CN117124078A - Automatic assembling equipment of rotating shaft structure - Google Patents
Automatic assembling equipment of rotating shaft structure Download PDFInfo
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- CN117124078A CN117124078A CN202311394924.XA CN202311394924A CN117124078A CN 117124078 A CN117124078 A CN 117124078A CN 202311394924 A CN202311394924 A CN 202311394924A CN 117124078 A CN117124078 A CN 117124078A
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- 230000005540 biological transmission Effects 0.000 claims abstract description 19
- 239000000463 material Substances 0.000 claims description 114
- 230000002441 reversible effect Effects 0.000 claims description 10
- 230000033001 locomotion Effects 0.000 claims description 9
- 230000007306 turnover Effects 0.000 claims description 7
- 230000000007 visual effect Effects 0.000 claims description 7
- 230000005571 horizontal transmission Effects 0.000 claims description 5
- 238000000034 method Methods 0.000 claims description 5
- 230000008569 process Effects 0.000 claims description 5
- 239000011265 semifinished product Substances 0.000 claims description 5
- 238000013461 design Methods 0.000 claims description 4
- 238000012546 transfer Methods 0.000 claims description 4
- 239000000969 carrier Substances 0.000 claims description 3
- 238000004519 manufacturing process Methods 0.000 abstract description 7
- 239000000047 product Substances 0.000 description 13
- 230000036544 posture Effects 0.000 description 5
- 238000003780 insertion Methods 0.000 description 4
- 230000037431 insertion Effects 0.000 description 4
- 238000004891 communication Methods 0.000 description 3
- 230000007547 defect Effects 0.000 description 3
- 238000009434 installation Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 238000012797 qualification Methods 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 1
- 239000000109 continuous material Substances 0.000 description 1
- 238000013016 damping Methods 0.000 description 1
- 239000000835 fiber Substances 0.000 description 1
- 230000014509 gene expression Effects 0.000 description 1
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- 238000012986 modification 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
- B23P21/00—Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with programme control
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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
- B23P19/001—Article feeders for assembling machines
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Abstract
The application relates to automatic assembly equipment of a rotating shaft structure, which comprises a rack, a transmission device and an assembly device. On one hand, the application can realize the sequential automatic assembly of all parts of the rotating shaft structure, greatly reduce the labor cost, lighten the labor intensity and effectively improve the production efficiency; on the other hand, the automatic adjustment and alignment of each part of the rotating shaft structure in the assembly can be realized, the assembly precision is improved, the product yield is effectively improved, the phenomenon that alignment deviation occurs between a plurality of shaft cores and between the upper cam piece and the lower cam piece in a matched mode with the end faces of the left gear arm and the right gear arm is avoided, and the rotating shaft structure achieves required overturning synchronism and torsion values.
Description
Technical Field
The application belongs to the technical field of rotating shaft assembly, and particularly relates to automatic assembly equipment of a rotating shaft structure.
Background
The rotating shaft structure is a connecting element capable of providing a mutual conversion function, and is mainly applied between a rotating part and a base body, for example, the folding and unfolding of a flexible screen on electronic equipment.
At present, the existing rotating shaft structure product is formed by assembling a shaft core, a connecting plate, a spring, a lower cam plate, a left gear arm, a left gear, a right gear arm, an upper cam plate and a clamp spring. Meanwhile, the product has very small size (the overall dimension of the finished product is 20 mm-13 mm-3 mm, the diameter of the individual product such as an axle core is only 0.7 mm), and the assembly precision requirement is high, and for this reason, the industry generally adopts a manual line assembly mode, namely, 8-10 workers carry out manual assembly for 1 production line.
However, in the above assembly implementation, the following problems often occur:
1) The manual assembly mode is adopted, so that the operation skill requirement and the proficiency requirement of workers are high, and the workers are required to keep high concentration for a long time, therefore, in the actual production process, the manual assembly mode has high labor cost, high labor intensity and low production efficiency, and the manual operation is easy to miss, and has higher probability that the assembly error exceeds the technological requirement, so that the product yield is low;
2) Once the adopted shaft cores are multiple, and relative rotation of the left gear arm and the right gear arm is realized in a gear transmission mode, once alignment deviation occurs in gear alignment, the formed turnover synchronization degree is poor, the qualification rate of products is low, and the required torsion value cannot be reached;
3) The upper cam plate, the lower cam plate and the end faces of the left gear arm and the right gear arm are matched to generate alignment deviation in the assembly process, so that the overturning synchronism and the finally formed torsion value are further affected.
Disclosure of Invention
The application aims to solve the technical problem of overcoming the defects of the prior art and providing automatic assembly equipment with a brand new rotating shaft structure.
