CN116352401A - Automatic assembly system and method - Google Patents

Abstract

The invention discloses an automatic assembly system and method, comprising a product feeding device, a shrapnel feeding device, a shrapnel pressing device and a lock assembly device. Mechanism and the product grabbing mechanism that transfers the product to the product positioning mechanism; the shrapnel feeding device includes a shrapnel transmission mechanism, a shrapnel positioning mechanism for positioning the shrapnel, and a shrapnel grabbing mechanism that transfers the shrapnel from the shrapnel positioning mechanism to the product; The shrapnel pressing device presses the shrapnel on the product; the lock assembly device includes a lock feeding mechanism and a lock locking mechanism that transfers the lock from the lock feeding mechanism to the product and the shrapnel and locks it; Compared with the prior art, the present invention can automatically load the product and the shrapnel successively, and then automatically provide and lock the lock through the lock assembly device, with high assembly efficiency and high pass rate.

Description

Automatic assembly system and method

technical field

The invention relates to the technical field of assembly of special-shaped products, in particular to an automatic assembly system and method.

Background technique

In the product assembly process of enterprises, such as VR products, it is usually necessary to assemble the shrapnel to the product through locks (such as bolts, lock pieces, etc.). Based on this, although some automatic assembly equipment has appeared on the market. However, due to the different shapes of products and shrapnel and most of them are irregular, the automatic assembly equipment currently on the market is not universal. For special-shaped shrapnel and automatic product assembly equipment, it is still necessary to manually place the shrapnel on the product and then use tools to lock it. During this process, due to manual contact with the product and the shrapnel, it is easy to cause damage to the product and/or the shrapnel, resulting in a high vulnerability rate of the product, and the manual processing method is usually through visual inspection. For the assembly of some precision devices, the visual positioning method is likely to cause a large position deviation of the shrapnel, which leads to a low pass rate and low production efficiency.

Contents of the invention

In view of this, the purpose of the present invention is to provide an automatic assembly system and method to solve the problems of low assembly efficiency of special-shaped products and shrapnel, high vulnerability rate and low pass rate in the prior art.

In order to achieve the above object, a technical solution of the present invention provides an automatic assembly system, including:

Product feeding device, including a return mechanism for conveying products, a product positioning mechanism for positioning products, and a product grasping mechanism for transferring products from the return mechanism to the product positioning mechanism;

The shrapnel feeding device includes a shrapnel transfer mechanism for conveying shrapnel, a shrapnel positioning mechanism for positioning the shrapnel, and a shrapnel grabbing mechanism for transferring the shrapnel from the shrapnel positioning mechanism to the product;

shrapnel pressing device for pressing the shrapnel on the product; and

The lock assembly device includes a lock feeding mechanism for supplying locks and a lock locking mechanism for transferring and locking the locks from the lock feeding mechanism to the product and the shrapnel.

In order to achieve the above object, another technical solution of the present invention provides an automatic assembly method, comprising the following steps:

Control the return mechanism to transport the product to be processed to the bottom of the product grabbing mechanism, and control the product grabbing mechanism to transfer the product to the product positioning mechanism to position the product;

Control the shrapnel conveying mechanism to sequentially transport the shrapnel and control the shrapnel positioning mechanism to absorb the shrapnel to pre-position the shrapnel, and then control the shrapnel grabbing mechanism to transfer the shrapnel positioned by the shrapnel positioning mechanism to the product at the product positioning mechanism;

Control the shrapnel pressing device to remove the shrapnel from the shrapnel grabbing mechanism and press it on the product;

Control the lock feeding mechanism to provide locks one by one according to the preset direction, and control the lock locking mechanism to absorb the locks and move the locks to the product released by the product positioning mechanism to lock the shrapnel on the product.

The present invention sets the product feeding device, spring feeding device and lock assembly device for automatically conveying and grabbing the product to be assembled, shrapnel and lock, respectively, so that the product, shrapnel and lock can be sequentially assembled according to the set frequency. Grabbing and moving to the designated position successively to realize the automatic device of the product, shrapnel and lock. The whole process does not require manual operation, which can not only improve the assembly efficiency of the shrapnel but also reduce the vulnerability rate of the product; at the same time, the product and the shrapnel During the transfer process, the product and shrapnel are positioned before assembly by setting up a positioning table that follows the shape of the product and the shrapnel, so that the shrapnel can be accurately assembled on the product, effectively improving the assembly quality of the shrapnel, and the pass rate is high.

Description of drawings

Fig. 1 is a schematic structural view of the shrapnel assembled in the present invention.

Fig. 2 is a schematic structural diagram of an automatic assembly system according to an embodiment of the present invention.

FIG. 3 is another structural schematic diagram of FIG. 2 .

FIG. 4 is a top view of FIG. 2 .

Fig. 5 is a structural schematic diagram of a product feeding device.

FIG. 6 is a top view of FIG. 5 .

FIG. 7 is a schematic structural view of the carrier stop component and the carrier positioning component.

Fig. 8 is a structural schematic diagram of the product positioning mechanism.

Fig. 9 is a structural schematic diagram of the positioning platform and the shrapnel pressing device.

Fig. 10 is a schematic structural view of the jaw assembly.

Fig. 11 is a structural schematic diagram of the shrapnel transmission mechanism and the shrapnel positioning mechanism.

FIG. 12 is a top view of FIG. 11 .

FIG. 13 is an enlarged view at A in FIG. 11 .

Fig. 14 is a schematic structural view of the shrapnel positioning platform.

FIG. 15 is an enlarged view at B in FIG. 11 .

Fig. 16 is a schematic structural view of the shrapnel grasping mechanism.

Fig. 17 is a schematic structural view of the shrapnel supporting mouth assembly.

Fig. 18 is an enlarged view at point C in Fig. 17 .

Fig. 19 is a schematic structural view of the lock feeding device.

Fig. 20 is a schematic structural view of the locking assembly.

Fig. 21 is a diagram of the internal structure of the suction head.

Fig. 22 is a flowchart of an automatic assembly method according to another embodiment of the present invention.

The reference signs in the manual are as follows:

Machine 100; shrapnel 1, main body 11, locking hole 11a, positioning hole 11b, horizontal connection 12, arc connection 13, U-shaped end 14; product feeding device 2, return mechanism 21, product feeder Position 21a, product waiting station 21b, first transmission assembly 211, gap 211a, transmission seat body 2111, conveyor belt 2112, support seat body 2113, carrier stop assembly 212, stop roller 2121, roller drive cylinder 2122, load Positioning component 213, positioning pin 2131, pin driving cylinder 2132, first detection module 214, second detection module 215, second transmission component 216, NG material recovery component 217, product positioning mechanism 22, positioning platform 221 , positioning space 221a, product carrier 2211, floating support plate 2212, special-shaped positioning block 2213, first multi-axis drive assembly 222, jacking cylinder 223, product grabbing mechanism 23, jaw assembly 231, product jaw 2311, clamp Jaw driving cylinder 2312, jaw cylinder mounting seat 2313, first clamping block 2314, second clamping block 2315, second multi-axis driving assembly 232; shrapnel feeding device 3, shrapnel transmission mechanism 31, shrapnel feeding station 31a, Tape support table 311, discharge tray 312, tape support plate 313, relief groove 313a, shrapnel positioning mechanism 32, shrapnel positioning table 321, shrapnel positioning groove 321a, shrapnel carrier 3211, carrier drive cylinder 3212, shrapnel take-off Material hand 322, demagnetization driving cylinder 3221, retrieving magnet 3222, demagnetization plate 3223, demagnetization stop rod 3224, shrapnel retrieving drive assembly 323, first shrapnel retrieving cylinder 3231, second shrapnel retrieving cylinder 3232, shrapnel Retrieving guide rail 3233, shrapnel fetching slide seat 3234, mounting plate 3235, buffer structure 324, buffer guide rail 3241, buffer plate 3242, buffer seat body 3243, buffer guide rod 3244, buffer spring 3245, shrapnel grasping mechanism 33, shrapnel support Nozzle assembly 331, shrapnel support nozzle 3311, nozzle support drive cylinder 3312, nozzle support cylinder mounting seat 3313, first support rod 3314, second support rod 3315, positioning protrusion 3316, third multi-axis drive assembly 332; shrapnel compression Device 4, pressure rod mounting frame 41, pressure rod driving rod 42, shrapnel pressure rod 43, pressure rod driving cylinder 44, return spring 45; lock assembly device 5, lock feeding mechanism 51, lock feeding station 51a , lock locking mechanism 52, locking assembly 521, suction head 5211, inner cavity 5211a, step groove 5211b, rotating shaft 5212, lock compound drive motor 5213, negative pressure module 5214, fourth multi-axis drive assembly 522, X Shaft driving module 5221 , Y-axis driving module 5222 , Z-axis driving module 5223 ; carrier 6 ; material tape 7 , shrapnel groove 7 a , material tape film 71 .

