An automatic feeding and assembly machine for inner lining rings and its assembly method

Abstract

An automatic feeding and assembly machine for inner lining rings and its assembly method are disclosed, comprising: an automatic feeding and assembly machine for inner lining rings, including a feeding vibratory feeder, a linear conveying mechanism, and a single picking mechanism; a transfer positioning mechanism is mounted on one side of the single picking mechanism, an assembly fixture is mounted on one side of the transfer positioning mechanism, and a material transfer mechanism is mounted on one side between the transfer positioning mechanism and the assembly fixture; the material transfer mechanism includes a transverse drive module, on which a first manipulator and a second manipulator are respectively mounted; the second manipulator includes a second lifting drive module, a transverse pushing component, a second picking rod component, an upper clamping fixing component, a lower pressing fixing component, and a lower pushing drive component; a first clamping drive component is mounted on one side of the transfer positioning mechanism, and a second clamping drive component is mounted on one side of the assembly fixture; and an assembly method for the automatic feeding and assembly machine for inner lining rings, comprising the assembly steps of the automatic feeding and assembly machine for inner lining rings.

Description

Technical Field

[0001] This invention relates to the technical field of automatic assembly of inner lining rings, and in particular to an automatic feeding and assembly machine for inner lining rings and its assembly method. Background Technology

[0002] The inner liner ring 9 is generally installed in the hole of the mounting part 8 where the inner liner ring 9 needs to be installed, in order to serve the functions of isolation, increasing friction, wear resistance, and protection. For example, in the field of safety buckles, it is usually necessary to install the inner liner ring 9 in the hole of the safety buckle.

[0003] However, the inner liner ring 9 has a special structure, and existing inner liner rings 9, such as... Figure 1 As shown, the inner liner ring 9 has the following specific structure: the inner liner ring 9 is open in the middle, which facilitates installation. The upper part of the inner liner ring 9 has an upper end piece 91 and the lower part has a lower end piece 92. A groove is formed between the upper end piece 91 and the lower end piece 92 of the inner liner ring 9 for engaging with the hole of the safety buckle. One open end of the inner liner ring 9 is designated as the first end 93 and the other end is designated as the second end 94.

[0004] Due to the unique structure of the inner ring 9 and its relatively hard plastic material, automated assembly of the inner ring 9 is difficult. The difficulty lies in the following: if the inner ring 9 is directly pressed into the hole of the mounting part 8, the inner ring 9 itself has a certain elastic expansion (and the inner ring 9 itself is very hard). Either it cannot be pressed in, or if it is pressed in, the inner ring 9 will deform, twist, and bend during the pressing process. As a result, the groove between the upper end piece 91 and the lower end piece 92 of the inner ring 9 may not be fully engaged in the hole of the mounting part 8. When the automated mechanism resets, the inner ring 9 may pop out due to its own elasticity, or it may pop out during use. Alternatively, hard pressing may cause the lower end piece 92 to deform or break, which poses a risk of use.

[0005] Therefore, the industry generally does not use automated mechanisms to load and assemble the inner liner ring 9; manual loading and assembly are generally used instead.

[0006] However, manual assembly also presents certain difficulties. The difficulty lies in the fact that when the first end 93 and the second end 94 of the inner liner ring 9 are misaligned, the hardness is relatively high and the elasticity is easily restored. It requires a lot of force to misalign the first end 93 and the second end 94 of the inner liner ring 9. At the same time, the first end 93 and the second end 94 of the inner liner ring 9 easily restore their shape. Manually, a certain amount of force is required to pry open one end of the inner liner ring 9, first wed one end of the inner liner ring into the hole of the mounting part 8; then fix that end and wed the inner liner ring 9 in, or fix that end and gradually wed the inner liner ring 9 in along its annular edge.

[0007] However, the above-mentioned method of manually feeding and assembling the inner liner ring 9 has disadvantages such as difficulty in assembly, high labor intensity, and low production efficiency. Summary of the Invention

[0008] The purpose of this invention is to overcome the above-mentioned defects in the prior art and provide an automatic feeding and assembly machine for inner lining rings and its assembly method, which solves the problem of manually feeding and assembling inner lining rings into the holes of the mounting parts, thereby achieving simple inner lining ring assembly, low manual labor intensity and high production efficiency.

[0009] To achieve the above objectives, the present invention provides the following two aspects:

[0010] In a first aspect, an automatic feeding and assembly machine for inner lining rings includes a feeding vibratory feeder, a linear conveyor mechanism mounted at one end of the feeding vibratory feeder, and a single picking mechanism mounted at one end of the linear conveyor mechanism. A transfer positioning mechanism is mounted on one side of the single picking mechanism, and an assembly fixture is mounted on one side of the transfer positioning mechanism. A material transfer mechanism is mounted on one side between the transfer positioning mechanism and the assembly fixture. The material transfer mechanism includes a transverse drive module, on which are respectively mounted a first robotic arm for transferring the inner lining rings from the single picking mechanism to the transfer positioning mechanism, and a robotic arm for transferring and assembling the inner lining rings from the transfer positioning mechanism to the assembly fixture. The second robotic arm on the assembly fixture includes a second lifting drive module mounted on the lateral drive module, a lateral pushing component mounted on the second lifting drive module, a second picking rod assembly mounted on the lateral pushing component, an upper clamping and fixing component mounted on one side of the second picking rod assembly, a lower pressing and fixing component mounted on one side of the second picking rod assembly, and a lower pushing drive component mounted on one side of the second picking rod assembly. A first opening clamping drive component for cooperating with the upper clamping and fixing component is mounted on one side of the transfer positioning mechanism, and a second opening clamping drive component for cooperating with the upper clamping and fixing component is mounted on one side of the assembly fixture.

