Automatic assembling mechanism for semicircular gaskets

Abstract

The invention provides an automatic semi-circular gasket assembling mechanism which comprises a workbench, a straight vibration bin, a flexible vibration disc, a driving mechanism, a driving mechanism, a driving mechanism, a driving mechanism, a driving mechanism, a driving mechanism and a driving mechanism, wherein the straight vibration bin is arranged on the workbench and used for feeding semi-circular gaskets placed therein into the flexible vibration disc; the flexible vibration disc is used for vibrating and dispersing the semicircular gaskets entering the flexible vibration disc; the camera detection mechanism is used for detecting types and position parameters of the semicircular gaskets in the flexible vibration disc; the four-axis manipulator identifies and grabs the semicircular gaskets according to the types and the position parameters of the semicircular gaskets and puts the semicircular gaskets into the combining mechanism; the combining mechanism is used for combining the two semicircular gaskets into a whole circular gasket; and the transferring mechanism is used for assembling the whole-circle gasket into the groove of the sensor. A full-automatic mode is adopted, neglected loading, excessive loading and wrong loading are avoided, the qualified rate of products is increased, the production efficiency is improved, and automatic production of the whole products is achieved.

Description

Technical Field

[0001] The invention relates to the technical field of automobile electronic manufacturing, in particular to an automatic assembly mechanism for a semicircular washer, which is applied to the field of automobile sensor assembly. Background Art

[0002] Due to the requirements of its function and working environment, the housing and its internal structure of the automotive sensor need to be sealed as a whole after assembly. The housing is provided with an annular groove, and a gasket is placed in the groove to achieve overall sealing. In the existing production process, during the assembly process, two semicircular gaskets need to be placed in the sensor groove to assemble a full-circle insulation product. The existing technology is mostly manual assembly, and two semicircular gaskets are manually placed in the sensor groove, which has the following problems: (1) It is easy for semicircular washers to be missed, over-installed, or installed incorrectly, resulting in the outflow of unqualified products and a low pass rate.

[0003] (2) Manual assembly is slow and inefficient.

[0004] (3) Manual assembly is not conducive to the automation of the entire product line.

[0005] Therefore, there is an urgent need for an automated device suitable for the automatic assembly of semicircular washers for automotive sensors. Summary of the invention

[0006] The technical problem to be solved by the present invention is: in order to overcome the deficiencies in the prior art, the present invention provides an automatic assembly mechanism for semicircular washers.

[0007] The technical solution adopted by the present invention to solve the technical problem is: a semicircular gasket automatic assembly mechanism, comprising Workbench, used for bearing support of the entire equipment; A straight vibration bin is provided on one side of the workbench and is used to feed the semicircular washers placed therein into the flexible vibration plate; The flexible vibration plate is arranged on the workbench in front of the direct vibration bin and connected to the discharge box of the direct vibration bin, and is used to vibrate and disperse the semicircular gasket entering the flexible vibration plate; A camera detection mechanism is arranged just above the flexible vibration plate and is used to detect the type and position parameters of the semicircular washers after being spread out in the flexible vibration plate; A four-axis robot arm is arranged on a workbench on one side of the flexible vibration plate, and is used to identify and grab the semicircular washers according to the types and position parameters of the semicircular washers, and put the semicircular washers into the assembly mechanism; The assembling mechanism is arranged on the workbench on one side of the four-axis manipulator, and is used to assemble the two semicircular washers into a full-circle washer; the assembling here does not mean directly connecting the two semicircular washers together to form a full circle, but just assembling them into the shape of a full circle. The two semicircular washers are still independent of each other.

[0008] The transfer mechanism is arranged on a workbench on one side of the assembling mechanism and is used for assembling the full-circle gasket into the groove of the sensor.

[0009] It also includes a cover shell, which is arranged on the workbench for protection and improving the safety of the operation.

[0010] Furthermore, the assembling mechanism includes a base plate, a DD motor is provided on the base plate, a turntable is provided on the DD motor, and a plurality of assembling components are provided on the turntable along its edge. In the present embodiment, there are four assembling components, which are symmetrically arranged in pairs on both sides of the turntable, and each group of assembling components includes a shaping fixture, a first shaping block and a second shaping block. The shaping fixture is provided with a shaping groove for placing a semicircular gasket, the first shaping block and the second shaping block are radially symmetrically arranged on both sides of the shaping groove, and the upper ends of the first shaping block and the second shaping block are provided with a shaping head for pushing the semicircular gasket, a linear guide rail is provided below the shaping fixture, the lower end of the first shaping block is slidably connected to one end of the linear guide rail, and the lower end of the second shaping block is slidably connected to the linear guide rail. The other end of the rail; a U-shaped elastic support block is provided below the linear guide rail, and both sides of the opening at the upper end of the elastic support block are fixedly connected to the bottom surface of the turntable, the bottom surface of the first shaping block is fixedly connected to the first support plate, and the first support plate is connected to one side of the elastic support block through an elastic reset component, and the bottom surface of the second shaping block is fixedly connected to the second support plate, and the second support plate is also connected to the other side of the elastic support block through an elastic reset component, each group of elastic reset components includes a spring and a guide column, one end of the guide column passes through the first support plate / second support plate from the outside to the inside, and its end is fixedly connected to the elastic support block, the spring is sleeved on the guide column between the elastic support block and the support plate, and the support plate and the guide column are slidably connected; It also includes a first shaping cylinder for pushing the first shaping block, and a second shaping cylinder for pushing the second shaping block. The first shaping cylinder is arranged below the assembly component and is fixedly connected to the base plate through a first cylinder bracket. An upper push head is provided on the execution end of the first shaping cylinder, and a lower push head cooperating with the upper push head is provided below the first support plate. The first shaping cylinder can push the lower push head toward the elastic support block through the upper push head, and drive the first shaping block to move toward the shaping groove on the linear guide through the lower push head; the second shaping cylinder is arranged on the outside of the second shaping block, and the execution end of the second shaping cylinder is facing the second shaping block, which can push the second shaping block to move toward the shaping groove on the linear guide.

