CN115157165B - Automatic sensor assembly equipment - Google Patents

Automatic sensor assembly equipment Download PDF

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Publication number
CN115157165B
CN115157165B CN202210749271.1A CN202210749271A CN115157165B CN 115157165 B CN115157165 B CN 115157165B CN 202210749271 A CN202210749271 A CN 202210749271A CN 115157165 B CN115157165 B CN 115157165B
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China
Prior art keywords
frame
forth
driving mechanism
feeding
controller
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CN202210749271.1A
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CN115157165A (en
Inventor
江新红
黄文飞
李仁余
关启严
胡艳斌
胡文斌
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Changjiang Intelligent Technology Guangdong Co ltd
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Changjiang Intelligent Technology Guangdong Co ltd
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Priority to CN202210749271.1A priority Critical patent/CN115157165B/en
Publication of CN115157165A publication Critical patent/CN115157165A/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
    • B25B27/00—Hand tools, specially adapted for fitting together or separating parts or objects whether or not involving some deformation, not otherwise provided for
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L3/00—Measuring torque, work, mechanical power, or mechanical efficiency, in general
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Specific Conveyance Elements (AREA)

Abstract

The invention discloses automatic sensor assembly equipment which comprises a rack, a controller, a conveying device, a material taking device, a wire coiling frame, a feeding device and a manipulator, wherein the rack is arranged on the rack; the material taking device is arranged on the conveying device and is connected with the controller; the wire coiling device can be movably arranged on the frame back and forth and is positioned beside the material taking device; the manipulator is arranged on the frame and moves back and forth beside the coil holder, the feeding device and the feeding device. Through being provided with conveyor, extracting device, dish line frame, loading attachment and manipulator for can be through extracting device, dish line device, loading attachment and the cooperation of manipulator, can be with the components and parts group dress that waits to assemble on the dish line frame, make it can accomplish the equipment processing of sensor through automatic mode, improved holistic packaging efficiency, automatic assembly mode can effectively reduce the cost of labor in the equipment process simultaneously.

Description

Automatic sensor assembly equipment
Technical Field
The invention relates to the technology in the sensor processing field, in particular to automatic sensor assembly equipment.
Background
Torque sensors, also known as torque sensors, torque meters, are divided into two main types, dynamic and static, wherein dynamic torque sensors can also be called torque sensors, torque speed sensors, non-contact torque sensors, rotational torque sensors, etc. Torque sensors are the detection of the perception of torsional moment on various rotating or non-rotating mechanical components. The torque sensor converts the physical change in torque force into an accurate electrical signal. The torque sensor can be applied to manufacturing a viscometer and an electric (pneumatic and hydraulic) torque wrench, and has the advantages of high precision, quick frequency response, good reliability, long service life and the like.
The torque sensor has the advantages that as the number of internal components is large, different components are required to be assembled together in the process of machining, wires are required to be wound in the components in the process of assembling, automatic machining cannot be realized in the process of assembling the sensor due to the complexity of the process of machining, the overall assembly efficiency is low, and meanwhile, a large amount of labor is required in the process of assembling, so that the labor cost is high; therefore, a new solution is needed to solve the above problems.
Disclosure of Invention
In view of the above, the present invention aims at overcoming the drawbacks of the prior art, and its primary objective is to provide an automatic sensor assembling device, which can effectively solve the problems of incapability of realizing automatic processing, low assembling efficiency and high labor cost in the existing sensor assembling process.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
the automatic sensor assembly equipment comprises a rack, a controller, a conveying device, a material taking device, a wire coiling frame, a feeding device and a manipulator; the controller is arranged on the frame; the conveying device is arranged on the frame and connected with the controller; the material taking device is arranged on the conveying device and is connected with the controller; the wire coiling device can be movably arranged on the frame back and forth and is positioned beside the material taking device, and the wire coiling device is connected with the controller; the coil holder is arranged on the frame and is positioned beside the conveying device, and the coil holder is connected with the controller; the feeding device is arranged on the frame and is positioned beside the coil holder, and the feeding device is connected with the controller; the feeding device is arranged on the frame and is positioned beside the coil holder, and the feeding device is connected with the controller; the manipulator is arranged on the frame and moves back and forth beside the coil holder, the feeding device and the feeding device, and the manipulator is connected with the controller.
As a preferable scheme, the conveying device comprises a first conveying mechanism, a second conveying mechanism and a first lifting mechanism, wherein the first conveying mechanism is arranged right above the second conveying mechanism, and the conveying direction of the first conveying mechanism is opposite to that of the second conveying mechanism; the first material conveying mechanism comprises a plurality of rotary material conveying units which are transversely arranged, and the rotary material conveying units are arranged on the frame and connected with the controller; the second material conveying mechanism is arranged on the frame and is positioned right below the first material conveying mechanism, and comprises a material conveying frame, a first material conveying belt and a first motor; the material conveying frame is arranged on the frame; the first material conveying belt can be arranged on the material conveying frame in a back-and-forth rotating manner; the first motor is arranged on the material conveying frame and drives the first material conveying belt to rotate back and forth, and the first motor is connected with the controller; the first lifting mechanism comprises a first lifting frame, a conveying frame, a first lifting driving mechanism, a second conveying belt and a second motor; the first lifting frame is arranged on the frame; the conveying frame can be movably arranged on the first lifting frame up and down in a back-and-forth manner, wherein the conveying frame is movably arranged between the output end of the first conveying mechanism and the input end of the second conveying mechanism in a back-and-forth manner; the first lifting driving mechanism is arranged on the first lifting frame and drives the conveying frame to move up and down back and forth, and is connected with the controller; the second conveying belt can be arranged on the conveying frame in a back-and-forth rotating way and can move back and forth along with the conveying frame; the second motor is arranged on the conveying frame and drives the second conveying belt to rotate back and forth, and the second motor is connected with the controller.
As a preferable scheme, the rotary material conveying unit comprises a fixed frame, a third material conveying belt, a third motor, a fixed plate, a movable frame, a first driving mechanism, a rotary seat and a second driving mechanism; the fixing frame is arranged on the frame; the third material conveying belt can be arranged on the fixing frame in a back-and-forth rotating manner, the third motor is arranged on the fixing frame and drives the third material conveying belt to rotate back-and-forth, and the third motor is connected with the controller; the fixing plate is arranged on the fixing frame; the movable frame can be movably arranged on the fixed plate up and down in a back-and-forth manner; the first driving mechanism is arranged on the fixed plate and drives the movable frame to move up and down back and forth, and is connected with the controller; the rotating seat can be arranged on the movable frame in a back-and-forth rotating way and can move back and forth along with the movable frame; the second driving mechanism is arranged on the movable frame and drives the rotating seat to rotate back and forth, and the second driving mechanism is connected with the controller.
As a preferable scheme, the material taking device comprises a material taking frame, a first material taking driving mechanism, a material taking plate, a second material taking driving mechanism, a rotating frame, a third material taking driving mechanism, a first material clamping head and a fourth material taking driving mechanism; the material taking frame can be transversely and movably arranged on the conveying device in a back-and-forth manner; the first material taking driving mechanism is arranged on the conveying device and drives the material taking frame to move back and forth, and is connected with the controller; the material taking plate can be arranged on the material taking frame in a vertically back-and-forth movable mode and can transversely back-and-forth move along with the material taking frame, the material taking plate is positioned right above the conveying device, and the material taking plate is obliquely arranged with the horizontal plane; the second material taking driving mechanism is arranged on the material taking frame and drives the material taking plate to move up and down back and forth, and the second material taking driving mechanism is connected with the controller; the rotary frame is arranged on the material taking plate in a back-and-forth rotating way and is positioned right above the conveying device, the rotary frame is obliquely arranged with the horizontal plane, the third material taking driving mechanism is arranged on the material taking plate and drives the rotary frame to rotate back-and-forth, and the third material taking driving mechanism is connected with the controller; the first clamping head is arranged on the rotating frame in a clamping manner and rotates back and forth along with the rotating frame; the fourth material taking driving mechanism is arranged on the rotating frame and drives the first clamping head to clamp, and the fourth material taking driving mechanism is connected with the controller.
