Thin metal sheet positioning mechanism, welding device, welding equipment and welding method

Abstract

The invention discloses a thin metal sheet positioning mechanism, a welding device, a welding equipment and a welding method, which belong to the field of igniter thin metal sheet welding. The feeding mechanism is located on one side of the product shell clamping mechanism. The feeding mechanism first puts the product shell into the product shell clamping mechanism. When the guide sleeve installation mechanism installs the guide sleeve in the blind hole of the product shell, the feeding mechanism then places the thin metal sheet in the blind hole of the product shell. During welding, the product shell clamping mechanism moves the product shell with the thin metal sheet to the welding mechanism, and the welding mechanism welds the thin metal sheet to the product shell. The beneficial effects of the invention are: through the guide sleeve, the axial position of the thin metal sheet placed in the product shell is limited, so as to ensure the coaxiality of the thin metal sheet and the blind hole of the product shell, and during welding, the welding needle applies pre-pressure to the thin metal sheet, so that the product shell and the thin metal sheet do not move relative to each other, so as to ensure the relative position of the product shell and the thin metal sheet.

Description

Technical Field

[0001] The invention relates to the welding of thin metal sheets of an igniter, in particular to a thin metal sheet positioning mechanism, a welding device, a welding equipment and a welding method. Background Art

[0002] The igniter is an important energy source in the aerospace field, and plays a decisive role in whether the engine and rocket can ignite. The thin metal disc is an important component of the igniter, responsible for energy conversion. During the product production process, the thin metal disc needs to be placed in the deep blind hole of the product shell at a specific angle and position and welded. The welding quality determines whether the energy conversion process can operate normally.

[0003] There are two main methods for welding thin metal discs. The first method is to place the thin metal discs manually. The process is as follows: first, the thin metal discs are manually judged and inspected for quality under a microscope, then the thin metal discs are clamped with tweezers and placed into the deep blind hole of the product shell fixed by the welding tooling, and the position of the thin metal disc is adjusted under a stereo microscope using a pointed bamboo stick so that the welding position covers the welding position in the deep blind hole. After the position is aligned, the pressure rod is pulled down, the welding needle and the thin metal disc are in contact, and the welding is performed using a welding machine. This process requires high operating skills of the operator, the operator is prone to fatigue, the process quality monitoring is not strong, and the product quality relies on experience judgment. Another process is to automatically place thin metal discs, such as the two patents CN111922579B and CN111922577B authorized by Xi'an Aerospace Precision Electromechanical Research Institute, which disclose a system and method for automated welding using a six-axis robot. The process is as follows: first, the six-axis robot picks up the well-arranged product shell and uses a visual camera to take a photo to determine the rotation angle and then insert the aviation plug. Then the visual camera on the end effector takes a photo of the well-arranged thin metal disc, determines the quality and calculates the angle and coordinates. After the thin metal disc is detected, the end effector switches to the thin metal disc suction head and sucks the thin metal disc, rotates the angle and places it on the transfer table for visual recognition before placing it in the product shell. Then the shell is translated by the linear module to the bottom of the welding mechanism, the welding mechanism moves down and lifts up after welding, and then the linear module moves to other welding positions and moves out after welding is completed. The robot clamps the welded shell and puts it into the tray, and welding is completed. However, the welding quality of this automated welding system is still not guaranteed after use;

[0004] After long-term research, the inventor found that since the thin metal disc is placed in the deep blind hole, when placing the thin metal disc, because the thin metal disc is thin and easily affected by airflow, air resistance will occur when the thin metal disc is placed in the deep blind hole, which will cause the thin metal disc to shake. In addition, the slight shaking caused by the movement of the six-axis robot will also cause the placement position deviation, resulting in a decrease in accuracy. When the thin metal disc is placed in the deep blind hole, air resistance will inevitably occur. Therefore, the positioning accuracy of the thin metal disc placed in the blind hole is a technical problem that urgently needs to be solved. To solve this technical problem, the inventor has conducted long-term research. The research proposed a method of installing a thin-walled guide sleeve in the product shell to limit the coaxiality of the thin metal disc, thereby ensuring the coaxiality of the product shell and the thin metal disc. At the same time, visual secondary recognition and positioning was adopted. The position and angle were corrected after the thin metal disc was absorbed and visual positioning was performed again to eliminate machining and assembly errors. At the same time, the fixed product shell was visually recognized to eliminate the position error after fixation and further improve the assembly accuracy. However, after welding, the welding quality of the thin metal sheet was greatly improved, but the welding quality of some thin metal sheets still could not meet the expected requirements.

[0005] The inventor analyzed this part of defective products and the entire welding process and found that: before welding, although the product shell was clamped, during welding, the product shell would contact the conductive needle, causing a slight collision of the product shell. Under this slight collision, the product shell and the thin metal sheet changed their relative position, resulting in the welding quality of the thin metal sheet failing to meet the expected requirements.

[0006] After long-term research, the inventor has proposed a thin metal sheet positioning mechanism, a welding device, a welding equipment and a welding method. Summary of the invention

[0007] The purpose of the present invention is to overcome the shortcomings of the prior art and provide a thin metal sheet positioning mechanism, a welding device, a welding equipment and a welding method.