[0011] In order to detect the position of the assembly mechanism, an optical fiber detection component is also included, which includes an optical fiber sensor, a sensor adjustment seat and a sensor bracket. The sensor bracket is two relatively arranged on both sides of the turntable. The transmitting end and the receiving end of the optical fiber sensor are respectively installed on the relatively arranged sensor brackets through the sensor adjustment seat. The installation position of the optical fiber sensor on the sensor bracket can be adjusted by adjusting the sensor adjustment seat.

[0012] During the processing and transportation, the semicircular gasket will be affected by external factors such as extrusion and vibration, which will cause the semicircular gasket to deform. If the semicircular gasket is directly placed in the groove of the sensor, it will be difficult to assemble or even impossible to assemble, which will affect the sealing effect of the sensor. Therefore, in order to realize the shaping and assembly of the two semicircular gaskets, the first shaping block and the second shaping block have the same structure, both including a shaping plate, an adapter plate and a connecting plate, which are connected in sequence to form a U-shaped structure with a side opening, and complementary protrusions and grooves are provided on the bottom surface of the shaping plate and between the upper end of the adapter plate, and rapid positioning and matching installation are carried out through the protrusions and grooves. The shaping plate is also provided with a waist-shaped through hole for fixing, which is convenient In order to adjust the fixed position, the shaping head is provided at one end of the shaping plate facing the shaping groove, and a V-shaped opening matching the shaping head is provided on the side of the shaping groove, so that the shaping head can enter the shaping groove conveniently, and the two semicircular washers are pressed and assembled radially, and the adapter plate is vertically connected between the shaping plate and the connecting plate to play a connecting and supporting role. The end of the connecting plate away from the adapter plate is slidably connected to the linear guide rail, and when the shaping cylinder pushes the shaping block, the shaping block can slide along the linear guide rail, and the linear guide rail also plays a certain guiding role in the sliding process, so as to ensure that the shaping head can accurately enter the V-shaped opening; the gasket is shaped and assembled by the cooperation of the first shaping block and the second shaping block, so as to ensure the quality of the sensor.

[0013] Furthermore, the straight vibration silo includes a silo body, a silo cover for discharging materials is provided above the silo body, a conical hopper is provided inside the silo body just below the silo cover, a discharge box is provided below the conical hopper, a first vibration platform is provided at the bottom of the discharge box, a discharge port is provided on the side of the silo body, one end of the discharge box extends out of the silo body from the discharge port, an adjustable dial plate is provided above the discharge port, and the height of the discharge of the discharge box is limited by adjusting the height of the adjustable dial plate. This can avoid product stacking, and the height of the discharge port can be changed by adjusting the height of the adjustable dial plate, so that it can also adapt to products of different heights.

[0014] Furthermore, the four-axis robot arm includes a body, and a gripping mechanism is provided on the execution end of the body, and the gripping mechanism is used to grip the semicircular washer; the camera detection mechanism includes a camera bracket and a camera, and the lower end of the camera bracket is fixedly connected to the workbench, and the camera is arranged above the camera bracket, and the camera shooting direction faces the flexible vibration plate. Through the cooperation of the visual system and the four-axis robot arm, automatic material inspection and loading are realized to improve the processing efficiency and automation.

[0015] Furthermore, the transfer mechanism includes a transfer column, a transfer cross plate, a transfer fixture, a first adapter plate, a second adapter plate, a first linear module, a second linear module and a transfer guide rail, the bottom of the transfer column is relatively fixed to the workbench, the transfer cross plate is fixedly connected to the top of the transfer column, a horizontal second linear module is provided in front of the transfer cross plate, and a transfer guide rail parallel to the second linear module is provided below the second linear module, the first linear module is connected to the second linear module and the transfer guide rail through the second adapter plate, and can move horizontally along the transfer guide rail under the drive of the second linear module, and the first linear module is vertically arranged; the transfer fixture is connected to the first linear module through the first adapter plate, and the first linear module drives the transfer fixture to move up and down through the first adapter plate, and the transfer fixture is used to grab the whole circular gasket that has been shaped on the assembly mechanism; a vacuum generator is also provided behind the transfer cross plate, and the vacuum generator is connected to the air circuit of the transfer fixture through a pipeline to provide vacuum suction for the transfer fixture.