As a preferable scheme, the wire coiling device is two symmetrically arranged along two sides of the conveying device; each coil device comprises a coil component which moves back and forth along the extending direction of the conveying device and a clamping component;
the wire coiling assembly comprises a first movable arm, a first wire coiling driving mechanism, a first movable rod, a second wire coiling driving mechanism, a first movable plate, a third wire coiling driving mechanism, a wire coiling frame, a fourth wire coiling driving mechanism, wire coiling heads, an electric slip ring and a sixth wire coiling driving mechanism; the first movable arm can be transversely and back and forth movably arranged on the frame and is positioned beside the conveying device; the first coil driving mechanism is arranged on the first movable arm and drives the first movable arm to transversely move back and forth, and is connected with the controller; the first movable rod is longitudinally and back-and-forth movably arranged on the first movable arm and transversely moves back-and-forth along with the first movable arm; the second wire coiling driving mechanism is arranged on the first movable arm and drives the first movable rod to longitudinally move back and forth, and is connected with the controller; the first movable plate can be arranged on the first movable rod in a vertically back-and-forth movable way and longitudinally back-and-forth movable along with the first movable rod; the third wire driving mechanism is arranged on the first movable rod and drives the first movable plate to move up and down back and forth, and is connected with the controller; the coil holder can be arranged on the first movable plate in a back-and-forth rotating way and can move back and forth along with the first movable plate; the fourth wire coiling driving mechanism is arranged on the first movable plate and drives the wire coiling frame to rotate back and forth, and is connected with the controller; the wire coiling head is arranged on the wire coiling frame and rotates back and forth along with the wire coiling frame, the wire coiling head comprises air claws and limiting pieces, the air claws can be arranged on the wire coiling frame in an opening and closing mode and rotate back and forth along with the wire coiling frame, and the limiting pieces are arranged on the wire coiling frame and are positioned on the outer sides of the air claws; the electric slip ring is arranged on the coil holder and drives the air claw to open and close, and is connected with the controller;
The clamping assembly comprises a second movable arm, a first clamping driving mechanism, a second movable rod, a second clamping driving mechanism, a second movable plate, a third clamping driving mechanism, a first clamping plate, a second clamping plate, a fourth clamping driving mechanism, a fixed head and a fifth clamping driving mechanism; the second movable arm can be transversely and movably arranged on the rack back and forth; the first clamping driving mechanism is arranged on the second movable arm and drives the second movable arm to transversely move back and forth, and is connected with the controller; the second movable rod can be longitudinally and back and forth movably arranged on the second movable arm and transversely and back and forth movable along with the second movable arm; the second clamping driving mechanism is arranged on the second movable arm and drives the second movable rod to longitudinally move back and forth, and is connected with the controller; the second movable plate can be arranged on the second movable rod in a vertically back-and-forth movable way and longitudinally back-and-forth movable along with the second movable rod; the third clamping driving mechanism is arranged on the second movable rod and drives the second movable plate to move up and down back and forth, and is connected with the controller; the first clamping plate is fixedly arranged on the second movable plate and moves back and forth along with the second movable plate; the second material clamping plate can be transversely and back and forth movably arranged on the second movable plate and can be back and forth moved up and down along with the second movable plate, and the second material clamping plate can be back and forth moved beside the first material clamping plate; the fourth clamping driving mechanism is arranged on the second movable plate and drives the second clamping plate to move back and forth, and is connected with the controller; the fixed head can be transversely and back and forth movably arranged on the second movable plate and is positioned beside the first clamping plate and the second clamping plate; the fifth clamping driving mechanism is arranged on the second movable plate and drives the fixed head to transversely move back and forth, and the fifth clamping driving mechanism is connected with the controller.
As a preferable scheme, the coil holder can be transversely and reciprocally movably arranged on the frame and is positioned beside the conveying device, and the coil holders are two symmetrically arranged; each wire frame comprises a bracket, a movable seat, a third driving mechanism, a third movable plate, a fourth driving mechanism, a fifth driving mechanism and an assembly head; the bracket is transversely arranged on the frame in an extending way and is positioned beside the conveying device; the movable seat can be transversely and movably arranged on the bracket back and forth, and is provided with an installation position for placing products; the third driving mechanism is arranged on the bracket and drives the movable seat to transversely move back and forth, and is connected with the controller; the third movable plate can be arranged on the movable seat in a vertically back-and-forth movable way and transversely back-and-forth movable along with the movable seat; the fourth driving mechanism is arranged on the movable seat and drives the third movable plate to move up and down back and forth, and is connected with the controller; the fifth driving mechanism is arranged on the third movable plate and moves back and forth along with the third movable plate, and is connected with the controller; the assembly head is arranged at the output end of the fifth driving mechanism and longitudinally moves back and forth beside the installation position under the drive of the fifth driving mechanism.
As a preferable scheme, the feeding device comprises a feeding frame, a transmission chain, a first feeding driving mechanism, a feeding plate, a clamping plate and a second feeding driving mechanism; the feeding frame is arranged on the frame; the transmission chain can be arranged on the upper material rack in a back-and-forth rotating way, and extends up and down; the first feeding driving mechanism is arranged on the feeding frame and drives the transmission chain to rotate back and forth, and is connected with the controller; the feeding plate is connected with the transmission chain through a connecting block and moves back and forth up and down under the drive of the transmission chain; the clamping plate can be longitudinally and back and forth movably arranged on the feeding plate and can be back and forth moved up and down along with the feeding plate; the second feeding driving mechanism is arranged on the feeding plate and drives the clamping plate to longitudinally move back and forth, and is connected with the controller; the clamping plates and the second feeding driving mechanisms are respectively and symmetrically distributed on two sides of the feeding plates, and each second feeding driving mechanism drives the corresponding clamping plate to move back and forth.
As a preferable scheme, the feeding device comprises a first feeding conveying mechanism, a second feeding conveying mechanism and a second lifting mechanism;
The first feeding and conveying mechanism is arranged on the frame and is positioned beside the coil holder, and comprises a first feeding frame, a first conveyor belt, a limiting frame and a first feeding driving mechanism, wherein the first feeding frame is arranged on the frame; the first conveyor belt can be arranged on the first feeding frame in a back-and-forth rotating way; the limiting frame is arranged on the first feeding frame and is positioned right above the first conveyor belt; the first feeding driving mechanism is arranged on the first feeding frame and drives the first conveyor belt to rotate back and forth, and is connected with the controller;
the second feeding conveying mechanism is arranged on the frame and is positioned under the first feeding conveying mechanism, the conveying direction of the second feeding conveying mechanism is opposite to that of the first feeding conveying mechanism, the second feeding conveying mechanism comprises a second feeding frame, a second conveying belt and a second feeding driving mechanism, and the second feeding frame is arranged on the frame and is positioned under the first feeding frame; the second conveyor belt can be arranged on the second feeding frame in a back-and-forth rotating way; the second feeding driving mechanism is arranged on the second feeding frame and drives the second conveyor belt to rotate back and forth, and is connected with the controller;
The second lifting mechanism is arranged on the frame and is respectively connected with the input end of the first feeding conveying mechanism and the output end of the second feeding conveying mechanism, and comprises a second lifting frame, a lifting plate, a second lifting driving mechanism, a third conveyor belt, a third feeding driving mechanism, a fourth feeding driving mechanism and a limiting plate; the second lifting frame is arranged on the frame and is positioned beside the first feeding conveying mechanism and the second feeding conveying mechanism; the lifting plate can be movably arranged on the second lifting frame up and down in a back-and-forth manner; the second lifting driving mechanism is arranged on the second lifting frame and drives the lifting plate to move up and down back and forth, and the second lifting driving mechanism is connected with the controller; the third conveyor belt can be arranged on the lifting plate in a back-and-forth rotating way and can move back and forth along with the lifting plate; the third feeding driving mechanism is arranged on the lifting plate and drives the third conveyor belt to rotate back and forth, and is connected with the controller; the fourth feeding driving mechanism is arranged on the lifting plate and moves back and forth along with the lifting plate, and is connected with the controller; the limiting plate is arranged at the output end of the fourth feeding driving mechanism and is driven by the fourth feeding driving mechanism to move back and forth beside the limiting frame.
