A threaded end cap assembly device

Abstract

A threaded end cap assembly device uses the folding jaws provided by a material folding manipulator and a pair of jaw parts designed for the rubber nozzle structure. The rubber nozzle circular ring part is snapped into the groove provided at the clamping end of the jaw part. The two radial side surfaces in the groove respectively fit the outer peripheral surface and the inner diameter surface of the circular ring part. Then, the guiding sliding grooves provided on the housing are used to restrict the pair of jaw parts from moving radially symmetrically relative to the rubber nozzle. That is, as shown in the accompanying drawings of the specification, the originally circular circular ring part is clamped into an ellipse for the first folding step. As the swinging jaw approaches the center of the rubber nozzle, the contact end touches the circular ring part that has been flattened into a convex circular shape, and further presses the long axis part thereof towards the short axis part to deform, forming a U-shaped deformation, so that the rubber nozzle is further deformed to reduce the radial dimension and can enter the through hole of the threaded end cap.

Description

Technical Field

[0001] The invention relates to the technical field of fastener processing, and in particular to threaded end cap assembly equipment. Background Art

[0002] The existing automotive power battery adopts battery pack technology, which is composed of multiple batteries stacked in series, and a shell is set to protect the battery. In order to fully protect and fix the battery pack, the shell also needs to ensure that the threaded connection is dust-proof and leak-proof. Therefore, the invention is usually used. Figure 1 The threaded end cap structure comprises a threaded end cap body and a rubber nozzle arranged in the through hole of the threaded end cap body. The shaft and rod parts are connected with other parts after passing through the rubber nozzle, and the diameter is larger than the rubber nozzle to open it. The rubber nozzle tightly covers the shaft and rod parts, thereby preventing dust and liquid from entering.

[0003] The rubber nozzle is bucket-shaped, including a conical portion and a circular ring portion. A conical through hole is provided at the axis. The diameter of the circular ring portion matches the mounting ring groove in the through hole of the threaded end cover body, and is clamped in the mounting ring groove to be relatively axially fixed.

[0004] The threaded end cap for assembly involved in the present invention is the threaded end cap with rubber mouth.

[0005] The problem with the prior art is that the diameter of the rubber nozzle's annular portion is larger than the diameter of the threaded end cap body through hole, and the toughness and elasticity of the rubber material itself make it difficult to fit the rubber nozzle into the mounting groove in the through hole. Manual operation is often required to squeeze and deform the rubber nozzle, reduce its diameter, insert it into the through hole, move it to the mounting groove, unfold the folded rubber nozzle, restore it to its original shape, and accurately fit it into the mounting groove.

[0006] The traditional manual assembly method is complicated and leads to low efficiency in assembling the rubber nozzle. Therefore, an automatic assembly device is urgently needed to replace the manual assembly.

[0007] However, it is difficult for conventional equipment to compress the rubber nozzle in a process-controlled and standardized manner, resulting in different degrees of deformation of the rubber nozzle, making it difficult to automatically and accurately insert it into the through hole of the threaded end cap body and accurately snap it into the installation ring groove. The failure rate is high, and a lot of time is wasted on assembly waste detection and rework. It is also necessary to avoid problems such as inadequate snapping during installation and the rubber nozzle falling out during use. Therefore, the present invention designs a set of equipment for automatically assembling and testing rubber nozzles in response to this situation. Summary of the invention

[0008] In order to solve the deficiencies of the above-mentioned technology, the present invention provides a threaded end cap assembly device.

[0009] The technical solution of the present invention is as follows: a threaded end cap assembly device, comprising a turntable device, a feeding manipulator, a vibrating plate and a folding manipulator, the vibrating plate is provided with a track for outputting a rubber nozzle, the turntable device comprises a turntable, a turntable driving mechanism and a plurality of carriers, the carriers are arranged on the turntable in equal parts around the center of the turntable, the carrier is provided with a card slot adapted to the threaded end cap, the feeding manipulator clamps the threaded end cap and loads it into the card slot, or unloads the threaded end cap from the card slot;

