A rubber plug installation device, a rubber plug installation system and a rubber plug installation method

Abstract

The application discloses a rubber plug mounting device, a rubber plug mounting system and a rubber plug mounting method. The rubber plug mounting device comprises a rotating disc and a mechanical arm used for driving the rotating disc to move, and the rotating disc is rotatably connected to the mechanical arm. A plurality of rubber plug seats are connected to the rotating disc and are arranged at intervals on the rotating disc. The rubber plug seat comprises a seat body and a mounting seat, the seat body is connected to the rotating disc, and the mounting seat is connected to the seat body. A clamping groove used for clamping the rubber plug is arranged on the mounting seat. In the application, the mechanical arm is used to replace manual work to mount the rubber plug, thereby reducing the working strength of the staff. The rotating disc can obtain a plurality of rubber plugs at a time, and the plurality of rubber plugs can be mounted at the same time, so that the working efficiency is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicles, in particular to a rubber plug installation device, a rubber plug installation system and a rubber plug installation method. BACKGROUND

[0002] A vehicle painting production line performs a painting operation on a vehicle frame, and during the operation, rubber plugs are installed on process drainage holes on both sides of the vehicle bottom skirt.

[0003] In the existing rubber plug operation, manual work is required, and during the installation process, a deep squat or a kneeling position is often adopted, which is labor-intensive. Moreover, since the installation direction is from bottom to top and the installation position is invisible, the operation personnel only rely on hand tactile sensation to find the position for installation, which is slow and inefficient.

[0004] In view of the above problems, improvements are needed. SUMMARY

[0005] The present application aims to overcome the shortcomings of the prior art and provide a rubber plug installation device, a rubber plug installation system and a rubber plug installation method that reduce fatigue and improve efficiency.

[0006] The rubber plug installation device provided by the present application comprises a rotating disc and a mechanical arm for driving the rotating disc, the rotating disc is rotatably connected to the mechanical arm, a plurality of rubber plug seats are connected to the rotating disc, the plurality of rubber plug seats are arranged at intervals on the rotating disc, the rubber plug seat comprises a seat body and an installation seat, the seat body is connected to the rotating disc, and the installation seat is connected to the seat body, and a clamping groove for clamping a rubber plug is arranged on the installation seat.

[0007] Further, the seat body and the rotating disc are detachably connected.

[0008] Further, the seat body comprises a first connecting part and a second connecting part connected to the first connecting part, the first connecting part is connected to the rotating disc, the installation seat is connected to the second connecting part, the thickness of the first connecting part is less than the thickness of the second connecting part, and the first connecting part and the second connecting part are connected in a stepped manner.

[0009] Further, a through ventilation hole is arranged on the installation seat, and the ventilation hole is in communication with the clamping groove.

[0010] Further, a baffle is connected to the outside of the seat body.

[0011] The technical scheme of the present application provides a rubber plug installation system, which comprises a trolley track, a detection device, a controller and the rubber plug installation device.

[0012] Further, the trolley track is connected with a slidable trolley and a limiting device capable of blocking the trolley; the limiting device comprises a driving member and a limiting rod, and the driving end of the driving member is connected with the limiting rod; the trolley track is provided with a waiting position and a working position; when the trolley moves from the waiting position to the working position, the driving member drives the limiting rod to move to block the trolley.

[0013] Further, the rubber plug installation system further comprises a rubber plug feeding device, which comprises a feeding box, a feeding guide rail and a vibrator; the feeding guide rail is provided with a rubber plug guide groove, the rubber plug guide groove is communicated with the feeding box, and the vibrator is connected with the feeding box to convey the rubber plug by vibration.

[0014] Further, the rubber plug feeding device further comprises a limiting rail and a pushing cylinder, the limiting rail is communicated with the rubber plug guide groove; the pushing cylinder is connected to one end of the limiting rail, and the other end of the limiting rail is provided with a placing groove matched with the shape of the rubber plug.

[0015] The technical scheme of the present application provides a rubber plug installation method, which comprises an installation step of installing the rubber plug by using the rubber plug installation system.

[0016] The trolley on the trolley track drives the frame to slide to the working position of the trolley track;

[0017] The detection head slides along the detection rail and detects the rubber plug installation hole at the bottom of the frame to obtain position data of the rubber plug installation hole;

[0018] After the controller obtains the position data, the controller controls the movement of the mechanical arm according to the position data, and the mechanical arm drives the rotating disc to install the rubber plugs one by one;

[0019] After the rotating disc installs one rubber plug, the rotating disc rotates to align the next rubber plug seat with the next rubber plug installation hole.

