Fully automatic multi-station linkage precise alignment method and equipment for assembling nozzle caps

Abstract

The present invention discloses a fully automatic, multi-station, linked, and precisely aligned nozzle cover assembly method and apparatus. The apparatus comprises a plurality of station jig blocks that are driven and loaded, a plurality of nozzle clamping assemblies sequentially arranged for clamping the nozzles for loading, a plurality of lifting and positioning drive members within the station jig blocks that provide power for the rotary drive members, and a nozzle cover clamping assembly that clamps the nozzle covers and cooperates with the lifting and positioning drive members. The present invention achieves the precise positioning of multiple nozzles through the linkage of multiple stations, the precise pickup of nozzle covers, and the screw-on assembly of the nozzles, resulting in high assembly precision and efficiency.

Description

Technical Field

[0001] The present invention belongs to the technical field of automatic assembly of suction nozzles and suction nozzle covers, and in particular relates to a fully automatic multi-station linkage precise alignment suction nozzle cover assembly method and equipment. Background Art

[0002] Stand-up pouches are a relatively new packaging structure on the market. They can be conveniently placed in a backpack or pocket. As the liquid inside decreases, the overall volume shrinks, making them very convenient to carry. Common stand-up pouches are used to package juice, yogurt, sippable jelly, and other daily detergents and cosmetics. The nozzle or spout structure on a stand-up pouch is typically equipped with a self-locking nozzle cover or cap. Rotating the nozzle cover breaks the locking element, allowing the cover to open. For example, patent publication number CN214731079U describes an anti-swallowing nozzle cover.

[0003] Most suction nozzles and suction nozzle covers are screwed together by threads. Accordingly, in existing suction nozzle covers and suction nozzle assembly equipment, it is usually necessary to rotate the suction nozzle cover so that it can be assembled on the suction nozzle. For example, the patent document publication number CN110509229A describes a suction nozzle capping device, which screws the cap onto the suction nozzle through a capping mechanism. The existing device can meet production requirements for the threaded connection of ordinary suction nozzles and caps. After the tightening member tightens the cap, the lifting drive assembly drives the tightening member away from the workpiece conveying part. Sometimes, the cap is stuck in the tightening member, causing the suction nozzle and the cap to be lifted up, affecting subsequent processing. When the tightening member lifts the suction nozzle and the cap, the outer edge protrusions on both sides of the suction nozzle will be stuck by the positioning plate, causing the cap and the tightening member to separate. The above-mentioned tightening parts have the risk of driving the screw cap out of its original position, and need to be limited by the positioning plate again. This shows that the suction nozzle and the screw cap are suitable for hard materials and meet a certain hardness standard that is not easily damaged. At the same time, it shows that the suction nozzle and the screw cap do not require a high-precision assembly relationship, and collisions may occur during the assembly process.

[0004] For example, patent document publication number CN112008298A discloses a fully automatic, precisely aligned tube socket and tube cap packaging device and alignment packaging method. The device uses an azimuth positioning visual camera to image the tube cap, a tube socket imaging camera to image the tube socket, and a computer in an electronic controller to calculate the positions of the tube cap and tube socket, respectively. The computer in the electronic controller compares the outer contours of the two images, uses the image of the tube cap's outer contour as a reference, calculates the required displacement of the tube socket, and then docks the tube cap and tube socket together for packaging. In the above packaging method, the tube cap and tube socket are directly positioned by upper and lower pressure assembly, and precise docking is achieved by imaging, calculating, and driving displacement. Each time the material is loaded, the tube cap and tube socket must be imaged simultaneously and their positions calculated, and then driven and adjusted to the appropriate position. This requires a large amount of calculation work, and the equipment requires a long feedback time, making large-scale assembly and production operations inefficient.

[0005] The customer designed a new nozzle and nozzle cover assembly structure suitable for self-supporting bags. The nozzle cover is made of a material with good plasticity and soft texture. During the assembly process, it has very high requirements for appearance and cleanliness. It cannot be damaged or contaminated. Therefore, it is necessary to design an assembly method and equipment that is suitable for the assembly structure characteristics of this nozzle and nozzle cover, and can be assembled in large quantities efficiently and with high assembly precision. Summary of the Invention

[0006] The purpose of the present invention is to solve the above technical problems and provide a fully automatic multi-station linkage precise positioning nozzle cover assembly method and equipment, thereby realizing the linkage of multiple stations to accurately position multiple nozzles, accurately pick up the nozzle cover and screw-on assembly of the nozzle, with high assembly accuracy and high assembly efficiency. In order to achieve the above purpose, the technical solution of the present invention is as follows:

[0007] The fully automatic multi-station linkage precise alignment nozzle cover assembly method includes the following steps:

[0008] 1) Making a nozzle support base, wherein a groove is formed in the nozzle support base according to the size of the nozzle, and a fixing pin is provided inside the groove to position the inner hole of the nozzle;

[0009] 2) installing a plurality of the nozzle bearing seats side by side on the top of the station fixture block, with the bottom of each nozzle bearing seat connected to a rotary drive member that passes through the station fixture block, and the rotary drive member and the fixed pin member being arranged coaxially;

[0010] 3) A plurality of limiting rods are inserted into the side of the work station fixture block, and the plurality of limiting rods correspond to each rotary drive member and move along the radial direction thereof. The plurality of limiting rods are driven to synchronously position the limiting holes of the plurality of rotary drive members;

[0011] 4) Arrange the lifting drive device, and the work station fixture block is located above the lifting drive device so that the work station fixture block can be positioned to cooperate with the lifting drive device during the transfer process;

[0012] 5) The work station fixture block flows to the nozzle loading position, and a row of nozzles are positioned on the nozzle bearing seat through a number of nozzle clamping assemblies. The correction floating pin of the nozzle clamping assembly elastically positions the inner hole of the nozzle nozzle, and the correction round block sleeved on the outside of the correction floating pin presses the top of the nozzle nozzle of the positioning nozzle. The nozzle claws located on both sides of the correction floating pin clamp the opposite surfaces of the mounting body of the positioning nozzle, so that the axis of the nozzle is consistent with the axis of the fixed pin, and the top surface of the nozzle is consistent with the horizontal plane.

[0013] 6) The station fixture block is transferred to the nozzle cover assembly position, and a row of nozzle covers are positioned to the nozzle tops of the station fixture block through a number of nozzle cover clamping assemblies. The lifting drive device lifts and positions a number of rotary drive members. At the same time, a number of limit rods are linked and forced to synchronously disengage the rotary drive members. The multiple drive shafts of the lifting drive device drive their respective corresponding rotary drive members to rotate synchronously. The nozzle cover clamping assembly drives the nozzle cover to rotate synchronously with the rotary drive member to reduce the rotation rhythm, so that the nozzles are accurately screwed onto the nozzle cover.

[0014] 7) The nozzle cover clamping assembly releases the nozzle cover, and a number of limit rods reposition the various rotating drive components to the initial angle position in synchronization. The lifting drive device descends and resets, and the assembled nozzle cover and nozzle enter the next process step.

[0015] Compared with the prior art, the beneficial effects of the fully automatic multi-station linkage precise alignment nozzle cover assembly method and equipment of the present invention are mainly reflected in:

[0016] By setting the correction floating pin and correction round block of the nozzle clamping assembly, the axis and top surface of the nozzle tube body are horizontally guided while the nozzle claw clamps the nozzle, ensuring that the nozzle is accurately positioned in the nozzle support seat without lateral deviation; an elastic linkage assembly is set on the work station fixture block, and the synchronous linkage of multiple limit rods can simultaneously limit multiple rotating drive members, so that the nozzle support seat can be synchronized to the initial positioning angle, ensuring that all nozzles positioned on the nozzle support seat maintain a high degree of consistency, and improving the accuracy of the screw-on assembly of the nozzle cover and the nozzle; the multiple drive shafts of the lifting drive device are driven by independent motors, which can be adjusted to synchronize each drive shaft, thereby improving the control accuracy of each drive shaft, thereby ensuring that multiple nozzle support seats rotate synchronously and reducing rotation errors; the top of the drive shaft and the bottom of the rotating drive member are connected in a bite-like manner, so that the lifting and lowering movement of the drive shaft can achieve engagement with the rotating drive member. Or separate, the occlusal surface has a toothed guide, which further ensures the docking accuracy of the drive shaft and the rotating drive member, and the drive shaft and the rotating drive member maintain consistent axis and consistent drive rotation; in the process of assembling the suction nozzle and the suction nozzle cover, the suction nozzle support seat is rotated to drive the suction nozzle to screw on the suction nozzle cover, avoiding torsional damage when the suction nozzle cover is rotated, and improving the appearance of the suction nozzle cover; the suction nozzle cover clamping assembly contour positions the suction nozzle cover and avoids the weak area of the suction nozzle cover, and slowly descends in conjunction with the rotation of the suction nozzle support seat, so that the suction nozzle can be stably connected to the suction nozzle cover, and the suction nozzle cover clamping assembly also includes a sensor for detecting the torque of the suction nozzle cover claw. When the suction nozzle support seat is rotated into place, a certain force is applied to the suction nozzle cover claw to ensure the accuracy of the screw connection of the suction nozzle and the suction nozzle cover; multiple visual inspection modules are set in the equipment to perform multi-directional visual inspection of the suction nozzle, assembled suction nozzle and suction nozzle cover to ensure the accuracy, appearance and cleanliness of the assembly. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a schematic diagram of the overall structure of a machine from above according to an embodiment of the present invention;

