Automatic screwing device for a suction cup assembly

Abstract

The application provides a kind of sucking disc assembly automatic tightening device, including sucking disc assembly tightening device rack and at least one tightening station, the tightening station includes automatic tightening first station, automatic tightening second station, automatic tightening third station, automatic tightening fourth station and automatic tightening fifth station installed in turn above sucking disc assembly tightening device rack, tightening structure and moving module and man-machine interface are provided above sucking disc assembly tightening device rack, the beneficial effects of the application are: by setting up tightening station on sucking disc assembly tightening device rack, tightening work is arranged in turn, and the moving module is transversely arranged, which can switch between each tightening work, the process of sucking disc assembly tightening assembly is concentrated on sucking disc assembly tightening device rack, the structure is simple, the layout is reasonable, and the floor area of the tightening device is reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of suction cup tightening, in particular to a suction cup assembly automatic tightening device. BACKGROUND

[0002] The suction cup assembly is usually used at the end of a robot or a mechanical hand for sucking and carrying glass or plate. In the current traditional assembly process of the suction cup assembly, the personnel places the parts to be assembled on the operation table top, and then uses a common hand wrench to tighten the parts through mechanism limiting. Since the tightening stroke, the tightening force and the tightening angle are not fixed, it is also impossible to monitor them, and the personnel may misjudge or fail to tighten the corresponding parts in the case of long-term work, so that some suction cup assemblies are not tightened or the suction cup assemblies leak, which easily causes defective products and brings additional difficulty to subsequent function detection and quality detection.

[0003] The current suction cup assembly assembly device is relatively complex and occupies a large area, and therefore an integrated device is needed to realize the full-automatic assembly of the suction cup assembly. SUMMARY

[0004] In order to overcome the above problems in the prior art, the present application provides a suction cup assembly automatic tightening device, which comprises a suction cup assembly tightening device rack and at least one tightening station. The tightening station comprises an automatic tightening first station, an automatic tightening second station, an automatic tightening third station, an automatic tightening fourth station and an automatic tightening fifth station which are installed in sequence above the suction cup assembly tightening device rack. A tightening structure, a moving module and a man-machine interface are arranged above the suction cup assembly tightening device rack.

[0005] On this basis, the automatic tightening first station comprises a product presence / absence sensor, a positioning auxiliary cylinder, a first auxiliary sliding rail, a screw guide sleeve, a locking hole adjusting cylinder, a rubber suction cup positioning pin and a guide sleeve lifting cylinder. The product presence / absence sensor is fixed on the base through a mounting sheet metal. The positioning auxiliary cylinder is installed on the base. The positioning auxiliary cylinder is connected with the rubber suction cup positioning pin. The first auxiliary sliding rail is arranged on the side surface of the base. The screw guide sleeve is fixed on the first auxiliary sliding rail through a connecting block. The locking hole adjusting cylinder is fixed on the base through a rod-shaped support. The rubber suction cup positioning pin is arranged below the screw guide sleeve. The screw guide sleeve is connected with the guide sleeve lifting cylinder. The guide sleeve lifting cylinder is fixed on the base.

[0006] On this basis, the automatic tightening second station includes product fixing lifting cylinder, large suction cup presence / absence sensor, second auxiliary slide rail, airtight tightening butt joint structure one, airtight tightening butt joint structure two, product fixing plate, small suction cup tightening station, large suction cup tightening station, tightening lifting cylinder and small suction cup presence / absence sensor, the product fixing lifting cylinder is fixed on the base, the product fixing plate is connected with the product fixing lifting cylinder through a floating joint, the large suction cup presence / absence sensor and the small suction cup presence / absence sensor are fixed on the base through mounting sheet metal, the second auxiliary slide rail is arranged on the side surface of the base, the airtight tightening butt joint structure one and the airtight tightening butt joint structure two are fixed in the second auxiliary slide rail through a connecting plate, the small suction cup tightening station and the large suction cup tightening station are fixed to the base through a rod-shaped support, and the tightening lifting cylinder is fixed on the base and connected with the airtight tightening butt joint structure one and the airtight tightening butt joint structure two.

[0007] On this basis, the automatic tightening third station includes first servo motor, distance sensing sensor, left side support rod clamping cylinder, front and back slide table cylinder, rotating assembly stop cylinder, lifting buffer assembly, tightening butt joint structure four, right side in-out cylinder, joint limiting block, right side support rod clamping cylinder, support rod clamping piece and first lifting cylinder, the first servo motor is fixed on the base through a connecting plate, the distance sensing sensor is fixed on the base through sheet metal, the left side support rod clamping cylinder and the right side support rod clamping cylinder are respectively arranged on the two sides of the vertical part of the base, the front and back slide table cylinder and the rotating assembly stop cylinder are both fixed on the base and arranged on the upper sides of the left side support rod clamping cylinder and the right side support rod clamping cylinder, the lifting buffer assembly is composed of a guide rod and a spring, a slide rail is arranged on the base, the tightening butt joint structure four is installed on the slide rail through a connecting piece, the right side in-out cylinder and the joint limiting block are connected through a floating joint, and the first lifting cylinder is installed on the side surface of the base and connected with the support rod clamping piece.