[0020] Further, after all the rubber plugs are installed in the installation holes, the detection head slides along the detection track again and detects the rubber plugs at the bottom of the vehicle frame to detect the tightness of the rubber plugs and the installation holes.

[0021] After the controller obtains the tightness, it is determined whether the tightness is lower than a preset value. If the tightness is lower than the preset value, the controller outputs an operation signal.

[0022] Further, the step of limiting the trolley is further included. When the trolley moves from the waiting position on the trolley track of the vehicle frame to the working position, the driving member of the limiting device drives the limiting rod of the limiting device to move to resist the trolley.

[0023] Further, the step of obtaining the rubber plug is further included. The vibrator of the rubber plug feeding device feeds the rubber plug in the feeding box to the rubber plug guide groove through vibration. After the rubber plug on the rubber plug guide groove enters the limiting track, the pushing cylinder pushes the rubber plug on the limiting track to the placing groove. The controller controls the mechanical arm to move to align one of the rubber plug seats with the placing position and to make the rubber plug seat and the rubber plug in the placing groove be connected. The rotating disc rotates to align the next rubber plug seat with the placing groove, and the next rubber plug seat and the rubber plug in the placing groove are connected.

[0024] After the above technical scheme is adopted, the following beneficial effects are achieved:

[0025] In the technical scheme, the rubber plug installation equipment adopts the mechanical arm to replace manual installation of the rubber plug, thereby reducing the working intensity of the staff. The rotating disc can obtain multiple rubber plugs at a time and install multiple rubber plugs at a time, thereby improving the working efficiency. The rubber plug installation system and the rubber plug installation method realize automatic installation of the rubber plug, are convenient to operate, and are more conducive to production. BRIEF DESCRIPTION OF DRAWINGS

[0026] The disclosure will become more readily understood by referring to the accompanying drawings. It should be understood that these drawings are for illustrative purposes only and are not intended to limit the scope of the present application. In the drawings:

[0027] Figure 1 FIG. 1 is a schematic view of a rubber plug installation equipment in an embodiment of the present application;

[0028] Figure 2 FIG. 2 is a schematic view of a rotating disc and a rubber plug seat in an embodiment of the present application;

[0029] Figure 3 FIG. 3 is a schematic view of an installation seat in an embodiment of the present application;

[0030] Figure 4 FIG. 4 is a schematic view of a rubber plug installation system in an embodiment of the present application;

[0031] Figure 5Figure 1 is a schematic view of a controller, a detection head and a rubber plug installation device according to an embodiment of the present application;

[0032] Figure 6 Figure 2 is a schematic view of a trolley frame and a trolley according to an embodiment of the present application;

[0033] Figure 7 Figure 3 is a schematic view of a limiting device according to an embodiment of the present application;

[0034] Figure 8 Figure 4 is a schematic view of a detection device according to an embodiment of the present application;

[0035] Figure 9 Figure 5 is a schematic view of a rubber plug feeding device according to an embodiment of the present application;

[0036] Figure 10 Figure 6 is a schematic view of a limiting track and a pushing cylinder according to an embodiment of the present application.

[0037] Correspondence table of reference numerals:

[0038] Rubber plug installation system 10

[0039] Rubber plug installation device 1 rotating disc 11 mechanical arm 12 rubber plug seat 13

[0040] Mounting seat 131 clamping groove 1311 air hole 1312 first connecting part 132

[0041] Second connecting part 133 baffle 134 trolley frame track 2 detection device 3

[0042] Detection track 31 detection head 32 controller 4 trolley 5

[0043] Limiting device 6 driving part 61 limiting rod 62 rubber plug feeding device 7

[0044] Feeding box 71 feeding guide rail 72 rubber plug guide groove 721 vibrator 73

[0045] Limiting track 74 pushing cylinder 75 placing groove 76 DETAILED DESCRIPTION

[0046] The specific embodiments of the present application will be further described in conjunction with the accompanying drawings.

[0047] It is easy to understand that, according to the technical scheme of the present application, a person skilled in the art can replace various structural modes and implementation modes without changing the essential spirit of the present application. Therefore, the following specific embodiments and drawings are only exemplary descriptions of the technical scheme of the present application, and should not be regarded as the whole or as a limitation or restriction on the technical scheme of the present application.

[0048] The directional terms such as up, down, left, right, front, back, front, back, top, and bottom mentioned or possibly used in this specification are defined relative to the structures shown in the accompanying drawings. They are relative concepts and may therefore vary depending on their location and usage. Therefore, these or other directional terms should not be interpreted as restrictive.

