WO2023056990A1 - 一种安全带收卷器预卷及挡片安装设备 - Google Patents
一种安全带收卷器预卷及挡片安装设备 Download PDFInfo
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- WO2023056990A1 WO2023056990A1 PCT/CN2022/138649 CN2022138649W WO2023056990A1 WO 2023056990 A1 WO2023056990 A1 WO 2023056990A1 CN 2022138649 W CN2022138649 W CN 2022138649W WO 2023056990 A1 WO2023056990 A1 WO 2023056990A1
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- Prior art keywords
- station
- belt retractor
- rolling
- baffle
- installation
- Prior art date
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- 238000004804 winding Methods 0.000 title claims abstract description 29
- 230000000007 visual effect Effects 0.000 claims abstract description 11
- 238000009434 installation Methods 0.000 claims description 35
- 238000001514 detection method Methods 0.000 claims description 33
- 239000000463 material Substances 0.000 claims description 33
- 238000005096 rolling process Methods 0.000 claims description 24
- 230000000903 blocking effect Effects 0.000 claims description 18
- 238000006073 displacement reaction Methods 0.000 claims description 15
- 238000005507 spraying Methods 0.000 claims description 14
- 239000013307 optical fiber Substances 0.000 claims description 8
- 230000005540 biological transmission Effects 0.000 claims description 7
- 238000007599 discharging Methods 0.000 abstract 2
- 238000005259 measurement Methods 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 7
- 238000000034 method Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000003086 colorant Substances 0.000 description 1
- 238000004880 explosion Methods 0.000 description 1
- 239000000284 extract Substances 0.000 description 1
- 238000002347 injection Methods 0.000 description 1
- 239000007924 injection Substances 0.000 description 1
- 239000000243 solution Substances 0.000 description 1
- 238000011179 visual inspection 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R22/00—Safety belts or body harnesses in vehicles
- B60R22/34—Belt retractors, e.g. reels
Definitions
- the invention relates to the technical field of automation equipment, in particular to a safety belt retractor pre-rolling and blocking piece installation equipment.
- the seat belt retractor 1 is an important safety component of the automobile, mainly including a housing 101, a rotating shaft 102, and a coil spring 103, and the coil spring 103 is respectively fixed on the rotating shaft 102 and the housing 101 through buckles at both ends.
- the rotating shaft 102 is rotatably connected to the center of the housing 101, and the center of the rotating shaft 102 is provided with a spline groove, which can be inserted into the spline shaft to transmit the power to the outside of the housing 101, and the other side of the housing 101 is installed with a stopper 2 for temporary fixing
- the pin part of the blocking piece 2 passes through the socket 1011 of the housing 101, and is inserted into the stop groove 1021 of the rotating shaft 102.
- the reel When the car is assembled, the reel needs a certain pre-rolling force, that is, to ensure that the seat belt is still in place when it is not worn. It has a certain winding force. If the pre-rolling force is controlled by the car manufacturer, it will be very troublesome. Therefore, the manufacturer of the seat belt retractor needs to rotate the rotating shaft 102 a fixed number of times in advance from the fully relaxed state before the product leaves the factory, and then pass through the stopper. 2. Fix it. After the car manufacturer has installed the seat belt retractor 1 and the seat belt, pull out the retainer 2, so that the pre-rolling force of the seat belt retractor 1 of each vehicle can be guaranteed to be consistent. , ensuring compliance with the security guarantee.
- Seat belt retractors have multiple specifications for different vehicles, and the coil springs of each specification require different numbers of pre-rolled coils, and when the retainer 2 is installed, the rotating shaft 102 needs to be rotated to a suitable position, and the retainer 2 can be inserted into it smoothly.
- the installation of the stopper 2 of the seat belt retractor adopts manual or semi-automatic mode. Very low and labor intensive.
- a safety belt retractor pre-rolling and baffle installation equipment including a rotating worktable, and the rotating workbench is provided with a feeding station, a winding station, and a stop groove Positioning station, baffle installation station, NG blanking station, and qualified product blanking station; profiling tooling is installed on each station, and a ratchet wheel with adjustable rotation direction is installed under each profiling tooling seat, the center of the ratchet seat is provided with a ratchet shaft, the upper end of the ratchet shaft passes through the profiling tooling, and is connected with the rotating shaft of the safety belt retractor installed on the profiling tooling;
- a wind-up mechanism is arranged under the wind-up station, the wind-up mechanism is installed on the equipment platform, the wind-up mechanism is located below the ratchet seat at the station, and the wind-up mechanism includes a first lifting mechanism and a first driving mechanism with position feedback and torque feedback, the first lifting mechanism drives the first driving mechanism to lift, the output end of the first driving mechanism is provided with a sleeve, and when the first lifting mechanism is lifted, The sleeve and the lower end of the ratchet shaft are connected by transmission, and the ratchet shaft is driven to rotate by the first driving mechanism. When the first lifting mechanism descends, the sleeve and the ratchet shaft are disconnected;
- a coiling mechanism is also arranged below the positioning station of the stop groove, and a position detection mechanism is also arranged above the profiling tooling at the station, and the position detection mechanism includes a vertical support, a second lifting mechanism, an installation plate, displacement sensor, sliding part, detection latch;
- the vertical bracket is installed on the equipment platform, the second lifting mechanism and the displacement sensor are fixed on the vertical bracket, and the output end of the second lifting mechanism is provided with a mounting plate, the mounting plate is slidably connected with a sliding part up and down, an upper limit structure and a lower limit structure are arranged between the sliding part and the mounting plate, and an elastic component is also installed between the lower limit structure and the mounting plate.
