Automated assembly equipment for telescopic ladder step connection components

Abstract

The present invention discloses an automatic assembly equipment for a telescopic ladder step connection assembly, including a turntable base unit, a loading and clamping unit, a locking assembly unit, a spring assembly unit, an indicator assembly unit, an online detection unit, a finished product blanking unit, and a control unit. The present invention can realize the automatic installation of the connection assembly by adopting the automatic assembly equipment. Taking the applicant's practice as an example, through the use of the equipment, when one person operates the equipment, the shift output is about 7,200 pieces, which can significantly improve the production capacity, and the assembly consistency and quality are also higher than manual assembly. At the same time, the equipment has an integrated inspection function, and each piece is inspected during assembly to determine whether the installation is up to standard, which can reduce the flow of assembly defective products into the finished product assembly line.

Description

Technical Field

[0001] The invention relates to the technical field of non-standard automated equipment, in particular to automated assembly equipment for a telescopic ladder step connection assembly. Background Art

[0002] A telescopic ladder is a ladder that can be stretched and shortened, making it easy to carry and store. Structurally, the telescopic ladder includes two telescopic tubes and multiple pedals, which are connected to the telescopic tubes through a connecting assembly. The connecting assembly is slidably connected to the telescopic tube and can be locked at a set position. The connecting assembly includes multiple parts, which are currently mainly installed manually by assembly workers. Taking the applicant's workshop as an example, two people are manually assembled in a group, and each shift produces about 2020 pieces. The production efficiency is low, and manual installation is also prone to problems such as inadequate installation due to worker fatigue. Summary of the invention

[0003] The object of the present invention is to provide an automated assembly device for a telescopic ladder step connection assembly to solve the problems existing in the prior art.

[0004] In order to achieve the above-mentioned purpose, the technical solution of the present invention provides an automated assembly equipment for a telescopic ladder step connection assembly, including a turntable base unit, a loading and clamping unit, a locking piece assembly unit, a spring assembly unit, an indicator piece assembly unit, an online detection unit, a finished product blanking unit, and a control unit.

[0005] Furthermore, the turntable base unit includes a frame, a drive motor assembly, a turntable, and a clamping tool, and at least 6 clamping tools are arranged on the surface of the turntable; the clamping tool includes a tool base, a rear limit piece, a front limit piece, and a central limit piece; the tool base is detachably arranged on the turntable, and a through slot is arranged in the center, and the central limit piece is adjustably arranged in the through slot, including a support rod portion and a central limit rod, the support rod portion is connected to the end of the through slot by a spring, and the central limit rod is vertically fixed to the upper part of the support rod portion, extends out of the through slot and extends upward for a certain distance; the rear limit piece is fixedly arranged at the rear of the tool base, located behind the central limit rod, horizontal limit rods are arranged on both sides of the upper part of the rear limit piece, and the front limit piece is adjustably arranged at the front of the tool base, located behind the central limit rod.

[0006] Furthermore, the feeding and clamping unit, the locking piece assembly unit, the spring assembly unit, the indicator piece assembly unit, the online detection unit, and the finished product blanking unit are arranged on a frame outside the turntable; the feeding and clamping unit includes a gravity feeding channel, a multi-axis motion component, and a main body gripper; the locking piece assembly unit includes a gravity feeding bin, a horizontal pushing piece, a multi-axis motion component, and a locking piece gripper; the horizontal pushing piece includes a pushing cylinder, a pushing channel, and a material table, the pushing channel is provided with a through hole or a slot for accommodating the locking piece, and the pushing channel should completely cover or partially cover the locking piece; the material table is provided at the end of the pushing channel, and a groove is provided on the upper part; the locking piece gripper is provided with a magnetic suction part at the bottom.

[0007] Furthermore, the spring assembly unit includes a spring base feeding assembly, a spring feeding assembly, a rotating gripper, a spring component rotating table, a multi-axis motion platform, and a spring component gripper; the spring base feeding assembly and the spring feeding assembly include a vibrating hopper and a linear feeder; a rotating gripper is provided at the outlet at the end of the spring linear feeder, the spring base linear feeder is provided below the rotating gripper, a first limit cylinder of the spring base is provided at a corresponding position below the rotating gripper, the spring component rotating table is provided at the end of the spring base linear feeder, and includes a second rotating base and a receiving block, the receiving block includes a groove structure with an outer dimension slightly larger than the spring base and the shape of the spring; the spring component gripper includes a gripper part and a push-down part; the gripper part is provided at the end of the multi-axis motion platform, and includes two clamping fingers, the push-down part includes a push-down cylinder and a push rod, the push-down cylinder is provided at the end of the multi-axis motion platform, its piston rod is connected to the push rod, the push rod is located between the two clamping fingers of the gripper part and its height is higher than the bottom of the two clamping fingers.

[0008] Furthermore, the indicator assembly unit includes an indicator feeding component, a multi-axis motion component, and an indicator gripper; the indicator feeding component is a vibrating feeding device, including a vibrating hopper and a linear feeder, and an indicator horizontal pushing component is provided at the end of the linear feeder, and the indicator horizontal pushing component includes an indicator pushing cylinder and an indicator pushing channel; the indicator gripper is provided at the end of the motion component, and the indicator gripper includes a groove portion having the same shape as the end of the indicator, and a damping structure is provided on the side of the groove portion to clamp the indicator; the finished product blanking unit includes a multi-axis motion component, a main body gripper, and a distribution plate; the distribution plate includes a rotating base and a slideway, and the rotating base is a rotating motor or a pneumatic rotating device, and the slideway is arranged at an angle, and the top is connected to the rotating base.