[0011] Preferably, the single material handling mechanism includes a chute at one end of the linear transport mechanism, a first sensor installed at the connection between the linear transport mechanism and the chute, a pusher cylinder installed at one end of the chute, and a pusher block installed on the pusher cylinder. The pusher block is slidably connected to the chute, and the pusher block has a single material handling port that matches one end of the linear transport mechanism.

[0012] Preferably, the transfer positioning mechanism includes a transfer frame, a longitudinal rotary motor mounted on the transfer frame, a rotary seat mounted on the longitudinal rotary motor, and a positioning placement ring mounted on the top of the rotary seat, wherein a second sensor is mounted on one side of the positioning placement ring.

[0013] Preferably, the first robotic arm includes a first lifting drive module mounted on a horizontal drive module and a first picking rod assembly mounted on the first lifting drive module. The first picking rod assembly includes a first fixed shaft cylinder mounted on the first lifting drive module, a first picking cylinder mounted on the first lifting drive module, and a first picking rod mounted on one end of the first picking cylinder and passing through and slidably connected to the first fixed shaft cylinder.

[0014] Preferably, the second material picking rod assembly includes a second fixed shaft cylinder mounted on the second lifting drive module, a second material picking cylinder mounted on the second lifting drive module, and a second material picking rod mounted on one end of the second material picking cylinder and passing through and slidably connected to the second fixed shaft cylinder, wherein a second material picking baffle is mounted at the bottom of the second fixed shaft cylinder.

[0015] Preferably, the upper clamping fixing assembly includes a first frame mounted on the second lifting drive module or the second material picking rod assembly and an upper clamping block mounted on the first frame. The top of the upper clamping block has a first wedge-shaped block, the middle of the upper clamping block is hinged to the first frame, a return spring is connected between one end of the upper clamping block and the first frame, and the bottom of the upper clamping block has a clamping arm block located below the second material picking baffle and used to cooperate with the second material picking baffle to clamp the upper end piece of the first end of the inner liner ring.

[0016] Preferably, the first clamping drive assembly and the second clamping drive assembly each include a second frame mounted on the transfer positioning mechanism, a clamping cylinder mounted on the second frame, and a second wedge block mounted on the clamping cylinder. When the clamping cylinder drives the second wedge block to press against the first wedge block of the upper clamping fixing assembly, the upper clamping block rotates relative to the first frame, and the clamping arm block moves away from below the second material picking baffle.

[0017] Preferably, the second material receiving baffle has a first opening on one side, and the pressing and fixing assembly includes a pressing cylinder installed at one end of the second material receiving rod assembly and a pressing push block installed on the pressing cylinder and passing through the first opening.

[0018] Preferably, the second material picker baffle has a second opening on one side, and the push-down drive assembly includes a push-down cylinder mounted on one side of the second material picker rod assembly and a push-down block mounted on the push-down cylinder and passing through the second opening.

[0019] Secondly, an assembly method for an automatic feeding and assembly machine for inner lining rings, comprising the automatic feeding and assembly machine for inner lining rings as described in the first aspect, wherein the assembly steps are as follows:

[0020] S1: The feeding vibratory feeder feeds the inner lining ring, the linear conveyor conveys the inner lining ring, and the single picking mechanism picks up a single inner lining ring.

[0021] S2: Includes the following sub-steps S21 and S22, which move synchronously:

[0022] S21: The lateral drive module reciprocates laterally to drive the first robot arm, so that the first robot arm moves the inner liner ring on the single material picking mechanism to the transfer positioning mechanism. Then, the transfer positioning mechanism rotates the inner liner ring to position the angle of the inner liner ring.

[0023] S22: The lateral drive module reciprocates laterally to drive the second robot arm, so that the second robot arm moves the inner liner ring on the transfer positioning mechanism to the assembly fixture;

[0024] When the second robotic arm is positioned on the transfer positioning mechanism, the first clamping drive assembly drives the upper clamping fixing assembly to open, so that the second lifting drive module drives the second picking rod assembly to remove the inner liner ring from the transfer positioning mechanism. Then, the first clamping drive assembly resets, the upper clamping fixing assembly resets and abuts against the bottom of the upper end piece of the first end of the inner liner ring, and the second picking rod assembly and the upper clamping fixing assembly work together to clamp the upper end piece of the first end of the inner liner ring.

[0025] S3: The second robotic arm is located on the assembly fixture. The pressing and fixing component on the second robotic arm presses down on the top of the upper end piece of the second end of the inner liner ring, so that the first end of the inner liner ring and its second end are misaligned vertically.

[0026] S4: The second lifting drive module drives the second picking rod assembly to descend, so that the upper and lower end pieces of the second end of the inner liner ring enter the hole of the part to be installed in the assembly fixture.