[0018] Figure 2 This is a schematic diagram of the workstation fixture block structure in this embodiment;

[0019] Figure 3 Schematic diagram of the nozzle clamping assembly in this embodiment;

[0020] Figure 4 Schematic diagram of the nozzle cover clamping assembly in this embodiment;

[0021] Figure 5 Schematic diagram of the nozzle support structure in this embodiment;

[0022] Figure 6 This is a partial cross-sectional diagram of the nozzle support seat in this embodiment;

[0023] Figure 7 Schematic diagram of the structure of the rotary drive member in this embodiment;

[0024] Figure 8 This is a schematic diagram of the assembly of the nozzle and nozzle cover in this embodiment;

[0025] Figure 9 Schematic diagram of the nozzle structure in this embodiment;

[0026] Figure 10 Schematic diagram of the lifting drive device in this embodiment;

[0027] Figure 11 Schematic diagram of the partial structure of the nozzle clamping assembly in this embodiment;

[0028] Figure 12 This is a schematic diagram of the floating pin structure for correction in this embodiment;

[0029] Figure 13 Schematic diagram of the structure of the nozzle cover claw in this embodiment;

[0030] The numbers in the figure represent:

[0031] 1 nozzle cover, 11 nozzle, 12 mounting body, 13 tube body, 14 cap, 15 torsion plate, 16 assembly ring, 2 nozzle bearing seat, 21 slot, 22 fixing pin, 23 work station fixture block, 24 rotating drive component, 25 limit rod, 26 limit hole, 27 linkage plate, 28 linkage rod, 29 elastic plate, 3 lifting drive device, 31 lifting plate, 32 drive shaft, 33 tensioner, 34 pulley, 4 nozzle clamping assembly, 41 correction floating pin, 42 correction round block, 43 nozzle claw, 5 first visual inspection module, 6 nozzle cover clamping assembly, 61 nozzle cover claw, 62 arc groove, 7 second visual inspection module, 8 third visual inspection module, 9 blanking clamping assembly, 91 side pusher. DETAILED DESCRIPTION

[0032] The technical solutions in the embodiments of the present invention are described clearly and completely below. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments.

[0033] Example 1:

[0034] Reference Figure 1-13 As shown, the nozzle cover 1 is made of soft plastic material and is a consumable part. After being assembled with the nozzle 11, it is necessary to ensure good appearance and cleanliness. The combined structure of the nozzle 11 and the nozzle cover 1 is suitable for installation on a self-supporting bag to facilitate pouring out the product in the self-supporting bag. The nozzle 11 includes a mounting body 12 and a tube body 13 arranged on the top of the mounting body 12; the tube body 13 and the mounting body 12 are integrally formed into a hollow connecting structure, the outer wall of the tube body 13 is provided with a threaded portion, and a locking port is provided at the connection between the tube body 13 and the mounting body 12. The nozzle mouth of the tube body 13 is a slightly open trumpet structure. The bottom of the mounting body 12 is connected to the self-supporting bag by hot pressing to form a self-supporting bag sealed on the mounting body 12. The nozzle cover 1 includes a cap 14 and a twisting plate 15 disposed on the cap 14. The cap 14 and the twisting plate 15 are integrally formed. The twisting plate 15 is a thin sheet structure. The connection point between the twisting plate 15 and the cap 14 is a weak and vulnerable location. Both sides of the twisting plate 15 extend axially along the outer wall of the cap 14 for a certain distance. An assembly ring 16 is provided on the bottom circumferential edge of the cap 14. The assembly ring 16 is provided with a check piece that matches the locking opening. The check piece has a toothed surface. The outer edge of the check piece is provided with a connecting rib that connects to the end face of the assembly ring 16. The toothed surface of the check piece and the locking opening are matched in a clockwise direction and are irreversible. When the cap 14 is opened, the connecting rib breaks when the cap 14 is twisted in the opposite direction, and the check piece is separated from the locking opening, that is, the nozzle cover 1 is separated from the nozzle 11.

[0035] Based on the fact that the nozzle cover 1 has a certain degree of flexibility, a fully automatic multi-station linkage precise alignment nozzle cover assembly method is designed, which includes the following steps:

[0036] 1) Make a nozzle support seat 2, and cut a groove 21 in the nozzle support seat 2 according to the size of the nozzle 11; the groove 21 is adapted to the mounting body 12, and the mounting body 12 can smoothly enter the groove 21 without obstruction, and the tube body 13 remains positioned in an upward posture. A fixing pin 22 for positioning the inner hole of the nozzle 11 is provided inside the groove 21 of the nozzle support seat 2.