Detailed ways

The following is further described in detail through specific implementation methods:

Example 1

Please refer to FIG. 1 , which is a schematic structural diagram of the shrapnel 1 assembled by the automatic assembly system of the present invention. The elastic piece 1 assembled in this embodiment is a special-shaped structure. The elastic piece 1 includes a main body 11, a horizontal connecting portion 12 integrally formed at both ends of the main body 11, and an integrally formed end of the horizontal connecting portion 12. And the arc-shaped connecting portion 13 bent downward and the U-shaped end 14 integrally formed at the end of the arc-shaped connecting portion 13, the end of the horizontal connecting portion 12 is the end away from the main body 11, the arc-shaped connecting The end of the portion 13 is the end away from the horizontal connecting portion 12, and the opening of the U-shaped end portion 14 is upward. At least one locking hole 11a is provided on the main body 11 to cooperate with a lock to lock on the product. The main body 11 is provided with at least one positioning hole 11b, which is used for positioning the relative position of the elastic piece 1 and the automatic assembly system when the automatic assembly system grabs the elastic piece 1. At the same time, the contact between the positioning hole 11b and the automatic assembly system There is an interference fit between the positions, so that the automatic assembly system can stably grab the shrapnel 1; in this embodiment, the number of positioning holes 11b is preferably set to two, so that the automatic assembly system can grasp the shrapnel 1 Accurate positioning during the extraction process, thereby improving the pass rate of shrapnel 1 assembly. It can be understood that the above-mentioned structure of the shrapnel 1 is only an example of the structure of the shrapnel 1 assembled by the automatic assembly system of this embodiment. In actual implementation, the structure of the shrapnel 1 is not limited to the above-mentioned structure, and can also be other special-shaped structure or regular structure etc.

Please refer to Fig. 2, Fig. 3 and Fig. 4, the automatic assembly system of the present invention includes a product feeding device 2, a shrapnel feeding device 3, a shrapnel pressing device 4 and a lock assembly device 5; specifically, the product feeding device The device 2, the shrapnel feeding device 3, the shrapnel pressing device 4 and the lock assembly device 5 are all integrated on a machine platform 100 and controlled by a controller (not shown). The corresponding control program is preset in order to control the product feeding device 2 and the shrapnel feeding device 3 to successively provide the product and the shrapnel 1 and deliver the product and the shrapnel 1 to the designated position successively, and then control the shrapnel pressing device 4 to push the shrapnel 1 Compress and position on the product, and finally control the lock assembly device 5 to provide and transmit the lock and fix the elastic piece 1 on the product to complete the assembly of the elastic piece 1 and the product.

The product feeding device 2 includes a return mechanism 21 for conveying products, a product positioning mechanism 22 for positioning products, and a product grasping mechanism 23 for transferring products from the return mechanism 21 to the product positioning mechanism 22; The shrapnel feeding device 3 includes a shrapnel conveying mechanism 31 for conveying the shrapnel 1, a shrapnel positioning mechanism 32 for positioning the shrapnel 1, and a shrapnel grasping material for transferring the shrapnel 1 from the shrapnel positioning mechanism 32 to the product. Mechanism 33; the elastic sheet pressing device 4 is used to compress the elastic sheet 1 on the product; the lock assembly device 5 includes a lock feeding mechanism 51 for providing locks and for releasing the locks from the locks The feeding mechanism 51 is transferred to the product and the elastic sheet 1 and locked by the lock locking mechanism 52 . When assembling, the product positioning mechanism 22 is not only used as a positioning structure for the product, but also as an assembly area for the product and the shrapnel 1. The shrapnel pressing device 4 is arranged at the product positioning mechanism 22, and the shrapnel 1 can be grasped from the shrapnel. mechanism 33 and press it on the product; specifically, when the product is transferred from the return mechanism 21 to the product positioning mechanism 22 through the product grasping mechanism 23, the product positioning mechanism 22 positions the product, and then the shrapnel grasps the product. The material mechanism 33 grabs the shrapnel 1 again and transfers it to the product positioned at the product positioning mechanism 22. At this time, the shrapnel 1 is pressed on the product by the shrapnel pressing device 4, and the shrapnel grasping mechanism 33 returns to the position. Under the action of the pressing device 4, the elastic sheet 1 is released, and finally the lock locking mechanism 52 grabs and moves the lock provided by the lock feeding mechanism 51 to the elastic sheet 1 on the product, and aligns with the lock on the elastic sheet 1. Hole 11a cooperates to assemble the shrapnel 1 on the product to complete the automatic assembly of the shrapnel 1 and the product.

In this embodiment, in order to improve processing efficiency, two groups of lock assembly devices 5 and product positioning mechanisms 22 are arranged on the left and right sides of the machine table 100 respectively, and two sets of lock assembly devices 5 and product positioning mechanisms 22 share a group of return mechanism 21, product grasping mechanism 23 and shrapnel feeding device 3, and the left and right two sets of lock assembly devices 5 and product positioning mechanism 22 can simultaneously assemble the product and shrapnel 1, thereby reducing the return mechanism 21 , The waiting time of the product grasping mechanism 23 and the shrapnel feeding device 3 improves the assembly efficiency.

Please refer to Fig. 5 and Fig. 6, in order to move the product conveniently and protect the product from being damaged, the product can be placed in a carrier 6. Position, so as to realize the transfer of the product on the return mechanism 21. During the transfer process, each component of the return mechanism 21 is not directly released from the product, so as to prevent the product from being damaged during the transportation process. During specific implementation, the product feeding mechanism can provide a product to a group of product positioning mechanisms 22 and the lock assembly device 5 at a time, therefore, a product is placed in a carrier 6, preferably, the corresponding product in the carrier 6 The placement space can be a placement slot that follows the shape of the product to place products of a specific shape (special-shaped structure products or regular structure products), or it can be a conventional rectangular slot or circular slot, etc. At the same time, it can be placed in a rectangular slot or round A multi-point positioning structure is set in the groove to fix the product to avoid shaking of the product.

In this embodiment, the return mechanism 21 is formed with a product feeding station 21a and a plurality of product feeding stations along the conveying direction of the product (the X-axis direction in this embodiment) sequentially formed behind the product feeding station 21a. The product waiting station 21b; the carrier 6 is loaded with products from the product waiting station 21b forward along the X-axis direction to the product loading station 21a, waiting for the product grabbing mechanism 23 to grab the product; when the product catches When the material mechanism 23 grabs the product in the carrier 6 on the product feeding station 21a, the return mechanism 21 stops, suspends the forward delivery of the carrier 6 and the product, and after the product and the shrapnel 1 are assembled, the product grabbing mechanism 23 When the assembled product is grabbed back into the carrier 6 again, the return mechanism 21 restarts its action and forwards the assembled product by one station, so that the product adjacent to the product feeding station 21a is ready for material The carrier 6 on the station 21b is transferred to the product loading station 21a for the next product loading.

The return mechanism 21 includes a first conveying assembly 211, a carrier 6 stop assembly 212 and a carrier 6 positioning assembly 213 arranged on the first conveying assembly 211, and a first detection module for detecting the position of the carrier 6 and the product. Group 214 and a second detection module 215 for detecting product assembly. The product feeding station 21a and the product waiting station 21b are sequentially formed on the first conveying assembly 211 along the product conveying direction; the carrier 6 stop assembly 212 is connected with the product feeding station 21a and multiple product waiting The feeding station 21b is set in one-to-one correspondence, so that the carrier 6 is stopped when the carrier 6 moves to the product feeding station 21a or the product waiting station 21b, so that the product grabbing mechanism 23 grabs or places the product The carrier 6 positioning assembly 213 is correspondingly arranged with the product feeding station 21a, so that after the carrier 6 moves to the product feeding station 21a and stops through the carrier 6 stop assembly 212, the product feeding station 21a The position of the carrier 6 is fine-tuned and positioned so that the product grasping mechanism 23 can accurately grasp or place the product.