[0009] Furthermore, the online detection unit includes a multi-axis motion assembly and a detection part; a connecting plate is provided at the end of the multi-axis motion assembly, and the detection part includes a horizontal cylinder, a pulling block, and a sensor; the horizontal cylinder is fixed to the connecting plate at the end of the multi-axis motion assembly, a pulling block is provided at the end of the piston rod, and the sensor is arranged on the connecting plate in front of the pulling block.

[0010] Furthermore, a force sensor is arranged on the pulling block of the online detection unit, and the pulling block includes a fixed part and a force-applying part. The upper part of the force-applying part is connected to the fixed part through a bolt structure, and a gap is arranged between the fixed part. A force sensor is arranged in the gap, and the force sensor is a force detection strain gauge.

[0011] An online detection method for automated assembly equipment, characterized in that it includes the following steps: S1, benchmark establishment, for a certain connection component, multiple qualified assembly products are selected and placed on a clamping fixture, and an online detection unit performs multiple detection cycles, at least three times, to collect force data curves of force sensors in the detection process, and multiple force data curves of multiple qualified assembly products are processed to obtain a standard force data curve range diagram; S2, for the connection component to be inspected, the online detection unit performs at least two detection cycles, such as the reset process pull block force data obtained in multiple detection cycles, the compression process pull block force data within the range of the force curve and the reset process pull block force data obtained in multiple cycles , if the deviations between the force data of the pulling block during compression are within the preset range, the part is identified as a qualified part. If it exceeds the preset range, perform several pressing cycles and then perform at least two detection cycles again to compare whether the force data of the pulling block during reset and the force data of the pulling block during compression are within the range of the force curve and whether the deviations between the force data of the pulling block during reset and the force data of the pulling block during compression obtained in multiple cycles are within the preset range. If they continue to exceed the range, the part is identified as an unqualified part; S3. If the proportion of unqualified parts exceeds the preset range, including but not limited to the number of consecutive unqualified parts and the number of unqualified parts per unit time, an alarm is issued and the machine is shut down and other operations are performed according to the preset rules.

[0012] Furthermore, the detection cycle includes the following steps: the pull block moves downward to a preset position, the sensor moves to the upper part of the front end of the locking piece, the sensor detects and obtains the first existence data of the locking piece, if the first existence data is no, it is judged that the locking piece is not installed in place, and the connecting assembly is judged to be an unqualified part, if the first existence data is yes, proceed to subsequent steps; the pull block drives the locking piece to move backward to a preset distance, compresses the spring, and the force sensor detects and obtains the force data of the pull block during the compression process; the sensor detects and obtains the second existence data of the locking piece; the pull block moves forward to a preset position at a preset speed, the locking piece is reset under the action of the spring, the sensor detects and obtains the third existence data of the locking piece, and the force sensor detects and obtains the force data of the pull block during the reset process.

[0013] Furthermore, the pressing cycle includes the following steps: the online detection unit pull block drives the locking piece to move backward to press a preset distance and then moves forward to release the locking piece to reset. The pressing distance is generally 30%-80% of the preset distance in the detection cycle.

[0014] The present invention can realize the automated installation of connection components by adopting automated assembly equipment. Taking the applicant's practice as an example, through the use of this equipment, when one person operates the equipment, the shift output is about 7,200 pieces, which can significantly improve the production capacity, and the consistency and quality of the assembly are also higher than that of manual assembly. At the same time, the equipment has an integrated inspection function, which checks each piece during assembly to determine whether the installation meets the standards, which can reduce the flow of defective assembly products into the finished product assembly line. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic diagram of the structure of the connection assembly involved in the present invention.

[0016] Figure 2 It is a schematic diagram of the structure of the turntable base unit of the present invention.

[0017] Figure 3 It is a schematic diagram of the clamping fixture structure of the turntable base unit of the present invention.

[0018] Figure 4 It is a structural schematic diagram of the feeding and clamping unit of the present invention.

[0019] Figure 5 It is a structural schematic diagram of the locking piece assembly unit of the present invention.

[0020] Figure 6 It is a partial cutaway schematic diagram of the locking piece assembly unit structure of the present invention.

[0021] Figure 7 It is a structural schematic diagram of the spring assembly unit of the present invention.

[0022] Figure 8 It is a partially enlarged schematic diagram of the spring assembly unit of the present invention.

[0023] Fig. 9 It is another partially enlarged schematic diagram of the spring assembly unit of the present invention.

[0024] Fig.10 It is a structural schematic diagram of the indicator assembly unit of the present invention.

[0025] Fig.11 It is a structural schematic diagram of the online detection unit of the present invention.

[0026] Fig.12 It is a partially enlarged schematic diagram of the online detection unit of the present invention.

[0027] Fig.13 It is a structural schematic diagram of the finished product blanking unit of the present invention.

[0028] Fig.14 It is a partially enlarged schematic diagram of an online detection unit according to another embodiment of the present invention.

[0029] Fig.15This is a photo of an on-site automated assembly equipment according to an embodiment of the present invention. DETAILED DESCRIPTION

[0030] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0031] The telescopic ladder step connection assembly involved in the present invention is as shown in the attached Figure 1 As shown, the connection assembly includes a plurality of different sizes and specifications, which should be adapted to different positions and specifications of telescopic ladders. The connection assembly includes a body z0, a spring base z1, a spring z2, a locking member z3, and an indicator member z4.