[0008] On this basis, the automatic tightening fourth station includes positioning clamping cylinder, third auxiliary slide rail, tightening butt joint structure five, round nut magnetic suction head and second lifting cylinder, the positioning clamping cylinder and the second lifting cylinder are fixed on the base, the third auxiliary slide rail is arranged on the side surface of the base, the tightening butt joint structure five is arranged in the third auxiliary slide rail through a connecting plate, and the round nut magnetic suction head is fixed with the tightening butt joint structure five through a connecting rod.

[0009] On this basis, the automatic tightening fifth station includes a positioning cylinder, a downward pressing cylinder, a gas-tight tightening butt joint structure six, a second product presence / absence inductive sensor, an in-out cylinder and a third lifting cylinder, the positioning cylinder and the in-out cylinder are installed on the base, the downward pressing cylinder and the third lifting cylinder are connected with the slide rail on the base through a mounting plate, the gas-tight tightening butt joint structure six is installed in the third auxiliary slide rail through a connecting plate, and the second product presence / absence inductive sensor is installed on the base through sheet metal.

[0010] On this basis, the tightening structure and the moving module include a second servo motor, a first slide table module, a fourth auxiliary slide rail, a third servo motor, a second slide table module, a third lifting cylinder, a displacement sensor and a tightening gun, the third servo motor is connected with the second slide table module, the second slide table module is installed on the slide block of the first slide table module and the fourth auxiliary slide rail through a connecting plate, the third lifting cylinder and the displacement sensor are installed on the slide block of the second slide table module, and the tightening gun is connected with the third lifting cylinder through a floating joint.

[0011] Compared with the prior art, the automatic tightening device has the advantages that: the tightening work stations are arranged on the suction cup assembly tightening device rack in sequence, the tightening structure and the moving module are arranged transversely, the suction cup assembly can be switched between the tightening work stations, the tightening and assembling process of the suction cup assembly is concentrated on the suction cup assembly tightening device rack, the structure is simple, the layout is reasonable, and the floor area occupied by the tightening device is reduced. BRIEF DESCRIPTION OF DRAWINGS

[0012] Figure 1 is a schematic view of a suction cup assembly structure;

[0013] Figure 2 is a schematic view of an automatic tightening device structure of the present application;

[0014] Figure 3 is a schematic view of an automatic tightening first station structure of the present application;

[0015] Figure 4 is a schematic view of an automatic tightening first station structure of the present application;

[0016] Figure 5 is a schematic view of an automatic tightening second station structure of the present application;

[0017] Figure 6 is a schematic view of an automatic tightening second station structure of the present application;

[0018] Figure 7 is a schematic view of an automatic tightening third station structure of the present application;

[0019] Figure 8 is a schematic view of an automatic tightening third station structure of the present application;

[0020] Figure 9 is the schematic diagram of the fourth station structure of the automatic tightening of the present application;

[0021] Figure 10 is the schematic diagram of the fourth station structure of the automatic tightening of the present application;

[0022] Figure 11 is the schematic diagram of the fifth station structure of the automatic tightening of the present application;

[0023] Figure 12 is the schematic diagram of the fifth station structure of the automatic tightening of the present application;

[0024] Figure 13 is the schematic diagram of the tightening structure and the moving module structure of the present application;

[0025] In the figure:

[0026] A, chuck assembly tightening device rack;

[0027] B, automatic tightening first station, B1, first product with inductive sensor, B2, positioning auxiliary cylinder, B3, first auxiliary slide rail, B4, screw guide sleeve, B5, locking hole position adjusting cylinder, B6, rubber chuck positioning pin, B7, guide sleeve lifting cylinder;

[0028] C, automatic tightening second station, C1, product fixing lifting cylinder, C2, large chuck with inductive sensor, C3, second auxiliary slide rail, C4, airtight tightening butt joint structure, C5, airtight tightening butt joint structure two, C6, product fixing plate, C7, small chuck tightening station, C8, large chuck tightening station, C9, tightening lifting cylinder, C10, small chuck with inductive sensor;