[0027] S5: The lateral pushing component drives the second picking rod component to move laterally, so that the upper and lower end pieces of the second end of the inner liner ring respectively engage with the hole positions of the part to be installed.

[0028] S6: The second clamping drive assembly drives the upper clamping fixing assembly to open, causing the upper clamping fixing assembly to loosen the upper end piece of the first end of the inner liner ring;

[0029] S7: The push-down drive assembly pushes one side of the top of the upper end piece of the first end of the inner liner ring, so that the upper end piece and the lower end piece of the first end of the inner liner ring respectively engage with one side of the hole of the mounting component, thereby making the inner liner ring fully engage with the hole of the mounting component.

[0030] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0031] 1. The present invention efficiently places and positions a single inner liner by means of a feeding vibratory feeder, a linear transport mechanism, a single material picking mechanism, a first robotic arm and a transfer positioning mechanism.

[0032] 2. This invention uses the second picking rod assembly of the second robotic arm to grasp a single positioned inner liner. The second lifting drive module, the horizontal drive assembly, the upper clamping and fixing assembly, the lower pressing and fixing assembly, and the lower pushing drive assembly of the second robotic arm work together to simulate the movement of the holes of the mounting parts where the inner liner ring is assembled in a certain logical sequence. This ensures that the inner liner ring installation process is reasonable, that the installation will not damage the inner liner ring, and that the inner liner ring assembly is easy, stable, and efficient, greatly reducing the intensity of manual labor. Attached Figure Description

[0033] 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 some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0034] Figure 1 This is a structural schematic diagram of the mounting components and inner liner ring in the prior art;

[0035] Figure 2 This is a schematic diagram of the structure of an automatic feeding and assembly machine for inner lining rings according to Embodiment 1 of the present invention;

[0036] Figure 3 This is a schematic diagram of the structure of the feeding vibratory feeder, linear conveying mechanism, and single material handling mechanism in Embodiment 1 of the present invention;

[0037] Figure 4 This is a schematic diagram of the lateral drive module and the first robotic arm according to Embodiment 1 of the present invention;

[0038] Figure 5 This is a schematic diagram of the structure when the second robotic arm of Embodiment 1 of the present invention is moved to the top of the assembly fixture; (corresponding to step S22 of Embodiment 2)

[0039] Figure 6 This is a schematic diagram of the structure of the pressing and fixing component on the second robotic arm of Embodiment 1 of the present invention pressing down on the top of the upper end piece of the second end of the inner liner ring; (corresponding to step S3 of Embodiment 2)

[0040] Figure 7 This is a schematic diagram of the structure of the second lifting drive module driving the second picking rod assembly to descend on the second robotic arm in Embodiment 1 of the present invention; (corresponding to step S4 in Embodiment 2).

[0041] Figure 8 This is a schematic diagram of the structure of the second clamping drive assembly driving the upper clamping fixing assembly to open in Embodiment 1 of the present invention; (corresponding to step S6 in Embodiment 2)

[0042] Figure 9 This is a schematic diagram of the structure of the push-down drive assembly of Embodiment 1 of the present invention, which pushes one side of the top of the upper end piece of the first end of the inner liner ring; (corresponding to step S7 of Embodiment 2).

[0043] Figure 10 This is a schematic diagram of step S22 of the assembly method of an automatic inner ring feeding and assembly machine according to Embodiment 2 of the present invention; (wherein, for easy and intuitive viewing and understanding, each component on the second robotic arm is replaced by a circle).

[0044] Figure 11 This is a schematic diagram of step S3 of the assembly method of an automatic inner ring feeding and assembly machine according to Embodiment 2 of the present invention; (wherein, for easy and intuitive viewing and understanding, each component on the second robotic arm is replaced by a circle).

[0045] Figure 12 This is a schematic diagram showing the sequential execution of steps S4 and S5 in an assembly method for an automatic inner ring feeding and assembly machine according to Embodiment 2 of the present invention; (wherein, for ease of visual observation and understanding, the components on the second robotic arm are represented by circles).

[0046] Figure 13 This is a schematic diagram of step S6 of the assembly method of an automatic inner ring feeding and assembly machine according to Embodiment 2 of the present invention; (wherein, for easy and intuitive viewing and understanding, each component on the second robotic arm is replaced by a circle).

[0047] Figure 14 This is a schematic diagram of step S7 of an assembly method for an automatic inner liner ring feeding and assembly machine according to Embodiment 2 of the present invention. (In this diagram, for ease of viewing and understanding, the components on the second robotic arm are represented by circles.)