[0016] Furthermore, the transplanting fixture includes a vacuum suction cup, a suction cup connecting plate, a suction cup cylinder, a suction cup guide rail, a limit plate, a lower support plate, an upper support plate and a spring floating assembly, wherein the upper support plate is fixedly connected to the lower end of the first adapter plate, and the lower support plates are two, which are arranged side by side and in parallel below the upper support plate, and each lower support plate is connected to the upper support plate through two groups of spring floating assemblies; two suction cup cylinders are connected to the bottom of each lower support plate, and the two suction cup cylinders are arranged opposite to each other, and a suction cup guide rail is connected to the top of each suction cup cylinder, and the vacuum suction cup is slidably connected to the suction cup guide rail through the suction cup connecting plate, and the suction cup cylinder drives the vacuum suction cup to slide on the suction cup guide rail through the suction cup connecting plate; a limit plate is provided between the two suction cup cylinders for limiting the stroke of the cylinder, and the upper end of the limit plate is fixed to the bottom surface of the lower support plate; the bottom of the vacuum suction cup has a semicircular adsorption surface, and the vacuum suction cups on both sides are opposite to each other and can form a full-circular gasket shape; the vacuum suction cup is connected to the vacuum generator through a pipeline.

[0017] Furthermore, the flexible vibration plate includes a tray, a second vibration table, a discharge cylinder, a discharge door, a material guide plate and a material box, wherein the second vibration table is fixed on the workbench, the tray is installed above the second vibration table, and one side of the tray is close to the discharge box of the direct vibration bin, which is used to receive the material delivered by the discharge box, and the side of the tray is also provided with a discharge door, and the two sides of the discharge door are connected to the tray through the discharge cylinder, and the discharge cylinder can control the discharge door to open, the material guide plate is arranged below the discharge door, and the material box is arranged on the outside of the material guide plate. During normal use, the material is transported from the direct vibration bin into the tray, and the position of the semicircular gasket is adjusted through the vibration of the second vibration table, so that the semicircular gasket can be laid one by one on the bottom of the tray, which is convenient for the loading of the four-axis robot. When different materials need to be replaced, the remaining materials in the tray are transported out through the opened discharge door, and guided by the guide plate, enter the material box, which is convenient for the replacement of different materials.

[0018] Furthermore, the workbench includes a table top, a frame and a storage compartment. The table top is arranged at the upper end of the frame for carrying and installing various mechanisms. A storage compartment is provided inside the frame, and tooling fixtures are placed in the storage compartment. An electrical control component is also provided in the frame on one side of the storage compartment.

[0019] The beneficial effects of the present invention are as follows: the semicircular gasket automatic assembly mechanism provided by the present invention adopts a fully automatic method, thereby avoiding missing assembly, over-assembly and wrong assembly, improving the qualified rate of the product, improving the production efficiency and realizing the automatic production of the entire product. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0021] Figure 1 It is a structural schematic diagram of the automatic assembly mechanism of the semicircular gasket of the present invention.

[0022] Figure 2 It is a structural schematic diagram of the automatic assembly mechanism of the semicircular gasket (excluding the cover).

[0023] Figure 3 It is a schematic diagram of the assembly structure of a workbench, a straight vibration silo, and a flexible vibration plate.

[0024] Figure 4 It is a structural diagram of a direct vibration silo and a flexible vibration plate.

[0025] Figure 5 It is a structural diagram of a camera detection mechanism.

[0026] Figure 6 It is a structural diagram of a four-axis robot.

[0027] Figure 7 It is a structural diagram of the assembly mechanism.

[0028] Figure 8 It is a structural schematic diagram of the assembled components.

[0029] Fig. 9 yes Figure 8 Schematic diagram of the side structure.

[0030] Fig.10 It is a schematic diagram of the partial structure of the assembled components.

[0031] Fig.11 It is a schematic diagram of the partial structure of the assembled components.

[0032] Fig.12 It is a structural schematic diagram of the elastic support block.

[0033] Fig.13 It is a structural diagram of the first shaping block / the second shaping block.

[0034] Fig.14 It is a structural schematic diagram of the transfer mechanism.

[0035] Fig.15 It is a structural schematic diagram of the transfer mechanism.

[0036] Fig.16 It is a structural schematic diagram of the transfer mechanism.

[0037] Fig.17 It is a structural schematic diagram of the transfer fixture.

[0038] Fig.18 It is a schematic diagram of the gasket and sensor assembly.

