CN115122073A

CN115122073A - Assembly equipment for belt gear ring-shaped body

Info

Publication number: CN115122073A
Application number: CN202211009357.7A
Authority: CN
Inventors: 丁江涛; 杨兆天
Original assignee: Suzhou Jiuyi Automation Technology Co ltd
Current assignee: Fujian Jiuyi Technology Co ltd
Priority date: 2022-08-23
Filing date: 2022-08-23
Publication date: 2022-09-30
Anticipated expiration: 2042-08-23
Also published as: CN115122073B

Abstract

The invention belongs to the technical field of assembly equipment, and particularly relates to assembly equipment with a gear ring-shaped body, which comprises a feeding mechanism, a gear ring-shaped body and a plurality of clamping teeth, wherein the feeding mechanism is used for sequentially conveying the ring-shaped body to a feeding station; the grabbing mechanism is used for transferring the ring-shaped body from the feeding station to a press-fitting station, adjusting the angle of the ring-shaped body, aligning the latch of the ring-shaped body to the tooth socket of the assembly hole in the target object, and then obliquely pre-assembling the ring-shaped body in the assembly hole; and the press-mounting mechanism is used for pressing the tilting side of the ring-shaped body and compacting the ring-shaped body in the assembling hole. The invention realizes the stable assembly of the toothed ring-shaped body which is easy to bend and deform and the assembly hole of the target object, and the latch of the ring-shaped body is accurately meshed with the clamping groove, thereby realizing the automatic assembly with high efficiency, reliability and high precision.

Description

Assembly equipment for belt gear ring-shaped body

Technical Field

The invention belongs to the technical field of assembly equipment, and particularly relates to assembly equipment for a belt gear ring-shaped body.

Background

The automatic press-fitting equipment is used for automatically assembling at least two components into a whole in a pressing, pushing and other modes.

A common assembling apparatus for the ring body is described in patent publication No. CN 211028830U: the utility model provides a ring gear feed mechanism, is including the fixed tool of ring gear, ring gear material loading manipulator and the carousel mechanism of placing the ring gear, ring gear material loading manipulator includes ring gear material loading module support, ring gear material loading X axle module, cylinder bottom plate, slip table cylinder, cylinder support and snatchs the ring gear clamping jaw cylinder of ring gear, ring gear material loading X axle module is installed on the ring gear material loading module support, ring gear material loading X axle module with the cylinder bottom plate is connected, the cylinder bottom plate with the slip table cylinder is connected, the slip table cylinder with cylinder leg joint, the cylinder support with ring gear clamping jaw cylinder connects, carousel mechanism includes motor base, motor, carousel and movable tool, the motor is installed on the motor base. The automatic feeding device has the advantages that the automatic feeding of the gear ring is realized, the feeding efficiency of the gear ring is improved, and a foundation is provided for the automatic assembly of the electronic hand brake.

However, when the workpiece is a flexible ring-shaped body having a small thickness and a plurality of latches are provided around the ring-shaped body, the ring-shaped body needs to be mounted in a mounting hole of a target workpiece and the latches engage with the engaging grooves of the mounting hole, and in the process of transferring the workpiece, the ring-shaped body is easily deformed after being clamped, and the ring-shaped body has a small surface area and is not suitable for transferring by vacuum suction, so that it is difficult to stably feed the deformed ring-shaped body into the mounting hole; in addition, the latch of the ring-shaped bodies needs to be engaged with the clamping groove of the assembly hole, so that the latch of each ring-shaped body needs to be adjusted and positioned at a set angle during assembly line feeding, and then clamping and transferring work is carried out, so that the assembly difficulty is increased, and the assembly efficiency is reduced.

Disclosure of Invention

The invention aims to provide assembling equipment for a toothed ring-shaped body, which aims to solve the problems that the flexible toothed ring-shaped body is easy to deform, high in assembling difficulty, poor in accuracy of clamping tooth meshing and low in assembling efficiency in the clamping process.

The invention provides the following technical scheme:

a belted toothed ring-shaped body assembling apparatus comprising:

the feeding mechanism is used for sequentially conveying the ring-shaped bodies to a feeding station, and a plurality of clamping teeth are arranged on the periphery of the ring-shaped bodies;

the grabbing mechanism is used for transferring the ring-shaped body from the feeding station to a press-fitting station, adjusting the angle of the ring-shaped body, aligning the latch of the ring-shaped body to the tooth socket of the assembly hole in the target object, and then obliquely pre-assembling the ring-shaped body in the assembly hole;

and the press-fitting mechanism is used for pressing the tilted side of the ring-shaped body and compacting the ring-shaped body in the assembling hole.