- the part is connected to the detection shaft of the displacement sensor, and the bottom of the sliding part is provided with a detection pin, the cross-sectional shape of the detection pin is the same as that of the catch pin, and its cross-sectional size is not smaller than the cross-sectional size of the catch pin.
- the detection pin is located above the socket on the housing of the seat belt retractor;
- the baffle installation station is provided with a multi-axis manipulator, and is equipped with a vibration plate, and the baffle is conveyed by the vibration plate.
- a first visual sensor for judging the color and shape of the upper surface of the shell of the seat belt retractor is provided above the feeding station, and a first visual sensor for judging the seat belt retracting is provided below the feeding station.
- the optical fiber sensor of the color of the lower surface of the shell of the device, the ratchet seat and the rotary table are provided with avoidance through holes on the detection path of the optical fiber sensor.
- a second visual sensor for judging whether the blocking sheet is installed is installed above the blocking sheet installation station.
- the rotary workbench is also provided with a coding station, and the coding station is provided with a coding mechanism for spraying barcodes or two-dimensional codes, and beside the coding mechanism, there is a A code-scanning mechanism for spraying code information, the code-spraying mechanism and the code-scanning mechanism are arranged side by side, and are installed on a servo slide table that can move left and right.
- the NG blanking station is provided with a horizontal and vertical two-axis manipulator, a first NG material frame, a second NG material frame, and a slideway driven by a cylinder, and the first NG material frame is located at Below the unloading place of the two-axis manipulator, the second NG material frame and the first NG material frame are arranged front and rear, and the slideway is driven by the cylinder to move above or to the side of the first NG material frame, and is located on the first NG material frame When it is above, the lower opening of the slideway is located above the second NG material frame.
- the qualified product unloading station is provided with a horizontal and vertical two-axis manipulator and a belt conveying device, and the end of the batch-to-conveying device is provided with a stopper mechanism.
- the vibrating plate is provided with two sets, which are respectively used to transport the blocking sheets for the left-handed safety belt retractor and the right-handed safety belt retractor.
- the first driving mechanism is a servo motor
- the first lifting mechanism is a slide cylinder.
- the sliding part includes an upper connecting plate, a lower connecting plate, and a guide rod, the upper connecting plate and the lower connecting plate are fixedly connected by two guide rods, the guide rod is slidably connected to the mounting plate, and the elastic member It is a spring, and the spring is sleeved on the guide rod and located between the lower connecting plate and the mounting plate.
- the profiling tool is positioned and installed on the rotary table by two pins on one side, and the profiling tool is pressed on the rotary table by a quick pressing block.
- the profiling tool has various replaceable specifications .
- the present invention first pre-winds to the set number of turns, rotates slowly through the servo motor, and then detects the position of the stop groove through the displacement sensor and the detection pin.
- the sheet installation can effectively ensure the initial torque of the seat belt retractor and improve the installation efficiency.
- the servo motor of the present invention realizes lifting through the slide cylinder.
- the slide cylinder drives the servo motor to rise, the output end of the servo motor is connected through the sleeve and the ratchet seat.
- the slide cylinder 7 drives the servo motor to descend, the servo motor and the ratchet The seat is disconnected, and the rotation of the rotating shaft is restricted by the ratchet seat, which is convenient for the ratchet seat to be transferred to other stations after being rolled.
- the present invention completes the loading, pre-rolling, position adjustment of the stop groove, installation of the baffle, coding, and blanking step by step through the multi-station rotary workbench, and the assembly efficiency is high.
- the present invention performs model identification through visual sensors, and extracts the pre-input winding number and torque range through the control module, and controls the number of rotations of the servo motor in the pre-rolling step, and checks whether the torque fed back by the servo motor is within the set value.
- multi-standard product processing can be realized, and error-free is ensured.
- Fig. 1 is the structural explosion diagram of safety belt retractor
- Fig. 2 is a three-dimensional schematic diagram of a safety belt retractor pre-rolling and blocking piece installation device according to the present invention
- Fig. 3 is a partial enlarged view of I place in Fig. 2;
- Fig. 4 is a top view of a safety belt retractor pre-rolling and blocking piece installation device according to the present invention.
- Fig. 5 is a three-dimensional schematic diagram of a take-up mechanism
- Figure 6 is a front view of the position detection mechanism
- Fig. 7 is a three-dimensional schematic diagram of a position detection mechanism
- Fig. 8 is a three-dimensional schematic diagram of a code spraying mechanism and a code scanning mechanism
- Fig. 9 is a three-dimensional schematic diagram of the NG blanking station
- Fig. 10 is a three-dimensional schematic diagram of a qualified product unloading station.
- 1 safety belt retractor 101 shell; 1011 socket; 102 rotating shaft; 1021 stop groove; 103 coil spring;
- Multi-axis manipulator 9 Vibration plate; 10 Injection code mechanism; 11 Code scanning mechanism; 12 Servo slide table; 13 First visual sensor; 14 Optical fiber sensor; frame; 18 second NG material frame; 19 cylinder; 20 slideway; 21 belt conveying device.
- a safety belt retractor pre-rolling and flap installation equipment includes a rotary table 3, and the rotary table 3 is provided with a feeding station, a winding station, a stop Groove positioning station, block plate installation station, NG blanking station, and qualified product blanking station; each station is equipped with profiling tooling 4, and the profiling tooling 4 is positioned by means of two pins on one side , and pressed on the rotary table 3 by a fast pressing block, the profiling tool 4 is provided with various replaceable specifications, and a ratchet seat 5 with adjustable rotation direction is installed under each profiling tool 4, so The center of the ratchet seat 5 is provided with a ratchet shaft 501, the ratchet shaft 501 can only rotate in one direction, and is locked when it rotates in the other direction.