[0010] The material folding manipulator is provided with a material folding clamping claw, which includes a shell, a pair of clamping claws, a pair of swinging claws, a first driving mechanism, and a second driving mechanism. The pair of clamping claws are arranged along the axial direction of the rubber nozzle, including a clamping end facing the rubber nozzle and a connecting end at the other end. The clamping end is provided with a groove adapted to the radial width of a section of the circular ring portion of the rubber nozzle. A guide slide groove is provided on the shell along the radial direction of the rubber nozzle. The connecting end is inserted into the guide slide groove for sliding cooperation and extends into the shell to cooperate with the first driving mechanism. The first driving mechanism drives the pair of clamping claws to drive the circular ring portion to approach or move away from each other in the radial direction.

[0011] The pair of swing claws are respectively arranged on both sides of a pair of clamping claws, and the distance between the swing claws and the clamping claws is smaller than the radius of the circular ring of the rubber mouth. The swing claw includes a contact end facing the circular ring of the rubber mouth and a connecting end at the other end. The swing claw body is provided with a hinge hole, and a hinge groove and a hinge column are provided on the shell corresponding to the position of the pair of swing claws. The swing claw is inserted into the hinge groove and is hinged with the hinge column. The connecting end of the swing claw extends into the shell and is linked with the second driving mechanism. The second driving mechanism drives the contact end of the swing claw to swing close to or away from the center of the circular ring.

[0012] The material folding robot drives the material folding claw to clamp the rubber nozzle from the output track of the vibration plate, and after folding the rubber nozzle, it is sent into the threaded end cover on the carrier.

[0013] By adopting the above technical solution, the round end cover part of the threaded end cover is clamped by the loading robot so that the threaded shaft end is inserted into the slot of the carrier, and the round end cover part is clamped on the end face of the carrier to avoid falling into the slot, which is convenient for clamping during subsequent unloading.

[0014] Then, by utilizing the rotation of the turntable and the wheel transfer device, the threaded end cap is brought to the workstation where the folding robot is located. The folding claws provided by the folding robot utilize a pair of claw pieces designed for the rubber nozzle structure. Through the grooves provided at the clamping ends of the claw pieces, the annular portion of the rubber nozzle is clamped into the grooves. The two radial side surfaces in the grooves respectively fit the outer circumferential surface and the inner diameter surface of the annular portion. Then, the guide grooves provided by the shell are utilized to limit the pair of claw pieces to make radially symmetrical movements relative to the rubber nozzle. That is, as shown in the attached figure of the specification, the originally circular annular portion is clamped into an elliptical shape, and the first folding is performed. At this time, the major axis of the ellipse is difficult to enter the through hole of the threaded end cap, and further folding is required.

[0015] At this time, a pair of swing claws are set to further fold, and the swing claw and the shell are hinged to make the swing trajectory of the contacting end of the swing claw a reciprocating motion close to the center of the rubber mouth. In addition, the pair of swing claws are respectively set on both sides of a pair of clamping jaws, that is, after the circular ring part is flattened into an elliptical shape by a pair of clamping jaws, the positions at both ends of the major axis of the ellipse, and because the spacing between the swing claw and the clamping jaw part is smaller than the radius of the circular ring part, the swing claw is always in a position where it can contact the circular ring part, and this position will not conflict with the inner wall of the through hole of the threaded end cover.

[0016] As the swing claw approaches the center of the rubber nozzle, the end portion contacts the circular ring portion that is flattened into a convex circle, further pressurizing and deforming its long axis portion toward the short axis portion, forming a U-shaped deformation, causing the rubber nozzle to further deform and reduce its radial dimension, allowing it to enter the through hole of the threaded end cover.

[0017] After the folding jaws carry the rubber nozzle to the axial position of the mounting ring groove, first operate the pair of swinging jaws in the opposite direction to restore the U-shaped rubber nozzle to an elliptical shape, and the two ends of the long axis first enter the mounting ring groove and get stuck, then the folding jaws withdraw axially, and use the axial clamping to assist in the separation from the rubber nozzle. When the rubber nozzle in the elliptical shape loses the compression of the jaws, its own elasticity naturally restores to a circular shape and completely engages with the mounting ring groove, thus completing the assembly of the rubber nozzle and the threaded end cap.