Preferably, the grabbing mechanism comprises a three-axis module, a first rotary driving piece mounted on the three-axis module, and a clamping jaw mounted on the first rotary driving piece, wherein the first rotary driving piece is used for driving the clamping jaw to rotate in an XZ plane, so that the ring-shaped body is inclined.

Preferably, the clamping jaw comprises:

the second rotary driving part is used for driving the ring-shaped body to rotate in an XY plane and rotating the clamping teeth of the ring-shaped body to an angle matched with the tooth grooves;

the outer clamp group is fixedly connected with the output end of the first rotary driving piece and used for pressing the outer edge of the ring-shaped body;

the inner clamp group is matched with the outer clamp group and outwards supports the inner ring of the ring-shaped body, and the inner clamp group comprises a clamping jaw cylinder and an inner chuck arranged on the clamping jaw cylinder;

the outer clamp group and the inner clamp group are arranged in a staggered mode in the same horizontal plane.

Preferably, the inner chuck is L-shaped and clings to the inner side wall of the ring-shaped body; the outer clamp group is provided with a wedge-shaped pressing surface which is tightly attached to the inclined top wall of the ring-shaped body.

Further, the press-fitting mechanism comprises a diagonal pressing assembly; the inclined pressing assembly comprises a rack, a linear driving piece III and an inclined pressing head, and the linear driving piece III is obliquely arranged on the rack; the output end of the linear driving piece III is provided with the inclined pressure head, and the linear driving piece III is used for driving the inclined pressure head to obliquely press the tilting part of the ring body into the assembling hole.

Preferably, the bottom surface of the inclined pressure head is provided with an upwardly concave ring pressing groove, and the inner diameter of the ring pressing groove is matched with the outer diameter of the ring body;

one side of the pressing ring groove, which is close to the upwarping of the ring-shaped body, is a closed side, and one side of the pressing ring groove, which is opposite to the closed side, is provided with an open side.

Preferably, the pushing surface of the bottom of the pressing ring groove is inclined downward from the open side to the closed side.

Furthermore, the press-mounting mechanism also comprises a vertical pressing assembly, wherein the vertical pressing assembly comprises a fourth lifting driving piece, a cross beam, an elastic piece and a vertical pressing head;

the four groups of lifting driving pieces are oppositely arranged on the left side and the right side of a target object, and the output ends of the two groups of lifting driving pieces are provided with the cross beam;

the pressing plate is arranged at the bottom of the cross beam in a lifting manner, and the pressing plate is flexibly connected with the cross beam through the elastic piece;

the vertical pressure head is fixed at the bottom of the pressure plate and is positioned right above the assembled ring-shaped body, and the bottom of the vertical pressure head is provided with a pressure tooth matched with the ring-shaped body;

the lifting driving piece drives the cross beam to move downwards in four directions, so that the vertical pressure head presses the ring-shaped body in the assembling hole.

Further, the feeding mechanism comprises a conveying guide rail and a monolith component;

a material arranging station is arranged at the tail end of the conveying guide rail, and a material arranging assembly is arranged below the material arranging station;

the material sorting assembly is used for positioning the ring-shaped body on the conveying guide rail on the material sorting station and comprises an X-axis driving piece V, a material blocking piece, a lifting driving piece VI and a material poking piece;

the output end of the X-axis driving piece V is provided with a vertical material blocking piece, and the material blocking piece is used for blocking the ring-shaped body at the front side of the ring-shaped body sent from the conveying guide rail;

and the lifting driving part six is vertically arranged on the X-axis driving part five and is positioned at the rear side of the material blocking part, the material stirring part is arranged at the output end of the lifting driving part six, the material stirring part is lifted into the inner ring of the ring-shaped body by the lifting driving part six, and the ring-shaped body is forwards stirred by the driving of the X-axis driving part five.

Preferably, a strip-shaped hole is formed in the conveying guide rail, and the material blocking part and the material stirring part can move horizontally in the strip-shaped hole; and a horizontal limiting plate is arranged right above the conveying guide rail, and the ring-shaped body moves to the material arranging station along a channel between the limiting plate and the conveying guide rail.

Preferably, a photoelectric sensor is installed on the material arranging station, a detection head of the photoelectric sensor corresponds to the position of the second ring-shaped body at the tail end of the conveying guide rail, the photoelectric sensor is in communication connection with a controller, the photoelectric sensor is used for detecting whether the ring-shaped body is conveyed to the rear of the material blocking member or not, and the controller is connected with the lifting driving member six.

Further, the device also comprises an image detection mechanism, wherein the image detection mechanism comprises a CCD camera I;

the CCD camera is positioned right above the material arranging station and used for shooting an image of the initial position of the latch of the ring-shaped body and sending the image to the image processor, and the image processor can calculate the angle deviation between the initial position of the latch and a set position and obtain a correction angle;

the image processor is in communication connection with the controller, the controller is in communication connection with the second rotary driving element, and the second rotary driving element rotates the clamped ring body according to the received correction angle, so that the clamping teeth of the ring body rotate to be matched with the tooth grooves.