[0039] In the figure: 1. workbench, 1.1. storage grid, 1.2. fixture, 1.3. table, 1.4. frame, 1.5. electrical control component; 2. cover; 3. direct vibration bin, 3.1. bin body, 3.2. bin cover, 3.3. discharge box, 3.4. adjustable dial plate; 4. flexible vibration plate, 4.1. tray, 4.2. second vibration table, 4.3. discharge cylinder, 4.4. discharge door, 4.5. guide plate, 4.6. box; 5. camera detection mechanism, 5.1. camera bracket, 5.2. camera; 6. four-axis robot, 6.1, body, 6.2, grabbing mechanism; 7, assembly mechanism, 7.1, bottom plate, 7.2, turntable, 7.3, DD motor, 7.4, assembly component, 7.5, first shaping block, 7.51, shaping plate, 7.52, adapter plate, 7.53, connecting plate, 7.54, shaping head, 7.6, second shaping block, 7.7, shaping fixture, 7.8, elastic support block, 7.81, turntable connecting hole, 7.82, guide hole, 7.9, first support plate, 7.10, second support plate, 7.11, spring, 7.12, guide column, 7.13, linear guide rail, 7.14, first shaping cylinder, 7.15, second shaping cylinder, 7.16, upper push head, 7.17, lower push head, 7.18, first cylinder bracket, 7.19, second cylinder bracket, 7.20. Sensor bracket; 7.21. Fiber optic sensor; 7.22. Proximity sensor; 7.23. Sensor adjustment seat; 8. Transfer mechanism; 8.1. Transfer fixture; 8.11. Vacuum suction cup; 8.12. Suction cup connecting plate; 8.13. Suction cup cylinder; 8.14. Suction cup guide rail; 8.15. Limit plate; 8.16. Lower support plate; 8.17. Spring floating assembly; 8.18. Upper support plate; 8.2. Transfer column; 8.3. Transfer cross plate; 8.4. First adapter plate; 8.5. First linear module; 8.6. Second adapter plate; 8.7. Second linear module; 8.8. Transfer guide rail; 8.9. Drag chain; 8.10. Vacuum generator; 9. Sensor; 10. Gasket. DETAILED DESCRIPTION

[0040] The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic diagrams that only illustrate the basic structure of the present invention in a schematic manner, and therefore only show the components related to the present invention, and directions and references (e.g., up, down, left, right, etc.) may only be used to help describe the features in the drawings. Therefore, the following specific embodiments are not to be taken in a limiting sense, and the scope of the subject matter claimed is limited only by the attached claims and their equivalents.

[0041] like Figure 1-Figure 3As shown, an automatic semicircular gasket assembly mechanism 7 of the present invention comprises a workbench 1 for bearing and supporting the entire device; the workbench 1 comprises a table top 1.3, a frame 1.4 and a storage compartment 1.1, the table top 1.3 is arranged at the upper end of the frame 1.4, and is used to bear and install various mechanisms, a storage compartment 1.1 is arranged inside the frame 1.4, a tooling fixture 1.2 is placed in the storage compartment 1.1, and an electrical control component 1.5 is also arranged in the frame 1.4 on one side of the storage compartment 1.1. A straight vibration bin 3 is arranged on one side of the workbench 1, and is used to feed the semicircular washers placed therein into the flexible vibration disk 4; the flexible vibration disk 4 is arranged on the workbench 1 on the front side of the straight vibration bin 3, and is connected to the discharge box 3.3 of the straight vibration bin 3, and is used to vibrate and disperse the semicircular washers entering the flexible vibration disk 4; a camera detection mechanism 5 is arranged directly above the flexible vibration disk 4, and is used to detect the type and position parameters of the semicircular washers after being dispersed in the flexible vibration disk 4; a four-axis robot 6 is arranged on the workbench 1 on one side of the flexible vibration disk 4, and is used to identify and grab the semicircular washers according to the type and position parameters of the semicircular washers, and put the semicircular washers into the assembly mechanism 7; the assembly mechanism 7 is arranged on the workbench 1 on one side of the four-axis robot, and is used to assemble two semicircular washers into a full-circle washer; the assembly here does not mean directly connecting the two semicircular washers together to form a full circle, but just splicing them into the shape of a full circle, and the two semicircular washers are still independent of each other. The transfer mechanism 8 is arranged on the workbench 1 on one side of the assembly mechanism 7, and is used to assemble the full-circle gasket into the groove of the sensor 9. The cover shell 2 is also included, and the cover shell 2 is arranged on the workbench 1 for protection and improving the safety of the operation.

[0042] like Figure 3 and Figure 4 As shown, the straight vibration silo 3 includes a silo body 3.1, a silo cover 3.2 for discharging materials is arranged above the silo body 3.1, a conical hopper is arranged inside the silo body 3.1 directly below the silo cover 3.2, a discharge box 3.3 is arranged below the conical hopper, a first vibration platform is arranged at the bottom of the discharge box 3.3, a discharge port is arranged on the side of the silo body 3.1, one end of the discharge box 3.3 extends out of the silo body 3.1 from the discharge port, and an adjustable dial plate 3.4 is arranged above the discharge port. By adjusting the height of the adjustable dial plate 3.4, the height of the discharge of the discharge box 3.3 is limited. Thus, product stacking can be avoided, and the height of the discharge port can be changed by adjusting the height of the adjustable dial plate 3.4, so as to adapt to products of different heights.

[0043] like Figure 4As shown, the flexible vibration plate 4 includes a tray 4.1, a second vibration table 4.2, a discharge cylinder 4.3, a discharge door 4.4, a material guide plate 4.5 and a material box 4.6, wherein the second vibration table 4.2 is fixed on the workbench 1, the tray 4.1 is installed above the second vibration table 4.2, and one side of the tray 4.1 is close to the discharge box 3.3 of the direct vibration bin 3, for receiving the material conveyed by the discharge box 3.3, and a discharge door 4.4 is also provided on the side of the tray 4.1, and both sides of the discharge door 4.4 are connected to the tray 4.1 through the discharge cylinder 4.3, and the discharge cylinder 4.3 can control the discharge door 4.4 to open, the guide plate 4.5 is arranged below the discharge door 4.4, and the material box 4.6 is arranged on the outside of the guide plate 4.5. During normal use, the material is transported from the direct vibration bin 3 into the tray 4.1, and the position of the semicircular washers is adjusted through the vibration of the second vibration table 4.2, so that the semicircular washers can be laid flat on the bottom of the tray 4.1 one by one, which is convenient for the loading of the four-axis robot 6. When different materials need to be replaced, the remaining materials in the tray 4.1 are transported out through the opened discharge door 4.4, guided by the guide plate 4.5, and enter the material box 4.6, which is convenient for the replacement of different materials.