[0032] Each pedal is provided with a connecting assembly at the end in the length direction thereof. One end of the body z0 is connected to the pedal, and the other end is provided with a through hole which is slidably connected to the telescopic tube. The inner diameter of the through hole is equal to the outer diameter of the telescopic tube.

[0033] A locking piece z3 is provided in the main body z0. The locking piece z3 is cylindrical and has a limited position structure. A plurality of contracted necks are provided on the side of the locking piece z3. The locking piece z3 can reciprocate within a limited position range driven by a spring z2. The end portion can extend into or out of a locking hole provided on the telescopic tube. When the locking piece is inserted into the locking hole, the pedal is locked with the telescopic tube.

[0034] The overall length and end through-holes of the main body z0 of different sizes vary, while the width, spring base z1, spring z2, locking member z3, indicator member z4, and the length after deducting the opening area do not change.

[0035] More specifically, the main body includes a connecting seat portion z01 and a sliding ring portion z02. The sliding ring portion z02 is arranged at a section of the connecting seat portion z01 and is provided with a through hole. A boss t is provided at the connection between the sliding ring portion z02 and the connecting seat portion z01, that is, the size of the sliding ring portion z02, including the length, width and height, is greater than the length, width and height of the connecting seat portion z01, so as to realize the limiting function during connection.

[0036] The connecting seat z01 is provided with a slot z011, the spring base z1, the spring z2, and the locking member z3 are arranged in the slot, and the slot is connected to the through hole in the sliding ring z02.

[0037] A second slot z012 is provided on a side surface adjacent to the slot z011 side surface of the connecting seat portion z01, and the indicator z4 can be inserted into the second slot z012.

[0038] Two arms are provided at one end of the indicator z4. After insertion, the locking member z3 is located between the two arms. Furthermore, the two arms of the indicator z4 bulge outward to the side away from each other, forming a circular through hole between the two arms, and the locking member z3 is located in the through hole.

[0039] The automated assembly equipment involved in the present invention needs to realize the automated assembly operation of connecting components of multiple sizes. Figure 2-14 As shown, the telescopic ladder step connection assembly automatic assembly equipment involved in the present invention includes a turntable base unit 1, a loading and clamping unit 2, a locking component assembly unit 3, a spring assembly unit 4, an indicator component assembly unit 5, an online detection unit 6, a finished product blanking unit 7, and a control unit 8. Fig.15 On-site photo of the automated assembly equipment according to an embodiment of the present invention.

[0040] As attached Figure 2 As shown, the turntable base unit 1 includes a frame 11, a driving motor assembly (not shown in the figure), a turntable 12, and a clamping fixture 13. The turntable 12 is rotatably arranged on the frame 11 and is driven to rotate by the driving motor assembly. At least 6 clamping fixtures 13 are arranged on the surface of the turntable. Through the rotation of the turntable 12, the workpiece is circulated on the loading and clamping unit 2, the locking assembly unit 3, the spring assembly unit 4, the indicator assembly unit 5, the online detection unit 6, and the finished product blanking unit 7, and corresponding installation operations are performed at each station.

[0041] As attached Figure 3 As shown, the clamping tool 13 includes a tool base 131 , a rear limiting member 132 , a front limiting member 133 , and a central limiting member 134 .

[0042] The tooling base 131 is detachably arranged on the turntable 12, and a through slot 1311 is arranged in the center. The central limiting member 134 is adjustably arranged in the through slot 1311, and includes a support rod 1341 and a central limiting rod 1342. The support rod 1341 is connected to the end of the through slot by a spring (not shown in the figure). Under the action of external force, the support rod 1341 can move forward and backward, and return to its original position under the action of the spring after the external force is released. The central limiting rod 1342 is vertically fixed to the upper part of the support rod 1341, extends out of the through slot and extends upward for a certain distance.

[0043] The rear limit member 132 is fixedly arranged at the rear of the tooling base 131, behind the central limit rod 1342, and horizontal limit rods 1321 are arranged on both sides of the upper part of the rear limit member 132. After the connecting assembly is placed on the clamping tooling 13, the connecting seat z01 is opened between the horizontal limit rods 1321.

[0044] The front stopper 133 is adjustably arranged at the front of the tooling base 131, and is located behind the central stopper rod 1342. The front stopper 133 in the attached drawings includes a front stopper fixing portion 1331 and a front stopper sliding portion 1332. The front stopper fixing portion 1331 is fixedly arranged at the front of the tooling base 131, and the front stopper sliding portion 1332 is adjustably arranged on the front stopper fixing portion 1331 through a bolt structure. In order to ensure the position accuracy of the front stopper sliding portion 1332, a slider structure is arranged between the front stopper fixing portion 1331 and the front stopper sliding portion 1332. In the attached drawings, protruding stopper portions are arranged on both sides of the front stopper fixing portion 1331, and the front stopper sliding portion 1332 is arranged between the protruding stopper portions.

[0045] The front limit member sliding portion 1332 includes a sliding base portion a1 and a front limit member a2. The sliding base portion a1 is provided with a through groove, which realizes a position-adjustable connection with a plurality of bolt holes provided on the front limit member fixing portion 1331. The front limit member a2 is vertically fixed to the upper portion of the support rod portion 1341 and is provided with a notch toward the side of the central limit rod 1342.

