CN117245389B - Automatic drawing type nail drawing assembly machine and assembly method - Google Patents
Automatic drawing type nail drawing assembly machine and assembly method Download PDFInfo
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- CN117245389B CN117245389B CN202311533027.2A CN202311533027A CN117245389B CN 117245389 B CN117245389 B CN 117245389B CN 202311533027 A CN202311533027 A CN 202311533027A CN 117245389 B CN117245389 B CN 117245389B
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- 238000000034 method Methods 0.000 title claims abstract description 32
- 230000008569 process Effects 0.000 claims abstract description 24
- 238000003825 pressing Methods 0.000 claims abstract description 19
- 230000007246 mechanism Effects 0.000 claims description 57
- 238000001514 detection method Methods 0.000 claims description 24
- 238000006073 displacement reaction Methods 0.000 claims description 11
- 238000012544 monitoring process Methods 0.000 claims description 9
- 239000002699 waste material Substances 0.000 claims description 6
- 230000008030 elimination Effects 0.000 claims 4
- 238000003379 elimination reaction Methods 0.000 claims 4
- 238000004519 manufacturing process Methods 0.000 abstract description 3
- 238000009434 installation Methods 0.000 description 10
- 239000002131 composite material Substances 0.000 description 4
- 230000002159 abnormal effect Effects 0.000 description 3
- 238000013461 design Methods 0.000 description 3
- 239000011229 interlayer Substances 0.000 description 3
- 239000000463 material Substances 0.000 description 3
- 229910052751 metal Inorganic materials 0.000 description 3
- 239000002184 metal Substances 0.000 description 3
- 229910001069 Ti alloy Inorganic materials 0.000 description 2
- 238000000605 extraction Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000011900 installation process Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000000465 moulding Methods 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000007619 statistical method Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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
- B23P21/004—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 the units passing two or more work-stations whilst being composed
- B23P21/006—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 the units passing two or more work-stations whilst being composed the conveying means comprising a rotating table
-
- 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
-
- 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
- B23P19/007—Picking-up and placing mechanisms
-
- 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
- B23P19/02—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 for connecting objects by press fit or for detaching same
Abstract
The invention discloses a drawing type automatic nail drawing assembly machine and an assembly method, which belong to the field of mechanical manufacturing automation and aim to solve the problem of high error rate caused by more manual operations in the existing drawing type nail drawing assembly process. The automatic drawing type nail drawing assembly machine can realize automatic feeding, assembly and automatic press-fit positioning work of 4 parts of the core rod, the nail body, the locking ring and the pushing and pressing bushing, can realize full-automatic operation, and avoids the problems of high labor intensity, low efficiency and high error rate of manual operation.
Description
Technical Field
The invention relates to the field of mechanical manufacturing automation, in particular to a drawing type drawing nail automatic assembly machine and a drawing type drawing nail automatic assembly method.
Background
The titanium alloy blind rivet installation can realize blind end riveting installation, and is suitable for installing composite materials with non-open structures of airplanes; the drawing nails have large interlayer span, can meet the installation requirements of various conditions, and can be installed under the condition that the inclination is 7 degrees; the installation moulding surface forms a larger upsetting head, so that the connected interlayer can be effectively prevented from being damaged by riveting force, the installation tool can be installed only by a pneumatic hand riveter, and the riveting device is simple to operate, convenient to install and high in riveting efficiency. The nail body contacted between the drawing nail and the connected interlayer is made of titanium alloy, and is suitable for connecting a composite material with the composite material, connecting the composite material with the metal frame rib and connecting metal with metal. The anti-vibration and anti-loose drawing nails are widely used in various advanced airplanes in the world at present due to the characteristics of vibration resistance, anti-loose performance, combination of various materials, low installation noise, easy installation and the like, and are mainly used for connecting open and non-open parts of structures such as wings, vertical tails, horizontal tails and the like. The drawing and nail drawing structure consists of a core bar, a nail body, a locking ring and a pushing and pressing bushing, and the current drawing and nail drawing assembly process flow has the following requirements:
1. penetrating the core rod into the nail body hole, and performing press fitting;
2. the lock ring passes through the core rod and is pressed into the lock ring seam allowance of the nail body;
3. the pushing bushing penetrates through the core bar, is pressed into the pushing bushing annular groove by a certain pressure to form interference fit, the pressing force and the pressing position are completed by special tools and positioning tools, and the correct installation direction of the pushing bushing is ensured in the installation process.
In the existing assembly process, manual operation is very much, particularly, the installation of the pushing bush is required to be carried out manually by a large amount of manpower, and the phenomenon that the pushing bush is reversely sleeved or the phenomenon that the pushing bush is excessively installed or not installed in place is very easy to occur, so that the part is disqualified.
Disclosure of Invention
In order to solve the problem of high error rate caused by more manual operations in the drawing type rivet drawing assembly process, the invention provides a drawing type rivet drawing automatic assembly machine and an assembly method, wherein the drawing type rivet drawing automatic assembly machine can realize automatic feeding, assembly and automatic press fit positioning work of 4 parts of a core rod, a rivet body, a locking ring and a push bush, can realize full-automatic operation, can also be used as a single special press fit work position, and solves the problems that the manual operations are extremely large in the existing assembly process, particularly the push bush is installed, a large amount of manual operations are required, the phenomenon of reversely sleeving the push bush is extremely easy to occur, or the phenomenon of excessive or insufficient installation of the push bush causes disqualification of the parts and other production pain points.