As a preferable scheme, the manipulator comprises a fixed seat, a first rotating arm, a first rotating driving mechanism, a second rotating arm, a second rotating driving mechanism, a clamping rack, a sixth driving mechanism, a clamping claw rack, a seventh driving mechanism, a clamping jaw, an eighth driving mechanism, a second clamping head, a ninth driving mechanism, a camera and a light source; the fixed seat is arranged on the frame and is positioned beside the feeding device; the first rotating arm can be arranged on the fixed seat in a back-and-forth rotating way; the first rotary driving mechanism is arranged on the fixed seat and drives the first rotary arm to rotate, and is connected with the controller; the second rotating arm can be arranged at the free end of the first rotating arm in a back-and-forth rotating way and rotates along with the first rotating arm in a back-and-forth rotating way; the second rotary driving mechanism is arranged at the free end of the first rotary arm and drives the second rotary arm to rotate back and forth, and the second rotary driving mechanism is connected with the controller; the material clamping frame can be movably arranged at the free end of the second rotating arm up and down and rotates back and forth along with the second rotating arm; the sixth driving mechanism is arranged at the free end of the second rotating arm and drives the clamping rack to move up and down back and forth, and is connected with the controller; the clamping claw frame can be arranged on the clamping frame in a vertically back-and-forth movable way and can move back and forth along with the clamping frame; the seventh driving mechanism is arranged on the clamping rack and drives the clamping claw rack to move up and down back and forth, and is connected with the controller; the two clamping jaws are symmetrically arranged, can be arranged on the clamping jaw frame in a clamping manner and move back and forth along with the clamping jaw frame; the eighth driving mechanism is arranged on the clamping jaw frame and drives the two clamping jaws to clamp, and is connected with the controller; the ninth driving mechanism is arranged on the clamping frame and drives the second clamping head to clamp, and is connected with the controller; the camera is arranged on the clamping frame and is positioned beside the second clamping head, and the camera is connected with the controller; the light source is arranged on the clamping frame and is positioned right below the camera, and the light source is connected with the controller.
As a preferable scheme, a hood is arranged on the frame, and the controller is arranged on the hood; the conveying device, the material taking device, the wire coiling frame, the feeding device and the manipulator are covered by a hood.
Compared with the prior art, the invention has obvious advantages and beneficial effects, and in particular, the technical scheme can be as follows:
through being provided with conveyor, extracting device, dish line frame, loading attachment and manipulator for can be through extracting device, dish line device, loading attachment and the cooperation of manipulator, can be with the components and parts group dress that waits to assemble on the dish line frame, can also twine the wire rod in the torque sensor in the components and parts simultaneously, make it can accomplish the equipment processing of sensor through automatic mode, improved holistic packaging efficiency, automatic equipment mode can effectively reduce the cost of labor in the equipment process simultaneously.
In order to more clearly illustrate the structural features and efficacy of the present invention, the present invention will be described in detail below with reference to the accompanying drawings and examples.
Drawings
FIG. 1 is a schematic perspective view of a preferred embodiment of the present invention;
FIG. 2 is a partially assembled schematic illustration of a preferred embodiment of the present invention;
FIG. 3 is a schematic perspective view of a conveying device according to a preferred embodiment of the present invention;
FIG. 4 is a schematic perspective view of a rotary feeding unit according to a preferred embodiment of the present invention;
FIG. 5 is a schematic perspective view of a material taking apparatus according to a preferred embodiment of the present invention;
FIG. 6 is a schematic perspective view of a wire winding assembly according to a preferred embodiment of the present invention;
FIG. 7 is a schematic perspective view of a clamping assembly according to a preferred embodiment of the present invention;
FIG. 8 is a schematic perspective view of a coil holder according to a preferred embodiment of the present invention;
FIG. 9 is a schematic perspective view of a loading device according to a preferred embodiment of the present invention;
FIG. 10 is a schematic perspective view of a feeding device according to a preferred embodiment of the present invention;
FIG. 11 is a schematic perspective view of a manipulator according to a preferred embodiment of the invention.
The attached drawings are used for identifying and describing:
10. frame 11 and hood
20. Controller 30 and conveying device
31. First feed mechanism 32 and second feed mechanism
321. Material conveying frame 322, first material conveying belt
323. First motor 33 and first lifting mechanism
331. First lifting frame 332 and conveying frame
333. First lifting drive mechanism 334 and second material conveying belt
335. Second motor 34, rotary feeding unit
341. Holder 342, third feeding belt
343. Third motor 344, fixing plate
345. Movable frame 346, first driving mechanism
347. Swivel seat 348, second drive mechanism
40. Material taking device 41 and material taking frame
42. First take-off drive mechanism 43 and take-off plate
44. Second material taking driving mechanism 45 and rotating frame
46. Third take-off drive mechanism 47, first gripper head
48. Fourth take-off drive mechanism 50 and line coiling device
501. Air jaw 502 and limiting piece
504. Fifth clamping driving mechanism
51. Wire winding assembly 511, first movable arm
512. First movable rod 513 and second wire winding driving mechanism
514. First movable plate 515, third coil driving mechanism
516. Coil holder 517 and fourth coil driving mechanism
518. Coil end 519 and electrical slip ring
52. Clamping assembly 521 and second movable arm
522. Second movable rod 523 and second clamping driving mechanism
524. Second movable plate 525 and third clamping driving mechanism
526. First and second clamping plates 527 and 527
528. Fourth clamping driving mechanism 529 and fixed head
60. Coil holder 601 and mounting position
61. Bracket 62 and movable seat
63. Third driving mechanism 64, third movable plate
65. Fourth drive mechanism 66, fifth drive mechanism
67. Assembling head 70 and feeding device
71. Feeding frame 72 and driving chain
73. First feeding drive mechanism 74, feeding plate
75. Clamping plate 76, second feeding driving mechanism
77. Connecting block 78, feeding trolley
79. Material moving mechanism 80 and feeding device
81. First feeding conveying mechanism 811 and first feeding frame
812. First conveyor 813 and a limiting frame
814. First feeding driving mechanism 82 and second feeding conveying mechanism
821. Second feeding frame 822, second conveyor belt
823. Second feeding driving mechanism 83 and second lifting mechanism
831. Second lifting frame 832 and lifting plate
833. Second lifting drive mechanism 834, third conveyor belt
835. Third feed drive 836 and fourth feed drive
837. Limiting plate 90 and manipulator
901. Clamping jaw 902 and eighth driving mechanism
903. Second clamping head 904 and camera
905. Light source 91 and fixing seat
92. First rotary arm 93 and first rotary drive mechanism
94. Second rotating arm 95 and second rotation driving mechanism
96. Clamping frame 97 and sixth driving mechanism
98. A gripper frame 99, and a seventh driving mechanism.
Detailed Description
Referring to fig. 1 to 11, a specific structure of a preferred embodiment of the present invention is shown, which includes a frame 10, a controller 20, a conveying device 30, a material taking device 40, a wire coiling device 50, a wire coiling frame 60, a material loading device 70, a material feeding device 80 and a manipulator 90.