- the ratchet seat 5 is provided with an adjustment lever, which can be changed by turning the adjustment lever.
- the upper end of the ratchet shaft 501 passes through the profiling tooling 4, the center of the rotating shaft 102 of the safety belt retractor 1 is provided with a spline groove, the upper end of the ratchet shaft 501 is provided with a guide structure, and the ratchet shaft 501 is inserted into the center of the rotating shaft 102 In the spline groove of the spline groove, a transmission connection is formed.
- the main work at the loading station is to load the material manually or by a robot.
- the seat belt retractor 1 is installed on the profiling tool 4, and the ratchet shaft 501 and the seat belt are retracted.
- the rotating shaft 102 of the device 1 forms a transmission connection.
- a winding mechanism 6 is provided below the winding station, the winding mechanism 6 is installed on the equipment platform, and the winding mechanism 6 is located below the ratchet seat 5 at the station,
- the winding mechanism 6 includes a first lifting mechanism 601 and a first driving mechanism 602 with position feedback and torque feedback.
- the first driving mechanism 602 is a servo motor
- the first lifting mechanism 601 It is a sliding table cylinder, which drives the servo motor to lift, and the output end of the servo motor is provided with a sleeve 603, which is a twelve-pointed sleeve, and the bottom of the ratchet shaft 501 is a hexagonal shaft, and the sleeve 603 and The hexagonal shafts are equipped with guiding structures.
- the slide table cylinder drives the servo motor to lift
- the sleeve 603 and the lower end of the ratchet shaft 501 can smoothly form a transmission connection.
- the ratchet shaft 501 is driven to rotate by the first drive mechanism 602, so When the first lifting mechanism 601 descends, the sleeve 603 and the ratchet shaft 501 are disconnected.
- the rotating shaft 102 of a seat belt retractor 1 of a certain specification rotates 21 ⁇ 0.5 circles from the fully relaxed state, the torque meets the requirements, then at the winding station, the slide cylinder drives the servo motor to rise, and the sleeve 603 and The ratchet shaft 501 forms a transmission connection, the servo motor drives the rotating shaft 102 to rotate 21 full circles at a relatively fast speed, then the sliding table cylinder descends, the sleeve 603 and the ratchet shaft 501 are disconnected, and the coil spring 103 intends to drive the rotating shaft 102 to reverse, and is received The ratchet shaft 501 rotates in the opposite direction and is stuck, so the rotating shaft 102 remains in the state of rotating 21 times. During the winding process, the servo motor simultaneously
- a winding mechanism 6 is also provided below the position of the stop groove positioning station, and a position detection mechanism 7 is also provided above the profiling tooling 4 at the station, and the position detection mechanism 7 includes a vertical support 701, a second lifting mechanism 702, a mounting plate 703, a displacement sensor 704, a sliding part 705, and a detection pin 707;
- the vertical support 701 is installed on the equipment platform, and the second lifting mechanism 702 and displacement
- the sensor 704 is fixed on the vertical support 701, and the output end of the second lifting mechanism 702 is provided with a mounting plate 703, and the mounting plate 703 is slidably connected with a sliding part 705 in the up and down direction, and the sliding part 705 includes an upper connecting plate 7051 , the lower connecting plate 7052, the guide rod 7053, the upper connecting plate 7051 and the lower connecting plate 7052 are fixedly connected by two guide rods 7053, the guide rod 7053 is slidingly connected to the mounting plate 703, and the elastic member 706 is a spring,
- the spring is
- the rotating shaft 102 has moved 21 times, but the stop groove 1021 on the rotating shaft 102 may not be aligned with the position of the socket 1011.
- the stop groove 1021 must coincide with the socket 1011 once, so at the stop groove positioning station, the rotating shaft 102 is driven to rotate by the winding mechanism 6 of this station, and the position detection mechanism 7 detects whether the stop groove 1021 is in place.
- the main work of this station is to adjust the stop groove 1021 to the bottom of the socket 1011 of the housing 101 to ensure that the latch of the block 2 can be smoothly inserted into the stop groove 1021 when the subsequent block 2 is installed.
- the second lifting mechanism 702 drives the mounting plate 703 to descend, the sliding part 705 moves downward under the elastic force of the spring, the detection pin 707 is inserted into the socket 1011 of the housing, and forms an elastic resistance with the rotating shaft 102.
- the winding mechanism 6 of the winding station is the same as the winding mechanism 6 of the winding station. It rises first, completes the transmission connection, and then drives the rotating shaft 102 to rotate. The difference is that the servo motor of this station drives the rotating shaft 102 to rotate at a relatively slow speed.
- the displacement sensor 704 When the displacement sensor 704 generates a displacement signal, and the displacement value is within the range of the set displacement value, it indicates that the stop groove 1021 coincides with the jack 1011, and the detection pin 707 has been inserted into the stop groove 1021 by the spring force, and the work has been done so far.
- the take-up mechanism 6 of the position stops working, and disengages the connection, the position detection mechanism 7 resets, the detection latch 707 is separated from the safety belt retractor 1, and the rotating shaft 102 is affected by the ratchet seat 5, and the moving groove 1021 and the socket are still maintained. 1011 coincidence state, the work of this station is completed.
- the baffle installation station is provided with a multi-axis manipulator 8, and is equipped with a vibrating plate 9, and the vibrating plate 9 is transported with a baffle 2.