[0044] like Figure 5 and Figure 6 As shown, the four-axis robot 6 includes a body 6.1, and a gripping mechanism 6.2 is provided on the execution end of the body 6.1. The gripping mechanism 6.2 is used to grip the semicircular gasket. The gripping mechanism 6.2 uses a vacuum suction cup 8.11 to grip the semicircular gasket in the tray 4.1 and transfer it to the shaping fixture 7.7 of the assembly mechanism 7. The camera detection mechanism 5 includes a camera bracket 5.1 and a camera 5.2. The lower end of the camera bracket 5.1 is fixedly connected to the workbench 1. The camera 5.2 is arranged above the camera bracket 5.1, and the shooting direction of the camera 5.2 is facing the flexible vibration plate 4. In this embodiment, a light source is also provided on the camera bracket 5.1 to facilitate the camera 5.2 to take pictures and improve the accuracy of recognition.

[0045] like Figure 7-Figure 12As shown, the assembly mechanism 7 includes a bottom plate 7.1, a DD motor 7.3 is provided on the bottom plate 7.1, a turntable 7.2 is provided on the DD motor 7.3, and a plurality of assembly components 7.4 are provided along the edge of the turntable 7.2. In this embodiment, the assembly components 7.4 are four groups, which are symmetrically arranged on both sides of the turntable 7.2 in pairs. Each group of assembly components 7.4 includes a shaping fixture 7.7, a first shaping block 7.5 and a second shaping block 7.6. The shaping fixture 7.7 is provided with a semicircular The shaping groove of the washer, the first shaping block 7.5 and the second shaping block 7.6 are radially symmetrically arranged on both sides of the shaping groove, and the upper ends of the first shaping block 7.5 and the second shaping block 7.6 are both provided with shaping heads 7.54 for pushing the semicircular washer, and a linear guide rail 7.13 is provided below the shaping fixture 7.7, the lower end of the first shaping block 7.5 is slidably connected to one end of the linear guide rail 7.13, and the lower end of the second shaping block 7.6 is slidably connected to the other end of the linear guide rail 7.13; Fig.10 As shown, a U-shaped elastic support block 7.8 is provided below the linear guide rail 7.13, and the two sides of the upper opening of the elastic support block 7.8 are fixedly connected to the bottom surface of the turntable 7.2, the bottom surface of the first shaping block 7.5 is fixedly connected to the first support plate 7.9, and the first support plate 7.9 is connected to one side of the elastic support block 7.8 through an elastic reset component, and the bottom surface of the second shaping block 7.6 is fixedly connected to the second support plate 7.10, and the second support plate 7.10 is also connected to the other side of the elastic support block 7.8 through an elastic reset component. Each group of elastic reset components includes a spring 7.11 and a guide column 7.12. One end of the guide column 7.12 passes through the first support plate 7.9 / the second support plate 7.10 from the outside to the inside, and its end is fixedly connected to the elastic support block 7.8. The spring 7.11 is sleeved on the guide column 7.12 between the elastic support block 7.8 and the support plate, and the support plate and the guide column 7.12 are slidably connected. In this embodiment, there are four groups of elastic reset components, two of which are connected between the first support plate 7.9 and the elastic support block 7.8 for resetting the first shaping block 7.5, and the other two groups are connected between the second support plate 7.10 and the elastic support block 7.8 for resetting the second shaping block 7.6. Fig.12 As shown, in order to facilitate the connection with the turntable 7.2 and the guide column 7.12, the elastic support block 7.8 is U-shaped as a whole, and the upper ends of the two sides of the opening are provided with turntable connection holes 7.81 for connecting and fixing with the turntable 7.2. After assembly, it is equivalent to suspending the assembly mechanism 7 at the bottom of the turntable 7.2 through the elastic support block 7.8. The bottom of the elastic support block 7.8 is provided with two guide holes 7.82 for connecting with the guide column 7.12; Fig. 9As shown, it also includes a first shaping cylinder 7.14 for pushing the first shaping block 7.5, and a second shaping cylinder 7.15 for pushing the second shaping block 7.6. The first shaping cylinder 7.14 is arranged below the assembly 7.4 and is fixedly connected to the bottom plate 7.1 through a first cylinder bracket 7.18. An upper push head 7.16 is arranged on the execution end of the first shaping cylinder 7.14, and a lower push head 7.17 cooperating with the upper push head 7.16 is arranged below the first support plate 7.9. The first shaping cylinder 7.14 can move toward the elastic support block 7.8 through the upper push head 7.16. The push head 7.17 is pushed in the direction, and the first shaping block 7.5 is driven by the push head 7.17 to move on the linear guide rail 7.13 in the direction close to the shaping groove, as shown by the red arrow in the figure; the second shaping cylinder 7.15 is arranged on the outside of the second shaping block 7.6, and the execution end of the second shaping cylinder 7.15 is facing the second shaping block 7.6, and can push the second shaping block 7.6 to move on the linear guide rail 7.13 in the direction close to the shaping groove, as shown by the red arrow in the figure, and the second shaping cylinder 7.15 is fixedly connected to the base plate 7.1 through the second cylinder bracket 7.19.