The controller 20 is arranged on the frame 10; in this embodiment, a hood 11 is disposed on the frame 10, and the controller 20 is disposed on the hood 11; the conveyor 30, the take-off device 40, the wire winding device 50, the wire winding frame 60, the loading device 70, the feeding device 80, and the robot 90 are covered by the hood 11.
The conveying device 30 is arranged on the frame 10 and is connected with the controller 10; in this embodiment, the conveying device 30 includes a first conveying mechanism 31, a second conveying mechanism 32, and a first lifting mechanism 33, where the first conveying mechanism 31 is disposed directly above the second conveying mechanism 32, and the conveying direction of the first conveying mechanism 31 is opposite to that of the second conveying mechanism 32; the first material conveying mechanism 31 comprises a plurality of rotary material conveying units 34 which are transversely arranged, and the rotary material conveying units 34 are arranged on the frame 10 and are connected with the controller 20; the second material conveying mechanism 32 is arranged on the frame 10 and is positioned right below the first material conveying mechanism 31, and the second material conveying mechanism 32 comprises a material conveying frame 321, a first material conveying belt 322 and a first motor 323; the material conveying frame 321 is arranged on the frame 10; the first material conveying belt 322 is rotatably arranged on the material conveying frame 321 back and forth; the first motor 323 is arranged on the material conveying frame 321 and drives the first material conveying belt 322 to rotate back and forth, and the first motor 313 is connected with the controller 20; the first lifting mechanism 33 comprises a first lifting frame 331, a conveying frame 332, a first lifting driving mechanism 333, a second conveying belt 334 and a second motor 335; the first lifting frame 331 is disposed on the frame 10; the conveying frame 332 is movably disposed on the first lifting frame 331 up and down, wherein the conveying frame 332 is movably disposed between the output end of the first conveying mechanism 31 and the input end of the second conveying mechanism 32; the first lifting driving mechanism 333 is disposed on the first lifting frame 331 and drives the conveying frame 332 to move up and down, and the first lifting driving mechanism 333 is connected with the controller 20; the second conveying belt 334 is rotatably disposed on the conveying frame 332 and moves up and down along with the conveying frame 332; the second motor 335 is disposed on the carriage 332 and drives the second material conveying belt 334 to rotate back and forth, and the second motor 335 is connected to the controller 20.
The rotary feeding unit 34 comprises a fixed frame 341, a third feeding belt 342, a third motor 343, a fixed plate 344, a movable frame 345, a first driving mechanism 346, a rotary seat 347 and a second driving mechanism 348; the fixed frame 341 is arranged on the frame 10; the third material conveying belt 342 is rotatably arranged on the fixed frame 341 back and forth, the third motor 343 is arranged on the fixed frame 341 and drives the third material conveying belt 342 to rotate back and forth, and the third motor 343 is connected with the controller 20; the fixing plate 344 is disposed on the fixing frame 341; the movable frame 345 is movably disposed on the fixed plate 344 up and down; the first driving mechanism 346 is disposed on the fixed plate 3344 and drives the movable frame 345 to move up and down, and the first driving mechanism 346 is connected to the controller 20; the rotating seat 347 is rotatably disposed on the movable frame 345 and moves up and down along with the movable frame 345; the second driving mechanism 348 is disposed on the movable frame 345 and drives the rotating base 347 to rotate back and forth, and the second driving mechanism 348 is connected to the controller 20.
The material taking device 40 is arranged on the conveying device 30 and is connected with the controller 20; in this embodiment, the material taking device 40 includes a material taking frame 41, a first material taking driving mechanism 42, a material taking plate 43, a second material taking driving mechanism 44, a rotating frame 45, a third material taking driving mechanism 46, a first material clamping head 47, and a fourth material taking driving mechanism 48; the material taking frame 41 is transversely and reciprocally movably arranged on the conveying device 30; the first material taking driving mechanism 42 is arranged on the conveying device 30 and drives the material taking frame 41 to move back and forth, and the first material taking driving mechanism 42 is connected with the controller 20; the material taking plate 43 can be arranged on the material taking frame 41 in a vertically back and forth movable way and can transversely back and forth along with the material taking frame 41, the material taking plate 43 is positioned right above the conveying device 30, and the material taking plate 43 is obliquely arranged with the horizontal plane; the second material taking driving mechanism 44 is arranged on the material taking frame 41 and drives the material taking plate 43 to move up and down, and the second material taking driving mechanism 44 is connected with the controller 20; the rotating frame 45 is rotatably arranged on the material taking plate 43 and is positioned right above the conveying device 30, the rotating frame 45 is obliquely arranged with the horizontal plane, the third material taking driving mechanism 46 is arranged on the material taking plate 43 and drives the rotating frame 45 to rotate back and forth, and the third material taking driving mechanism 46 is connected with the controller 20; the first clamping head 47 is arranged on the rotating frame 45 in a clamping manner and rotates back and forth along with the rotating frame 45; the fourth material taking driving mechanism 48 is arranged on the rotating frame 45 and drives the first clamping head 47 to clamp, and the fourth material taking driving mechanism 48 is connected with the controller 20.
The wire coiling device 50 can be movably arranged on the frame 10 back and forth and is positioned beside the material taking device 40, and the wire coiling device 50 is connected with the controller 20; in this embodiment, the wire winding devices 50 are two symmetrically arranged along two sides of the conveying device 30, and each wire winding device 50 includes a wire winding assembly 51 and a material clamping assembly 52 that move back and forth along the extending direction of the conveying device 30.
The wire winding assembly 51 includes a first movable arm 511, a first wire winding driving mechanism (not shown), a first movable rod 512, a second wire winding driving mechanism 513, a first movable plate 514, a third wire winding driving mechanism 515, a wire winding frame 516, a fourth wire winding driving mechanism 517, a wire winding head 518, and an electrical slip ring 519; the first movable arm 511 is movably arranged on the frame 10 and is positioned beside the conveying device 30 in a transverse direction; the first coil driving mechanism (not shown) is arranged on the first movable arm 511 and drives the first movable arm 511 to move back and forth transversely, and the first coil driving mechanism (not shown) is connected with the controller 20; the first movable rod 512 is longitudinally and reciprocally movably arranged on the first movable arm 511 and is reciprocally movable along with the first movable arm 511; the second wire driving mechanism 513 is disposed on the first movable arm 511 and drives the first movable rod 512 to move longitudinally back and forth, and the second wire driving mechanism 513 is connected to the controller 20; the first movable plate 514 is movably disposed on the first movable rod 512 up and down and moves back and forth along with the first movable rod 512 longitudinally; the third wire driving mechanism 515 is disposed on the first movable rod 512 and drives the first movable plate 514 to move up and down, and the third wire driving mechanism 515 is connected to the controller 20; the coil holder 516 is rotatably disposed on the first movable plate 514 and moves up and down along with the first movable plate 514; the fourth wire driving mechanism 517 is disposed on the first movable plate 514 and drives the wire frame 516 to rotate back and forth, and the fourth wire driving mechanism 517 is connected to the controller 20; the wire winding head 518 is disposed on the wire winding frame 516 and rotates back and forth along with the wire winding frame 516, the wire winding head 518 includes an air claw 501 and a limiting member 502, the air claw 501 is disposed on the wire winding frame 516 in an openable and closable manner and rotates back and forth along with the wire winding frame 516, and the limiting members 502 are disposed on the wire winding frame 516 and are located outside the air claw 501; the electrical slip ring 519 is provided on the wire holder 516 and drives the air claw 501 to open and close, and the electrical slip ring 519 is connected to the controller 20.