[0008] The object of the present invention is achieved by the following technical scheme: a positioning mechanism for welding thin metal sheets, comprising a feeding mechanism, a product shell clamping mechanism and a guide sleeve installation mechanism installed on a working platform, the feeding mechanism is located on one side of the product shell clamping mechanism, the feeding mechanism first puts the product shell into the product shell clamping mechanism, and when the guide sleeve installation mechanism installs the guide sleeve in the blind hole of the product shell, the feeding mechanism then places the thin metal sheet in the blind hole of the product shell;

[0009] Optionally, the product shell clamping mechanism includes a machine base, on which a product shell fixing seat and a clamping claw cylinder are installed, a positioning step through hole is opened on the product shell fixing seat, the feeding mechanism places the product shell in the positioning step through hole, the clamping claw cylinder is located above the product shell fixing seat, and the clamping claw cylinder clamps the head of the product shell;

[0010] Optionally, the guide sleeve installation mechanism includes a Z-axis screw module, a telescopic cylinder is installed on the sliding frame of the Z-axis screw module, the telescopic cylinder is telescopic along the Y-axis, a fork is installed at the actuator end of the telescopic cylinder, a guide sleeve is placed on the fork, and an elastic component is also installed on the sliding frame. The elastic component abuts the guide sleeve and the fork under the action of elastic restoring force, and when the guide sleeve is taken and placed, the guide sleeve is coaxial with the positioning step through hole.

[0011] Optionally, the elastic component includes a guide column, a sliding sleeve, a compression spring and a top pressure ring, a cantilever beam is installed on the sliding frame, the top of the guide column is fixedly installed on the cantilever beam, a limit ring is arranged on the top of the guide column, a sliding sleeve is sleeved on the guide column below the limit ring, a compression spring is installed on the top and / or bottom of the sliding sleeve, and the compression spring below the sliding sleeve is connected to the top pressure ring, a guide groove is opened in the middle of the guide column, a stop pin is installed in the guide groove, both ends of the stop pin are radially penetrated on the top pressure ring, when the guide sleeve is placed on the shift fork, the top pressure ring abuts against the guide sleeve under the action of the elastic restoring force of the compression spring.

[0012] Optionally, the top of the guide sleeve has a limiting step, and the top of the guide sleeve is also sleeved with a wear-resistant sleeve, the wear-resistant sleeve has a step surface abutting against the top of the product shell, and the wear-resistant sleeve is located below the limiting step.

[0013] Optionally, the product shell clamping mechanism also includes a cross slide module with X-axis movement and Y-axis movement. A Y-axis movement module is also arranged on the top of the cross slide module. A vertical frame is installed on the sliding seat of the Y-axis movement module, a Z-axis movement module is installed on the vertical frame, and the clamping cylinder is installed on the sliding part of the Z-axis movement module.

[0014] Optionally, the feeding mechanism includes a Y-direction linear moving pair and an X-direction linear moving pair, both of which are installed on the working platform through a frame, the Y-direction linear moving pair is slidably installed on the X-direction linear moving pair, and the Y-direction linear moving pair moves in the X direction along the X-direction linear moving pair, the first Z-direction linear moving pair, the second Z-direction linear moving pair and the first visual camera are installed on the sliding member of the Y-direction linear moving pair, the second Z-direction linear moving pair is located between the first Z-direction linear moving pair and the first visual camera, the sliding member of the first Z-direction linear moving pair is installed with a product shell grasping mechanism, and the second Z-direction linear moving pair is installed with a thin metal sheet adsorption mechanism.

[0015] Optionally, the product shell grasping mechanism includes a first rotating motor, which is mounted on a sliding member of a first Z-direction moving linear pair, a three-jaw clamp is connected to the bottom of the power output shaft of the first rotating motor, and the bottom of the power output shaft of the first rotating motor is mounted on a first bearing seat, and the first bearing seat is mounted on the sliding member of the first Z-direction moving linear pair.

[0016] Optionally, the thin metal sheet adsorption mechanism includes a second rotating motor, which is mounted on a sliding member of a second Z-axis linear motion pair, a thin metal sheet suction head is connected to the bottom of the power output shaft of the second rotating motor, and the bottom of the power output shaft of the second rotating motor is mounted on a second bearing seat, and the second bearing seat is mounted on a sliding member of the second Z-axis linear motion pair.

[0017] Optionally, a second visual camera and a third visual camera are also included, both of which are installed on the working platform, the second visual camera is located between the feeding mechanism and the product shell clamping mechanism, and the product shell clamping mechanism is located between the second visual camera and the third visual camera.

[0018] The thin metal sheet welding device includes a positioning mechanism for thin metal sheet welding and a welding mechanism. Before welding, the guide sleeve installation mechanism installs the guide sleeve in the blind hole of the product shell. During welding, the product shell clamping mechanism moves the product shell with the thin metal sheet to the welding station of the welding mechanism. The welding mechanism welds the thin metal sheet to the bottom of the blind hole of the product shell. After welding, the guide sleeve installation mechanism removes the guide sleeve from the blind hole of the product shell. The welding mechanism includes a vertical mounting frame, a lifting module is installed on the top of the vertical mounting frame, a welding needle clamping head is arranged at the bottom of the lifting module, a welding needle is installed on the welding needle clamping head, a lifting cylinder is installed on the working platform, a welding platform is installed on the top of the telescopic rod of the lifting cylinder, a conductive seat is also installed on the telescopic rod of the lifting cylinder, the conductive seat is located below the welding platform, and a conductive needle is installed on the conductive seat. During welding, the welding platform abuts against the product shell fixing seat, and the conductive needle contacts the bottom of the product shell.