[0049] like Figures 1-4 As shown, a plug installation device 1 according to an embodiment of the present invention includes a rotating disk 11 and a robotic arm 12 for driving the rotating disk 11 to move. The rotating disk 11 is rotatably connected to the robotic arm 12.

[0050] Multiple rubber plugs 13 are connected to the rotating disk 11, and the multiple rubber plugs 13 are spaced apart on the rotating disk 11.

[0051] The rubber plug seat 13 includes a seat body and a mounting seat 131. The seat body is connected to the rotating disk 11, and the mounting seat 131 is connected to the seat body.

[0052] The mounting base 131 is provided with a slot 1311 for engaging with the glue plug.

[0053] The glue plug installation equipment 1 is used to install glue plugs on the process drain holes at the bottom of the vehicle frame during vehicle production.

[0054] The plug installation device 1 includes a robotic arm 12, a rotating disk 11, and a plug seat 13. The robotic arm 12 is a complex system characterized by high precision, multiple inputs and multiple outputs, high nonlinearity, and strong coupling. It typically consists of sensors, a movable arm system, and a main control computer. The movable arm system further comprises a modular movable arm and a manipulator. The robotic arm 12 offers good flexibility and is widely used in industrial assembly; its specific structure will not be described in detail here.

[0055] A rotating disk 11 is rotatably connected to the manipulator of the robotic arm 12, and the rotating disk 11 has a rotational axis. Multiple rubber plug seats 13 are connected to the rotating disk 11, and the rubber plug seats 13 are used to grasp rubber plugs. The multiple rubber plug seats 13 are spaced apart around the axis of the rotating disk 11, and are arranged radially on the rotating disk 11, with the distance between any two adjacent rubber plug seats 13 being equal.

[0056] The rubber plug seat 13 comprises a seat body and a mounting seat 131. One end of the seat body is connected to the rotating disc 11, and the other end extends to the outside of the rotating disc 11. The mounting seat 131 is connected to the end of the seat body outside the rotating disc 11. The mounting seat 131 has a clamping groove 1311 with an opening facing the outside of the rotating disc 11. When the rubber plug seat 13 grabs the rubber plug, the rubber plug is clamped in the clamping groove 1311. Specifically, the rubber plug has a mounting seat matching part connected to the mounting seat 131 and a process liquid outlet hole matching part connected to the process liquid outlet hole. The mounting seat matching part has a first matching end and a second matching end, and the first matching end is away from the process liquid outlet hole matching part relative to the second matching end. The width of the first matching end is smaller than the width of the second matching end, and the entire mounting seat matching part is tapered in the direction from the second matching end to the first matching end. After the clamping groove 1311 is matched with the rubber plug, the mounting seat matching part is located in the clamping groove 1311. The width of the clamping groove 1311 is smaller than the widest part of the mounting seat matching part, and the mounting seat matching part is deformed by extrusion during the matching process, so as to be interference-fitted with the clamping groove 1311 and tightly clamped in the clamping groove 1311.

[0057] The entire process of installing the rubber plug is as follows. The mechanical arm 12 drives the rubber plug seat 13 to grab the rubber plug. After each rubber plug seat 13 grabs the rubber plug, the mechanical arm 12 drives the rotating disc 11 to move to the position of the process liquid outlet hole on the vehicle. The rotating disc 11 is rotated to align one of the rubber plug seats 13 with the process liquid outlet hole. Then the mechanical arm 12 moves to drive the rubber plug seat 13 to approach the process liquid outlet hole. Then the process liquid outlet hole matching part of the rubber plug is clamped with the process liquid outlet hole to block the process liquid outlet hole. Then the mechanical arm 12 moves to separate the rubber plug from the rubber plug seat 13. Then the mechanical arm 12 drives the rotating disc 11 to move to the next process liquid outlet hole, and the rotating disc 11 is rotated to align the next rubber plug seat 13 with the next process liquid outlet hole, and the next rubber plug is installed.

[0058] The rubber plug installation device 1 arranged in this way replaces manual installation with the mechanical arm 12, thereby reducing the work intensity of the workers. The rotating disc 11 is provided with multiple rubber plug seats 13, so that multiple rubber plugs can be installed at one time, thereby improving the installation efficiency.

[0059] Optionally, the rotating disc 11 is detachable, so that different types of rotating discs 11 can be replaced for different vehicle models.

[0060] In one embodiment, as shown in Figures 1-2 the seat body is detachably connected to the rotating disc 11.

[0061] Specifically, the seat body and the rotating disc 11 can be connected and detached, which is convenient for replacing the rubber plug seat 13 when it is damaged or needs to be repaired. In this embodiment, the seat body and the rotating disc 11 are connected by bolts, which can be more firmly connected.

