CN116551342B - Assembling device for circumferentially irregular materials and working method thereof - Google Patents
Assembling device for circumferentially irregular materials and working method thereof Download PDFInfo
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- CN116551342B CN116551342B CN202310520559.6A CN202310520559A CN116551342B CN 116551342 B CN116551342 B CN 116551342B CN 202310520559 A CN202310520559 A CN 202310520559A CN 116551342 B CN116551342 B CN 116551342B
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- 239000000463 material Substances 0.000 title claims abstract description 130
- 230000001788 irregular Effects 0.000 title claims abstract description 71
- 238000000034 method Methods 0.000 title claims abstract description 30
- 230000007246 mechanism Effects 0.000 claims abstract description 104
- 238000001514 detection method Methods 0.000 claims abstract description 59
- 230000002093 peripheral effect Effects 0.000 claims description 30
- 230000008569 process Effects 0.000 claims description 12
- 230000000903 blocking effect Effects 0.000 claims description 9
- 230000008859 change Effects 0.000 abstract description 12
- 238000004519 manufacturing process Methods 0.000 abstract description 6
- 238000006243 chemical reaction Methods 0.000 description 5
- 230000013011 mating Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
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- 230000005540 biological transmission Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
Abstract
The invention provides an assembling device for materials with irregular circumferences and a working method thereof. The working method comprises the following steps: controlling the friction rotating mechanism to rotate at least one circle and keeping the circumferentially irregular material at a first angular position through the rotation stopping mechanism; controlling the detection rotating mechanism to rotate at least one circle from the initial angle position, keeping the detection by the detection module, and determining angle difference data between the target angle position and the initial angle position according to torque change data from the detection module; according to the angle difference data, the rotation of the circumferential irregular material is adjusted to be consistent with the azimuth angle of the material to be assembled. Even if the azimuth angles of the two materials have randomness, the working method of the invention ensures that the azimuth angles of the two materials are consistent through detection and rotation adjustment, thereby realizing automatic assembly and effectively improving the production efficiency.
Description
Technical Field
The invention relates to the technical field of automatic production equipment, in particular to an assembling device for solving the problem that the angle orientation is difficult to find when a circumferentially irregular material is assembled and a working method thereof.
Background
In the production of some products, the irregular circumferential material is required to be mounted on another material to be assembled, but the direction angles of the irregular circumferential material and the material to be assembled cannot be uniquely determined because of randomness, the matching structures of the irregular circumferential material and the material to be assembled cannot be aligned, and the irregular circumferential material and the material to be assembled cannot be completed through automatic equipment, so that only manual mounting can be selected.
For example, as shown in fig. 1 and 2, when the cartridge for printing supplies is produced, it is necessary to put the spool 91 into the cartridge body 900 and then mount the clutch 92 on the spool 91, the spool 91 is the above-mentioned material to be assembled and the clutch 92 is the above-mentioned circumferentially irregular material, it can be seen that the inner circumference of the spool 91 is provided with two clamping grooves 911 symmetrically arranged along the axis thereof, and the outer circumference of the clutch 92 is correspondingly provided with two clamping protrusions 921 symmetrically arranged along the axis thereof, as shown in fig. 2, when the clutch 92 is mounted on the spool 91, it is necessary to complete the engagement between the clamping grooves 911 and the clamping protrusions 921, and thus it is necessary to ensure the consistent azimuth angle between the clutch 92 and the spool 91 when assembling.
In practice, however, the azimuth angle of the spool 91 cannot be ensured after the spool 91 is placed in the cartridge 900. As shown in fig. 1, the clamping groove 911 of the reel 91 in the current tape cassette 900 is directed to the upper right of the paper surface, but the clamping groove 911 of the reel 91 in the next tape cassette 900 is directed to the right above, the upper left or the right of the paper surface, so that each time the reel 91 is placed in the cassette 900, the positions of the two clamping grooves 911 on the reel 91 are random. Similarly, the azimuthal angle of each clutch 92 fed is also random.
Therefore, on the premise that the azimuth angles of the reel 91 and the clutch 92 are random and the consistency of the azimuth angles between the clutch 92 and the reel 91 is required, the existing automatic assembly device cannot complete the assembly between the two, so that only manual installation can be selected, and the production efficiency is low.
Disclosure of Invention
The first object of the present invention is to provide an assembling device for irregular circumferential materials, which solves the problem that the assembling cannot be automated due to randomness of the azimuth angles of the irregular circumferential materials and the materials to be assembled.
A second object of the present invention is to provide a working method based on the above assembly device.