The clamping assembly 52 includes a second movable arm 521, a first clamping driving mechanism (not shown), a second movable rod 522, a second clamping driving mechanism 523, a second movable plate 524, a third clamping driving mechanism 525, a first clamping plate 526, a second clamping plate 527, a fourth clamping driving mechanism 528, a fixed head 529, and a fifth clamping driving mechanism 504; the second movable arm 521 is movably arranged on the frame 10 in a transverse direction back and forth; the first material clamping driving mechanism (not shown) is arranged on the second movable arm 521 and drives the second movable arm 521 to move back and forth transversely, and the first material clamping driving mechanism (not shown) is connected with the controller 20; the second movable rod 522 is longitudinally and reciprocally movably arranged on the second movable arm 521 and is reciprocally movable along with the second movable arm 521 in the transverse direction; the second clamping driving mechanism 523 is arranged on the second movable arm 521 and drives the second movable rod 522 to longitudinally move back and forth, and the second clamping driving mechanism 523 is connected with the controller 20; the second movable plate 524 is movably disposed on the second movable rod 522 up and down and moves back and forth along with the second movable rod 522 longitudinally; the third clamping driving mechanism 525 is arranged on the second movable rod 522 and drives the second movable plate 524 to move up and down back and forth, and the third clamping driving mechanism 525 is connected with the controller 20; the first clamping plate 526 is fixedly installed on the second movable plate 524 and moves back and forth along with the second movable plate 524; the second material clamping plate 527 can be transversely and reciprocally movably arranged on the second movable plate 524 and reciprocally moves up and down along with the second movable plate 524, and the second material clamping plate 527 reciprocally moves beside the first material clamping plate 526; the fourth clamping driving mechanism 528 is disposed on the second movable plate 524 and drives the second clamping plate 527 to move back and forth, and the fourth clamping driving mechanism 528 is connected with the controller 20; the fixed head 529 is movably arranged on the second movable plate 524 back and forth transversely and is positioned beside the first clamping plate 526 and the second clamping plate 527; the fifth clamping driving mechanism 504 is disposed on the second movable plate 524 and drives the fixed head 529 to move back and forth transversely, and the fifth clamping driving mechanism 504 is connected to the controller 20.
The coil holder 60 is arranged on the frame 10 and beside the conveying device 30, and the coil holder 60 is connected with the controller 20; in this embodiment, the coil holder 60 is movably disposed on the frame 10 and beside the conveying device 30 in a transverse direction, and the coil holders 60 are two symmetrically arranged; each coil rack 60 comprises a bracket 61, a movable seat 62, a third driving mechanism 63, a third movable plate 64, a fourth driving mechanism 65, a fifth driving mechanism 66 and an assembly head 67; the support 61 is arranged on the frame 10 in a transversely extending manner and is located beside the conveying device 30; the movable seat 62 is movably arranged on the bracket 61 back and forth in the transverse direction, and the movable seat 62 is provided with a mounting position 601 for placing products; the third driving mechanism 63 is arranged on the bracket 61 and drives the movable seat 62 to move back and forth transversely, and the third driving mechanism 63 is connected with the controller 20; the third movable plate 64 is movably disposed on the movable seat 62 up and down and moves back and forth along with the movable seat 62 in the lateral direction; the fourth driving mechanism 65 is arranged on the movable seat 62 and drives the third movable plate 64 to move up and down, and the fourth driving mechanism 65 is connected with the controller 20; the fifth driving mechanism 66 is disposed on the third movable plate 64 and moves back and forth along with the third movable plate 64, and the fifth driving mechanism 66 is connected to the controller 20; the assembly head 67 is disposed at the output end of the fifth driving mechanism 66 and is driven by the fifth driving mechanism 66 to longitudinally move back and forth beside the mounting position 601.
The feeding device 70 is arranged on the frame 10 and is positioned beside the coil holder 60, and the feeding device 70 is connected with the controller 20; in this embodiment, the feeding device 70 includes a feeding frame 71, a transmission chain 72, a first feeding driving mechanism 73, a feeding plate 74, a clamping plate 75, and a second feeding driving mechanism 76; the feeding frame 71 is arranged on the frame 10; the transmission chain 72 is rotatably provided on the upper rack 71 back and forth, and the transmission chain 72 extends up and down; the first feeding driving mechanism 73 is arranged on the feeding frame 71 and drives the transmission chain 72 to rotate back and forth, and the first feeding driving mechanism 73 is connected with the controller 20; the feeding plate 74 is connected with the transmission chain 72 through a connecting block 77 and moves back and forth up and down under the drive of the transmission chain 72; the clamping plate 75 is longitudinally and reciprocally movably arranged on the feeding plate 74 and reciprocally moves up and down along with the feeding plate 74; the second feeding driving mechanism 76 is arranged on the feeding plate 74 and drives the clamping plate 75 to longitudinally move back and forth, and the second feeding driving mechanism 76 is connected with the controller 20; the clamping plates 75 and the second feeding driving mechanisms 76 are respectively and symmetrically distributed on two sides of the feeding plate 74, and each second feeding driving mechanism 76 drives the corresponding clamping plate 75 to move back and forth; the feeding device 70 is further provided with two feeding trolleys 78 and a moving mechanism 79, the two feeding trolleys 78 are used for realizing alternate continuous feeding, the moving mechanism 79 is used for moving a tray on one feeding trolley 78 into the feeding plate 74, and the moving mechanism 79 is arranged on the frame 10 and connected with the controller 20.
The feeding device 80 is arranged on the frame 10 and is positioned beside the coil holder 60, and the feeding device 80 is connected with the controller 20; in this embodiment, the feeding device 80 includes a first feeding and conveying mechanism 81, a second feeding and conveying mechanism 82, and a second lifting mechanism 83.
The first feeding and conveying mechanism 81 is arranged on the frame 10 and is positioned beside the coil holder 60, the first feeding and conveying mechanism 81 comprises a first feeding frame 811, a first conveyor 812, a limiting frame 813 and a first feeding driving mechanism 814, and the first feeding frame 811 is arranged on the frame 10; the first conveyor 812 is rotatably disposed on the first feeding frame 811; the limit frame 813 is disposed on the first feeding frame 811 and located right above the first conveyor 812; the first feeding driving mechanism 814 is disposed on the first feeding frame 811 and drives the first conveyor 812 to rotate back and forth, and the first feeding driving mechanism 814 is connected to the controller 20.
The second feeding and conveying mechanism 82 is arranged on the frame 10 and is positioned under the first feeding and conveying mechanism 81, the conveying direction of the second feeding and conveying mechanism 82 is opposite to that of the first feeding and conveying mechanism 81, the second feeding and conveying mechanism 82 comprises a second feeding frame 821, a second conveying belt 822 and a second feeding and driving mechanism 823, and the second feeding frame 821 is arranged on the frame 10 and is positioned under the first feeding frame 811; the second conveyor 822 is rotatably disposed on the second feeding frame 821; the second feeding driving mechanism 823 is disposed on the second feeding frame 821 and drives the second conveyor 822 to rotate back and forth, and the second feeding driving mechanism 823 is connected to the controller 20.