[0018] As the turntable rotates, the present invention can be operated repeatedly.

[0019] The present invention is further configured as follows: the plurality of carrier stop positions on the turntable are respectively an end cap installation station, a rubber nozzle installation station and a reshaping station, and a reshaping mechanism is provided at the reshaping station, including an ejector pin and a driving cylinder. The ejector pin is conical and matches the conical through hole of the rubber nozzle, and is coaxially arranged with the rubber nozzle of the carrier at the reshaping station. The driving cylinder cooperates with the ejector pin to drive the ejector pin to extend from the annular portion into the through hole of the rubber nozzle along the axis of the rubber nozzle to open the rubber nozzle.

[0020] With the above technical solution, after the folding jaw is separated from the rubber nozzle, there may be a situation where some rubber nozzles are not fully restored to their deformed state under pressure. Therefore, a restoration mechanism is provided. Using a tapered thimble that fits the tapered through-hole of the rubber nozzle, it enters the rubber nozzle coaxially along the axis and expands the rubber nozzle from the inside out to ensure complete engagement of the rubber nozzle with the mounting ring groove.

[0021] Further setting of the present invention: The turntable station rotates after the restoration station, and a calibration station is also provided. There is a through-hole on the turntable that penetrates into the carrier and communicates with the through-hole of the threaded end cap. At the calibration station, a pair of axial calibration mechanisms are provided. This pair of axial calibration mechanisms are coaxially arranged with the through-hole of the threaded end cap and are symmetrically arranged on the axial head and tail sides of the mounting ring groove of the threaded end cap. Each includes a top pipe and a driving cylinder. The outer peripheral diameter of the top pipe is adapted to the through-hole of the threaded end cap, and the inner diameter of the top pipe is larger than the maximum diameter of the tapered part of the rubber nozzle. The pair of axial calibration mechanisms operate synchronously to drive the top pipe to press and push the circular ring part of the rubber nozzle into the annular card slot.

[0022] With the above technology, during assembly, the rubber nozzle may be misaligned in the axial direction. Therefore, an axial calibration mechanism needs to be set up to ensure the axial position of the rubber nozzle. By making the outer peripheral diameter of the top pipe match the through-hole of the threaded end cap, and the inner diameter of the top pipe being larger than the maximum diameter of the tapered part of the rubber nozzle, and there is also a gap equal to the wall thickness of the top pipe between the maximum diameter of the tapered part and the inner wall of the through-hole for the purpose of assembly of the rubber nozzle. When the top pipe approaches the rubber nozzle, it just inserts into this gap and abuts against the end face of the circular ring part. Plus, the top pipes in two directions approach the axial position of the mounting ring groove according to the preset formation, that is, the two top pipes finally stop on both sides of the mounting ring groove, ensuring that the circular ring part to be contacted is pushed into the mounting ring groove, achieving the purpose of axial calibration during assembly.

[0023] Further setting of the present invention: The first driving mechanism includes a screw rod, a driving gear, a driven gear, and a gear motor. The screw rod is arranged parallel to the guiding chute. There are two sections of threads with opposite spiral directions symmetrically arranged on the screw rod. There is a rotating hole on the housing that is adapted to the screw rod, and the screw rod is inserted into the rotating hole for rotational cooperation. Threaded holes are provided on both of the pair of jaw members, and the pair of jaw members are respectively in threaded cooperation with the two sections of threads. The driven gear is coaxially fixed on the screw rod. The driving gear is in linkage cooperation with the output shaft of the gear motor and meshes with the driven gear to drive the screw rod to rotate forward or backward.

[0024] With the above technical solution, through the two sections of threads with opposite spiral directions on the screw rod, the synchronous movement of the pair of jaw members is realized, ensuring the movement accuracy and synchronization of the pair of jaw members, and further realizing the precision of the assembly process.

[0025] Further arrangement of the present invention: The second driving mechanism includes a connecting rod, a crank disk and a crank motor. A cross bar is provided at the connecting end of the pair of swinging claws. The two ends of the connecting rod are respectively hinged with the crank disk and the cross bar. The output shaft of the crank motor is in linkage cooperation with the crank disk to drive the swinging claws to swing back and forth around the hinge column.