[0046] After the connecting component is placed on the clamping tool 13, the connecting seat z01 is opened between the horizontal limit rods 1321, the front limit part a2 limits the front position of the connecting component, and the central limit rod 1342 extends into the through hole of the sliding ring part z02 of the connecting component. By adjusting the specific positions of the front limit part a2 and the central limit rod 1342, the clamping tool 13 can be used to position connecting components of different specifications.

[0047] Since the spring base z1, spring z2, locking piece z3 and indicator piece z4 of the connecting assembly are all installed on one side of the connecting seat z01, the position of the central limit rod 1342 can be adjusted to ensure that the position of the connecting seat z01 remains unchanged during the assembly of different sizes of the same set of connecting assemblies, thereby reducing the equipment debugging time.

[0048] The feeding and clamping unit 2 , the locking piece assembly unit 3 , the spring assembly unit 4 , the indicating piece assembly unit 5 , the online detection unit 6 , and the finished product blanking unit 7 are arranged on a frame 11 outside the turntable 12 .

[0049] As attached Figure 4 As shown, the feeding and clamping unit 2 includes a gravity feeding channel 21, a multi-axis motion component R, and a main body gripper Z.

[0050] The gravity feeding channel 21 is used to realize the continuous feeding of the connection component body z0. The body gripper Z is arranged at the end of the multi-axis motion component R to transfer the body z0 to the clamping tooling 13.

[0051] The multi-axis motion component R and the main body gripper Z are existing knowledge in the field. The multi-axis motion component R is a three-axis telemotion platform, and can also be a multi-axis robot. In the embodiment of the present application, a pneumatically driven motion platform is used, which can drive the main body gripper Z to achieve horizontal reciprocating motion and vertical reciprocating motion.

[0052] The main body gripper Z also adopts a gas-driven structure. The main body gripper Z includes two clamping fingers, one of which is fixed and the other is connected to the cylinder. The distance between the two clamping fingers is adjusted by the action of the cylinder to achieve grasping and releasing.

[0053] The gravity feed channel 21 includes a fixed inclined slide 211, an upper pressure plate 212, an adjustable inclined slide 213, and a fixed frame 214. The fixed inclined slide 211 is fixedly arranged on the fixed frame 214, and the adjustable inclined slide 213 is arranged opposite to the fixed inclined slide 211, and is detachably arranged on the fixed frame 214, and the distance between it and the fixed inclined slide 211 can be adjusted to adapt to connecting components of different sizes. The fixed inclined slide 211 and the adjustable inclined slide 213 include a bottom plate and a side surface. The upper pressure plate 212 is arranged between the fixed inclined slide 211 and the adjustable inclined slide 213, located on the upper part of the bottom plate, and is used to limit the longitudinal position of the connecting component during sliding. The fixed inclined slide 211 and the adjustable inclined slide 213 are in an arc shape as a whole, and a horizontal section is provided at the bottom to facilitate the grasping of the multi-axis motion component R, and a baffle 215 is provided at the end of the horizontal section. The upper pressure plate 212 is located in the arc-shaped area of ​​the fixed inclined slide 211 and the adjustable inclined slide 213, and the curvature is consistent with them.

[0054] The main body gripper Z grasps the connection seat z01 area of ​​the main body of the connecting component, moves to the upper part of the clamping tool 13, and moves downward so that the sliding ring z02 through hole of the connecting component passes through the central limit rod 1342, and then moves the connecting component forward, pulling the central limit rod 1342. After the front part of the connecting component is close to the front limit part a2, the central limit rod 1342 moves backward under the action of the spring to complete the clamping.

[0055] Furthermore, the central limit rod 1342 is provided with an arc chamfer on the top of one side close to the rear limit member 132, and the main body gripper Z can support the connection component downward at a preset position, and the arc chamfer of the central limit rod 1342 can push the central limit rod forward to complete the clamping.

[0056] As attached Figure 5 , 6 As shown, the locking piece assembly unit 3 includes a gravity feeding bin 31 , a horizontal pushing piece 32 , a multi-axis motion component R, and a locking piece gripper 33 .

[0057] The gravity feeding bin 31 includes a box body 311, the bottom surface of the box body is arranged at an angle, and a discharge port is provided on the lower side of the inclined bottom. The size of the discharge port is consistent with the cross-sectional size of the locking piece, which can allow a locking piece to leak out. A discharge channel 312 is provided below the discharge port, and the end of the discharge channel is connected to the horizontal pushing piece 32. Furthermore, a horizontal transfer part is provided at the end of the discharge port, and the locking pieces are transferred one by one to the horizontal pushing piece 32 through a horizontal transfer cylinder 313.

[0058] The horizontal pusher 32 includes a push cylinder 321, a push channel 322, and a material platform 323. The horizontal transfer cylinder 313 transfers the locking member to one end of the push channel 322. The push channel 322 is provided with a through hole or a slot for accommodating the locking member. To prevent the locking member from falling off during the pushing process, the push channel 322 should completely or partially cover (angle greater than 180 degrees) the locking member. The push cylinder 321 pushes the locking member from one side of the push channel 322 to the material platform 323. The material platform 323 is arranged at the end of the material pushing channel 322, and a groove is arranged on the upper part, which is connected with the through hole or slot of the material pushing channel 322. Furthermore, it is an arc-shaped groove, and the central angle of the groove on its cross section is less than 180 degrees. After the locking member is pushed to the material platform 323 by the material pushing cylinder 321, the multi-axis motion component R drives the locking member gripper 33 to move above the locking member. A magnetic suction part is arranged at the bottom of the locking member gripper 33. Specifically, a groove is arranged at the bottom of the magnetic suction part 331 of the locking member gripper 33. A magnetic attraction portion is provided in the groove, and the locking piece is grasped by magnetic attraction, and then moved to the connecting component of the turntable. The locking piece gripper 33 moves downward and is placed in the slot z011 provided on the connecting seat z01. The magnetic attraction portion can be an electromagnet or a permanent magnet. In the case of a permanent magnet, it needs to be placed in the slot z011, and then the locking piece gripper 33 moves forward and is removed into the through hole of the connecting seat z01 and the sliding ring z02. Then the locking piece gripper 33 moves upward to achieve disengagement.