[0048] The diagram includes:

[0049] 1. Feeding vibratory feeder; 2. Linear transport mechanism; 3. Single material handling mechanism; 31. Slide chute; 32. First sensor; 33. Pushing cylinder; 34. Pushing block; 35. Single material handling port; 4. Transfer positioning mechanism; 41. Transfer frame; 42. Longitudinal rotary motor; 43. Rotating seat; 44. Positioning ring; 45. Second sensor; 5. Material transfer mechanism; 50. Material transfer frame; 51. Lateral drive module; 52. First robotic arm; 521. First lifting drive module; 522. First material handling rod assembly; 5221. First fixed shaft cylinder; 5222. First material handling cylinder; 5223. First material handling rod; 53. Second robotic arm; 531. Second lifting drive module; 532. Lateral pushing assembly; 5321. Lateral pushing cylinder; 5322. Lateral sliding plate; 533. Second material handling rod assembly; 5331, Second fixed shaft cylinder; 5332, Second material picking cylinder; 5333, Second material picking rod; 5334, Second material picking baffle; 53341, First opening; 53342, Second opening; 534, Upper clamping fixing assembly; 5341, First frame; 5342, Upper clamping block; 5343, First wedge block; 5345, Clamping arm block; 535, Lower pressing fixing assembly; 5351, Lower pressing cylinder; 5352, Downward push block; 536, Downward push drive assembly; 5361, Downward push cylinder; 5362, Downward push-in block; 6, Assembly fixture; 701, Second frame; 702, Clamping cylinder; 703, Second wedge block; 71, First clamping drive assembly; 72, Second clamping drive assembly; 8, Mounting component; 9, Inner liner ring; 91, Upper end piece; 92, Lower end piece; 93, First end; 94, Second end. Detailed Implementation

[0050] The technical solution of this embodiment of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiment is one embodiment of the present invention, and not all embodiments thereof. Based on this embodiment of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0051] Example 1:

[0052] Please see Figures 2 to 9An embodiment of the present invention provides an automatic feeding and assembly machine for inner lining rings, including a feeding vibratory feeder 1, a linear transport mechanism 2 mounted at one end of the feeding vibratory feeder 1, and a single picking mechanism 3 mounted at one end of the linear transport mechanism 2. A transfer positioning mechanism 4 is mounted on one side of the single picking mechanism 3, and an assembly fixture 6 is mounted on one side of the transfer positioning mechanism 4. A transfer mechanism 5 is mounted on the side between the transfer positioning mechanism 4 and the assembly fixture 6. The transfer mechanism 5 includes a transfer frame 50 and a transverse drive module 51 mounted on the transfer frame 50. The transverse drive module 51 is respectively equipped with a first robotic arm 52 for transferring the inner lining ring 9 from the single picking mechanism 3 to the transfer positioning mechanism 4, and a robotic arm 52 for transferring and assembling the inner lining ring 9 from the transfer positioning mechanism 4 to the assembly fixture. The second robotic arm 53 on the fixture 6 includes a second lifting drive module 531 mounted on the lateral drive module 51, a lateral pushing component 532 mounted on the second lifting drive module 531, a second picking rod assembly 533 mounted on the lateral pushing component 532, an upper clamping fixing component 534 mounted on one side of the second picking rod assembly 533, a lower pressing fixing component 535 mounted on one side of the second picking rod assembly 533, and a lower pushing drive component 536 mounted on one side of the second picking rod assembly 533. A first opening clamping drive component 71 for cooperating with the upper clamping fixing component 534 is mounted on one side of the transfer positioning mechanism 4, and a second opening clamping drive component 72 for cooperating with the upper clamping fixing component 534 is mounted on one side of the assembly fixture 6.

[0053] Among them, the feeding vibratory plate 1, the linear conveying mechanism 2 and the single picking mechanism 3 can be set to 1, 2 or more respectively. When set to 2, it can meet the feeding of two different types of inner lining rings 9, so there is no need to disassemble and replace the linear conveying mechanism 2 and the single picking mechanism 3 separately, which is conducive to improving efficiency.

[0054] The single material handling mechanism 3 includes a chute 31 located at one end of the linear transport mechanism 2, a first sensor 32 installed at the connection between the linear transport mechanism 2 and the chute 31, a pusher cylinder 33 installed at one end of the chute 31, and a pusher block 34 installed on the pusher cylinder 33. The pusher block 34 is slidably connected to the chute 31, and a single material handling port 35 matching one end of the linear transport mechanism 2 is opened on the pusher block 34.

[0055] The transfer positioning mechanism 4 includes a transfer frame 41, a longitudinal rotary motor 42 mounted on the transfer frame 41, a rotary seat 43 mounted on the longitudinal rotary motor 42, and a positioning ring 44 mounted on the top of the rotary seat 43. A second sensor 45 is mounted on one side of the positioning ring 44.

[0056] The first robotic arm 52 includes a first lifting drive module 521 mounted on a horizontal drive module 51 and a first picking rod assembly 522 mounted on the first lifting drive module 521. The first picking rod assembly 522 includes a first fixed shaft cylinder 5221 mounted on the first lifting drive module 521, a first picking cylinder 5222 mounted on the first lifting drive module 521, and a first picking rod 5223 mounted on one end of the first picking cylinder 5222 and passing through and slidably connected to the first fixed shaft cylinder 5221.

[0057] The second material picking rod assembly 533 includes a second fixed shaft cylinder 5331 mounted on the second lifting drive module 531, a second material picking cylinder 5332 mounted on the second lifting drive module 531, and a second material picking rod 5333 mounted on one end of the second material picking cylinder 5332 and passed through and slidably connected to the second fixed shaft cylinder 5331. A second material picking baffle 5334 is mounted at the bottom of the second fixed shaft cylinder 5331.