In order to solve the technical problems, the application adopts the following technical scheme:
automatic equipment of pivot structure, pivot structure include axle core, connecting plate, spring, lower cam piece, left gear arm, left gear, right gear arm, go up cam piece and jump ring, and equipment includes: a frame; the transmission device is positioned on the frame, and the top surface of the transmission device forms a horizontal transmission surface, wherein a plurality of assembling carriers are arranged on the transmission surface; the assembling device comprises a plurality of assembling units which are sequentially arranged along a horizontal transmission surface, in the process of assembling the shaft cores and the connecting plates, the corresponding assembling units comprise assembling frames and first manipulators, wherein the connecting plates are transferred onto the assembling frames by the first manipulators, the inserting holes on the connecting plates extend up and down, the shaft cores are transferred by the first manipulators one by one, so that the shaft core bodies of the shaft cores downwards penetrate through the corresponding inserting holes on the connecting plates, shaft caps of the shaft cores are erected on the connecting plates, and the assembling frames can also be turned up and down and can be abutted against the end surfaces of the shaft caps to limit the shaft cores from being separated from the connecting plates; the left gear arm, the left gear, the right gear and the right gear arm are assembled in sequence, the corresponding assembly units comprise a visual lens and a second manipulator, the second manipulator drives the left gear arm, the left gear, the right gear and the right gear arm to rotate around the central line of the shaft core body of the corresponding plug-in assembly respectively based on the tooth position acquired by the visual lens so as to be engaged in an aligned manner, and the end surfaces of the upper cam plate, the lower cam plate, the left gear arm and the right gear arm are matched in the length direction of the shaft core and are engaged up and down; and each assembly unit is used for assembling each part of the rotating shaft structure relatively, and after one-time assembly is completed, the semi-finished product is transferred to the assembly carrier and is moved to the next assembly unit along with transmission.
Preferably, the assembly frame comprises a frame body, clamping jaws and a turnover power piece, wherein when the assembly frame is assembled, the first mechanical arm horizontally places the connecting plate on the clamping jaws to clamp, the shaft core is inserted on the connecting plate from top to bottom, and the turnover power piece drives the clamping jaws to turn up and down around a horizontal central line. The clamping jaw can be used for rapidly clamping and loosening the connecting plate, and the operation is simple.
Further, the assembly frame also comprises a material baffle plate, and the material baffle plate is positioned above the connecting plate and avoids the connecting plate in the vertical direction during assembly; after the assembly is completed, the clamping jaw is turned up and down, and the striker plate is positioned right below the connecting plate to block the shaft core from falling. In the overturning process, the striker plate can effectively prevent the shaft core from falling off from the connecting plate under the inertia effect.
According to a specific implementation and preferred aspect of the present application, the assembling device further includes a plurality of feeding units disposed on the frame and sequentially disposed along the horizontal transmission surface, and the plurality of feeding units sequentially correspond to the supply shaft core, the connection plate, the spring, the lower cam plate, the left gear arm, the left gear, the right gear arm, the upper cam plate and the clamp spring, wherein the first manipulator has one feeding unit and is located between the shaft core and the feeding unit corresponding to the connection plate; two second manipulators are arranged, one second manipulator is arranged between the left gear arm and the corresponding feeding unit of the left gear, and the other second manipulator is arranged between the right gear and the corresponding feeding unit of the right gear arm. Here, not only realize each part automatic continuous material loading and equipment, further promote degree of automation, practice thrift the human cost; and through the layout of the manipulator and each feeding unit, the movement stroke of the manipulator can be reduced, and the assembly efficiency and the assembly precision of each part are improved.
Preferably, the feeding unit corresponding to the shaft core comprises a shaft core feeding vibration disc, a material guiding part which is connected with the shaft core feeding vibration disc from one end and is provided with a material guiding channel, and a material receiving part which is connected with the other end of the material guiding part and is provided with a material receiving channel, wherein the shaft cores are sequentially arranged on the material guiding channel after moving from the shaft core feeding vibration disc to the material guiding channel one by one, the material guiding part can horizontally vibrate and drive the shaft cores to enter the material receiving channel from the material guiding channel one by one, and the first mechanical arm grabs the shaft cores from the material receiving channel. Here, the axle core of self-vibration dish output can adjust the gesture and input material receiving channel under the flat shake of guide channel to guarantee that the gesture of axle core keeps unanimous when getting the material at every turn, the manipulator of being convenient for is accurate gets material and equipment.
Specifically, be equipped with full material sensor on the guide part, when full material sensor detects that the axle core quantity reaches the design value on the guide passageway, axle core feeding vibration dish stops the feed. Here, can open or stop the feeding of axle core according to actual equipment speed voluntarily, guarantee that the feeding speed of axle core and manipulator get material and equipment speed phase-match.