The second lifting mechanism 83 is disposed on the frame 10 and is respectively connected to the input end of the first feeding and conveying mechanism 81 and the output end of the second feeding and conveying mechanism 82, and the second lifting mechanism 83 includes a second lifting frame 831, a lifting plate 832, a second lifting driving mechanism 833, a third conveyor 834, a third feeding driving mechanism 835, a fourth feeding driving mechanism 836 and a limiting plate 837; the second lifting frame 831 is arranged on the frame 10 and is positioned beside the first feeding and conveying mechanism 81 and the second feeding and conveying mechanism 82; the lifting plate 832 is movably disposed on the second lifting frame 831 up and down; the second lifting driving mechanism 833 is arranged on the second lifting frame 831 and drives the lifting plate 832 to move up and down back and forth, and the second lifting driving mechanism 833 is connected with the controller 20; the third conveyor 834 is rotatably disposed on the lifting plate 832 and moves up and down along with the lifting plate 832; the third feeding driving mechanism 835 is arranged on the lifting plate 832 and drives the third conveyor belt 834 to rotate back and forth, and the third feeding driving mechanism 835 is connected with the controller 20; the fourth feeding driving mechanism 836 is disposed on the lifting plate 832 and moves up and down along with the lifting plate 832, and the fourth feeding driving mechanism 836 is connected to the controller 20; the limiting plate 837 is disposed at an output end of the fourth feeding driving mechanism 836 and is driven by the fourth feeding driving mechanism 837 to move back and forth beside the limiting frame 813.
The manipulator 90 is arranged on the frame 10 and moves back and forth beside the coil holder 60, the feeding device 70 and the feeding device 80, and the manipulator 90 is connected with the controller 20; in this embodiment, the manipulator 90 includes a fixing seat 91, a first rotating arm 92, a first rotating driving mechanism 93, a second rotating arm 94, a second rotating driving mechanism 95, a clamping frame 96, a sixth driving mechanism 97, a clamping frame 98, a seventh driving mechanism 99, a clamping jaw 901, an eighth driving mechanism 902, a second clamping head 903, a ninth driving mechanism (not shown), a camera 904, and a light source 905; the fixed seat 91 is arranged on the frame 10 and is positioned beside the feeding device 80; the first rotating arm 92 is rotatably disposed on the fixing seat 91; the first rotation driving mechanism 93 is disposed on the fixing seat 91 and drives the first rotation arm 92 to rotate, and the first rotation driving mechanism 93 is connected with the controller 20; the second rotating arm 94 is rotatably disposed at the free end of the first rotating arm 92 and rotates back and forth along with the first rotating arm 92; the second rotation driving mechanism 95 is disposed at the free end of the first rotation arm 92 and drives the second rotation arm 94 to rotate back and forth, and the second rotation driving mechanism 95 is connected with the controller 20; the material clamping frame 96 is movably arranged at the free end of the second rotating arm 94 in a back and forth manner and rotates back and forth along with the second rotating arm 94; the sixth driving mechanism 97 is arranged at the free end of the second rotating arm 94 and drives the clamping frame 96 to move up and down, and the sixth driving mechanism 97 is connected with the controller 20; the clamping jaw frame 98 is movably arranged on the material clamping frame 96 up and down and moves up and down along with the material clamping frame 96; the seventh driving mechanism 99 is arranged on the clamping frame 96 and drives the clamping claw frame 98 to move up and down, and the seventh driving mechanism 99 is connected with the controller 20; the two clamping jaws 901 are symmetrically arranged, and the two clamping jaws 901 are arranged on the clamping jaw 901 frame 98 in a clamping manner and move back and forth along with the clamping jaw 901 frame 98; the eighth driving mechanism 902 is arranged on the clamping jaw 901 frame 98 and drives the two clamping jaws 901 to clamp, and the eighth driving mechanism 902 is connected with the controller 20; the second clamping head 903 is openably and closably arranged on the clamping frame 96 and moves back and forth along with the clamping frame 96, the ninth driving mechanism (not shown) is arranged on the clamping frame 96 and drives the second clamping head 903 to clamp, and the ninth driving mechanism (not shown) is connected with the controller 20; the camera 904 is arranged on the material clamping frame 96 and is positioned beside the second material clamping head 903, and the camera 904 is connected with the controller 20; the light source 905 is disposed on the work holding frame 96 and directly below the camera 904, and the light source 905 is connected to the controller 20.
The working principle of the embodiment is described in detail as follows:
when the device is operated, the power is firstly turned on, the product to be processed is conveyed by the conveying device 30, the product to be processed is rotated to a proper angle on the rotary conveying unit 34 of the first conveying mechanism 31, then the tray with the product is conveyed to the side of the material taking device 30 by the first conveying mechanism 31, the first material clamping head 47 in the material taking device 30 clamps one part of the product in the tray, the first material clamping head 47 is driven by the rotary frame 45 to rotate upwards, meanwhile, the wire coiling assembly 51 and the material clamping assembly 52 in the wire coiling device 50 are moved to the side of the material taking device 30, the wire coiling assembly 51 clamps the other part of the product by the wire coiling head 518, the first material clamping head 47 distributes one part of the product into the material clamping assembly 52 and clamps the clamped product by the first material clamping plate 526 and the second material clamping plate 527, the clamped product clamped by the fixing head 529 is moved to the second material clamping plate 527, and then the wire coiling assembly 51 and the material clamping assembly 52 are respectively moved to the left end and the right end of the conveying device 30, and the device is opened between the two parts of the product.
At this time, the second feeding and conveying mechanism 82 in the feeding device 80 conveys another tray onto the first feeding and conveying mechanism 81 through the second lifting mechanism 83, and performs limiting through the cooperation of the limiting frame 813 and the limiting plate 837, then the components to be assembled in the feeding plate 74 of the feeding device 70 are placed in the tray through the second clamping head 903 by the manipulator 90, when the components are clamped, the components are photographed through the cooperation of the camera 905 and the light source 906, and information is transferred to the controller 20, then the tray and the components are placed together in the mounting position 601 of the tray frame 60 through the clamping jaw 901, and then the movable seat 62 with the components to be assembled is moved rightward by the tray frame 60.
When the movable seat 62 moves in place, the wire coiling assembly 51 stretches the clamped product components downward into the components to be assembled, then drives the wire coiling frame 516 to rotate, coils wires in the products, in the wire coiling process, the clamping assembly 52 slowly approaches the wire coiling assembly 51 according to the wire coiling speed until the wires are coiled, at this time, the clamping assembly 52 moves to the side of the mounting position 601, finally drives the assembly head 67 to move towards the mounting position 601 through the fourth driving mechanism 65 and the fifth driving mechanism 66, assembles the components in the clamping assembly 52 into complaining gas components to be assembled, and after the assembly is completed, the assembled products and the material coiling are clamped onto the first feeding conveying mechanism 81 by the manipulator 90 and conveyed out through the first feeding conveying mechanism 81.
The design focus of the invention is that: through being provided with conveyor, extracting device, dish line frame, loading attachment and manipulator for can be through extracting device, dish line device, loading attachment and the cooperation of manipulator, can be with the components and parts group dress that waits to assemble on the dish line frame, can also twine the wire rod in the torque sensor in the components and parts simultaneously, make it can accomplish the equipment processing of sensor through automatic mode, improved holistic packaging efficiency, automatic equipment mode can effectively reduce the cost of labor in the equipment process simultaneously.
The foregoing description is only a preferred embodiment of the present invention, and is not intended to limit the technical scope of the present invention, so any minor modifications, equivalent changes and modifications made to the above embodiments according to the technical principles of the present invention are still within the scope of the technical solutions of the present invention.

