the bullet wave of top and is not blown off, if there is the bullet wave of bonding in the inferior side, the bullet wave of bonding in the inferior side receives the influence of the air current and will separate with the bullet wave of the holding of top bullet wave gripper 853, and the bullet wave falls into on the bullet wave and places the platform 521, and the inside round hole of bullet wave inserts in the round platform at the middle part of bullet wave prevention platform 521, sets up spacing saturation mechanism 822 in order to restrict the bullet wave that is blown off and falls outside spacing saturation mechanism 822.
The flick turnover position 803 comprises a flick positioning plate 831 and a turnover mechanism 832, wherein a flick placement groove is formed in one end of the flick positioning plate 831, the flick placement groove is round with a notch, preferably a large circle, the turnover mechanism 832 is arranged on one side close to the notch of the flick placement groove, and the turnover mechanism 832 is used for driving the flick in the flick placement groove to turn 180 degrees.
The turnover mechanism 832 comprises a second straight cylinder 8321, a third straight cylinder 8322, a first rotary cylinder 8323 and a second finger cylinder 8324, wherein the second straight cylinder 8321 is horizontally arranged on the lower end surface of the second mounting substrate 842, the third straight cylinder 8322 is vertically arranged and mounted on an output lever of the second straight cylinder 8321, a second adapter plate 8326 is fixedly connected with an output cylinder rod of the third straight cylinder 8322, the first rotary cylinder 8323 is arranged on one side close to a notch and horizontally arranged on the second adapter plate 8326 towards the notch, the second finger cylinder 8324 is horizontally mounted on a cylinder rod of the first rotary cylinder 8323, and the second finger cylinder 8324 is positioned between the first rotary cylinder 8323 and the elastic wave positioning plate 831; the first rotary cylinder 8323 and the second finger cylinder 8324 are both arranged towards the notch, and the clamping jaw is arranged at the output end of the second finger cylinder 832.
The first transfer robot 805 moves the blast grip 853 to grip the blast from the blast separation station 802 to be placed in the blast placement groove of the first blast inversion station 803.
The process of the flick overturning is as follows: the second straight cylinder 8321 drives the third straight cylinder 8322 and the upper part thereof to be close to the elastic wave and elastic wave placing groove, meanwhile, the second finger cylinder 832 drives the clamping jaws to be unfolded, after the elastic wave is located between the two clamping jaws, the second finger cylinder 832 drives the clamping jaws to be closed, the third straight cylinder 8322 drives the second adapter plate 8326 and the upper part thereof to ascend, and the first rotating cylinder 8323 drives the elastic wave to rotate 180 degrees around the horizontal axis.
In order to facilitate the first assembly manipulator 6 to place the voice coil into the damper located in the damper placement groove, the lower end of the damper positioning plate 831 is connected to the second traversing mechanism, and the second traversing mechanism drives the plate damper to move in a direction away from the first handling manipulator 805, so as to provide sufficient operation space for the damper transfer manipulator.
The manual work is piled up the bullet wave level and is placed in the feed cylinder 813, climbing mechanism 814 promotes the bullet wave in the feed cylinder 813 and goes upward, first transport manipulator 805 snatchs the bullet wave from the feed cylinder 813 and places to bullet wave separation position 802, bullet wave separation position 802 separates the bullet wave that bonds, first transport manipulator 805 snatchs the bullet wave from bullet wave separation position 802 and places to the bullet wave of bullet wave locating plate 831 and place in the recess, tilting mechanism 832 is placed the bullet wave in the recess and is overturned, the bullet wave is transported the manipulator and snatched the bullet wave from the recess and get into next station.
While the invention has been described above with reference to the accompanying drawings, it will be apparent that the invention is not limited to the above embodiments, but is capable of being modified or applied directly to other applications without modification, as long as various insubstantial modifications of the method concept and technical solution of the invention are adopted, all within the scope of the invention.