[0029] D, automatic tightening third station, D1, first servo motor, D2, distance inductive sensor, D3, left side support rod clamping cylinder, D4, front and back slide table cylinder, D5, rotating assembly stop cylinder, D6, lifting buffer assembly, D7, tightening butt joint structure four, D8, right side in-out cylinder, D9, joint limiting block, D10, right side support rod clamping cylinder, D11, support rod clamping piece, D12, first lifting cylinder;

[0030] E, automatic tightening fourth station, E1, positioning clamping cylinder, E2, third auxiliary slide rail, E3, tightening butt joint structure five, E4, round nut magnetic head, E5, second lifting cylinder;

[0031] F, automatic tightening fifth station, F1, positioning cylinder, F2, down-pressing cylinder, F3, airtight tightening butt joint structure six, F4, second product with inductive sensor, F5, in-out cylinder, F6, third lifting cylinder;

[0032] G, tightening structure and moving module, G1, second servo motor, G2, first sliding table module, G3, fourth auxiliary sliding rail, G4, third servo motor, G5, second sliding table module, G6, fourth lifting cylinder, G7, displacement sensor, G8, tightening gun;

[0033] H, human-computer interface;

[0034] I, suction cup assembly, I1, fastening screw, I2, suction cup, I3, suction cup fixing plate, I4, first joint screw, I5, support rod, I6, spring, I7, flat washer, I8, round nut, I9, stop washer, I10, support rod fixing plate, I11, support rod fixing sleeve, I12, rubber pad, I13, induction cup, I14, second joint screw. DETAILED DESCRIPTION

[0035] The application will be further described below in conjunction with the drawings and examples. It should be understood that the specific examples described herein are intended to explain the application and are not intended to limit the application.

[0036] Reference Figure 1 A suction cup assembly I includes a fastening screw I1, a suction cup I2, a suction cup fixing plate I3, a first joint screw I4, a support rod I5, a spring I6, a flat washer I7, a round nut I8, a stop washer I9, a support rod fixing plate I10, a support rod fixing sleeve I11, a rubber pad I12, an induction cup I13, and a second joint screw I14. When installing, the parts need to be tightened, and automated operation can improve production efficiency. Therefore, the present application discloses a suction cup assembly automatic tightening device, which is Figure 2 Reference

[0037] Reference Figure 3 and Figure 4, the first product has no induction sensor B1, positioning auxiliary cylinder B2, first auxiliary slide rail B3, screw guide sleeve B4, lock hole position adjusting cylinder B5, rubber suction cup positioning pin B6 and guide sleeve lifting cylinder B7, product has no induction sensor B1 is fixed on the base through the installation sheet metal, positioning auxiliary cylinder B2 is installed on the base, positioning auxiliary cylinder B2 is connected with rubber suction cup positioning pin B6, first auxiliary slide rail B3 is set in the side of the base, screw guide sleeve B4 is fixed on the first auxiliary slide rail B3 through the connecting block, lock hole position adjusting cylinder B5 is fixed on the base through the rod-shaped support, rubber suction cup positioning pin B6 is arranged below screw guide sleeve B4, screw guide sleeve B4 is connected with guide sleeve lifting cylinder B7, and guide sleeve lifting cylinder B7 is fixed on the base.

[0038] The first product has no induction sensor B1 is used for sensing whether the suction cup I2 is placed, the positioning auxiliary cylinder B2 is used for driving the rubber suction cup positioning pin B6 to fix the suction cup I2, so that it is not easy to shake, the first auxiliary slide rail B3 is used for the lifting of the screw guide sleeve B4, the lock hole position adjusting cylinder B5 is used for adjusting the position of the suction cup I2, and the guide sleeve lifting cylinder B7 is used for the lifting drive of the screw guide sleeve B4.

[0039] Reference Figure 5 And Figure 6 , the automatic tightening second station C includes product fixing lifting cylinder C1, large suction cup presence sensor C2, second auxiliary slide rail C3, gas-tight tightening butt joint structure one C4, gas-tight tightening butt joint structure two C5, product fixing plate C6, small suction cup tightening station C7, large suction cup tightening station C8, tightening lifting cylinder C9 and small suction cup presence sensor C10, the product fixing lifting cylinder C1 is fixed on the base, the product fixing plate C6 is connected with the product fixing lifting cylinder C1 through the floating joint, the large suction cup presence sensor C2 and the small suction cup presence sensor C10 are fixed on the base through the installation sheet metal, the second auxiliary slide rail C3 is arranged on the side of the base, the gas-tight tightening butt joint structure one C4 and the gas-tight tightening butt joint structure two C5 are fixed in the second auxiliary slide rail C3 through the connecting plate, the small suction cup tightening station C7 and the large suction cup tightening station C8 are fixed on the base through the rod-shaped support, and the tightening lifting cylinder C9 is fixed on the base and connected with the gas-tight tightening butt joint structure one C4 and the gas-tight tightening butt joint structure two C5.