The first conveying assembly 211 includes a conveying base 2111, two conveyor belts 2112 arranged parallel to the conveying base 2111 along the product conveying direction, and a support seat fixed on the conveying base 2111 and corresponding to the outside of the two conveying belts 2112 body 2113, the carrier 6 is carried on the conveyor belt 2112 and forwarded along with the conveyor belt 2112. In this embodiment, the two conveyor belts 2112 are arranged at intervals, that is, a gap 211a is formed between the two conveyor belts 2112, and the carrier 6 stop assembly 212 and the carrier 6 positioning assembly 213 are installed on the transmission seat body 2111 and correspond to the two At the gap 211a between the conveyor belts 2112, the carrier 6 stop component 212 and the carrier 6 positioning component 213 can move up and down along the Z-axis direction in the gap 211a to stop the carrier 6 when the carrier 6 moves to the corresponding position. location and positioning. In this embodiment, the power of the conveyor belt 2112 comes from motors, tension pulleys, etc., and these structures can be realized by using existing technologies, and details will not be described in this embodiment. Understandably, in some other embodiments, the first conveying assembly 211 may also be a conveying vehicle or a conveying robot capable of moving along the conveying direction and loading the carrier 6 .

Please refer to FIG. 7 , the carrier 6 stop component 212 includes a stop roller 2121 capable of contacting the front surface of the carrier 6 to realize the stop of the carrier 6 and drives the stop roller 2121 to move along the Z-axis direction to approach or The roller driving cylinder 2122 away from the carrier 6; in this embodiment, the roller driving cylinder 2122 can be a linear cylinder, and the stop roller 2121 is fixedly installed on the output shaft of the roller driving cylinder 2122 through the installation structure. When the first detection module 214 at the corresponding position detects that the carrier 6 carries the product and moves in place, the output shaft of the roller drive cylinder 2122 of the carrier 6 stop assembly 212 corresponding to the first detection module 214 is along the Z-axis direction Stretch out upwards to drive the stop roller 2121 to move up synchronously and contact the front end of the carrier 6 to limit the carrier 6 from continuing to move forward so as to realize the stop of the carrier 6; and when it is necessary to continue to transfer, the roller drives the cylinder The output shaft of 2122 is retracted, driving the stop roller 2121 to reset synchronously downward, contacting the blocking of the carrier 6, so that the carrier 6 can follow the conveyor belt 2112 and continue to be transported forward. The purpose of setting the stop roller 2121 in this embodiment is to reduce the friction force in the process of the stop roller 2121 going up against the carrier 6 or going down against the front end of the carrier 6, so as to reduce the vibration of the whole device and reduce the stop. Bit roller 2121 is to the wear and tear of carrier 6.

The carrier 6 positioning assembly 213 includes a positioning pin 2131 that can be in contact with the bottom surface of the carrier 6 to realize the positioning of the carrier 6 and a pin that can drive the positioning pin 2131 to move along the Z-axis direction to approach or move away from the bottom surface of the carrier 6 . Needle drive cylinder 2132; in this embodiment, the pin drive cylinder 2132 can be a linear cylinder, and the positioning pin 2131 is fixedly installed on the output shaft of the pin drive cylinder 2132 through the installation structure; the positioning pin 2131 The number is preferably two, and the two positioning pins 2131 can be arranged along the length direction, width direction, diagonal direction or any other direction of the carrier 6, and the two positioning pins 2131 correspond to two positioning points, so as to align the carrier 6 Synchronous positioning is performed in the X-axis direction and the Y-axis direction, thereby improving the positioning accuracy of the carrier 6 . When the second detection module 215 detects that the carrier 6 carries the product and moves to the product loading station 21a, the output shaft of the pin driving cylinder 2132 extends upwards along the Z axis to drive the positioning pin 2131 to insert into the carrier 6 to position the carrier 6. As a preference, one end of the pins close to the carrier 6 has a vertebral body structure, and the position corresponding to the positioning pins 2131 on the carrier 6 is provided with a pin positioning groove adapted to the vertebral body structure. When the positioning pins 2131 go up , the vertebral body structure at its end can enter into the pin positioning groove, and because the shape of the two is adapted, the outer wall of the vertebral structure is in contact with the groove wall of the pin positioning groove, and the position of the carrier 6 can be fine-tuned .

Both the first detection module 214 and the second detection module 215 are installed at corresponding positions of the support base 2113 . The first detection module 214 is provided in one-to-one correspondence with the carrier 6 stop assembly 212, and the first detection module 214 can detect whether the carrier 6 on the conveyor belt 2112 has moved in place, so that after the carrier 6 moves in place, the controller The roller driving cylinder 2122 at the corresponding position can be driven to drive the stop roller 2121 to stop the carrier 6 . The second detection module 215 is arranged at the position of the product loading station 21a, corresponding to the carrier 6 positioning assembly 213, and the second detection module 215 can detect the position of the carrier 6 on the product feeding station 21a. Whether the product is processed.

As preferably, the second detection module 215 is preferably arranged above the first detection module 214, and the second detection module 215 and the first detection module 214 arranged on the product feeding station 21a jointly determine the assembly of the product Situation; Specifically, when the carrier 6 loads the product and moves to the product loading station 21a, after the first detection module 214 and the second detection module 215 detect the signal that the carrier 6 and the product have moved in place synchronously, the carrier 6 The stop component 212 and the carrier 6 positioning component 213 act sequentially or synchronously to drive the stop roller 2121 to stop the carrier 6 and drive the positioning pin 2131 to position the carrier 6, and then the product grasping mechanism 23 grabs the carrier 6 The product in the carrier 6 goes to the product positioning mechanism 22 to assemble the shrapnel 1 and the lock. At this time, the second detection module 215 detects a product removal signal. After the assembly is completed, the product grabbing mechanism 23 grabs the product again. Put it back in the carrier 6, at this time, the second detection module 215 detects a product return signal, and can determine whether the product is assembled according to the removal and return signal, so that the first transfer component 211 can complete the assembly of a product. Continue to move one station forward to continuously assemble subsequent products.

In this embodiment, the first detection module 214 and the second detection module 215 both use infrared sensors, including a laser emitter disposed on one side of the support base 2113 and a laser transmitter disposed on the other side of the support base 2113 The laser receiver on the top and opposite to the laser emitter is used to determine the movement and loading of the carrier 6 and the product through the on-off signal between the laser emitter and the laser receiver.

As a preferred mode of this embodiment, the return mechanism 21 may also include a second conveying assembly 216 arranged side by side with the first conveying assembly 211, the structure of the second conveying assembly 216 is the same as that of the first conveying assembly 211 is the same, the conveying direction of the second conveying assembly 216 is opposite to that of the first conveying assembly 211, and when the first conveying assembly 211 transports the carrier 6 loaded with the assembled product forward to the position, the worker transfers the product from the carrier 6 After being taken out, the empty carrier 6 can be transported back by the second conveying component 216 to form a return flow line of the carrier 6 , and the empty carrier 6 can be recovered for subsequent use.

In addition, the return mechanism 21 also includes an NG material recovery component 217 disposed on the first conveying component 211 or the second conveying component 216 , for recovering and storing unqualified or abnormally processed products.

Please refer to FIG. 8 , the product positioning mechanism 22 includes a positioning platform 221 for carrying and positioning products, a first multi-axis drive assembly 222 that drives the positioning platform 221 to be leveled, and a first multi-axis drive assembly 222 that is arranged on the positioning platform 221 and can lift products upward. Jacking cylinder 223; described jacking cylinder 223 adopts linear cylinder, and jacking cylinder 223 can push out the positioning platform 221 upwards to the product that has been assembled, so that the product grasping mechanism 23 can grab the product and then move back to the load at the conveyor belt 2112 place. With 6 medium. The positioning platform 221 is formed with a positioning space 221a profiling with the product, and the product grasping mechanism 23 grabs the product and places the product in the positioning space 221a to fix and position the product; The shaft driving assembly 222 can adjust the position of the positioning space 221a on the positioning platform 221 at multiple angles, so as to keep the positioning space 221a level and ensure the accuracy of the assembly of the elastic sheet 1 . In this embodiment, the first multi-axis drive assembly 222 can use a five-axis rotating platform, which can align the positioning platform 221 on the X-axis, Y-axis, Z-axis, and A-axis (the rotation axis 5212 that rotates around the X-axis) and B axis (the swing axis that swings around the Y axis) are adjusted so that the position of the positioning platform 221 remains horizontal.