[0046] like Figure 7 As shown, in order to detect the position of the assembly mechanism 7, it also includes an optical fiber detection component, which includes an optical fiber sensor 7.21, a sensor adjustment seat 7.23 and a sensor bracket 7.20. The sensor bracket 7.20 is two relatively arranged on both sides of the turntable 7.2. The transmitting end and the receiving end of the optical fiber sensor 7.21 are respectively installed on the relatively arranged sensor brackets 7.20 through the sensor adjustment seat 7.23. The installation position of the optical fiber sensor 7.21 on the sensor bracket 7.20 can be adjusted by adjusting the sensor adjustment seat 7.23.

[0047] like Figure 7 and Figure 8 As shown, a proximity sensor 7.22 is also provided on the first cylinder bracket 7.18, and the proximity sensor 7.22 is located between the first shaping cylinder 7.14 and the second shaping cylinder 7.15, and is used to detect the assembly position and whether the assembled shaping block is in place.

[0048] like Fig.13 As shown, the first shaping block 7.5 and the second shaping block 7.6 have the same structure, both comprising a shaping plate 7.51, an adapter plate 7.52 and a connecting plate 7.53, which are sequentially connected to form a U-shaped structure with a side opening. Complementary protrusions and grooves are provided on the bottom surface of the shaping plate 7.51 and between the upper end of the adapter plate 7.52, and quick positioning and matching installation are performed through the protrusions and grooves. The shaping plate 7.51 is also provided with a waist-shaped through hole for fixing, which is convenient for adjusting the fixed position. The shaping plate 7.51 is provided with a shaping head 7.54 at one end facing the shaping groove, as shown in FIG. Figure 8 As shown, a V-shaped opening matching the shaping head 7.54 is provided on the side of the shaping groove, which is convenient for the shaping head 7.54 to enter the shaping groove, and the two semicircular washers are pressed and assembled radially. The adapter plate 7.52 is vertically connected between the shaping plate 7.51 and the connecting plate 7.53 to play a connecting and supporting role. The end of the connecting plate 7.53 away from the adapter plate 7.52 is slidably connected to the linear guide rail 7.13. When the shaping cylinder pushes the shaping block, the shaping block can slide along the linear guide rail 7.13. The linear guide rail 7.13 also plays a certain guiding role in the sliding process, ensuring that the shaping head 7.54 can accurately enter the V-shaped opening.

[0049] like Figure 14-16 As shown, the transfer mechanism 8 includes a transfer column 8.2, a transfer cross plate 8.3, a transfer fixture 8.1, a first adapter plate 8.4, a second adapter plate 8.6, a first linear module 8.5, a second linear module 8.7 and a transfer guide rail 8.8. The bottom of the transfer column 8.2 is relatively fixed to the workbench 1, the transfer cross plate 8.3 is fixed to the top of the transfer column 8.2, a transverse second linear module 8.7 is arranged in front of the transfer cross plate 8.3, and a transfer guide rail 8.8 parallel to the second linear module 8.7 is arranged below the second linear module 8.7, and the first linear module 8.5 is connected to the second linear module 8.7 through the second adapter plate 8.6. and the transfer guide rail 8.8, and can move horizontally along the transfer guide rail 8.8 driven by the second linear module 8.7, the first linear module 8.5 is vertically arranged; the transfer fixture 8.1 is connected to the first linear module 8.5 through the first adapter plate 8.4, the first linear module 8.5 drives the transfer fixture 8.1 to move up and down through the first adapter plate 8.4, and the transfer fixture 8.1 is used to grab the shaped full-circle gasket on the assembly mechanism 7; a vacuum generator 8.10 is also arranged behind the transfer cross plate 8.3, and the vacuum generator 8.10 is connected to the transfer fixture 8.1 gas circuit through a pipeline to provide vacuum suction for the transfer fixture 8.1. It also includes a drag chain 8.9, the bottom of which is connected to the top of the transfer cross plate 8.3 through a support plate for electrical wiring.