[0040] The product fixing lifting cylinder C1 is used to drive the lifting of the product fixing plate C6, the large suction cup has the inductive sensor C2, and the small suction cup has the inductive sensor C10 for sensing whether the product is placed or not. The second auxiliary sliding rail C3 is used to assist the lifting of the airtight tightening butt joint structure one C4 and the airtight tightening butt joint structure two C5. The airtight tightening butt joint structure one C4 and the airtight tightening butt joint structure two C5 are used to adsorb the first joint screw I4. The product fixing plate C6 is used to fix the product. The small suction cup tightening station C7 and the large suction cup tightening station C8 are used to place the product. The tightening lifting cylinder C9 is used to drive the lifting of the airtight tightening butt joint structure one C4 and the airtight tightening butt joint structure two C5.

[0041] Referring to Figure 7 and Figure 8 , the automatic tightening third station D includes a first servo motor D1, a distance sensing sensor D2, a left side support rod clamping cylinder D3, a front and back sliding table cylinder D4, a rotating assembly stop cylinder D5, a lifting buffer assembly D6, a tightening butt joint structure four D7, a right side in and out cylinder D8, a joint limiting block D9, a right side support rod clamping cylinder D10, a support rod clamping piece D11, and a first lifting cylinder D12. The first servo motor D1 is fixed on the base through a connecting plate. The distance sensing sensor D2 is fixed on the base through sheet metal. The left side support rod clamping cylinder D3 and the right side support rod clamping cylinder D10 are respectively arranged on the two sides of the vertical part of the base. The front and back sliding table cylinder D4 and the rotating assembly stop cylinder D5 are both fixed on the base and arranged on the upper side of the left side support rod clamping cylinder D3 and the right side support rod clamping cylinder D10. The lifting buffer assembly D6 is composed of a guide rod and a spring. A sliding rail is arranged on the base. The tightening butt joint structure four D7 is installed on the sliding rail through a connecting piece. The right side in and out cylinder D8 and the joint limiting block D9 are connected through a floating joint. The first lifting cylinder D12 is installed on the side surface of the base and connected with the support rod clamping piece D11.

[0042] The first servo motor D1 is used to adjust the angle of the first joint screw I4. The distance sensing sensor D2 detects the angle of the first joint screw I4. The left side support rod clamping cylinder D2 and the right side support rod clamping cylinder D10 are used to fix the support rod I5. The front and back sliding table cylinder D4 is used to extend and retract the support rod clamping piece D11. The rotating assembly stop cylinder D5 is used to prevent the support rod clamping piece D11 from rotating freely. The lifting buffer assembly D6 can effectively stabilize the stability when the whole assembly is lifted. The tightening butt joint structure four D7 is used for butt joint tightening gun G8. The joint limiting block D9 is used to limit the first joint screw I4. The right side support rod clamping cylinder D10 is used to clamp the support rod I5. The first lifting cylinder D12 is used to drive the support rod clamping piece D11 to lift.

[0043] Referring to Figure 9 and Figure 10, the automatic tightening fourth station E includes positioning clamping cylinder E1, third auxiliary slide rail E2, tightening butt joint structure five E3, round nut magnetic suction head E4 and second lifting cylinder E5, positioning clamping cylinder E1 and second lifting cylinder E5 are fixed on the base, third auxiliary slide rail E2 is arranged on the side of the base, tightening butt joint structure five E3 is arranged in third auxiliary slide rail E2 through connecting plate, round nut magnetic suction head E4 is fixed with tightening butt joint structure five E3 through connecting rod.

[0044] Positioning clamping cylinder E1 is used for pressing the support rod fixing plate I11, prevents product assembly from shaking when tightening, third auxiliary slide rail E2 is used for assisting round nut magnetic suction head E4 lifting, tightening butt joint structure five E3 is used for butt joint for butt joint tightening gun G8, round nut magnetic suction head E4 is used for butt joint adsorption round nut I8, second lifting cylinder E5 is used for driving the lifting of tightening butt joint structure five E3 and round nut magnetic suction head E4

[0045] Reference Figure 11 And Figure 12 , the automatic tightening fifth station F includes positioning cylinder F1, down pressure cylinder F2, gas-tight tightening butt joint structure six F3, second product presence / absence inductive sensor F4, in-out cylinder F5 and third lifting cylinder F6, positioning cylinder F1 and in-out cylinder F5 are installed on the base, down pressure cylinder F2 and third lifting cylinder F6 are connected with slide rail on the base through mounting plate, gas-tight tightening butt joint structure six F3 is installed in third auxiliary slide rail E2 through connecting plate, second product presence / absence inductive sensor F4 is installed on the base through sheet metal.