[0037] 2) Multiple nozzle holders 2 are mounted side by side on top of a workstation fixture block 23. The bottom of each nozzle holder 2 is connected to a rotary drive member 24 that penetrates the workstation fixture block 23. The rotary drive member 24 is coaxial with the fixed pin 22. To improve the rotation performance of the rotary drive member 24, multiple bearings are provided within the rotary drive member 24 and the workstation fixture block 23 to rotate in coordination.

[0038] 3) A plurality of limiting rods 25 are inserted into the side of the work station fixture block 23. The limiting rods 25 correspond to each rotary drive member 24 and move along its radial direction. The rotary drive members 24 are provided with limiting holes 26 corresponding to the limiting rods 25. The limiting rods 25 are driven to synchronously position the limiting holes 35 of the rotary drive members 24.

[0039] The side of the station fixture block 23 is provided with an elastic linkage assembly for installing a plurality of limit rods 25. The elastic linkage assembly includes a linkage plate 27 provided on one side of the station fixture block 23, a plurality of linkage rods 28 connected to the linkage plate 27 and extending to the other side of the station fixture block 23, and a plurality of elastic plates 29 provided on the other side of the station fixture block 23 and connected to adjacent linkage rods 28 to form a group corresponding to each limit rod 25. The limit rod 25 is connected to the middle of the elastic plate 29, and a group of adjacent linkage rods 28 are connected to the elastic plate 29 and are located on both sides of a limit rod 25. , a spring is partially embedded in the work station fixture block 23 on the outside of the linkage rod 28; when the linkage plate 28 is pushed close to the work station fixture block 23, the linkage rod 28 drives the elastic plate 29 away from the work station fixture block 23, the limit rod 25 disengages from the rotation drive member 24, and the rotation drive member 24 is released to perform rotation operation; when the linkage plate 27 loses external force, the linkage plate 27 is moved away from the work station fixture block 23 by the force of the spring, the elastic plate 29 approaches the work station fixture block 23, the limit rod 25 is inserted into the rotation drive member 24, and the rotation drive member 24 is limited and cannot rotate.

[0040] 4) Arrange the lifting drive device 3. The workstation fixture block 23 is located above the lifting drive device 3 so that the workstation fixture block 3 can be positioned and matched with the lifting drive device 3 during the transfer process. The lifting drive device 3 includes a lifting plate 31 that is driven to lift. The lifting plate 31 is equipped with a plurality of drive shafts 32 that correspond to the rotary drive member 24. The drive shafts 32 engage with the rotary drive member 24. Specifically, the top of the drive shaft 32 has a toothed surface, and the bottom surface of the rotary drive member 24 is pressed against the toothed surface to limit the position. A tensioner 33 is installed on the drive shaft 32. Each tensioner 33 is connected to a corresponding pulley 34, and each pulley 34 is driven by a motor. Each drive shaft 32 is connected to an independent motor pulley drive structure. By adjusting the tensioner 33 and the belt tension, the speed of the drive shaft 32 can be adjusted to eliminate the rotation deviation of the drive shaft 32 caused by insufficient precision. All drive shafts 32 are debugged to maintain synchronous rotation accuracy, thereby ensuring the synchronous rotation accuracy of the rotary drive member 24.

[0041] 5) The station fixture block 23 flows to the feeding position of the suction nozzle 11, and the suction nozzle 11 is driven to transfer and load. A row of suction nozzles 11 are positioned on the suction nozzle bearing seat 2 of the station fixture block 23 through a plurality of suction nozzle clamping components 4. The suction nozzle clamping components 4 are driven to have a multi-axis transfer function. The correction floating pin 41 of the suction nozzle clamping component 4 elastically positions the inner hole of the nozzle of the suction nozzle 11, and the correction round block 42 is pressed and positioned on the outside of the correction floating pin 41 to position the top of the nozzle of the suction nozzle 11, which is located at the correction floating pin 41. The nozzle claws 43 on both sides of the pin 41 clamp the opposite surfaces of the mounting body 12 of the positioning nozzle 11, so that the nozzle 11 is accurately positioned with the fixing pin 22 in the slot 21; due to the action of the correction floating pin 41, the axis of the pipe mouth is adjusted to the plumb direction during the transfer process, which is conducive to the correction circle 42 to press the nozzle 11 smoothly and steadily into the slot 21, ensuring that the axis of the nozzle 11 is concentric with the axis of the fixing pin 22, and at the same time ensuring that the top surface of the nozzle 11 is consistent with the horizontal plane.