[0026] With the above technical solution, through the crank connecting rod and the provided cross bar, the pair of swinging claws can swing synchronously, accurately controlling the deformation of the long shaft part.

[0027] Further arrangement of the present invention: The folding manipulator and the feeding manipulator both include a turntable, a lifting track, a lifting table, a lifting cylinder and a turntable motor. The lifting track stands vertically on the turntable. The lifting table is clamped in the lifting track for sliding cooperation. The lifting cylinder drives the lifting table to lift and lower, and the turntable motor drives the turntable to rotate.

[0028] With the above technical solution, the cost of setting up the industrial robot arm is relatively high. In order to further reduce the cost, the functions of carrying the gripper to rotate and lift can be realized through this structure. Cooperating with the rotation of the turntable, the material box and the vibrating disk are symmetrically arranged on the other side of the manipulator and the turntable, and a feeding track is set so that the material stops at a predetermined coordinate position. The manipulator can complete the work through 180° rotation, lifting and gripping, achieving a reduction in equipment cost.

[0029] Further arrangement of the present invention: On the shell of the folding gripper, there is an infrared distance measuring sensor facing the carrier, and this infrared distance measuring sensor detects the distance between the folding gripper and the carrier.

[0030] With the above technical solution, the set infrared sensor detects the relative distance in real time, accurately controlling the distance between the gripper and the carrier, and thus judging whether the axial position of the assembly is in place through the preset size. Description of the Drawings

[0031] Figure 1 is the structural diagram of the embodiment of the present invention;

[0032] Figure 2 is the folding gripper structure of the embodiment of the present invention Figure 1 ;

[0033] Figure 3 is the folding gripper structure of the embodiment of the present invention Figure 2 ;

[0034] Figure 4 is the folding gripper structure of the embodiment of the present invention Figure 3 ;

[0035] Figure 5 is the folding gripper structure of the embodiment of the present invention Figure 4 ;

[0036] Figure 6 Cross-sectional view of the assembled state of the folding material clamping jaw according to an embodiment of the present invention;

[0037] Figure 7 Assembly cross-sectional view of the complexing mechanism according to an embodiment of the present invention;

[0038] Figure 8 Structural diagram of the calibration mechanism according to an embodiment of the present invention;

[0039] Figure 9 Assembly cross-sectional view of the calibrator according to an embodiment of the present invention;

[0040] Figure 10 Structural diagram of the complexing mechanism according to an embodiment of the present invention;

[0041] Wherein, 1 - turntable device, 11 - carrier, 12 - card slot, 2 - loading manipulator, 21 - turntable, 22 - lifting track, 23 - lifting table, 24 - lifting cylinder, 25 - turntable motor, 3 - vibrating bowl, 4 - folding material manipulator, 41 - housing, 411 - guiding chute, 412 - hinged groove, 42 - clamping jaw member, 421 - groove, 43 - swinging jaw, 431 - cross bar, 44 - screw, 45 - driving gear, 46 - driven gear, 47 - gear motor, 48 - crank disc, 49 - crank motor, 5 - threaded end cap, 6 - rubber nozzle, 61 - circular ring portion, 71 - ejector pin, 72 - driving cylinder, 81 - ejector pipe, 9 - infrared distance measuring sensor. Detailed implementation manners

[0042] The following further describes the present invention in detail with reference to the accompanying drawings, as Figures 1-3 shown