[0046] Positioning cylinder F1 is used for driving clamp to clamp first joint screw I4, down pressure cylinder F2 is used for driving pressing plate to press down support rod fixing sleeve I11, support rod fixing plate I10, round nut stop washer I9, round nut I8 assembly, gas-tight tightening butt joint structure six F3 is used for butt joint for butt joint tightening gun G8, second product presence / absence inductive sensor F4 is used for sensing whether suction disc assembly is present, in-out cylinder F5 is used for driving the in-out of down pressure cylinder F2, gas-tight tightening butt joint structure six F3, third lifting cylinder F6 assembly, third lifting cylinder F6 is used for driving gas-tight tightening butt joint structure six F3 lifting.

[0047] Reference Figure 13 Tightening structure and moving module G include second servo motor G1, first slide table module G2, fourth auxiliary slide rail G3, third servo motor G4, second slide table module G5, fourth lifting cylinder G6, displacement sensor G7 and tightening gun G8, third servo motor G4 and second slide table module G5, second slide table module G5 is installed on the slider of first slide table module G2 and fourth auxiliary slide rail G3 through connecting plate, fourth lifting cylinder G6 and displacement sensor G7 are installed on the slider of second slide table module G5, and tightening gun G8 is connected with fourth lifting cylinder G6 through floating joint.

[0048] The second servo motor G1 is used to drive the slider on the first sliding table module G2 to move left and right, the first sliding table module G2 is used to carry the second sliding table module G5 and the tightening gun G8 to move left and right, the fourth auxiliary sliding rail G3 is used to assist the second sliding table module G5 and the tightening gun G8 to keep stable during the movement, the third servo motor G4 is used to drive the slider on the second sliding table module G5 to move up and down, the second sliding table module G5 is used to drive the fourth lifting cylinder G6, the displacement sensor G7 and the tightening gun G8 to move up and down, the fourth lifting cylinder G6 is used to drive the tightening gun G8 to move up and down, the displacement sensor G7 is used to detect whether the locking depth of the component is abnormal, and the tightening gun G8 is used to tighten the suction cup assembly.

[0049] In actual work, the working process is as follows:

[0050] Step one: start;

[0051] Referring to Figure 2 , press the start button at the device human-machine interface H, and the device starts.

[0052] Step two: take and place the suction cup I2 and the suction cup fixing plate I3;

[0053] Referring to Figure 1 , Figure 2 , Figure 3 and Figure 4 , the external robot places the suction cup I2 and the suction cup fixing plate I3 at the corresponding position of the automatic tightening first station B, and the first product presence sensor B1 senses whether the suction cup I2 and the suction cup fixing plate I3 are placed.

[0054] Step three: take and place the fastening screw I1 and tighten the suction cup I2 and the suction cup fixing plate I3;

[0055] Referring to Figure 1 , Figure 2 , Figure 3 and Figure 4 , the rubber suction cup positioning pin B6 positions the suction cup I2 so that it is not easy to shake, the positioning auxiliary cylinder B2 descends to drive the rubber suction cup positioning pin B6 to move, the guide sleeve lifting cylinder B7 drives the screw guide sleeve B4 to descend, the external robot takes the fastening screw I1 and places it in the two screw guide sleeves B4 respectively, the second servo motor G1 drives the first sliding table module G2 to move to the corresponding position, the fourth lifting cylinder G6 descends to drive the tightening gun G8 to descend, the third servo motor G4 drives the second sliding table module G5 to descend to the corresponding position, and the tightening gun G8 completes the locking action of the fastening screw I1, and after the two fastening screws I1 are tightened in turn, the guide sleeve lifting cylinder B7 and the positioning auxiliary cylinder B2 ascend in turn, the locking hole adjusting cylinder B5 extends, and the locking action is repeated to complete the taking and placing of the fastening screw I1 and the tightening, so as to fix the suction cup I2 and the suction cup fixing plate I3.

[0056] Step four: take and place the first joint screw I4 and tighten it;

[0057] Referring to Figure 1 , Figure 2 , Figure 5 and Figure 6 , the external robot takes the suction cup I2 and the suction cup fixing plate I3 assembly from the automatic tightening first station B and places it at the automatic tightening second station C, opens the vacuum at the airtight tightening docking structure one C4, the external robot places the first joint screw I4 at the lower end docking position of the airtight tightening docking structure one C4, the product fixing plate C6 fixes the product, the product fixing lifting cylinder C1 drives the product fixing plate C6 to descend, the tightening lifting cylinder C9 drives the airtight tightening docking structure one C4 and the airtight tightening docking structure two C5 to descend, the second servo motor G1 drives the first sliding table module G2 to move, realizing the left and right horizontal movement of the second sliding table module G5 and the tightening gun G8 to the working position, the third servo motor G4 drives the second sliding table module G5 to descend to the corresponding position, the second sliding table module G5 drives the fourth lifting cylinder G6 to move, the fourth lifting cylinder G6 drives the tightening gun G8 to descend, and the tightening action is completed in cooperation with the tightening gun G8.