The technical scheme adopted by the embodiment of the invention for solving the technical problems is as follows:
an automated assembly machine for drawing type nail extraction, the automated assembly machine for drawing type nail extraction comprising:
the first turntable is sequentially provided with four first assembly stations along the circumferential direction of the first turntable, the first turntable sequentially corresponds to a first turntable first station, a first turntable second station, a first turntable third station and a first turntable fourth station, the four first assembly stations respectively correspond to the first turntable first station, the first turntable second station, the first turntable third station and the first turntable fourth station one by one, and the first turntable can rotate;
the nail body feeding device can supply nail bodies;
the fifth manipulator can place the nail body supplied by the nail body feeding device at the first assembly station, and the position of the nail body corresponds to the first station of the first rotating disc;
the core bar feeding device can supply the core bar;
the first manipulator can insert the core rod supplied by the core rod feeding device into the nail body on the first rotary table, and the position of the nail body corresponds to the second station of the first rotary table;
the first press-fit device can press-fit the nail body and the core rod to form a combined body of the nail body and the core rod, and the position of the first press-fit device corresponds to the third station of the first rotating disc;
the pushing bushing feeding device can supply pushing bushings;
the lock ring feeding device can supply lock rings;
the combination mechanism can combine the lock ring and the pushing bush to form a combination body of the lock ring and the pushing bush;
the second turntable is sequentially provided with four second assembly stations along the circumferential direction of the second turntable, the second turntable sequentially corresponds to a first station of the second turntable, a second station of the second turntable, a third station of the second turntable and a fourth station of the second turntable, the four second assembly stations respectively correspond to the first station of the second turntable, the second station of the second turntable, the third station of the second turntable and the fourth station of the second turntable one by one, and the second turntable can rotate;
the second manipulator can move the combined body of the lock ring and the pushing bush, which is combined by the combined mechanism, to the second rotary table, and the position of the combined body of the lock ring and the pushing bush corresponds to the first station of the second rotary table;
the third manipulator can insert the combined body of the nail body and the core rod into the combined body of the lock ring and the pushing and pressing bushing, and the position of the combined body of the lock ring and the pushing and pressing bushing corresponds to the second station of the second rotary table;
the second press-fit device can press-fit the combination of the nail body and the core rod and the combination of the lock ring and the pushing bushing to form a drawing type nail drawing finished product, and the position of the second press-fit device corresponds to the third station of the second rotary table;
and the fourth manipulator can take down the drawing type nail drawing finished product on the second turntable, and the position of the drawing type nail drawing finished product corresponds to the fourth position of the second turntable.
The automatic drawing type nail drawing assembly method adopts the automatic drawing type nail drawing assembly machine, and sequentially comprises the following steps of:
step 1, combining a nail body and a core rod to form a combined body of the nail body and the core rod, and combining a lock ring and a pushing bush to form a combined body of the lock ring and the pushing bush;
the process of combining the nail body and the core rod to form a combined body of the nail body and the core rod sequentially comprises the following steps:
1.1a, a nail body feeding device supplies a nail body, a fifth manipulator places the nail body supplied by the nail body feeding device at a first assembly station, and the position of the nail body corresponds to a first station of a first rotating disc;
1.2a, the first rotating disc rotates, the position of the nail body corresponds to the second station of the first rotating disc, the core bar feeding device supplies the core bar, and the first manipulator inserts the core bar supplied by the core bar feeding device into the nail body on the first rotating disc;
1.3a, the first rotating disc rotates, the position of the nail body and the position of the core bar correspond to the third station of the first rotating disc, the first press-fit device press-fits the nail body and the core bar to form a combined body of the nail body and the core bar, and the position of the combined body of the nail body and the core bar corresponds to the third station of the first rotating disc;
1.4a, the first rotating disc rotates, and the position of the combined body of the nail body and the core rod corresponds to the fourth working position of the first rotating disc;
the process of combining the lock ring and the pushing bush to form the combined body of the lock ring and the pushing bush sequentially comprises the following steps:
1.1b, a pushing bushing feeding device supplies a pushing bushing;
1.2b, a lock ring feeding device supplies a lock ring;
1.3b, combining the lock ring and the pushing bush by a combining mechanism to form a combined body of the lock ring and the pushing bush;
step 2, combining a combined body of the nail body and the core rod and a combined body of the lock ring and the pushing and pressing bushing to form a drawing type nail drawing finished product;
step 2.1, a second manipulator moves the combination of the lock ring and the pushing and pressing bush onto a second rotary table, and the position of the combination of the lock ring and the pushing and pressing bush corresponds to a first station of the second rotary table;
step 2.2, the second rotary table rotates, the position of the combined body of the lock ring and the pushing bush corresponds to a second station of the second rotary table, the third manipulator moves the combined body of the nail body and the core rod from the first rotary table to the second rotary table, and the third manipulator inserts the combined body of the nail body and the core rod into the combined body of the lock ring and the pushing bush;
step 2.3, the second rotary table rotates, the positions of the combined body of the nail body and the core bar and the combined body of the lock ring and the pushing bushing correspond to the third station of the second rotary table, and the second press-fit device press-fits the combined body of the nail body and the core bar and the combined body of the lock ring and the pushing bushing to form a drawing type nail drawing finished product;
and 2.4, rotating the second rotary table, wherein the position of the drawing type nail drawing finished product corresponds to the fourth position of the first rotary table, and taking down the drawing type nail drawing finished product on the second rotary table by a fourth manipulator.