[0019] Optionally, a fourth visual camera for detecting welding needles is also installed on the vertical mounting frame, and a needle changing rack is also provided on the base of the product shell clamping mechanism. The needle changing rack is located on one side of the product shell fixing seat, and welding needles are placed on the needle changing rack.

[0020] A thin metal sheet welding device comprises a thin metal sheet welding device, and also comprises a material tray circulation mechanism and a finished product conveying mechanism. Both the material tray circulation mechanism and the finished product conveying mechanism are installed on a working platform. The material tray circulation mechanism comprises a shell supply component, a shell collection component and an empty tray transfer component. The shell supply component supplies product shells to a product shell clamping mechanism, the finished product conveying mechanism conveys the welded product shells to the shell collection component, and the empty tray transfer component conveys the empty tray of the shell supply component to the shell collection component.

[0021] Optionally, the finished product handling mechanism includes an XYZ axis linear module and a finished product pallet. A three-jaw chuck is installed on the sliding plate of the Z axis linear module of the XYZ axis linear module. When the guide sleeve is taken out, the product shell clamping mechanism moves to the finished product removal station, the clamping cylinder resets, and the three-jaw chuck moves downward to clamp the product shell, and under the action of the XYZ axis linear module, the product shell is placed into the finished product pallet.

[0022] Optionally, the shell supply assembly includes a second material tray clamping mechanism, a first lifting plate and a first translation slide rail. The first translation slide rail is installed in pairs on the working platform through a bracket. The second material tray clamping mechanism is slidably installed on the first translation slide rail. A first translation cylinder is installed on the outer side of the bracket. The first translation cylinder drives the second material tray clamping mechanism to move along the first translation slide rail. A first opening is opened on the working platform. A first screw moving pair is installed on the side wall of the first opening. The first lifting plate is installed on the sliding part of the first screw moving pair.

[0023] Optionally, the shell assembly includes a third material tray clamping mechanism, a second lifting plate and a second translation slide rail. The second translation slide rail is installed in pairs on the working platform through a bracket. The third material tray clamping mechanism is slidably installed on the second translation slide rail. A second translation cylinder is installed on the outer side of the bracket. The second translation cylinder drives the third material tray clamping mechanism to move along the second translation slide rail. A second opening is also opened on the working platform. A second screw moving pair is installed on the side wall of the second opening. The second lifting plate is installed on the sliding part of the second screw moving pair.

[0024] Optionally, the empty pallet transfer assembly includes guide rails arranged in pairs, the guide rails are located above the working platform, a slide is slidably installed on the guide rails, a pushing cylinder is installed on the working platform, the execution end of the pushing cylinder is connected to the slide, a supporting chassis is placed on the slide, a limiting column is installed on the top of the slide, and a limiting hole matching the limiting column is opened on the supporting chassis. When the supporting chassis is placed on the slide, the limiting column is installed in the limiting hole, and in the Y direction, both ends of the supporting chassis protrude from the slide. On the XY projection plane, the area where the first translation slide rail and the guide rail intersect is the loading station, and the area where the second translation slide rail and the guide rail intersect is the unloading station. The working platform is provided with a third opening at the loading station and the unloading station, and a lifting mechanism for lifting the supporting chassis is installed in the third opening.

[0025] Optionally, a thin metal sheet feeding mechanism is also installed on the working platform, and the thin metal sheet feeding mechanism includes a fixed frame and a support frame arranged in pairs. A mounting hole is opened on the working platform, and the fixed frame can be detachably mounted on the working platform, and the two fixed frames are located on both sides of the mounting hole. A Z-axis moving component is installed on the inner side of the fixed frame, and a lifting frame is installed on the sliding part of the Z-axis moving component, and a material tray stacking platform is installed on the top of the lifting frame. The material tray stacking platform is located in the mounting hole, and the support frame is installed on the working platform, and the support frame is located on the outside of the mounting hole. A first material tray clamping mechanism for clamping the thin metal sheet material tray is installed on the top of the support frame. When the first material tray clamping mechanism is in the clamping position, the first material tray clamping mechanism clamps the material tray at the top of the material tray stacking platform, and when the first material tray clamping mechanism is in the initial position, the first material tray clamping mechanism has a cavity through which the material tray passes.

[0026] A thin metal sheet welding method comprises the following steps:

[0027] Product shell loading: The second tray clamping mechanism clamps the tray with the product shell, and then the Y-direction linear moving pair and the X-direction linear moving pair move, and the first visual camera is moved to the top of the product shell. The first visual camera takes a picture of the product shell, and the moving distance of the Y-direction linear moving pair and the X-direction linear moving pair and the rotation angle of the product shell clamping mechanism are determined according to the position of the product shell and the positioning reference on the product shell. Then the Y-direction linear moving pair and the X-direction linear moving pair are fine-tuned to make the center position of the three-claw clamp coincide with the center position of the product shell. At the same time, the first rotating motor rotates the corresponding angle to adjust the position of the three-claw clamp on the circumference, and then the first Z The first Z-direction linear moving pair works, the three-jaw clamp moves downward to clamp the product shell, and then the first Z-direction linear moving pair drives the three-jaw clamp upward. During the upward movement of the three-jaw clamp, the three-jaw clamp is reset to adjust the circumferential position of the product shell to the specified position, and then the X-direction linear moving pair and the Y-direction linear moving pair work to move the three-jaw clamp to the top of the product shell fixing seat, and the first Z-direction linear moving pair drives the three-jaw clamp downward, and places the product shell on the product shell fixing seat, and then the clamp cylinder moves downward under the action of the Z-direction moving module. After the clamp cylinder reaches the specified position, the clamp cylinder works to clamp the product shell, and then the feeding mechanism is reset to complete the feeding of the product shell;