Preferably, the material receiving part comprises a material receiving seat formed with a material receiving channel, a first clamping block, a second clamping block and a jacking piece, wherein the first clamping block and the second clamping block are arranged on the material receiving seat and are positioned on two opposite sides of the material receiving channel, the jacking piece is arranged below the material receiving seat, a positioning groove matched with a shaft core body of the shaft core is formed between the first clamping block and the second clamping block, the shaft core is hung in the material receiving channel from a shaft cap, the shaft core body is inserted in the positioning groove, and during feeding, the jacking piece drives the shaft core to move upwards. Here, through the cooperation of first clamp splice and second clamp splice, guarantee that every axle core is fixed a position accurately, simultaneously through upwards ejecting the axle core, make things convenient for the manipulator to get the material.
Specifically, the jacking piece includes jacking seat, upper and lower sliding connection jacking module on the jacking seat, is used for driving the jacking power piece of jacking module, with jacking module synchronous motion's auxiliary module, wherein along with jacking module's motion, auxiliary module is synchronous to drive first clamp splice and second clamp splice to be close to or keep away from. In some embodiments, the second clamping block is elastically connected to the receiving seat and has a movement tendency approaching to the first clamping block; the auxiliary module and the second clamping block are provided with matched inclined planes, when the jacking module moves upwards, the two inclined planes are gradually separated, the second clamping block is relatively close to the first clamping block, and the second clamping block is intercepted between the material guide channel and the material receiving channel; when the jacking module moves downwards, the two inclined planes are gradually abutted, the second clamping block is relatively far away from the first clamping block, and the material guide channel is communicated with the material receiving channel. When the manipulator takes materials, the material receiving channel and the material guiding channel can be automatically separated, and the interference caused by the fact that the inner core in the material guiding channel enters the material receiving channel to take materials by the manipulator is avoided; meanwhile, through resetting of the jacking module, the automatic communication between the material guide channel and the material receiving channel is realized, so that the inner core in the material guide channel is continuously input into the material receiving channel.
Further, a plurality of inserting grooves are formed in the inner side of the first clamping block and distributed at intervals along the extending direction of the material receiving channel, a plurality of inserting parts are arranged in the inner side of the second clamping block, the inserting parts can be inserted in the inserting grooves in a one-to-one correspondence mode, and a positioning groove is formed between every two adjacent inserting parts. Here, each shaft core is ensured to be positioned accurately in the material receiving channel.
According to a further specific implementation and preferred aspect of the application, the vision lens comprises a first camera arranged on one side of the transfer device for taking pictures of the components to be assembled, a second camera arranged on the second manipulator for taking pictures of the assembled components on the assembly carrier. Here, when the manipulator gets the material, shoot the part that waits to assemble by first camera, and during the equipment, shoot the part that has assembled by the second camera again, through carrying out analysis contrast to the result of twice shooting, the second manipulator adjustment waits to assemble the part and assemble, easy operation is convenient for implement.
Further, the conveying device includes a forward conveying belt and a reverse conveying belt formed with horizontal conveying surfaces, wherein the forward conveying belt and the reverse conveying belt are connected from end portions, and the assembly carriage reciprocates between the forward conveying belt and the reverse conveying belt.
Due to the implementation of the technical scheme, compared with the prior art, the application has the following advantages:
the existing rotating shaft structure adopts a manual assembly mode, has the defects of high labor cost, high labor intensity, low production efficiency, low product yield, easy occurrence of gear alignment deviation, poor turnover synchronization degree, low product qualification rate, incapability of achieving required torsion and the like, and the application skillfully solves various defects and shortcomings in the prior art by carrying out integral design on automatic assembly equipment of the rotating shaft structure, sequentially carries out the insertion of a shaft core and a connecting plate after adopting the assembly equipment, carries out the installation of a spring and a lower cam plate after turning 180 degrees, sequentially carries out the alignment installation of a left gear arm, a left gear, a right gear and a right gear arm, adopts the matching of a mechanical arm and a visual lens, carries out the adjustment angle, and then sleeves a cam plate and a clamp spring, so that the end faces of an upper cam plate and a lower cam plate are matched and meshed, the assembly is completed under the required torsion, and after each assembly is completed, a semi-finished product is transferred to an assembly carrier and is moved to a next assembly unit along with the transmission until the assembly is a rotating shaft structure finished product, therefore, the application can reduce the labor intensity and the labor efficiency and the production efficiency is greatly realized compared with the prior art; on the other hand, the automatic adjustment and alignment of each part of the rotating shaft structure in the assembly can be realized, the assembly precision is improved, the product yield is effectively improved, the phenomenon that alignment deviation occurs between a plurality of shaft cores and between the upper cam piece and the lower cam piece in a matched mode with the end faces of the left gear arm and the right gear arm is avoided, and the rotating shaft structure achieves required overturning synchronism and torsion values.