[0059] As attached Figure 7 , 8 As shown in FIG. 9 , the spring assembly unit 4 includes a spring base feeding assembly 41, a spring feeding assembly 42, a rotating gripper 43, a spring component rotating table 44, a multi-axis motion platform R, and a spring component gripper 45.

[0060] The spring base feeding assembly 41 and the spring feeding assembly 42 both include a vibrating hopper (not shown in the figure) and a linear feeder, wherein the linear feeders are a spring base linear feeder 411 and a spring linear feeder 421 respectively.

[0061] A spring limiting structure 4211 is provided at the end of the spring linear feeder 421, specifically, a cylinder is provided at the end of the spring linear feeder, and a pressing part for pressing the spring is provided at the end of the piston rod thereof, so as to limit the springs from flowing out one by one.

[0062] A rotating gripper 43 is provided at the terminal outlet of the spring linear feeder 421, and the rotating gripper 43 includes a rotating base 431 and a spring gripper 432, wherein the rotating base 431 is a rotating motor or a pneumatic rotating device, and the spring gripper 432 also adopts a gas-driven structure, and the spring gripper 432 includes two clamping fingers, one of which is fixed and the other is connected to a cylinder, and the distance between the two clamping fingers is adjusted by the action of the cylinder to realize grabbing and putting down.

[0063] The spring base linear feeder 411 is arranged below the rotating gripper 43. The rotating gripper 43 rotates 90 degrees after grabbing the spring, and then releases the spring and puts it into the spring base. A spring base first limiting cylinder 4111 is arranged at a corresponding position below the rotating gripper 43 to limit the spring base to be located below the rotating gripper 43.

[0064] The end of the spring base linear feeder 411 is provided with a spring base second limit cylinder 4112. The spring base first limit cylinder 4111 and the spring base second limit cylinder 4112 are specifically provided at the end cylinders of the linear feeder, and the end of the piston rod thereof is provided with a limit plate for limiting the spring base to flow out one by one.

[0065] The spring component rotating table 44 is arranged at the end of the spring base linear feeder 411, and includes a second rotating base 441 and a receiving block 442. The receiving block 442 includes a groove structure with an outer dimension slightly larger than the spring base and the shape of the spring. The spring base and the spring are pushed into the groove. The second rotating base 441 is rotated 90 degrees and placed horizontally.

[0066] The spring gripper 45 includes a gripper portion 451 and a push-down portion 452 .

[0067] The gripper part 451 is arranged at the end of the multi-axis motion platform R, and includes two clamping fingers, one of which is fixed and the other is connected to the cylinder. The distance between the two clamping fingers is adjusted by the action of the cylinder to achieve grasping and putting down.

[0068] The push-down part 452 includes a push-down cylinder 4521 and a push rod 4522. The push-down cylinder 4521 is arranged at the end of the multi-axis motion platform R, and its piston rod is connected to the push rod 4522. The push rod is located between the two clamping fingers of the gripper part 451 and its height is higher than the bottom of the two clamping fingers, and can reciprocate under the drive of the push-down cylinder 4521. During installation, the gripper part 451 grasps the spring part, that is, the part formed after the spring is installed on the spring base; then it moves to the groove above the body, and then the push rod presses the spring part downward to press it into the groove.

[0069] As attached Fig.10As shown, the indicator assembly unit 5 includes an indicator feeding component 51 , a multi-axis motion component R5 , and an indicator gripper 52 .

[0070] The indicator feeding assembly 51 is a vibrating feeding device, including a vibrating hopper (not shown in the figure) and a linear feeder 511. An indicator horizontal pushing member 512 is provided at the end of the linear feeder 511. The indicator horizontal pushing member 512 includes an indicator pushing cylinder 5121 and an indicator pushing channel 5122. The indicator pushing cylinder 5121 transfers the indicator to one end of the indicator pushing channel 5122.

[0071] The multi-axis motion component R5 can be a three-axis telemotion platform or a multi-axis robot. In the embodiment of the present application, a pneumatically driven motion platform is used to drive the indicator gripper 52 to achieve horizontal reciprocating motion.

[0072] The indicator gripper 52 is arranged at the end of the multi-axis motion assembly R5, and includes an indicator gripper connecting plate 521, a reciprocating pusher 522, and a front accommodating member 523. The indicator gripper connecting plate 521 is fixed to the end of the multi-axis motion assembly R5, and the reciprocating pusher 522 and the front accommodating member 523 are fixed to the indicator gripper connecting plate 521. A through slot is arranged in the front accommodating member 523, which is arranged opposite to the indicator pushing channel 5122. The reciprocating pusher 522 is an electric cylinder or a pneumatic cylinder, and its piston rod extends into the through slot of the front accommodating member 523.