- the vibrating plate 9 is provided with two sets, respectively It is used to transport the stopper 2 for the left-handed seat belt retractor 1 and the right-handed seat belt retractor 1. Due to the different rotation directions of the seat belt retractors, the shapes of the stoppers 2 used are also inconsistent.
- the multi-axis manipulator 8 takes the material from the corresponding vibrating plate 9, and then inserts the latch part of the catch 2 into the stop groove of the seat belt retractor 1. So far, the pre-rolling of the coil spring and the installation of the catch have been completed. Work, carry out NG blanking or qualified product blanking in the follow-up station to complete the whole set of work.
- the present invention is provided with a first color and shape for judging the upper surface color and shape of the housing 101 of the safety belt retractor 1 above the feeding station.
- a visual sensor 13 the bottom of the feeding station is provided with an optical fiber sensor 14 for judging the color of the lower surface of the housing 101 of the safety belt retractor 1, and the ratchet seat 5 and the rotary table 3 are positioned between the optical fiber sensor 14
- An avoidance through hole is provided on the detection path, and the color and outline of the upper and lower surfaces of the casing are recognized by the first visual sensor and the optical fiber sensor, and the specific model of the safety belt retractor 1 is judged, which is used to control the winding position at the tightening station.
- the specific number of turns of the tightening mechanism 6 ensures that the torque is controlled within a reasonable range.
- a second visual sensor 15 for judging whether the blocking sheet 2 is installed is installed above the blocking sheet installation station. After the blocking piece 2 is installed, the second visual sensor 15 is used to detect whether the latch of the blocking piece 2 is fully inserted into the stop groove 1021, and if it detects that the blocking piece is lifted or there is no blocking piece, a first NG product signal is sent.
- the rotary table 3 is also provided with a coding station, and the coding station is provided with a coding mechanism 10 for spraying barcodes or two-dimensional codes.
- a code scanning mechanism 11 for verifying the code spraying information is also provided.
- the code spraying mechanism 10 and the code scanning mechanism 11 are arranged side by side, and are installed on a servo slide 12 that can move left and right.
- a two-dimensional code is sprayed on the casing 101, one code for one machine, and the two-dimensional code covers various information such as the specification and model of the seat belt retractor 1, the color of the casing, the initial torque, the number of pre-rolling turns, and then the servo
- the sliding table 12 moves the code scanning mechanism 11 to the top of the seat belt retractor 1 at the station, and scans the code to check whether the two-dimensional code is sprayed accurately. If the spraying is blurred or missed, the code scanning mechanism 11 If it cannot be identified, a second NG product signal is issued.
- the NG blanking station is provided with a horizontal and vertical two-axis manipulator 16, a first NG material frame 17, and a second NG material frame 18, which are driven by a cylinder 19 to move
- the slideway 20 the first NG material frame 17 is located below the unloading place of the two-axis manipulator 16, the second NG material frame 18 and the first NG material frame 17 are arranged front and back, and the slideway 20 is controlled by the cylinder 19 Drive to move to the top or side of the first NG material frame 17 , when located above the first NG material frame 17 , the lower opening of the slideway 20 is located above the second NG material frame 18 .
- the cylinder 19 retracts, and the two-axis manipulator 16 takes the material and directly puts it into the first NG material frame 17, when the NG product blanking station
- the cylinder 19 is extended, and the slideway 20 moves to the top of the first NG material frame 17.
- the two-axis manipulator 16 takes the material and places it directly on the slideway 20, and slides in by the guideway 20.
- different NG products can be put into different material frames to facilitate subsequent targeted rework.
- a horizontal and vertical two-axis manipulator 16 and a belt conveying device 21 are provided at the unloading station for qualified products, and a stopper mechanism is provided at the end of the belt conveying device 21 .
- the two-axis manipulator 16 of this station transfers qualified products to the belt conveyor 21, and the qualified products are transported out of the equipment by the belt conveyor 21, and are blocked by the blocking mechanism. Multiple qualified products can be stored, and then manually or manually The manipulator is removed.
- the safety belt retractor pre-rolling and baffle installation equipment described in the present invention can judge product specifications through visual inspection, and then perform automatic pre-rolling, adjustment, baffle installation, coding, and blanking according to the specifications. , greatly improving the assembly efficiency.