[0043] A threaded end cap 5 assembly device, comprising a turntable device 1, a feeding manipulator 2, a vibration plate 3 and a material folding manipulator 4, the vibration plate is provided with a track for outputting a rubber nozzle 6, the turntable device 1 comprises a turntable, a turntable driving mechanism and a plurality of carriers 11, the carriers 11 are arranged on the turntable in equal parts around the center of the turntable, the carriers 11 are provided with a card slot 12 adapted to the threaded end cap 5, the feeding manipulator 2 clamps the threaded end cap 5 and loads it into the card slot 12, or unloads the threaded end cap 5 from the card slot 12; the material folding manipulator 4 is provided with a material folding claw, the material folding claw comprises a shell 41, a pair of claw members 42, A pair of swing claws 43 and a first driving mechanism and a second driving mechanism, wherein the pair of clamping claws 42 are arranged along the axial direction of the rubber nozzle 6, including a clamping end facing the rubber nozzle 6 and a connecting end at the other end, wherein the clamping end is provided with a groove 421 adapted to the radial width of a section of a circular ring portion 61 of the rubber nozzle 6, and a guide slot 411 is provided on the housing 41 along the radial direction of the rubber nozzle 6, wherein the connecting end is inserted into the guide slot 411 for sliding fit, and extends into the housing 41 to cooperate with the first driving mechanism, wherein the first driving mechanism drives the pair of clamping claws 42 to drive the circular ring portion 61 to approach or move away from each other in the radial direction;

[0044] The pair of swing claws 43 are respectively arranged on both sides of a pair of clamping claws 42, and the distance between the swing claws 43 and the clamping claws 42 is smaller than the radius of the annular portion 61 of the rubber nozzle 6. The swing claw 43 includes a contact end facing the annular portion 61 of the rubber nozzle 6 and a connecting end at the other end. The claw body of the swing claw 43 is provided with a hinge hole, and a hinge groove 412 and a hinge column are provided on the shell 41 corresponding to the position of the pair of swing claws 43. The swing claw 43 is inserted into the hinge groove 412 and is hinged with the hinge column. The connecting end of the swing claw 43 extends into the shell 41 and is linked with the second driving mechanism. The second driving mechanism drives the contact end of the swing claw 43 to swing close to or away from the center of the annular portion 61.

[0045] The material folding robot 4 drives the material folding claw to clamp the rubber nozzle 6 from the output track of the vibration plate, and after folding the rubber nozzle 6, it is sent into the threaded end cover 5 on the carrier 11.

[0046] The round end cap part of the threaded end cap 5 is clamped by the loading robot 2, so that the threaded shaft end is inserted into the slot 12 of the carrier 11, and the round end cap part is clamped on the end surface of the carrier 11 to avoid being stuck in the slot 12, which is convenient for clamping during subsequent unloading.

[0047] Then, by the rotation of the turntable and the wheel transfer device 11, the threaded end cap 5 is brought to the work station of the folding robot 4. The folding claws provided on the folding robot 4 use a pair of claw members 42 designed for the structure of the rubber nozzle 6. Through the groove 421 provided at the clamping end of the claw member 42, the annular portion 61 of the rubber nozzle 6 is clamped into the groove 421. The two radial side surfaces in the groove 421 respectively fit the outer circumferential surface and the inner diameter surface of the annular portion 61. Then, the guide groove 411 provided on the shell 41 is used to limit the pair of claw members 42 to move radially symmetrically relative to the rubber nozzle 6. That is, as shown in the accompanying drawing of the specification, the originally circular annular portion 61 is clamped into an elliptical shape and the first folding is performed. At this time, the major axis of the ellipse is difficult to enter the through hole of the threaded end cap 5 and further folding is required.

[0048] At this time, the swing claws 43 are further folded by the arrangement. The swing claws 43 and the shell 41 are hingedly connected so that the swing trajectory of the contacting end of the swing claw 43 is a reciprocating motion close to the center of the rubber mouth 6. In addition, the pair of swing claws 43 are respectively arranged on both sides of a pair of clamping jaws 42, that is, after the pair of clamping jaws 42 flatten the annular portion 61 into an elliptical shape, the positions at both ends of the major axis of the ellipse. Moreover, because the spacing between the swing claw 43 and the clamping jaw 42 is smaller than the radius of the annular portion 61, the swing claw 43 is always in a position where it can contact the annular portion 61, and this position will not conflict with the inner wall of the through hole of the threaded end cover 5.

[0049] As the swing claw 43 approaches the center of the rubber nozzle 6, the end portion contacts the annular portion 61 which is flattened into a convex circle, further pressurizing and deforming the long axis portion toward the short axis portion, forming a U-shaped deformation, so that the rubber nozzle 6 is further deformed and the radial dimension is reduced, so that it can enter the through hole of the threaded end cover 5.