[0050] like Fig.17As shown, the transplanting fixture includes a vacuum suction cup 8.11, a suction cup connecting plate 8.12, a suction cup cylinder 8.13, a suction cup guide rail 8.14, a limit plate 8.15, a lower support plate 8.16, an upper support plate 8.18 and a spring floating assembly 8.17, wherein the upper support plate 8.18 is fixedly connected to the lower end of the first adapter plate 8.4, the lower support plates 8.16 are two, arranged side by side and in parallel below the upper support plate 8.18, and each lower support plate 8.16 is connected to the upper support plate 8.18 through two groups of spring floating assemblies 8.17; two suction cup cylinders 8.13 are connected to the lower side of each lower support plate 8.16, and the two suction cup cylinders 8.13 are arranged opposite to each other, each A suction cup guide rail 8.14 is connected to the upper part of each suction cup cylinder 8.13, and the vacuum suction cup 8.11 is slidably connected to the suction cup guide rail 8.14 through the suction cup connecting plate 8.12. The suction cup cylinder 8.13 drives the vacuum suction cup 8.11 to slide on the suction cup guide rail 8.14 through the suction cup connecting plate 8.12; a limit plate 8.15 is provided between the two suction cup cylinders 8.13 to limit the stroke of the cylinder, and the upper end of the limit plate 8.15 is fixed on the bottom surface of the lower support plate 8.16; the bottom of the vacuum suction cup 8.11 has a semicircular adsorption surface, and the vacuum suction cups 8.11 on both sides are opposite to each other and can form a shape of a full-circle gasket; the vacuum suction cup 8.11 is connected to the vacuum generator 8.10 through a pipeline. In this embodiment, two full-circle gaskets are grasped at one time, so there are four vacuum suction cups 8.11, two in a group, to grasp a full-circle gasket. In this embodiment, the spring floating assembly 8.17 mainly consists of a floating spring, a floating guide column, a guide sleeve and other structures. The guide sleeve is arranged on the upper support plate 8.18. The floating guide column passes through the guide sleeve from top to bottom, and the lower end is connected to the lower support plate 8.16. The floating spring sleeve is arranged on the floating guide column between the upper support plate 8.18 and the lower support plate 8.16, and the upper end of the floating guide column is movably connected to the guide sleeve. The floating guide column can slide along the axis in the guide sleeve.

[0051] like Fig.18 It is a schematic diagram of the structure of the sensor 9. The gasket 10 is placed in the groove of the sensor 9. The black part is a full-circle gasket 9.

[0052] Based on the above ideal embodiments of the present invention, the relevant staff can make various changes and modifications without departing from the scope of the present invention through the above description. The technical scope of this invention is not limited to the contents of the specification, and its technical scope must be determined according to the scope of the claims.

Claims

1. A semicircular washer automatic assembly mechanism, characterized in that: include Workbench, used for bearing support of the entire equipment; A straight vibration bin is provided on one side of the workbench and is used to feed the semicircular washers placed therein into the flexible vibration plate; The flexible vibration plate is arranged on the workbench in front of the direct vibration bin and connected to the discharge box of the direct vibration bin, and is used to vibrate and disperse the semicircular gasket entering the flexible vibration plate; A camera detection mechanism is arranged just above the flexible vibration plate and is used to detect the type and position parameters of the semicircular washers after being spread out in the flexible vibration plate; A four-axis robot arm is arranged on a workbench on one side of the flexible vibration plate, and is used to identify and grab the semicircular washers according to the types and position parameters of the semicircular washers, and put the semicircular washers into the assembly mechanism; An assembly mechanism is arranged on a workbench on one side of the four-axis manipulator and is used to assemble two semicircular washers into a full-circular washer; The transfer mechanism is arranged on a workbench on one side of the assembling mechanism and is used for assembling the full-circle gasket into the groove of the sensor.

2. The semicircular washer automatic assembly mechanism according to claim 1, characterized in that: The assembly mechanism includes a base plate, a DD motor is provided on the base plate, a turntable is provided on the DD motor, a plurality of assembly components are provided on the turntable along its edge, each assembly component includes a shaping fixture, a first shaping block and a second shaping block, a shaping groove for placing a semicircular gasket is provided on the shaping fixture, the first shaping block and the second shaping block are radially symmetrically arranged on both sides of the shaping groove, and a shaping head for pushing the semicircular gasket is provided at the upper ends of the first shaping block and the second shaping block, a linear guide rail is provided below the shaping fixture, the lower end of the first shaping block is slidably connected to one end of the linear guide rail, and the lower end of the second shaping block is slidably connected to the other end of the linear guide rail; a U-shaped An elastic support block, both sides of the opening at the upper end of the elastic support block are fixedly connected to the bottom surface of the turntable, the bottom surface of the first shaping block is fixedly connected to the first support plate, the first support plate is connected to one side of the elastic support block through an elastic reset component, the bottom surface of the second shaping block is fixedly connected to the second support plate, and the second support plate is also connected to the other side of the elastic support block through an elastic reset component, each group of elastic reset components includes a spring and a guide column, one end of the guide column passes through the first support plate / second support plate from the outside to the inside, and its end is fixedly connected to the elastic support block, the spring is sleeved on the guide column between the elastic support block and the support plate, and the support plate and the guide column are slidably connected; It also includes a first shaping cylinder for pushing the first shaping block, and a second shaping cylinder for pushing the second shaping block. The first shaping cylinder is arranged below the assembly component, and an upper push head is provided on the execution end of the first shaping cylinder, and a lower push head cooperating with the upper push head is provided below the first support plate. The first shaping cylinder can push the lower push head toward the elastic support block through the upper push head, and drive the first shaping block to move toward the shaping groove on the linear guide through the lower push head; the second shaping cylinder is arranged on the outside of the second shaping block, and the execution end of the second shaping cylinder is facing the second shaping block, which can push the second shaping block to move toward the shaping groove on the linear guide.

3. The semicircular washer automatic assembly mechanism according to claim 2, characterized in that: It also includes an optical fiber detection component, which includes an optical fiber sensor, a sensor adjustment seat and a sensor bracket. The sensor bracket is two relatively arranged on both sides of the turntable. The transmitting end and the receiving end of the optical fiber sensor are respectively installed on the relatively arranged sensor brackets through the sensor adjustment seat. The installation position of the optical fiber sensor on the sensor bracket can be adjusted by adjusting the sensor adjustment seat.