Claims (6)

1. An automatic assembling device for a damper coil comprises a voice coil directional feeding mechanism (7), a damper feeding mechanism and a first assembling manipulator (6), wherein the first carrying manipulator is arranged on one side of the damper feeding mechanism, the first carrying manipulator grabs a damper from the damper feeding mechanism and places the damper into a damper assembling station, the first assembling manipulator (6) is arranged on one side of an output end of the damper assembling station and a voice coil directional feeding mechanism (7), the voice coil is nested in the voice coil, the voice coil is provided with a vertical notch, the first assembling manipulator (6) grabs the voice coil from the voice coil directional feeding mechanism (7) and places the voice coil into the damper assembling station, and a voice coil carrying voice coil is placed into a through hole in the middle of the damper, the voice coil directional feeding mechanism (7) comprises a voice coil tray (701), the voice coil tray (701) comprises a supporting base plate (712) and a tray (713) arranged on the periphery of the supporting base plate (712), a plurality of guide posts (711) are arranged on the supporting base plate, the guide posts (711) are arranged on the supporting base plate in a direction far away from a guide post (714) along a guide post (711) in a horizontal direction, the guide posts (711) are arranged in a direction away from a bead (714) and are arranged in a screw (711), the wave bead in the wave bead screw (714) is arranged opposite to the sound gauge notch;
the elastic wave feeding mechanism comprises an elastic wave feeding position (801), an elastic wave transition position (802) and an elastic wave feeding machine frame (804), wherein the elastic wave feeding position (801), the elastic wave transition position (802) and a first conveying manipulator (805) are arranged on the elastic wave feeding machine frame (804), the elastic wave convex surface is stacked at the elastic wave feeding position (801) downwards, the elastic wave feeding mechanism further comprises an elastic wave turnover position (803), the first conveying manipulator (805) comprises a first conveying manipulator body (851) and two elastic wave grippers (853), the two elastic wave grippers (853) are arranged on the first conveying manipulator body (851) along the connecting direction between the elastic wave transition position (802) and the elastic wave turnover position (803), and the first conveying manipulator body (851) drives the elastic wave grippers (853) to convey elastic waves between the elastic wave feeding position (801), the elastic wave transition position (802) and the elastic wave turnover position (803); a flick grip (853) near a flick feed level (801) carries flick between the flick feed level (801) and a flick transition level (802), and another flick grip (853) carries flick between the flick transition level (802) and the flick inversion level (803); the elastic wave transition position (802) is used for separating bonded elastic waves; the elastic wave overturning position (803) is used for overturning the elastic wave 180 degrees to the convex surface of the elastic wave upwards;
the elastic wave gripper (853) comprises a first finger cylinder (8531) and a contact pin (8534), the first finger cylinder (8531) is vertically arranged at the output end of the first carrying manipulator (805), the upper end of the contact pin clamping block is arranged at the output end of the first finger cylinder (8531), and the middle part of the contact pin (8534) is embedded into a through hole at the lower part of the contact pin clamping block; the contact pin clamping block comprises an upper connecting block (8532) and a lower clamping block (8533), the upper end of the upper connecting block (8532) is arranged at the output end of the first finger cylinder (8531), the lower end of the upper connecting block (8532) is detachably and fixedly connected with the upper end of the lower clamping block (8533), the connection angle between the lower clamping block (8533) and the upper connecting block (8532) is adjustable, the upper connecting block (8532) and the lower clamping block (8533) are arranged in the direction away from the vertical axis of the first finger cylinder (8531), and the upper connecting block (8532) and the lower clamping block (8533) are connected in an obtuse angle; the tip of the pin (8534) is arranged in a direction away from the vertical axis of the first finger cylinder (8531);
the elastic wave transition position (802) comprises an elastic wave placing table (821) and a plurality of limiting saturation mechanisms (822) uniformly distributed along the periphery of the elastic wave placing table (821), a second mounting substrate (842) is fixed on the upper end face of an elastic wave feeding machine frame (804), the elastic wave placing table (821) is arranged on the upper end face of the second mounting substrate (842), the middle part of the elastic wave placing table (821) is a round table, the limiting saturation mechanisms (822) comprise a first straight cylinder (8221), the first straight cylinder (8221) is arranged towards the elastic wave placing table (821), a limiting block (8222) is arranged on a lever of the first straight cylinder (8221), and the limiting block (8222) is located at one end, close to the elastic wave placing table (821), of the first straight cylinder (8221); the air blowing pipe (823) is arranged on the second mounting substrate (842), the air blowing pipe (823) is horizontally arranged, and an air outlet nozzle of the air blowing pipe is arranged towards the bullet wave placing table (821).