[0050] After the folding jaws carry the rubber nozzle 6 to the axial position of the mounting ring groove, the pair of swinging jaws 43 are first operated in the opposite direction to restore the U-shaped rubber nozzle 6 to an elliptical shape, and the two ends of the long axis first enter the mounting ring groove and get stuck, and then the folding jaws are axially withdrawn, and the axial clamping is used to assist the separation from the rubber nozzle 6. When the rubber nozzle 6 in the elliptical shape loses the compression of the jaw member 42, its own elasticity naturally restores to a circular shape and is completely engaged with the mounting ring groove, thus completing the assembly of the rubber nozzle 6 and the threaded end cap 5.

[0051] As the turntable rotates, the present invention can be operated repeatedly.

[0052] The stopping positions of several carriers 11 on the turntable are in sequence the end cap installation station, the rubber nozzle 6 installation station, and the shape restoration station. A shape restoration mechanism 7 is provided at the shape restoration station, including a thimble 71 and a driving cylinder 72. The thimble 71 is conical and adapted to the tapered through-hole of the rubber nozzle 6, and is coaxially arranged with the rubber nozzle 6 of the carrier 11 at the shape restoration station. The driving cylinder 72 is linked and cooperated with the thimble 71 to drive the thimble 71 to extend into the through-hole of the rubber nozzle 6 along the axis of the rubber nozzle 6 from the ring portion 61 and expand the rubber nozzle 6.

[0053] With the above technical solution, after the folding jaws are separated from the rubber nozzle 6, there may be a situation where some rubber nozzles 6 are not fully restored from deformation due to pressure. Therefore, a shape restoration mechanism is provided. Using the conical thimble 71 adapted to the tapered through-hole of the rubber nozzle 6, it enters the rubber nozzle 6 coaxially along the axis and expands the rubber nozzle 6 from the inside out to ensure the complete engagement of the rubber nozzle 6 with the installation ring groove.

[0054] After the turntable station rotates to the shape restoration station, a calibration station is further provided. There is a through-hole on the turntable that penetrates into the carrier 11 and communicates with the through-hole of the threaded end cap 5. A pair of axial calibration mechanisms 8 are provided at the calibration station. The pair of axial calibration mechanisms 8 are coaxially arranged with the through-hole of the threaded end cap 5 and are symmetrically arranged on the axial head and tail sides of the installation ring groove of the threaded end cap 5. Each includes a top pipe 81 and a driving cylinder 72. The outer diameter of the outer peripheral surface of the top pipe 81 is adapted to the through-hole of the threaded end cap 5, and the inner diameter of the top pipe 81 is larger than the maximum diameter of the tapered portion of the rubber nozzle 6. The pair of axial calibration mechanisms 8 operate synchronously to drive the top pipe 81 to press and push the ring portion 61 of the rubber nozzle 6 into the annular card slot 12.

[0055] During assembly, the rubber nozzle 6 may be misaligned in the axial direction. Therefore, an axial calibration mechanism 8 needs to be provided to ensure the axial position of the rubber nozzle 6. The outer diameter of the outer peripheral surface of the top pipe 81 is adapted to the through-hole of the threaded end cap 5, and the inner diameter of the top pipe 81 is larger than the maximum diameter of the tapered portion of the rubber nozzle 6. In addition, for assembly, there is a gap of the wall thickness of the top pipe 81 between the maximum diameter of the tapered portion of the rubber nozzle 6 and the inner wall of the through-hole. When the top pipe 81 approaches the rubber nozzle 6, it just inserts into this gap and abuts against the end surface of the ring portion 61. In addition, the top pipes 81 in two directions approach the axial position of the installation ring groove according to a preset formation, that is, the two top pipes 81 finally stop on both sides of the installation ring groove, ensuring that the ring portion 61 to be contacted is pushed into the installation ring groove, achieving the purpose of axial calibration during assembly.

