An automated assembly device for a piston tube

Abstract

The application provides an automatic assembling device for a piston tube, comprising a first feeding mechanism for feeding a tube body one by one; a first detection mechanism located on the moving path of a first carrying mechanism, for detecting the posture of the tube body; the first carrying mechanism is used for carrying the tube body from the first feeding mechanism to an assembling mechanism, and controlling the tube body to rotate to a preset posture; a second feeding mechanism is used for feeding a bottom cover one by one, and the conveying end of the second feeding mechanism is provided with an adjusting part for controlling the bottom cover to rotate to a preset posture; a second detection mechanism is arranged at the output end of the second feeding mechanism, for detecting the posture of the bottom cover; a second carrying mechanism is used for carrying the bottom cover from the second feeding mechanism to the assembling mechanism; and the assembling mechanism is used for assembling the tube body and the bottom cover to form a piston tube. The application effectively avoids the risk of misoperation caused by manual assembly, improves the assembly quality of the piston tube, and meets the continuous and efficient operation requirements of the medical instrument production line.

Description

Technical Field

[0001] This invention relates to the field of medical device manufacturing technology, and in particular to an automated assembly apparatus for piston tubes. Background Technology

[0002] In the production line of medical devices, the assembly of piston tubes is a crucial step, and the accuracy of this assembly process has a decisive impact on the quality of the medical devices. For example... Figure 1 , 2 The piston tube consists of two parts: a tube body 8 and a bottom cover 9. The bottom cover 9 is provided with a circular positioning hole 91, a combined positioning protrusion 92 formed by connecting a cuboid and a frustum, and a semi-circular positioning hole 93 in sequence along the circumference. The bottom plate of the tube body 8 is provided with a cylinder 81, a combined positioning groove 82, and a semi-circular cylinder 83 in corresponding order.

[0003] In the current assembly process, in order to ensure that the bottom cover 9 and the tube body 8 can be assembled accurately, the operator needs to manually adjust the relative positions of the bottom cover 9 and the tube body 8 so that the circular positioning hole 91 on the bottom cover 9 can be precisely inserted into the cylinder 81 on the bottom plate of the tube body 8, the combined positioning protrusion 82 on the bottom cover 9 can be precisely inserted into the combined positioning groove 92 on the bottom plate of the tube body 8, and the semi-circular positioning hole 93 on the bottom cover 9 can be precisely inserted into the semi-circular cylinder 83 on the bottom plate of the tube body 8, thereby achieving effective assembly of the piston tube.

[0004] The applicant has discovered that the prior art has at least the following technical problems:

[0005] Since manual assembly relies entirely on the operator's subjective judgment, the long-term, meticulous, and repetitive manual handling and adjustment of the bottom cover and tube body is prone to errors due to human factors, affecting the assembly quality of the piston tube and consequently the quality and performance of the medical device. Furthermore, manual labor is intensive, time-consuming, and inefficient, making it difficult to meet the continuous and efficient operation requirements of medical device production lines.

[0006] In view of this, the present invention is hereby proposed. Summary of the Invention

[0007] The purpose of this invention is to provide an automated assembly device for piston tubes, addressing the technical problems of existing manual piston tube assembly methods that rely entirely on operator judgment, leading to high risks of error, affecting assembly quality, high labor intensity, low efficiency, and difficulty in meeting the continuous and efficient operation requirements of medical device production lines. The preferred technical solutions provided by this invention offer numerous technical advantages, which are detailed below.

[0008] To achieve the above objectives, the present invention provides the following technical solution:

[0009] The present invention provides an automated assembly device for piston tubes, comprising a first feeding mechanism, a first conveying mechanism, a first detection mechanism, a second feeding mechanism, a second conveying mechanism, a second detection mechanism, an assembly mechanism, and a control module;

[0010] The first feeding mechanism is used to convey the pipes one by one;

[0011] The first detection mechanism is located on the moving path of the first conveying mechanism and is used to detect the posture of the tube.

[0012] The first conveying mechanism is used to convey the tube from the first feeding mechanism to the assembly mechanism and control the tube to rotate to a preset posture;

[0013] The second feeding mechanism is used to convey the bottom cover one by one. The conveying end of the second feeding mechanism is provided with an adjustment part to control the bottom cover to rotate to a preset posture.

[0014] The second detection mechanism is located at the output end of the second feeding mechanism and is used to detect the posture of the bottom cover;

[0015] The second conveying mechanism is used to move the bottom cover from the second loading mechanism to the assembly mechanism;

[0016] The assembly mechanism is used to assemble the tube body and the bottom cover to form a piston tube;

[0017] The first feeding mechanism, the first handling mechanism, the first detection mechanism, the second feeding mechanism, the second handling mechanism, the second detection mechanism, and the assembly mechanism are all electrically connected to the control module.

[0018] Preferably, the first feeding mechanism includes a first vibrating disc, a first guide rail, and a first feeding section connected sequentially along the conveying direction of the tube. The first feeding section includes a first feeding bracket, a first feeding cylinder, a feeding guide assembly, and a first feeding plate disposed on the first feeding bracket. A first feeding groove is provided on the first feeding plate, and the first feeding groove is connected to the discharge end of the first guide rail for receiving the tube. The first feeding cylinder drives the first feeding plate to move along the feeding guide assembly.