Preferably, the image detection mechanism further comprises a second CCD camera, and the second CCD camera is positioned below the clamping jaw and close to the handle shell to be preassembled;

the CCD camera II is used for shooting the image of the ring-shaped body after the angle of the clamping jaw is corrected, and sending the image to the image processor, and the image processor can secondarily correct whether the position of the latch of the ring-shaped body deviates from a set position.

The device further comprises a conveying mechanism, wherein a pre-installation station and a press-fitting station are arranged on the conveying mechanism;

the conveying mechanism comprises a conveying belt and a carrier plate conveyed by the conveying belt, and a positioning block which is profiled with a target object is fixed on the carrier plate;

the conveying belt conveys the handle shell on the carrier plate from a preassembly station to a press fitting station.

The invention has the beneficial effects that:

the grabbing mechanism transfers the ring-shaped body from a loading station to a press-fitting station, and is matched with the image detection mechanism to adjust the assembly angle of the clamping teeth of the ring-shaped body, so that the clamping teeth are aligned to tooth grooves of an assembly hole in a target object, and then the ring-shaped body is obliquely pre-assembled in the assembly hole; and pressing the tilted side of the ring-shaped body by using a press-fitting mechanism to press the ring-shaped body in the assembling hole. Therefore, the invention prevents the problem that the ring-shaped body is extruded and deformed or is pressed and mounted in place by the pressure head when the position between the latch of the ring-shaped body and the clamping groove of the target object has small deviation through pre-mounting and secondary pressing, improves the assembly accuracy and ensures the assembly quality.

The grabbing mechanism drives the clamping jaw to rotate in the XZ plane through the first rotary driving piece, so that the ring-shaped body is inclined, and the pre-pressing effect on the ring-shaped body is realized. And the second rotary driving part of the clamping jaw is arranged at the output end of the first rotary driving part and is used for driving the ring-shaped body to rotate in an XY plane, and the clamping teeth of the ring-shaped body are rotated to an angle matched with the tooth grooves, so that the pre-correction effect on the ring-shaped body is realized.

The outer clamping group and the inner clamping group of the clamping jaw are arranged in a staggered manner in the same horizontal plane; the outer clamp group is provided with a wedge-shaped pressing surface which is tightly attached to the inclined top wall of the ring-shaped body and presses the outer edge of the ring-shaped body from the outer side; the inner clamping group is inserted into the ring-shaped body and supports the inner side wall of the ring-shaped body outwards. The inner clamp group is matched with the outer clamp group to reliably clamp the ring-shaped body and prevent the phenomenon that the ring-shaped body is deformed to cause inaccurate image detection results and improper preassembly.

According to the CCD camera of the image detection mechanism, the initial position of the latch of the ring-shaped body is detected from the upper part of the ring-shaped body, the deviation of the initial position is calculated by comparing the initial position with the set position, a correction angle is obtained, the ring-shaped body is rotated by the rotary driving piece II according to the correction angle, the latch of the ring-shaped body is rotated to be matched with the tooth socket, manual placement and correction of the ring-shaped body are not needed, and the assembly accuracy and the assembly efficiency are improved; and the CCD camera II is used for secondarily correcting the clamped ring body from the lower part of the ring body again, so that the position accuracy of the clamping teeth of the grabbed rocker ring is ensured.

The invention arranges a material arranging component at the tail end of the feeding mechanism to accurately position the ring-shaped body on the conveying guide rail on the material arranging station. The material blocking part of the material arranging component is fixed on the X-axis driving part V, extends into the strip-shaped hole of the conveying track and is used for blocking the ring-shaped body; the material stirring part is located on the rear side of the material blocking part and is lifted into the strip-shaped hole through the six-drive lifting driving part, the material stirring part, the X-axis driving part and the material blocking part are matched, the ring-shaped body is accurately stirred into the material arranging station, and the grabbing precision of the inner clamping group and the outer clamping group of the clamping jaw to the ring-shaped body is guaranteed.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:

FIG. 1 is a schematic view of the structure of the present invention with the rocker ring pre-pressed in the handle shell;

FIG. 2 is a schematic view of the construction of the mounting apparatus of the present invention;

FIG. 3 is a schematic view of the grasping mechanism of the present invention;

FIG. 4 is a schematic view of a jaw of the present invention;

FIG. 5 is a schematic structural view of the diagonal compression assembly and the vertical compression assembly of the present invention;

FIG. 6 is a schematic view of another perspective structure of the diagonal pressing assembly and the vertical pressing assembly of the present invention;

FIG. 7 is a schematic structural view of the bottom of the bevel head of the present invention;

FIG. 8 is a schematic view of a monolith assembly configuration of the present invention;

FIG. 9 is a schematic view of a monolith assembly of the present invention cut longitudinally to embody a kick-off mounting structure.