The embodiment of the invention has the beneficial effects that:
1. the station design fully considers details such as the rationality of the structure, the automatic mistake proofing of the key position, the safety protection of operators and the like while ensuring the automatic assembly;
2. each station adopts a modularized design, so that the die change is convenient, and the maintenance is convenient;
3. the control system is realized by adopting an embedded system and an industrial personal computer. All assembly information is automatically stored, so that parameter setting and calling, single step debugging and various statistical analysis functions can be realized, a network interface is provided, and processing data and states can be uploaded in real time;
4. the whole assembly process is automatically carried out, so that the problems of high labor intensity, low efficiency and high error rate of manual operation are avoided. If the material is abnormal (material shortage, continuous disqualification and the like), the machine can automatically stop for alarming. The system adopts flexible design, so that the whole machine can be used in a linkage way, each station can be used as a single machine, and the operation is flexible.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention.
Fig. 1 is a schematic front view of the drawing type automatic nail drawing and assembling machine.
Fig. 2 is a schematic top view of the automated drawing pin assembly machine of the present invention.
Fig. 3 is a right side view schematic diagram of the drawing type nail drawing automatic assembling machine.
Fig. 4 is a schematic view of a first turntable.
Fig. 5 is a schematic view of a third turntable.
Fig. 6 is a schematic view of a second turntable.
FIG. 7 is a schematic view of a mandrel inserted into a pin body.
FIG. 8 is a schematic view of a pin and core bar combination.
FIG. 9 is a schematic view of the combination of the pin and the core pin inserted into the combination of the lock collar and the push bushing.
Fig. 10 is a schematic view of a drawn staple product.
Fig. 11 is a schematic cross-sectional view taken along the direction A-A in fig. 9.
The reference numerals are explained as follows:
1. a first turntable; 2. a nail body feeding device; 3. core bar loading attachment; 4. a first manipulator; 5. a first press-fit device; 6. pushing and pressing the bushing feeding device; 7. a lock ring feeding device; 8. a combination mechanism; 9. a second turntable; 10. a second manipulator; 11. a third manipulator; 12. a second press-fit device; 13. a fourth manipulator; 14. a blanking area; 15. a fifth manipulator; 20. drawing type nail drawing finished products;
101. a first turntable first station; 102. a first turret second station; 103. a first turret third station; 104. a first turntable fourth station; 105. a first assembly station;
201. a nail body vibration plate;
301. a core bar vibration disc;
601. pushing the bushing vibration plate;
701. a lock ring vibration plate;
801. a third turntable first station; 802. a third turntable second station; 803. a third turntable third station; 804. a third turntable fourth station; 805. a third assembly station; 806. a third turntable;
901. a second turntable first station; 902. a second turntable second station; 903. a second turntable third station; 904. a second turntable fourth station; 905. a second assembly station;
2001. a nail body; 2002. a core bar; 2003. a combination of the nail body and the core rod; 2004. pushing the bushing; 2005. a lock ring; 2006. the combination of lock ring and pushing bush.
Detailed Description
It should be noted that, in the case of no conflict, the embodiments and features in the embodiments may be combined with each other. The invention will be described in detail below with reference to the drawings in connection with embodiments.
As shown in fig. 1 to 3, a drawing type automatic drawing pin assembling machine according to an embodiment of the present invention includes:
the first turntable 1 is provided with four first assembling stations 105 in sequence along the circumferential direction of the first turntable 1, the first turntable 1 is provided with a first turntable first station 101, a first turntable second station 102, a first turntable third station 103 and a first turntable fourth station 104 in sequence, the four first assembling stations 105 are respectively in one-to-one correspondence with the first turntable first station 101, the first turntable second station 102, the first turntable third station 103 and the first turntable fourth station 104, the first turntable 1 can rotate, and the first turntable 1 is connected with a rotation driving mechanism as shown in fig. 4;
the first assembling station 105 may be a circular through hole or a groove, the first assembling station 105 may be provided with a chuck or a clamp, the first rotating disc first station 101 corresponds to the 12 o 'clock position, the first rotating disc second station 102 corresponds to the 9 o' clock position, the first rotating disc third station 103 corresponds to the 6 o 'clock position, the first rotating disc fourth station 104 corresponds to the 3 o' clock position, and the first rotating disc 1 can continuously rotate 360 ° around the axis of the first rotating disc 1.
