CN210633248U

CN210633248U - Lockpin subassembly material loading equipment

Info

Publication number: CN210633248U
Application number: CN201921621137.3U
Authority: CN
Inventors: 周俊杰; 李炎林; 姚赞彬; 蔡海生; 周俊雄
Original assignee: Guangdong Lyric Robot Intelligent Automation Co Ltd
Current assignee: Guangdong Lyric Robot Automation Co Ltd
Priority date: 2019-09-26
Filing date: 2019-09-26
Publication date: 2020-05-29
Anticipated expiration: 2029-09-26

Abstract

The application provides lockpin subassembly material loading equipment belongs to spare part equipment technique. Lockpin subassembly material loading equipment includes lockpin loading attachment, lockpin spring loading attachment, spring holder loading attachment and manipulator. The lock pin feeding device is used for feeding the lock pins to a first position. The locking pin spring feeding device is used for feeding the locking pin spring to a second position. The spring seat feeding device is used for feeding the spring seat to a third position. The manipulator comprises a first clamping device and a suction device, the first clamping device is used for clamping the lock pin spring located at the second position to the first position and preassembling the lock pin, the first clamping device is used for clamping the lock pin spring located at the first position to the workpiece, and the suction device is used for sucking the spring seat located at the third position to the workpiece and riveting the spring seat. The lockpin assembly feeding and assembling equipment with the structure can efficiently complete the assembly of the lockpin, the lockpin spring, the spring seat and the workpiece, has high assembly precision, and effectively ensures the product quality.

Description

Lockpin subassembly material loading equipment

Technical Field

The application relates to the technical field of part assembly, in particular to a locking pin assembly feeding and assembling device.

Background

At present, in the assembly process of the existing middle cam phaser, the assembly of the lock pin, the lock pin spring and the spring seat is generally completed manually, and the production efficiency is low.

SUMMERY OF THE UTILITY MODEL

The embodiment of the application provides a lockpin subassembly material loading equipment to improve the problem that product production efficiency is low.

The embodiment of the application provides a locking pin assembly feeding and assembling device which comprises a locking pin feeding device, a locking pin spring feeding device, a spring seat feeding device and a manipulator;

the lock pin feeding device is used for feeding the lock pins to a first position;

the locking pin spring feeding device is used for feeding the locking pin spring to a second position;

the spring seat feeding device is used for feeding the spring seat to a third position;

the manipulator comprises a first clamping device and a suction device, the first clamping device is used for clamping the lock pin spring at the second position to the first position and preassembling the lock pin, the first clamping device is used for clamping the lock pin spring at the first position into a workpiece, and the suction device is used for sucking the spring seat at the third position into the workpiece and riveting the spring seat.

According to the technical scheme, the lock pin feeding device feeds the lock pin to the first position, the lock pin spring feeding device feeds the lock pin spring to the second position, the spring seat feeding device feeds the spring seat to the third position, the first clamping device clamps the lock pin spring at the second position to the first position and is pre-installed in the lock pin, the first clamping device clamps the lock pin (the lock pin with the lock pin spring pre-installed) at the first position to the workpiece, and the suction device sucks the spring seat at the third position to the workpiece and rivets the workpiece. The lockpin assembly feeding and assembling equipment with the structure can efficiently complete the assembly of the lockpin, the lockpin spring, the spring seat and the workpiece, has high assembly precision, and effectively ensures the product quality.

In addition, the lockpin assembly feeding and assembling equipment of the embodiment of the application also has the following additional technical characteristics:

in an embodiment of the present application, the robot further includes a first supporting seat, a first movable seat, and a first driving device;

the first movable seat is movably arranged on the first supporting seat, and the first clamping device and the suction device are connected to the first movable seat;

the first driving device is used for driving the first movable seat to transversely move relative to the first supporting seat, so that the first clamping device is positioned above the first position or above the second position, and the suction device is positioned above the third position.

In the technical scheme, the first driving device drives the first movable seat to move transversely, so that the first clamping device is positioned above the first position, and the first clamping device can clamp the lock pin conveniently; the first driving device drives the first movable seat to move transversely, and the first clamping device can be positioned above the second position so as to clamp the latch spring conveniently; through the first movable seat lateral shifting of first drive arrangement drive, also can make suction means be located the top of third position to suction means absorbs the spring holder.

In a next embodiment of the present application, the suction device includes a first fixed seat, a first movable seat, a suction rod, a second driving device, and a third driving device;

the first fixed seat is fixed on the first movable seat; the first movable seat is movably arranged on the first fixed seat; the suction rod is movably arranged on the first moving seat; the second driving device is used for driving the first movable seat to vertically reciprocate relative to the first fixed seat; the third driving device is used for driving the suction rod to rotate around an axis which is vertically arranged.

In the technical scheme, the second driving device drives the first movable seat to vertically reciprocate relative to the first fixed seat, so that the suction rod vertically reciprocates; the third driving device drives the suction rod to rotate around the axis which is vertically arranged, so that the suction rod rotates along the axis which is vertically arranged. I.e. the suction rod is both rotatable and movable. During actual assembly, the suction rod can be driven by the second driving device to vertically move downwards, so that the suction rod sucks the spring seat; the second driving device drives the suction rod to vertically move upwards, and the first driving device drives the suction rod to transversely move to a position to be assembled above the workpiece; then, the suction rod is driven by a third driving device to rotate for a certain angle around the vertically arranged axis so as to adjust the assembly angle of the spring seat and enable the spring seat to meet the assembly condition; and finally, driving the suction rod to move downwards along the vertical direction by a second driving device, so that the spring seat enters the workpiece and is subjected to riveting assembly.

In an embodiment of the present application, the robot further comprises a depth detection device;

the depth detection device comprises a second fixed seat, a second movable seat, a fourth driving device, a detection rod and a detection unit;

the second fixed seat is fixed on the first movable seat, and the second movable seat is movably arranged on the second fixed seat; the fourth driving device is used for driving the second movable seat to vertically move downwards or upwards relative to the second fixed seat; the detection rod can vertically move upwards or downwards relative to the second moving seat; the detection unit is used for detecting the displacement of the detection rod moving upwards in the vertical direction relative to the second moving seat.