The first object of the present invention provides an assembling device for circumferentially irregular materials, comprising: the friction rotating mechanism rotates around the first axis and comprises a friction matching surface, and a first material position is arranged at the opposite position of the friction matching surface; the rotation stopping mechanism is used for blocking the first material position from the circumferential direction of the first axle center; a rotation driving unit and a detection module for detecting torque of the rotation driving unit; the detection rotating mechanism is driven by the rotation driving unit and comprises a main body part and a floating part, the floating part can floatably bulge on the circumferential position of the main body part, and a second material position is arranged at the opposite position of the floating part.
According to the scheme, the circumferential irregular material is contacted with the friction matching surface of the friction rotating mechanism, and is driven to rotate under friction force until being prevented by the rotation stopping mechanism, so that the circumferential irregular material slips and is kept at a fixed azimuth angle. The detection rotating mechanism rotates for a circle to detect materials to be assembled, the floating piece of the detection rotating mechanism is necessarily matched with the matched structure on the materials to be assembled in the process of abutting against the materials to be assembled, so that the torque of the rotation driving unit is changed, the angle difference between the initial angle position of the detection rotating mechanism and the target angle position of the torque change of each material can be calculated, and then the circumferential irregular materials can be enabled to be consistent with the azimuth angle of the materials to be assembled by rotating the circumferential irregular materials according to the angle difference. Therefore, the invention solves the problem that the azimuth angles of the materials with irregular circumferences and the materials to be assembled are random and cannot be assembled automatically, and effectively improves the production efficiency.
Further, the friction rotating mechanism comprises a first outer peripheral surface, and the friction matching surface is arranged on the first outer peripheral surface.
From the above, this setting makes friction rotary mechanism be suitable for the clutch that has the circumference irregular material of interior Zhou Tongkong and complete inner peripheral face, like printing consumables tape cassette, and friction rotary mechanism has still carried out the axle center location when can inserting interior Zhou Tongkong and friction fit with the inner peripheral face, can also be used for realizing snatching circumference irregular material.
Still further, the friction rotating mechanism comprises at least two movable components arranged along the circumferential direction of the first axis, the movable components are provided with outer side faces facing away from the first axis, the friction matching faces are arranged on the outer side faces, and the movable components can be far away from or close to the first axis.
In view of the above, in this arrangement, when the friction rotating mechanism is aimed at a circumferentially irregular material having an inner side Zhou Tongkong and a complete inner peripheral surface, not only the friction rotating mechanism provides a rotational driving force for the circumferentially irregular material, but also the friction rotating mechanism can be used as a gripping robot, and the material is gripped by adjusting the movable member to be supported and gripped, and is released by adjusting the movable member to be folded.
The further proposal is that the device also comprises a linear driving unit and a pushing piece, wherein the pushing piece can move along the axial direction of the first axle center and push the movable component to move along the radial direction of the first axle center under the drive of the linear driving unit; the pushing piece is provided with a first abutting surface, the movable component is provided with a second abutting surface, the first abutting surface is abutted with the second abutting surface, the first abutting surface is inclined to the first axis and/or the second abutting surface is inclined to the first axis.
From the above, the arrangement is convenient for realizing the conversion of strokes in two straight directions with included angles, and has a locking effect.
Further, the friction rotating mechanism is driven by the rotation driving unit.
From the above, in practice, when the circumference irregular material is in a slipping state, the rotation of the friction rotating mechanism does not change the current azimuth angle of the circumference irregular material, so that the friction rotating mechanism and the detection rotating mechanism can share the same rotation driving unit for driving, the device investment is reduced, the device structure is simplified, the cost is reduced, more importantly, the detected rotation driving unit outputs the rotation, the consistency of the calculated angle and the output rotation angle can be ensured, the rotation angle precision of the circumference irregular material is further ensured, and the azimuth angle consistency of the circumference irregular material and the material to be assembled is further ensured.
In a further scheme, the friction rotating mechanism further comprises a sleeve member, the movable part is arranged on the sleeve member in a sliding manner along the radial direction, and the rotating driving unit drives the sleeve member; the pushing piece is positioned in the central hole of the sleeve piece, and the first abutting surface is arranged as a rotating surface and abuts against the second abutting surfaces of the movable components.
Therefore, the linear driving unit and the pushing piece do not need to synchronously rotate with the movable parts, the design difficulty of the device is reduced, and the load of the rotary driving unit is reduced.
Further, the main body member includes a second outer peripheral surface, the floating member is elastically resettable protruding from the second outer peripheral surface, and the second material level is located at the outer periphery of the second outer peripheral surface.