The nail body feeding device 2 can supply nail bodies 2001;
the fifth manipulator 15 is capable of placing the nail 2001 supplied by the nail feeding device 2 in the first assembling station 105, at this time, the nail 2001 is located in the first assembling station 105, and the position of the nail 2001 corresponds to the first station 101 of the first rotary disc;
the core bar feeding device 3 can supply a core bar 2002;
the first manipulator 4 can insert the core rod 2002 supplied by the core rod feeding device 3 into the nail body 2001 on the first rotary table 1, and at this time, the position of the nail body 2001 corresponds to the first rotary table second station 102;
the first press-fit device 5 is capable of press-fitting the pin 2001 and the core pin 2002 to form a pin and core pin combination 2003, the position of the first press-fit device 5 corresponds to the first turntable third station 103, and at this time, the pin and core pin combination 2003 also corresponds to the first turntable third station 103;
a pushing bush feeding device 6 capable of supplying a pushing bush 2004;
a lock ring feeding device 7 capable of feeding a lock ring 2005;
a combining mechanism 8 capable of combining the lock ring 2005 and the push bush 2004 to form a lock ring and push bush combination 2006;
the second turntable 9 is sequentially provided with four second assembling stations 905 along the circumferential direction of the second turntable 9, the second turntable 9 is sequentially provided with a second turntable first station 901, a second turntable second station 902, a second turntable third station 903 and a second turntable fourth station 904, the four second assembling stations 905 are respectively in one-to-one correspondence with the second turntable first station 901, the second turntable second station 902, the second turntable third station 903 and the second turntable fourth station 904, the second turntable 9 can rotate, and the second turntable 9 is connected with a rotation driving mechanism; the axis of the first turntable 1 is parallel to the axis of the second turntable 9;
the second assembling station 905 may be a circular through hole or a groove, a chuck or a clamp may be disposed on the second assembling station 905, the second turntable first station 901 corresponds to the 12 o 'clock position, the second turntable second station 902 corresponds to the 9 o' clock position, the second turntable third station 903 corresponds to the 6 o 'clock position, the second turntable fourth station 904 corresponds to the 3 o' clock position, and the second turntable 9 can continuously rotate about the axis of the second turntable 9 as an axis 360 ° as shown in fig. 6;
the second manipulator 10 is capable of moving the combined lock ring and push bush assembly 2006 combined by the combining mechanism 8 to the second turntable 9, and at this time, the combined lock ring and push bush assembly 2006 is located at the second assembling station 905, and the position of the combined lock ring and push bush assembly 2006 corresponds to the second turntable first station 901;
the third manipulator 11, the third manipulator 11 can move the combination 2003 of the nail body and the core rod from the first rotary table 1 to the second rotary table 9, the third manipulator 11 can insert the combination 2003 of the nail body and the core rod into the combination 2006 of the lock ring and the pushing bush, and at this time, the position of the combination 2006 of the lock ring and the pushing bush corresponds to the second rotary table second station 902;
the second press-fit device 12 is capable of press-fitting the combination 2003 of the pin body and the core rod and the combination 2006 of the lock ring and the pushing bush to form a drawing type pin drawing finished product 20, the position of the second press-fit device 12 corresponds to the second turntable third station 903, and at this time, the position of the drawing type pin drawing finished product 20 corresponds to the second turntable third station 903;
the fourth manipulator 13 can remove the drawing type nail drawing finished product 20 on the second turntable 9, and at this time, the position of the drawing type nail drawing finished product 20 corresponds to the second turntable fourth station 904.
The nail body feeding device 2 comprises a nail body vibration disc 201 and a nail body detection removing mechanism, the nail body detection removing mechanism is located at a direct vibration outlet of the nail body vibration disc 201, the nail body detection removing mechanism automatically jacks up at the direct vibration outlet to measure the length of the nail body once, the nail body detection removing mechanism can detect whether the length of the nail body 2001 is qualified (namely, whether the nail body detection removing mechanism belongs to the length tolerance range of the current nail body number), and when the length of the nail body 2001 is inappropriate, the nail body detection removing mechanism can remove the nail body 2001.
The core bar feeding device 3 comprises a core bar vibration disc 301 and a core bar detection and rejection mechanism, wherein the core bar detection and rejection mechanism is located at a direct vibration outlet of the core bar vibration disc 301, the core bar detection and rejection mechanism automatically jacks up and measures the length of the core bar once at the direct vibration outlet, the core bar detection and rejection mechanism can detect whether the length of the core bar 2002 is qualified (namely, whether the core bar detection and rejection mechanism belongs to the length tolerance range of the current nail body type number), and when the length of the core bar 2002 is inappropriate, the core bar detection and rejection mechanism can reject the core bar 2002.
The process of press-fitting the pin 2001 and the core pin 2002 to form the pin and core pin combination 2003 corresponds to the first reel third station 103, and the first press-fitting device 5 includes a first press-driving mechanism including a servo electric cylinder connected with a pressure and displacement monitoring system capable of detecting whether the process of press-fitting the core pin 2002 into the pin 2001 is qualified.
The nail 2001 and the core rod 2002 are automatically press-fitted by a precise servo electric cylinder, the end face of the nail 2001 is positioned, and the core rod is automatically press-fitted to a specified position according to the currently set model parameters. The pressure and displacement monitoring system can monitor the force and displacement curve of the press-fit process in real time, and can automatically identify whether the press-fit process parameter is not met or the press-fit force is abnormal, which means that the assembly 2003 of the pin body and the core rod formed by the press-fit at the present time is unqualified and can be removed in the subsequent process (for example, the second manipulator 10 is used for removing).