Labeled as: 1. a rocker ring; 2. clamping teeth; 3. a handle housing; 4. an assembly hole; 5. a vibrating pan; 6. a conveying guide rail; 7. a limiting plate; 8. a blocking portion; 9. a three-axis module; 10. rotating the first driving member; 11. a clamping jaw; 12. a holder; 13. rotating a driving part II; 14. an outer clamp group; 15. an inner clamp group; 16. a clamping jaw cylinder; 17. an inner chuck; 18. an outer clamping frame; 19. a seventh lifting driving piece; 20. pressing the face; 21. a CCD camera I; 22. a CCD camera II; 23. a bias pressure assembly; 24. a vertical pressing component; 25. a rack; 26. a linear driving member III; 27. an inclined pressure head; 28. a ring pressing groove; 29. a closed side; 30. an open side; 31. pushing the noodles; 32. an adjustment hole; 33. lifting the driving piece IV; 34. a cross beam; 35. a compression spring; 37. a vertical pressure head; 38. a cross frame; 39. pressing a plate; 41. pressing teeth; 42. a conveyor belt; 43. a carrier plate; 44. positioning blocks; 45. a strip-shaped hole; 46. an X-axis driving piece V; 47. a material blocking part; 48. lifting a driving piece six; 49. material stirring parts; 50. a photosensor; 51. a frame; 52. a monolith assembly.

Detailed Description

Example 1

The present embodiment provides a band ring-shaped body fitting apparatus for accurately fitting a ring-shaped body in a fitting hole of a target object. The embodiment is described by taking the ring body as a rocker ring and the target object as a handle shell with an operating rod as an example, but the application is not excluded from being used for assembling other products with similar matching structures.

As shown in figure 1, a plurality of clamping teeth 2 are circumferentially arranged on the outer edge of a rocker ring 1, tooth grooves matched with the clamping teeth 2 are circumferentially arranged on the inner edge of an assembling hole 4, and after the assembling of the assembling equipment is completed, the clamping teeth 2 of the rocker ring 1 are meshed with the tooth grooves of the assembling hole 4.

Referring to fig. 1, the assembling apparatus includes a feeding mechanism, a grabbing mechanism, an image detecting mechanism, and a press-fitting mechanism.

The feeding mechanism is used for conveying the ring-shaped bodies to a feeding station in sequence, the grabbing mechanism is used for transferring the rocker ring 1 to a press-fitting station from the feeding station, the angle of the rocker ring 1 is adjusted, the latch 2 of the rocker ring 1 is aligned with the tooth socket of the assembling hole 4 in the handle shell 3, and then the rocker ring 1 is obliquely pre-installed in the assembling hole 4; the image detection mechanism is used for carrying out pre-correction and secondary correction on the position of the latch 2 of the rocker ring, so that the assembly precision is ensured; the press-fitting mechanism is used for pressing the tilting side of the rocker ring 1 to press the rocker ring 1 in the assembling hole 4.

Specifically, the feed mechanism includes a vibration plate 5 and a conveying rail 6. The vibration disk 5 vibrates hundreds of rocker rings 1 in the storage bin and then sequentially and horizontally sends the rocker rings into the conveying guide rail 6. A horizontal limiting plate 7 is installed right above the conveying guide rail 6, a horizontal channel is formed between the limiting plate 7 and the conveying guide rail 6, and the rocker ring 1 moves to the tail end of the conveying guide rail 6 along the channel to wait for being clamped. The end of the conveying guide rail 6 is provided with a blocking part 8, and the blocking part 8 blocks the first rocker ring 1 to prevent the first rocker ring from falling off from the end of the conveying guide rail 6.

Referring to fig. 8 and 9, the limiting plate 7 is suspended above the rocker ring 1 to prevent the rocker ring 1 in the passage from stacking, extruding and tilting, so that the rocker ring 1 is conveyed forward smoothly and orderly.

The grabbing mechanism comprises a three-axis module 9, a first rotary driving piece 10 installed on the three-axis module 9 and a clamping jaw 11 installed on the first rotary driving piece 10, the three-axis module 9 is used for driving the clamping jaw 11 to move in a three-dimensional space, and the first rotary driving piece 10 is used for driving the clamping jaw 11 to rotate in an XZ coordinate plane, so that the rocker ring 1 is inclined. The first rotary driving member 10 can be driven by a rotary air cylinder, a speed reduction motor and the like. The rotary cylinder is selected for the embodiment to reduce the cost and the volume.