4. The semicircular washer automatic assembly mechanism according to claim 2, characterized in that: The first shaping block and the second shaping block have the same structure, both comprising a shaping plate, an adapter plate and a connecting plate, which are connected in sequence to form a U-shaped structure with a side opening. Complementary protrusions and grooves are provided on the bottom surface of the shaping plate and between the upper end of the adapter plate. The shaping plate is also provided with an oblong through hole for fixing. The shaping head is provided at one end of the shaping plate facing the shaping groove, and a V-shaped opening matching the shaping head is provided on the side of the shaping groove. The end of the connecting plate away from the adapter plate is slidably connected to the linear guide rail.

5. The semicircular washer automatic assembly mechanism according to claim 1, characterized in that: The direct vibration silo includes a silo body, a silo cover for discharging materials is provided above the silo body, a conical hopper is provided inside the silo body just below the silo cover, a discharge box is provided below the conical hopper, a first vibration table is provided at the bottom of the discharge box, a discharge port is provided on the side of the silo body, one end of the discharge box extends out of the silo body from the discharge port, an adjustable dial plate is provided above the discharge port, and the height of the discharge of the discharge box can be limited by adjusting the height of the adjustable dial plate.

6. The semicircular washer automatic assembly mechanism according to claim 1, characterized in that: The four-axis robot arm includes a main body, and a gripping mechanism is provided on the execution end of the main body, and the gripping mechanism is used to grip the semicircular washer; the camera detection mechanism includes a camera bracket and a camera, the lower end of the camera bracket is fixedly connected to the workbench, and the camera is arranged above the camera bracket, and the camera shooting direction is facing the flexible vibration plate.

7. The semicircular washer automatic assembly mechanism according to claim 1, characterized in that: The transfer mechanism includes a transfer column, a transfer cross plate, a transfer fixture, a first adapter plate, a second adapter plate, a first linear module, a second linear module and a transfer guide rail, wherein the bottom of the transfer column is relatively fixed to the workbench, the transfer cross plate is fixedly connected to the top of the transfer column, a horizontal second linear module is provided in front of the transfer cross plate, and a transfer guide rail parallel to the second linear module is provided below the second linear module, the first linear module is connected to the second linear module and the transfer guide rail through the second adapter plate, and can move horizontally along the transfer guide rail under the drive of the second linear module, and the first linear module is vertically arranged; the transfer fixture is connected to the first linear module through the first adapter plate, and the first linear module drives the transfer fixture to move up and down through the first adapter plate, and the transfer fixture is used to grab the whole circular gasket that has been shaped on the assembly mechanism; a vacuum generator is also provided at the back of the transfer cross plate, and the vacuum generator is connected to the air circuit of the transfer fixture through a pipeline to provide vacuum suction for the transfer fixture.

8. The semicircular washer automatic assembly mechanism according to claim 7, characterized in that: The transplanting fixture comprises a vacuum suction cup, a suction cup connecting plate, a suction cup cylinder, a suction cup guide rail, a limit plate, a lower support plate, an upper support plate and a spring floating assembly, wherein the upper support plate is fixedly connected to the lower end of the first adapter plate, the lower support plates are two, arranged side by side and in parallel below the upper support plate, and each lower support plate is connected to the upper support plate through two groups of spring floating assemblies; two suction cup cylinders are connected to the bottom of each lower support plate, and the two suction cup cylinders are arranged opposite to each other, and a suction cup guide rail is connected to the top of each suction cup cylinder, the vacuum suction cup is slidably connected to the suction cup guide rail through the suction cup connecting plate, and the suction cup cylinder drives the vacuum suction cup to slide on the suction cup guide rail through the suction cup connecting plate; a limit plate is provided between the two suction cup cylinders, and the upper end of the limit plate is fixed to the bottom surface of the lower support plate; the bottom of the vacuum suction cup has a semicircular adsorption surface, and the vacuum suction cups on both sides are opposite to each other and can form a shape of a full-circular gasket; the vacuum suction cup is connected to a vacuum generator through a pipeline.

9. The semicircular washer automatic assembly mechanism according to claim 1, characterized in that: The flexible vibration plate includes a pallet, a second vibration table, a discharge cylinder, a discharge door, a material guide plate and a material box, wherein the second vibration table is fixed on the workbench, the pallet is installed above the second vibration table, and one side of the pallet is close to the discharge box of the direct vibration bin for receiving the material conveyed by the discharge box, and a discharge door is also provided on the side of the pallet, and both sides of the discharge door are connected to the pallet through the discharge cylinder, and the discharge cylinder can control the opening of the discharge door, the material guide plate is arranged below the discharge door, and the material box is arranged on the outside of the material guide plate.

10. The semicircular washer automatic assembly mechanism according to claim 1, characterized in that: The workbench includes a table top, a frame and a storage compartment. The table top is arranged at the upper end of the frame for carrying and installing various mechanisms. A storage compartment is arranged inside the frame, and tooling fixtures are placed in the storage compartment. An electrical control component is also arranged in the frame on one side of the storage compartment.

Images