The combining mechanism 8 may include a third turntable 806, along the circumferential direction of the third turntable 806, four third assembling stations 805 are sequentially disposed on the third turntable 806, the third turntable 806 sequentially corresponds to a third turntable first station 801, a third turntable second station 802, a third turntable third station 803, and a third turntable fourth station 804, and the four third assembling stations 805 respectively correspond to the third turntable first station 801, the third turntable second station 802, the third turntable third station 803, and the third turntable fourth station 804 one by one, and the third turntable 806 can rotate, as shown in fig. 5.
The third assembling station 805 may be a circular protrusion, the third turntable first station 801 corresponds to a 12 o 'clock position, the third turntable second station 802 corresponds to a 9 o' clock position, the third turntable third station 803 corresponds to a 6 o 'clock position, the third turntable fourth station 804 corresponds to a 3 o' clock position, and the third turntable 806 is capable of continuously rotating 360 ° about the axis of the third turntable 806.
The pushing bushing feeding device 6 comprises a pushing bushing vibration disk 601, the lock ring feeding device 7 comprises a lock ring vibration disk 701, the combined mechanism 8 further comprises a pushing bushing guide positioning rod and a lock ring guide positioning rod, the inlet end of the pushing bushing guide positioning rod corresponds to the direct vibration outlet of the pushing bushing vibration disk 601, the outlet end of the pushing bushing guide positioning rod corresponds to the first station 801 of the third turntable, the inlet end of the lock ring guide positioning rod corresponds to the direct vibration outlet of the lock ring vibration disk 701, and the outlet end of the lock ring guide positioning rod corresponds to the second station 802 of the third turntable.
The pushing bush 2004 supplied by the pushing bush feeding device 6 falls on the third assembling station 805 of the third turntable 806 through the pushing bush guide positioning lever, and at this time, the position of the pushing bush 2004 corresponds to the third turntable first station 801. Then, the third turntable 806 rotates 90 ° counterclockwise, the position of the pushing bush 2004 corresponds to the third turntable second station 802, the lock ring 2005 supplied by the lock ring feeding device 7 falls on the third assembling station 805 of the third turntable 806 through the lock ring guiding positioning rod, the position of the lock ring 2005 corresponds to the third turntable second station 802, the lock ring 2005 is sleeved outside the pushing bush 2004, and the lock ring and the pushing bush are combined to form a combination 2006.
After the combination 2006 of the lock ring and the pushing bush is formed, the third turntable 806 rotates 90 ° counterclockwise, and the combination 2006 of the lock ring and the pushing bush corresponds to the third turntable third station 803. The combination mechanism 8 further comprises a combination detection and rejection mechanism, the position of the combination detection and rejection mechanism corresponds to the third station 803 of the third turntable, the combination detection and rejection mechanism can detect whether the combination state of the combination 2006 of the lock collar and the pushing bush is qualified, and when the combination state of the combination 2006 of the lock collar and the pushing bush is improper, the combination detection and rejection mechanism can reject the combination 2006 of the lock collar and the pushing bush. The combined state refers to a state of the lock ring 2005 and the push bush 2004 mounted on the core pin 2002, whether the lock ring 2005 is neglected to be mounted, whether the push bush 2004 is correct or not, and can be detected by adopting a conventional photographing comparison mode.
After the combination of the lock ring and the pushing bush 2006 is detected, the third turntable 806 rotates 90 ° counterclockwise, the combination of the lock ring and the pushing bush 2006 corresponds to the third turntable fourth station 804, and the combination of the lock ring and the pushing bush 2006 waits for the second robot 10 to grasp at this position. Other implementations of the combining mechanism 8 may be employed, for example, the combining mechanism 8 may include two robots and a mounting table, the two robots may take the push bush 2004 from the push bush feeding device 6 and the lock ring 2005 from the lock ring feeding device 7, respectively, and then combine the push bush 2004 and the lock ring 2005 on the mounting table to form a combination 2006 of lock ring and push bush.
The press-fitting process of the assembly 2003 of the nail body and the core rod and the assembly 2006 of the lock ring and the pushing bush to form the drawing type nail drawing finished product 20 corresponds to the third station 903 of the second rotary table, the second press-fitting device 12 comprises a second pressing driving mechanism, the second pressing driving mechanism comprises a servo electric cylinder, the servo electric cylinder is connected with a pressure and displacement monitoring system, and the pressure and displacement monitoring system can detect whether the process of pressing the assembly 2003 of the nail body and the core rod into the assembly 2006 of the lock ring and the pushing bush is qualified.
The combination 2003 of the nail body and the core bar and the combination 2006 of the lock ring and the pushing bushing realize automatic press fit through a precise servo electric cylinder, so that the end face of the combination 2006 of the lock ring and the pushing bushing is positioned, and the core bar is automatically press-fitted to a designated position according to the currently set model parameters. The pressure and displacement monitoring system can monitor the force and displacement curve of the press-fit process in real time, does not accord with the press-fit set process parameters or can automatically identify abnormal press-fit force, so that the drawing type drawing nail finished product 20 formed by the press-fit at this time is unqualified and can be removed in the subsequent process (for example, the fourth manipulator 13 is used for removing).