[0019] Preferably, the first handling mechanism includes a four-axis manipulator and a first gripper cylinder. The four-axis manipulator includes a base, a first robotic arm, a second robotic arm, and a third robotic arm connected in sequence. The rotating end of the third robotic arm is connected to the fixed end of the first gripper cylinder. The gripping end of the first gripper cylinder is used to grip and release the tube. The four-axis manipulator drives the first gripper cylinder to reciprocate between the first feeding trough and the assembly mechanism. The third robotic arm drives the first gripper cylinder to rotate the tube to a preset posture.

[0020] Preferably, the first detection mechanism is located between the first feeding plate and the assembly mechanism, and below the first gripper cylinder. The first detection mechanism includes a first detection bracket, a first CCD camera and a supplementary aperture. The first CCD camera and the supplementary aperture are adjustablely arranged on the first detection bracket from bottom to top. The shooting direction of the first CCD camera is towards the gripping end of the first gripper cylinder.

[0021] Preferably, the second feeding mechanism includes a second vibrating disc, a second guide rail, and a second feeding part connected sequentially along the conveying direction of the pipe body. The second feeding part includes a second feeding bracket and a second feeding plate disposed on the second feeding bracket. The adjustment part includes a rotary cylinder and a second gripper cylinder. A cuboid protrusion is provided at the bottom of the bottom cover. A limiting groove adapted to the cuboid protrusion is opened on the conveying channel of the second guide rail. A second feeding groove is opened on the second feeding plate. The second feeding groove is connected to the discharge end of the second guide rail for receiving the bottom cover. The rotating end of the rotary cylinder is connected to the fixed end of the second gripper cylinder. A gripping plate is respectively provided on the gripping claw of the second gripper cylinder. The gripping plate is correspondingly disposed below the second feeding groove. A gripping space is formed between the two gripping plates for the cuboid protrusion of the bottom cover to enter. The rotary cylinder drives the second gripper cylinder to rotate the bottom cover to a preset posture.

[0022] Preferably, the second transport mechanism includes a second transport bracket, a movable part, a lifting cylinder, and a vacuum suction cup disposed on the second transport bracket. The moving end of the movable part is connected to the fixed end of the lifting cylinder, the moving end of the lifting cylinder is connected to the vacuum suction cup, and the suction end of the vacuum suction cup is adapted to the bottom cover. The movable part drives the lifting cylinder to move the vacuum suction cup back and forth between the second loading trough and the assembly mechanism.

[0023] Preferably, the second detection mechanism is located close to the second feed plate. The second detection mechanism includes a second detection bracket and a second CCD camera. The second CCD camera is adjustablely mounted on the second detection bracket, and the shooting direction of the second CCD camera is towards the second feed plate.

[0024] Preferably, the assembly mechanism includes a support platform, a rotary drive unit, an ultrasonic welding machine, and a lifting unit. Multiple assembly tables are provided on the support platform and are evenly arranged along the circumference of the support platform. Each assembly table has a receiving groove for accommodating the bottom cover and the pipe body. A limiting groove adapted to the cuboid protrusion of the bottom cover is formed within the receiving groove, and a vacuum suction head is provided within the limiting groove. The rotary drive unit drives the support platform to rotate, so that the assembly tables pass sequentially through the ultrasonic welding machine. The lifting unit is located below the support platform and is correspondingly positioned to correspond with the ultrasonic welding machine.

[0025] Preferably, it further includes a first detection sensor, which is disposed on the first feeding plate and is used to detect whether a tube is received in the first feeding trough;

[0026] It also includes a second detection sensor, which is disposed on the second feeding plate and is used to detect whether a bottom cover is received in the second feeding trough.

[0027] It also includes a third detection sensor, which is configured one-to-one with the assembly table to detect whether the receiving tank receives a tube and a bottom cover;

[0028] The first detection sensor, the second detection sensor, and the third detection sensor are electrically connected to the control module.

[0029] The preferred technical solution of the present invention can also produce at least the following technical effects:

[0030] This invention effectively avoids the technical problems in the prior art where manual assembly of piston tubes relies entirely on the operator's subjective judgment, resulting in a high risk of misoperation, affecting the assembly quality of the piston tubes, high labor intensity, low work efficiency, and difficulty in meeting the continuous and efficient operation requirements of medical device production lines. This invention provides an automated assembly device for piston tubes, comprising a first feeding mechanism, a first conveying mechanism, a first detection mechanism, a second feeding mechanism, a second conveying mechanism, a second detection mechanism, an assembly mechanism, and a control module. The first feeding mechanism is used to feed tubes one by one. The first detection mechanism is located on the moving path of the first conveying mechanism and is used to detect the posture of the tubes. The first conveying mechanism is used to transport the tubes from the first feeding mechanism to the assembly mechanism and control the tubes to rotate to a preset posture. The second feeding mechanism is used to feed bottom covers one by one, and the conveying end of the second feeding mechanism is provided with an adjustment part for controlling the bottom covers to rotate to a preset posture. The second detection mechanism is located at the output end of the second feeding mechanism and is used to detect the posture of the bottom covers. The second conveying mechanism is used to transport the bottom covers from the second feeding mechanism to the assembly mechanism. The assembly mechanism is used to assemble the tubes and bottom covers to form a piston tube. The first feeding mechanism, the first conveying mechanism, the first detection mechanism, the second feeding mechanism, the second conveying mechanism, the second detection mechanism, and the assembly mechanism are electrically connected to the control module. This invention achieves automatic detection and adjustment of the posture of the tube body and bottom cover through the coordinated action of a first feeding mechanism, a first handling mechanism, a first detection mechanism, a second feeding mechanism, a second handling mechanism, a second detection mechanism, an assembly mechanism, and a control module. This makes the piston tube assembly process efficient, precise, and automated. This invention effectively avoids the risk of misoperation caused by relying entirely on the operator's subjective judgment during manual assembly, improves the assembly quality of the piston tube, and meets the continuous and efficient operation requirements of medical device production lines. Attached Figure Description