Please refer to FIG. 9 , the positioning platform 221 includes a product carrier 2211 , a floating support plate 2212 fixedly connected to the output shaft of the jacking cylinder 223 arranged on the product carrier 2211 , and a floating support plate 2212 arranged on the product carrier 2211 . 2211 and around the four-axis floating support plate 2212 a plurality of special-shaped positioning blocks 2213, the inner wall surface of a plurality of special-shaped positioning blocks 2213 encloses and forms the positioning space 221a profiling with the outer peripheral surface of the product, when the product grasps When the material mechanism 23 grabs and places the product in the positioning space 221a, the product is supported on the floating support plate 2212. The floating support plate 2212 can move up and down along the Z-axis under the drive of the jacking cylinder 223, so as to move away from the positioning space 221a upward. In this embodiment, a lifting channel that runs through the product carrier 2211 up and down is formed at a position corresponding to the floating support plate 2212 on the product carrier 2211, and the jacking cylinder 223 is fixed on the product carrier At the bottom of 2211, the output shaft of the jacking cylinder 223 passes through the jacking channel and is fixedly connected with the floating support plate 2212; Stretch out the jacking channel upwards to push the floating support plate 2212 upwards into the positioning space 221a, and then push the products supported on the floating support plate 2212 out of the positioning space 221a synchronously, so that the product grasping mechanism 23 can be grasped and assembled product.

Please refer back to FIG. 5 , the product grabbing mechanism 23 includes a gripper assembly 231 and a second multi-axis drive assembly 232 that drives the gripper assembly 231 to reciprocate between the return mechanism 21 and the product positioning mechanism 22 . The jaw assembly 231 moves to the top of the positioning platform 221 under the drive of the second multi-axis drive assembly 232 after the product loading station 21a on the return mechanism 21 grabs the product, and places the product in the positioning space 221a After the product assembly is completed, the product is grabbed and put back into the carrier 6 . In this embodiment, the second multi-axis drive assembly 232 is implemented by a four-axis robot, so that through the cooperative rotation of its joints, the gripper assembly 231 can rotate on the X-axis, Y-axis, Z-axis and around the Z-axis. Direction movement, and then realize the transfer of the product between the return mechanism 21 and the product positioning mechanism 22. It can be understood that, in some other embodiments, the second multi-axis drive assembly 232 can also use other robots or mechanical arm structures (such as six-axis robots, etc.) The transfer between them, or the cooperation between the moving guide rail and the cylinder can be used to realize the transfer and so on.

Please refer to FIG. 10 , the jaw assembly 231 includes a product jaw 2311 for clamping a product, a jaw driving cylinder 2312 that drives the product jaw 2311 to move along the Z-axis direction, and assembles the jaw driving cylinder 2312 and the product jaw 2311 The jaw cylinder mount 2313 on the second multi-axis drive assembly 232 . In this embodiment, the gripper cylinder mounting base 2313 is fixedly installed on the end of the four-axis robot, the gripper drive cylinder 2312 is a linear cylinder or slide cylinder, and the product gripper 2311 is fixedly installed on the gripper drive cylinder 2312 On the output shaft or the slide table, and can move up and down along the Z axis under the drive of the jaw drive cylinder 2312 to approach or move away from the product, and then grab the product.

Preferably, a set of jaw drive cylinders 2312 and product jaws 2311 are arranged on both sides of the jaw cylinder mounting base 2313, so that the jaw assembly 231 can grip two products at a time and place them on both sides of the machine table 100. The product and the shrapnel 1 are assembled on the product positioning mechanism 22 on the side.

The product clamping jaw 2311 includes a first clamping block 2314 and a second clamping block 2315 which are oppositely arranged and adjustable in distance, and a clamping pressure regulating valve ( Not shown in the figure), the clamping pressure regulating valve is used to adjust the clamping force between the first clamping block 2314 and the second clamping block 2315, so that the product clamping jaws 2311 can fine-tune the clamping under the condition of stably clamping the product holding force to avoid product damage. In this embodiment, the clamping distance between the first clamping block 2314 and the second clamping block 2315 can be adjusted in advance according to the size of the product, and the clamping distance is preferably slightly larger than the size of the product, so that the product clamping jaws 2311 When grabbing the product, the product can be placed between the two clamping blocks, and then the clamping force of the first clamping block 2314 and the second clamping block 2315 is fine-tuned through the clamping pressure regulating valve to clamp the product. Understandably, in some other embodiments, the first clamping block 2314 and the second clamping block 2315 can also be set to be driven by a motor or an air cylinder and the clamping distance can be adjusted during the clamping process.

Please refer to Fig. 11, Fig. 12 and Fig. 13, the shrapnel 1 is evenly loaded in the material belt 7, and the material belt 7 is evenly spaced along the length direction with a number of shrapnel grooves 7a in the shape of the shrapnel 1. 1 are placed one by one in the groove 7a of the shrapnel. The groove 7a of the shrapnel is preferably such that the shrapnel 1 will not fall off without external force.

The shrapnel conveying mechanism 31 has a shrapnel feeding station 31a supporting the material belt 7, the shrapnel feeding station 31a is used to support the shrapnel 1, and the shrapnel conveying mechanism 31 is used to transfer the material belt 7 According to the preset pitch and time interval, it is transported forward to the elastic sheet feeding station 31a; in this embodiment, the time interval is such that the elastic sheet positioning mechanism 32 can completely take away one (mainly the The frontmost shrapnel 1) is limited, when the shrapnel positioning mechanism 32 takes away the shrapnel 1, the shrapnel transmission mechanism 31 moves forward a preset distance (the preset interval is the distance between the two shrapnel grooves 7a), The next elastic piece groove 7 a is moved to the position of the previous elastic piece groove 7 a, waiting for the elastic piece 1 to be taken away by the elastic piece positioning mechanism 32 .

The shrapnel conveying mechanism 31 includes a material belt 7 support platform 311, a discharge tray 312 formed at the inlet end of the material belt 7 support platform 311 along the conveying direction of the material belt 7, and drives the discharge tray 312 according to preset The distance and time interval are the shrapnel feeding drive components (not shown) that convey the shrapnel 1 along the conveying direction of the shrapnel 1 . The shrapnel feeding station 31a is formed on the end of the material belt 7 support platform 311 corresponding to the discharge tray 312, and the position on the material belt 7 support platform 311 corresponding to the positions on both sides of the shrapnel feeding station 31a is respectively provided with a The supporting plate 313 of the material belt 7 is provided with a relief groove 313a between the two material belt 7 supporting plates 313. Due to the irregular structure of the shrapnel 1, the U-shaped ends 14 at both ends of the material belt 7 will downwardly exceed the lower surface of the material belt 7 , the setting of the relief groove 313a can give way to the bending portion beyond the lower surface of the material strip 7, so as to avoid damage to the elastic piece 1 and the support platform 311 of the material strip 7 due to contact or collision. The material tape 7 is wound in the discharge tray 312 and the free end of the material tape 7 is passed through and supported on the support platform 311 of the material tape 7, and the shrapnel feeding drive assembly can adopt a stepping motor, so that according to the preset The time interval and the pitch convey the material belt 7 forward. When loading the shrapnel 1, the discharge tray 312 conveys the material belt 7 forward according to the distance between the two shrapnel grooves 7a. After the first shrapnel 1 is taken away by the shrapnel positioning mechanism 32 (i.e. the preset time interval , and then feed a preset distance forward to realize feeding one shrapnel 1 and one shrapnel 1 one by one.

Of course, the shrapnel conveying mechanism 31 can also include a receiving tray and a film collecting tray for reclaiming the empty material belt 7 and the material belt 7 film, so as to recycle the empty material belt 7 and the material belt 7 mold, so as to ensure the cleanliness of the processing environment It can be understood that the material receiving tray and the film receiving tray are also provided with corresponding driving structures, and their setting positions and connection methods can be realized by using existing technologies, which will not be described in detail in this embodiment.

The shrapnel positioning mechanism 32 includes a shrapnel positioning platform 321, a shrapnel retrieving hand 322 for transferring the shrapnel 1 from the shrapnel loading station 31a to the shrapnel positioning platform 321, and a hand 322 arranged on the side of the support platform 311 of the material belt 7. It is also used to drive the shrapnel retrieving hand 322 to and from the shrapnel retrieving drive assembly 323 between the shrapnel positioning table 321 and the shrapnel loading station 31a. The shrapnel positioning table 321 is provided with a shrapnel positioning groove 321a which is shaped like the shrapnel 1, so as to position the shrapnel 1 before assembly.