The automatic drawing type nail drawing assembly machine further comprises a qualified product basket and a waste basket, the qualified product basket and the waste basket are both located in the blanking area 14, the fourth manipulator 13 can put qualified drawing type nail drawing finished products 20 into the qualified product basket, and the fourth manipulator 13 can put unqualified drawing type nail drawing finished products 20 into the waste basket. In addition, the components of the drawing-type automatic nail drawing and assembling machine can be all made of products in the prior art, for example, the first rotary table 1, the nail body feeding device 2, the core bar feeding device 3, the first manipulator 4, the fifth manipulator 15, the first press-fit device 5, the pushing bushing feeding device 6, the lock ring feeding device 7, the combining mechanism 8, the second rotary table 9, the second manipulator 10, the third manipulator 11, the second press-fit device 12 and the fourth manipulator 13 can all be made of products in the prior art.
The automatic drawing type nail drawing assembly method adopts the automatic drawing type nail drawing assembly machine, and sequentially comprises the following steps of:
step 1, combining a pin 2001 and a core pin 2002 to form a pin and core pin combination 2003, and combining a lock ring 2005 and a push bush 2004 to form a lock ring and push bush combination 2006;
step 2, combining the combination 2003 of the pin body and the core bar and the combination 2006 of the lock ring and the pushing bush to form a drawing type pin drawing finished product 20.
In step 1, the process of combining the pin 2001 and the core pin 2002 to form the pin and core pin combination 2003 sequentially includes the steps of:
1.1a, the nail body feeding device 2 supplies a nail body 2001, the fifth manipulator 15 places the nail body 2001 supplied by the nail body feeding device 2 at the first assembling station 105, and at this time, the position of the nail body 2001 corresponds to the first station 101 of the first rotating disc;
1.2a, the first rotary table 1 rotates anticlockwise by 90 degrees, the positions of the nail bodies 2001 correspond to the positions of the second stations 102 of the first rotary table, the core bar feeding device 3 supplies a core bar 2002, and the first manipulator 4 inserts the core bar 2002 supplied by the core bar feeding device 3 into the nail bodies 2001 on the first rotary table 1, as shown in fig. 7;
1.3a, the first turntable 1 rotates anticlockwise by 90 degrees, the position of the nail body 2001 and the position of the core bar 2002 correspond to the first turntable third station 103, the first press-fit device 5 press-fits the nail body 2001 and the core bar 2002 to form a combined body 2003 of the nail body and the core bar, and as shown in fig. 8, the position of the combined body 2003 of the nail body and the core bar corresponds to the first turntable third station 103;
1.4a, the first rotary table 1 is rotated 90 degrees anticlockwise, the position of the pin body and core pin combination 2003 corresponds to the first rotary table fourth station 104.
In step 1, the process of combining the lock ring 2005 and the push bush 2004 to form the lock ring and push bush combination 2006 sequentially includes the steps of:
1.1b, the pushing bushing feeding device 6 supplies a pushing bushing 2004;
1.2b, a lock ring feeding device 7 supplies a lock ring 2005;
1.3b, a combining mechanism 8 combines the lock ring 2005 and the push bush 2004 to form a lock ring and push bush combination 2006;
the step 2 comprises the following steps:
step 2.1, the second manipulator 10 moves the combination 2006 of the lock ring and the pushing bush from the combination mechanism 8 to the second assembling station 905 of the second turntable 9, and the position of the combination 2006 of the lock ring and the pushing bush corresponds to the first station 901 of the second turntable;
step 2.2, the second rotary table 9 rotates 90 degrees anticlockwise, the position of the combined lock ring and pushing bush 2006 corresponds to the second rotary table second station 902, the third manipulator 11 moves the combined nail body and core rod 2003 from the first rotary table 1 to the second rotary table 9, and the third manipulator 11 inserts the combined nail body and core rod 2003 into the combined lock ring and pushing bush 2006, as shown in fig. 9 and 11;
step 2.3, the second rotary table 9 rotates 90 ° anticlockwise, the positions of the combination 2003 of the pin body and the core bar and the combination 2006 of the lock ring and the pushing bush correspond to the third station 903 of the second rotary table, and the second press-fit device 12 press-fits the combination 2003 of the pin body and the core bar and the combination 2006 of the lock ring and the pushing bush to form a drawing type drawing pin finished product 20, as shown in fig. 10;
step 2.4, the second rotary table 9 rotates 90 degrees anticlockwise, the position of the drawing type drawing nail finished product 20 corresponds to the fourth station 104 of the first rotary table, the fourth mechanical arm 13 takes off the drawing type drawing nail finished product 20 on the second rotary table 9, and the drawing type drawing nail finished product 20 is placed into a qualified product basket or a waste basket.
The foregoing description of the embodiments of the invention is not intended to limit the scope of the invention, so that the substitutions of equivalent components, or equivalent changes and modifications within the scope of the invention should be considered to fall within the scope of the invention. In addition, the technical features and technical features, technical features and technical scheme, technical scheme and technical scheme, and embodiments of the invention can be freely combined for use.