Claims (8)

1. An automated sensor assembly device, characterized in that: comprises a frame, a controller, a conveying device, a material taking device, a wire coiling frame, a feeding device and a manipulator; the controller is arranged on the frame; the conveying device is arranged on the frame and connected with the controller; the material taking device is arranged on the conveying device and is connected with the controller; the material taking device comprises a material taking frame, a first material taking driving mechanism, a material taking plate, a second material taking driving mechanism, a rotating frame, a third material taking driving mechanism, a first material clamping head and a fourth material taking driving mechanism; the material taking frame can be transversely and movably arranged on the conveying device in a back-and-forth manner; the first material taking driving mechanism is arranged on the conveying device and drives the material taking frame to move back and forth, and is connected with the controller; the material taking plate can be arranged on the material taking frame in a vertically back-and-forth movable mode and can transversely back-and-forth move along with the material taking frame, the material taking plate is positioned right above the conveying device, and the material taking plate is obliquely arranged with the horizontal plane; the second material taking driving mechanism is arranged on the material taking frame and drives the material taking plate to move up and down back and forth, and the second material taking driving mechanism is connected with the controller; the rotary frame is arranged on the material taking plate in a back-and-forth rotating way and is positioned right above the conveying device, the rotary frame is obliquely arranged with the horizontal plane, the third material taking driving mechanism is arranged on the material taking plate and drives the rotary frame to rotate back-and-forth, and the third material taking driving mechanism is connected with the controller; the first clamping head is arranged on the rotating frame in a clamping manner and rotates back and forth along with the rotating frame; the fourth material taking driving mechanism is arranged on the rotating frame and drives the first clamping head to clamp, and is connected with the controller; the wire coiling device can be movably arranged on the frame back and forth and is positioned beside the material taking device, and the wire coiling device is connected with the controller; the coil holder is arranged on the frame and beside the conveying device, the coil holder is connected with the controller, and the coil holder can be transversely and back and forth movably arranged on the frame and beside the conveying device, and the coil holders are two symmetrically arranged; each wire frame comprises a bracket, a movable seat, a third driving mechanism, a third movable plate, a fourth driving mechanism, a fifth driving mechanism and an assembly head; the bracket is transversely arranged on the frame in an extending way and is positioned beside the conveying device; the movable seat can be transversely and movably arranged on the bracket back and forth, and is provided with an installation position for placing products; the third driving mechanism is arranged on the bracket and drives the movable seat to transversely move back and forth, and is connected with the controller; the third movable plate can be arranged on the movable seat in a vertically back-and-forth movable way and transversely back-and-forth movable along with the movable seat; the fourth driving mechanism is arranged on the movable seat and drives the third movable plate to move up and down back and forth, and is connected with the controller; the fifth driving mechanism is arranged on the third movable plate and moves back and forth along with the third movable plate, and is connected with the controller; the assembly head is arranged at the output end of the fifth driving mechanism and longitudinally moves back and forth beside the mounting position under the drive of the fifth driving mechanism; the feeding device is arranged on the frame and is positioned beside the coil holder, and the feeding device is connected with the controller; the feeding device is arranged on the frame and is positioned beside the coil holder, and the feeding device is connected with the controller; the manipulator is arranged on the frame and moves back and forth beside the coil holder, the feeding device and the feeding device, and the manipulator is connected with the controller.
2. The sensor automated assembly apparatus of claim 1, wherein: the conveying device comprises a first conveying mechanism, a second conveying mechanism and a first lifting mechanism, wherein the first conveying mechanism is arranged right above the second conveying mechanism, and the conveying directions of the first conveying mechanism and the second conveying mechanism are opposite; the first material conveying mechanism comprises a plurality of rotary material conveying units which are transversely arranged, and the rotary material conveying units are arranged on the frame and connected with the controller; the second material conveying mechanism is arranged on the frame and is positioned right below the first material conveying mechanism, and comprises a material conveying frame, a first material conveying belt and a first motor; the material conveying frame is arranged on the frame; the first material conveying belt can be arranged on the material conveying frame in a back-and-forth rotating manner; the first motor is arranged on the material conveying frame and drives the first material conveying belt to rotate back and forth, and the first motor is connected with the controller; the first lifting mechanism comprises a first lifting frame, a conveying frame, a first lifting driving mechanism, a second conveying belt and a second motor; the first lifting frame is arranged on the frame; the conveying frame can be movably arranged on the first lifting frame up and down in a back-and-forth manner, wherein the conveying frame is movably arranged between the output end of the first conveying mechanism and the input end of the second conveying mechanism in a back-and-forth manner; the first lifting driving mechanism is arranged on the first lifting frame and drives the conveying frame to move up and down back and forth, and is connected with the controller; the second conveying belt can be arranged on the conveying frame in a back-and-forth rotating way and can move back and forth along with the conveying frame; the second motor is arranged on the conveying frame and drives the second conveying belt to rotate back and forth, and the second motor is connected with the controller.
3. The sensor automated assembly apparatus of claim 2, wherein: the rotary material conveying unit comprises a fixed frame, a third material conveying belt, a third motor, a fixed plate, a movable frame, a first driving mechanism, a rotary seat and a second driving mechanism; the fixing frame is arranged on the frame; the third material conveying belt can be arranged on the fixing frame in a back-and-forth rotating manner, the third motor is arranged on the fixing frame and drives the third material conveying belt to rotate back-and-forth, and the third motor is connected with the controller; the fixing plate is arranged on the fixing frame; the movable frame can be movably arranged on the fixed plate up and down in a back-and-forth manner; the first driving mechanism is arranged on the fixed plate and drives the movable frame to move up and down back and forth, and is connected with the controller; the rotating seat can be arranged on the movable frame in a back-and-forth rotating way and can move back and forth along with the movable frame; the second driving mechanism is arranged on the movable frame and drives the rotating seat to rotate back and forth, and the second driving mechanism is connected with the controller.
4. The sensor automated assembly apparatus of claim 1, wherein: the wire coiling devices are two symmetrically arranged along two sides of the conveying device; each coil device comprises a coil component which moves back and forth along the extending direction of the conveying device and a clamping component;
The wire coiling assembly comprises a first movable arm, a first wire coiling driving mechanism, a first movable rod, a second wire coiling driving mechanism, a first movable plate, a third wire coiling driving mechanism, a wire coiling frame, a fourth wire coiling driving mechanism, wire coiling heads, an electric slip ring and a sixth wire coiling driving mechanism; the first movable arm can be transversely and back and forth movably arranged on the frame and is positioned beside the conveying device; the first coil driving mechanism is arranged on the first movable arm and drives the first movable arm to transversely move back and forth, and is connected with the controller; the first movable rod is longitudinally and back-and-forth movably arranged on the first movable arm and transversely moves back-and-forth along with the first movable arm; the second wire coiling driving mechanism is arranged on the first movable arm and drives the first movable rod to longitudinally move back and forth, and is connected with the controller; the first movable plate can be arranged on the first movable rod in a vertically back-and-forth movable way and longitudinally back-and-forth movable along with the first movable rod; the third wire driving mechanism is arranged on the first movable rod and drives the first movable plate to move up and down back and forth, and is connected with the controller; the coil holder can be arranged on the first movable plate in a back-and-forth rotating way and can move back and forth along with the first movable plate; the fourth wire coiling driving mechanism is arranged on the first movable plate and drives the wire coiling frame to rotate back and forth, and is connected with the controller; the wire coiling head is arranged on the wire coiling frame and rotates back and forth along with the wire coiling frame, the wire coiling head comprises air claws and limiting pieces, the air claws can be arranged on the wire coiling frame in an opening and closing mode and rotate back and forth along with the wire coiling frame, and the limiting pieces are arranged on the wire coiling frame and are positioned on the outer sides of the air claws; the electric slip ring is arranged on the coil holder and drives the air claw to open and close, and is connected with the controller;
The clamping assembly comprises a second movable arm, a first clamping driving mechanism, a second movable rod, a second clamping driving mechanism, a second movable plate, a third clamping driving mechanism, a first clamping plate, a second clamping plate, a fourth clamping driving mechanism, a fixed head and a fifth clamping driving mechanism; the second movable arm can be transversely and movably arranged on the rack back and forth; the first clamping driving mechanism is arranged on the second movable arm and drives the second movable arm to transversely move back and forth, and is connected with the controller; the second movable rod can be longitudinally and back and forth movably arranged on the second movable arm and transversely and back and forth movable along with the second movable arm; the second clamping driving mechanism is arranged on the second movable arm and drives the second movable rod to longitudinally move back and forth, and is connected with the controller; the second movable plate can be arranged on the second movable rod in a vertically back-and-forth movable way and longitudinally back-and-forth movable along with the second movable rod; the third clamping driving mechanism is arranged on the second movable rod and drives the second movable plate to move up and down back and forth, and is connected with the controller; the first clamping plate is fixedly arranged on the second movable plate and moves back and forth along with the second movable plate; the second material clamping plate can be transversely and back and forth movably arranged on the second movable plate and can be back and forth moved up and down along with the second movable plate, and the second material clamping plate can be back and forth moved beside the first material clamping plate; the fourth clamping driving mechanism is arranged on the second movable plate and drives the second clamping plate to move back and forth, and is connected with the controller; the fixed head can be transversely and back and forth movably arranged on the second movable plate and is positioned beside the first clamping plate and the second clamping plate; the fifth clamping driving mechanism is arranged on the second movable plate and drives the fixed head to transversely move back and forth, and the fifth clamping driving mechanism is connected with the controller.