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Abstract
本发明涉及自动化设备技术领域，具体涉及一种安全带收卷器预卷及挡片安装设备，包括旋转工作台，所述旋转工作台上设置有上料工位、卷紧工位、止动槽定位工位、挡片安装工位、NG下料工位、合格品下料工位；安全带收卷器的转轴安装在仿形工装上，并由棘轮座限位旋向，通过卷紧机构卷绕至设定圈数后，再通过位置检测机构找准止动槽的位置，最后通过多轴机械手将挡片成功安装，本发明还通过视觉传感器进行型号识别，控制预卷步骤中伺服电机转动圈数，并检验伺服电机反馈的扭矩是否在设定范围内，可以实现多规格产品加工，具有智能化、工作效率高、适用性广的优点。
Description
本发明涉及自动化设备技术领域，具体涉及一种安全带收卷器预卷及挡片安装设备。
如图1所示，安全带收卷器1是汽车的重要安全部件，主要包括壳体101、转轴102、卷簧103，卷簧103通过两端卡扣分别固定在转轴102和壳体101上，转轴102转动连接在壳体101中心，转轴102中心设置有花键槽，可插入花键轴将动力传递至壳体101外，壳体101的另一侧安装有用于临时固定的挡片2，挡片2的插销部分穿过壳体101的插孔1011，插入转轴102的止动槽1021中，汽车组装时，收卷器需要一定的预卷力，即确保安全带在未佩戴时，仍具有一定收卷力，若该预卷力由汽车厂家控制则大为麻烦，因此安全带收卷器厂家在产品出厂前需要提前将转轴102从完全放松状态时转动固定圈数，然后通过挡片2进行固定，待汽车生产厂家将安全带收卷器1及安全带安装好后，再将挡片2拔掉，这样就能保证每一辆车的安全带收卷器1的预卷力一致，确保符合安全保证。
安全带收卷器针对不同车辆设置有多种规格，每种规格的收卷器的卷簧需要预卷的圈数不一致，并且在挡片2安装时，转轴102需要转动至合适方位，挡片2的插销部分才能顺利插入其中，目前安全带收卷器的挡片2安装采用手动或半自动模式，容易造成卷簧预紧圈数和设定圈数不一致，导致产品不符合标准，并且工作效率非常低下，耗费人工。
本发明通过如下技术方案予以实现，一种安全带收卷器预卷及挡片安装设备，包括旋转工作台，所述旋转工作台上设置有上料工位、卷紧工位、止动槽定位工位、挡片安装工位、NG下料工位、合格品下料工位；每个工位上均安装有仿形工装，每个仿形工装下方均安装有转动方向可调的棘轮座，所述棘轮座中心设置有棘轮轴，所述棘轮轴的上端穿过仿形工装，与安装在仿形工装上的安全带收卷器的转轴传动连接；
所述卷紧工位下方设置有卷紧机构，所述卷紧机构安装在设备平台上，所述卷紧机构位于该工位处的棘轮座的下方，所述卷紧机构包括第一升降机构和带有位置反馈及扭矩反馈的第一驱动机构，所述第一升降机构驱动第一驱动机构升降，所述第一驱动机构的输出端设有套筒，所述第一升降机构抬升时，套筒和棘轮轴的下端传动连接，所述棘轮轴由第一驱动机构驱动旋转，所述第一升降机构下降时，套筒和棘轮轴脱开连接；
所述止动槽定位工位处下方同样设置有卷紧机构，该工位处的仿形工装的上方还设置有位置检测机构，所述位置检测机构包括立式支架、第二升降机构、安装板、位移传感器、滑动部、检测插销；所述立式支架安装在设备平台上，所述第二升降机构和位移传感器固定在立式支架上，所述第二升降机构的输出端设置有安装板，所述安装板上下方向滑动连接有滑动部，所述滑动部和安装板之间设置有上限位结构和下限位结构，下限位结构和安装板之间还安装有弹性部件，所述滑动部和位移传感器的检测轴连接，所述滑动部的底部设置有检测插销，所述检测插销的截面形状和挡片插销的截面形状相同，其截面尺寸不小于挡片插销的截面尺寸，所述检测插销位于该工位安全带收卷器的壳体上的插孔的上方；
所述挡片安装工位处设置有多轴机械手，并配套安装有振动盘，所述振动盘输送有挡片。
进一步地，所述上料工位的上方设置有用于判断安全带收卷器的壳体上表面颜色及形状的第一视觉传感器，所述上料工位的下方设置有用于判断安全带收卷器的壳体下表面颜色的光纤传感器，所述棘轮座、旋转工作台在光纤传感器的检测路径上设置有避让通孔。
进一步地，所述挡片安装工位的上方还安装有用于判断挡片是否安装到位的第二视觉传感器。
进一步地，所述旋转工作台上还设置有喷码工位，所述喷码工位处设有用于喷涂条形码或二维码的喷码机构，所述喷码机构旁还设置有用于校验喷码信息的扫码机构，所述喷码机构和扫码机构并排布置，并安装在可左右移动的伺服滑台上。
进一步地，所述NG下料工位处设置有水平竖直方向的二轴机械手、第一NG料框、第二NG料框、由气缸驱动移动的滑道，所述第一NG料框位于二轴机械手卸料处的下方，所述第二NG料框和第一NG料框前后布置，所述滑道由气缸驱动移动至第一NG料框上方或侧方，位于第一NG料框上方时，滑道的下口位于第二NG料框的上方。
进一步地，所述合格品下料工位处设置有水平竖直方向的二轴机械手、皮带输送装置，所述批到输送装置的末端设置有挡料机构。
进一步地，所述振动盘设置有两套，分别用于输送左旋安全带收卷器和右旋安全带收卷器用的挡片。
进一步地，所述第一驱动机构为伺服电机，所述第一升降机构为滑台气缸。
进一步地，所述滑动部包括上连接板、下连接板、导杆，所述上连接板和下连接板通过两根导杆固定连接，所述导杆和安装板滑动连接，所述弹性部件为弹簧，所述弹簧套设在导杆上，位于下连接板和安装板之间。
进一步地，所述仿形工装通过一面两销定位安装在旋转工作台上，所述仿形工装由快速压块压紧在旋转工作台上，所述仿形工装设有多种可替换的规格。