[0058] Step five: tighten the support rod I5 and the suction cup I2, the suction cup fixing plate I3 and the first joint screw I4 assembly;

[0059] Referring to Figure 1 , Figure 2 , Figure 7 and Figure 8 , the external robot takes the suction cup I2, the suction cup fixing plate I3 and the first joint screw I4 assembly from the automatic tightening second station C and places it at the automatic tightening third station D, the first servo motor D1 adjusts the rotation according to the feedback value of the distance induction sensor D2 to ensure the placement angle of the suction cup I2, the suction cup fixing plate I3 and the first joint screw I4 assembly, the right in-out cylinder D8 extends, the joint limiting block D9 clamps the suction cup I2, the suction cup fixing plate I3 and the first joint screw I4 assembly, the external robot clamps the support rod I5 to the designated position directly above the automatic tightening third station D, the left support rod clamping cylinder D3 and the right support rod clamping cylinder D9 clamp the support rod I5, the forward and backward sliding table cylinder D4 extends, so that the support rod clamping piece D11 clamps the support rod I5, the first lifting cylinder D12 drives the support rod clamping piece D11 to descend, the rotary assembly stop cylinder D5 retracts, the second servo motor G1 drives the first sliding table module G2 to move, realizing the left and right horizontal movement of the second sliding table module G5 and the tightening gun G8 to the working position, the third servo motor G4 drives the second sliding table module G5 to descend to the corresponding position, the second sliding table module G5 drives the fourth lifting cylinder G6 to move, the fourth lifting cylinder G6 drives the tightening gun G8 to descend, and the tightening is completed.

[0060] Step six: tighten the round nut I8, round nut stop washer I9, strut fixing plate I10 and strut fixing sleeve I11 assembly;

[0061] Referring to Figure 1 , Figure 2 , Figure 9 and Figure 10 , the external robot takes the round nut stop washer I9, the strut fixing plate I10 and the strut fixing sleeve I11 and places them in the corresponding position of the automatic tightening fourth station E, the external robot takes the round nut I8 and places it on the round nut magnetic suction head E4 of the automatic tightening fourth station E, the positioning and clamping cylinder E1 descends, pressing the strut fixing plate I11 to prevent the product assembly from shaking during tightening, the second lifting cylinder E5 drives the tightening butt joint structure five E3 and the round nut magnetic suction head E4 to descend, the second servo motor G1 drives the first sliding table module G2 to move, realizing the left and right horizontal movement of the second sliding table module G5 and the tightening gun G8 to the working position, the third servo motor G4 drives the second sliding table module G5 to descend to the corresponding position, the second sliding table module G5 drives the fourth lifting cylinder G6 to move, and the fourth lifting cylinder G6 drives the tightening gun G8 to descend, completing the tightening of the round nut I8, the round nut stop washer I9, the strut fixing plate I10 and the strut fixing sleeve I11 assembly.

[0062] Step seven: take and place the suction cup I2, suction cup fixing plate I3, first joint screw I4 and strut I5 assembly;

[0063] Referring to Figure 1 , Figure 2 , Figure 11 and Figure 12 , the external robot places the suction cup I2, suction cup fixing plate I3, first joint screw I4 and strut I5 assembly in the corresponding position on the automatic tightening fifth station F, and the external robot sleeves the spring I6 and flat washer I7 onto the strut I5 on the automatic tightening fifth station F.

[0064] Step eight: tighten the induction cup I13 and the second joint screw I14;

[0065] Referring to Figure 1 , Figure 5 , Figure 9 , Figure 10 , Figure 11 , Figure 12 and Figure 13, the external robot takes the rubber pad I12 and sleeves it on the support rod I5 on the automatic tightening fifth station F, the external robot takes the second joint screw I14, the air-tight tightening butt joint structure six F3 is opened by suction, the external robot places the second joint screw I14 in the air-tight tightening butt joint structure six F3 bottom end interface, the in-out cylinder F5 drives the down-pressing cylinder F2, the air-tight tightening butt joint structure six F3 and the third lifting cylinder F6 assembly to stretch out, the down-pressing cylinder F2 is lowered, the pressing plate is driven to press down the support rod fixing sleeve I11, the support rod fixing plate I10, the stop washer for round nut I9 and the round nut I8 assembly, the external robot places the induction cup I13 in the corresponding position, the third lifting cylinder F6 is used for driving the air-tight tightening butt joint structure six F3 to descend, the second servo motor G1 drives the first sliding table module G2 to move, so that the second sliding table module G5 and the tightening gun G8 are transversely moved to the working position, the third servo motor G4 drives the second sliding table module G5 to descend to the corresponding position, the second sliding table module G5 drives the fourth lifting cylinder G6 to move, the fourth lifting cylinder G6 drives the tightening gun G8 to descend, and the tightening action is completed in cooperation with the tightening gun G8, and the second joint screw I14 is tightened.