[0031] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0032] Figure 1 This is a schematic diagram of the structure with the tube body and bottom cover in a separated position;

[0033] Figure 2 This is a structural schematic diagram from another perspective, showing the tube body and bottom cover in a separated state.

[0034] Figure 3 This invention provides an overall structural schematic diagram of an automated assembly device for piston tubes.

[0035] Figure 4 This is a schematic diagram of the structure of the first feeding mechanism of an automated assembly device for piston tubes provided by the present invention;

[0036] Figure 5 This is a schematic diagram of the structure of the first feeding section of an automated assembly device for piston tubes provided by the present invention;

[0037] Figure 6 This is a schematic diagram of the structure of the first conveying mechanism and the first detection mechanism of the automated assembly device for piston tubes provided by the present invention;

[0038] Figure 7 This is a schematic diagram of the second feeding mechanism of an automated assembly device for piston tubes provided by the present invention;

[0039] Figure 8 This is a magnified view of part A in the figure;

[0040] Figure 9 This is a schematic diagram of the structure of the second detection mechanism and the second handling mechanism of the automated assembly device for piston tubes provided by the present invention;

[0041] Figure 10 This is a schematic diagram of the assembly mechanism of an automated assembly device for piston tubes provided by the present invention;

[0042] Figure 11 This is a schematic diagram of the assembly table of an automated assembly device for piston tubes provided by the present invention.

[0043] In the picture:

[0044] 1. First feeding mechanism; 11. First vibrating disc; 12. First guide rail; 13. First feeding bracket; 14. First feeding cylinder; 15. First feeding plate; 151. First feeding trough; 16. Baffle; 17. First detection sensor;

[0045] 2. First handling mechanism; 21. Base; 22. First robotic arm; 23. Second robotic arm; 24. Third robotic arm; 25. First gripper cylinder;

[0046] 3. First testing facility; 31. First testing bracket; 32. First CCD camera; 33. Aperture filler;

[0047] 4. Second feeding mechanism; 41. Second vibrating disc; 42. Second guide rail; 421. Limiting groove; 43. Second feeding bracket; 44. Second feeding plate; 441. Second feeding groove; 45. Rotary cylinder; 46. Second gripper cylinder; 47. Clamping plate; 471. Limiting groove; 48. Second detection sensor;

[0048] 5. Second transport mechanism; 51. Second transport support; 52. Cylinder slide; 53. Lifting cylinder; 54. Vacuum suction cup;

[0049] 6. Second testing facility; 61. Second testing bracket; 62. Second CCD camera;

[0050] 7. Assembly mechanism; 71. Support platform; 72. Assembly table; 721. Receiving groove; 722. Positioning groove; 723. Vacuum suction head; 73. Ultrasonic welding machine; 74. Lifting cylinder; 75. Lifting block; 76. Third detection sensor;

[0051] 8. Tube body; 81. Cylinder; 82. Combined positioning groove; 83. Semi-circular cylinder;

[0052] 9. Bottom cover; 91. Circular positioning hole; 92. Combined positioning protrusion; 93. Semi-circular positioning hole; 94. Rectangular protrusion. Detailed Implementation

[0053] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be described in detail below. Obviously, the described embodiments are merely some embodiments of this invention, and not all embodiments. Based on the embodiments of this invention, all other implementation methods obtained by those skilled in the art without creative effort are within the scope of protection of this invention.

[0054] like Figures 3-11 As shown, this invention provides an automated assembly device for piston tubes, including a first feeding mechanism 1, a first conveying mechanism 2, a first detection mechanism 3, a second feeding mechanism 4, a second conveying mechanism 5, a second detection mechanism 6, an assembly mechanism 7, and a control module. The first feeding mechanism 1 is used to feed tubes 8 one by one. The first detection mechanism 3 is located on the moving path of the first conveying mechanism 2 and is used to detect the posture of the tubes 8. The first conveying mechanism 2 is used to transport the tubes 8 from the first feeding mechanism 1 to the assembly mechanism 7 and control the rotation of the tubes 8 to a preset posture. The second feeding mechanism 4 is used to feed bottom covers 9 one by one. The conveying end of the second feeding mechanism 4 is provided with an adjustment part for controlling the rotation of the bottom covers 9 to a preset posture. The second detection mechanism 6 is located at the output end of the second feeding mechanism 4 and is used to detect the posture of the bottom covers 9. The second conveying mechanism 5 is used to transport the bottom covers 9 from the second feeding mechanism 4 to the assembly mechanism 7. The assembly mechanism 7 is used to assemble the tubes 8 and the bottom covers 9 to form a piston tube. The first feeding mechanism 1, the first handling mechanism 2, the first testing mechanism 3, the second feeding mechanism 4, the second handling mechanism 5, the second testing mechanism 6, and the assembly mechanism 7 are electrically connected to the control module.