1、本发明采用先预先卷绕至设定圈数后，通过伺服电机缓慢转动，再通过位移传感器和检测插销检测止动槽位置，当止动槽和插孔重合时，在通过机械手进行挡片安装，能够有效确保安全带卷绕器的初始扭矩，提高安装效率。
2、本发明伺服电机通过滑台气缸实现升降，滑台气缸驱动伺服电机上升时，伺服电机的输出端通过套筒和棘轮座传动连接，滑台气缸7驱动伺服电机下降时，伺服电机和棘轮座脱开连接，转轴由棘轮座限制转动，方便棘轮座在卷好后转移至其他工位。
3、本发明通过多工位旋转工作台进行分步完成上料、预卷、止动槽位置调整、挡片安装、喷码、下料等工作，组装效率高。
4、本发明通过视觉传感器进行型号识别，并通过控制模块提取预先输入的卷绕圈数和扭矩范围，并控制预卷步骤中伺服电机转动圈数，并检验伺服电机反馈的扭矩是否在设定范围内，可以实现多规格产品加工，并且确保无差错。
图1为安全带收卷器的结构爆炸图；
图2为本发明所述的一种安全带收卷器预卷及挡片安装设备的三维示意图；
图3为图2中I处局部放大图；
图4为本发明所述的一种安全带收卷器预卷及挡片安装设备的俯视图；
图5为卷紧机构的三维示意图；
图6为位置检测机构的主视图；
图7为位置检测机构的三维示意图；
图8为喷码机构及扫码机构的三维示意图；
图9为NG下料工位的三维示意图；
图10为合格品下料工位的三维示意图。
图中：
1安全带收卷器；101壳体；1011插孔；102转轴；1021止动槽；103卷簧；
2挡片；3旋转工作台；4仿形工装；
5棘轮座；501棘轮轴；
6卷紧机构；601第一升降机构；602第一驱动机构；603套筒；
7位置检测机构；701立式支架；702第二升降机构；703安装板；704位移传感器；705滑动部；7051上连接板；7052下连接板；7053导杆；706弹性部件；707检测插销；
8多轴机械手；9振动盘；10喷码机构；11扫码机构；12伺服滑台；13第一视觉传感器；14光纤传感器；15第二视觉传感器；16二轴机械手；17第一NG料框；18第二NG料框；19气缸；20滑道；21皮带输送装置。
如图2-4所示，一种安全带收卷器预卷及挡片安装设备，包括旋转工作台3，所述旋转工作台3上设置有上料工位、卷紧工位、止动槽定位工位、挡片安装工位、NG下料工位、合格品下料工位；每个工位上均安装有仿形工装4，所述仿形工装4通过一面两销方式进行定位，并由快速压块压紧在旋转工作台3上，所述仿形工装4设有多种可替换的规格，每个仿形工装4下方均安装有转动方向可调的棘轮座5，所述棘轮座5中心设置有棘轮轴501，棘轮轴501只可沿一个方向转动，向另一个方向转动时则被锁定，该棘轮座5上设置有调节拨杆，拨动调节拨杆，可以改变转动方向，所述棘轮轴501的上端穿过仿形工装4，安全带收卷器1的转轴102的中心设置有花键槽，棘轮轴501的上端设置有导向结构，棘轮轴501插入转轴102中心的花键槽中，形成传动连接，上料工位处的主要工作是由人工或机械手进行上料，将安全带收卷器1安装在仿形工装4上，并且棘轮轴501和安全带收卷器1的转轴102形成传动连接。
如图5所示，所述卷紧工位下方设置有卷紧机构6，所述卷紧机构6安装在设备平台上，所述卷紧机构6位于该工位处的棘轮座5的下方，所述卷紧机构6包括第一升降机构601和带有位置反馈及扭矩反馈的第一驱动机构602，在实际应用中，所述第一驱动机构602为伺服电机，所述第一升降机构601为滑台气缸，滑台气缸驱动伺服电机升降，伺服电机的输出端设有套筒603，该套筒603为十二角套筒，所述棘轮轴501的下方为六角轴，套筒603和六角轴均设有导向结构，滑台气缸驱动伺服电机抬升时，套筒603和棘轮轴501的下端可以很顺滑地形成传动连接，所述棘轮轴501由第一驱动机构602驱动旋转，所述第一升降机构601下降时，套筒603和棘轮轴501脱开连接。例如某规格的安全带收卷器1的转轴102从完全放松状态下转动21±0.5圈时扭矩符合要求，那么在卷紧工位处，则由滑台气缸驱动伺服电机上升，套筒603和棘轮轴501形成传动连接，伺服电机驱动转轴102以较快的转速转动21圈整，然后滑台气缸下降，套筒603和棘轮轴501脱开连接，卷簧103欲驱动转轴102反转，受到棘轮轴501反向转动卡死，因此转轴102保持在转动21圈的状态，在卷紧过程中伺服电机同时对扭矩进行监控，确保扭矩也在合理范围内。
如图6-7所示，所述止动槽定位工位处下方同样设置有卷紧机构6，该工位处的仿形工装4的上方还设置有位置检测机构7，所述位置检测机构7包括立式支架701、第二升降机构702、安装板703、位移传感器704、滑动部705、检测插销707；所述立式支架701安装在设备平台上，所述第二升降机构702和位移传感器704固定在立式支架701上，所述第二升降机构702的输出端设置有安装板703，所述安装板703上下方向滑动连接有滑动部705，所述滑动部705包括上连接板7051、下连接板7052、导杆7053，所述上连接板7051和下连接板7052通过两根导杆7053固定连接，所述导杆7053和安装板703滑动连接，所述弹性部件706为弹簧，所述弹簧套设在导杆7053上，位于下连接板7052和安装板703之间，所述上连接板7051和位移传感器704的检测轴连接，所述下连接板7052的底部设置有检测插销707，所述检测插销707的截面形状和挡片2插销的截面形状相同，其截面尺寸不小于挡片2插销的截面尺寸，所述检测插销707位于该工位安全带收卷器1的壳体101上的插孔1011的上方。