[0062] In one embodiment, as shown in Figures 1-3As shown, the seat body comprises a first connecting portion 132 and a second connecting portion 133 connected with the first connecting portion 132, the first connecting portion 132 is connected with the rotating disc 11, and the mounting seat 131 is connected with the second connecting portion 133. The thickness of the first connecting portion 132 is less than that of the second connecting portion 133, and the first connecting portion 132 is connected with the second connecting portion 133 in a stepped manner.

[0063] Specifically, the whole seat body is in a strip shape, and the seat body comprises a first connecting portion 132 and a second connecting portion 133 connected with the first connecting portion 132, wherein the first connecting portion 132 is connected with the rotating disc 11, and the mounting seat 131 is connected with the second connecting portion 133. The thickness of the first connecting portion 132 is less than that of the second connecting portion 133, so that the first connecting portion 132 is more convenient to connect with the rotating disc 11, and the weight of the whole seat body is also reduced.

[0064] Due to the different thicknesses of the first connecting portion 132 and the second connecting portion 133, a step is formed between the first connecting portion 132 and the second connecting portion 133. In the embodiment, the first connecting portion 132 is connected with the rotating disc 11 through bolts, and the heads of the bolts are located on the step surface of the step after connection. The second connecting portion 133 has a protective effect on the bolts on the first connecting portion 132.

[0065] It should be noted that the thickness refers to the distance between two opposite surfaces of an object in the direction of the axis of the rotating disc 11.

[0066] In one of the embodiments, as shown in Figures 2-3 The mounting seat 131 is provided with a through air hole 1312, and the air hole 1312 is in communication with the clamping groove 1311.

[0067] Specifically, the mounting seat 131 has a through air hole 1312 in the extension direction of the seat body, and the air hole 1312 is in communication with the clamping groove 1311. When the rubber plug cooperates with the clamping groove 1311, the air in the clamping groove 1311 is discharged through the air hole 1312, so that the air pressure in the clamping groove 1311 after cooperation is reduced, and the connection of the rubber plug is more firm.

[0068] In one of the embodiments, as shown in Figures 2-3 The outer side of the seat body is connected with a baffle 134.

[0069] Specifically, the outer surface of the seat body is connected with an outwardly extending baffle 134, and the baffle 134 is located on the side of the mounting seat 131 close to the rotating disc 11. When the mounting seat 131 cooperates with the rubber plug, the baffle 134 abuts against the rubber plug to block the movement of the rubber plug.

[0070] As Figures 1-5 and Figure 8The rubber plug installation system 10 provided by the embodiment of the application comprises a frame trolley track 2, a detection device 3, a controller 4 and the rubber plug installation device 1.

[0071] The detection device 3 comprises a detection track 31 and a detection head 32, the detection track 31 is located between the frame trolley track 2 and the rubber plug installation device 1, and the detection head 32 is slidably connected to the detection track 31.

[0072] The controller 4 is in communication connection with the detection head 32 and the mechanical arm 12 respectively, and is used for controlling the detection head 32 to detect and controlling the mechanical arm 12 to install the rubber plug.

[0073] The rubber plug installation system 10 is applied to a vehicle production line, and is convenient for installing rubber plugs on a frame and improves work efficiency.

[0074] The rubber plug installation system 10 comprises the frame trolley track 2, the detection device 3, the controller 4 and the rubber plug installation device 1. The specific structure and function of the rubber plug installation device 1 are referred to the related contents in the foregoing description, and will not be described herein.

[0075] The frame trolley track 2 is used for driving a trolley carrying a frame, the rubber plug installation device 1 is located on one side of the frame trolley track 2, and the rubber plug installation device 1 starts to work when the trolley drives to a predetermined position. The detection device 3 is located between the frame trolley track 2 and the rubber plug installation device 1, the detection device 3 is in communication connection with the controller 4, and the controller 4 is in communication connection with the mechanical arm 12 of the rubber plug installation device 1. The communication connection means that the devices can exchange information, and is usually connected in the mode of electrical connection or wireless local area network. During the installation of the rubber plug, the detection device 3 detects a process liquid discharge hole on the frame, and then the controller 4 controls the mechanical arm 12 to install.

[0076] Optionally, the controller 4 can be an external device, such as a control computer separately placed outside the detection device 3 and the rubber plug installation device 1, or can be an internal control unit part arranged in the detection device 3 or the mechanical arm 12.