[0055] The first feeding mechanism 1 conveys the tubes 8 one by one in an orderly manner. The first transport mechanism 2 transports the tubes 8 from the first feeding mechanism 1 to the assembly mechanism 7. The first detection mechanism 3 is located on the moving path of the first transport mechanism 2 and performs posture detection on the tubes 8 that pass by. When the first detection mechanism 3 detects that the posture of the tube 8 does not match the preset posture, the first transport mechanism 2 drives the tube 8 to rotate to the preset posture. Until the first detection mechanism 3 detects that the posture of the tube 8 matches the preset posture, that is, it meets the assembly requirements, the first transport mechanism 2 transports the tubes 8 to the assembly mechanism 7.

[0056] Meanwhile, the second feeding mechanism 4 conveys the bottom cover 9 one by one in an orderly manner. The second detection mechanism 6 and the adjustment unit are located at the output end of the second feeding mechanism 4. The second detection mechanism 6 performs posture detection on the bottom cover 9 located at the output end. When the second detection mechanism 6 detects that the posture of the bottom cover 9 does not match the preset posture, the adjustment unit drives the bottom cover 9 to rotate to the preset posture. Until the second detection mechanism 6 detects that the posture of the bottom cover 9 matches the preset posture, that is, it meets the assembly requirements, the second conveying mechanism 5 transports the bottom cover 9 from the output end of the second feeding mechanism 4 to the assembly mechanism 7, making full preparations for the assembly with the tube body 8.

[0057] Finally, the assembly mechanism 7 assembles the tube body 8 and the bottom cover 9, which have been adjusted to the preset posture, to form a complete piston tube.

[0058] As an optional implementation, the first feeding mechanism 1 includes a first vibrating disc 11, a first guide rail 12, and a first feeding section connected sequentially along the conveying direction of the tube 8. The first feeding section includes a first feeding bracket 13, a first feeding cylinder 14, a feeding guide assembly, and a first feeding plate 15 disposed on the first feeding bracket 13. The first feeding plate 15 has a first feeding groove 151, which is connected to the discharge end of the first guide rail 12 for receiving the tube 8. The first feeding cylinder 14 drives the first feeding plate 15 to move along the feeding guide assembly.

[0059] Furthermore, the feeding guide assembly includes a slide rail and a slider. The slide rail is mounted on the first feeding bracket 13 and extends in a direction parallel to the extension and retraction direction of the first feeding cylinder 14. The slider is located at the bottom of the first feeding plate 15 and slides in cooperation with the slide rail. The sliding cooperation between the slider and the slide rail improves the stability and reliability of the movement of the first feeding plate 15.

[0060] The first vibrating disc 11 uses vibration to initially organize and sort the scattered tubes 8, and then they enter the first guide rail 12 one by one in an orderly manner. The first guide rail 12 receives the tubes 8 from the first vibrating disc 11 and continues to guide the tubes 8 into the first feeding trough 151 in an orderly manner. The first vibrating disc 11 and the first guide rail 12 adopt existing technology, which will not be described in detail here.

[0061] The first feeding plate 15 has a receiving state and an output state. When the first feeding plate 15 is in the receiving state, the first feeding trough 151 is connected to the discharge end of the first guide rail 12 to receive the tube body 8. The first feeding cylinder 14 drives the first feeding plate 15 to move along the feeding guide assembly, so that the first feeding trough 151 drives the tube body 8 away from the discharge end of the first guide rail 12. At the same time, the first feeding plate 15 closes the discharge end of the first guide rail 12, so that the first feeding plate 15 switches from the receiving state to the output state, waiting for the handling operation of the first conveying mechanism 2.

[0062] A baffle 16 is provided on the side of the first guide rail 12 away from the first feeding cylinder 14 at the discharge end. When the first feeding plate 15 is in the output state, the baffle 16 closes the opening side of the first feeding trough 151 to prevent the tube body 8 from leaving the first feeding trough 151.

[0063] As an optional implementation, the first handling mechanism 2 includes a four-axis robot and a first gripper cylinder 25. The four-axis robot includes a base 21, a first robotic arm 22, a second robotic arm 23, and a third robotic arm 24 connected in sequence. The rotating end of the third robotic arm 24 is connected to the fixed end of the first gripper cylinder 25. The gripping end of the first gripper cylinder 25 is used to grip and release the tube 8. The four-axis robot drives the first gripper cylinder 25 to reciprocate between the first loading trough 151 and the assembly mechanism 7. The third robotic arm 24 drives the first gripper cylinder 25 to rotate the tube 8 to a preset posture.

[0064] Furthermore, the first end of the first robotic arm 22 is rotatably connected to the base 21, so that the first robotic arm 22 can rotate on the base 21. The second end of the first robotic arm 22 is rotatably connected to the first end of the second robotic arm 23, so that the first robotic arm 22 and the second robotic arm 23 can rotate relative to each other.

[0065] The second end of the second robotic arm 23 drives the third robotic arm 24 to move the first gripper cylinder 25 to perform lifting and lowering actions.