Among the above-mentioned technical scheme, through the vertical in-process that moves down of fourth drive arrangement drive second removal seat, detecting element with be detected the part contact back, the measuring rod will move the vertical upward movement of seat relatively the second, detecting element then can detect out the displacement volume of measuring rod. Whether the lockpin neglected loading and askew dress are detected to the testing rod of accessible degree of depth detection device in assembling process, detect lockpin spring neglected loading, fold material and two springs, detect whether the spring holder neglected loading and askew dress, detect the spring holder riveting and target in place.

In an embodiment of the application, the lock pin feeding device comprises a first conveying mechanism, a first distributing mechanism and a first in-place detection device;

the first distributing mechanism is connected to the first conveying mechanism, the first in-place detection device is connected to the first distributing mechanism, the first distributing mechanism is provided with a first jig for placing a single lock pin, and the first conveying mechanism is used for conveying the lock pin to the first jig;

when the first conveying mechanism conveys the lock pin to the first jig, the lock pin is located at the first position, and the first in-place detection device sends out a first in-place signal.

Among the above-mentioned technical scheme, lockpin loading attachment when the material loading, can carry the lockpin to the first tool of first feed mechanism through first conveying mechanism on, first detection device in place can carry out the detection in place to whether have the lockpin on the first tool. If the lock pin is detected, the first in-place detection device sends a first in-place signal, and the first clamping device of the manipulator can clamp the lock pin under the condition.

In an embodiment of the application, the latch spring loading device comprises a second conveying mechanism, a second material distributing mechanism and a second in-place detection device;

the second distributing mechanism is connected to the second conveying mechanism, the second in-place detection device is connected to the second distributing mechanism, the second distributing mechanism is provided with a second jig for placing a single lock pin spring, and the second conveying mechanism is used for conveying the lock pin spring to the second jig;

when the second conveying mechanism conveys the lock pin spring to the second jig, the second in-place detection device sends out a second in-place signal.

Among the above-mentioned technical scheme, when lockpin spring loading attachment was loaded into material, can carry lockpin spring to the second tool of second feed mechanism through second conveying mechanism on, whether second detection device in place can be to having lockpin spring to carry out on the second tool for detecting. If the lockpin spring is detected, the second in-place detection device sends a second in-place signal, and the first clamping device of the manipulator can clamp the lockpin spring under the condition.

In an embodiment of the present application, the second material distribution mechanism further includes a second supporting seat, a guiding sleeve, a switch device, and a fifth driving device;

the second jig is movably arranged on the second supporting seat; the guide sleeve is connected to the second support seat and used for guiding the lock pin spring conveyed by the second conveying mechanism to the second jig; the switch device is used for opening or closing the discharge hole of the guide sleeve;

the fifth driving device is used for driving the second jig to move along the direction vertical to the vertical direction;

when the second in-place detection device sends the second in-place signal, the fifth driving device drives the second jig to move along the direction vertical to the vertical direction, so that the lock pin spring on the second jig moves to the second position from the lower part of the guide sleeve.

Among the above-mentioned technical scheme, after second conveying mechanism carried the lockpin spring to the uide bushing, opened the discharge gate of uide bushing through switching device, made single lockpin spring in the uide bushing enter into the second tool, then accessible switching device closed the discharge gate of uide bushing. When the second on-site detection device detects that the lockpin spring exists on the second fixture, the feeding is successful, the second on-site detection device sends a second on-site signal, the fifth driving device responds to the second on-site signal, and the fifth driving device drives the second fixture to move in the vertical direction perpendicular to the vertical direction, so that the lockpin spring is conveyed to the second position, the influence of the guide sleeve on the clamping work of the first clamping device is avoided, and the first clamping device is convenient to clamp the lockpin spring on the second fixture.

In an embodiment of the present application, the second material distribution mechanism further includes a sixth driving device;

the guide sleeve is movably arranged on the second supporting seat, and the sixth driving device is used for driving the guide sleeve to vertically move.

Among the above-mentioned technical scheme, can drive the vertical removal of uide bushing through sixth drive arrangement, can reduce the distance between uide bushing and the second tool, the lockpin spring of being convenient for accurately gets into the second tool from the uide bushing.

In an embodiment of the application, the spring seat feeding device comprises a third conveying mechanism, a third material distribution mechanism and a third in-place detection device;

the third material distribution mechanism is connected to the third conveying mechanism, the third in-place detection device is connected to the third material distribution mechanism, the third material distribution mechanism is provided with a third jig for placing a single spring seat, and the third conveying mechanism is used for conveying the spring seat to the third jig;

when the third conveying mechanism conveys the spring seats to the third jig, the third in-place detection device sends out a third in-place signal.

Among the above-mentioned technical scheme, when spring holder loading attachment was loaded onto, can carry the spring holder to third feed mechanism's third tool through third conveying mechanism on, whether third detection device in place can be gone on for detecting to having the spring holder on the third tool. If the spring seat is detected, the third in-place detection device sends a third in-place signal, and under the premise, the suction device of the manipulator can suck the spring seat.

In an embodiment of the present application, the third material distribution mechanism further includes a third support seat and a seventh driving device;

the third jig is movably arranged on the third supporting seat, and the seventh driving device is used for driving the third jig to move along the direction vertical to the vertical direction;

when the third in-place detection device sends the third in-place signal, the seventh driving device drives the third jig to move in the direction perpendicular to the vertical direction, so that the spring seat on the third jig moves to the third position.

In the above technical scheme, when the third in-place detection device detects that the second jig has the spring seat, the feeding is successful, the third in-place detection device sends a third in-place signal, the seventh driving device responds to the third in-place signal, and the seventh driving device drives the third jig to move in the direction perpendicular to the vertical direction so as to move the spring seat to the third position, so that the suction device sucks the spring seat on the third jig.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained from the drawings without inventive effort.