[0073] The indicator pushing cylinder 5121 pushes the indicator into the groove of the front accommodating member 523 through the indicator pushing channel 5122. At this time, the piston rod of the reciprocating pusher 522 retracts to form a space for accommodating the indicator in the groove. Then the multi-axis motion component R5 drives the indicator gripper 52 to move forward to the connecting component area. The piston rod of the reciprocating pusher 522 extends forward to push the indicator into the groove on the main body, and moves the piston rod of the reciprocating pusher 522 backward when it is in place.

[0074] As attached Fig.11 , 12 As shown, the online detection unit 6 includes a multi-axis motion component R6 and a detection part 61. The multi-axis motion component R6 can be a three-axis telemotion platform or a multi-axis robot. In the embodiment of the present application, a pneumatically driven motion platform is used, which can drive the detection part 61 to realize vertical reciprocating motion, and includes a cylinder, and a connecting plate R61 is provided at the end of the piston rod.

[0075] The detection unit 61 includes a horizontal cylinder 611, a pull block 612, and a sensor 613, and is disposed at the end of the multi-axis motion assembly R6.

[0076] The horizontal cylinder 611 is fixed to the connecting plate R61 at the end of the multi-axis motion assembly R6, and is a pneumatic cylinder. A pull block 612 is provided at the end of the piston rod, and a sensor 613 is provided on the connecting plate R61 in front of the pull block 612. A notch is provided at the bottom of the pull block 612. During detection, the pull block 612 moves downward to the necking of the locking member z3, and the sensor 613 is located above the locking member. Then, the locking member is pulled backward under the drive of the horizontal cylinder 611, and then released.

[0077] Before pulling, pulling to the end, and releasing, the sensor 613 detects whether the locking member exists. The sensor 613 may be a proximity sensor. If the signals "exist", "not exist", and "exist" appear in sequence, it proves that the locking member z3 is pressed and retracted and reset normally.

[0078] In order to improve the stability of the pulling block 612 during the pulling process, a slide 614 is provided between the pulling block 612 and the connecting plate R61. The slide 614 is provided on the connecting plate R61 and has a slide groove at the bottom. The pulling block 612 is provided with a slider that cooperates with the slide groove.

[0079] As attached Fig.13 As shown, the finished product blanking unit 7 includes a multi-axis motion component R, a body gripper Z, and a material distribution tray 71. The multi-axis motion component R is a three-axis telemotion platform, or a multi-axis robot. In the embodiment of the present application, a pneumatically driven motion platform is used, which can drive the body gripper Z to achieve horizontal reciprocating motion and vertical reciprocating motion. The body gripper Z is arranged at the end of the multi-axis motion component R7. It is used to grab the connection component from the clamping tooling and transfer it to the material distribution tray 71.

[0080] The material distribution tray 71 includes a rotating base 711 and a slide 712. The corresponding positions of the ends of the slide (qualified products and unqualified products, respectively) are determined according to the upper computer. The rotating base 711 is a rotating motor or a pneumatic rotating device. The slide 712 is arranged at an angle and the top is connected to the rotating base 711.

[0081] The control unit 8 is used to control the specific actions of the turntable base unit 1, the loading and clamping unit 2, the locking assembly unit 3, the spring assembly unit 4, the indicator assembly unit 5, the online detection unit 6, and the finished product blanking unit 7. It can be an industrial computer or an industrial PC, and communicate with the control equipment of each unit by wire. The action components of each unit are generally controlled by PLC, and generally communicate with the control unit through the field bus. The control elements and communication methods of the technology belong to conventional technologies in the field of automation.

[0082] Regarding the detection process of the online detection unit 6, the present application provides another embodiment as follows:

[0083] The spring of the connecting assembly is installed in the spring seat, and the end of the locking piece is inserted into the spring and connected to the spring, thereby realizing the locking extension locking and pressing reset functions. There are the following possible defects in assembly:

[0084] 1. Improper installation, the locking piece cannot reciprocate

[0085] 2. The locking part can reciprocate normally but there are problems such as jamming, pressing force / rebound force and design errors. Further subdivisions may exist as follows: 21. There are defects in the spring, spring seat, locking part, and indicator part, which lead to problems such as uneven reciprocating motion and jamming. The connection component should be identified as a defective product; 22. There are installation deviations. The installation problems will be corrected during the reciprocating pressing process, after which the locking part of the connection component can reciprocate normally.

[0086] As attached Fig.14 As shown, a force sensor 615 is arranged on the pull block 612 of the online detection unit 6, which is used to detect the force received during the backward movement of the pull lock. The present application provides a method for setting a force sensor. The pull block 612 includes a fixed portion 6121 and a force applying portion 6122. The upper portion of the force applying portion 6122 is connected to the fixed portion 6121 through a bolt structure, and a gap is arranged between the fixed portion 6121. A force sensor 615 is arranged in the gap. The force sensor 615 is a force detection strain gauge. A notch is arranged at the bottom of the force applying portion 6122, and the thickness is reduced.

[0087] The online detection process is based on a detection cycle, which includes the following steps:

[0088] 1. The pull block 612 moves downward to a preset position, and the sensor 613 moves to the upper part of the front end of the locking member. The sensor 613 detects and obtains the first existence data of the locking member. If the first existence data is negative, it is determined that the locking member is not installed in place, and the connection component is determined to be a defective member. If the first existence data is positive, the subsequent steps are performed. The specific sensor 613 may be a proximity sensor.