Drawings
FIG. 1 is a schematic perspective view of a spindle structure according to the present application;
FIG. 2 is a schematic perspective view of an automatic assembling apparatus with a rotary shaft structure according to the present application;
FIG. 3 is an enlarged schematic view of the first partial structure of FIG. 2;
FIG. 4 is an enlarged schematic view of a second partial structure of FIG. 2;
fig. 5 is a schematic perspective view of a feeding unit corresponding to the shaft core;
FIG. 6 is an exploded and enlarged schematic view of the receiving member of FIG. 5;
FIG. 7 is a schematic perspective view of an assembly rack;
wherein: A. a rotating shaft structure; a0, an axle core; a00, a shaft cap; a01, a shaft core body; a1, connecting a plate; a2, a spring; a3, a lower cam plate; z, matching columns; z1, arching; z2, grooves; a4, a left gear arm; a5, a left gear; a6, a right gear; a7, a right gear arm; t0, arm body; t1, arm sleeve; t2, a rack; a8, an upper cam plate; a9, clamping springs;
B. automatic assembly equipment; 1. a frame; 2. a transmission device; 20. a forward transmission belt; 21. a reverse transmission belt; j. assembling a carrier; 3. assembling devices; 30. an assembling unit; 300. assembling a frame; a0, a frame body; a1, clamping jaws; a2, turning over the power piece; a3, a striker plate; 301. a first manipulator; 302. a second manipulator; 303. a visual lens; 3031. a first camera; 3032. a second camera; 304. a third manipulator; 305. a fourth manipulator; 31. a feeding unit; 310. a shaft core feeding vibration disc; 311. a material guiding component; b. full material sensing; 312. a receiving part; c0, receiving material seat; c00, a material receiving channel; c1, a first clamping block; c2, a second clamping block; c3, jacking piece; c30, jacking seats; c31, jacking the module; c32, lifting the power piece; c33, an auxiliary module.
Detailed Description
The present application will be described in detail with reference to the drawings and the detailed description, so that the above objects, features and advantages of the present application can be more clearly understood. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application. The present application may be embodied in many other forms than described herein and similarly modified by those skilled in the art without departing from the spirit of the application, whereby the application is not limited to the specific embodiments disclosed below.
In the description of the present application, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "up", "down", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present application and simplify the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present application.
Furthermore, the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present application, the meaning of "plurality" means at least two, for example, two, three, etc., unless specifically defined otherwise.
In the present application, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured" and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; either directly or indirectly, through intermediaries, or both, may be in communication with each other or in interaction with each other, unless expressly defined otherwise. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art according to the specific circumstances.
In the present application, unless expressly stated or limited otherwise, a first feature "up" or "down" a second feature may be the first and second features in direct contact, or the first and second features in indirect contact via an intervening medium. Moreover, a first feature "above" and "over" a second feature may be a first feature directly above or obliquely above the second feature, or simply indicate that the first feature is higher in level than the second feature. The first feature being "under," "under" and "beneath" the second feature may be the first feature being directly under or obliquely under the second feature, or simply indicating that the first feature is less level than the second feature.
It will be understood that when an element is referred to as being "fixed" or "disposed" on another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "up," "down," "left," "right," and similar expressions are used herein for illustrative purposes only and are not meant to be the only embodiment.
As shown in fig. 1, the rotating shaft structure a according to the present embodiment includes a shaft core A0, a connecting plate A1, a spring A2, a lower cam plate A3, a left gear arm A4, a left gear A5, a right gear A6, a right gear arm A7, an upper cam plate A8, and a clamp spring A9.
Specifically, the shaft core A0 is provided with a shaft cap a00 and a shaft core body a01, four insertion holes are formed on the connecting plate A1, the springs A2 are respectively sleeved on the shaft core body a01 at the left side and the right side, the lower end part of the springs A2 is abutted against the connecting plate A1, and the upper end part of the springs A2 is abutted against the lower cam piece 4 inserted on the shaft core body a 01; the lower cam piece A3 and the upper cam piece A8 are respectively sleeved on the four shaft core bodies A01 and are vertically symmetrical, wherein the lower cam piece A3 and the upper cam piece A8 respectively form a matching column z from two ends; the left gear arm A4, the left gear A5, the right gear A6 and the right gear arm A7 are respectively sleeved on the four shaft core bodies A01 and positioned between the lower cam piece A3 and the upper cam piece A8, the left gear arm A4 and the right gear arm A7 are symmetrically arranged and respectively comprise an arm body t0, an arm sleeve t1 formed on one side of the arm body t0 and a rack t2 arranged on the arm sleeve t1, the left gear arm A4, the left gear A5, the right gear A6 and the right gear arm A7 are sequentially meshed, and the upper end part and the lower end part of the arm sleeve t1 are respectively meshed with a matching column z of the lower cam piece A3 and the upper cam piece A8; the clamp springs A9 are respectively clamped at the end parts of the four shaft core bodies A01 and are abutted against the upper cam pieces A8.
At the same time, the matching ends of the matching column z and the arm sleeve t1 form arches z1 and grooves z2 which are circumferentially distributed at intervals around the matching ends and matched with each other.