[0066] The third robotic arm 24 drives the first gripper cylinder 25 to rotate the tube 8 to a preset position.

[0067] The four-axis robot arm, through the coordinated movement of the base 21, the first robotic arm 22, the second robotic arm 23 and the third robotic arm 24, drives the first gripper cylinder 25 to reciprocate between the first feeding trough 151 and the assembly table 72 of the assembly mechanism 7, thereby realizing the transport of the tube body 8.

[0068] The four-axis robotic arm drives the first gripper cylinder 25 to move above the first loading trough 151. Then, it drives the first gripper cylinder 25 to descend and clamp the tube 8. Next, the first gripper cylinder 25 lifts the tube 8 and moves it above the first detection mechanism 3. The first detection mechanism 3 performs posture detection on the bottom plate of the tube 8. The third robotic arm 24 can drive the first gripper cylinder 25 to rotate the tube 8 to a preset posture to meet the assembly requirements. Finally, the qualified tube 8 is placed on the assembly table 72 of the assembly mechanism 7. At this time, the bottom cover 9 in the preset posture has been placed on the assembly table 72. The base 21, the first robotic arm 22, the second robotic arm 23 and the third robotic arm 24 are combined to form a conventional multi-joint robotic arm structure, which is the prior art.

[0069] As an optional implementation, the first detection mechanism 3 is located between the first feeding plate 15 and the assembly mechanism 7, and is located below the first gripper cylinder 25. The first detection mechanism 3 includes a first detection bracket 31, a first CCD camera 32 and a supplementary aperture 33. The first CCD camera 32 and the supplementary aperture 33 are adjustablely arranged on the first detection bracket 31 from bottom to top. The shooting direction of the first CCD camera 32 is towards the gripping end of the first gripper cylinder 25.

[0070] The first CCD camera 32 and the fill aperture 33 are adjustablely mounted on the first detection bracket 31 from bottom to top, allowing for flexible adjustment of their positions to achieve the best shooting effect.

[0071] When the first gripper cylinder 25 grips the tube 8 and moves it above the first CCD camera 32, the first CCD camera 32 takes a picture of the tube 8, capturing its image information. The control system analyzes and processes the image to detect whether the current posture of the bottom plate of the tube 8 conforms to the preset posture. If the current posture of the bottom plate of the tube 8 does not conform to the preset posture, the third robotic arm 24 drives the first gripper cylinder 25 to rotate the tube 8 to the preset posture so that the tube 8 can be accurately assembled with the bottom cover 9.

[0072] The supplementary aperture 33 provides sufficient illumination for the first CCD camera 32 to capture the tube 8, thereby improving image quality and reducing the impact of shadows and reflections on the detection results. Through the supplementary illumination provided by the supplementary aperture 33, the first CCD camera 32 can capture the detailed features of the tube 8 more clearly, improving the accuracy and reliability of the detection.

[0073] As an optional implementation, the second feeding mechanism 4 includes a second vibrating disc 41, a second guide rail 42, and a second feeding section connected sequentially along the conveying direction of the tube body 8. The second feeding section includes a second feeding bracket 43 and a second feeding plate 44 disposed on the second feeding bracket 43. The adjustment part includes a rotary cylinder 45 and a second gripper cylinder 46. A cuboid protrusion 94 is provided at the bottom of the bottom cover 9. A limiting groove 421 adapted to the cuboid protrusion 94 is opened on the conveying channel of the second guide rail 42. The second feeding plate 44 is opened... A second feeding trough 441 is provided, which is connected to the discharge end of the second guide rail 42 to receive the bottom cover 9. The rotating end of the rotary cylinder 45 is connected to the fixed end of the second gripper cylinder 46. The gripper of the second gripper cylinder 46 is respectively provided with a gripping plate 47. The gripping plate 47 is correspondingly located below the second feeding trough 441. A gripping space is formed between the two gripping plates 47 for the cuboid protrusion 94 of the bottom cover 9 to enter. The rotary cylinder 45 drives the second gripper cylinder 46 to rotate the bottom cover 9 to a preset posture.

[0074] Furthermore, the opposite sides of the two clamping plates 47 are flat sections, and a clamping space is formed between the two flat sections for the cuboid protrusion 94 of the bottom cover 9 to enter. A limiting groove 471 is provided in the middle of the two flat sections to further limit the position of the cuboid protrusion 94.

[0075] The second vibrating disc 41 uses vibration to initially organize and sort the scattered bottom covers 9, which then enter the second guide rail 42 one by one in an orderly manner. A limiting groove 421 is formed on the bottom plate of the second guide rail 42, which matches the cuboid protrusion 94 on the bottom of the bottom cover 9, ensuring that the bottom cover 9 is conveyed to the second feeding trough 441 with a stable posture. The second vibrating disc 41 and the second guide rail 42 utilize existing technology, which will not be described in detail here.

[0076] The second gripper cylinder 46 widens the gap between the two clamping plates 47 so that when the bottom cover 9 enters the second feeding groove 441 from the discharge end of the second guide rail 42, the cuboid protrusion 94 can easily and smoothly enter the clamping space from the limiting groove 421. Then, the second gripper cylinder 46 narrows the gap between the two clamping plates 47 so that the cuboid protrusion 94 is clamped and fixed in the limiting groove 471 to ensure that the bottom cover 9 will not shake or shift during the clamping process.