Please refer to FIG. 14 , the shrapnel positioning platform 321 includes a shrapnel carrier 3211 and a stage driving cylinder 3212 that drives the shrapnel carrier 3211 to move to the bottom of the shrapnel pick-up hand 322 along the Z-axis direction, and the shrapnel positioning groove 321a is formed on the On the shrapnel carrier 3211 and corresponding to the position below the shrapnel picking hand 322, so that the shrapnel picking hand 322 places the shrapnel 1 sucked from the shrapnel loading station 31a into the shrapnel positioning groove 321a. In this embodiment, the stage drive cylinder 3212 is realized by a slide table cylinder, and two shrapnel stages 3211 are arranged side by side on the slide table of the stage drive cylinder 3212, and the output shaft of the stage drive cylinder 3212 can drive The slide table moves along the X-axis in the horizontal direction to control the two shrapnel carriers 3211 to move to the front side of the shrapnel loading station 31a, so that the shrapnel retrieving hand 322 can place the sucked shrapnel 1 on the shrapnel On stage 3211. In this embodiment, the purpose of setting up two shrapnel carriers 3211 is that when the shrapnel support nozzle 3311 assembly 331 moves onto the shrapnel carrier 3211, it can grab two pieces of shrapnel 1 at one time, so as to reduce the reciprocating movement of the shrapnel holder mouth 3311 assembly 331 The number of times, improve processing efficiency.

Please refer to FIG. 15 , the shrapnel retrieving hand 322 includes a demagnetization driving cylinder 3221 arranged at the corresponding position of the output shaft of the shrapnel retrieving drive assembly 323, and a material retrieving device fixed on the output shaft of the demagnetization driving cylinder 3221. The magnet 3222, the demagnetization plate 3223 arranged at the corresponding position of the shrapnel retrieving drive assembly 323, and the demagnetization blocking rod 3224 oppositely arranged at the bottom of the demagnetization plate 3223. In this embodiment, the demagnetization drive cylinder 3221 can be a linear cylinder, the fetching magnet 3222 is fixedly connected to the output shaft of the demagnetization drive cylinder 3221, and the fetching magnet 3222 is a permanent magnet, which can It can stably absorb the shrapnel 1. A perforation is formed on the demagnetization plate 3223 up and down along the Z-axis direction, and the end of the fetching magnet 3222 (the end away from the demagnetization driving cylinder 3221 ) is movable along the Z-axis direction and is arranged on the demagnetization plate 3223. The through hole is sandwiched between two demagnetization blocking rods 3224 . When the output shaft of the demagnetization driving cylinder 3221 is stretched out, the fetching magnet 3222 can synchronously go downward beyond the bottom of the demagnetization stop rod 3224 to absorb the shrapnel 1, when the output shaft of the demagnetization driving cylinder 3221 retracts , the fetching magnet 3222 is synchronously retracted into the demagnetization stop rod 3224 or the demagnetization plate 3223 to release the shrapnel 1 .

In the actual implementation of this embodiment, when the shrapnel retrieving hand 322 is sucking the shrapnel 1, the shrapnel retrieving drive assembly 323 drives the shrapnel retrieving hand 322 to move above the shrapnel loading station 31a, and the demagnetization drives the output shaft of the cylinder 3221 Stretch out and push the retrieving magnet 3222 to extend the demagnetization bar 3224 downward and approach the shrapnel 1 to suck the shrapnel 1 from the shrapnel groove 7a; The drive assembly 323 drives the shrapnel retrieving hand 322 to move to the top of the shrapnel positioning table 321, so that the shrapnel 1 is aligned with the shrapnel positioning groove 321a and the demagnetization stop rod 3224 is offset against the table surface of the shrapnel positioning table 321, and the demagnetization drives the output of the cylinder 3221 The retraction of the shaft drives the fetching magnet 3222 to retract synchronously. As the fetching magnet 3222 moves up, it drives the shrapnel 1 to move up synchronously and contacts with the bottom of the demagnetization bar 3224. The fetching magnet 3222 continues to retract and move up. At the same time, due to the blocking of the demagnetization bar 3224, the shrapnel 1 cannot continue to move up and fall off from the fetching magnet 3222 into the shrapnel positioning groove 321a.

Please refer back to FIG. 11 and FIG. 12 , the shrapnel retrieving drive assembly 323 includes a first shrapnel retrieving cylinder 3231 disposed on the side of the support platform 311 of the material belt 7 and a first shrapnel retrieving cylinder 3231 arranged on the output shaft of the first shrapnel retrieving cylinder 3231. Two shrapnel retrieving cylinders 3232, the shrapnel retrieving hand 322 is arranged at the corresponding position of the output shaft of the second shrapnel retrieving cylinder 3232. In this embodiment, the first shrapnel retrieving cylinder 3231 is realized by a linear cylinder, the first shrapnel retrieving cylinder 3231 is installed on the machine 100 through a mounting frame, and the output shaft of the first shrapnel retrieving cylinder 3231 is along the The shrapnel feeding station 31a and the shrapnel carrier 3211 located on the front side are stretched in the direction of the line (this embodiment is stretched along the Y-axis direction), so as to drive the second shrapnel retrieving cylinder 3232 and the retrieving manipulator along the whole line. The movement in this direction further drives the retrieving manipulator to reciprocate between the shrapnel loading station 31 a and the shrapnel carrier 3211 . The first mounting frame body is provided with a shrapnel fetching guide rail 3233 parallel to the telescopic direction of the output shaft of the first shrapnel fetching cylinder 3231 and a shrapnel fetching slide 3234 slidably arranged on the shrapnel fetching guide rail 3233, The shrapnel retrieving slide 3234 is fixed at the end of the output shaft of the first shrapnel retrieving cylinder 3231 , and the second shrapnel retrieving cylinder 3232 is assembled on the shrapnel retrieving slide 3234 . The second shrapnel retrieving cylinder 3232 is realized by a slide table cylinder. The shrapnel retrieving hand 322 is installed on the slide table of the second shrapnel retrieving cylinder 3232 through a mounting plate 3235. The output shaft of the second shrapnel retrieving cylinder 3232 is along the When the output shaft of the second shrapnel retrieving cylinder 3232 expands and contracts along the Z-axis direction, it can drive its sliding and synchronous movement, and then synchronously drive the shrapnel retrieving hand 322 to move along the Z-axis as a whole to approach or stay away from the shrapnel loading worker. Position 31a or shrapnel positioning platform 321.

Please refer to FIG. 15 , as a preferred mode of this embodiment, the shrapnel positioning mechanism 32 also includes a buffer structure 324 arranged on the mounting plate 3235 to drive the shrapnel retrieving hand 322 in the second shrapnel retrieving cylinder 3232 When it is close to the support platform 311 (the spring sheet feeding station 31a) of the material belt 7 or the spring sheet positioning table 321, it acts as a buffer to reduce the vibration of the machine platform 100. Specifically, the buffer structure 324 includes a buffer guide rail 3241 arranged on the mounting plate 3235 along the up and down direction, a buffer plate 3242 slidingly arranged on the buffer guide rail 3241, a buffer seat body 3243 fixed on the mounting plate 3235, a connection buffer The buffer guide rod 3244 of the plate 3242 and the buffer seat body 3243 and the buffer spring 3245 sleeved outside the buffer guide rod 3244 and between the buffer plate 3242 and the buffer seat body 3243, one end of the buffer guide rod 3244 is fixed on the buffer plate 3242 , and the other end is movably installed in the buffer seat body 3243 , and the shrapnel picking hand 322 is installed on the buffer plate 3242 . When the second shrapnel retrieving cylinder 3232 drives the shrapnel retrieving hand 322 to go down, when the bottom of the demagnetization stop bar 3224 contacts with the material belt 7 supporting platform 311 or the shrapnel positioning platform 321, the material belt 7 supporting platform 311 and the shrapnel positioning platform Under the reaction force of 321, the buffer plate 3242 slides upward along the buffer guide rail 3241 and compresses the buffer spring 3245, thereby buffering the contact between the demagnetization stop rod 3224 and the material belt 7 supporting platform 311 or the shrapnel positioning platform 321, and lowering the machine 100 shocks.