[0066] In the description of the present application, it should be understood that the terms "coaxial", "bottom", "one end", "top", "middle", "the other end", "upper", "one side", "top", "inner", "front", "central", "both ends" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, which is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application.

[0067] In the present application, unless otherwise explicitly specified and limited, the terms "mounting", "setting", "connecting", "fixing", "threading", "pad setting" and the like should be understood broadly, for example, can be fixedly connected, can be detachably connected, or can be integrated; can be mechanically connected, or can be electrically connected; can be directly connected, or can be indirectly connected through an intermediate medium; can be the internal communication of two elements or the interaction relationship between two elements, unless otherwise explicitly limited, and those skilled in the art can understand the specific meaning of the above-mentioned terms in the present application according to the specific circumstances.

[0068] The foregoing description has shown and described preferred embodiments of the application, but it will be understood that the application is not limited to the particular embodiments shown and described, as such will have many modifications, permutations, additions and subtractions and changes as are obvious to one skilled in the art, and it is therefore intended to cover all such modifications and changes as fall within the scope of the application, including full use of the principles and features described herein. Changes and modifications can be made to the application in light of the above teachings. It is therefore intended that the application not be limited to the exact recitations of the claims, but rather that they be construed to cover all changes, modifications and equivalents that fall within the true scope of the application.

Claims

1. An automatic tightening device for a suction cup assembly, characterized in that: The device includes a suction cup assembly tightening device stand (A) and at least one tightening station. The tightening station includes an automatic tightening first station (B), an automatic tightening second station (C), an automatic tightening third station (D), an automatic tightening fourth station (E), and an automatic tightening fifth station (F) that are sequentially installed above the suction cup assembly tightening device stand (A). The suction cup assembly tightening device stand (A) is provided with a tightening structure, a moving module (G), and a human-machine interface (H). The automatic tightening first station (B) includes a first product presence / absence sensor (B1), a positioning auxiliary cylinder (B2), a first auxiliary slide rail (B3), a screw guide sleeve (B4), a locking hole position adjustment cylinder (B5), a rubber suction cup positioning pin (B6), and a guide sleeve lifting cylinder (B7). The product presence / absence sensor (B1) is fixed to the base by mounting sheet metal. The positioning auxiliary cylinder (B2) is mounted on the base and connected to the rubber suction cup positioning pin (B6). The first auxiliary slide rail (B3) is located on the side of the base. The screw guide sleeve (B4) is fixed to the first auxiliary slide rail (B3) by a connecting block. The locking hole position adjustment cylinder (B5) is fixed to the base by a rod-shaped bracket. The rubber suction cup positioning pin (B6) is located below the screw guide sleeve (B4). The screw guide sleeve (B4) is connected to the guide sleeve lifting cylinder (B7), which is fixed to the base. The suction cup assembly (I) includes a fastening screw (I1), a suction cup (I2), a suction cup fixing plate (I3), a first connector screw (I4), a support rod (I5), a spring (I6), a flat washer (I7), a round nut (I8), a stop washer (I9), a support rod fixing plate (I10), a support rod fixing sleeve (I11), a rubber pad (I12), a sensor cup (I13), and a second connector screw (I14). The automatic tightening first station (B) picks up and places fastening screws (I1) and tightens suction cup (I2) and suction cup fixing plate (I3); The automatic tightening second station (C) picks up and places the first connector screw (I4) and tightens it; The automatic tightening third station (D) tightens the support rod (I5) and suction cup (I2), suction cup fixing plate (I3) and first connector screw (I4) assembly; The automatic tightening fourth station (E) tightens the round nut (I8), the round nut retaining washer (I9), the support rod fixing plate (I10), and the support rod fixing sleeve (I11) assembly; The automatic tightening fifth station (F) picks up and places the suction cup (I2), suction cup fixing plate (13), first connector screw (I4) and support rod (15) assembly; tightens the induction cup (I13) and second connector screw (I14).