[0058] The upper clamping fixing assembly 534 includes a first frame 5341 mounted on the second lifting drive module 531 or the second material picking rod assembly 533 and an upper clamping block 5342 mounted on the first frame 5341. The top of the upper clamping block 5342 has a first wedge block 5343. The middle part of the upper clamping block 5342 is hinged to the first frame 5341. A return spring is connected between one end of the upper clamping block 5342 and the first frame 5341. The bottom of the upper clamping block 5342 has a clamping arm block 5345 located below the second material picking baffle 5334 and used to cooperate with the second material picking baffle 5334 to clamp the upper end piece 91 of the first end 93 of the inner liner ring 9.

[0059] The first clamping drive assembly 71 and the second clamping drive assembly 72 respectively include a second frame 701 mounted on the transfer positioning mechanism 4, a clamping cylinder 702 mounted on the second frame 701, and a second wedge block 703 mounted on the clamping cylinder 702. When the clamping cylinder 702 drives the second wedge block 703 to press against the first wedge block 5343 of the upper clamping fixing assembly 534, the upper clamping block 5342 rotates relative to the first frame 5341, and the clamping arm block 5345 moves away from below the second material picking baffle 5334.

[0060] The second material pick-up baffle 5334 has a first opening 53341 on one side. The pressing and fixing assembly 535 includes a pressing cylinder 5351 installed at one end of the second material pick-up rod assembly 533 and a pressing push block 5352 installed on the pressing cylinder 5351 and able to pass through the first opening 53341.

[0061] The second material pick-up baffle 5334 has a second opening 53342 on one side. The push-down drive assembly 536 includes a push-down cylinder 5361 installed on one side of the second material pick-up rod assembly 533 and a push-down block 5362 installed on the push-down cylinder 5361 and passing through the second opening 53342.

[0062] The lateral pushing assembly 532 includes a lateral pushing cylinder 5321 and a lateral slide rail slider assembly respectively mounted on the second lifting drive module 531. The lateral pushing cylinder 5321 is equipped with a lateral sliding plate 5322, which is mounted on the slider in the lateral slide rail slider assembly. The second material picking rod assembly 533 is mounted on the lateral sliding plate 5322.

[0063] Assembly fixture 6 is a positioning fixture used to fix mounting component 8. Mounting component 8 has the following shape: Figure 1 As shown, the assembly fixture 6 can be placed manually, transported via an assembly line, or transported using a rotary table.

[0064] In addition, the aforementioned linear transport mechanism 2 is a combination of a linear vibrator and its transport trough. The lateral drive module 51 is a combination of a slide table or cylinder, a slide rail slider, or other drive components that drive in a linear manner. The first lifting drive module 521 and the second lifting drive module 531 are combinations of slide tables or cylinders, slide rail sliders, or other drive components that drive in a linear manner.

[0065] The operating principle of the automatic feeding and assembly machine for inner lining rings according to Embodiment 1 of the present invention is described in detail in Embodiment 2. Please read on.

[0066] The advantages of the automatic feeding and assembly machine for inner lining rings according to Embodiment 1 of the present invention are as follows: by the cooperation of the feeding vibratory plate 1, the linear transport mechanism 2, the single picking mechanism 3, the first robot arm 52, the transfer and positioning mechanism 4, the second robot arm 53 and the assembly fixture 6, the inner lining ring 9 is individually picked up and positioned for assembly onto the assembly fixture 6 by the second robot arm 53. This ensures that the installation of the inner lining ring 9 is reasonable and will not damage the inner lining ring 9, and that the assembly of the inner lining ring 9 is easy, stable and efficient, greatly reducing the intensity of manual labor.

[0067] Example 2:

[0068] Please see Figures 10 to 14 The present invention provides an assembly method for an automatic inner ring feeding and assembly machine, including an automatic inner ring feeding and assembly machine as described in Embodiment 1, the assembly steps of which are as follows:

[0069] S1: The feeding vibratory plate 1 feeds the inner lining ring 9, the linear conveying mechanism 2 conveys the inner lining ring 9, and the single picking mechanism 3 picks up a single inner lining ring 9.

[0070] Among them, the pusher cylinder 33 is reset so that the single feeding port 35 of the pusher block is aligned with the transport trough of the linear transport mechanism 2, and the single inner liner ring 9 of the linear transport mechanism 2 enters the single feeding port 35; then, the first sensor 32 senses it, and the pusher cylinder 33 pushes the pusher block to the designated station. At this time, the next inner liner ring 9 of the linear transport mechanism 2 is blocked, and the designated station is convenient for the first robot arm 52 to grasp.

[0071] S2: Includes the following sub-steps S21 and S22, which move synchronously:

[0072] S21: The lateral drive module 51 drives the first robot arm 52 laterally and reciprocally, so that the first robot arm 52 moves the inner liner ring 9 on the single material picking mechanism 3 to the transfer positioning mechanism 4. Then, the transfer positioning mechanism 4 rotates the inner liner ring 9 to position the angle of the inner liner ring 9.

[0073] When the first robotic arm 52 is above the designated work position of the single material handling mechanism 3, the first lifting drive module 521 drives the first material handling rod assembly 522 to descend. Then, the first material handling cylinder 5222 of the first material handling rod assembly 522 drives the first material handling rod 5223 to press down, so that the inner liner ring 9 is fitted on the bottom of the first material handling rod 5223. The first lifting drive module 521 drives the first material handling rod assembly 522 to rise.