As shown in fig. 2 to 7, the automatic assembling apparatus B for assembling the rotating shaft structure a includes a frame 1, a transmission device 2, and an assembling device 3.
Specifically, the frame 1 is a horizontally extending machine, wherein the top surface of the machine is an assembly area, and the bottom is an installation area of electrical equipment.
The conveying device 2 is arranged on the frame 1, and the top surface forms a horizontal conveying surface, wherein a plurality of assembled carriers j are arranged on the conveying surface. In some embodiments, the conveyor 2 includes a forward conveyor 20 and a reverse conveyor 21 formed with horizontal conveying surfaces, wherein the forward conveyor 20 and the reverse conveyor 21 are connected from end to end, and the assembly carriage j reciprocates between the forward conveyor 20 and the reverse conveyor 21; the assembling carrier j can be a clamping device with any structure, and the rotating shaft structure A is clamped on the assembling carrier j in a vertical posture.
The assembling device 3 includes a plurality of assembling units 30 and a plurality of feeding units 31, which are sequentially disposed along the horizontal transfer surface, respectively.
In this example, in the assembly of the shaft core A0 and the connecting plate A1, the corresponding assembly unit 30 includes an assembly frame 300 and a first manipulator 301, wherein the connecting plate A1 is transferred onto the assembly frame 300 by the first manipulator 301, and each insertion hole extends up and down, the shaft core A0 is transferred by the first manipulator 301, so that the shaft core body a01 passes through the corresponding insertion hole downwards, the shaft cap a00 is erected on the connecting plate A1, and the assembly frame 300 can also be turned upside down and can abut against the end surface of the shaft cap a00 to limit the shaft core A0 from separating from the connecting plate A1; the left gear arm A4, the left gear A5, the right gear A6 and the right gear arm A7 are assembled in sequence, and the corresponding assembly unit 30 comprises a second manipulator 302 and a vision lens 303, wherein the second manipulator 302 drives the left gear arm A4, the left gear A5, the right gear A6 and the right gear arm A7 to rotate around the central line of a corresponding inserted shaft core body A01 respectively based on the tooth position acquired by the vision lens 303 so as to be in counterpoint engagement; each assembly unit 30 assembles the components of the rotating shaft structure a relatively, after one assembly, the semi-finished product is transferred to the assembly carrier j and moved to the next assembly unit along with the transmission, that is, the assembly of the shaft core A0 and the connecting plate A1 is performed on the assembly carrier 300, after the assembly of the shaft core A0 and the connecting plate A1 is completed and transferred to the assembly carrier j, along with the transmission of the assembly carrier j, the other components are directly assembled in sequence on the assembly carrier j, and after all the assembly is completed, the finished product is discharged from one end of the conveying device 2.
Specifically, the assembly rack 300 includes a rack body A0, a clamping jaw A1, a turnover power piece a2, and a striker plate a3, when assembled, the striker plate a3 is located above the connecting plate A1 and avoids the connecting plate A1 in the vertical direction, the first manipulator 301 horizontally places the connecting plate A1 on the clamping jaw A1 to clamp, and inserts the shaft core A0 on the connecting plate A1 from top to bottom; after the assembly is completed, the overturning power piece a2 drives the clamping jaw A1 to overturn up and down around the horizontal central line, and the material baffle a3 is positioned right below the connecting plate A1 to block the shaft core A0 from falling. The vision lens 303 includes a first camera 3031 provided on the side of the transmission device 2 for photographing the components to be assembled, and a second camera 3032 provided on the second robot 302 for photographing the assembled components on the assembly carrier j. That is, after the assembly carrier j is transferred in place, the second manipulator 302 first grabs and bites the left gear arm A4 onto the corresponding shaft core A0 from the opposite position of the end face and the lower cam piece A3; secondly, when the second manipulator 302 grabs the left gear A5, the first camera 3031 shoots the posture of the left gear A5 at the moment, and when the second manipulator 302 transfers the left gear A5 to the assembly carrier j, the second camera 3032 shoots the posture of the left gear arm A4 on the assembly carrier j, and the second manipulator 302 adjusts the left gear A5 to align with the left gear arm A4 and is sleeved on the corresponding shaft core A0 by combining the two postures for comparison analysis; the assembly of right gear A6 and right gear arm A7 is referred to the assembly logic described above.
Meanwhile, in the assembly of the spring A2 and the lower cam piece A3, the corresponding assembly unit 30 further includes a third robot arm 304; in the assembly of the upper cam piece A8 and the snap spring A9, the corresponding assembly unit 30 further comprises a fourth robot arm 305. In some embodiments, the lower cam piece A3 and the upper cam piece A8 are adjusted, aligned and assembled by corresponding manipulators after detecting the postures by the detecting cameras arranged on the frame.