[0077] The detection device 3 comprises the detection track 31 and the detection head 32, the detection track 31 is located between the frame trolley track 2 and the mechanical arm 12, the detection head 32 is slidably connected to the detection track 31 and can slide along the detection track 31. When the trolley is located at the predetermined position, the detection head 32 is located below the frame on the trolley. The detection head 32 can detect the process liquid discharge hole on the bottom of the frame when sliding along the detection track 31.

[0078] When the entire plug installation system 10 is working, the detection head 32 first slides along the detection track 31 to detect the position of the process drain hole. The controller 4 obtains the position information detected by the detection head 32, and then controls the robotic arm 12 to install the plug for each process drain hole according to the position information.

[0079] This setup automates the installation of the rubber plugs, making it easier for workers to operate and improving installation accuracy.

[0080] Optionally, the detection head 32 is a camera.

[0081] In one embodiment, such as Figures 4-7 As shown, a slidable trolley 5 and a limiting device 6 capable of blocking the trolley 5 are connected to the trolley track 2. The limiting device 6 includes a drive member 61 and a limiting rod 62, with the drive end of the drive member 61 connected to the limiting rod 62. The trolley track 2 is provided with a waiting position and a working position. When the trolley 5 moves from the waiting position to the working position, the drive member 61 drives the limiting rod 62 to move to block the trolley 5.

[0082] Specifically, the trolley 5 is used to transport the frame. The trolley 5 is slidably connected to the frame trolley track 2, and multiple trolleys 5 slide on the frame trolley track 2. The frame trolley track 2 is provided with working positions and waiting positions, and the trolley 5 carrying the frame can slide from the waiting position to the working position.

[0083] A limiting device 6 is installed on the trolley frame track 2. The limiting device 6 includes a driving component 61 and a limiting rod 62. The limiting rod 62 is movably connected to the trolley frame track 2. The driving end of the driving component 61 is connected to the limiting rod 62, driving the limiting rod 62 to move. When the limiting device 6 is not in use, the limiting rod 62 is located below the upper surface of the trolley frame track 2, and the trolley 5 can travel normally. When the limiting device 6 is in use, the limiting rod 62 extends above the upper surface of the trolley frame track 2, and the limiting rod 62 can block the trolley 5, preventing the trolley 5 from moving.

[0084] When the trolley 5 reaches the working position, the limiting device 6 activates, and the limiting rod 62 blocks the trolley 5, performing initial positioning. This ensures that the position of the process drain hole at the bottom of the frame remains approximately unchanged when each trolley 5 enters the working position. Then, the detection head 32 further detects the position of the process drain hole to obtain precise position data. The limiting device 6 performs initial positioning of the trolley 5, thereby reducing the computational workload of the detection head 32.

[0085] Optionally, two limiting devices 6 are spaced apart on the trolley track 2, and the range between the two limiting devices 6 is the working position. The two limiting devices 6 respectively restrict the positions of the front and rear ends of the trolley 5.

[0086] Optionally, the driving member 61 is a telescopic pneumatic cylinder or a telescopic hydraulic cylinder, which can push the limiting rod 62 to move up and down.

[0087] Optionally, the driving member 61 is a driving motor, and the limiting rod 62 is connected with a motor shaft of the driving motor. The driving motor can drive the limiting rod 62 to rotate to be perpendicular to the trolley track 2 or parallel to the trolley track 2. When the limiting rod 62 is perpendicular to the trolley track 2, the limiting rod 62 can resist the trolley 5; when the limiting rod 62 is parallel to the trolley track 2, the trolley 5 can normally travel. Of course, the driving member 61 and the limiting rod 62 can also be other structures, as long as they can drive the limiting rod 62 to move out and retract.

[0088] In one embodiment, as shown in Figure 4 and Figure 9 , the rubber plug feeding device 7 is further included, which comprises a feeding box 71, a feeding rail 72 and a vibrator 73. The feeding rail 72 is provided with a rubber plug guide groove 721 which is in communication with the feeding box 71, and the vibrator 73 is connected with the feeding box 71 to convey the rubber plug by vibration.

[0089] Specifically, the rubber plug mounting system 10 further comprises the rubber plug feeding device 7, which is a vibrating conveyor. The vibrating conveyor is a continuous conveying machine which makes the materials in the groove slide or throw in a certain direction by vibration. The rubber plug feeding device 7 comprises the feeding box 71, the feeding rail 72 and the vibrator 73. The feeding box 71 has a loading cavity, and the feeding rail 72 is connected to one side of the feeding box 71. The feeding rail 72 has the rubber plug guide groove 721 which is in communication with the loading cavity. The vibrator 73 is connected to the feeding box 71 or the feeding rail 72. The vibrator 73 vibrates to make the rubber plug move. The rubber plug enters the rubber plug guide groove 721 from the feeding box 71, and is arranged and moved in sequence along the rubber plug guide groove 721. In this way, the rubber plug mounting device 1 can be automatically provided with the rubber plug.