在卷紧工位处，转轴102动了21圈，但是转轴102上的止动槽1021未必对准了插孔1011位置，转轴102上设有两个止动槽1021，因此转轴102转动至多半圈，止动槽1021必和插孔1011重合一次，因此在止动槽定位工位处，转轴102由本工位的卷紧机构6驱动转动，由位置检测机构7检测止动槽1021是否到位，本工位主要工作就是将止动槽1021调整至壳体101的插孔1011的下方，确保后续挡片2安装时，挡片2的插销可以顺利插入止动槽1021。
具体的，第二升降机构702驱动安装板703下降，滑动部705受到弹簧的弹力作用下向下移动，检测插销707插入壳体的插孔1011中，和转轴102形成弹性相抵，该工位下方的卷紧机构6和卷紧工位的卷紧机构6一样，先上升，完成传动连接，再驱动转轴102转动，区别在于本工位的伺服电机驱动转轴102以较为缓慢的速度进行转动，当位移传感器704产生位移信号，且位移值在设定位移值范围内时，则表明止动槽1021和插孔1011重合，检测插销707已经受弹簧弹力作用，插入止动槽1021中，至此该工位的卷紧机构6停止工作，并脱开连接，位置检测机构7复位，检测插销707和安全带收卷器1分离，转轴102受棘轮座5的作用，任然保持动槽1021和插孔1011重合状态，本工位工作完成。
所述挡片安装工位处设置有多轴机械手8，并配套安装有振动盘9，所述振动盘9输送有挡片2，在实际应用中，所述振动盘9设置有两套，分别用于输送左旋安全带收卷器1和右旋安全带收卷器1用的挡片2，由于安全带收卷器的旋向不同，所用到的挡片2形状也不一致，在本工位处，多轴机械手8从相应振动盘9中取料，然后将挡片2的插销部分插入安全带收卷器1的止动槽当中，至此，已经完成了卷簧的预卷与挡片安装工作，在后续工位中进行NG下料或合格品下料，完成全套工作。
如图3所示，在实际应用中，安全带收卷器1的规格有很多种，但是为了通用性及降低成本，很多采用了相同的外形，但是其要求的初始扭矩与卷绕圈数不一致，因此通过壳体101的上下颜色及型号进行区分，本发明为了实现自动化识别型号，在上料工位的上方设置有用于判断安全带收卷器1的壳体101上表面颜色及形状的第一视觉传感器13，所述上料工位的下方设置有用于判断安全带收卷器1的壳体101下表面颜色的光纤传感器14，所述棘轮座5、旋转工作台3在光纤传感器14的检测路径上设置有避让通孔，通过第一视觉传感器和光纤传感器识别壳体的上下表面的颜色及外形轮廓，判断该安全带收卷器1的具体型号，用于控制卷紧工位处卷紧机构6的具体转动圈数，确保扭矩控制在合理范围内。
如图3所示，在实际应用中，所述挡片安装工位的上方还安装有用于判断挡片2是否安装到位的第二视觉传感器15。在挡片2安装完成后，第二视觉传感器15用于检测挡片2的插销是否完全插入止动槽1021中，若检测到挡片翘起或无挡片，则发出第一NG品信号。
如图8所示，在实际应用中，所述旋转工作台3上还设置有喷码工位，所述喷码工位处设有用于喷涂条形码或二维码的喷码机构10，所述喷码机构10旁还设置有用于校验喷码信息的扫码机构11，所述喷码机构10和扫码机构11并排布置，并安装在可左右移动的伺服滑台12上，喷码机构10一般在壳体101上喷涂二维码，一机一码，二维码涵盖了安全带收卷器1的规格型号、壳体颜色、初始扭矩、预卷圈数等多种信息，然后伺服滑台12将扫码机构11移动到该工位处的安全带收卷器1的上方，进行扫码，用于检验二维码是否准确喷涂，若喷涂模糊或漏喷，则扫码机构11识别不了，发出第二NG品信号。
如图9所示，在实际应用中，所述NG下料工位处设置有水平竖直方向的二轴机械手16、第一NG料框17、第二NG料框18、由气缸19驱动移动的滑道20，所述第一NG料框17位于二轴机械手16卸料处的下方，所述第二NG料框18和第一NG料框17前后布置，所述滑道20由气缸19驱动移动至第一NG料框17上方或侧方，位于第一NG料框17上方时，滑道20的下口位于第二NG料框18的上方。
当NG品下料工位处的产品有第一NG信号时，则气缸19缩回，二轴机械手16取料后直接放入第一NG料框17中，当NG品下料工位处的产品有第二NG信号时，则气缸19伸出，滑道20移动至第一NG料框17的上方，二轴机械手16取料后直接放置在滑道20上，由滑道20导向滑入第二NG料框18中，可以将不同的NG品放入到不同的料框中，方便后续针对性返工。
如图10所示，在实际应用中，所述合格品下料工位处设置有水平竖直方向的二轴机械手16、皮带输送装置21，皮带输送装置21的末端设置有挡料机构。该工位的二轴机械手16将合格品移送到皮带输送装置21上，合格品由皮带输送装置21输送到设备外，并由挡料机构阻挡，可以存多个合格品，然后再由人工或机械手取下。
本发明所述的一种安全带收卷器预卷及挡片安装设备可以实现通过视觉检测判断产品规格，然后针对该规格进行自动化预卷、调整、安装挡片、喷码、下料等工作，大大提高了组装效率。
Claims (10)