[0077] Since the circular positioning hole 91 and the semi-circular positioning hole 93 are located on both sides of the cuboid protrusion 94, the conveying posture of the bottom cover 9 is accurately defined by restricting the position of the cuboid protrusion 94. That is, the conveying posture of the bottom cover 9 is limited to two possibilities: conforming to the preset posture or rotating 180° to conform to the preset posture. This avoids any possible posture changes of the bottom cover 9 during the conveying process and simplifies the subsequent detection and adjustment process.

[0078] The second testing mechanism 6 performs attitude detection on the top surface of the bottom cover 9. If the current attitude of the top surface of the bottom cover 9 does not match the preset attitude, the rotary cylinder 45 drives the second gripper cylinder 46 to rotate the bottom cover 9 to the preset attitude so that the tube body 8 can be accurately assembled with the bottom cover 9.

[0079] As an optional implementation, the second transport mechanism 5 includes a second transport bracket 51, a movable part, a lifting cylinder 53, and a vacuum suction cup 54 disposed on the second transport bracket 51. The moving end of the movable part is connected to the fixed end of the lifting cylinder 53, the moving end of the lifting cylinder 53 is connected to the vacuum suction cup 54, and the suction end of the vacuum suction cup 54 is adapted to the bottom cover 9. The movable part drives the lifting cylinder 53 to move the vacuum suction cup 54 back and forth between the second loading groove 441 and the assembly mechanism 7.

[0080] Furthermore, the moving part includes conventional structures in the prior art such as a cylinder slide 52, a lead screw motor, and a linear module. Preferably, the moving part is a cylinder slide 52. The slide of the cylinder slide 52 is connected to the fixed end of the lifting cylinder 53. The cylinder slide 52 drives the lifting cylinder 53 and the vacuum suction cup 54 to reciprocate horizontally between the second loading trough 441 and the assembly table 72 of the assembly mechanism 7.

[0081] The lifting cylinder 53 drives the vacuum suction cup 54 to rise or fall vertically, so that the vacuum suction cup 54 contacts or separates from the bottom cover 9.

[0082] The shape of the suction end of the vacuum suction cup 54 is adapted to the bottom cover 9. The vacuum suction cup 54 generates a negative pressure suction force, which can firmly adhere to the bottom cover 9, and the bottom cover 9 will not fall off during transportation. When the bottom cover 9 is transported to the assembly table 72, the vacuum suction cup 54 releases the negative pressure, causing the bottom cover 9 to separate from the vacuum suction cup 54.

[0083] As an optional implementation, the second detection mechanism 6 is disposed close to the second feed plate 44. The second detection mechanism 6 includes a second detection bracket 61 and a second CCD camera 62. The second CCD camera 62 is adjustablely disposed on the second detection bracket 61, and the shooting direction of the second CCD camera 62 is towards the second feed plate 44.

[0084] The second CCD camera 62 takes a picture of the top surface of the bottom cover 9 and detects whether the current posture of the bottom cover 9 received in the second feeding trough 441 conforms to the preset posture.

[0085] The preset posture of the bottom cover 9 corresponds to the preset posture of the tube body 8. Specifically, the circular positioning hole 91 on the bottom cover 9 corresponds to the cylinder 81 on the bottom plate of the tube body 8, the combined positioning protrusion 92 on the bottom cover 9 corresponds to the combined positioning groove 82 on the bottom plate of the tube body 8, and the semi-circular positioning hole 93 on the bottom cover 9 corresponds to the semi-circular cylinder 83 on the bottom plate of the tube body 8, so that the tube body 8 can be precisely aligned and accurately inserted with the bottom cover 9 on the assembly table 72, thereby achieving efficient assembly.

[0086] As an optional implementation, the assembly mechanism 7 includes a support platform 71, a rotary drive unit, an ultrasonic welding machine 73, and a lifting unit. Multiple assembly tables 72 are mounted on the support platform 71 and are evenly arranged along the circumference of the support platform 71. Each assembly table 72 has a receiving groove 721 for accommodating the bottom cover 9 and the tube body 8. The receiving groove 721 has a positioning groove 722 that matches the cuboid protrusion 94 of the bottom cover 9, and a vacuum suction head 723 is installed within the positioning groove 722. The rotary drive unit drives the support platform 71 to rotate, causing the assembly tables 72 to pass sequentially through the ultrasonic welding machine 73. The lifting unit is located below the support platform 71 and is positioned corresponding to the ultrasonic welding machine 73.

[0087] Furthermore, there are four assembly stations 72, which are evenly arranged around the circumference of the support platform 71.

[0088] The assembly table 72 is provided with a receiving groove 721 for precisely accommodating the bottom cover 9 and the tube body 8. The receiving groove 721 has a positioning groove 722 that matches the cuboid protrusion 94 on the bottom cover 9 for precisely positioning the bottom cover 9, thereby improving the accuracy and efficiency of assembly.

[0089] A vacuum suction head 723 is provided in the positioning groove 722. When the vacuum suction cup 54 releases the negative bottom cover 9, the vacuum suction head 723 generates a negative pressure suction force to firmly attach the bottom cover 9 to the assembly table 72, preventing it from falling off or shifting during rotation or welding.