[0090] In one embodiment, as shown in Figure 4 and Figures 9-10 , the rubber plug feeding device 7 further comprises a limiting rail 74 and a pushing cylinder 75, and the limiting rail 74 is in communication with the rubber plug guide groove 721. The pushing cylinder 75 is connected to one end of the limiting rail 74, and the other end of the limiting rail 74 is provided with a placing groove 76 which matches the shape of the rubber plug.

[0091] Specifically, the limiting rail 74 is arranged at the outlet of the rubber plug guide groove 721, and the rail groove of the limiting rail 74 is in communication with the rubber plug guide groove 721. The pushing cylinder 75 is connected to one end of the limiting rail 74, and the other end of the limiting rail 74 is provided with the placing groove 76. The shape of the placing groove 76 matches the shape of the rubber plug. After the rubber plug enters the limiting rail 74, the pushing cylinder 75 pushes the rubber plug into the placing groove 76. Then the mechanical arm 12 drives the rubber plug seat 13 to grab the rubber plug in the placing groove 76. In this way, the mechanical arm 12 can automatically grab the rubber plug with the rubber plug seat 13.

[0092] An embodiment of the present invention provides a method for installing a glue plug, comprising the steps of installing a glue plug using the glue plug installation system 10 described above, the installation steps including,

[0093] The trolley 5 on the frame trolley track 2 drives the frame to slide to the working position of the frame trolley track 2.

[0094] The detection head 32 slides along the detection track 31 and detects the rubber plug mounting hole at the bottom of the frame to obtain the position data of the rubber plug mounting hole.

[0095] After acquiring the position data, the controller 4 controls the movement of the robotic arm 12 based on the position data. The robotic arm 12 drives the rotating disk 11 to install the rubber plugs one by one.

[0096] After each rubber plug is installed, the rotating disk 11 is rotated until the next rubber plug seat 13 is aligned with the next rubber plug mounting hole.

[0097] This plug installation method enables the automatic installation of plugs for the process drainage holes of the chassis, and the operation is performed using the plug installation system 10.

[0098] The specific steps are as follows: Figures 1-8 As shown, firstly, the trolley 5 drives the frame to the working position of the trolley track 2. Then, the controller 4 controls the detection head 32 to slide along the detection track 31. At this time, the detection head 32 detects the position of each process drain hole at the bottom of the frame and sends the detected position data to the controller 4. Then, the controller 4 controls the robotic arm 12 to move the rotating disk 11 to the first process drain hole according to the position data, and aligns one of the rubber plug seats 13 on the rotating disk 11 with the first process drain hole. Then, the control arm moves to move the rubber plug seat 13 upward and closer to the process drain hole, so that the rubber plug is installed in the process drain hole. Then, the control arm moves downward and moves to the next process drain hole, and the rotating disk 11 rotates to align the next rubber plug seat 13 with the next process drain hole. Then, the above steps of installing the rubber plug in the process drain hole are repeated.

[0099] In one embodiment, such as Figures 4-8 As shown, after all the rubber plug mounting holes are installed with rubber plugs, the detection head 32 slides along the detection track 31 again and detects the rubber plugs at the bottom of the frame to check the tightness of the fit between the rubber plugs and the rubber plug mounting holes.

[0100] After acquiring the tightness, the controller 4 determines whether the tightness is lower than a preset value. If the tightness is lower than the preset value, the controller 4 outputs an operation signal.

[0101] Specifically, after the mechanical arm 12 installs the rubber plug on the rotating disc 11, the controller 4 controls the detection head 32 to check once. At this time, the detection head 32 detects whether the rubber plug is connected firmly with the process liquid outlet hole, and the tightness is obtained. The tightness judgment can be the shape after the rubber plug is installed or the gap size after the rubber plug is connected with the process liquid outlet hole. When the controller 4 judges that the tightness is lower than the preset value, that is, the rubber plug is installed with inclination or the gap is too large, the controller 4 sends an operation signal to adjust or reinstall the rubber plug with the tightness lower than the preset value. The controller 4 controls the mechanical arm 12 to adjust the rubber plug. In this way, it is ensured that each rubber plug is installed firmly.

[0102] Optionally, the controller 4 is connected with an alarm, and the operation signal sent by the controller 4 is transmitted to the alarm. After the alarm obtains the signal, the alarm sends an alarm sound or lights up a warning light to remind the staff. Then the staff manually adjusts or re-installs the rubber plug.