[0056] The first driving mechanism includes a screw rod 44, a driving gear 45, a driven gear 46 and a gear motor 47. The screw rod 44 is arranged parallel to the guiding sliding groove 411. Two threads with opposite spiral directions are symmetrically arranged on the rod body of the screw rod 44. A rotating hole adapted to the screw rod 44 is provided on the housing 41. The screw rod 44 is inserted into the rotating hole for rotational fit. Thread holes 421 are provided on both of the pair of clamping jaw members 42, and the pair of clamping jaw members 42 are respectively in threaded fit with the two threads. The driven gear 46 is coaxially fixed on the screw rod 44. The driving gear 45 is in linkage fit with the output shaft of the gear motor 47 and meshes with the driven gear 46 to drive the screw rod 44 to rotate forward or reversely.

[0057] Through the two threads with opposite spiral directions of the screw rod 44, the synchronous movement of the pair of clamping jaw members 42 is realized, ensuring the movement precision and synchronization of the pair of clamping jaw members 42, and further realizing the accuracy of the assembly process.

[0058] The second driving mechanism includes a connecting rod 47, a crank disk 48 and a crank motor 49. Cross bars 431 are provided at the connecting ends of the pair of swing claws 43. The two ends of the connecting rod 47 are respectively in hinge fit with the crank disk 48 and the cross bars 431. The output shaft of the crank motor 49 is in linkage fit with the crank disk 48 to drive the swing claws 43 to swing back and forth around the hinge column.

[0059] Through the crank connecting rod 47 and the provided cross bars 431, the pair of swing claws 43 can swing synchronously to accurately control the deformation of the long shaft part.

[0060] The folding manipulator 4 and the loading manipulator 2 both include a turntable 21, a lifting track 22, a lifting table 23, a lifting cylinder 24 and a turntable motor 25. The lifting track 22 stands upright on the turntable 21. The lifting table 23 is clamped in the lifting track 22 for sliding fit. The lifting cylinder 24 drives the lifting table 23 to lift and lower. The turntable motor 25 drives the turntable 21 to rotate.

[0061] The cost of setting up an industrial robot arm is relatively high. In order to further reduce the cost, the functions of carrying the clamping jaws for rotation and lifting can be realized through this structure. In cooperation with the rotation of the turntable, the material boxes and the vibrating trays are symmetrically arranged on the other side of the manipulator and the turntable, and a feeding track is set so that the materials stop at the predetermined coordinate positions. The manipulator can complete the work through 180° rotation, lifting and clamping, thus reducing the equipment cost.

[0062] On the housing 41 of the folding clamping jaw, an infrared ranging sensor 9 facing the carrier 11 is provided, and the infrared ranging sensor 9 detects the distance between the folding clamping jaw and the carrier 11.

[0063] With the above technical solution, the infrared sensor is set to detect the relative distance in real time, accurately control the distance between the clamping jaw and the carrier 11, and thus judge whether the axial position of the assembly is in place through the preset size.

[0064] The above embodiments are only descriptions of the preferred embodiments of the present invention, and do not limit the scope of protection requested by the present invention. Without departing from the design concept of the present invention, various modifications made by those skilled in the art based on the technical solution of the present invention should fall within the protection scope determined by the claims of the present invention.

Claims

1. A threaded end cap assembly device, Features: It includes a turntable device, a feeding manipulator, a vibrating plate and a folding manipulator. The vibrating plate is provided with a track for outputting a rubber nozzle. The turntable device includes a turntable, a turntable driving mechanism and a plurality of carriers. The carriers are equally arranged on the turntable around the center of the turntable. The carrier is provided with a card slot adapted to the threaded end cap. The feeding manipulator clamps the threaded end cap and loads it into the card slot, or unloads the threaded end cap from the card slot. The material folding manipulator is provided with a material folding clamping claw, which includes a shell, a pair of clamping claws, a pair of swinging claws, a first driving mechanism, and a second driving mechanism. The pair of clamping claws are arranged along the axial direction of the rubber nozzle, including a clamping end facing the rubber nozzle and a connecting end at the other end. The clamping end is provided with a groove adapted to the radial width of a section of the circular ring portion of the rubber nozzle. A guide slide groove is provided on the shell along the radial direction of the rubber nozzle. The connecting end is inserted into the guide slide groove for sliding cooperation and extends into the shell to cooperate with the first driving mechanism. The first driving mechanism drives the pair of clamping claws to drive the circular ring portion to approach or move away from each other in the radial direction. The pair of swing claws are respectively arranged on both sides of a pair of clamping claws, and the distance between the swing claws and the clamping claws is smaller than the radius of the circular ring of the rubber mouth. The swing claw includes a contact end facing the circular ring of the rubber mouth and a connecting end at the other end. The swing claw body is provided with a hinge hole, and a hinge groove and a hinge column are provided on the shell corresponding to the position of the pair of swing claws. The swing claw is inserted into the hinge groove and is hinged with the hinge column. The connecting end of the swing claw extends into the shell and is linked with the second driving mechanism. The second driving mechanism drives the contact end of the swing claw to swing close to or away from the center of the circular ring. The material folding robot drives the material folding claw to clamp the rubber nozzle from the output track of the vibration plate, and after folding the rubber nozzle, it is sent into the threaded end cover on the carrier.