Claims (8)
1. The automatic drawing type nail drawing assembly machine is characterized by comprising:
the first rotating disc (1), along the circumference of the first rotating disc (1), four first assembling stations (105) are sequentially arranged on the first rotating disc (1), the first rotating disc (1) is sequentially corresponding to a first rotating disc first station (101), a first rotating disc second station (102), a first rotating disc third station (103) and a first rotating disc fourth station (104), the four first assembling stations (105) are respectively corresponding to the first rotating disc first station (101), the first rotating disc second station (102), the first rotating disc third station (103) and the first rotating disc fourth station (104) one by one, and the first rotating disc (1) can rotate;
a nail body feeding device (2) capable of feeding a nail body (2001);
the fifth manipulator (15) can place the nail bodies (2001) supplied by the nail body feeding device (2) at the first assembly station (105), and the positions of the nail bodies (2001) correspond to the first station (101) of the first rotating disc;
a core rod feeding device (3) capable of supplying a core rod (2002);
the first mechanical arm (4) can insert the core rod (2002) supplied by the core rod feeding device (3) into the nail body (2001) on the first rotating disc (1), and the position of the nail body (2001) corresponds to the second station (102) of the first rotating disc;
the first press-fit device (5) can press-fit the nail body (2001) and the core rod (2002) to form a combined body (2003) of the nail body and the core rod, and the position of the first press-fit device (5) corresponds to the third station (103) of the first rotating disc;
a pushing bush feeding device (6) capable of supplying a pushing bush (2004);
a lock ring feeding device (7) capable of feeding a lock ring (2005);
a combining mechanism (8) capable of combining the lock ring (2005) and the pressing bush (2004) to form a combination (2006) of the lock ring and the pressing bush;
the second turntable (9), along the circumference of the second turntable (9), four second assembling stations (905) are sequentially arranged on the second turntable (9), the second turntable (9) sequentially corresponds to a second turntable first station (901), a second turntable second station (902), a second turntable third station (903) and a second turntable fourth station (904), and the four second assembling stations (905) respectively correspond to the second turntable first station (901), the second turntable second station (902), the second turntable third station (903) and the second turntable fourth station (904) one by one, and the second turntable (9) can rotate;
a second manipulator (10) capable of moving the combined lock ring and push bush assembly (2006) combined by the combining mechanism (8) to a second turntable (9), the position of the combined lock ring and push bush assembly (2006) corresponding to a first station (901) of the second turntable;
a third manipulator (11) capable of inserting the combination (2003) of the nail body and the core rod into the combination (2006) of the lock ring and the pushing bush, the position of the combination (2006) of the lock ring and the pushing bush corresponding to the second station (902) of the second turntable;
the second press-fit device (12) can press-fit the combination body (2003) of the nail body and the core rod and the combination body (2006) of the lock ring and the pushing bush to form a drawing type nail drawing finished product (20), and the position of the second press-fit device (12) corresponds to the third station (903) of the second rotary table;
the fourth manipulator (13) can take off a drawing type drawing nail finished product (20) on the second rotary table (9), and the position of the drawing type drawing nail finished product (20) corresponds to a fourth station (904) of the second rotary table;
the combined mechanism (8) comprises a third turntable (806), four third assembling stations (805) are sequentially arranged on the third turntable (806) along the circumferential direction of the third turntable (806), the third turntable (806) is sequentially corresponding to a third turntable first station (801), a third turntable second station (802), a third turntable third station (803) and a third turntable fourth station (804), the four third assembling stations (805) are respectively corresponding to the third turntable first station (801), the third turntable second station (802), the third turntable third station (803) and the third turntable fourth station (804) one by one, and the third turntable (806) can rotate;
the pushing bushing feeding device (6) comprises a pushing bushing vibration disc (601), the lock ring feeding device (7) comprises a lock ring vibration disc (701), the combined mechanism (8) further comprises a pushing bushing guide positioning rod and a lock ring guide positioning rod, the inlet end of the pushing bushing guide positioning rod corresponds to the direct vibration outlet of the pushing bushing vibration disc (601), the outlet end of the pushing bushing guide positioning rod corresponds to the first station (801) of the third turntable, the inlet end of the lock ring guide positioning rod corresponds to the direct vibration outlet of the lock ring vibration disc (701), and the outlet end of the lock ring guide positioning rod corresponds to the second station (802) of the third turntable.
2. The automatic drawing type nail drawing and assembling machine according to claim 1, wherein the nail body feeding device (2) comprises a nail body vibration disc (201) and a nail body detection and removing mechanism, the nail body detection and removing mechanism is located at a direct vibration outlet of the nail body vibration disc (201), the nail body detection and removing mechanism can detect whether the length of a nail body (2001) is qualified, and when the length of the nail body (2001) is improper, the nail body detection and removing mechanism can remove the nail body (2001).
3. The automatic drawing type nail drawing and assembling machine according to claim 1, wherein the core bar feeding device (3) comprises a core bar vibration disc (301) and a core bar detection and elimination mechanism, the core bar detection and elimination mechanism is located at a direct vibration outlet of the core bar vibration disc (301), the core bar detection and elimination mechanism can detect whether the length of the core bar (2002) is qualified, and when the length of the core bar (2002) is improper, the core bar detection and elimination mechanism can eliminate the core bar (2002).
4. The automated drawing type nail drawing assembly machine according to claim 1, wherein the first press-fit device (5) comprises a first pressing driving mechanism, the first pressing driving mechanism comprises a servo electric cylinder, the servo electric cylinder is connected with a pressure and displacement monitoring system, and the pressure and displacement monitoring system can detect whether the process of pressing the core rod (2002) into the nail body (2001) is qualified or not.