[0042] 6) The work station fixture block 23 flows to the position of the first visual inspection module 5. The first visual inspection module 5 takes a photo of the outside appearance of the suction nozzle 11 on the suction nozzle supporting seat 2. At the same time, the lifting drive device 3 lifts and positions a number of rotating drive members 24, adjusts the initial positioning angle of a row of suction nozzle supporting seats 2, and a number of limit rods 25 are linked to insert into their respective corresponding limit holes 26. The number of limit rods 25 guide the initial rotation position accuracy of each rotating drive member 24, and the rotating drive member 24 is limited; the first visual inspection module 5 visually identifies the lateral appearance state and initial positioning angle position of the suction nozzle 11, and proceeds to the next step if it meets the set requirements.

[0043] 7) The station fixture block 23 flows to the nozzle cover assembly position, and the nozzle cover 1 drives the transfer and loading. A row of nozzle covers 1 is positioned to the top of the nozzle of the station fixture block 23 through a number of nozzle cover clamping assemblies 6. The lifting drive device 3 lifts and positions a number of rotary drive members 24. At the same time, a number of limit rods 25 are linked and forced to synchronously disengage the rotary drive members 24. The multiple drive shafts 32 of the lifting drive device 3 drive their respective corresponding rotary drive members 24 to rotate synchronously. The nozzle cover clamping assembly 6 drives the nozzle cover 1 to decrease in synchronization with the rotation rhythm of the rotary drive member 24, so that the nozzle 11 is accurately screwed onto the nozzle cover 1, and the nozzle cover clamping assembly 6 releases the nozzle cover 1. A number of limit rods 25 once again position each rotary drive member 24 synchronously to the initial angle position, and the lifting drive device 3 descends and resets.

[0044] The nozzle cover clamping assembly 6 includes a nozzle cover claw member 61 that is relatively clamped. The inner side of the nozzle cover claw member 61 has an arc-shaped groove 62 that is shaped like the edge of the cap of the nozzle cover 1. The arc-shaped groove 62 avoids the position of the torsion plate 15 to avoid clamping at the weak connection between the torsion plate 15 and the cap 14, thereby reducing the chance of damage.

[0045] 8) The work station fixture block 23 flows to the position of the second visual inspection module 7. The second visual inspection module 7 takes external photographs of the assembled suction nozzle 11 and suction nozzle cover 1 on the suction nozzle supporting seat 2 for appearance inspection. The second visual inspection module 7 visually identifies the lateral appearance status and assembly accuracy of the suction nozzle 11 and suction nozzle cover 1, and proceeds to the next step if it meets the requirements.

[0046] 9) The work station fixture block 23 flows to the position of the third visual inspection module 8. The third visual inspection module 8 takes a photo of the inside of the assembled suction nozzle 11 and the suction nozzle cover 1 on the suction nozzle supporting seat 2 for appearance inspection, and compares the inspection results of the second visual inspection module 7 with the inspection results of the third visual inspection module 8 to determine whether the front and back faces of the assembled suction nozzle 11 and the suction nozzle cover 1 meet the consistency requirements.

[0047] The initial angular position and the angular position after assembly of the nozzle cover 1 are determined by the surface of the twisting plate 15 being perpendicular to the visual recognition direction of the visual detection module, that is, the visual recognition direction is directly opposite to the surface of the twisting plate 15 .

[0048] 10) The work station fixture block 23 moves to the blanking position, and the blanking clamp assembly 9 clamps the assembled suction nozzle 11 and the suction nozzle cover 1 for blanking.

[0049] Example 2:

[0050] The method of the above-mentioned embodiment 1 is an assembly method based on a fully automatic multi-station linkage precision alignment suction nozzle cover assembly equipment, including a turntable and a plurality of station fixture blocks 23 arranged on the turntable; the circumferential outside of the turntable is sequentially provided with a plurality of suction nozzle clamping assemblies 4 for clamping the suction nozzle 11 for loading, a first visual inspection module 5 for visually inspecting the appearance of the suction nozzle 11 in the station fixture block 23, a rotating drive member 24 for lifting and positioning the station fixture block 23 and providing power for the rotating drive member 24, a suction nozzle cover clamping assembly 6 for clamping the suction nozzle cover 1 and cooperating with the lifting drive device 3, a second visual inspection module 7 and a third visual inspection module 8 for visually inspecting the appearance of the suction nozzle 11 and the suction nozzle cover 1 assembled in the station fixture block 23, and a blanking clamping claw assembly 9 for clamping the assembled suction nozzle 11 and the suction nozzle cover 1.