[0074] When the first robotic arm 52 is located at the top of the transfer positioning mechanism 4, the first lifting drive module 521 drives the first picking rod assembly 522 to descend. Then, the first picking cylinder 5222 of the first picking rod assembly 522 drives the first picking rod 5223 to rise and retract into the first fixed shaft cylinder 5221, so that the inner liner ring 9 is pushed out by the first fixed shaft cylinder 5221, thereby causing the inner liner ring 9 to fall onto the positioning placement ring 44 of the transfer positioning mechanism 4.

[0075] Next, the longitudinal rotation motor 42 of the transfer positioning mechanism 4 drives the rotating seat 43 to rotate, causing the positioning ring 44 on the rotating seat 43 to rotate, and finally the second sensor 45 senses the opening of the inner liner ring 9, and the longitudinal rotation motor 42 stops rotating.

[0076] S22: The transverse drive module 51 drives the second robot arm 53 in a transverse reciprocating motion, so that the second robot arm 53 moves the inner liner ring 9 on the transfer positioning mechanism 4 to the assembly fixture 6.

[0077] When the second robotic arm 53 is positioned on the transfer positioning mechanism 4, the first clamping drive assembly 71 drives the upper clamping fixing assembly 534 to open, so that the second lifting drive module 531 drives the second picking rod assembly 533 to remove the inner liner ring 9 from the transfer positioning mechanism 4. Then, the first clamping drive assembly 71 resets, the upper clamping fixing assembly 534 resets and abuts against the bottom of the upper end piece 91 of the first end 93 of the inner liner ring 9. The second picking rod assembly 533 and the upper clamping fixing assembly 534 work together to clamp the upper end piece 91 of the first end 93 of the inner liner ring 9.

[0078] Specifically, when the second robotic arm 53 is located on the transfer positioning mechanism 4, the second lifting drive module 531 descends, the second picking rod assembly 533 reaches the top of the transfer positioning mechanism 4, and the opening cylinder 702 of the first opening drive assembly 71 drives the second wedge block 703 to press against the first wedge block 5343 of the upper clamping block 5342 of the upper clamping fixing assembly 534, so that the reset spring of the upper clamping block 5342 is pressed, so that the upper clamping block 5342 rotates, and so that the clamping arm block 5345 of the upper clamping block 5342 moves away from below the second picking rod 5333.

[0079] Next, the second picking cylinder 5332 of the second picking rod assembly 533 drives the second picking rod 5333 to press down and remove the inner liner ring 9. The first clamping drive assembly 71 is reset and the upper clamping fixing assembly 534 is reset. The clamping arm block 5345 of the upper clamping fixing assembly 534 presses against the bottom of the upper end piece 91 of the first end 93 of the inner liner ring 9, thereby forming a situation where the upper end piece 91 of the first end 93 of the inner liner ring 9 is "clamped".

[0080] When the second material-retrieving rod assembly 533 removes the inner liner ring 9, the upper end piece 91 of the inner liner ring 9 abuts against the second material-retrieving baffle 5334. At this time, the pressing push block 5352 of the pressing and fixing assembly 535, the first opening 53341 of the second material-retrieving baffle, and the upper end piece 91 of the second end 94 of the inner liner ring 9 are vertically aligned. The pushing inlet block 5362 of the pushing drive assembly 536, the second opening 53342 of the second material-retrieving baffle 5334, and one side of the upper end piece 91 of the first end 93 of the inner liner ring 9 are vertically aligned.

[0081] Finally, the second robotic arm 53 was moved to the top of the assembly fixture 6;

[0082] S3: The second robotic arm 53 is located on the assembly fixture 6. The pressing and fixing component 535 on the second robotic arm 53 presses down on the top of the upper end piece 91 of the second end 94 of the inner liner ring 9, so that the first end 93 of the inner liner ring 9 and its second end 94 are vertically misaligned.

[0083] Among them, the pressing cylinder 5351 of the pressing fixing component 535 drives the pressing push block 5352 to pass through the first opening 53341 of the second material picking block and press down against the top of the upper end piece 91 of the second end 94 of the inner liner ring 9, so that the second end 94 of the inner liner ring 9 is offset from the first end 93.

[0084] S4: The second lifting drive module 531 drives the second picking rod assembly 533 to descend, so that the upper end piece 91 and the lower end piece 92 of the second end 94 of the inner liner ring 9 enter the hole of the part to be installed 8 in the assembly fixture 6.

[0085] S5: The lateral pushing component 532 drives the second picking rod component 533 to move laterally, so that the upper end piece 91 and the lower end piece 92 of the second end 94 of the inner liner ring 9 respectively engage with one side of the hole of the part to be installed 8.