5. The automated drawing type nail drawing and assembling machine according to claim 1, wherein the assembling mechanism (8) further comprises an assembling body detecting and removing mechanism, the position of the assembling body detecting and removing mechanism corresponds to the third station (803) of the third turntable, the assembling body detecting and removing mechanism can detect whether the assembling state of the assembling body (2006) of the lock ring and the pushing bush is qualified, and when the assembling state of the assembling body (2006) of the lock ring and the pushing bush is unsuitable, the assembling body detecting and removing mechanism can remove the assembling body (2006) of the lock ring and the pushing bush.
6. The automated drawing pin pulling assembly machine according to claim 1, wherein the second press-fit device (12) comprises a second press-down driving mechanism, the second press-down driving mechanism comprises a servo electric cylinder, the servo electric cylinder is connected with a pressure and displacement monitoring system, and the pressure and displacement monitoring system can detect whether the process of pressing the combined body (2003) of the pin body and the core rod into the combined body (2006) of the lock collar and the pushing bushing is qualified.
7. The automatic drawing type pin drawing and assembling machine according to claim 1, further comprising a qualified product basket and a waste basket, wherein the fourth manipulator (13) can put qualified drawing type pin drawing finished products (20) into the qualified product basket, and the fourth manipulator (13) can put unqualified drawing type pin drawing finished products (20) into the waste basket.
8. The automatic drawing type nail drawing assembly method is characterized by adopting the automatic drawing type nail drawing assembly machine according to claim 1, and sequentially comprises the following steps of:
step 1, combining a pin body (2001) and a core rod (2002) to form a pin body and core rod combined body (2003), and combining a lock ring (2005) and a pushing bush (2004) to form a lock ring and pushing bush combined body (2006);
the process of combining the pin (2001) and the core pin (2002) to form the pin and core pin combination (2003) comprises the following steps in sequence:
1.1a, a nail body feeding device (2) supplies a nail body (2001), a fifth manipulator (15) places the nail body (2001) supplied by the nail body feeding device (2) at a first assembly station (105), and the position of the nail body (2001) corresponds to a first station (101) of a first rotating disc;
1.2a, the first rotating disc (1) rotates, the position of the nail body (2001) corresponds to the second station (102) of the first rotating disc, the core bar feeding device (3) supplies a core bar (2002), and the first manipulator (4) inserts the core bar (2002) supplied by the core bar feeding device (3) into the nail body (2001) on the first rotating disc (1);
1.3a, the first rotating disc (1) rotates, the position of the nail body (2001) and the position of the core bar (2002) correspond to the third station (103) of the first rotating disc, the first press-fit device (5) presses the nail body (2001) and the core bar (2002) to form a combined body (2003) of the nail body and the core bar, and the position of the combined body (2003) of the nail body and the core bar corresponds to the third station (103) of the first rotating disc;
1.4a, the first rotating disc (1) rotates, and the position of the combined body (2003) of the nail body and the core rod corresponds to the fourth working position (104) of the first rotating disc;
the process of combining the lock ring (2005) and the push bush (2004) to form a lock ring and push bush combination (2006) sequentially comprises the following steps:
1.1b, a pushing bushing feeding device (6) supplies pushing bushings (2004);
1.2b, a lock ring feeding device (7) supplies a lock ring (2005);
1.3b, a combination mechanism (8) combines the lock ring (2005) and the pushing bush (2004) to form a combination (2006) of the lock ring and the pushing bush;
step 2, combining a combined body (2003) of the nail body and the core rod and a combined body (2006) of the lock ring and the pushing bush to form a drawing type nail drawing finished product (20);
step 2.1, a second manipulator (10) moves a lock ring and pushing bush combination (2006) to a second rotary table (9), and the position of the lock ring and pushing bush combination (2006) corresponds to a first station (901) of the second rotary table;
step 2.2, the second rotary table (9) rotates, the position of the combined body (2006) of the lock ring and the pushing bush corresponds to the second station (902) of the second rotary table, the third manipulator (11) moves the combined body (2003) of the nail body and the core rod from the first rotary table (1) to the second rotary table (9), and the third manipulator (11) inserts the combined body (2003) of the nail body and the core rod into the combined body (2006) of the lock ring and the pushing bush;
step 2.3, the second rotary table (9) rotates, the positions of the combined body (2003) of the nail body and the core bar and the combined body (2006) of the lock ring and the pushing bush correspond to the third station (903) of the second rotary table, and the second press-fit device (12) press-fits the combined body (2003) of the nail body and the core bar and the combined body (2006) of the lock ring and the pushing bush to form a drawing type drawing nail finished product (20);
and 2.4, rotating the second rotary table (9), wherein the position of the drawing type nail drawing finished product (20) corresponds to a fourth working position (104) of the first rotary table, and the fourth mechanical arm (13) takes down the drawing type nail drawing finished product (20) on the second rotary table (9).
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| CN202311533027.2A CN117245389B (en) | 2023-11-17 | 2023-11-17 | Automatic drawing type nail drawing assembly machine and assembly method |
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| CN202311533027.2A CN117245389B (en) | 2023-11-17 | 2023-11-17 | Automatic drawing type nail drawing assembly machine and assembly method |
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| CN117245389B true CN117245389B (en) | 2024-02-20 |
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| CN117245389A (en) | 2023-12-19 |
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