5. The sensor automated assembly apparatus of claim 1, wherein: the feeding device comprises a feeding frame, a transmission chain, a first feeding driving mechanism, a feeding plate, a clamping plate and a second feeding driving mechanism; the feeding frame is arranged on the frame; the transmission chain can be arranged on the upper material rack in a back-and-forth rotating way, and extends up and down; the first feeding driving mechanism is arranged on the feeding frame and drives the transmission chain to rotate back and forth, and is connected with the controller; the feeding plate is connected with the transmission chain through a connecting block and moves back and forth up and down under the drive of the transmission chain; the clamping plate can be longitudinally and back and forth movably arranged on the feeding plate and can be back and forth moved up and down along with the feeding plate; the second feeding driving mechanism is arranged on the feeding plate and drives the clamping plate to longitudinally move back and forth, and is connected with the controller; the clamping plates and the second feeding driving mechanisms are respectively and symmetrically distributed on two sides of the feeding plates, and each second feeding driving mechanism drives the corresponding clamping plate to move back and forth.
6. The sensor automated assembly apparatus of claim 1, wherein: the feeding device comprises a first feeding conveying mechanism, a second feeding conveying mechanism and a second lifting mechanism;
The first feeding and conveying mechanism is arranged on the frame and is positioned beside the coil holder, and comprises a first feeding frame, a first conveyor belt, a limiting frame and a first feeding driving mechanism, wherein the first feeding frame is arranged on the frame; the first conveyor belt can be arranged on the first feeding frame in a back-and-forth rotating way; the limiting frame is arranged on the first feeding frame and is positioned right above the first conveyor belt; the first feeding driving mechanism is arranged on the first feeding frame and drives the first conveyor belt to rotate back and forth, and is connected with the controller;
the second feeding conveying mechanism is arranged on the frame and is positioned under the first feeding conveying mechanism, the conveying direction of the second feeding conveying mechanism is opposite to that of the first feeding conveying mechanism, the second feeding conveying mechanism comprises a second feeding frame, a second conveying belt and a second feeding driving mechanism, and the second feeding frame is arranged on the frame and is positioned under the first feeding frame; the second conveyor belt can be arranged on the second feeding frame in a back-and-forth rotating way; the second feeding driving mechanism is arranged on the second feeding frame and drives the second conveyor belt to rotate back and forth, and is connected with the controller;
The second lifting mechanism is arranged on the frame and is respectively connected with the input end of the first feeding conveying mechanism and the output end of the second feeding conveying mechanism, and comprises a second lifting frame, a lifting plate, a second lifting driving mechanism, a third conveyor belt, a third feeding driving mechanism, a fourth feeding driving mechanism and a limiting plate; the second lifting frame is arranged on the frame and is positioned beside the first feeding conveying mechanism and the second feeding conveying mechanism; the lifting plate can be movably arranged on the second lifting frame up and down in a back-and-forth manner; the second lifting driving mechanism is arranged on the second lifting frame and drives the lifting plate to move up and down back and forth, and the second lifting driving mechanism is connected with the controller; the third conveyor belt can be arranged on the lifting plate in a back-and-forth rotating way and can move back and forth along with the lifting plate; the third feeding driving mechanism is arranged on the lifting plate and drives the third conveyor belt to rotate back and forth, and is connected with the controller; the fourth feeding driving mechanism is arranged on the lifting plate and moves back and forth along with the lifting plate, and is connected with the controller; the limiting plate is arranged at the output end of the fourth feeding driving mechanism and is driven by the fourth feeding driving mechanism to move back and forth beside the limiting frame.
7. The sensor automated assembly apparatus of claim 1, wherein: the manipulator comprises a fixed seat, a first rotating arm, a first rotating driving mechanism, a second rotating arm, a second rotating driving mechanism, a clamping rack, a sixth driving mechanism, a clamping claw rack, a seventh driving mechanism, clamping claws, an eighth driving mechanism, a second clamping head, a ninth driving mechanism, a camera and a light source; the fixed seat is arranged on the frame and is positioned beside the feeding device; the first rotating arm can be arranged on the fixed seat in a back-and-forth rotating way; the first rotary driving mechanism is arranged on the fixed seat and drives the first rotary arm to rotate, and is connected with the controller; the second rotating arm can be arranged at the free end of the first rotating arm in a back-and-forth rotating way and rotates along with the first rotating arm in a back-and-forth rotating way; the second rotary driving mechanism is arranged at the free end of the first rotary arm and drives the second rotary arm to rotate back and forth, and the second rotary driving mechanism is connected with the controller; the material clamping frame can be movably arranged at the free end of the second rotating arm up and down and rotates back and forth along with the second rotating arm; the sixth driving mechanism is arranged at the free end of the second rotating arm and drives the clamping rack to move up and down back and forth, and is connected with the controller; the clamping claw frame can be arranged on the clamping frame in a vertically back-and-forth movable way and can move back and forth along with the clamping frame; the seventh driving mechanism is arranged on the clamping rack and drives the clamping claw rack to move up and down back and forth, and is connected with the controller; the two clamping jaws are symmetrically arranged, can be arranged on the clamping jaw frame in a clamping manner and move back and forth along with the clamping jaw frame; the eighth driving mechanism is arranged on the clamping jaw frame and drives the two clamping jaws to clamp, and is connected with the controller; the ninth driving mechanism is arranged on the clamping frame and drives the second clamping head to clamp, and is connected with the controller; the camera is arranged on the clamping frame and is positioned beside the second clamping head, and the camera is connected with the controller; the light source is arranged on the clamping frame and is positioned right below the camera, and the light source is connected with the controller.
8. The sensor automated assembly apparatus of claim 1, wherein: the machine frame is provided with a hood, and the controller is arranged on the hood; the conveying device, the material taking device, the wire coiling frame, the feeding device and the manipulator are covered by a hood.
CN202210749271.1A 2022-06-29 2022-06-29 Automatic sensor assembly equipment Active CN115157165B (en)

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CA2409798A1 (en) * 2002-10-25 2004-04-25 Alex J. Morrison Machine for constructing the side wall of a cylindrical tank
WO2012037854A1 (en) * 2010-09-20 2012-03-29 Wen Shaosong Fully automatic apparatus for assembling screws
WO2018121094A1 (en) * 2016-12-31 2018-07-05 潘声君 Novel automatic edge paint machine and material taking and drying mechanism thereof
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