[0086] Among them, the transverse drive cylinder of the transverse push component 532 pushes the transverse sliding plate 5322 to move laterally, thereby driving the second material picking rod component 533, the upper clamping fixing component 534, the lower pressing fixing component 535 and the lower push drive component 536 to move laterally as a whole, thereby driving the upper end piece 91 and the lower end piece 92 of the second end 94 of the inner liner ring 9 to move laterally, so that the slot between the upper end piece 91 and the lower end piece 92 can be engaged into one side of the hole of the part to be installed 8;

[0087] S6: The second clamping drive assembly 72 drives the upper clamping fixing assembly 534 to open, so that the upper clamping fixing assembly 534 loosens the upper end piece 91 of the first end 93 of the inner liner ring 9;

[0088] Similarly, specifically, the opening cylinder 702 of the second opening drive assembly 72 drives the second wedge block 703 to press against the first wedge block 5343 of the upper clamping block 5342 of the upper clamping fixing assembly 534, so that the return spring of the upper clamping block 5342 is pressed, causing the upper clamping block 5342 to rotate, and causing the clamping arm block 5345 of the upper clamping block 5342 to leave the bottom of the upper end piece 91 of the first end 93 of the inner liner ring 9, ultimately making the upper end piece 91 of the first end 93 of the inner liner ring 9 in a free-moving state;

[0089] S7: The push-down drive assembly 536 pushes one side of the top of the upper end piece 91 of the first end 93 of the inner liner ring 9, so that the upper end piece 91 and the lower end piece 92 of the first end 93 of the inner liner ring 9 respectively engage in the hole of the mounting member 8, thereby making the inner liner ring 9 fully engage in the hole of the mounting member 8.

[0090] In this process, the push-down cylinder 5361 of the push-down drive assembly 536 drives the push-in block 5362, causing the push-in block 5362 to pass through the second opening 53342 and abut against one side of the top of the upper end piece 91 of the first end 93 of the inner liner ring 9, thereby pressing one side of the top of the upper end piece 91 of the first end 93 of the inner liner ring 9 into one side of the hole of the mounting member 8. Then, the elastic expansion of one side of the top of the upper end piece 91 of the first end 93 of the inner liner ring 9 automatically engages with the hole of the mounting member 8, thus completing the assembly of the inner liner ring 9.

[0091] The advantage of the assembly method of the automatic feeding and assembly machine for inner lining rings in Embodiment 2 of the present invention is that it provides an automated assembly method that can assemble the inner lining ring 9 into the hole of the mounting part 8, ensuring that the automated assembly of the inner lining ring 9 is easy, stable and efficient, and greatly reducing the intensity of manual labor.

[0092] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. An automatic feeding and assembly machine for inner lining rings, characterized in that, The device includes a feeding vibratory feeder (1), a linear conveyor mechanism (2) installed at one end of the feeding vibratory feeder (1), and a single picking mechanism (3) installed at one end of the linear conveyor mechanism (2). A transfer positioning mechanism (4) is installed on one side of the single picking mechanism (3), and an assembly fixture (6) is installed on one side of the transfer positioning mechanism (4). A transfer mechanism (5) is installed on one side between the transfer positioning mechanism (4) and the assembly fixture (6). The transfer mechanism (5) includes a transverse drive module (51), which is equipped with a device for transferring the inner lining ring (9) on the single picking mechanism (3) to the transfer positioning mechanism. The mechanism (4) includes a first robotic arm (52) and a second robotic arm (53) for transferring and assembling the inner liner ring (9) on the transfer positioning mechanism (4) onto the assembly fixture (6). The second robotic arm (53) includes a second lifting drive module (531) mounted on the lateral drive module (51), a lateral pushing assembly (532) mounted on the second lifting drive module (531), a second picking rod assembly (533) mounted on the lateral pushing assembly (532), an upper clamping and fixing assembly (534) mounted on one side of the second picking rod assembly (533), and a lower pressing assembly mounted on one side of the second picking rod assembly (533). The fixed assembly (535) and the push-drive assembly (536) installed on one side of the second pick-up rod assembly (533), the transfer positioning mechanism (4) is equipped with a first clamping drive assembly (71) for cooperating with the upper clamping fixed assembly (534) on one side, and the assembly fixture (6) is equipped with a second clamping drive assembly (72) for cooperating with the upper clamping fixed assembly (534) on one side; the single pick-up mechanism (3) includes a chute (31) provided at one end of the linear transport mechanism (2), a first sensor (32) installed at the connection between the linear transport mechanism (2) and the chute (31), and a sensor installed at one end of the chute (31). The pusher cylinder (33) and the pusher block (34) mounted on the pusher cylinder (33) are slidably connected to the slide groove (31). The pusher block (34) has a single feeding port (35) that matches one end of the linear transport mechanism (2). The transfer positioning mechanism (4) includes a transfer frame (41), a longitudinal rotary motor (42) mounted on the transfer frame (41), a rotary seat (43) mounted on the longitudinal rotary motor (42), and a positioning placement ring (44) mounted on the top of the rotary seat (43). A second sensor (45) is mounted on one side of the positioning placement ring (44).

2. The automatic feeding and assembly machine for inner lining rings according to claim 1, characterized in that, The first robotic arm (52) includes a first lifting drive module (521) mounted on the horizontal drive module (51) and a first picking rod assembly (522) mounted on the first lifting drive module (521). The first picking rod assembly (522) includes a first fixed shaft cylinder (5221) mounted on the first lifting drive module (521), a first picking cylinder (5222) mounted on the first lifting drive module (521), and a first picking rod (5223) mounted on one end of the first picking cylinder (5222) and passing through and slidably connected to the first fixed shaft cylinder (5221).