[0089] 2. The pull block 612 drives the locking member to move backward to a preset distance, compresses the spring, and the force sensor 615 detects and obtains the force data of the pull block during the compression process; the sensor 613 detects and obtains the second existence data of the locking member;

[0090] 3. The pull block 612 moves forward to a preset position at a preset speed, and the locking member is reset under the action of the spring. The sensor 613 detects and obtains the third existence data of the locking member, and the force sensor 615 detects and obtains the force data of the pull block during the reset process.

[0091] 4. If the second existence data is no and the third existence data is yes, it is preliminarily determined that the connection component is a qualified part.

[0092] The complete online detection process includes the following steps:

[0093] 1. Establish a benchmark. For a certain connection component, select multiple qualified assembly products and place them on the clamping fixture 13. The online detection unit 6 performs multiple detection cycles, at least three times, collects the force data curve of the force sensor 615 in the detection process, processes multiple force data curves of multiple qualified assembly products, and obtains a standard force data curve range diagram.

[0094] Specifically, the force data curve is a force curve in time series, that is, the force values ​​detected by the force sensor 615 at different times. Multiple measurements are performed on multiple qualified assembly products to form multiple force values ​​at a certain time, thereby determining the average value, upper limit value, and lower limit value. The upper limit and lower limit are magnified according to a preset coefficient to form the range of the force curve, including the average value, upper limit value, and lower limit value of the force at different times. The specific process is as follows:

[0095] (1) Data acquisition, obtaining the force data of the force detection strain gauge. The data comes from the continuous analog signal output by the strain gauge, which can be converted into a digital signal through the strain gauge supporting device, including the time series data of the force;

[0096] (2) The force data of the force detection strain gauge is denoised. Since the accuracy requirement for the data is not high and the computing resources are reduced, a median filter is used for denoising.

[0097] (3) Calculate the average force value, maximum value, and minimum value corresponding to each moment, and take the expansion coefficient at the maximum value and minimum value to determine the upper limit and lower limit.

[0098] 2. For the connection component to be inspected, the online detection unit 6 performs at least two detection cycles. If the reset process pull block force data and the compression process pull block force data obtained in multiple detection cycles are within the range of the force curve and the deviations between the reset process pull block force data and the compression process pull block force data obtained in multiple cycles are within the preset range, the part is determined to be a qualified part. If it exceeds the preset range, several pressing cycles are performed and at least two detection cycles are performed again to compare the reset process pull block force data and the compression process pull block force data to see if they are within the range of the force curve and the deviations between the reset process pull block force data and the compression process pull block force data obtained in multiple cycles are within the preset range. If it continues to exceed the range, the part is determined to be an unqualified part.

[0099] In the pressing cycle, the pull block 612 of the online detection unit 6 drives the locking piece to move backward to the preset pressing distance and then moves forward to release the locking piece to reset. The pressing distance is generally 30%-80% of the preset distance in the detection cycle. For ease of processing, in one embodiment, the pull block 612 of the online detection unit 6 performs two pressing cycles, and the preset pressing distances are 30% and 80% of the preset distance in the detection cycle respectively.

[0100] 3. If the proportion of unqualified parts exceeds the preset range, including but not limited to the number of consecutive unqualified parts and the number of unqualified parts per unit time, an alarm will be issued and the machine will be shut down according to the preset rules.

[0101] The purpose of performing at least two detection cycles is to detect the smoothness of its reciprocating motion, and the purpose of performing several pressing cycles after exceeding the preset range is to correct possible defects in the assembly process to a certain extent through multiple reciprocating actions.

[0102] It should be noted that, unless otherwise clearly specified and limited, the terms such as "install", "connect", "connect", "fix", "set" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral one; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