In this example, the plurality of feeding units 31 sequentially correspond to the supply shaft core A0, the connection plate A1, the spring A2, the lower cam piece A3, the left gear arm A4, the left gear A5, the right gear A6, the right gear arm A7, the upper cam piece A8, and the clip spring A9. In some embodiments, the first manipulator 301 has one and is located between the spindle A0 and the feeding unit 31 corresponding to the connection plate A1; two second manipulators 302 are provided, one second manipulator 302 is arranged between the feeding units 31 corresponding to the left gear arm A4 and the left gear arm A5, and the other second manipulator 302 is arranged between the feeding units 31 corresponding to the right gear arm A6 and the right gear arm A7.
Specifically, the feeding unit 31 corresponding to the shaft core A0 includes a shaft core feeding vibration disc 310, a material guiding component 311 connected with the shaft core feeding vibration disc 310 from one end and formed with a material guiding channel, and a material receiving component 312 connected with the other end of the material guiding component 311 and formed with a material receiving channel, where the shaft cores A0 move from the shaft core feeding vibration disc 310 to the material guiding channel one by one and are sequentially arranged, and the material guiding component 311 can vibrate flatly and drive the shaft cores A0 to enter the material receiving channel one by one from the material guiding channel, and the first manipulator 301 grabs the shaft cores A0 from the material receiving channel. In some embodiments, the flat vibration motion of the material guiding component 311 is realized by a flat vibrator connected to the bottom of the material guiding component, and Ping Zhenqi is an existing device.
For convenience of implementation, the material guiding component 311 is provided with a filling sensor b, and when the filling sensor b detects that the number of the shaft cores on the material guiding channel reaches a design value, the shaft core feeding vibration disc 310 stops feeding. In some embodiments, the fill sensor b employs sensing fibers.
The material receiving component 312 comprises a material receiving seat c0 formed with a material receiving channel c00, a first clamping block c1 and a second clamping block c2 which are arranged on the material receiving seat c0 and positioned on two opposite sides of the material receiving channel c00, and a jacking piece c3 arranged below the material receiving seat c0, wherein a through groove positioned on the left side and the right side of the material receiving channel c00 is formed on the material receiving seat c0, and the first clamping block c1 and the second clamping block c2 are respectively inserted in the through grooves on the left side and the right side and can move close to or away from each other; a positioning groove matched with the shaft core body of the shaft core A0 is formed between the first clamping block c1 and the second clamping block c2, the shaft core A0 is hung in the material receiving channel c00 from the shaft cap, the shaft core body is vertically inserted in the positioning groove, and when feeding is carried out, the lifting piece c3 drives the shaft core A0 to move upwards; the second clamping block c2 is elastically connected to the material receiving seat c0 and has a movement trend of approaching to the direction of the first clamping block c 1; the jacking piece c3 comprises a jacking seat c30, a jacking module c31 which is connected to the jacking seat c30 in an up-down sliding manner, a jacking power piece c32 for driving the jacking module c31 and an auxiliary module c33 which moves synchronously with the jacking module c31, wherein the auxiliary module c33 and the second clamping block c2 are provided with matched inclined planes, when the jacking module c31 moves upwards, the two inclined planes are gradually separated, the second clamping block c2 is relatively close to the first clamping block c1, and the second clamping block c2 is intercepted between the material guide channel and the material receiving channel c00 so as to prevent a shaft core A0 in the material guide channel from entering the material receiving channel; when the jacking module c31 moves downwards, the two inclined planes are gradually abutted, the second clamping block c2 is relatively far away from the first clamping block c1, the material guide channel is communicated with the material receiving channel, and a shaft core A0 in the material guide channel can enter the material receiving channel c00.
For further convenient implementation, a plurality of inserting grooves are formed in the inner side of the first clamping block c1 along the extending direction of the material receiving channel c00 at intervals, a plurality of inserting parts are arranged in the inner side of the second clamping block c2, the inserting parts can be inserted in the inserting grooves in a one-to-one correspondence manner, and positioning grooves matched with the shaft core A0 are formed between every two adjacent inserting parts.
In addition, the connecting plate A1, the spring A2, the lower cam piece A3, the left gear A5, the right gear A6, the upper cam piece A8 and the clamp spring A9 are all subjected to vibration loading by a vibration disc; the left gear arm A4 and the right gear arm A7 are respectively tiled on respective carrier plates and are fed through guide rails, which is a conventional technical means and will not be described herein.