[0051] The top of the station fixture block 23 is provided with a plurality of nozzle support seats 2. The top of the nozzle support seat 2 is provided with a slot 21 for accommodating the nozzle 11. The middle of the slot 21 is provided with a fixing pin 22 that matches the inner hole of the nozzle 11. The bottom of the nozzle support seat 2 is provided with a rotary drive member 24 that passes through the station fixture block 23 and the turntable. The side of the station fixture block 23 is provided with an elastic linkage assembly for installing a plurality of limit rods 25. The structure of the elastic linkage assembly in conjunction with the station fixture block 23 has been described in Example 1. The plurality of limit rods 25 are synchronously linked to limit the corresponding rotary drive member 24 and guide each rotary drive member 24 to the initial positioning angle position.

[0052] The turntable is provided with several side thrust members 91 for cooperating with the linkage plate 27. The side thrust members 91 are driven by the cylinder to move radially along the turntable. The side thrust members 91 and the linkage plate 27 are movably abutted against each other, thereby realizing that multiple limit rods 25 synchronously position the corresponding multiple rotary drive members 24, so that the rotary drive members 24 are guided to a unified initial positioning angle position.

[0053] A lifting drive device 3 is provided below the turntable. The specific structure of the lifting drive device 3 has been recorded in Example 1. The bottom of the lifting plate 31 is elastically connected to the fixed plate, and a cylinder is provided below the fixed plate to drive the lifting plate 3 to rise and fall.

[0054] The nozzle clamping assembly 4 is connected to the electric moving module, and the nozzle clamping assembly 4 is driven to move in multiple axes. The nozzle clamping assembly 4 moves the nozzle 11 from the dislocation mechanism to the nozzle supporting seat 2. The nozzle clamping assembly 4 includes a correction floating pin 41, a correction round block 42 sleeved on the outside of the correction floating pin 41, and a nozzle claw 43 arranged on both sides of the correction floating pin 41. The number of correction floating pins 41 is consistent with the number of nozzle supporting seats 2. The correction floating pin 41 is a spring-matching pin structure. The nozzle claw 43 is a pneumatic clamping structure, and a hanging platform is provided inside the correction round block 42. The bottom of the correction floating pin 41 extends out of the correction round block 42, and the correction round block 42 is hung on the correction floating pin 41 through the hanging platform. When the nozzle claw 43 clamps and transfers the nozzle 11 to the slot 21, the correction floating pin 41 guides the nozzle position of the nozzle 11, and the bottom surface of the correction block 42 abuts against the top surface of the nozzle 11, so that the top surface of the nozzle 11 remains horizontal, thereby ensuring the axial position of the tube body of the nozzle 11 and the horizontal position of the top surface of the tube body 13.

[0055] The nozzle cover clamping assembly 6 is connected to the electric moving module. The nozzle cover clamping assembly 6 is driven to move in multiple axes. The nozzle cover clamping assembly 6 clamps the incoming nozzle cover 1 and moves it to the top of the nozzle 11. The nozzle cover clamping assembly 6 is a multi-group pneumatic clamping structure.

[0056] The first visual inspection module 5, the second visual inspection module 7, and the third visual inspection module 8 are all camera modules. The first visual inspection module 5 inspects the outer appearance of the suction nozzle 11 from the outside of the turntable toward the centripetal direction, the second visual inspection module 7 inspects the outer appearance of the assembled suction nozzle 11 and the suction nozzle cover 1 from the outside of the turntable toward the centripetal direction, and the third visual inspection module 8 inspects the inner appearance of the assembled suction nozzle 1 and the suction nozzle cover 11 from the inside of the turntable toward the outside.

[0057] The unloading jaw assembly 9 is connected to the electric moving module, and the unloading jaw assembly 9 is driven to realize multi-axis transfer, thereby unloading the assembled suction nozzle 11 and suction nozzle cover 1 from the station fixture block 23. The unloading jaw assembly 9 is a multi-group pneumatic jaw structure.