[0090] The rotary drive unit includes a power source in the prior art such as a rotary motor to drive the support platform 71 to rotate smoothly, so that the assembly table 72 passes through the ultrasonic welding machine 73 in sequence.

[0091] The ultrasonic welding machine 73 is located on the rotation path of the support platform 71. The welding head of the ultrasonic welding machine 73 moves downward and contacts the bottom plate of the tube body 8, using the energy generated by high-frequency vibration to weld the bottom cover 9 to the tube body 8. The ultrasonic welding machine 73 is existing technology and will not be described in detail here.

[0092] The lifting unit includes a lifting cylinder 74 and a lifting block 75. The lifting cylinder 74 drives the lifting block 75 to rise or fall, and the lifting block 75 is adapted to the assembly table 72. The lifting cylinder 74 and the lifting block 75 are existing technologies and will not be described in detail here.

[0093] During the welding operation of the ultrasonic welding machine 73, the lifting cylinder 74 drives the lifting block 75 to rise and abut against the bottom surface of the support platform 71, which plays a supporting and stabilizing role, avoiding the risk of the support platform 71 tipping over due to the downward pressure that may be generated by the ultrasonic welding machine 73 during the welding process.

[0094] As an optional implementation, a first detection sensor 17 is also included. The first detection sensor 17 is disposed on the first feeding plate 15 and is used to detect whether the tube body 8 is received in the first feeding trough 151.

[0095] It also includes a second detection sensor 48, which is disposed on the second feeding plate 44 and is used to detect whether the bottom cover 9 is received in the second feeding trough 441.

[0096] It also includes a third detection sensor 76, which is set one-to-one with the assembly table 72 to detect whether the receiving tank 721 receives the tube body 8 and the bottom cover 9.

[0097] The first detection sensor 17, the second detection sensor 48, and the third detection sensor 76 are electrically connected to the control module. The first detection sensor 17, the second detection sensor 48, and the third detection sensor 76 utilize existing technology, which will not be elaborated upon here.

[0098] The working principle of this invention is as follows:

[0099] S1: Tube body 8 feeding, adjustment and inspection:

[0100] The first vibrating disc 11 transports the tubes 8 one by one through the first guide rail 12 to the first feeding trough 151;

[0101] The first feeding cylinder 14 drives the first feeding plate 15 to move along the feeding guide assembly, switching the tube body 8 from the receiving state to the output state, waiting for the first conveying mechanism 2 to grab the tube body 8.

[0102] After the first gripper cylinder 25 grips the tube 8, the four-axis robotic arm drives it to move above the first CCD camera 32 for image detection. If the current posture of the tube 8 does not match the preset posture, the third robotic arm 24 drives the first gripper cylinder 25 to rotate the tube 8 to the preset posture.

[0103] S2: Bottom cover 9 loading, adjustment and inspection:

[0104] The second vibrating plate 41 transports the bottom cover 9 one by one through the second guide rail 42 to the second feeding trough 441, and the second gripper cylinder 46 holds the bottom cover 9.

[0105] The second CCD camera 62 performs attitude detection on the bottom cover 9; if the current attitude of the bottom cover 9 does not match the preset attitude, the rotary cylinder 45 drives the second gripper cylinder 46 to rotate the bottom cover 9 to the preset attitude.

[0106] S3: Handling of tube body 8 and bottom cover 9:

[0107] The vacuum suction cup 54, through the coordinated action of the cylinder slide 52 and the lifting cylinder 53, transports the qualified bottom cover 9 to the receiving slot 721 of the assembly table 72.

[0108] The four-axis robotic arm drives the first gripper cylinder 25 to pick up the qualified tube body 8 and accurately place it on the assembly table 72 where the bottom cover 9 has been placed. The tube body 8 and the bottom cover 9 are precisely connected through their respective positioning structures.

[0109] S4: Piston tube assembly:

[0110] The rotary drive unit drives the carrier platform 71 to rotate, so that the tube body 8 and the bottom cover 9 are in the insertion completed posture of the assembly table 72 and are welded by the ultrasonic welding machine 73 in sequence.

[0111] The ultrasonic welding machine 73 uses the energy generated by high-frequency vibration to firmly weld the bottom cover 9 and the tube body 8 together to form a complete piston tube.

[0112] It is understood that the same or similar parts in the above embodiments can be referred to each other, and the contents not described in detail in some embodiments can be referred to the same or similar contents in other embodiments.

[0113] In the description of this invention, it should be noted that, unless otherwise stated, "a plurality of" means two or more. The terms "upper," "lower," "left," "right," "inner," "outer," "front end," "rear end," "head," and "tail," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Furthermore, the terms "first," "second," and "third," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0114] In the description of this invention, it should also be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection. They can refer to a mechanical connection or an electrical connection. They can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0115] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "a particular example," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above 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 one or more embodiments or examples.