[0103] Optionally, the operation signal sent by the controller 4 is transmitted to the mechanical arm 12, and the mechanical arm 12 adjusts or re-installs the angle according to the operation signal.

[0104] In one embodiment, as shown in Figures 4-8 It further includes the step of limiting the trolley 5.

[0105] When the trolley 5 moves from the waiting position of the trolley track 2 to the working position, the driving part 61 of the limiting device 6 drives the limiting rod 62 of the limiting device 6 to move to resist the trolley 5.

[0106] Specifically, before the detection head 32 detects, the limiting device 6 first starts to resist the movement of the trolley 5, and limits the trolley 5 in the working position. In this way, it is ensured that the position of each trolley 5 in the working position is basically unchanged, so that the position data of the process liquid outlet hole when the detection head 32 detects each time is only a slight change, thereby reducing the calculation amount when the detection head 32 detects each time.

[0107] In one embodiment, as shown in Figure 1 and Figures 4-9 It further includes the step of obtaining the rubber plug.

[0108] The vibrator 73 of the rubber plug feeding device 7 transports the rubber plug in the feeding box 71 to the rubber plug guide groove 721 through vibration.

[0109] After the rubber plug on the rubber plug guide groove 721 enters the limiting track 74, the push cylinder 75 pushes the rubber plug on the limiting track 74 to the placing groove 76.

[0110] The controller 4 controls the mechanical arm 12 to move to align one of the rubber plug seats 13 with the placing position, and to make the rubber plug seat 13 be clamped with the rubber plug in the placing groove 76.

[0111] The rotation of the rotating disc 11 aligns the next rubber plug seat 13 with the rubber plug in the placing groove 76, and the rubber plug in the placing groove 76 is clamped by the next rubber plug seat 13.

[0112] Specifically, before the controller 4 controls the mechanical arm 12 to install the rubber plug, the mechanical arm 12 first controls the rotating disc 11 to grab the rubber plug. First, the mechanical arm 12 drives the rotating disc 11 to move to the placing groove 76, and then the rotating disc 11 rotates to align one of the rubber plug seats 13 with the rubber plug in the placing groove 76, and then the rubber plug is grabbed. Then the rotating disc 11 rotates to align the next rubber plug seat 13 with the placing groove 76, and then the pushing cylinder 75 pushes the rubber plug into the placing groove 76, and then the rubber plug seat 13 grabs the rubber plug. This is repeated until each rubber plug seat 13 is connected with a rubber plug, and then the mechanical arm 12 drives the rotating disc 11 to install the rubber plug.

[0113] In summary, the present application provides a rubber plug installation device 1, a rubber plug installation system 10 and a rubber plug installation method. The rubber plug installation device 1 comprises a rotating disc 11 and a mechanical arm 12 for driving the rotating disc 11 to move, and the rotating disc 11 is rotatably connected to the mechanical arm 12. The rotating disc 11 is connected with a plurality of rubber plug seats 13, and the plurality of rubber plug seats 13 are arranged at intervals on the rotating disc 11. The rubber plug seat 13 comprises a seat body and an installation seat 131, the seat body is connected with the rotating disc 11, and the installation seat 131 is connected to the seat body. The installation seat 131 is provided with a clamping groove 1311 for clamping the rubber plug. The rubber plug installation device 1 uses the mechanical arm 12 to replace manual installation of the rubber plug, reducing the work intensity of the staff. The rotating disc 11 can obtain multiple rubber plugs at a time, and install multiple rubber plugs at a time, thereby improving the work efficiency. The rubber plug installation system 10 realizes the automation of the rubber plug installation, and the rubber plug installation method using the rubber plug installation system 10 improves the overall production efficiency.

[0114] According to the needs, the above technical solutions can be combined to achieve the best technical effect.

[0115] The above is only the principle and preferred embodiment of the present application. It should be noted that, for those skilled in the art, on the basis of the principles of the present application, a number of other variations can also be made, which should be considered as the protection scope of the present application.

Claims

1. A plug installation system, characterized in that, It comprises a trolley track (2), a detection device (3), a controller (4) and a rubber plug installation device (1); The rubber plug installation device (1) is located on one side of the trolley track (2), and comprises a rotating disc (11) and a mechanical arm (12) for driving the rotating disc (11) to move. A plurality of rubber plug seats (13) are connected to the rotating disc (11) and are arranged at intervals on the rotating disc (11). The rubber plug seat (13) comprises a seat body and a mounting seat (131), the seat body is connected to the rotating disc (11), and the mounting seat (131) is connected to the seat body. A clamping groove (1311) for clamping a rubber plug is arranged on the mounting seat (131). The trolley track (2) is provided with a waiting position and a working position. The detection device (3) comprises a detection track (31) and a detection head (32), the detection track (31) is located between the trolley track (2) and the rubber plug installation device (1), and the detection head (32) is slidably connected to the detection track (31). The controller (4) is in communication connection with the detection head (32) and the mechanical arm (12), respectively, and is used for controlling the detection of the detection head (32) and the installation of the rubber plug by the mechanical arm (12).