[0058] When applying this embodiment, by setting the correction floating pin 41 and the correction round block 42 of the nozzle clamping assembly 4, the nozzle claw 43 clamps the nozzle 11 while the tube body of the nozzle 11 is horizontally guided on the axis and top surface, ensuring that the nozzle 11 is accurately positioned in the nozzle support seat 2 without lateral deflection; an elastic linkage assembly is provided on the work station fixture block 23, and the synchronous linkage of multiple limit rods 25 can simultaneously limit multiple rotary drive members 24, so that the nozzle support seat 2 can be synchronized to the initial positioning angle, ensuring that all nozzles 11 positioned on the nozzle support seat 2 maintain high consistency, thereby improving the accuracy of the screw connection assembly of the nozzle cover 1 and the nozzle 11; the multiple drive shafts 32 of the lifting drive device 3 are driven by independent motors, which can be adjusted to synchronize each drive shaft 32, thereby improving the control accuracy of each drive shaft 32, and thus ensuring that multiple nozzle support seats 2 rotate synchronously and reducing rotation errors; the top of the drive shaft 32 and the bottom of the rotary drive member 24 are connected in a bite-type manner, so that the lifting and lowering movement of the drive shaft 32 can be realized with the rotary drive The engagement or separation of the moving part 24 is provided with a toothed guide on the occlusal surface, which further ensures the docking accuracy of the drive shaft 32 and the rotating drive part 24. The drive shaft 32 and the rotating drive part 24 keep the same axis and drive the rotation in unison. In the process of assembling the suction nozzle 11 and the suction nozzle cover 1, the suction nozzle 11 is driven to screw the suction nozzle cover 12 by rotating the suction nozzle bearing seat 2, thereby avoiding torsional damage to the rotating suction nozzle cover 1 and improving the appearance of the suction nozzle cover 1. The suction nozzle cover clamping assembly 6 contours the suction nozzle cover 1 and avoids the weak points of the suction nozzle cover 1. The suction nozzle 11 is fixed to the suction nozzle cover 1 and the suction nozzle 11 is fixed to the suction nozzle cover 1. ... 11. The suction nozzle 11 is fixed to the suction nozzle cover 1 and the suction nozzle 11 is fixed to the suction nozzle 11. The suction nozzle 11 is fixed to the suction nozzle cover 1 and the suction nozzle 11 is fixed to the suction nozzle 11. The suction nozzle 11 is fixed to the suction nozzle cover 1 and the suction nozzle 11 is fixed to the suction nozzle 11. The suction nozzle 11 is fixed to the suction nozzle cover 1 and the suction nozzle 11 is fixed to the suction nozzle 11. The suction nozzle 11

[0059] Throughout this specification, the term "specific embodiment" means that the specific features, structures, materials, or characteristics described in conjunction with that embodiment or example are included in at least one embodiment or example of the present invention. In this specification, schematic representations of these terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0060] Although the embodiments disclosed herein are as described above, the contents described herein are merely embodiments for facilitating understanding of the present invention and are not intended to limit the present invention. Any person skilled in the art may make any modifications and variations in the form and details of the embodiments without departing from the spirit and scope of the present invention. However, the scope of patent protection of the present invention shall remain subject to the scope defined by the appended claims.

Claims

1. Fully automatic multi-station linkage precise positioning nozzle cover assembly method, characterized in that: The following steps are involved: 1) Making a nozzle support base, wherein a groove is formed in the nozzle support base according to the size of the nozzle, and a fixing pin is provided inside the groove to position the inner hole of the nozzle; 2) Installing multiple nozzle support seats side by side on the top of the work station fixture block, the bottom of each nozzle support seat is connected to a rotary drive member that passes through the work station fixture block, and the rotary drive member is coaxially arranged with the fixed pin member; 3) A plurality of limiting rods are inserted into the side of the work station fixture block, and the plurality of limiting rods correspond to each rotary drive member and move along the radial direction thereof. The plurality of limiting rods are driven to synchronously position the limiting holes of the plurality of rotary drive members; 4) Arranging a lifting drive device, wherein the lifting drive device has a drive shaft that cooperates with the rotary drive member to provide power and positioning for the rotary drive member; 5) The work station fixture block flows to the nozzle loading position, and a row of nozzles are positioned on the nozzle bearing seat through a number of nozzle clamping assemblies. The correction floating pin of the nozzle clamping assembly elastically positions the inner hole of the nozzle nozzle. The correction round block sleeved on the outside of the correction floating pin presses and positions the top of the nozzle nozzle. The nozzle claws on both sides of the correction floating pin clamp the opposite surfaces of the nozzle mounting body so that the axis of the nozzle is consistent with the axis of the fixed pin and the top surface of the nozzle is consistent with the horizontal plane. 6) The work station fixture block is transferred to the nozzle cover assembly position, and a row of nozzle covers are positioned to the top of the nozzle of the work station fixture block through a number of nozzle cover clamping assemblies. The lifting drive device lifts and positions a number of rotating drive parts. At the same time, a number of limit rods are linked and force-disengaged from the rotating drive parts synchronously. The multiple drive shafts of the lifting drive device drive their corresponding rotating drive parts to rotate synchronously. The nozzle cover clamping assembly drives the nozzle cover to synchronously rotate the driving part to reduce the rotation rhythm, so that the nozzle is accurately screwed onto the nozzle cover.