In summary, after the assembly equipment is adopted, the shaft core and the connecting plate are sequentially inserted, the spring and the lower cam plate are installed after the assembly equipment is turned over by 180 degrees, then the left gear arm, the left gear, the right gear and the right gear arm are sequentially installed in an aligned mode, the matching of the mechanical arm and the visual lens is adopted, the angle adjustment is implemented, the cam plate and the clamp spring are sleeved, so that the end faces of the upper cam plate, the lower cam plate and the left gear arm are matched and meshed, the assembly is completed under the required torsion, after each assembly is completed, the semi-finished product is transferred to the assembly carrier and is transferred to the next assembly unit along with the transmission until the assembly is completed into a finished product of the rotating shaft structure, and therefore, compared with the prior art, the assembly equipment disclosed by the application has the advantages that on one hand, all parts of the rotating shaft structure can be sequentially and automatically assembled, the labor cost is greatly reduced, and the production efficiency is effectively improved; on the other hand, the automatic adjustment and alignment of each part of the rotating shaft structure in the assembly can be realized, the assembly precision is improved, the product yield is effectively improved, the alignment deviation between a plurality of shaft cores and the matching of the upper cam plate, the lower cam plate, the left gear arm and the right gear arm end surfaces is avoided, the rotating shaft structure achieves the third aspect of required overturning synchronism and torsion, the occlusal degree between the matching column and the arm sleeve is high, the damping stability can be effectively improved in relative rotation, and the rotating texture of the rotating shaft structure is improved; according to the fourth aspect, through the arrangement of the material baffle, the material baffle can effectively prevent the shaft core from falling off from the connecting plate under the inertia effect in the overturning process; in the fifth aspect, automatic continuous feeding and assembly of all parts are realized, the degree of automation is further improved, and the labor cost is saved; the layout of the mechanical arm and each feeding unit can reduce the movement stroke of the mechanical arm and improve the assembly efficiency and the assembly precision of each part; according to the sixth aspect, the shaft core output from the vibration disc can adjust the gesture under the flat vibration of the material guide channel and is input into the material receiving channel, so that the gesture of the shaft core is kept consistent when the material is taken every time, the accurate material taking and assembling of the mechanical arm are facilitated, meanwhile, the feeding of the shaft core can be automatically started or stopped according to the actual assembling speed, and the feeding speed of the shaft core is matched with the material taking and assembling speed of the mechanical arm; in the seventh aspect, through the cooperation of the first clamping block and the second clamping block, each shaft core is ensured to be positioned accurately, and meanwhile, the shaft cores are ejected upwards, so that the manipulator is convenient to take materials; according to the eighth aspect, when the manipulator takes materials, the material receiving channel and the material guiding channel can be automatically separated, so that the interference caused by the fact that the inner core in the material guiding channel enters the material receiving channel to take materials by the manipulator is avoided; meanwhile, through resetting of the jacking module, the automatic communication between the material guide channel and the material receiving channel is realized, so that the inner core in the material guide channel is continuously input into the material receiving channel.
The present application has been described in detail with the purpose of enabling those skilled in the art to understand the contents of the present application and to implement the same, but not to limit the scope of the present application, and all equivalent changes or modifications made according to the spirit of the present application should be included in the scope of the present application.
Claims (13)
1. Automatic equipment of pivot structure, pivot structure include axle core, connecting plate, spring, lower cam piece, left gear arm, left gear, right gear arm, go up cam piece and jump ring, its characterized in that, equipment includes:
a frame;
the transmission device is positioned on the rack, and the top surface of the transmission device forms a horizontal transmission surface, wherein a plurality of assembled carriers are arranged on the transmission surface;
the assembling device comprises a plurality of assembling units which are sequentially arranged along the horizontal transmission surface, wherein in the process of assembling the shaft core and the connecting plate, the corresponding assembling units comprise an assembling frame and a first manipulator, the connecting plate is transferred onto the assembling frame by the first manipulator, each inserting hole on the connecting plate is vertically extended, the shaft core is transferred by the first manipulator one by one, so that the shaft core body of the shaft core downwards penetrates out of the corresponding inserting hole on the connecting plate, and the shaft cap of the shaft core is erected on the connecting plate, and the assembling frame can also be turned up and down and can be abutted against the end face of the shaft cap to limit the shaft core to be separated from the connecting plate;
the left gear arm, the left gear, the right gear and the right gear arm are assembled in sequence, and the corresponding assembly units comprise a visual lens and a second manipulator, wherein the second manipulator drives the left gear arm, the left gear, the right gear and the right gear arm to rotate around the center line of the shaft core body which is correspondingly inserted respectively to be in counterpoint engagement based on the tooth positions acquired by the visual lens; the end surfaces of the upper cam plate and the lower cam plate are matched with the end surfaces of the left gear arm and the right gear arm in the length direction of the shaft core and are meshed up and down;
and each assembly unit is used for assembling each part of the rotating shaft structure relatively, and after one-time assembly is completed, the semi-finished product is transferred to the assembly carrier and is moved to the next assembly unit along with transmission.
2. The apparatus according to claim 1, wherein the assembling frame comprises a frame body, a clamping jaw, and a turnover power member, and when assembling, the first manipulator horizontally places the connecting plate on the clamping jaw, clamps the shaft core on the connecting plate from top to bottom, and the turnover power member drives the clamping jaw to turn up and down around a horizontal center line.