From the above, this arrangement makes the detection rotation mechanism suitable for use with a material to be assembled having an inner Zhou Tongkong and an inner peripheral surface having a concave/convex fitting structure, such as a spool of a printing consumable tape cartridge, the detection rotation mechanism being insertable into the inner Zhou Tongkong, the float being compressed and frictionally fitted with the inner peripheral surface; when the detection rotating mechanism rotates to a certain position, the floating piece is matched with the concave/convex matching structure, the abutting degree is changed, and the matching friction force is changed, so that the detected torque is changed.
Still further, the floating members are uniformly distributed on the periphery of the main body member.
Therefore, the arrangement can ensure the stability of the matching process of the detection rotating machine and the material to be assembled, avoid the material to be assembled from shifting, and ensure the accuracy of acquiring the torque data and calculating the angle difference data.
Further, the detection module is built in the rotation driving unit.
Therefore, the detection modules arranged in some motors can be used as the detection modules of the invention, and the motors are selected without additionally arranging additional detection modules, so that the device investment is further reduced, the device structure is simplified, and the cost is reduced.
The working method of the assembling device for the irregular circumferential material provided by the second object of the invention is applied to the assembling device for the irregular circumferential material; a first matching structure is arranged at the circumferential position of the circumferentially irregular material; the working method comprises the following steps: controlling the friction rotating mechanism to rotate at least one circle, wherein the circumferential irregular material at the first material position is in friction fit with the friction fit surface to be driven to rotate; the rotation stopping mechanism is in limit fit with the first fit structure so that the circumferentially irregular material is kept at a first angle position; controlling the detection rotating mechanism to rotate at least one circle from the initial angle position, and keeping the detection by the detection module, wherein the detection rotating mechanism passes through the target angle position in the process, and when the detection rotating mechanism is positioned at the target angle position, the floating piece is matched with a second matching structure of the material to be assembled positioned in the second material position; determining angle difference data between the target angle position and the initial angle position according to the torque change data from the detection module; and controlling the friction rotating mechanism according to the angle difference data to drive the circumferentially irregular material to rotate from the first angle position to the second angle position.
According to the assembling device, the working method can enable the azimuth angles of the circumferential irregular materials and the materials to be assembled to be consistent through detection and rotation adjustment even though the azimuth angles of the circumferential irregular materials and the materials to be assembled are random, automatic assembly is achieved, and production efficiency is effectively improved.
Drawings
Fig. 1 is a first schematic diagram of a process for assembling a circumferentially irregular material with a material to be assembled in the background art.
Fig. 2 is a second schematic diagram of the assembly process of the circumferentially irregular material and the material to be assembled in the background art.
Fig. 3 is a view showing a first view angle of a first embodiment of the assembling apparatus for the circumferentially irregular material according to the present invention.
Fig. 4 is a view showing a construction of a second view angle of the first embodiment of the assembling apparatus for the circumferential irregular material according to the present invention.
Fig. 5 is an enlarged view at a in fig. 4.
Fig. 6 is an enlarged view of the movable member at a in fig. 4 in a spread state.
Fig. 7 is an enlarged view at B in fig. 4.
Fig. 8 is a schematic view of a first embodiment of the assembling device for irregular materials and a first matching state of a clutch.
Fig. 9 is a schematic view showing a first embodiment of the assembling device for the irregular materials with the circumference and a second matching state of the clutch.
Fig. 10 is a schematic view showing a first mating state of the first embodiment of the assembling device for irregular materials and the reel.
FIG. 11 is a schematic view showing a first embodiment of the assembling device for irregular materials and a second matching state of the reel.
Fig. 12 is a schematic view of a second embodiment of the device for assembling a circumferentially irregular material according to the present invention.
Fig. 13 is a schematic view showing the assembly device for the irregular circumferential material according to the second embodiment of the present invention.
Fig. 14 is a schematic view showing the assembly device for irregular materials according to the second embodiment of the present invention, which cooperates with the materials to be assembled.
Detailed Description
Assembling device for circumferentially irregular materials
Referring to fig. 1 to 3, the assembling device of the circumferential irregular material of the present embodiment is used to complete the assembled connection between the clutch 92 and the reel 91. The assembling device comprises a motor 11, a friction rotating mechanism 2, a detection rotating mechanism 3, a rotation stopping mechanism 4, a linear cylinder 51 and a pushing piece 52, wherein the motor 11 and the linear cylinder 51 are respectively a rotation driving unit and a linear driving unit of the invention, and a detection module is arranged in the motor 11 to detect the torque of an output shaft of the motor 11.