- 一种安全带收卷器预卷及挡片安装设备，其特征在于：包括旋转工作台（3），所述旋转工作台（3）上设置有上料工位、卷紧工位、止动槽定位工位、挡片安装工位、NG下料工位、合格品下料工位；每个工位上均安装有仿形工装（4），每个仿形工装（4）下方均安装有转动方向可调的棘轮座（5），所述棘轮座（5）中心设置有棘轮轴（501），所述棘轮轴（501）的上端穿过仿形工装（4），与安装在仿形工装（4）上的安全带收卷器（1）的转轴（102）传动连接；所述卷紧工位下方设置有卷紧机构（6），所述卷紧机构（6）安装在设备平台上，所述卷紧机构（6）位于该工位处的棘轮座（5）的下方，所述卷紧机构（6）包括第一升降机构（601）和带有位置反馈及扭矩反馈的第一驱动机构（602），所述第一升降机构（601）驱动第一驱动机构（602）升降，所述第一驱动机构（602）的输出端设有套筒（603），所述第一升降机构（601）抬升时，套筒（603）和棘轮轴（501）的下端传动连接，所述棘轮轴（501）由第一驱动机构（602）驱动旋转，所述第一升降机构（601）下降时，套筒（603）和棘轮轴（501）脱开连接；所述止动槽定位工位处下方同样设置有卷紧机构（6），该工位处的仿形工装（4）的上方还设置有位置检测机构（7），所述位置检测机构（7）包括立式支架（701）、第二升降机构（702）、安装板（703）、位移传感器（704）、滑动部（705）、检测插销（707）；所述立式支架（701）安装在设备平台上，所述第二升降机构（702）和位移传感器（704）固定在立式支架（701）上，所述第二升降机构（702）的输出端设置有安装板（703），所述安装板（703）上下方向滑动连接有滑动部（705），所述滑动部（705）和安装板（703）之间设置有上限位结构和下限位结构，下限位结构和安装板（703）之间还安装有弹性部件（706），所述滑动部（705）和位移传感器（704）的检测轴连接，所述滑动部（705）的底部设置有检测插销（707），所述检测插销（707）的截面形状和挡片（2）插销的截面形状相同，其截面尺寸不小于挡片（2）插销的截面尺寸，所述检测插销（707）位于该工位安全带收卷器（1）的壳体（101）上的插孔（1011）的上方；所述挡片安装工位处设置有多轴机械手（8），并配套安装有振动盘（9），所述振动盘（9）输送有挡片（2）。
- 根据权利要求1所述的一种安全带收卷器预卷及挡片安装设备，其特征在于：所述上料工位的上方设置有用于判断安全带收卷器（1）的壳体（101）上表面颜色及形状的第一视觉传感器（13），所述上料工位的下方设置有用于判断安全带收卷器（1）的壳体（101）下表面颜色的光纤传感器（14），所述棘轮座（5）、旋转工作台（3）在光纤传感器（14）的检测路径上设置有避让通孔。
- 根据权利要求2所述的一种安全带收卷器预卷及挡片安装设备，其特征在于：所述挡片安装工位的上方还安装有用于判断挡片（2）是否安装到位的第二视觉传感器（15）。
- 根据权利要求3所述的一种安全带收卷器预卷及挡片安装设备，其特征在于：所述旋转工作台（3）上还设置有喷码工位，所述喷码工位处设有用于喷涂条形码或二维码的喷码机构（10），所述喷码机构（10）旁还设置有用于校验喷码信息的扫码机构（11），所述喷码机构（10）和扫码机构（11）并排布置，并安装在可左右移动的伺服滑台（12）上。
- 根据权利要求4所述的一种安全带收卷器预卷及挡片安装设备，其特征在于：所述NG下料工位处设置有水平竖直方向的二轴机械手（16）、第一NG料框（17）、第二NG料框（18）、由气缸（19）驱动移动的滑道（20），所述第一NG料框（17）位于二轴机械手（16）卸料处的下方，所述第二NG料框（18）和第一NG料框（17）前后布置，所述滑道（20）由气缸（19）驱动移动至第一NG料框（17）上方或侧方，位于第一NG料框（17）上方时，滑道（20）的下口位于第二NG料框（18）的上方。
- 根据权利要求5所述的一种安全带收卷器预卷及挡片安装设备，其特征在于：所述合格品下料工位处设置有水平竖直方向的二轴机械手（16）、皮带输送装置（21），所述批到输送装置（21）的末端设置有挡料机构。
- 根据权利要求1-6任一项所述的一种安全带收卷器预卷及挡片安装设备，其特征在于：所述振动盘（9）设置有两套，分别用于输送左旋安全带收卷器（1）和右旋安全带收卷器（1）用的挡片（2）。
- 根据权利要求1-6任一项所述的一种安全带收卷器预卷及挡片安装设备，其特征在于：所述第一驱动机构（602）为伺服电机，所述第一升降机构（601）为滑台气缸。
- 根据权利要求1-6任一项所述的一种安全带收卷器预卷及挡片安装设备，其特征在于：所述滑动部（705）包括上连接板（7051）、下连接板（7052）、导杆（7053），所述上连接板（7051）和下连接板（7052）通过两根导杆（7053）固定连接，所述导杆（7053）和安装板（703）滑动连接，所述弹性部件（706）为弹簧，所述弹簧套设在导杆（7053）上，位于下连接板（7052）和安装板（703）之间。
- 根据权利要求1-6任一项所述的一种安全带收卷器预卷及挡片安装设备，其特征在于：所述仿形工装（4）通过一面两销定位安装在旋转工作台（3）上，所述仿形工装（4）由快速压块压紧在旋转工作台（3）上，所述仿形工装（4）设有多种可替换的规格。
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| CN117532551A (zh) * | 2023-11-17 | 2024-02-09 | 东莞市华源晟五金制品有限公司 | 一种打印机零件自动组装平台 |
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| CN118003057A (zh) * | 2024-04-09 | 2024-05-10 | 安徽途辉自动化装备有限公司 | 一种新能源电驱总成生产线用锥轴承持料机构 |
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