Specifically, referring to fig. 3 to 4, the jaw 11 includes: the clamp seat 12, the second rotary driving piece 13, the outer clamp group 14 and the inner clamp group 15.

The clamping seat 12 is fixed on a rotary disc of the first rotary driving part 10, the clamping seat 12 is of a frame structure, a second rotary driving part 13 is installed on the clamping seat 12 along the Z-axis direction, a motor can be selected for the second rotary driving part 13, an inner clamping group 15 is installed on an output shaft of the second rotary driving part 13, and the inner clamping group 15 is used for being matched with an outer clamping group 14 to outwards support the inner ring of the rocker ring 1. The second rotary driving piece 13 drives the rocker ring 1 to rotate in the XY plane, and the latch 2 of the rocker ring 1 rotates to an angle matched with the tooth groove.

The inner clamping group 15 comprises a clamping jaw cylinder and an inner clamping head 17 arranged on the clamping jaw cylinder; the inner chuck 17 is L-shaped, and the inner chuck 17 is tightly attached to the inner side wall of the rocker ring 1.

Referring to fig. 3, an outer clamping frame 18 is fixedly connected below the clamping base 12, a lifting driving member seven 19 is installed on the outer clamping frame 18, an outer clamping group 14 is installed on a piston rod of the lifting driving member seven 19, the outer clamping group 14 presses the outer edge of the rocker ring 1, and the outer clamping group 14 and the inner clamping group 15 are arranged in a staggered mode in the same horizontal plane. Referring to fig. 4, the bottom of the outer clip group 14 is provided with a wedge-shaped pressing surface 20, and the pressing surface 20 presses on the top of the rocker ring 1.

After the inner clamp group 15 supports the rocker ring 1, the lifting driving piece seven 19 drives the outer clamp group 14 to move downwards so as to press the outer clamp group on the upper side of the rocker ring 1.

The inner side and the outer side of the rocker ring 1 are respectively supported by the inner clamping group 15 and pressed by the outer clamping group 14, and reverse pressure is applied to the rocker ring from the inner side and the outer side, so that the rocker ring 1 is reliably clamped, and the thin and strip-shaped rocker ring 1 is prevented from deforming in the clamping process.

Referring to fig. 2 and 3, the image detection mechanism includes a first CCD camera 21. The CCD camera I21 is located right above the material arranging station and used for shooting an image of the initial position of the latch 2 of the rocker ring 1 and sending the image to the image processor, a calibration image of the correct angle of the latch of the rocker ring is prestored in the image processor, and the image processor compares the received angle deviation between the initial position of the latch 2 and the set position of the calibration image, obtains a correction angle and sends the correction angle to the controller;

the controller is in communication connection with the second rotary driving part 13, and the second rotary driving part 13 rotates the clamped rocker ring 1 according to the received correction angle, so that the latch 2 of the rocker ring 1 rotates to be matched with the tooth socket of the handle shell 3.

As a preferred embodiment, the image detection mechanism further comprises a second CCD camera 22, and the second CCD camera 22 is located below the clamping jaw 11 and close to the handle housing to be preassembled. The CCD camera II 22 is used for shooting the image of the rocker ring 1 with the angle corrected on the clamping jaw 11 and sending the image to the image processor, and the image processor can secondarily correct whether the position of the latch 2 of the rocker ring 1 deviates from the set position or not, so that slight deviation of the rocker ring 1 caused by action error or shaking in the clamping and transferring processes of the clamping jaw 11 is prevented.

The press-fitting mechanism includes a diagonal press assembly 23 and a vertical press assembly 24.

Referring to fig. 5 to 6, the tilting pressure assembly 23 includes a rack 25, a linear driving member three 26 and a tilting pressure head 27, the rack 25 is fixedly installed, the linear driving member three 26 is obliquely installed on the rack 25, the linear driving member three 26 can be a thin cylinder, a tilting pressure head 27 is installed on a piston rod of the linear driving member three 26, and the linear driving member three 26 is used for driving the tilting pressure head 27 to move obliquely downwards to press the tilting portion of the rocker ring 1 into the assembling hole 4.

Referring to fig. 7, the bottom surface of the inclined pressing head 27 is provided with an upwardly concave pressing ring groove 28, the cross section of the pressing ring groove 28 is arc-shaped, and the inner diameter thereof matches with the outer diameter of the rocker ring 1; the side of the rocker arm ring 1 adjacent to the ring groove 28 that is tilted is a closed side 29, and the side opposite the closed side 29 is provided with an open side 30. The groove bottom of the ring pressing groove 28 is a pressing surface 31, and the pressing surface 31 is gradually inclined downward from the open side 30 toward the closed side 29. When the tilting lever 27 moves obliquely downward, the tilted rocker ring 1 is pushed by the pushing surface 31, and the tilted end of the pushing surface 31 can be more efficiently pushed into the fitting hole 4 because the tilting direction is opposite to the tilting direction of the rocker ring 1.