The motor 11, the friction rotating mechanism 2, the detection rotating mechanism 3, the linear cylinder 51, the pushing piece 52 and the like of the assembling device are all connected to a triaxial translation device through a connecting seat 13, so that the part of the assembling device except the rotation stopping mechanism 4 has lifting and two-way horizontal movement capability. In this embodiment, the rotation stopping mechanism 4 is fixedly arranged. Of course, in other embodiments, the rotation stopping mechanism 4 may be mounted on a movable device.
Referring to fig. 3 and 4, the main body of the motor 11 is fixedly connected to the connection base 13, and the output shaft of the motor 11 is vertically disposed and protrudes downward. The detection rotating mechanism 3 is in a long shaft shape, and the detection rotating mechanism 3 is coaxially and rotatably connected with an output shaft of the motor 11 through a coupler. The detection rotating mechanism 3 can rotate along the second axis under the drive of the motor 11.
The linear air cylinder 51 and the motor 11 are arranged side by side along the horizontal direction, the main body of the linear air cylinder 51 is fixedly connected to the connecting seat 13, the piston rod of the linear air cylinder 51 is vertically arranged and extends downwards, and the long-strip-shaped pushing piece 52 is connected to the piston rod of the linear air cylinder 51 and extends downwards.
Referring to fig. 3 to 5, the friction rotating mechanism 2 includes a sleeve member 21 and a pair of movable members 22. The connecting seat 13 comprises a rotating seat 131, the detecting rotating mechanism 3 passes through the rotating seat 131 from top to bottom, the sleeve member 21 is rotatably arranged on the rotating seat 131 along a first axle center 209 through a bearing group, the first axle center 209 is vertical, and the sleeve member 21 is driven to rotate by the motor 11 through the belt transmission assembly 12. Therefore, in the present embodiment, the detection rotation mechanism 3 and the friction rotation mechanism 2 are both driven by the motor 11.
With continued reference to fig. 4-6, two movable members 22 are disposed vertically and extend downward, with the two movable members 22 being symmetrically disposed on opposite sides of the first axis 209 and being slidably mounted on the sleeve member 21 both in a horizontal direction and in a radial direction of the first axis 209. The elongated pusher 52 extends downward and abuts the two movable members 22 after being inserted into the central hole of the sleeve member 21.
Further, a conical first abutment surface 521 is provided at the bottom end of the pushing member 52, and the conical first abutment surface 521 is a rotation surface of the present invention disposed inclined to the first axis 209; the movable member 22 has a second contact surface 221 provided on an upper portion thereof, the second contact surface 221 being inclined with respect to the first axis 209, and the first contact surface 521 being in contact with the second contact surfaces 221 of the two movable members 22.
In comparison between fig. 5 and 6, when the linear cylinder 51 is driven to move the pusher 52 downward, the movable member 22 can be moved in the radial direction of the first axial center 209 while facing away from the first axial center 209 by the abutting engagement of the first abutting surface 521 and the second abutting surface 221, and the two movable members 22 can be changed to the expanded state.
Referring to fig. 6, preferably, a blocking portion or a blocking member 53 is provided on the sleeve member 21, the blocking portion or the blocking member 53 being disposed opposite to the movable member 22 in the horizontal direction, and a pressure spring 54 being provided between the blocking portion or the blocking member 53 and the movable member 22. After the pushing member 52 is moved upward by the driving of the linear cylinder 51, the movable member 22 can be moved in the direction approaching the first axis 209 and in the radial direction of the first axis 209 by the restoring force of the pressure spring 54, so that the two movable members 22 are changed to the original folded state.
Referring to fig. 5 and 8, the two movable members 22 of the friction rotating mechanism 2 are used to be inserted into the inner Zhou Tongkong of the clutch 92 and frictionally engage with the second inner peripheral surface 922 of the clutch 92 to rotate the clutch 92 in synchronization, and in addition, the friction rotating mechanism 2 also serves as a robot for carrying the clutch 92. For this reason, the outer periphery of the movable members 22 becomes the first material position 200 where the clutch 92 is located, and both the movable members 22 have outer side surfaces 222 facing away from the first axial center 209, and the outer side surfaces 222 are arc surfaces, and are friction fit surfaces facing the first material position 200 of the present invention, and when the distance between the two movable members 22 is constant, the outer side surfaces 222 of the two movable members 22 are on the same cylindrical surface having the same diameter as the second inner circumferential surface 922 of the clutch 92, and therefore can be bonded to the second inner circumferential surface 922.