2. The plug installation system of claim 1, wherein, The seat body is detachably connected to the rotating disc (11).

3. The plug installation system of claim 1, wherein, The seat body comprises a first connecting part (132) and a second connecting part (133) connected to the first connecting part (132), the first connecting part (132) is connected to the rotating disc (11), and the mounting seat (131) is connected to the second connecting part (133). The thickness of the first connecting part (132) is less than that of the second connecting part (133), and the first connecting part (132) and the second connecting part (133) are connected in a stepped manner.

4. The plug installation system of claim 1, wherein An air hole (1312) is arranged on the mounting seat (131), and the air hole (1312) is in communication with the clamping groove (1311).

5. The plug installation system of claim 1, wherein A baffle (134) is connected to the outside of the seat body.

6. The plug installation system of claim 1, wherein A trolley (5) and a limiting device (6) capable of blocking the trolley (5) are connected to the trolley track (2); The limiting device (6) comprises a driving member (61) and a limiting rod (62), and the driving end of the driving member (61) is connected to the limiting rod (62). When the trolley (5) moves from the waiting position to the working position, the driving member (61) drives the limiting rod (62) to move to resist the trolley (5).

7. The plug installation system of claim 1, wherein It also comprises a rubber plug feeding device (7), which comprises a feeding box (71), a feeding guide rail (72) and a vibrator (73). The feeding guide rail (72) is provided with a rubber plug guide groove (721) in communication with the feeding box (71), and the vibrator (73) is connected with the feeding box (71) to convey the rubber plug by vibration.

8. The plug installation system of claim 7, wherein, The rubber plug feeding device (7) further comprises a limiting rail (74) and a pushing cylinder (75), the limiting rail (74) is in communication with the rubber plug guide groove (721); The pushing cylinder (75) is connected at one end of the limiting rail (74), and the other end of the limiting rail (74) is provided with a placing groove (76) matched with the shape of the rubber plug.

9. A method of installing a plug, characterized by, The installation steps of installing the rubber plug by using the rubber plug installation system of any one of claims 1-8, the installation steps comprising, The trolley on the frame trolley rail (2) drives the frame to slide to the working position of the frame trolley rail (2); The detection head (32) slides along the detection rail (31) and detects the rubber plug installation hole at the bottom of the frame to obtain position data of the rubber plug installation hole; After the controller (4) obtains the position data, the mechanical arm (12) is controlled to move according to the position data, and the mechanical arm (12) drives the rotating disc (11) to install the rubber plug one by one; After the rotating disc (11) installs one rubber plug, it rotates to align the next rubber plug seat (13) with the next rubber plug installation hole.

10. The method of installing a plug according to claim 9, wherein, After all the rubber plug installation holes are installed with rubber plugs, the detection head (32) slides along the detection rail (31) again and detects the rubber plug at the bottom of the frame to detect the tightness of the rubber plug and the rubber plug installation hole; After the controller (4) obtains the tightness, it is judged whether the tightness is lower than a preset value, and in the case that the tightness is lower than the preset value, the controller (4) outputs an operation signal.

11. The method of installing a plug according to claim 9, wherein, The step of limiting the trolley is further included; When the trolley moves from the waiting position to the working position of the frame trolley rail (2), the driving part (61) of the limiting device (6) drives the limiting rod (62) of the limiting device (6) to move to resist the trolley.

12. The method of installing a plug according to claim 9, wherein, The step of obtaining the rubber plug is further included; The vibrator (73) of the rubber plug feeding device (7) conveys the rubber plug in the feeding box (71) to the rubber plug guide groove (721) by vibration; After the rubber plug on the rubber plug guide groove (721) enters the limiting rail (74), the pushing cylinder (75) pushes the rubber plug on the limiting rail (74) to the placing groove (76); The controller (4) controls the mechanical arm (12) to move to align one of the rubber plug seats (13) with the placing position and to make the rubber plug seat (13) be clamped with the rubber plug in the placing groove (76); The rotating disc (11) rotates to align the next rubber plug seat (13) with the placing groove (76), and the next rubber plug seat (13) is clamped with the rubber plug in the placing groove (76).

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