3. The automatic feeding and assembly machine for inner lining rings according to claim 1, characterized in that, The second material picking rod assembly (533) includes a second fixed shaft cylinder (5331) mounted on the second lifting drive module (531), a second material picking cylinder (5332) mounted on the second lifting drive module (531), and a second material picking rod (5333) mounted on one end of the second material picking cylinder (5332) and passed through and slidably connected to the second fixed shaft cylinder (5331). A second material picking baffle (5334) is mounted at the bottom of the second fixed shaft cylinder (5331).

4. The automatic feeding and assembly machine for inner lining rings according to claim 3, characterized in that, The upper clamping fixing assembly (534) includes a first frame (5341) mounted on the second material picking rod assembly (533) and an upper clamping block (5342) mounted on the first frame (5341). The upper clamping block (5342) has a first wedge block (5343) at its top. The middle part of the upper clamping block (5342) is hinged to the first frame (5341). A return spring is connected between one end of the upper clamping block (5342) and the first frame (5341). The bottom of the upper clamping block (5342) has a clamping arm block (5345) located below the second material picking baffle (5334) and used to cooperate with the second material picking baffle (5334) to clamp the upper end piece (91) of the first end (93) of the inner liner ring (9).

5. The automatic feeding and assembly machine for inner lining rings according to claim 4, characterized in that, The first clamping drive assembly (71) and the second clamping drive assembly (72) respectively include a second frame (701), a clamping cylinder (702) and a second wedge block (703). When the clamping cylinder (702) drives the second wedge block (703) to press against the first wedge block (5343) of the upper clamping fixing assembly (534), the upper clamping block (5342) rotates relative to the first frame (5341), and the clamping arm block (5345) moves away from below the second material picking baffle (5334).

6. The automatic feeding and assembly machine for inner lining rings according to claim 3, characterized in that, The second material pick-up baffle (5334) has a first opening (53341) on one side. The pressing and fixing assembly (535) includes a pressing cylinder (5351) installed at one end of the second material pick-up rod assembly (533) and a pressing push block (5352) installed on the pressing cylinder (5351) and able to pass through the first opening (53341).

7. The automatic feeding and assembly machine for inner lining rings according to claim 3, characterized in that, The second material pick-up baffle (5334) has a second opening (53342) on one side. The push-down drive assembly (536) includes a push-down cylinder (5361) installed on one side of the second material pick-up rod assembly (533) and a push-down block (5362) installed on the push-down cylinder (5361) and passing through the second opening (53342).

8. An assembly method for an automatic inner lining ring feeding and assembly machine, characterized in that: The automatic feeding and assembly machine for inner lining rings, as described in any one of claims 1-7, comprises the following assembly steps: S1: The feeding vibratory plate (1) feeds the inner lining ring (9), the linear conveying mechanism (2) conveys the inner lining ring (9), and the single picking mechanism (3) picks up the single inner lining ring (9). S2: Includes the following sub-steps S21 and S22, which move synchronously: S21: The lateral drive module (51) drives the first robot (52) laterally and reciprocally, so that the first robot (52) moves the inner liner ring (9) on the single material handling mechanism (3) to the transfer positioning mechanism (4). Then, the transfer positioning mechanism (4) rotates the inner liner ring (9) to position the angle of the inner liner ring (9). S22: The lateral drive module (51) drives the second robot (53) laterally and reciprocally, so that the second robot (53) moves the inner liner ring (9) on the transfer positioning mechanism (4) to the assembly fixture (6); When the second robotic arm (53) is located on the transfer positioning mechanism (4), the first clamping drive assembly (71) drives the upper clamping fixing assembly (534) to open, so that the second lifting drive module (531) drives the second picking rod assembly (533) to take the inner liner ring (9) from the transfer positioning mechanism (4). Then the first clamping drive assembly (71) resets, the upper clamping fixing assembly (534) resets and abuts against the bottom of the upper end piece (91) of the first end (93) of the inner liner ring (9). The second picking rod assembly (533) and the upper clamping fixing assembly (534) work together to clamp the upper end piece (91) of the first end (93) of the inner liner ring (9). S3: The second robot (53) is located on the assembly fixture (6). The pressing and fixing component (535) on the second robot (53) presses down on the top of the upper end piece (91) of the second end (94) of the inner liner ring (9), so that the first end (93) of the inner liner ring (9) and its second end (94) are misaligned vertically. S4: The second lifting drive module (531) drives the second picking rod assembly (533) to descend, so that the upper end piece (91) and lower end piece (92) of the second end (94) of the inner liner ring (9) enter the hole of the part to be installed (8) in the assembly fixture (6). S5: The lateral pushing component (532) drives the second material picking rod component (533) to move laterally, so that the upper end piece (91) and lower end piece (92) of the second end (94) of the inner liner ring (9) respectively engage with the hole side of the part to be installed (8); S6: The second clamping drive assembly (72) drives the upper clamping fixing assembly (534) to open, so that the upper clamping fixing assembly (534) releases the upper end piece (91) of the first end (93) of the inner liner ring (9); S7: The push-down drive assembly (536) pushes one side of the top of the upper end piece (91) of the first end (93) of the inner liner ring (9), so that the upper end piece (91) and the lower end piece (92) of the first end (93) of the inner liner ring (9) respectively engage with the hole of the part to be installed (8), thereby making the inner liner ring (9) fully engage with the hole of the part to be installed (8).

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