FIG. 1 is a schematic structural diagram of a locking pin assembly loading and assembling device according to an embodiment of the present disclosure;

FIG. 2 is a schematic structural view of the locking pin loading device shown in FIG. 1;

FIG. 3 is a schematic structural view of a second feed mechanism shown in FIG. 1;

FIG. 4 is a schematic view of the connection of the switch device shown in FIG. 3 to a guide housing;

FIG. 5 is a schematic structural diagram of the spring seat feeding device shown in FIG. 1;

FIG. 6 is a schematic view of the suction device shown in FIG. 1 from a first perspective;

FIG. 7 is a schematic view of the suction device shown in FIG. 1 from a second perspective;

FIG. 8 is a partial view of the robot shown in FIG. 1;

fig. 9 is a schematic structural diagram of the depth detection device shown in fig. 8.

Icon: 100-locking pin assembly feeding and assembling equipment; 10-a lock pin feeding device; 11-a first conveying mechanism; 111-a first vibratory pan; 112-a first linear feeder; 113-a first scaffold; 12-a first separating mechanism; 121-a first jig; 122-a second support; 13-first in-place detection means; 14-an inductive switch; 20-a locking pin spring feeding device; 21-a second conveying mechanism; 211-detent spring feed station; 212-a feed conduit; 22-a second material distribution mechanism; 221-a second fixture; 222-a second support seat; 223-a guide sleeve; 224-a switching device; 2241-a barrier; 2242-a driving member; 2243-a rotating shaft; 2244-a return spring; 225-fifth drive means; 226-a first slider; 227-a sixth drive; 228-a second slider; 2281-feed hole; 23-second presence detection means; 30-spring seat feeding device; 31-a third conveying mechanism; 311-a second vibratory pan; 312-a second linear feeder; 313-a third support; 32-a third material distributing mechanism; 321-a third jig; 322-a third support seat; 323-seventh driving means; 324-a third slider; 33-third in-place detection means; 40-a manipulator; 41-a first gripping device; 411-a third holder; 412-a third motion stage; 413-eighth drive means; 414 — first pneumatic finger; 42-a suction device; 421-a first fixed seat; 422-a first movable seat; 423-suction rod; 4231-a connector; 424-second drive means; 425-a third drive means; 4251-a pin shaft; 426-a limiter; 43-a first support; 44-a first movable seat; 45-a first drive; 451-electric motor; 452-a lead screw; 46-a depth detection device; 461-second fixed seat; 462-a second mobile seat; 463-a fourth drive; 464-detecting rod; 4641-fixed block; 4642-a blocker ring; 465-push cylinder; 466-contact displacement sensor; 467-displacement detection correlation switch; 47-a second grasping device; 471-fourth fixed seat; 472-a fourth motion stage; 473-ninth driving means; 474 — second pneumatic finger.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations.

Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.

In the description of the embodiments of the present application, it should be noted that the indication of orientation or positional relationship is based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship which is usually placed when the product of the application is used, or the orientation or positional relationship which is usually understood by those skilled in the art, or the orientation or positional relationship which is usually placed when the product of the application is used, and is only for the convenience of describing the application and simplifying the description, but does not indicate or imply that the indicated device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the application. Furthermore, the terms "first," "second," "third," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.

In the description of the embodiments of the present application, it should also be noted that the terms "disposed" and "connected" are to be interpreted broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected, unless explicitly stated or limited otherwise; may be directly connected or indirectly connected through an intermediate. The specific meaning of the above terms in the present application can be understood in a specific case by those of ordinary skill in the art.

Examples

As shown in fig. 1, an embodiment of the present application provides a lockpin assembly loading and assembling apparatus 100, which includes a lockpin loading device 10, a lockpin spring loading device 20, a spring seat loading device 30, and a robot 40. The locking pin loading device 10 is used for loading the locking pin to a first position. The detent spring loading device 20 is used for loading the detent spring to the second position. Spring seat loading attachment 30 is used for spring seat material loading to the third position. The manipulator 40 comprises a first clamping device 41 and a suction device 42, the first clamping device 41 is used for clamping the lock pin spring at the second position to the first position to be preassembled with the lock pin, and is used for clamping the lock pin at the first position into the workpiece, and the suction device 42 is used for sucking the spring seat at the third position into the workpiece and performing riveting.

The locking pin feeding device 10 feeds a locking pin to a first position, the locking pin spring feeding device 20 feeds the locking pin spring to a second position, the spring seat feeding device 30 feeds a spring seat to a third position, the first clamping device 41 clamps the locking pin spring at the second position to the first position and pre-installed in the locking pin, the first clamping device 41 clamps the locking pin (the locking pin with the locking pin spring pre-installed) at the first position to a workpiece, and the suction device 42 sucks the spring seat at the third position to the workpiece and rivets the workpiece. The lockpin assembly feeding and assembling equipment 100 with the structure can efficiently complete the assembly of the lockpin, the lockpin spring, the spring seat and the workpiece, has high assembly precision, and effectively ensures the product quality.

The lock pin feeding device 10 is used for feeding the lock pins to a first position, and the first position is a position where the lock pins are to be clamped by the first clamping device 41.

In this embodiment, as shown in fig. 2, the lock pin loading device 10 includes a first conveying mechanism 11, a first distributing mechanism 12, and a first in-place detecting device 13. The first feeding mechanism 12 is connected to the first conveying mechanism 11, the first in-place detection device 13 is connected to the first feeding mechanism 12, the first feeding mechanism 12 has a first fixture 121 for placing a single lock pin, and the first conveying mechanism 11 is used for conveying the lock pin to the first fixture 121. When the first conveying mechanism 11 conveys the lock pin to the first jig 121, the lock pin is located at the first position, and the first in-place detecting device 13 sends out a first in-place signal.

When the locking pin feeding device 10 feeds, the first conveying mechanism 11 can convey the locking pins to the first jig 121 of the first material distributing mechanism 12, and the first in-place detection device 13 can detect whether the locking pins exist on the first jig 121 in place. If the lock pin is detected, the first in-place detecting device 13 sends a first in-place signal, and on this premise, the first clamping device 41 of the manipulator 40 can clamp the lock pin.