[0116] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. An automated assembly apparatus for piston tubes, characterized in that, It includes a first feeding mechanism, a first handling mechanism, a first inspection mechanism, a second feeding mechanism, a second handling mechanism, a second inspection mechanism, an assembly mechanism, and a control module; The first feeding mechanism is used to convey the pipes one by one; The first detection mechanism is located on the moving path of the first conveying mechanism and is used to detect the posture of the tube. The first conveying mechanism is used to convey the tube from the first feeding mechanism to the assembly mechanism and control the tube to rotate to a preset posture; The second feeding mechanism is used to convey the bottom cover one by one. The conveying end of the second feeding mechanism is provided with an adjustment part to control the bottom cover to rotate to a preset posture. The second detection mechanism is located at the output end of the second feeding mechanism and is used to detect the posture of the bottom cover; The second conveying mechanism is used to move the bottom cover from the second loading mechanism to the assembly mechanism; The assembly mechanism is used to assemble the tube body and the bottom cover to form a piston tube; The first feeding mechanism, the first conveying mechanism, the first detection mechanism, the second feeding mechanism, the second conveying mechanism, the second detection mechanism, and the assembly mechanism are all electrically connected to the control module. The assembly mechanism includes a support platform, a rotary drive unit, an ultrasonic welding machine, and a lifting unit. Multiple assembly tables are arranged evenly along the circumference of the support platform. Each assembly table has a receiving groove for accommodating the bottom cover and the pipe body. The receiving groove has a limiting groove adapted to the cuboid protrusion of the bottom cover, and a vacuum suction head is installed within the limiting groove. The rotary drive unit drives the support platform to rotate, causing the assembly tables to pass sequentially through the ultrasonic welding machine. The lifting unit is located below the support platform and corresponds to the ultrasonic welding machine.

2. The automated assembly device for piston tubes according to claim 1, characterized in that, The first feeding mechanism includes a first vibrating disc, a first guide rail, and a first feeding part connected sequentially along the conveying direction of the tube. The first feeding part includes a first feeding bracket, a first feeding cylinder, a feeding guide assembly, and a first feeding plate disposed on the first feeding bracket. A first feeding groove is provided on the first feeding plate, and the first feeding groove is connected to the discharge end of the first guide rail for receiving the tube. The first feeding cylinder drives the first feeding plate to move along the feeding guide assembly.

3. The automated assembly device for piston tubes according to claim 2, characterized in that, The first handling mechanism includes a four-axis manipulator and a first gripper cylinder. The four-axis manipulator includes a base, a first robotic arm, a second robotic arm, and a third robotic arm connected in sequence. The rotating end of the third robotic arm is connected to the fixed end of the first gripper cylinder. The gripping end of the first gripper cylinder is used to grip and release the tube. The four-axis manipulator drives the first gripper cylinder to reciprocate between the first loading trough and the assembly mechanism. The third robotic arm drives the first gripper cylinder to rotate the tube to a preset posture.

4. The automated assembly device for piston tubes according to claim 3, characterized in that, The first detection mechanism is located between the first feeding plate and the assembly mechanism, and below the first gripper cylinder. The first detection mechanism includes a first detection bracket, a first CCD camera and a supplementary aperture. The first CCD camera and the supplementary aperture are adjustablely arranged on the first detection bracket from bottom to top. The shooting direction of the first CCD camera is towards the gripping end of the first gripper cylinder.

5. An automated assembly device for piston tubes according to claim 2, characterized in that, The second feeding mechanism includes a second vibrating disc, a second guide rail, and a second feeding section connected sequentially along the conveying direction of the pipe body. The second feeding section includes a second feeding bracket and a second feeding plate disposed on the second feeding bracket. The adjustment section includes a rotary cylinder and a second gripper cylinder. A cuboid protrusion is provided at the bottom of the bottom cover. A limiting groove adapted to the cuboid protrusion is opened on the conveying channel of the second guide rail. A second feeding groove is opened on the second feeding plate. The second feeding groove is connected to the discharge end of the second guide rail for receiving the bottom cover. The rotating end of the rotary cylinder is connected to the fixed end of the second gripper cylinder. A gripping plate is respectively provided on the gripping claw of the second gripper cylinder. The gripping plate is correspondingly disposed below the second feeding groove. A gripping space is formed between the two gripping plates for the cuboid protrusion of the bottom cover to enter. The rotary cylinder drives the second gripper cylinder to rotate the bottom cover to a preset posture.

6. An automated assembly apparatus for piston tubes according to claim 5, characterized in that, The second transport mechanism includes a second transport bracket, a movable part, a lifting cylinder, and a vacuum suction cup disposed on the second transport bracket. The moving end of the movable part is connected to the fixed end of the lifting cylinder, and the moving end of the lifting cylinder is connected to the vacuum suction cup. The suction end of the vacuum suction cup is adapted to the bottom cover. The movable part drives the lifting cylinder to move the vacuum suction cup back and forth between the second loading trough and the assembly mechanism.

7. An automated assembly apparatus for piston tubes according to claim 6, characterized in that, The second detection mechanism is located close to the second loading plate. The second detection mechanism includes a second detection bracket and a second CCD camera. The second CCD camera is adjustablely mounted on the second detection bracket, and the shooting direction of the second CCD camera is towards the second loading plate.

8. An automated assembly apparatus for piston tubes according to claim 5, characterized in that, It also includes a first detection sensor, which is disposed on the first feeding plate and is used to detect whether a tube is received in the first feeding trough; It also includes a second detection sensor, which is disposed on the second feeding plate and is used to detect whether a bottom cover is received in the second feeding trough. It also includes a third detection sensor, which is configured one-to-one with the assembly table to detect whether the receiving tank receives a tube and a bottom cover; The first detection sensor, the second detection sensor, and the third detection sensor are electrically connected to the control module.

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