The two movable members 22 in the collapsed state can be easily inserted into the inner portion Zhou Tongkong of the clutch 92 from above, and then the two movable members 22 are controlled to be changed to the expanded state, the outer side surfaces 222 of the two movable members 22 are kept in contact with the second inner peripheral surface 922 of the clutch 92, and static friction between them becomes a driving force for the friction rotating mechanism 2 to rotate the clutch 92.
In comparison with fig. 8 and 9, two clamping protrusions 921 are symmetrically arranged on the outer peripheral surface of the clutch 92, the clamping protrusions 921 are first matching structures on circumferential positions of circumferentially irregular materials, when the triaxial translation device drives the friction rotating mechanism 2 to move to an adjustment station, the rotation stopping component 41 protruding on the rotation stopping mechanism 4 and the friction rotating mechanism 2 are located on the periphery of the friction rotating mechanism 2 at intervals, when the friction rotating mechanism 2 drives the clutch 92 to rotate by a certain angle, the rotation stopping component 41 stops the clamping protrusions 921 from the circumferential direction of the first axle center 209, at the moment, the clutch 92 does not rotate any more and is kept at a first angular position, and the clutch 92 and the friction rotating mechanism 2 which continues to rotate slide.
Referring to fig. 4 and 7, the detecting rotation mechanism 3 includes a main body member 31 and a floating member 32, the main body member 31 is substantially cylindrical and the bottom end is in a truncated cone shape, the main body member 31 includes a second outer peripheral surface 310, the floating member 32 floatably protrudes from the second outer peripheral surface 310 along the radial direction of the main body member 31, the outer periphery of the second outer peripheral surface 310 is a second material position 300 where the spool 91 is located at the time of detection, and the floating member 32 is opposite to the second material position 300. Referring to fig. 11, in the present embodiment, the maximum protrusion height of the floating member 32 is small with respect to the second outer peripheral surface 310 of the main body member 31 to avoid interference jamming.
Referring to fig. 10 and 11, the reel 91 is a material to be assembled, the reel 91 has an inner side Zhou Tongkong and a second inner peripheral surface 912 thereof is provided with two clamping grooves 911 symmetrically arranged along the axis of the reel, and the clamping grooves 911 are second matching structures at the circumferential position of the material to be assembled according to the present invention. The detecting rotating mechanism 3 can be inserted into the inner Zhou Tongkong of the scroll 91 from above under the driving of the triaxial translation device, and the detecting rotating mechanism 3 rotates relative to the scroll 91 under the driving of the motor 11, and the floating member 32 is in friction fit with the second inner peripheral surface 912 in the rotating process, so that the magnitude of the friction force between the floating member 32 and the scroll 91 affects the magnitude of the torque born by the output shaft of the motor 11.
When the two floating members 32 are in an unpressed state, the maximum diameter of the detection rotating mechanism 3 at the position where the two floating members 32 are arranged is slightly larger than the inner diameter of the second inner peripheral surface 912 of the spool 91, therefore, when the detection rotating mechanism is inserted into the inner Zhou Tongkong of the clutch 92 and the floating member 32 is opposite to the second inner peripheral surface 912, as shown in fig. 10, the floating member 32 will be pressed and contracted, and the friction force between the floating member 32 and the second inner peripheral surface 912 is larger under the restoring force of the elastic restoring member.
When comparing fig. 10 and fig. 11, when the detecting rotation mechanism 3 continues to rotate relative to the spool 91 to reach the position where the floating member 32 is opposite to the clamping groove 911, the floating member 32 extends to the maximum protrusion height under the force of the elastic restoring member, and at this time, the floating member 32 is disengaged from the surface of the spool 91, and the friction force between the floating member 32 and the spool 91 is instantaneously reduced or eliminated, so that the torque borne by the output shaft of the motor 11 is reduced.
Working method of assembly device for circumferentially irregular materials
The working method of the assembling device is applied to the assembling device for the circumferentially irregular materials.
With reference to fig. 1 and 2, before the working method is carried out, the reel 91 has been placed in a fixed position of the box 900, the box 900 with the reel 91 thereon is sent to the inspection and assembly station, and then the clutch 92 is also sent by the conveyor line to a position that can be grasped by the friction rotating mechanism 2, which can be a position other than the adjustment station or the adjustment station; the rotation stopping mechanism 4 is opposite to the adjusting station.
The working method comprises the following steps:
first, in a first angle adjustment step, the clutch 92 is adjusted to zero.