Alternatively, the first conveying mechanism 11 includes a first vibration tray 111 and a first linear feeder 112, an inlet end of the first linear feeder 112 is connected to the first vibration tray 111, and an outlet end of the first linear feeder 112 is connected to the first jig 121 of the first distributing mechanism 12. The specific structures of the first vibratory pan 111 and the first linear feeder 112 may be referred to in the related art and will not be described herein.

During feeding, the batch lock pins are placed in the first vibration tray 111, the lock pins regularly enter the first linear feeder 112 after being subjected to vibration screening by the first vibration tray 111, and the first linear feeder 112 conveys the lock pins to the first jig 121.

Wherein, the first bracket 113 is arranged at the bottom of the first linear feeder 112. The first distributing mechanism 12 further includes a second bracket 122, the first fixture 121 is fixed on the top of the first bracket 113, and the second bracket 122 is connected and fixed on the first bracket 113.

In this embodiment, the first fixture 121 is a rectangular block structure, and the first fixture 121 is provided with a first arc-shaped notch capable of accommodating a lock pin. The lock pin transferred to the first jig 121 by the first linear feeder 112 finally enters the first circular arc notch.

Optionally, the first in-place detecting device 13 is a first opposite-emitting switch, which includes a first emitter and a first receiver, which are oppositely disposed on the second bracket 122, and the first receiver is used for receiving the light (e.g. infrared ray) emitted by the first generator. When the lock pin enters the first arc notch of the first fixture 121, the lock pin blocks the light emitted by the first emitter, and the first receiver cannot receive the light emitted by the first emitter, which means that the first correlation switch detects that the lock pin exists in the first arc notch of the first fixture 121, and the first correlation switch sends a first in-place signal. The first in-place signal is used as a precondition for the operation of the first clamping device 41 of the manipulator 40, that is, only when the first in-place detection device 13 detects that the lock pin exists in the first fixture 121, the first clamping device 41 can clamp the lock pin.

The first correlation switch and the first gripping device 41 can both be electrically connected to the controller, and the controller can control the first gripping device 41 to operate only after receiving the first on-position signal.

In addition, in this embodiment, the second bracket 122 is further provided with an inductive switch 14 which is obliquely arranged and used for detecting whether the lock pin is reversed or not.

The lockpin spring feeding device 20 is used for feeding the lockpin spring to a second position, and the second position is a position where the lockpin spring is to be clamped by the first clamping device 41.

In this embodiment, as shown in fig. 1, the latch spring loading device 20 includes a latch spring loading device 20 including a second conveying mechanism 21, a second distributing mechanism 22, and a second in-place detecting device 23 (not shown in fig. 1). The second distributing mechanism 22 is connected to the second conveying mechanism 21, the second in-place detection device 23 is connected to the second distributing mechanism 22, the second distributing mechanism 22 is provided with a second jig 221 for placing a single lock pin spring, and the second conveying mechanism 21 is used for conveying the lock pin spring to the second jig 221. When the second conveying mechanism 21 conveys the detent spring to the second fixture 221, the second on-position detecting device 23 sends out a second on-position signal.

When the locking pin spring feeding device 20 feeds, the locking pin spring can be conveyed to the second jig 221 of the second distributing mechanism 22 through the second conveying mechanism 21, and the second in-place detection device 23 can detect whether the locking pin spring exists on the second jig 221. If the latch spring is detected, the second in-place detecting device 23 sends out a second in-place signal, and on this premise, the first clamping device 41 of the manipulator 40 can clamp the latch spring.

Optionally, second conveyor mechanism 21 includes a detent spring feed station 211 and a feed conduit 212. The detent spring feed station 211 communicates with the second dispensing mechanism 22 through a feed conduit 212. The specific structure of the detent spring feed station 211 can be found in the related art and will not be described in detail herein.

During feeding, batch of the lock pin springs are placed in the lock pin spring feeding station 211, the lock pin spring feeding station 211 conveys the lock pin springs to the second distributing mechanism 22 through the feeding pipeline 212, and the lock pin springs finally enter the second jig 221.

Further, as shown in fig. 3, the second dispensing mechanism 22 further includes a second supporting seat 222, a guiding sleeve 223, a switch device 224 and a fifth driving device 225. The second fixture 221 is movably disposed on the second support base 222. The guide sleeve 223 is connected to the second support base 222, and the guide sleeve 223 is used for guiding the detent spring conveyed by the second conveying mechanism 21 onto the second jig 221. The opening and closing device 224 is used to open or close the discharge port of the guide sleeve 223. The fifth driving device 225 is used for driving the second jig 221 to move along a direction perpendicular to the vertical direction. When the second in-place detecting device 23 sends out a second in-place signal, the fifth driving device 225 drives the second fixture 221 to move in a direction perpendicular to the vertical direction, so that the latch spring on the second fixture 221 moves from the lower side of the guide sleeve 223 to the second position.

After the second conveying mechanism 21 conveys the latch springs into the guide sleeve 223, the discharge hole of the guide sleeve 223 is opened through the switch device 224, so that the single latch spring in the guide sleeve 223 enters the second jig 221, and then the discharge hole of the guide sleeve 223 is closed through the switch device 224. When the second in-place detection device 23 detects that the lock pin spring exists on the second fixture 221, the feeding is successful, the second in-place detection device 23 sends a second in-place signal, the fifth driving device 225 responds to the second in-place signal, and the fifth driving device 225 drives the second fixture 221 to move in the direction perpendicular to the vertical direction, so that the lock pin spring is conveyed to the second position, the influence of the guide sleeve 223 on the clamping work of the first clamping device 41 is avoided, and the first clamping device 41 is convenient to clamp the lock pin spring on the second fixture 221.

The second support base 222 is provided with a first guide rail, the first guide rail is provided with a movable first sliding block 226, the second fixture 221 is fixed on the first sliding block 226, and the first sliding block 226 moves to drive the second fixture 221 to move. The second jig 221 is vertically arranged on the first slider 226, and the second jig 221 is a stepped shaft with a radius gradually decreasing from a lower portion to a top portion. After the locking pin spring falls from the guide sleeve 223, the locking pin spring is sleeved on the outer side of the top shaft section of the second jig 221.