[0028] The guide sleeve is installed in the product housing: the Z-axis screw module works, and then the guide sleeve and the elastic component are driven downward through the sliding frame. During the downward process, the guide sleeve is inserted into the product housing, and the guide sleeve and the product housing are installed in coordination. When the guide sleeve and the product housing are assembled, the fork retracts under the action of the telescopic cylinder, so that the fork is separated from the guide sleeve, and then the Z-axis screw module works, and then the elastic component is driven upward through the sliding frame, and then the guide sleeve is installed in the product housing;

[0029] Loading of thin metal sheets: The cross slide module works, so that the product shell installed with the guide sleeve enters the third visual camera for taking pictures, and then the center position of the product shell is determined, and the circumferential position of the product shell is determined through the positioning reference on the product shell. Then the loading mechanism works, first taking pictures of the thin metal sheet through the first visual camera, and then the center position and angle position of the thin metal sheet are obtained through image comparison, and then the Y-direction linear moving pair and the X-direction linear moving pair are controlled to move to the specified position, and then the second rotary motor rotates to adjust the circumferential position of the thin metal sheet suction head, and then the second Z-direction linear moving pair drives the thin metal sheet suction head downward to suck the thin metal sheet, and then the second Z-direction linear moving pair and the second rotary motor work to reset the thin metal sheet suction head, and finally the Y-direction linear moving pair and the X-direction linear moving pair are controlled The moving pair is linked to move the thin metal sheet to the second visual camera, and the position of the thin metal sheet is determined by the second visual camera. Then, the center position and circumferential position of the product shell determined by the third visual camera after taking a picture of the product shell are used as a reference. Through the Y-axis linear moving pair, the X-axis linear moving pair, the second Z-axis linear moving pair, and the second rotating motor, the position of the thin metal sheet is fine-tuned, so that the center position and circumferential position of the thin metal sheet match the center position and circumferential position of the product shell. Finally, the cross slide module works to move the product shell to the thin metal sheet loading station, and the material station works to move the thin metal sheet to the thin metal sheet loading station. Then, the second Z-axis linear moving pair drives the thin metal sheet suction head downward, so that the thin metal sheet is placed in the blind hole of the product shell to realize the loading of the thin metal sheet.

[0030] Welding of thin metal sheet and product shell: The cross slide module and Z-axis moving module of the product shell clamping mechanism work to move the product shell fixing seat to the welding station of the welding mechanism, and then the lifting module moves downward, the welding needle enters the blind hole of the product shell, and applies a pre-pressure of 5-10N to the thin metal sheet, and then the lifting cylinder works, the welding platform abuts against the product shell fixing seat, and the conductive needle contacts the bottom of the product shell, and then the lifting module moves downward again, the welding needle applies welding pressure to the thin metal sheet, and then the power is turned on to complete the blind hole welding of the thin metal sheet and the product shell, and then the lifting module drives the welding needle to reset, completing the welding of the thin metal sheet and the product shell;

[0031] Take out the guide sleeve: the product shell clamping mechanism is reset, and the guide sleeve installation mechanism takes out the guide sleeve in the product shell;

[0032] Welding quality inspection: After the thin metal sheet and the product shell are welded, the product shell clamping mechanism moves to the bottom of the third vision camera, and the third vision camera takes pictures to judge the welding quality of the thin metal sheet;

[0033] Finished product handling: The cross slide module of the product shell clamping mechanism moves and then moves to the finished product handling station. The three-jaw chuck of the finished product handling mechanism grabs the product shell, and then the product shell clamping mechanism is reset, and the qualified finished product is placed in the finished product tray.

[0034] The present invention has the following advantages:

[0035] 1. The thin metal sheet welding device of the present invention limits the axial position of the thin metal sheet placed in the product shell through the guide sleeve, so that when the thin metal sheet is placed in the blind hole of the product shell, there is no need to consider the influence of air flow floating. When the thin metal sheet is placed, the coaxiality of the thin metal sheet and the blind hole of the product shell meets the installation requirements, thereby ensuring the welding quality of the thin metal sheet;

[0036] 2. The thin metal sheet welding device of the present invention applies a pre-pressure of 5-10N to the thin metal sheet during welding, so that when the product shell vibrates slightly, the thin metal sheet and the product shell can vibrate synchronously, so that the product shell and the thin metal sheet do not move relative to each other, thereby ensuring the relative position of the product shell and the thin metal sheet, especially the relative position of the product shell and the thin metal sheet on the circumference, thereby ensuring the welding quality of the product shell and the thin metal sheet;

[0037] 3. The center position and circumferential position of the product shell and the thin metal sheet can be initially positioned by the first visual camera, the thin metal sheet adsorption mechanism and the product shell clamping mechanism, and the center position and circumferential position of the product shell are determined by the third visual camera and used as a reference. Then, the center position and circumferential position of the thin metal sheet are detected by the second visual camera and compared with the reference, and the position of the thin metal sheet is fine-tuned, so that the center position and circumferential position of the thin metal sheet match the center position and circumferential position of the product shell, thereby ensuring the positioning requirements of the thin metal sheet and the product shell, and thus ensuring the welding quality of the thin metal sheet;