2. The automatic damper assembly device according to claim 1, wherein the first assembly manipulator (6) comprises a first assembly manipulator body (601) and a first assembly gripper (602), the first assembly manipulator body (601) has four degrees of freedom, the first assembly gripper (602) is mounted on an output flange of the first assembly manipulator body (601), the first assembly manipulator body (601) drives the assembly gripper to move along three directions of X, Y, Z axes and rotate around a Z axis, the first assembly gripper (602) comprises a third finger cylinder (621) and a coil gripper (622), and the coil gripper (622) is mounted at an output end of the third finger cylinder (621).
3. The automatic assembling device for the acoustic ring according to claim 2, further comprising a gluing mechanism (5), wherein the gluing mechanism (5) is used for gluing the acoustic ring nested in the acoustic gauge, the first assembling gripper (602) comprises a connecting upper plate (626), the connecting upper plate (626) is installed at the output end of the first assembling manipulator body (601), the connecting side plates (628) are symmetrically arranged at two ends of the connecting upper plate (626) and are positioned at the lower part of the connecting upper plate, two ends of a first connecting shaft are rotatably installed in the two connecting side plates (628), a second rotary air cylinder (627) is installed at the outer side surface of the connecting side plates (628), one end of the first connecting shaft extends out of the connecting side plates (628) to be fixedly connected with the output end of the second rotary air cylinder (627), a horizontal through hole is formed in the rotary connecting frame (624), the first connecting shaft is inserted into the through hole of the rotary connecting frame (624), the rotary connecting frame (624) is positioned between the two connecting side plates (628), and the second rotary air cylinder (627) drives the rotary connecting frame (624) to rotate around a horizontal axis; the second rotating motor (623) is arranged at one end of the rotating connecting frame (624), the second rotating motor (623) transmits power to the cylinder mounting plate (629) through the synchronous belt transmission mechanism (625), the third finger cylinder (621) is vertically arranged on the cylinder mounting plate (629), and the second rotating motor (623) drives the voice coil clamping jaw (622) to rotate around a vertical axis.
4. The automatic assembling device for the damper ring according to claim 1, wherein the damper overturning position (803) comprises a damper positioning plate (831) and an overturning mechanism (832), the second mounting substrate (842) is fixed on the upper end face of the damper feeding frame (804), the damper positioning plate (831) is arranged on the upper end face of the second mounting substrate (842), a damper placing groove is formed in one end of the damper positioning plate (831), the damper placing groove is round with a notch, the overturning mechanism (832) is arranged on one side close to the notch of the damper placing groove, and the overturning mechanism (832) is used for driving the damper overturning (180) in the damper placing groove.
5. The automatic damper ring assembling device according to claim 4, wherein the turnover mechanism (832) comprises a second straight cylinder (8321), a third straight cylinder (8322), a rotating cylinder (8323) and a second finger cylinder (8324), the second straight cylinder (8321) is horizontally arranged on the lower end face of the second mounting base plate (842), the third straight cylinder (8322) is vertically arranged and fixedly connected with an output lever of the second straight cylinder (8321), a second adapter plate (8326) is fixedly connected with an output cylinder rod of the third straight cylinder (8322), the rotating cylinder (8323) is arranged on one side close to the notch and horizontally arranged on the second adapter plate (8326) towards the notch, and the second finger cylinder (8324) is positioned between the rotating cylinder (8323) and the damper positioning plate (831); the second finger cylinder (8324) is horizontally arranged on a cylinder rod of the rotary cylinder (8323), the rotary cylinder (8323) and the second finger cylinder (8324) are both arranged towards the notch, and the elastic wave clamping jaw is arranged at the output end of the second finger cylinder (8324).
6. The automatic assembling apparatus for the acoustic ring according to claim 5, wherein the lower end of the acoustic positioning plate (831) is connected to a second traverse mechanism, and the second traverse mechanism drives the acoustic positioning plate (831) to move in a direction away from the first carrying robot (805).
CN202210244103.7A 2022-03-13 2022-03-13 Automatic assembling device for damper ring Active CN114515965B (en)

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