In this embodiment, the fifth driving device 225 is an air cylinder, a cylinder body of the air cylinder is fixedly connected to the second supporting base 222, and a piston rod of the air cylinder is fixedly connected to the first sliding block 226. The cylinder operates to slide the first slider 226, so that the second jig 221 moves in a direction perpendicular to the vertical direction.

Optionally, the second in-place detecting device 23 is a second correlation switch, which includes a second emitter and a second receiver, the second emitter and the second receiver are oppositely disposed on the first sliding block 226, and the second receiver is used for receiving light (e.g. infrared ray) emitted by the second generator. When the latch spring is sleeved outside the top shaft section of the second fixture 221, the latch spring will block the light emitted by the second emitter, and the second receiver cannot receive the light emitted by the second generator, which means that the second correlation switch detects that the latch spring is present on the second fixture 221, and the second correlation switch emits the second in-place signal.

The second correlation switch and the fifth driving device 225 can be electrically connected to the controller, and the controller controls the fifth driving device 225 to operate after receiving the second in-place signal, so as to transport the latch spring on the second fixture 221 to the second position, and clamp the latch spring by the first clamping device 41. Of course, the precondition for the first gripping device 41 to grip the detent spring located at the second position is that the second presence detecting device 23 detects the presence of the detent spring on the second jig 221.

Further, the second material distributing mechanism 22 further includes a sixth driving device 227, the guide sleeve 223 is movably disposed on the second support seat 222, and the sixth driving device 227 is used for driving the guide sleeve 223 to vertically move. The guide sleeve 223 can be driven to vertically move by the sixth driving device 227, so that the distance between the guide sleeve 223 and the second jig 221 can be reduced, and the latch spring can conveniently and accurately enter the second jig 221 from the guide sleeve 223.

The second support base 222 is provided with a second guide rail, the second guide rail is provided with a second sliding block 228 capable of moving vertically, the guide sleeve 223 is fixed at the bottom of the second sliding block 228, the second sliding block 228 is provided with a feed hole 2281 leading to the inside of the guide sleeve 223, and the feed hole 2281 is communicated with the feed pipeline 212.

In this embodiment, the sixth driving device 227 is an air cylinder, a cylinder body of the air cylinder is fixedly connected to the second supporting base 222, and a piston rod of the air cylinder is fixedly connected to the second sliding block 228. The cylinder operates to slide the second slider 228, thereby moving the second jig 221 in the vertical direction.

The opening and closing device 224 functions to open or close the discharge hole at the bottom of the guide sleeve 223. In this embodiment, as shown in fig. 4, the switch device 224 includes a blocking member 2241 and a driving member 2242, the blocking member 2241 is rotatably disposed on the guide sleeve 223, and the driving member 2242 is used for driving the blocking member 2241 to rotate to open or close the discharge port of the guide sleeve 223.

Illustratively, the blocking piece 2241 is L-shaped, the blocking piece 2241 is rotatably connected with the guide sleeve 223 through a rotating shaft 2243, and a return spring 2244 is arranged between the blocking piece 2241 and the guide sleeve 223. The driving member 2242 is a cylinder, a cylinder body of the cylinder is fixed to the second slide block 228, and a piston rod of the cylinder is used to contact the blocking member 2241 to push the blocking member 2241 to rotate, so as to open the discharge port of the guide sleeve 223. Under the normal state, under the action of the return spring 2244, the blocking piece 2241 closes the discharge hole of the guide sleeve 223; when the piston cylinder of the air cylinder extends out and pushes the blocking piece 2241 to rotate, the discharge port of the guide sleeve 223 is opened.

In the feeding process, the guide sleeve 223 can be moved vertically downwards by the sixth driving device 227, so that the guide sleeve 223 is close to the second jig 221; then, the blocking piece 2241 can be pushed to rotate by the driving piece 2242 to open the discharge hole of the guide sleeve 223, so that a lock pin spring in the guide sleeve 223 is just sleeved on the outer side of the top shaft section of the second fixture 221; subsequently, the driving member 2242 is retracted, and the blocking member 2241 is returned by the return spring 2244 to close the outlet of the guide sleeve 223.

The spring seat feeding device 30 is used for feeding the spring seats to a third position, and the third position is a position where the spring seats are to be sucked by the sucking device 42.

In this embodiment, as shown in fig. 5, the spring seat feeding device 30 includes a third conveying mechanism 31, a third material distributing mechanism 32, and a third in-place detection device 33. The third material distributing mechanism 32 is connected to the third conveying mechanism 31, the third in-place detection device 33 is connected to the third material distributing mechanism 32, the third material distributing mechanism 32 is provided with a third jig 321 for placing a single spring seat, and the third conveying mechanism 31 is used for conveying the spring seat to the third jig 321. When the third conveying mechanism 31 conveys the spring seats to the third jig 321, the third in-place detecting device 33 sends out a third in-place signal.

When the spring seat feeding device 30 is used for feeding, the spring seat can be conveyed to the third jig 321 of the third material distribution mechanism 32 through the third conveying mechanism 31, and the third in-place detection device 33 can detect whether the spring seat exists on the third jig 321. If a spring seat is detected, the third in-place detection device 33 sends a third in-place signal, on which the suction device 42 of the manipulator 40 can suction the spring seat.

Alternatively, the third conveying mechanism 31 includes a second vibration tray 311 and a second linear feeder 312, an inlet end of the second linear feeder 312 is connected to the second vibration tray 311, and an outlet end of the second linear feeder 312 is connected to the third fixture 321 of the third depiler mechanism 32. The specific structures of the second vibratory pan 311 and the second linear feeder 312 may be referred to in the related art, and will not be described herein.

During feeding, the second vibration disc 311 is placed into the batch of spring seats, the spring seats regularly enter the second linear feeder 312 after being subjected to vibration screening by the second vibration disc 311, and the second linear feeder 312 conveys the lock pins to the third jig 321.