[0038] 4. The tray circulation mechanism realizes the automatic recycling of the tray, which facilitates the loading of product shells and the transportation of finished products, thereby improving production efficiency and improving the automation of thin metal sheet welding. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 The structure of the present invention is schematically shown Figure 1 ;

[0040] Figure 2 The structure of the present invention is schematically shown Figure 2 ;

[0041] Figure 3 The relative positions of the feeding mechanism, welding mechanism, and product shell clamping mechanism are shown in Figure 1. Figure 1 ;

[0042] Figure 4 The relative positions of the feeding mechanism, welding mechanism, and product shell clamping mechanism are shown in Figure 1. Figure 2 ;

[0043] Figure 5 It is a structural schematic diagram of the feeding mechanism;

[0044] Figure 6 It is a schematic diagram of the relative positions of the welding mechanism, the product shell clamping mechanism, and the guide sleeve installation mechanism;

[0045] Figure 7 The structure of the welding mechanism is shown in Figure 2. Figure 1 ;

[0046] Figure 8 The structure of the welding mechanism is shown in Figure 2. Figure 2 ;

[0047] Fig. 9 It is a structural schematic diagram of the product shell clamping mechanism;

[0048] Fig.10 It is a structural schematic diagram of the guide sleeve installation mechanism;

[0049] Fig.11 It is a schematic diagram of the structure in which the elastic component presses the guide sleeve against the shift fork;

[0050] Fig.12 is a schematic diagram of the structure of the elastic component;

[0051] Fig.13 It is a schematic diagram of the positional relationship between the product shell grasping mechanism, the thin metal sheet adsorption mechanism and the first vision camera;

[0052] Fig.14 It is a structural schematic diagram of a thin metal sheet feeding mechanism;

[0053] Fig.15 It is a structural diagram of the finished product handling mechanism;

[0054] Fig.16 This is a schematic diagram of the installation of the tray circulation mechanism on the working platform;

[0055] Fig.17 It is a structural diagram of the material tray circulation mechanism;

[0056] Fig.18 It is a schematic diagram of the structure where the supporting chassis is located above the jacking mechanism;

[0057] Fig.19 A schematic diagram of the structure for supporting the chassis placed on the skateboard;

[0058] In the figure, 1-working platform, 10-first visual camera, 20-second visual camera, 30-third visual camera, 40-thin metal sheet feeding mechanism, 100-loading mechanism, 200-product shell clamping mechanism, 300-welding mechanism, 400-guide sleeve installation mechanism, 500-finished product handling mechanism, 501-XYZ axis linear module, 502-three-jaw chuck, 600-tray circulation mechanism, 101-Y-axis linear moving pair, 102-X-axis linear moving pair, 103-first Z-axis linear moving pair, 104-product shell grabbing mechanism, 105-thin metal sheet adsorption mechanism, 106-second Z-axis linear moving pair, 111-first rotation Motor, 112-first bearing seat, 113-three-claw clamp, 114-thin metal sheet suction head, 115-second rotating motor, 116-second bearing seat, 41-fixed frame, 42-support frame, 43-Z-moving assembly, 44-lifting frame, 45-tray stacking platform, 46-Y-moving mechanism, 47-moving frame, 48-clamping cylinder, 49-clamping arm, 121-cross slide module, 122-product shell fixed seat, 123-clamping cylinder, 124-Z-moving module, 125-stand, 126-Y-moving module, 127-sliding seat, 131-lifting module, 132-welding needle clamping head, 133-vertical mounting frame, 135-lifting cylinder, 136-welding platform, 137-conductive seat, 138-conductive needle, 139-welding needle, 140-fourth visual camera, 141-Z-axis screw module, 142-sliding frame, 143-telescopic cylinder, 144-fork, 145-elastic component, 146-cantilever beam, 147-guide sleeve, 148-wear-resistant sleeve, 151-guide column, 152-sliding sleeve, 153-compression spring, 154-top pressure ring, 155-stop pin, 156-guide To the through slot, 157-limiting ring, 601-pushing cylinder, 602-support chassis, 603-guide rail, 604-lifting cylinder, 605-first translation cylinder, 606-first translation slide rail, 607-second tray clamping mechanism, 608-first lifting plate, 609-second translation slide rail, 610-third tray clamping mechanism, 611-second lifting plate, 612-positioning column, 613-positioning cylinder, 614-support beam, 615-slide plate, 616-limiting column. DETAILED DESCRIPTION

[0059] like Figure 1 , Figure 2As shown, a thin metal sheet welding device includes a thin metal sheet welding device, and the thin metal sheet welding device includes a thin metal sheet positioning mechanism and a welding mechanism 300. A thin metal sheet welding device also includes a material tray circulation mechanism 600 and a finished product conveying mechanism 500. The material tray circulation mechanism 600 and the finished product conveying mechanism 500 are both installed on the working platform 1. The material tray circulation mechanism 600 includes a shell supply component, a shell collection component and an empty tray transfer component. The shell supply component supplies the product shell to the product shell clamping mechanism 200, the finished product conveying mechanism 500 conveys the product shell after welding to the shell collection component, and the empty tray transfer component transfers the empty tray of the shell supply component to the shell collection component.