Please refer to FIG. 16 , the shrapnel gripping mechanism 33 includes a shrapnel support nozzle 3311 assembly 331 and a third multi-axis driving assembly 332 that drives the shrapnel holder mouth 3311 assembly 331 to reciprocate between the shrapnel positioning platform 321 and the product positioning mechanism 22 . The shrapnel grasping mechanism 33 grabs the shrapnel 1 in the shrapnel positioning groove 321a on the shrapnel positioning platform 321 and then moves to the product located at the positioning platform 221 under the drive of the third multi-axis drive assembly 332, and places the shrapnel 1 Place it on the product, and press it on the product through the spring piece 1 pressing mechanism. In this embodiment, the third multi-axis drive assembly 332 is realized by a six-axis robot, so as to realize the movement of the shrapnel supporting nozzle 3311 assembly 331 in the corresponding direction through the rotation and cooperation of its joints, and then realize the positioning of the shrapnel 1 in the shrapnel The transfer between the table 321 and the product positioning mechanism 22. It can be understood that, in some other embodiments, the third multi-axis drive assembly 332 can also use other robots or mechanical arm structures (such as four-axis robots, etc.) to realize the positioning of the shrapnel 1 on the shrapnel positioning table 321 and the product. The transfer between the mechanisms 22, or the cooperation between the moving guide rail and the cylinder can also be used to realize the transfer of the shrapnel 1 and the like.

Please refer to FIG. 17 and FIG. 18 , the assembly 331 of the shrapnel holder 3311 includes a shrapnel holder 3311 , a holder driving cylinder 3312 that drives the shrapnel holder 3311 to move along the Z-axis direction, and drives the holder 3312 and the shrapnel holder 3311 The nozzle support cylinder mounting seat 3313 assembled on the third multi-axis drive assembly 332 . In this embodiment, the nozzle support cylinder mounting base 3313 is fixedly installed on the end of the six-axis robot, the nozzle support driving cylinder 3312 is a linear cylinder or a sliding table cylinder, and the shrapnel support nozzle 3311 is fixedly installed on the nozzle support driving cylinder 3312 On the output shaft or the slide table, and can move up and down along the Z axis under the drive of the nozzle driving cylinder 3312 to approach or move away from the shrapnel 1, and then grab the shrapnel 1.

As a preference, a set of spring support nozzles 3311 and support nozzle drive cylinders 3312 are provided on both sides of the support mouth cylinder mounting base 3313, so that the spring support mouth 3311 assembly 331 can grab two spring pieces 1 at a time and place them on the machine respectively. The product and the shrapnel 1 are assembled on the product positioning mechanism 22 on both sides of the table 100.

The spring supporting nozzle 3311 includes a first strut 3314 and a second strut 3315 with adjustable spacing, and the ends of the first strut 3314 and the second strut 3315 are formed with an interference fit with the corresponding position of the shrapnel 1 The positioning protrusion 3316. The distance between the first strut 3314 and the second strut 3315 is adapted to the distance between the two positioning holes 11b formed on the elastic sheet 1, and the positioning protrusion 3316 interferes with the positioning hole 11b Cooperating, the positioning protrusion 3316 can penetrate into the positioning hole 11 b, so as to clamp the elastic piece 1 on the positioning protrusion 3316, so as to remove the elastic piece 1 from the positioning platform 321 of the elastic piece. In this embodiment, the distance between the first strut 3314 and the second strut 3315 can be adjusted in advance according to the distance between the two positioning holes 11b on the elastic piece 1, so that the first strut 3314 and the second When the strut 3315 takes the shrapnel 1 on the shrapnel positioning platform 321, the positioning protrusion 3316 can just be inserted into the positioning hole 11b on the shrapnel 1, and then through the interference fit between the positioning protrusion 3316 and the positioning hole 11b, the shrapnel 1 is supported on the second One support rod 3314 and the second support rod 3315, so as to transfer the shrapnel 1 to the product positioning mechanism 22. The spout in this implementation grabs the shrapnel 1 physically, and removes the shrapnel 1 from the spout through the shrapnel pressing device 4 after moving the grabbed shrapnel 1 into place, without additional driving air suction or magnetic suction The drive structure can simplify the overall structure of the shrapnel supporting nozzle 3311, and simplify the control program to a certain extent, which is beneficial to improve the control efficiency of the controller.

Please refer back to FIG. 9 , the shrapnel pressing device 4 includes a pressing rod installation frame 41 fixed on one side of the product carrier 2211, a pressing rod driving rod 42 sliding through the pressing rod mounting frame 41 in the up and down direction, The shrapnel pressure rod 43 that is slidably arranged on the pressure rod driving rod 42 and is rotatably connected with the pressure rod mounting frame 41, the pressure rod driving cylinder 44 that drives the pressure rod driving rod 42 to move down, and the pressure rod driving rod 42 that drives the downward movement Move the back-moving spring 45 of automatic reset. The output shaft of the pressure rod driving cylinder 44 slides through the end of the pressure rod driving rod 42 away from the shrapnel pressure rod 43, and one end of the return spring 45 is fixed on the pressure rod driving rod 42 corresponding to the One end of the pressing rod drives the cylinder 44 , and the other end of the return spring 45 is fixedly arranged at the corresponding position of the pressing rod installation frame 41 .

The shrapnel pressing rod 43 is slidably arranged on the pressing rod driving rod 42 corresponding to an end away from the pressing rod driving cylinder 44 , and the sliding direction of the shrapnel pressing rod 43 on the pressing rod driving rod 42 is perpendicular to the moving direction of the pressing rod driving rod 42 (In the present embodiment, the pressing rod driving rod 42 moves along the Z axis on the pressing rod mounting frame 41, and the shrapnel pressing rod 43 slides along the Y axis on the pressing rod driving rod 42), that is, the sliding direction of the shrapnel pressing rod 43 is The direction of approaching or moving away from the product carrier 2211. When the return spring 45 is in the natural state, the shrapnel pressing rod 43 is in the state of pressing the shrapnel 1. When working, the pressing rod drives the output shaft of the cylinder 44 to retract, and pulls the pressing rod driving rod 42 downward along the Z axis and squeezes it back. The spring 45 obtains the resilience force, and the shrapnel pressing bar 43 slides on the pressing bar driving rod 42 so that the pressing bar driving bar 42 drives the corresponding end of the shrapnel pressing bar 43 to press down, and because the shrapnel pressing bar 43 is rotated and installed on the pressing bar mounting bracket 41 At this time, one end of the shrapnel pressing rod 43 is pressed down, so that the shrapnel pressing rod 43 rotates, and the other end is driven up to allow the positioning space 221a of the product, so that the product feeding device 2 and the shrapnel feeding device 3 can Place the product and the shrapnel 1 successively. When the shrapnel 1 is put in place, the shrapnel supporting nozzle 3311 assembly 331 maintains the current position, and the output shaft of the pressure rod driving cylinder 44 is quickly stretched out and resets. The active force moves upward along the Z axis, driving the shrapnel pressing rod 43 to rotate in reverse to press on the shrapnel 1, and the shrapnel grabbing mechanism 33 resets. Since the shrapnel pressing rod 43 presses the shrapnel 1 tightly, the shrapnel grabbing mechanism 33 resets. The shrapnel 1 is taken off from the shrapnel support mouth 3311 at the same time.

In this embodiment, the rebound force of the reset spring 45 is used to drive the shrapnel pressing rod 43 to compress the shrapnel 1, which can play a certain buffering role in the process of pressing down, and avoids directly using the pressing rod to drive the cylinder 44 to push the pushing rod driving rod 42 to drive. When the shrapnel pressing rod 43 presses down the shrapnel 1, the shrapnel 1 and the product will be damaged because there is no floating space.

Please refer to FIG. 19 , the lock feeding mechanism 51 has a lock feeding station 51a, and the lock feeding mechanism 51 delivers to the lock feeding station 51a one by one in sequence and according to a preset direction. locks. In this embodiment, the locks are mainly bolts, and the lock feeding mechanism 51 preferably adopts an existing automatic bolt feeder to supply the bolts upward one by one according to the set program, and the lock feeding mechanism 51 51 When providing bolts, the heads of the bolts (take cross bolts or slotted bolts as an example, that is, the end with the word "ten" or "one") face up so that the locking mechanism 52 of the lock can be locked one by one. Orientately pick up the bolt and move it to the position of the product and the shrapnel 1 on the product positioning mechanism 22 to lock the product and the shrapnel 1 .

The lock locking mechanism 52 includes a locking assembly 521 and a second mechanism that drives the locking assembly 521 to reciprocate between the lock feeding station 51a and the product positioning mechanism 22 along the X-axis direction, the Y-axis direction and the Z-axis direction respectively. Four multi-axis drive assemblies 522. In this embodiment, the fourth multi-axis driving assembly 522 includes a Y-axis driving module 5222 arranged on the machine table 100, an X-axis driving module slidably arranged on the Y-axis driving module 5222 along the Y-axis direction 5221 and the Z-axis driving module 5223 slidably arranged on the X-axis driving module 5221 along the X-axis direction, and the locking assembly 521 is slidably arranged on the Z-axis driving module 5223 along the Z-axis direction. In this embodiment, the X-axis drive module 5221, the Y-axis drive module 5222, and the Z-axis drive module 5223 can all be realized by structures such as sliding tables, slide rails, and motors in the prior art, and this embodiment does not repeat.