Wherein, the bottom of the second linear feeder 312 is provided with a third support 313.

Optionally, the third material distributing mechanism 32 further includes a third supporting seat 322 and a seventh driving device 323, the third fixture 321 is movably disposed on the third supporting seat 322, and the seventh driving device 323 is configured to drive the third fixture 321 to move along a direction perpendicular to the vertical direction. When the third in-place detecting device 33 sends out a third in-place signal, the seventh driving device 323 drives the third jig 321 to move in a direction perpendicular to the vertical direction, so that the spring seat on the third jig 321 moves to a third position.

When the third in-place detection device 33 detects that a spring seat exists on the second jig 221, the feeding is successful, the third in-place detection device 33 sends a third in-place signal, the seventh driving device 323 responds to the third in-place signal, and the seventh driving device 323 drives the third jig 321 to move in the direction perpendicular to the vertical direction so as to move the spring seat to a third position, so that the suction device 42 sucks the spring seat on the third jig 321.

The third supporting seat 322 is connected and fixed to the third bracket 313. The third support seat 322 is provided with a guide rail, the guide rail is provided with a slidable third slider 324, the third fixture 321 is connected and fixed to the third slider 324, and the third slider 324 slides along the guide rail to enable the third slider 324 to move in a direction perpendicular to the vertical direction.

In this embodiment, the third fixture 321 is a rectangular block structure, and the third fixture 321 is provided with a second arc notch, and the second arc notch can accommodate one spring seat. The spring seats conveyed by the second linear feeder 312 to the third jig 321 finally enter the second arc notch.

In this embodiment, the seventh driving device 323 is an air cylinder, a cylinder body of the air cylinder is fixedly connected to the third supporting seat 322, and a piston rod of the air cylinder is fixedly connected to the third sliding block 324. The cylinder operates to slide the third slider 324, so that the third jig 321 moves in a direction perpendicular to the vertical direction.

Optionally, the third in-place detecting device 33 is a third correlation switch, and the third correlation switch includes a third transmitter and a third receiver, which are oppositely disposed on the third slider 324, and the third receiver is configured to receive light (e.g., infrared light) emitted by the third generator. When the spring seat enters the second arc notch of the third fixture 321, the spring seat will block the light emitted by the third emitter, and the third receiver cannot receive the light emitted by the third generator, which can be understood as that the third correlation switch detects that the spring seat exists on the third fixture 321, and the third correlation switch emits the third on-site signal.

The third correlation switch and the seventh driving device 323 can be electrically connected to the controller, and the controller controls the seventh driving device 323 to operate after receiving the third on-position signal, so as to transport the spring seat on the third jig 321 to the third position, and allow the suction device 42 to suck the spring seat. Of course, the suction device 42 clamps the detent spring located at the third position on the premise that the third in-place detection device 33 detects that a spring seat is present on the third jig 321.

It should be noted that, in other embodiments of the present application, the third fixture 321 may also be directly fixed on the third supporting seat 322.

As shown in fig. 1, the detent loading apparatus 10, the detent spring loading apparatus 20, and the spring seat loading apparatus are arranged side by side. The lockpin spring feeding station 211 of the lockpin spring feeding device 20 is located between the first vibrating disk 111 of the lockpin spring feeding device 10 and the second vibrating disk 311 of the spring seat feeding device 30; the third feed mechanism 32 of the spring seat feeder 30 is located between the first feed mechanism 12 of the detent spring feeder 10 and the second feed mechanism 22 of the detent spring feeder 20.

Further, the robot 40 further includes a first supporting seat 43, a first movable seat 44, and a first driving device 45. The first movable seat 44 is movably disposed on the first supporting seat 43, and the first clamping device 41 and the suction device 42 are both connected to the first movable seat 44. The first driving device 45 is used for driving the first movable seat 44 to move transversely relative to the first supporting seat 43, so that the first clamping device 41 is located above the first position or above the second position, and the suction device 42 is located above the third position.

The first driving device 45 drives the first movable seat 44 to move transversely, so that the first clamping device 41 can be positioned above the first position, and the first clamping device 41 can clamp the lock pin conveniently; the first driving device 45 drives the first movable seat 44 to move transversely, so that the first clamping device 41 can be positioned above the second position, and the first clamping device 41 can clamp the latch spring conveniently; the first movable seat 44 is driven by the first driving device 45 to move transversely, so that the suction device 42 can also be positioned above the third position, so that the suction device 42 can suck the spring seat.

It will be appreciated that the first, second and third positions are laterally co-linear.

The first movable seat 44 is a block-shaped member, and the first supporting seat 43 is provided with a guide rail for the first movable seat 44 to move laterally.

In this embodiment, the first driving device 45 includes a motor 451 and a screw rod 452, the screw rod 452 is fixed to the first supporting seat 43, the screw rod 452 is connected to an output shaft of the motor 451, and the first movable seat 44 is screwed to an outer side of the screw rod 452. When the motor 451 operates to drive the screw rod 452 to rotate, the first movable seat 44 will move transversely relative to the first supporting seat 43.

In this embodiment, as shown in fig. 6 and 7, the suction device 42 includes a first fixed seat 421, a first movable seat 422, a suction rod 423, a second driving device 424, and a third driving device 425. The first movable base 422 is movably disposed on the first fixed base 421, and the suction rod 423 is movably disposed on the first movable base 422. The second driving device 424 is used for driving the first moving seat 422 to reciprocate vertically relative to the first fixed seat 421. The third driving means 425 is used to drive the suction rod 423 to rotate about an axis arranged vertically. As shown in fig. 8, the first fixed seat 421 is fixed to the first movable seat 44.