3. The automatic assembling apparatus of a rotating shaft structure according to claim 2, wherein the assembling rack further includes a striker plate that is located above the connecting plate and avoids the connecting plate in a vertical direction when assembled; after the assembly is completed, the clamping jaw is turned up and down, and the striker plate is positioned right below the connecting plate to block the shaft core from falling down.
4. The apparatus according to claim 1, wherein the assembling device further comprises a plurality of feeding units disposed on the frame and sequentially disposed along the horizontal conveying surface, and the plurality of feeding units sequentially supply the shaft core, the connecting plate, the spring, the lower cam plate, the left gear arm, the left gear, the right gear arm, the upper cam plate, and the clamp spring.
5. The apparatus according to claim 4, wherein the first robot has one and is located between the spindle and the supply unit to which the connection plate corresponds; two second manipulators are arranged, one second manipulator is arranged between the feeding units corresponding to the left gear arm and the left gear, and the other second manipulator is arranged between the feeding units corresponding to the right gear arm and the right gear arm.
6. The apparatus according to claim 4, wherein the feeding unit corresponding to the shaft core includes a shaft core feeding vibration plate, a guiding member having one end connected to the shaft core feeding vibration plate and a guiding passage, and a receiving member connected to the other end of the guiding member and forming a receiving passage, the shaft cores are moved from the shaft core feeding vibration plate to the guiding passage one by one and are sequentially arranged, the guiding member is capable of vibrating horizontally and driving the shaft cores from the guiding passage to the receiving passage one by one, and the first manipulator grips the shaft cores from the receiving passage.
7. The apparatus according to claim 6, wherein the material guide member is provided with a full-load sensor, and the shaft core feeding vibration plate stops feeding when the full-load sensor detects that the number of shaft cores on the material guide passage reaches a design value.
8. The automatic assembly equipment of a rotating shaft structure according to claim 6, wherein the material receiving component comprises a material receiving seat provided with the material receiving channel, a first clamping block, a second clamping block and a lifting piece, the first clamping block and the second clamping block are arranged on the material receiving seat and are positioned on two opposite sides of the material receiving channel, the lifting piece is arranged below the material receiving seat, a positioning groove matched with a shaft core body of the shaft core is formed between the first clamping block and the second clamping block, the shaft core is hung in the material receiving channel from a shaft cap, the shaft core body is inserted in the positioning groove, and the lifting piece drives the shaft core to move upwards during feeding.
9. The apparatus according to claim 8, wherein the lifting member comprises a lifting base, a lifting module slidably connected to the lifting base, a lifting power member for driving the lifting module, and an auxiliary module moving synchronously with the lifting module, and the auxiliary module synchronously drives the first clamping block and the second clamping block to approach or separate from each other along with the movement of the lifting module.
10. The apparatus according to claim 9, wherein the second clamping block is elastically connected to the receiving seat and has a movement tendency toward the first clamping block; the auxiliary module and the second clamping block are provided with matched inclined planes, when the jacking module moves upwards, the two inclined planes are gradually separated, the second clamping block is relatively close to the first clamping block, and the second clamping block is intercepted between the material guide channel and the material receiving channel; when the jacking module moves downwards, the two inclined planes are gradually abutted, the second clamping block is far away from the first clamping block relatively, and the material guide channel is communicated with the material receiving channel.
11. The automatic assembly equipment of a rotating shaft structure according to claim 8, wherein a plurality of inserting grooves are formed on the inner side of the first clamping block and are distributed at intervals along the extending direction of the material receiving channel, a plurality of inserting parts are arranged on the inner side of the second clamping block, the inserting parts can be inserted into the inserting grooves in a one-to-one correspondence mode, and the positioning grooves are formed between every two adjacent inserting parts.
12. The apparatus according to claim 1, wherein the vision lens includes a first camera provided on one side of the transfer device for photographing the components to be assembled, and a second camera provided on the second robot for photographing the assembled components on the assembly carrier.
13. The automatic assembling apparatus of a rotating shaft structure according to claim 1, wherein the conveying means includes a forward conveying belt and a reverse conveying belt formed with horizontal conveying surfaces, wherein the forward conveying belt and the reverse conveying belt are connected from end portions, and the assembling carriage reciprocates between the forward conveying belt and the reverse conveying belt.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311394924.XA CN117124078B (en) | 2023-10-26 | 2023-10-26 | Automatic assembling equipment of rotating shaft structure |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202311394924.XA CN117124078B (en) | 2023-10-26 | 2023-10-26 | Automatic assembling equipment of rotating shaft structure |
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| CN117124078A true CN117124078A (en) | 2023-11-28 |
| CN117124078B CN117124078B (en) | 2024-02-20 |
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| CN117124078B (en) | 2024-02-20 |
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