2. A threaded end cap assembly device according to claim 1, Features: The plurality of carrier stop positions on the turntable are respectively an end cap installation station, a rubber nozzle installation station and a reshaping station. A reshaping mechanism is provided at the reshaping station, including an ejector pin and a driving cylinder. The ejector pin is conical and matches the conical through hole of the rubber nozzle. The driving cylinder cooperates with the ejector pin to drive the ejector pin to extend from the annular portion into the through hole of the rubber nozzle along the axis of the rubber nozzle to open the rubber nozzle.

3. A threaded end cap assembly device according to claim 2, Features: After the turntable station rotates at the reshaping station, a calibration station is also provided. The turntable is provided with a through hole that penetrates into the carrier and is connected with the through hole of the threaded end cover. A pair of axial calibration mechanisms are provided at the calibration station. The pair of axial calibration mechanisms are coaxially arranged with the through hole of the threaded end cover and symmetrically arranged at the axial head and tail sides of the threaded end cover mounting ring groove. Both include a push pipe and a driving cylinder. The outer circumferential surface diameter of the push pipe is adapted to the through hole of the threaded end cover. The inner diameter of the push pipe is larger than the maximum diameter of the tapered part of the rubber nozzle. The pair of axial calibration mechanisms operate synchronously to drive the push pipe to press and push the annular part of the rubber nozzle into the annular groove.

4. A screw end cap assembly device according to any one of claims 1 - 3, characterized in that : The first driving mechanism includes a screw rod, a driving gear, a driven gear and a gear motor. The screw rod is arranged parallel to the guiding chute. Two threads with opposite spiral directions are symmetrically arranged on the screw rod body. A rotating hole adapted to the screw rod is provided on the housing, and the screw rod is inserted into the rotating hole for rotational cooperation. Threaded holes are provided on both of the pair of clamping jaw members, and the pair of clamping jaw members are respectively in threaded cooperation with the two threads. The driven gear is coaxially fixed on the screw rod. The driving gear is in linkage cooperation with the output shaft of the gear motor and meshes with the driven gear to drive the screw rod to rotate forward or backward.

5. A screw end cap assembly device according to claim 4, characterized in that : The second driving mechanism includes a connecting rod, a crank disc and a crank motor. A cross bar is provided at the connecting end of the pair of swinging jaws. The two ends of the connecting rod are respectively in hinge cooperation with the crank disc and the cross bar. The output shaft of the crank motor is in linkage cooperation with the crank disc to drive the swinging jaws to swing back and forth around the hinge column.

6. A screw end cap assembly device according to claim 5, characterized in that : The blanking manipulator and the feeding manipulator both include a turntable, a lifting track, a lifting table, a lifting cylinder and a turntable motor. The lifting track stands vertically on the turntable. The lifting table is clamped in the lifting track for sliding cooperation. The lifting cylinder drives the lifting table to lift and lower. The turntable motor drives the turntable to rotate.

7. A screw end cap assembly device according to any one of claims 1 - 3, characterized in that : An infrared distance sensor facing the carrier is provided on the housing of the blanking clamping jaw, and the infrared distance sensor detects the distance between the blanking clamping jaw and the carrier.

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