Be equipped with curved regulation hole 32 on the vertical frame of rack 25, in the crossbearer 38 of rack 25 was fixed in regulation hole 32 by the bolt, the three 26 of linear driving spare were installed on this crossbearer, and the inclination of crossbearer 38 is adjusted by the bolt position in the regulation hole 32 to the inclination that makes oblique pressure head 27 adapts to the demand of different pressure equipment angles.

Referring to fig. 5 to 6, the vertical pressing assembly 24 includes a fourth lifting driving member 33, a cross beam 34, a compression spring 35 and a vertical pressing head 37.

The cylinder can be selected for use to lift driving piece four 33, and two sets of lift driving piece four 33 are installed relatively to be located the left and right sides of handle shell 3, crossbeam 34 is installed to the output of two sets of lift driving pieces. The bottom of the cross beam 34 is provided with a pressing plate 39, the bottom of the pressing plate 39 is provided with a vertical pressing head 37, and the pressing plate 39 is flexibly connected with the cross beam 34 through a compression spring 35 to prevent the vertical pressing head 37 from rigidly pressing the rocker ring 1.

The vertical pressure head 37 is positioned right above the assembled rocker ring 1, and the bottom of the vertical pressure head is provided with a ring of pressure teeth 41 matched with the rocker ring 1. When the lifting driving piece four 33 drives the cross beam 34 to descend, the vertical pressure head 37 compacts the rocker ring 1 in the assembly hole 4 along the Z-axis direction.

Referring to fig. 2, in the present apparatus, a conveying mechanism is mounted on a frame 51, the conveying mechanism conveys the handle housing 3 along the X-axis direction as a whole, and a pre-assembly station and a press-fitting station are arranged on a conveying path of the conveying mechanism, the pre-assembly station is close to the gripping mechanism, and the press-fitting station is located at the press-fitting mechanism. The conveying mechanism conveys the handle shell from the preassembly station to the press-fitting station.

Specifically, the conveying mechanism comprises a conveying belt 42 and a carrier plate 43 conveyed by the conveying belt 42, the carrier plate 43 is placed on the conveying belt 42, the left side and the right side of the carrier plate 43 are positioned by a slat, a positioning block 44 which is profiled with the handle shell 3 is fixed on the carrier plate 43, and the positioning block 44 positions the handle shell 3 to ensure the press-fitting precision.

In order to improve the assembly efficiency, the feeding mechanism of the embodiment is provided with two parallel material arranging stations, the clamping jaws 11 of the grabbing mechanism are correspondingly provided with two inner clamping groups 15 and two outer clamping groups 14, and the two rocker rings 1 are grabbed simultaneously and placed into the two assembly holes 4 of the handle shell 3.

Furthermore, two groups of grabbing mechanisms are installed on the frame 51, grabbing operation is performed in a staggered mode, and assembling efficiency is improved. The material arranging station, the image detection mechanism and the pre-pressing station are all located between the two groups of grabbing mechanisms, and the moving stroke of the grabbing mechanisms is shortened.

The controller of this embodiment is in communication connection with each of the linear modules, the air cylinder, the motor, and other driving devices, and is configured to send instructions to the linear modules, the air cylinder, the motor, and other driving devices to implement corresponding actions.

Example 2

Referring to fig. 8 and 9, the difference between this embodiment and embodiment 1 is that the feeding mechanism further includes a material arranging module 52, the end of the conveying guide rail 6 is provided with a material arranging station, and the material arranging module 52 is located below the material arranging station and is used for accurately positioning the rocker ring 1 to be grabbed at a set position on the material arranging station, so as to ensure the grabbing precision of the grabbing mechanism.

Set up bar hole 45 on the material all in one piece station on transfer rail 6, bar hole 45 extends along the X axle direction, and rocker ring 1 is located bar hole 45's top, keeps off material 47 and dials material 49 and insert in bar hole 45 and along bar hole 45 removal rocker ring 1.

The monolith assembly comprises an X-axis driving member five 46, a material blocking member 47, a lifting driving member six 48 and a material stirring member 49.

The X-axis driving piece five 46 is fixed on the frame 51, the X-axis driving piece five 46 adopts an air cylinder, the output end of the X-axis driving piece five 46 is provided with a bottom plate, and the bottom plate is provided with material blocking pieces 47 and material shifting pieces 49 at intervals along the front-back direction. Specifically, the top of material blocking part 47 vertically stretches into bar hole 45, and material blocking part 47 is used for blocking the rocker ring 1 that is sent by conveying guide rail 6 to with stir material 49 cooperation forward movement this rocker ring 1, guarantee that the coordinate of rocker ring 1 is located the coordinate point of settlement.