In the first angle adjustment step, referring to fig. 8 and 9, after the two movable members 22 in the folded state are inserted into the inner portion Zhou Tongkong of the clutch 92 from above, the two movable members 22 are controlled to be changed to the open state, and the outer side surfaces 222 of the two movable members 22 are frictionally engaged with the second inner peripheral surface 922 of the clutch 92. Then, the friction rotating mechanism 2 is controlled to rotate for one circle, and the clutch 92 is driven to rotate synchronously under the friction force until the rotation stopping part 41 stops the blocking protrusion 921 from the circumference of the first axle center 209, and at this time, the clutch 92 is not rotated any more and is kept at the first angle position.
Second, a torque detecting step is performed to detect a torque change of the output shaft of the motor 11.
The torque detection step may be performed before the first angle adjustment step, simultaneously with the first angle adjustment step, or after the first angle adjustment step, where the execution sequence between the torque detection step and the first angle adjustment step does not affect the subsequent steps.
In the torque detection step, referring to fig. 10 and 11, after the detection rotation mechanism 3 is driven to rotate to the initial angle position, the detection rotation mechanism 3 is driven by the triaxial translation device to be inserted into the inner Zhou Tongkong of the reel 91 from above, and the detection rotation mechanism 3 is driven by the motor 11 to rotate for one circle relative to the reel 91 from the initial angle position, and the detection module keeps detecting the torque of the motor 11, and the detection rotation mechanism 3 passes through the target angle position in the process of rotating for one circle.
When the detecting rotation mechanism 3 shown in fig. 10 is at the initial angular position and the floating member 32 is opposite to the second inner peripheral surface 912, the floating member 32 makes the friction force between the floating member 32 and the second inner peripheral surface 912 larger under the action of the elastic restoring member force. The initial angular position of the detecting rotation mechanism 3 should be a position matching the first angular position where the clutch 92 is located, more specifically, the initial angular position of the detecting rotation mechanism 3 should be an azimuth angle consistent with the first angular position where the clutch 92 is located, in this embodiment, the angle between the initial angular position of the detecting rotation mechanism 3 and the y-axis is α, and the angle between the first angular position where the clutch 92 is located and the y-axis is also α when comparing fig. 9 and 10.
The detection rotating mechanism 3 shown in fig. 11 is at the target angle position, at this time, the floating member 32 is opposite to the clamping groove 911, the floating member 32 is disengaged from the surface of the spool 91, and the friction between the floating member 32 and the second inner circumferential surface 912 is instantaneously reduced, so that the torque borne by the output shaft of the motor 11 is obviously changed.
In the process of detecting one rotation of the rotating mechanism 3, the detecting module can continuously detect the torque data set, namely the torque change data of the present invention, in this embodiment, the torque change data includes a plurality of torque data with equal detection time intervals, wherein the torque change data includes basic torque data for determining an initial angle position and obvious change torque data for determining a target angle position from the torque change data, and the obvious change torque data can be obtained by judging whether a difference value between one torque data and the basic torque data exceeds a preset value.
Then, in one embodiment, the total number of the torque data in the torque variation data and the ordinal number of the obviously-varying torque data in the plurality of torque data are combined to calculate and generate the angle beta rotated by the detection rotating mechanism 3 from the initial angle position to the target angle position, wherein the angle beta is the angle difference data of the invention.
Third, a second angle adjustment step is performed to adjust the clutch 92 to coincide with the azimuth angle of the spool 91.
After the clutch 92 is grabbed by the friction rotating mechanism 2 and conveyed to a position which is separated from the limit of the rotation stopping mechanism 4, the clutch 92 is driven by the friction rotating mechanism 2 to rotate by an angle beta from a first angle position as a starting point and reach a second angle position in the process of conveying the friction rotating mechanism 2 to an assembly station.
Fourth, in the assembling step, the friction rotating mechanism 2 reaches the assembling station and is located right above the reel 91, at this time, the orientation angle of the clamping protrusion 921 on the clutch 92 is identical to the orientation angle of the clamping groove 911 on the reel 91, and the friction rotating mechanism 2 moves downwards, so that the clutch 92 and the reel 91 can be assembled to enable the clamping protrusion 921 to be matched with the clamping groove 911. Finally, the movable part 22 of the friction rotating mechanism 2 is retracted and the clutch 92 is released.
It should be noted that in the process of assembling the irregular circumferential material to be solved in the present invention, in practice, the technical difficulty is that the azimuth angle of the material to be assembled is not only random, but also the material to be assembled is sent to the assembling station for assembling the irregular circumferential material in a state of being already installed in one product body (for example, the reel 91 sent to the assembling station is already installed in the box 900 in the present embodiment), so that the material to be assembled cannot be rotationally adjusted by adopting the friction rotating mechanism and the rotation stopping mechanism corresponding to the irregular circumferential material component. Therefore, the assembly between the circumferentially irregular material and the material to be assembled is carried out on the premise that the azimuth angle of the material to be assembled is random and not adjustable.