The second driving device 424 drives the first moving seat 422 to reciprocate vertically relative to the first fixed seat 421, so as to realize the reciprocating movement of the suction rod 423 in the vertical direction; the third driving means 425 drives the suction rod 423 to rotate about the vertically arranged axis, thereby achieving the rotation of the suction rod 423 along the vertically arranged axis. I.e. the suction rod 423 is both rotatable and movable. During actual assembly, the suction rod 423 can be driven to vertically move downwards by the second driving device 424, so that the suction rod 423 sucks the spring seat; the suction rod 423 is driven by the second driving device 424 to vertically move upwards, and the suction rod 423 is driven by the first driving device 45 to transversely move to a position to be assembled above the workpiece; then, the suction rod 423 is driven to rotate for a certain angle around the vertically arranged axis by a third driving device 425 so as to adjust the assembly angle of the spring seat, so that the spring seat meets the assembly condition; and finally, the suction rod 423 is driven by the second driving device 424 to move vertically downwards, so that the spring seat enters the workpiece and is subjected to riveting assembly.

The first fixed base 421 is provided with a guide rail for the first movable base 422 to move vertically.

With continued reference to fig. 6 and 7, the suction rod 423 is a hollow tubular structure. The axis of rotation of the suction rod 423 with respect to the first movable base 422 is the axis of the suction rod 423 itself. The suction rod 423 is fixedly provided with a connecting piece 4231, the connecting piece 4231 is a strip-shaped piece, the extending direction of the connecting piece 4231 is vertical to the extending direction of the suction rod 423, and the third driving device 425 acts on the connecting piece 4231 to enable the connecting piece 4231 and the suction rod 423 to rotate together.

When the spring seat is sucked by the suction rod 423, the suction rod 423 sucks the outside air by the air suction device, so that negative pressure is generated inside the suction rod 423, and the suction rod 423 generates suction force on the spring seat.

In this embodiment, the second driving device 424 is a cylinder, a cylinder body of the cylinder is fixedly connected to the first fixing base 421, and a piston rod of the cylinder is fixedly connected to the first moving base 422. When the piston rod of the cylinder extends out, the first moving seat 422 moves vertically downwards; the piston rod of the cylinder retracts, and the first moving seat 422 moves vertically upward.

In this embodiment, the third driving device 425 is a cylinder, a cylinder body of the cylinder is fixedly connected to the first movable base 422, and a piston rod of the cylinder is movably connected to the connecting member 4231 through a pin 4251. The suction rod 423 can rotate forward and backward when the piston rod of the air cylinder extends or retracts.

Further, the sucking device 42 further includes a limiting member 426, the limiting member 426 is connected to the first moving base 422, and the limiting member 426 is located on a rotating track of the connecting member 4231. In the rotation process of the connecting member 4231 and the suction rod 423, the connecting member 4231 is in contact with the limiting member 426, and the limiting member 426 stops the rotation of the connecting member 4231, so that the purpose of limiting the rotation angle of the suction rod 423 is achieved.

In this embodiment, the limiting member 426 is an air cylinder, a cylinder body of the air cylinder is connected and fixed to the first moving seat 422, and a piston rod of the air cylinder is located on a rotating track of the connecting member 4231. By adjusting the amount of extension and retraction of the piston rod of the cylinder, the link 4231 can be brought into contact with the piston rod of the cylinder at different positions, thereby adjusting the range of the rotation angle of the suction rod 423.

Further, the robot 40 further includes a depth detection device 46. As shown in fig. 9, the depth detection device 46 includes a second fixed base 461, a second movable base 462, a fourth driving device 463, a detection lever 464, and a detection unit. The second movable base 462 is movably disposed on the second fixed base 461. The fourth driving device 463 is used for driving the second moving seat 462 to move vertically downwards or upwards relative to the second fixed seat 461. The detection lever 464 can be vertically moved upward or downward with respect to the second moving base 462. The detection unit is used for detecting the displacement of the detection rod 464 moving vertically upwards relative to the second moving seat 462. As shown in fig. 8, the second fixed seat 461 is fixed to the first movable seat 44.

In the process of driving the second movable seat 462 to move vertically downward by the fourth driving device 463, after the detection unit contacts with the detected component, the detection rod 464 moves vertically upward relative to the second movable seat 462, and the detection unit can detect the displacement of the detection rod 464. Whether the lockpin is neglected to assemble or askew to assemble can be detected through the depth detection device 46 in the assembling process, whether the lockpin spring is neglected to assemble, stacked and double-spring is detected, whether the spring seat is neglected to assemble or askew to assemble is detected, and whether the riveting pressure of the spring seat is in place is detected.

Wherein, a guide rail for the second movable seat 462 to move vertically is disposed on the second fixed seat 461.

In this embodiment, the fourth driving device 463 is an air cylinder, a cylinder body of the air cylinder is connected and fixed to the second fixed seat 461, and a piston rod of the air cylinder is connected to the second movable seat 462. The second moving base 462 is vertically moved upward or downward by extension or retraction of a piston rod of the air cylinder.

In addition, in this embodiment, the depth detection device 46 further includes a pushing cylinder 465, a cylinder body of the pushing cylinder 465 is fixedly connected to the second fixed seat 461, a piston rod of the pushing cylinder 465 moves to be able to contact with the second moving seat 462, and the pushing cylinder 462 is moved vertically downward. That is, the piston rod of the pushing cylinder 465 is not connected to the second moving seat 462, the pushing cylinder 465 can move the second moving seat 462 vertically downward and cannot move the second moving seat 462 vertically upward, and the action of moving the second moving seat 462 vertically upward is driven by the fourth driving device 463.

Further, the detection unit comprises a contact displacement sensor 466, a fixing block 4641 is arranged on the detection rod 464, and the contact displacement sensor 466 is located on a track where the fixing block 4641 moves vertically and upwards along with the detection rod 464. When the detecting rod 464 contacts with the detected member and moves vertically upward, the fixing block 4641 contacts with the sensing head of the contact displacement sensor 466, so as to push the sensing head of the contact displacement sensor 466 to move, so as to obtain a displacement value, which is a displacement generated by the detecting rod 464 after the fixing block 4641 contacts with the sensing head of the contact displacement sensor 466.

Optionally, the detecting unit further includes a displacement detecting opposite switch 467, the displacement detecting opposite switch 467 includes a transmitter and a receiver for receiving light emitted from the transmitter, and the transmitter and the receiver are disposed opposite to the second movable seat 462. A blocking ring 4642 is arranged on the detection rod 464, and the blocking ring 4642 can vertically move upwards along with the detection rod 464 to block light emitted by the emitter.