Please refer to Figure 20 and Figure 21, the locking assembly 521 includes a suction head 5211, a rotating shaft 5212 passing through the suction head 5211, and a device that drives the rotating shaft 5212 to move up and down along the Z axis and rotate around the Z axis. The compound driving motor 5213 of the lock and the negative pressure module 5214 communicated with the suction head 5211 . Under the action of the negative pressure module 5214, the suction head 5211 sucks the bolts on the lock feeding station 51a, and is driven by the fourth multi-axis drive assembly 522 to transfer the bolts to the product positioning mechanism 22 At the position, the screw is screwed onto the elastic piece 1 and the product through the lock compound drive motor 5213 to assemble the elastic piece 1 .

The suction head 5211 has an inner cavity 5211a, the negative pressure module 5214 communicates with the inner cavity 5211a, and the end of the suction head 5211 forms a step that communicates with the inner cavity 5211a and fits with the lock In the slot 5211b, the rotating shaft 5212 can go down along the Z axis and contact the locking piece accommodated in the stepped slot 5211b. Specifically, still taking the bolt as an example, the step groove 5211b on the suction head 5211 is adapted to the size of the head of the bolt, and the end of the rotating shaft 5212 is matched with the head of the bolt, and can be inserted into and positioned at the head of the bolt. Inside the "ten" slot or "one" slot on the head. During work, the lock feeding mechanism 51 controls the bolts to emerge from the lock feeding station 51a in sequence. When the last bolt is taken away, another bolt is sent to the lock feeding station 51a, and the lock When the locking mechanism 52 sucks the bolt, the locking assembly 521 moves to the top of the lock loading station 51a under the cooperation of the X-axis driving module 5221 and the Y-axis driving module 5222, and the Z-axis driving module 5223 controls the locking The component 521 moves down, so that the head of the bolt is accommodated in the stepped groove 5211b at the end of the suction head 5211, and then the negative pressure module 5214 is controlled to start to make the inner cavity 5211a of the suction head 5211 assume negative pressure to absorb the bolt, and then lock the assembly 521 moves from the lock feeding station 51a to the product positioning mechanism 22 under the cooperation of the X-axis drive module 5221, the Y-axis drive module 5222 and the Z-axis drive module 5223, and puts the bolt at the designated position, The lock composite drive motor 5213 drives the rotation shaft 5212 to move to the bolt along the Z-axis direction and fixes it relative to the head of the bolt, and then the lock composite drive motor 5213 drives the rotation shaft 5212 to rotate around the Z axis to tighten the bolt on the product To fix the shrapnel 1, the assembly of the shrapnel 1 is completed.

In the automatic assembly system of this embodiment, by setting the product feeding device 2, the shrapnel feeding device 3 and the lock assembly device 5, the product, the shrapnel 1 and the lock are successively moved to the designated position for automatic assembly, and the whole process does not require manual operation , which can not only improve the assembly efficiency of the shrapnel 1 but also reduce the vulnerability rate of the product; at the same time, during the transfer process of the product and the shrapnel 1, the product and the shrapnel 1 are assembled by setting a positioning table that is profiling with the product and the shrapnel 1 The front positioning enables the shrapnel 1 to be accurately assembled on the product, which effectively improves the assembly quality of the shrapnel 1 and has a high pass rate.

Example 2

As shown in FIG. 22 , it is a flow chart of the automatic assembly method of this embodiment. The automatic assembly method in this embodiment is implemented based on the automatic assembly system in Embodiment 1. Specifically, the automatic assembly method of this embodiment includes the following steps:

S1: Move the product to the designated location and position the product.

Specifically, firstly, the return mechanism 21 is controlled to transmit the carrier 6 with the product placed on it. During the transmission process, the first detection module 214 detects the position of the product and the carrier 6 in real time. When the carrier 6 and the product move to the product grabbing When below the mechanism 23, and when the carrier 6 and the product move to the product feeding station 21a and/or the product waiting station 21b, the carrier 6 stop assembly 212 is controlled to the product feeding station 21a and/or the product The carrier 6 and the product on the waiting station 21b are stopped and the carrier 6 positioning component 213 is controlled to position the carrier 6 and the product at the product loading station 21a. Then, the product grasping mechanism 23 is controlled to grab the product in the carrier 6 at the product feeding station 21a and transfer it to the product positioning mechanism 22. At the same time, the second detection module 215 detects a signal that the product is taken out and wait. Finally, the product positioning mechanism 22 adjusts and positions the real-time position of the product according to the product position placed by the product grasping mechanism 23 . In this embodiment, the specific process of moving the product and positioning the product in step S1 can refer to the relevant description of the product feeding device 2 in Embodiment 1, which will not be repeated in this embodiment.

S2: providing the shrapnel 1, positioning the shrapnel 1 and transferring it to the product.

Specifically, firstly, the shrapnel conveying mechanism 31 is controlled to convey the shrapnel 1 sequentially. Then, control the shrapnel retrieving drive assembly 323 to drive the shrapnel retrieving hand 322 to move to the top of the shrapnel 1 at the shrapnel transmission mechanism 31, control the output shaft of the demagnetization cylinder to extend up and down, and push the fetching magnet 3222 downwards to approach the shrapnel 1 and absorb it. After the shrapnel 1, the shrapnel retrieving hand 322 is driven by the shrapnel retrieving drive assembly 323 to move to the top of the shrapnel positioning platform 321, and the output shaft of the demagnetization cylinder is controlled to retract upward, and the shrapnel 1 is released under the action of the demagnetization gear lever And make the elastic piece 1 fall into the positioning groove 321a of the elastic piece. Finally, the elastic sheet grabbing mechanism 33 is controlled to transfer the elastic sheet 1 positioned at the elastic sheet positioning mechanism 32 to the product at the product positioning mechanism 22 . In this embodiment, the specific process of providing the elastic sheet 1 in the step S2 and positioning the elastic sheet 1 and then transferring it to the product can refer to the relevant description of the elastic sheet feeding device 3 in Embodiment 1, which will not be repeated in this embodiment.

S3: Press the shrapnel 1 onto the product.

Concretely, after the shrapnel grasping mechanism 33 moves the shrapnel 1 to the position, the output shaft of the pressing rod driving cylinder 44 of the shrapnel pressing device 4 is controlled to retract, the pressing rod driving rod 42 is pulled downward and the return spring 45 is squeezed, and the shrapnel The pressure rod 43 slides on the pressure rod driving rod 42 so that the pressure rod driving rod 42 drives the corresponding end of the shrapnel pressure rod 43 to press down, and the other end is upturned; after the shrapnel 1 is placed on the product, the pressure rod drives the output shaft of the cylinder 44 Stretch out and reset quickly, and the push rod driving rod 42 moves upwards under the resilience force of the return spring 45, driving the shrapnel push rod 43 to reversely rotate to be compressed on the shrapnel 1. In this embodiment, the specific process of compressing the elastic piece 1 in the step S3 can refer to the relevant description of the elastic piece pressing device 4 in Embodiment 1, which will not be repeated in this embodiment.

S4: Provide a lock, and lock the shrapnel 1 to the product through the lock.

Specifically, firstly, the lock supply mechanism 51 is controlled to supply the locks one by one according to the preset direction in sequence. Then, after the suction head 5211 of the lock locking mechanism 52 is controlled to suck the lock, the suction head 5211 is driven to move the lock through the cooperation of the X-axis drive module 5221, the Y-axis drive module 5222 and the Z-axis drive module 5223. To the product out of the product positioning mechanism 22, the shrapnel 1 is locked on the product. In this embodiment, the specific process of providing the lock and locking the elastic piece 1 and the product in step S4 can refer to the relevant description of the lock assembly device 5 in Embodiment 1, which will not be repeated in this embodiment.

In the automatic assembly method of this embodiment, a product to be assembled is firstly provided, and then a shrapnel 1 assembled on the product is provided, and the shrapnel 1 is fixed on the product through a lock that is automatically conveyed and transferred. The whole process does not require Manual operation is beneficial to save labor and improve assembly efficiency, and before assembly, by positioning the product and shrapnel 1, it can ensure that the assembly position of shrapnel 1 is accurate, thereby improving the pass rate and yield of the product.