[0060] In this embodiment, the positioning mechanism for welding thin metal sheets includes a feeding mechanism 100, a product shell clamping mechanism 200, and a guide sleeve installation mechanism 400 installed on the working platform 1. The feeding mechanism 100 is located on one side of the product shell clamping mechanism 200. The feeding mechanism 100 first puts the product shell into the product shell clamping mechanism 200. When the guide sleeve installation mechanism 400 installs the guide sleeve 147 in the blind hole of the product shell, the feeding mechanism 100 then places the thin metal sheet in the blind hole of the product shell. During welding, the product shell clamping mechanism 200 moves the product shell with the thin metal sheet to the welding mechanism 300, and the welding mechanism 300 welds the thin metal sheet to the product shell. After welding, the product shell clamping mechanism 200 is moved to the product shell with the thin metal sheet to the welding mechanism 300. The guide sleeve 147 is in position, and the guide sleeve installation mechanism 400 takes the guide sleeve 147 out of the blind hole of the product shell, and the axial position of the thin metal sheet inserted into the product shell is restricted through the guide sleeve 147, so that when the thin metal sheet is placed in the blind hole of the product shell, there is no need to consider the influence of air flow floating. When the thin metal sheet is placed, the coaxiality of the thin metal sheet and the blind hole of the product shell meets the installation requirements, thereby ensuring the welding quality of the thin metal sheet, and during welding, the welding mechanism 300 first gives the thin metal sheet a pre-pressure of 5-10N, so that there is no relative movement between the product shell and the thin metal sheet, thereby ensuring the relative position of the product shell and the thin metal sheet, and then the welding pressure is applied to ensure the welding quality of the product shell and the thin metal sheet.

[0061] In this embodiment, if Fig. 9 As shown, the product shell clamping mechanism 200 includes a machine base, on which a product shell fixing seat 122 and a clamping claw cylinder 123 are installed. The product shell fixing seat 122 is provided with a positioning step through hole. The feeding mechanism 100 places the product shell in the positioning step through hole. The clamping claw cylinder 123 is located above the product shell fixing seat 122, and the clamping claw cylinder 123 clamps the head of the product shell; as shown in FIG. Fig.10 As shown, the guide sleeve installation mechanism 400 includes a Z-direction lead screw module 141, as shown in FIG. Figure 7 and Figure 8As shown, the fixing frame 41 of the Z-axis lead screw module 141 is installed on one side of the vertical mounting frame 133, as shown in FIG. Fig.10 and Fig.11 As shown, a telescopic cylinder 143 is installed on the sliding frame 142 of the Z-axis lead screw module 141. The telescopic cylinder 143 is telescopic along the Y-axis. A fork 144 is installed on the execution end of the telescopic cylinder 143. A guide sleeve 147 is placed on the fork 144. An elastic component 145 is also installed on the sliding frame 142. The elastic component 145 abuts the guide sleeve 147 against the fork 144 under the action of the elastic restoring force. When the guide sleeve 147 is taken and placed, the guide sleeve 147 is coaxial with the positioning step through hole. In this embodiment, when the thin metal sheet is placed in the blind hole, there is a 0.2m gap between the thin metal sheet and the inner wall of the blind hole. m gap, but in actual process, when the thin metal sheet is placed in the blind hole, it is affected by the airflow and it is difficult to put the thin metal sheet straight. In order to ensure the electrical performance of the thin metal sheet after welding, the coaxiality of the thin metal sheet and the blind hole shall not exceed 0.1mm. In the prior art, when the thin metal sheet is placed in the blind hole, it is affected by the airflow, so it is difficult to ensure the coaxiality requirement of the thin metal sheet and the blind hole, thereby affecting the electrical performance of the thin metal sheet after welding. In this embodiment, by providing a guide sleeve 147 that can be taken and placed, before welding, the guide sleeve 147 is inserted into the product housing, and then the thin metal sheet is placed, and the guide sleeve 147 is used to prevent the thin metal sheet from being welded. The thin metal sheet is guided and limited so that it can only move in the inner cavity of the guide sleeve 147. Although the thin metal sheet is still affected by the airflow when it is placed in the guide sleeve 147, the floating space of the thin metal sheet is limited due to the limitation of the guide sleeve 147. After the thin metal sheet is placed, the coaxiality between the thin metal sheet and the blind hole is less than 0.1mm. Preferably, the thickness of the guide sleeve 147 inserted into the product shell is 0.175mm. Therefore, when the guide sleeve 147 is installed and the thin metal sheet is placed in the blind hole, the coaxiality between the thin metal sheet and the guide sleeve 147 is less than 0.1mm. The gap is only 0.025mm, so that the coaxiality between the thin metal sheet and the guide sleeve 147 is less than 0.05mm, and then after the thin metal sheet is placed in the blind hole, the coaxiality between the thin metal sheet and the blind hole is less than 0.1mm, thereby ensuring the coaxiality of the thin metal sheet and the blind hole. After the thin metal sheet is welded, the guide sleeve 147 is taken out by the guide sleeve installation mechanism 400, and then the guide sleeve 147 is inserted into the next product shell, so that the guide sleeve 147 can be reused, thereby improving the installation accuracy of the thin metal sheet and controlling its cost;