Claims

1. An automated assembly equipment for a telescopic ladder step connection assembly, characterized in that: It includes a turntable base unit, a feeding and clamping unit, a locking component assembly unit, a spring assembly unit, an indicator component assembly unit, an online detection unit, a finished product blanking unit, and a control unit; The turntable base unit includes a frame, a driving motor assembly, a turntable, and a clamping tool, and at least 6 clamping tools are arranged on the surface of the turntable; the clamping tool includes a tool base, a rear limit piece, a front limit piece, and a central limit piece; the tool base is detachably arranged on the turntable, and a through slot is arranged in the center, and the central limit piece is adjustably arranged in the through slot, including a support rod portion and a central limit rod, the support rod portion is connected to the end of the through slot by a spring, and the central limit rod is vertically fixed to the upper part of the support rod portion, extends out of the through slot and extends upward by a certain distance; the rear limit piece is fixedly arranged at the rear of the tool base, located behind the central limit rod, and horizontal limit rods are arranged on both sides of the upper part of the rear limit piece, and the front limit piece is adjustably arranged at the front of the tool base, located behind the central limit rod; The feeding and clamping unit, the locking piece assembly unit, the spring assembly unit, the indicator piece assembly unit, the online detection unit, and the finished product blanking unit are arranged on the frame outside the turntable; the feeding and clamping unit includes a gravity feeding channel, a multi-axis motion component, and a body gripper; the locking piece assembly unit includes a gravity feeding bin, a horizontal pushing piece, a multi-axis motion component, and a locking piece gripper; the horizontal pushing piece includes a pushing cylinder, a pushing channel, and a material table, and the pushing channel is provided with a through hole or a slot for accommodating the locking piece, and the pushing channel should completely cover or partially cover the locking piece; the material table is arranged at the end of the pushing channel, and a groove is arranged on the upper part; a magnetic suction part is arranged at the bottom of the locking piece gripper; The spring assembly unit includes a spring base feeding assembly, a spring feeding assembly, a rotating gripper, a spring component rotating table, a multi-axis motion platform, and a spring component gripper; the spring base feeding assembly and the spring feeding assembly include a vibrating hopper and a linear feeder; a rotating gripper is provided at the outlet at the end of the spring linear feeder, the spring base linear feeder is provided below the rotating gripper, a first limit cylinder of the spring base is provided at a corresponding position below the rotating gripper, the spring component rotating table is provided at the end of the spring base linear feeder, and includes a second rotating base and a receiving block, the receiving block includes a groove structure with an outer dimension slightly larger than the spring base and the shape of the spring; the spring component gripper includes a gripper part and a push-down part; the gripper part is provided at the end of the multi-axis motion platform, and includes two clamping fingers, the push-down part includes a push-down cylinder and a push rod, the push-down cylinder is provided at the end of the multi-axis motion platform, and its piston rod is connected to the push rod, the push rod is located between the two clamping fingers of the gripper part and its height is higher than the bottom of the two clamping fingers; The indicator assembly unit includes an indicator feeding assembly, a multi-axis motion assembly, and an indicator gripper; the indicator feeding assembly is a vibrating feeding device, including a vibrating hopper and a linear feeder, and an indicator horizontal pushing member is provided at the end of the linear feeder, and the indicator horizontal pushing member includes an indicator pushing cylinder and an indicator pushing channel; the indicator gripper is arranged at the end of the motion assembly, and the indicator gripper includes an indicator gripper connecting plate, a reciprocating pusher, and a front accommodating member, and the indicator gripper connecting plate is fixed to the end of the multi-axis motion assembly, and the reciprocating pusher and the front accommodating member are fixed on the indicator gripper connecting plate; a through groove is provided in the front accommodating member, which is arranged opposite to the indicator pushing channel, and the reciprocating pusher is an electric cylinder or an air cylinder, and its piston rod extends into the through groove of the front accommodating member; the finished product blanking unit includes a multi-axis motion assembly, a main body gripper, and a material distribution plate; the material distribution plate includes a rotating base and a slideway, and the rotating base is a rotating motor or a pneumatic rotating device, and the slideway is arranged obliquely, and the top is connected to the rotating base; The online detection unit includes a multi-axis motion assembly and a detection part; a connecting plate is provided at the end of the multi-axis motion assembly, and the detection part includes a horizontal cylinder, a pulling block, and a sensor. The horizontal cylinder is fixed to the connecting plate at the end of the multi-axis motion assembly, a pulling block is provided at the end of the piston rod, and the sensor is arranged on the connecting plate in front of the pulling block.

2. The automatic assembly equipment for the telescopic ladder step connection assembly according to claim 1, characterized in that: A force sensor is arranged on the pulling block of the online detection unit. The pulling block includes a fixed part and a force-applying part. The upper part of the force-applying part is connected to the fixed part through a bolt structure. A gap is arranged between the fixed part and a force sensor is arranged in the gap. The force sensor is a force detection strain gauge.

3. An online detection method based on the automated assembly equipment according to claim 2, characterized in that: The steps include: S1. Benchmark establishment: for a certain connection component, multiple qualified assembly products are selected and placed on the clamping fixture. The online detection unit performs multiple detection cycles, at least three times, to collect the force data curve of the force sensor in the detection process, and multiple force data curves of multiple qualified assembly products are processed to obtain a standard force data curve range diagram; S2. For the connection assembly to be inspected, the online inspection unit performs at least two inspection cycles. If the force data of the pull block during the reset process and the force data of the pull block during the compression process obtained in multiple inspection cycles are within the range of the force curve and the deviations between the force data of the pull block during the reset process and the force data of the pull block during the compression process obtained in multiple inspection cycles are within the preset range, the part is determined to be a qualified part. If it exceeds the preset range, several pressing cycles are performed and at least two inspection cycles are performed again. Compare whether the force data of the pull block during the reset process and the force data of the pull block during the compression process are within the range of the force curve and whether the deviations between the force data of the pull block during the reset process and the force data of the pull block during the compression process obtained in multiple cycles are within the preset range. If it continues to exceed, the part is determined to be an unqualified part. S3. If the proportion of unqualified parts exceeds the preset range, including but not limited to the number of consecutive unqualified parts and the number of unqualified parts per unit time, an alarm will be issued and the machine will be shut down according to the preset rules.

4. The online detection method according to claim 3, characterized in that: The detection cycle includes the following steps: the pull block moves downward to a preset position, the sensor moves to the upper part of the front end of the locking piece, the sensor detects and obtains the first existence data of the locking piece, if the first existence data is no, it is judged that the locking piece is not installed in place, and the connection assembly is judged to be an unqualified piece, if the first existence data is yes, the subsequent steps are carried out; the pull block drives the locking piece to move backward to a preset distance, compresses the spring, and the force sensor detects and obtains the force data of the pull block during the compression process; the sensor detects and obtains the second existence data of the locking piece; the pull block moves forward to a preset position at a preset speed, the locking piece is reset under the action of the spring, the sensor detects and obtains the third existence data of the locking piece, and the force sensor detects and obtains the force data of the pull block during the reset process.

5. The online detection method according to claim 4, characterized in that: The pressing cycle includes the following steps: the online detection unit pull block drives the locking piece to move backward to press a preset distance and then moves forward to release the locking piece to reset. The pressing distance is generally 30%-80% of the preset distance in the detection cycle.

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