Claims (10)

1. An automatic assembly system, characterized in that, comprising: Product feeding device, including a return mechanism for conveying products, a product positioning mechanism for positioning products, and a product grasping mechanism for transferring products from the return mechanism to the product positioning mechanism; The shrapnel feeding device includes a shrapnel transfer mechanism for conveying shrapnel, a shrapnel positioning mechanism for positioning the shrapnel, and a shrapnel grabbing mechanism for transferring the shrapnel from the shrapnel positioning mechanism to the product; shrapnel pressing device for pressing the shrapnel on the product; and The lock assembly device includes a lock feeding mechanism for supplying locks and a lock locking mechanism for transferring and locking the locks from the lock feeding mechanism to the product and the shrapnel. 2. The automatic assembly system according to claim 1, wherein the product is placed in a carrier, the return mechanism is used to transport the carrier on which the product is placed, and a product feeding device is formed on the return mechanism Station and a plurality of product waiting stations formed sequentially along the conveying direction of the product behind the product feeding station; The return mechanism includes a first conveying component formed with the product feeding station and the product waiting station along the product conveying direction, and is arranged in the first one corresponding to the product feeding station and the product waiting station. A carrier stop component on a transmission component, a carrier positioning component arranged on the first transmission component and corresponding to the product loading station, and a first detection module for detecting the position of the carrier and the product group and a second detection module for detecting product assembly. 3. The automatic assembly system according to claim 1, wherein the product positioning mechanism includes a positioning platform for carrying and positioning products, a first multi-axis drive assembly for leveling the positioning platform, and a positioning platform arranged on the positioning platform. And the jacking cylinder that can lift the product upwards; The positioning platform includes a product carrier, a floating support plate arranged on the product carrier and fixedly connected to the output shaft of the jacking cylinder, and a floating support plate arranged on the product carrier and surrounding the floating support plate. A plurality of special-shaped positioning blocks of the shaft, the inner walls of the plurality of special-shaped positioning blocks enclose a positioning space that is contoured to the outer peripheral surface of the product, and the product grabbing mechanism grabs and places the product in the positioning space and supported on the floating support plate. 4. The automatic assembly system according to claim 1, wherein the product grabbing mechanism includes a gripper assembly and a second multi-axis drive assembly that drives the gripper assembly to reciprocate between the return mechanism and the product positioning mechanism; The clamping jaw assembly includes a product clamping jaw for clamping a product, a clamping jaw driving cylinder for driving the product clamping jaw to move along the Z-axis direction, and a clamping jaw for assembling the clamping jaw driving cylinder and the product clamping jaw on the second multi-axis drive assembly Cylinder mounting seat; the product jaws include a first clamping block and a second clamping block that are oppositely arranged and adjustable in distance, and a clamping pressure regulating valve connected to the first clamping block and/or the second clamping block, so The clamping pressure regulating valve is used to adjust the clamping force between the first clamping block and the second clamping block. 5. The automatic assembly system according to claim 1, wherein the elastic sheets are evenly loaded in the strip at intervals, and the elastic sheet transmission mechanism has an elastic sheet feeding station supporting the strip, and the elastic sheet The feeding station is used to support the shrapnel, and the shrapnel conveying mechanism is used to transport the material belt forward to the shrapnel feeding station according to the preset distance and time interval; the shrapnel conveying mechanism includes a material belt support table, A discharge tray formed at the inlet end of the belt support platform along the conveying direction of the material belt and a shrapnel feeding drive assembly that drives the discharge tray to convey the shrapnel along the conveying direction of the shrapnel according to a preset distance and time interval, the shrapnel The loading station is formed at the end of the tape support platform corresponding to the end away from the discharge tray. 6. The automatic assembly system according to claim 5, wherein the shrapnel positioning mechanism includes a shrapnel positioning platform, a shrapnel retrieving hand for moving the shrapnel from the shrapnel feeding station to the shrapnel positioning platform, and a setting A shrapnel retrieving drive assembly on the side of the strip support table and used to drive the shrapnel retrieving hand to and from between the shrapnel positioning table and the shrapnel loading station; The shrapnel positioning platform includes a shrapnel carrier and a stage drive cylinder that drives the shrapnel carrier to move to the bottom of the shrapnel retrieving hand along the Z-axis direction. A shrapnel positioning groove conformed to the shrapnel; The shrapnel retrieving hand includes a demagnetization drive cylinder arranged at the corresponding position of the output shaft of the shrapnel retrieving drive assembly, a retrieving magnet fixed on the output shaft of the demagnetization drive cylinder, and a magnet set on the shrapnel retrieving drive assembly. The demagnetization plate at the corresponding position and the demagnetization stop rod arranged at the bottom of the demagnetization plate relatively, the end of the fetching magnet moves up and down through the demagnetization plate and is sandwiched between the two demagnetization stop rods , and when the output shaft of the demagnetization drive cylinder stretches out, the fetching magnet can go beyond the bottom of the demagnetization stop rod downwards and can upwardly retract the demagnetization stop rod or when the output shaft of the demagnetization drive cylinder retracts In the demagnetization plate. 7. The automatic assembly system according to claim 6, wherein the shrapnel grabbing mechanism includes a shrapnel support nozzle assembly and a third multi-axis drive assembly that drives the shrapnel support mouth assembly to reciprocate between the shrapnel positioning platform and the product positioning mechanism drive components; The shrapnel nozzle assembly includes a shrapnel nozzle, a nozzle driving cylinder for driving the shrapnel nozzle to move along the Z-axis direction, and a nozzle cylinder mounting seat for assembling the nozzle driving cylinder and the shrapnel nozzle on the third multi-axis drive assembly ; The shrapnel supporting nozzle includes a first strut and a second strut with adjustable spacing, and the ends of the first and second struts are formed with positioning protrusions that interfere with the corresponding positions of the shrapnel. 8. The automatic assembly system according to claim 1, wherein the shrapnel pressing device includes a pressing rod mounting frame fixed on one side of the product carrier, sliding in the vertical direction and passing through the pressing rod mounting frame The pressure rod driving rod, the shrapnel pressure rod that is slidably arranged on the pressure rod driving rod and rotatably connected with the pressure rod mounting frame, the pressure rod driving cylinder that drives the pressure rod driving rod to move down, and the pressure rod driving rod that drives down The return spring that moves automatically resets; the output shaft of the pressure rod drive cylinder slides through the end of the pressure rod drive rod away from the shrapnel pressure rod, and one end of the return spring is fixed on the pressure rod drive rod corresponding to At one end far away from the pressure rod driving cylinder, the other end of the return spring is fixedly arranged at the corresponding position of the pressure rod installation frame. 9. The automatic assembly system according to claim 1, characterized in that, the lock feeding mechanism has a lock feeding station, and the lock feeding mechanism sequentially and according to the preset direction one by one The lock feeding station conveys the lock; The lock locking mechanism includes a locking assembly and a fourth multi-axis driving assembly that drives the locking assembly to reciprocate between the lock feeding station and the product positioning mechanism along the X-axis direction, the Y-axis direction and the Z-axis direction respectively ; The locking assembly includes a suction head, a rotation shaft passing through the suction head, and a lock compound drive motor that drives the rotation shaft to move up and down along the Z axis and rotate around the Z axis, and communicates with the suction head The negative pressure module, the suction head has an inner cavity, the negative pressure module communicates with the inner cavity, and the end of the suction head forms a step that communicates with the inner cavity and is adapted to the lock groove, and the rotating shaft can contact the lock piece accommodated in the step groove after descending along the Z axis. 10. an automatic assembly method, is characterized in that, comprises the following steps: Control the return mechanism to transport the product to be processed to the bottom of the product grabbing mechanism, and control the product grabbing mechanism to transfer the product to the product positioning mechanism to position the product; Control the shrapnel conveying mechanism to sequentially transport the shrapnel and control the shrapnel positioning mechanism to absorb the shrapnel to pre-position the shrapnel, and then control the shrapnel grabbing mechanism to transfer the shrapnel positioned by the shrapnel positioning mechanism to the product at the product positioning mechanism; Control the shrapnel pressing device to remove the shrapnel from the shrapnel grabbing mechanism and press it on the product; Control the lock feeding mechanism to provide locks one by one according to the preset direction, and control the lock locking mechanism to absorb the locks and move the locks to the product released by the product positioning mechanism to lock the shrapnel on the product.

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