[0062] In this embodiment, if Fig.12As shown, the elastic component 145 includes a guide column 151, a sliding sleeve 152, a compression spring 153 and a top pressure ring 154. A cantilever beam 146 is installed on the sliding frame 142. The top of the guide column 151 is fixedly installed on the cantilever beam 146. A limit ring 157 is arranged on the top of the guide column 151. The guide column 151 below the limit ring 157 is sleeved with a sliding sleeve 152. The top or / and bottom of the sliding sleeve 152 is installed with a compression spring 153, and the compression spring 153 below the sliding sleeve 152 is connected to the top pressure ring 154. A guide through groove 156 is opened in the middle of the guide column 151. A stop pin 155 is installed in the guide through groove 156. Both ends of the stop pin 155 are radially penetrated on the top pressure ring 154. When the guide sleeve 147 is placed on the fork 144, the top pressure ring 154 abuts against the guide sleeve 147 under the elastic restoring force of the compression spring 153. In this embodiment, Fig.11 As shown, the initial position of the guide sleeve 147 is located above the product housing fixing seat 122. When the guide sleeve 147 is installed, the Z-axis lead screw module 141 works, and then drives the guide sleeve 147 and the elastic component 145 downward through the sliding frame 142. During the downward process, the guide sleeve 147 is inserted into the product housing, and the guide sleeve 147 and the product housing are installed in coordination. When the guide sleeve 147 and the product housing are assembled, the fork 144 retracts under the action of the telescopic cylinder 143, and then the fork 144 is separated from the guide sleeve 147. At this time, due to the presence of the compression spring 153, the limiting step on the guide sleeve 147 is abutted against the top of the product housing, and then the Z-axis lead screw module 141 works, and then drives the guide sleeve 147 and the elastic component 145 downward through the sliding frame 142. The elastic component 145 moves upward, and the compression spring 153 is reset at this time. The compression spring 153 applies a thrust to the guide sleeve 147 through the top pressure ring 154, so that the elastic component 145 will not bring out the guide sleeve 147 in the product shell during the upward process. In addition, in the present embodiment, a stop pin 155 and a guide groove 156 are provided to prevent the top pressure ring 154 from rotating, so that during the compression and reset process of the compression spring 153, the top pressure ring 154 will not apply a circumferential rotational force to the guide sleeve 147, so that when the guide sleeve 147 is inserted into or removed from the product shell, there is only an axial relative position between the guide sleeve 147 and the product shell, thereby avoiding the wear of the guide sleeve 147 and the product shell due to circumferential rotation, and ensuring the service life of the guide sleeve 147.

[0063] In this embodiment, if Fig.12As shown, the top of the guide sleeve 147 has a limiting step, and the limiting step belongs to the contact surface. During the movement of the fork 144, the fork 144 will move relative to the limiting step, which will cause the limiting step to wear, thereby affecting the service life of the guide sleeve 147. In this embodiment, the top of the guide sleeve 147 is also provided with a wear-resistant sleeve 148, and the wear-resistant sleeve 148 has a step surface abutting against the top of the product shell, and the wear-resistant sleeve 148 is located below the limiting step. By arranging the wear-resistant sleeve 148, the wear-resistant sleeve 148 is in contact with the product shell and the wear-resistant sleeve 148 and the fork 144 are relatively displaced, thereby avoiding direct contact between the guide sleeve 147 and the fork 144, thereby reducing the wear of the guide sleeve 147 and ensuring the service life of the guide sleeve 147. When the wear-resistant sleeve 148 is worn, it can be replaced with a new wear-resistant sleeve 148. When the guide sleeve 147 is taken out, the product shell clamping mechanism 200 is reset, and the Z-direction screw module 141 drives the elastic When the top pressure ring 154 contacts the guide sleeve 147, the Z-axis lead screw module 141 drives the elastic component 145 downward for a certain distance, thereby compressing the compression spring 153, and then the telescopic cylinder 143 extends, so that the wear-resistant sleeve 148 enters the notch of the fork 144. The top outer circle of the wear-resistant sleeve 148 has a conical ring, so the wear-resistant sleeve 148 can easily enter the notch of the fork 144, and the fork 144 can also be in contact with the wear-resistant sleeve 148. The tapered ring abuts against the Z-axis lead screw module 141, and then the fork 144, the guide sleeve 147 and the elastic component 145 move upward as a whole, so that the guide sleeve 147 is pulled out from the product housing, and the pulled out guide sleeve 147 is always squeezed between the wear-resistant sleeve 148 and the top pressure ring 154 under the action of the elastic restoring force of the compression spring 153, thereby ensuring the stability of the relative position of the guide sleeve 147 and the elastic component 145, so that the guide sleeve 147 can be used continuously.