The material stirring piece 49 is arranged at the output end of the lifting driving piece six 48, the lifting driving piece six 48 is arranged on the bottom plate, and the lifting driving piece six 48 can be an air cylinder. The material stirring piece 49 is jacked by the lifting driving piece six 48 and inserted into the strip-shaped hole 45 of the conveying guide rail 6 and extends into the inner ring of the rocker ring 1 on the conveying guide rail 6, and then the X-axis driving piece five 46 drives the material stirring piece 49 and the material stopping piece 47 to synchronously move forwards, namely, the material stirring piece 49 and the material stopping piece 47 clamp the rocker ring 1 to enable the rocker ring to enter a set coordinate position.

And a photoelectric sensor 50 is arranged on the material arranging station, a detection head of the photoelectric sensor 50 corresponds to the position of the second rocker ring 1 at the tail end of the conveying guide rail 6, and the detection head extends into the conveying guide rail 6 and is used for detecting whether the rocker ring 1 is conveyed to the rear part of the material blocking part 47. The photoelectric sensor 50 is communicatively connected to the controller, which is communicatively connected to the X-axis drive member five 46 and the lift drive member six 48. When the photoelectric sensor 50 detects the rocker ring 1, the controller controls the lifting driving piece six 48 to lift the material stirring piece 49 into the strip-shaped hole 45, and controls the X-axis driving piece five 46 to move the material stirring piece 47 and the material stirring piece 49 forward, so that the rocker ring 1 is stirred in place.

The other structure of this embodiment is the same as embodiment 1.

The working principle of the embodiment is as follows:

the rocker ring 1 is poured into the vibrating disk 5, is sequentially and horizontally conveyed onto the conveying guide rail 6 after being vibrated by the vibrating disk 5, and is sequentially conveyed forwards into a material arranging station and is temporarily blocked by the material blocking part 47; meanwhile, the handle shell 3 is placed on a positioning block 44 of the carrier plate 43 and is conveyed to a pre-pressing station by the conveying belt 42 to wait for assembling the rocker ring 1;

a lifting driving piece six 48 of the material arranging assembly drives a material stirring piece 49 to extend upwards into the strip-shaped hole 45 and be inserted into the inner ring of the first rocker ring 1, an X-axis driving piece five 46 drives a material blocking piece 47 and the material stirring piece 49 to move forwards synchronously, the rocker ring 1 blocked by the material blocking piece 47 is stirred into the position of the foremost end of the conveying guide rail 6, and a grabbing mechanism waits for grabbing;

a CCD camera I21 of the image detection mechanism detects the position of a latch 2 of the rocker ring 1, and a correction angle is calculated by an image processor;

the three-axis module 9 of the grabbing mechanism drives the clamping jaws 11 to move above the material arranging station, the outer clamping group 14 of the clamping jaws 11 is driven by a lifting driving piece seven 19 to be pressed down above the rocker ring 1, the inner clamping head 17 of the inner clamping group 15 extends into the rocker ring 1 and is driven by the clamping jaw cylinder to outwards support the rocker ring 1, the inner clamping head 17 and the rocker ring 1 are matched with each other to reliably clamp the rocker ring 1, and the rocker ring 1 cannot deform;

the second rotary driving piece 13 rotates the clamped rocker ring 1 according to the received correction angle, so that the latch 2 of the rocker ring 1 rotates to an angle matched with the tooth socket of the handle shell 3, then the three-axis module 9 moves the clamping jaw 11 to the second CCD camera 22 for secondary correction, and the accuracy of the angle of the latch 2 of the rocker ring 1 is ensured;

the first rotary driving piece 10 drives the clamping jaw 11 to rotate in the XZ coordinate plane, so that the rocker ring 1 is inclined. Then the three-axis module 9 moves the clamping jaw 11 to the position above the assembling hole 4 of the handle shell 3 and obliquely pre-presses the clamping jaw into the assembling hole 4;

the conveying mechanism conveys the pre-pressed handle shell 3 to a press-fitting station, a third linear driving piece 26 of the inclined pressing assembly 23 drives an inclined pressing head 27 to move obliquely downwards, and the tilted part of the rocker ring 1 is pressed in the assembling hole 4; a fourth lifting driving piece 33 of the vertical pressing assembly 24 drives the cross beam 34 to move downwards, so that a vertical pressing head 37 presses the rocker ring 1 in the assembling hole 4 along the Z-axis direction;

the above process is repeated, and after all the handle cases 3 on the carrier plate 43 are assembled, the carrier plate 43 is conveyed to the next process by the conveying mechanism.