After the stop ring 4642 stops the light emitted from the emitter, the displacement detecting opposite-emitting switch 467 generates a switch signal, and one switch signal corresponds to one displacement value.

The displacement detection correlation switch 467 may be one or a plurality of switches (including two, three, four, and the like); the stopper 2241 may be one ring or a plurality of rings (including two, three, four, etc.).

In this embodiment, the displacement detection correlation switches 467 are three and the stoppers 2241 are six.

Through contact displacement sensor 466 and displacement detection correlation switch 467 to detect measuring pole 464, improved the accuracy that detects. In other embodiments, only one of the contact displacement sensor 466 and the displacement detection correlation switch 467 may be provided.

Further, as shown in fig. 8, the first grasping apparatus 41 includes a third fixed base 411, a third movable base 412, an eighth driving apparatus 413, and a first pneumatic finger 414. The third fixed seat 411 is fixed to the first movable seat 44, the third movable seat 412 is movably disposed on the third fixed seat 411, the first pneumatic finger 414 is mounted on the third movable seat 412, and the eighth driving device 413 is configured to drive the third movable seat 412 to vertically move upward or downward relative to the third fixed seat 411.

When the first driving device 45 drives the first movable seat 44 to move transversely and the first clamping device 41 is located at the first position, the eighth driving device 413 drives the third movable seat 412 to move vertically and downwards relative to the third fixed seat 411, so that the first pneumatic finger 414 reaches a designated position to clamp the lock pin; when the first driving device 45 drives the first movable seat 44 to move transversely and the second clamping device 47 is located at the second position, the eighth driving device 413 drives the third movable seat 412 to move vertically downward relative to the third fixed seat 411, so that the first pneumatic finger 414 reaches a designated position to clamp the detent spring.

Wherein, a guide rail for the third movable seat 412 to slide vertically is disposed on the third fixed seat 411.

In this embodiment, the eighth driving device 413 is an air cylinder, a cylinder body of the air cylinder is connected and fixed to the third fixed seat 411, and a piston rod of the air cylinder is connected to the third movable seat 412. The third moving base 412 is moved vertically downward or upward by the extension or retraction of the piston rod of the air cylinder.

The first pneumatic finger 414 includes a first clamping cylinder and a first clamping finger movably disposed on the third movable base 412, and the first clamping cylinder is used to actuate the first clamping finger to clamp the lock pin or the lock pin spring.

Further, with reference to fig. 1, the manipulator 40 further includes a second clamping device 47, and the second clamping device 47 is used for clamping the product that is not qualified in rivet pressing assembly.

As shown in fig. 8, the second gripper 47 includes a fourth fixed base 471, a fourth movable base 472, a ninth driving means 473, and a second pneumatic finger 474. The fourth fixed seat 471 is fixed to the first movable seat 44, the fourth movable seat is movably disposed on the fourth fixed seat 471, the second pneumatic finger 474 is installed on the fourth movable seat 472, and the ninth driving device 473 is configured to drive the fourth movable seat 472 to vertically move upward or downward relative to the fourth fixed seat 471.

After the spring seat is riveted with the workpiece, the riveting depth of the spring seat is detected through the depth detection device 46 so as to judge whether the riveting of the spring seat is in place. If the spring seat is not riveted in place, the first driving device 45 can drive the first movable seat 44 to move transversely, and the second clamping device 47 is positioned above the workpiece; then the ninth driving device 473 drives the fourth movable seat 472 to vertically move downwards relative to the fourth fixed seat 471, so that the second pneumatic finger 474 reaches a designated position to clamp the workpiece; after the second pneumatic finger 474 clamps the workpiece, the ninth driving device 473 drives the fourth movable seat 472 to move vertically upward relative to the fourth fixed seat 471, so as to take the unqualified workpiece away.

The fourth fixed seat 471 is provided with a guide rail for the fourth movable seat 472 to slide vertically.

In this embodiment, the ninth driving device 473 is an air cylinder, a cylinder body of the air cylinder is connected and fixed to the fourth fixed seat 471, and a piston rod of the air cylinder is connected to the fourth movable seat 472. The fourth moving base 472 is vertically moved downward or upward by the extension or retraction of the piston rod of the air cylinder.

The second pneumatic fingers 474 include a second clamping cylinder and second clamping fingers movably disposed on the fourth movable base 472, and the second clamping cylinder is used to move the second clamping fingers to clamp the unqualified workpiece.

The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A lockpin assembly material loading equipment, its characterized in that includes:

the locking pin feeding device is used for feeding the locking pins to a first position;

the spring seat feeding device is used for feeding the spring seat to a third position; and

2. The lockpin assembly feeding and assembling apparatus according to claim 1, wherein the robot further comprises a first supporting seat, a first movable seat and a first driving device;

3. The lockpin assembly feeding and assembling equipment according to claim 2, wherein the suction device comprises a first fixed seat, a first movable seat, a suction rod, a second driving device and a third driving device;

4. The latch pin assembly feed assembly device of claim 2, wherein the robot further comprises a depth detection device;

5. The locking pin assembly feeding and assembling equipment according to claim 1, wherein the locking pin feeding device comprises a first conveying mechanism, a first material distributing mechanism and a first in-place detection device;

6. The locking pin assembly feeding and assembling equipment according to claim 1, wherein the locking pin spring feeding device comprises a second conveying mechanism, a second material distributing mechanism and a second in-place detection device;

7. The latch assembly feed assembly machine of claim 6 wherein the second feed mechanism further includes a second support base, a guide sleeve, a switch device and a fifth drive device;

8. The latch assembly feed assembly machine of claim 7 wherein the second feed mechanism further includes a sixth drive;

9. The locking pin assembly feeding and assembling equipment according to claim 1, wherein the spring seat feeding device comprises a third conveying mechanism, a third material distribution mechanism and a third in-place detection device;

10. The locking pin assembly feeding and assembling device according to claim 9, wherein the third distributing mechanism further comprises a third support seat and a seventh driving device;