In other embodiments, as shown in fig. 12, the irregular circumferential material 93 is axially abutted with the material 94 to be assembled, the first mating structure 931 of the irregular circumferential material 93 extends from an axial end face thereof, the second mating structure 941 of the material 94 to be assembled is recessed from an axial end face thereof, and the irregular circumferential material 93 and the material 94 to be assembled are both solid non-hollow structures.
With this arrangement, as shown in fig. 13, corresponding to the circumferentially irregular material 93, the inner circumferential space of the two movable members on the friction rotating structure 61 is used as the first material position of the present invention, the inner side surface 611 of the movable member is used as the friction engaging surface of the present invention to be friction engaged with the first cylindrical surface 931 of the outer circumference of the circumferentially irregular material 93, and the rotation stopping mechanism 62 is provided with a rotation stopping member 62 having a smaller height to be rotation stopped engaged with the first engaging structure 931.
With this arrangement, as shown in fig. 14, a floating member 631 at a circumferential position of the detection turning mechanism 63 is provided on an axial end face of the detection turning mechanism 63 main body, corresponding to the material 94 to be assembled.
In the present invention, the "circumferential position" refers to a position on the outer periphery of the corresponding axial center, that is, a position other than the position where the corresponding axial center is located, and therefore, the circumferential position means not only a position on the outer peripheral surface of one object but also a position on the outer periphery of the axial center at the axial end as shown in fig. 13 and 14.
In addition, in the description of the "floatable arrangement" of the floating member in the present invention, the "floatable arrangement" means that the floating member is kept at an initial position in a state of not receiving an external force, but the floating member is moved away from the initial position after receiving the external force and obtains a reaction force tending to return to the initial position, and the floating member returns to the initial position under the reaction force once the external force is lost. The floatable technical means can be that the floating piece has elastic deformation capacity, and the floating piece is elastically deformed and stores energy to generate the reaction force after being extruded; an elastic member such as a pressure spring or a torsion spring is arranged between the main body member and the floating member, and the elastic member is extruded and deformed to store energy and generate the reaction force after the floating member moves; or by providing two opposing magnets.
In other embodiments of the assembly device, the friction rotating mechanism is driven by another motor.
In other embodiments of the method of operation, in the torque sensing step, the sensing rotation mechanism need not be adjusted to the initial angular position prior to moving the sensing rotation mechanism and bringing the float member into frictional contact with the material to be assembled. After the torque change data is obtained, basic torque data corresponding to the initial angle position can be identified according to a preset rule.
Finally, it should be emphasized that the foregoing description is merely illustrative of the preferred embodiments of the invention, and that various changes and modifications can be made by those skilled in the art without departing from the spirit and principles of the invention, and any such modifications, equivalents, improvements, etc. are intended to be included within the scope of the invention.
Claims (5)
1. The equipment device of circumference irregular material, its characterized in that includes:
the friction rotating mechanism rotates around the axis and comprises a friction matching surface, wherein a first material position for placing a circumferentially irregular material is arranged at the opposite position of the friction matching surface;
the rotation stopping mechanism is used for blocking the first material position from the circumferential direction of the axle center;
a rotation driving unit and a detection module for detecting torque of the rotation driving unit;
the detection rotating mechanism is driven by the rotation driving unit and comprises a main body part and a floating part, the floating part can floatably protrude from the circumferential position of the main body part, a second material position is arranged at the opposite position of the floating part, and in the rotation process of the detection rotating mechanism, the floating part is in friction fit with the inner circumferential surface of a material to be assembled, which is fixed at the second material position;
the main body piece comprises a second peripheral surface, the floating piece can be raised on the second peripheral surface in a floating way, and the second material level is positioned on the periphery of the second peripheral surface;
the friction rotating mechanism is driven by the rotating driving unit;
the friction rotating mechanism comprises at least two movable components which are arranged along the circumferential direction of the axle center, the movable components are provided with outer side surfaces which are opposite to the axle center, the friction matching surfaces are arranged on the outer side surfaces, and the movable components can be far away from or close to the axle center;
the friction rotating mechanism further comprises a sleeve member, the movable part is slidably arranged on the sleeve member along the radial direction of the axle center, and the rotating driving unit drives the sleeve member to rotate.