Although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that changes may be made in the embodiments and/or equivalents thereof without departing from the spirit and scope of the invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. An assembling apparatus for a toothed belt ring-shaped body, comprising:

the feeding mechanism is used for sequentially conveying the ring-shaped bodies to a feeding station, and at least two clamping teeth are arranged on the periphery of the ring-shaped bodies;

the grabbing mechanism is used for transferring the ring-shaped body from the feeding station to a press-fitting station, adjusting the angle of the ring-shaped body, enabling the latch of the ring-shaped body to be aligned with the tooth socket of the assembly hole in the target object, and then obliquely pre-assembling the ring-shaped body in the assembly hole;

2. A toothed ring assembling apparatus according to claim 1, wherein said gripping mechanism comprises a three-axis module, a first rotary drive member mounted on said three-axis module, and a first gripper jaw mounted on said first rotary drive member, said first rotary drive member being adapted to drive said gripper jaw to rotate in the XZ coordinate plane to tilt said ring.

3. A toothed ring fitting apparatus according to claim 2, wherein said jaws comprise:

the rotary driving part II is used for driving the ring-shaped body to rotate in an XY coordinate plane and rotating the clamping teeth of the ring-shaped body to an angle matched with the tooth grooves;

4. A toothed ring fitting apparatus according to claim 3,

the inner chuck is L-shaped and clings to the inner side wall of the ring-shaped body;

the outer clamp group is provided with a wedge-shaped pressing surface which is pressed on the top of the ring-shaped body; the outer clamping group is driven to move downwards by the lifting driving piece seven, and pressing action is achieved.

5. A toothed ring fitting apparatus according to claim 1 wherein said press fitting mechanism comprises a ramp assembly; the inclined pressing assembly comprises a rack, a linear driving piece III and an inclined pressing head, and the linear driving piece III is obliquely arranged on the rack; the output end of the linear driving piece III is provided with the inclined pressure head, and the linear driving piece III is used for driving the inclined pressure head to obliquely press the tilting part of the ring body into the assembling hole.

6. Toothed ring fitting apparatus according to claim 5,

the bottom surface of the inclined pressure head is provided with an upper concave ring pressing groove, and the inner diameter of the ring pressing groove is matched with the outer diameter of the ring body;

7. The toothed ring fitting apparatus of claim 6 wherein said pushing surface of said ring groove floor slopes downwardly from said open side to said closed side.

8. The toothed ring assembling apparatus according to claim 1, wherein said press-fitting mechanism further comprises a vertical press assembly, said vertical press assembly comprising a fourth lifting driving member, a cross member, an elastic member, a press plate, and a vertical press head;

9. A toothed ring assembler apparatus according to claim 3, wherein said feed mechanism includes a conveyor rail and a monolith assembly;

the material sorting assembly is used for positioning the ring-shaped body on the conveying guide rail on the material sorting station, and comprises an X-axis driving piece five, a material blocking piece, a lifting driving piece six and a material poking piece;

the six lifting driving pieces are vertically arranged on the five X-axis driving pieces and are located on the rear sides of the material blocking pieces, the material stirring pieces are arranged at the output ends of the six lifting driving pieces, the material stirring pieces are lifted into the inner rings of the ring-shaped bodies by the six lifting driving pieces, and the ring-shaped bodies are driven by the five X-axis driving pieces to be forwards stirred and moved.

10. The toothed ring assembling apparatus according to claim 9, wherein a strip-shaped hole is provided on said conveying rail, and said material blocking member and material pulling member are translatable within said strip-shaped hole; and a horizontal limiting plate is arranged right above the conveying guide rail, and the ring-shaped body moves to the material arranging station along a channel between the limiting plate and the conveying guide rail.

11. The toothed ring assembling equipment according to claim 9, wherein a photoelectric sensor is mounted on the material arranging station, a detection head of the photoelectric sensor corresponds to the position of the second ring at the tail end of the conveying guide rail, the photoelectric sensor is in communication connection with a controller, the photoelectric sensor is used for detecting whether the ring is conveyed to the rear of the material blocking member, and the controller is connected with the lifting driving member six.

12. A toothed ring mounting apparatus according to claim 11 further comprising an image detection mechanism, said image detection mechanism comprising a CCD camera;

the image processor is in communication connection with the controller, the controller is in communication connection with the second rotary driving part, and the second rotary driving part rotates the clamped ring-shaped body according to the received correction angle, so that the clamping teeth of the ring-shaped body rotate to be matched with the tooth grooves.

13. The toothed ring assembler of claim 12 wherein the vision inspection mechanism further comprises a second CCD camera positioned below the jaws and proximate to the handle housing to be preassembled;

14. An assembling apparatus for a toothed ring according to claim 12, further comprising a conveying mechanism provided with a preassembly station and a press-fitting station;