2. The automatic tightening device for the suction cup assembly according to claim 1, characterized in that: The automatic tightening second station (C) includes a product fixing and lifting cylinder (C1), a large suction cup presence / absence sensor (C2), a second auxiliary slide rail (C3), an airtight tightening docking structure one (C4), an airtight tightening docking structure two (C5), a product fixing plate (C6), a small suction cup tightening station (C7), a large suction cup tightening station (C8), a tightening lifting cylinder (C9), and a small suction cup presence / absence sensor (C10). The product fixing and lifting cylinder (C1) is fixed to the base, and the product fixing plate (C6) is connected to the product fixing and lifting cylinder (C1) via a floating joint. The presence or absence sensor of the large suction cup (C2) and the presence or absence sensor of the small suction cup (C10) are fixed to the base by mounting sheet metal. The second auxiliary slide rail (C3) is set on the side of the base. The first airtight tightening docking structure (C4) and the second airtight tightening docking structure (C5) are fixed in the second auxiliary slide rail (C3) by connecting plates. The tightening station of the small suction cup (C7) and the tightening station of the large suction cup (C8) are fixed to the base by rod-shaped brackets. The tightening lifting cylinder (C9) is fixed on the base and connected to the first airtight tightening docking structure (C4) and the second airtight tightening docking structure (C5).

3. The automatic tightening device for the suction cup assembly according to claim 2, characterized in that: The automatic tightening third station (D) includes a first servo motor (D1), a distance sensor (D2), a left support rod clamping cylinder (D3), a front and rear slide cylinder (D4), a rotary component stop cylinder (D5), a lifting and buffer assembly (D6), a tightening docking structure four (D7), a right inlet / outlet cylinder (D8), a connector limit block (D9), a right support rod clamping cylinder (D10), a support rod clamping component (D11), and a first lifting cylinder (D12). The first servo motor (D1) is fixed to the base via a connecting plate, and the distance sensor (D2) is fixed to the base via sheet metal. The left support rod clamping cylinder (D10)... 3) The right support rod clamping cylinder (D10) is respectively set on both sides of the vertical part of the base. The front and rear slide cylinders (D4) and the rotating component stop cylinder (D5) are fixed on the base and set on the upper side of the left support rod clamping cylinder (D3) and the right support rod clamping cylinder (D10). The lifting buffer component (D6) is composed of a guide rod and a spring. A slide rail is set on the base. The tightening docking structure four (D7) is installed on the slide rail through a connector. The right inlet and outlet cylinder (D8) and the joint limiting block (D9) are connected through a floating joint. The first lifting cylinder (D12) is installed on the side of the base and connected to the support rod clamping component (D11).

4. The automatic tightening device for the suction cup assembly according to claim 3, characterized in that: The automatic tightening fourth station (E) includes a positioning clamping cylinder (E1), a third auxiliary slide rail (E2), a tightening docking structure five (E3), a round nut magnetic suction head (E4), and a second lifting cylinder (E5). The positioning clamping cylinder (E1) and the second lifting cylinder (E5) are fixed on the base. The third auxiliary slide rail (E2) is set on the side of the base. The tightening docking structure five (E3) is set in the third auxiliary slide rail (E2) through a connecting plate. The round nut magnetic suction head (E4) is fixed to the tightening docking structure five (E3) through a connecting rod.

5. The automatic tightening device for the suction cup assembly according to claim 4, characterized in that: The automatic tightening fifth station (F) includes a positioning cylinder (F1), a pressing cylinder (F2), an airtight tightening docking structure six (F3), a second product presence / absence sensor (F4), an inlet / outlet cylinder (F5), and a third lifting cylinder (F6). The positioning cylinder (F1) and the inlet / outlet cylinder (F5) are mounted on the base. The pressing cylinder (F2) and the third lifting cylinder (F6) are connected to the slide rail on the base via a mounting plate. The airtight tightening docking structure six (F3) is mounted in the third auxiliary slide rail (E2) via a connecting plate. The second product presence / absence sensor (F4) is mounted on the base via sheet metal.

6. The automatic tightening device for the suction cup assembly according to claim 5, characterized in that: The tightening structure and moving module (G) includes a second servo motor (G1), a first slide module (G2), a fourth auxiliary slide rail (G3), a third servo motor (G4), a second slide module (G5), a fourth lifting cylinder (G6), a displacement sensor (G7), and a tightening gun (G8). The third servo motor (G4) is used to drive the slider on the second slide module (G5) to move up and down. The second slide module (G5) is mounted on the slider of the first slide module (G2) and the fourth auxiliary slide rail (G3) through a connecting plate. The fourth lifting cylinder (G6) and the displacement sensor (G7) are mounted on the slider of the second slide module (G5). The tightening gun (G8) is connected to the fourth lifting cylinder (G6) through a floating joint.

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