2. The fully automatic multi-station linkage precise alignment nozzle cover assembly method according to claim 1, characterized in that: The suction nozzle includes a mounting body and a tube body arranged on the top of the mounting body. The tube body and the mounting body are integrally formed into a hollow connecting structure, and the outer wall of the tube body is provided with a threaded portion; the suction nozzle cover includes a cap and a torsion plate arranged on the cap. The cap and the torsion plate are integrally formed.

3. The fully automatic multi-station linkage precise alignment nozzle cover assembly method according to claim 1, characterized in that: An elastic linkage assembly for installing several limit rods is provided on the side of the work station fixture block. The elastic linkage assembly includes a linkage plate provided on one side of the work station fixture block, several linkage rods connected to the linkage plate and extending through the work station fixture block to the other side thereof, and several elastic plates provided on the other side of the work station fixture block and connecting adjacent linkage rods to form groups corresponding to each limit rod.

4. The fully automatic multi-station linkage precise alignment nozzle cover assembly method according to claim 1, characterized in that: The lifting drive device includes a lifting plate that is driven to lift, and a plurality of drive shafts corresponding to the rotating drive members are installed on the lifting plate. The drive shafts are engaged with the rotating drive members, and each of the drive shafts is connected to a drive structure of an independent motor pulley.

5. The fully automatic multi-station linkage precise alignment nozzle cover assembly method according to claim 1, characterized in that: After step 5), the process also includes the following steps: the workstation fixture block is transferred to the position of the first visual inspection module, the first visual inspection module visually identifies the lateral appearance state and initial positioning angle position of the suction nozzle, and at the same time, the lifting drive device lifts and positions a plurality of rotating drive parts to adjust the initial positioning angle of a row of suction nozzle support seats.

6. The fully automatic multi-station linkage precise alignment nozzle cover assembly method according to claim 2, characterized in that: The nozzle cover clamping assembly includes a nozzle cover claw member that is relatively clamped, and the inner side of the nozzle cover claw member is provided with an arc-shaped groove that is shaped like the edge of the nozzle cover cap.

7. The fully automatic multi-station linkage precise alignment nozzle cover assembly method according to claim 1, characterized in that: After step 6), the process also includes a step in which the work station fixture block is transferred to the position of the second visual inspection module, the second visual inspection module takes external photographs of the assembled suction nozzle and suction nozzle cover on the suction nozzle support seat for appearance inspection, and the second visual inspection module visually identifies the lateral appearance status and assembly accuracy of the suction nozzle and suction nozzle cover.

8. The fully automatic multi-station linkage precise alignment nozzle cover assembly method according to claim 7, characterized in that: After the visual inspection by the second visual inspection module, the step of: the work station fixture block is transferred to the position of the third visual inspection module, the third visual inspection module takes a photo of the inside of the assembled suction nozzle and suction nozzle cover on the suction nozzle supporting seat for appearance inspection, and compares the inspection results of the second visual inspection module with the inspection results of the third visual inspection module to determine whether the front and back faces of the assembled suction nozzle and suction nozzle cover meet the consistency requirements.

9. Fully automatic multi-station linkage precision alignment nozzle cover assembly equipment, including several station fixture blocks with driven transfer settings, characterized by: It also includes a plurality of suction nozzle clamping assemblies for clamping the suction nozzle for loading, a plurality of lifting drive devices for lifting and positioning the rotary drive member in the work station fixture block and providing power for the rotary drive member, and a suction nozzle cover clamping assembly for clamping the suction nozzle cover and cooperating with the lifting drive device; a plurality of suction nozzle bearing seats are provided on the top of the work station fixture block, a slot for accommodating the suction nozzle is provided on the top of the suction nozzle bearing seat, a fixing pin matching the inner hole of the suction nozzle is provided in the middle of the slot, a rotary drive member penetrating the work station fixture block is provided at the bottom of the suction nozzle bearing seat, and an elastic linkage group for installing a plurality of limit rods is provided on the side of the work station fixture block. Parts, several limit rods synchronously limit the corresponding rotating drive parts and guide each rotating drive part to the initial positioning angle position, the fixed pin part and the rotating drive part are arranged coaxially; the suction nozzle clamping assembly includes a correction floating pin, a correction round block sleeved on the outside of the correction floating pin, and a suction nozzle claw part arranged on both sides of the correction floating pin, the bottom of the correction floating pin extends out of the correction round block, the correction round block is hung on the correction floating pin through a hanging platform, the correction floating pin guides the nozzle position of the suction nozzle, the bottom surface of the correction round block is against the top surface of the suction nozzle to maintain a horizontal state, and the suction nozzle claw part clamps the opposite surface of the mounting body of the positioning suction nozzle.

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