2. The apparatus for assembling circumferentially irregular materials according to claim 1, wherein:
the device also comprises a linear driving unit and a pushing piece, wherein the pushing piece can move along the axial direction of the axle center and push the movable part to move along the radial direction of the axle center under the driving of the linear driving unit;
the pushing piece is provided with a first abutting surface, the movable part is provided with a second abutting surface, the first abutting surface is abutted with the second abutting surface, and the first abutting surface is arranged obliquely to the axle center and/or the second abutting surface is arranged obliquely to the axle center;
the pushing piece is located in the central hole of the sleeve piece, and the first abutting surface is set to be a rotating surface and abuts against the second abutting surfaces of the movable components.
3. The assembly device of circumferentially irregular materials according to claim 1 or 2, wherein:
two or more floating members are uniformly distributed on the outer periphery of the second peripheral surface of the main body member.
4. The assembly device of circumferentially irregular materials according to claim 1 or 2, wherein:
the detection module is arranged in the rotation driving unit.
5. The working method of the assembling device for the circumferentially irregular materials is characterized by comprising the following steps of:
the working method is applied to the assembly device of the circumferentially irregular material according to any one of the claims 1 to 4;
a first matching structure is arranged at the circumferential position of the circumferentially irregular material, a second matching structure is arranged on the material to be assembled, and the first matching structure is used for matching with the second matching structure;
the working method comprises the following steps:
controlling the friction rotating mechanism to rotate at least one circle, wherein the circumferential irregular material at the first material position is in friction fit with the friction fit surface to be driven to rotate;
the rotation stopping mechanism is in limit fit with the first fit structure so that the circumferentially irregular material is kept at a first angle position;
controlling the detection rotating mechanism to rotate at least one circle from an initial angle position, and keeping detection by the detection module, wherein the detection rotating mechanism passes through a target angle position in the process, and when the detection rotating mechanism is positioned at the target angle position, the floating piece is matched with a second matching structure of a material to be assembled positioned in the second material position;
determining angular difference data between the target angular position and the initial angular position according to torque variation data from the detection module;
and controlling the friction rotating mechanism to drive the circumferentially irregular material to rotate from the first angle position to the second angle position according to the angle difference data.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310520559.6A CN116551342B (en) | 2023-05-09 | 2023-05-09 | Assembling device for circumferentially irregular materials and working method thereof |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202310520559.6A CN116551342B (en) | 2023-05-09 | 2023-05-09 | Assembling device for circumferentially irregular materials and working method thereof |
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| CN116551342B true CN116551342B (en) | 2024-04-05 |
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| FR2861622A1 (en) * | 2003-10-29 | 2005-05-06 | Process Conception Ing Sa | Valve mounting method for engines cylinder head, involves inserting valve stem into valve seat till lower part of jaw contacts with outer part of seat so that axis of stem is centered on seat |
| CN103240589A (en) * | 2013-05-31 | 2013-08-14 | 台州迈得医疗工业设备股份有限公司 | Edge face positioning device of medical needle |
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| CN115476138A (en) * | 2022-09-07 | 2022-12-16 | 四川航天川南火工技术有限公司 | Automatic device and method for blind installation and plugging of initiating explosive transducer assembly |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2019175945A1 (en) * | 2018-03-12 | 2019-09-19 | 株式会社Ｆｕｊｉ | Component mounting machine |
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Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2861622A1 (en) * | 2003-10-29 | 2005-05-06 | Process Conception Ing Sa | Valve mounting method for engines cylinder head, involves inserting valve stem into valve seat till lower part of jaw contacts with outer part of seat so that axis of stem is centered on seat |
| CN103240589A (en) * | 2013-05-31 | 2013-08-14 | 台州迈得医疗工业设备股份有限公司 | Edge face positioning device of medical needle |
| CN112571038A (en) * | 2019-09-29 | 2021-03-30 | 廊坊金润奥通智能装备有限公司 | Aligning and conveying device for brake disc hub |
| CN115476138A (en) * | 2022-09-07 | 2022-12-16 | 四川航天川南火工技术有限公司 | Automatic device and method for blind installation and plugging of initiating explosive transducer assembly |
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| CN116551342A (en) | 2023-08-08 |
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Effective date of registration: 20231215 Address after: 519000 Yunxi Valley Digital Industrial Park, No. 168 Youyou Road, Xiangzhou District, Zhuhai City, Guangdong Province (Block B, Meixi Commercial Plaza), 5th floor, 5-451 (centralized office area) Applicant after: Zhuhai Kaiyue Intelligent Equipment Co.,Ltd. Address before: 519000 room 103-029, 1st floor, building 1, No. 18 Futian Road, Xiangzhou District, Zhuhai City, Guangdong Province (centralized office area) Applicant before: ZHUHAI QUIN TECHNOLOGY Co.,Ltd. |
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