[0064] In this embodiment, if Fig. 9As shown, the product shell clamping mechanism 200 also includes a cross slide module 121 with X-direction movement and Y-direction movement, and a Y-direction movement module 126 is also arranged on the top of the cross slide module 121. A stand 125 is installed on the sliding seat 127 of the Y-direction movement module 126, and a Z-direction movement module 124 is installed on the stand 125. The clamping claw cylinder 123 is installed on the sliding part of the Z-direction movement module 124. In this embodiment, the cross slide module 121, the Y-direction movement module 126 and the Z-direction movement module 124 are all prior arts, and preferably, The cross slide module 121 is driven by a lead screw to achieve X-direction movement and Y-direction movement, and the Y-direction moving module 126 includes a linear guide, a slide rail and a cylinder, and the Z-direction moving module 124 is driven by a lead screw. Through the cross slide module 121, the position of the product shell fixing seat 122 on the horizontal plane can be adjusted, and then the position of the product shell on the product shell fixing seat 122 can be adjusted. Through the Y-direction moving module 126, the position of the product shell fixing seat 122 in the Y direction can be further adjusted. In this embodiment, as shown in FIG. Fig. 9 As shown, the Y-axis moving module 126 has two workstations, one is the product shell loading station, at which time the cylinder is in a retracted state, and the other is the guide sleeve 147 loading station, at which time the cylinder is in an extended state. In this embodiment, the product shell clamping mechanism 200 is in the initial state when it is in the guide sleeve 147 loading station. Furthermore, in order to ensure the switching accuracy of the Y-axis moving module 126 between the two workstations, a limit block is provided on the sliding seat 127, and two spaced apart blocks are provided on the cross slide module 121. When the limit block contacts the block close to the guide sleeve mounting mechanism 400, the Y-axis moving module 126 is in the product shell loading station, and the loading mechanism 100 places the product shell on the product shell fixing seat 122, and when the limit block When it contacts the block away from the guide sleeve installation mechanism 400, the Y-axis moving module 126 is at the loading position of the guide sleeve 147, and the guide sleeve installation mechanism 400 installs the guide sleeve 147 in the product shell. After the product shell is placed on the product shell fixing seat 122, the Z-axis moving module 124 moves downward. During the downward movement of the Z-axis moving module 124, the clamping cylinder 123 works, so that the clamping cylinder 123 clamps the product shell, and the Z-axis moving module 124 applies an axial downward pressure to the product shell, so that the product shell is tightly attached to the product shell fixing seat 122, thereby avoiding circumferential rotation and axial movement of the product shell during the welding process, thereby ensuring the position accuracy of the product shell, especially the position accuracy of the product shell on the circumference.

[0065] In this embodiment, if Figure 3 , Figure 4 and Figure 5As shown, the feeding mechanism 100 includes a Y-direction linear moving pair 101 and an X-direction linear moving pair 102. The Y-direction linear moving pair 101 and the X-direction linear moving pair 102 are both mounted on the working platform 1 through a frame. The Y-direction linear moving pair 101 is slidably mounted on the X-direction linear moving pair 102, and the Y-direction linear moving pair 101 moves in the X direction along the X-direction linear moving pair 102. Fig.13 As shown, the first Z-direction linear motion pair 103, the second Z-direction linear motion pair 106 and the first visual camera 10 are installed on the sliding member of the Y-direction linear motion pair 101, as shown in FIG. Fig.13 As shown, the second Z-direction linear moving pair 106 is located between the first Z-direction linear moving pair 103 and the first visual camera 10, a product shell grasping mechanism 104 is installed on the sliding member of the first Z-direction linear moving pair, and a thin metal sheet adsorption mechanism 105 is installed on the second Z-direction linear moving pair 106. In this embodiment, preferably, the Y-direction linear moving pair 101, the X-direction linear moving pair 102, the first Z-direction linear moving pair 103, and the second Z-direction linear moving pair 106 all adopt a lead screw moving pair. When the product shell needs to be placed on the product shell fixing seat 122, the Y-direction moving module 126 moves to the product shell loading station. At this time, the first visual camera 10 first moves to the top of the product shell through the Y-direction linear moving pair 101 and the X-direction linear moving pair 102, and the first visual camera 10 takes a picture of the product shell. According to the position of the product shell and the positioning reference on the product shell, the moving distance of the Y-direction linear moving pair 101 and the rotation angle of the product shell grasping mechanism 104 are determined. Further, as Fig.13 As shown, the product shell grasping mechanism 104 includes a first rotating motor 111, which is mounted on the sliding member of the first Z-direction linear motion pair 103, and the bottom of the power output shaft of the first rotating motor 111 is connected to a three-claw clamp 113, and the bottom of the power output shaft of the first rotating motor 111 is sleeved on a first bearing seat 112, and the first bearing seat 112 is mounted on the sliding member of the first Z-direction linear motion pair. The position of the three-claw clamp 113 on the circumference is adjusted by rotating the first rotating motor 111, and then the first Z-direction linear motion pair 103 is moved. 3 works, the three-jaw clamp 113 moves downward to clamp the product shell, and then the first Z-direction linear moving pair 103 drives the three-jaw clamp 113 upward. During the upward movement of the three-jaw clamp 113, the three-jaw clamp 113 is reset to adjust the circumferential position of the product shell to the specified position, and then the X-direction linear moving pair 102 and the Y-direction linear moving pair 101 work to move the three-jaw clamp 113 to the top of the product shell fixing seat 122, and the first Z-direction linear moving pair 103 drives the three-jaw clamp 113 downward, and places the product shell on the product shell fixing seat 122.

[0066] In this embodiment, if Fig.13As shown, the thin metal sheet suction mechanism 105 includes a second rotating motor 115, which is mounted on a sliding member of the second Z-direction linear motion pair 106. The bottom of the power output shaft of the second rotating motor 115 is connected to a thin metal sheet suction head 114, and the bottom of the power output shaft of the second rotating motor 115 is sleeved on a second bearing seat 116. The second bearing seat 116 is mounted on a sliding member of the second Z-direction linear motion pair 106. The thin metal sheet suction head 114 is lifted and lowered by the second Z-direction linear motion pair 106. The angle of the thin metal sheet suction head 114 can be adjusted by the second rotating motor 115, and the coaxiality of the power output shaft of the second rotating motor 115 can be ensured by the second bearing seat 116. The thin metal sheet suction head 114 is a vacuum suction head, which is a commercially available product and has a positioning reference on the thin metal sheet. When the thin metal sheet is adsorbed, the thin metal sheet is first photographed by the first visual camera 10. The thin metal sheet is taken from the optical disc 102 and the optical disc 104 is moved to the optical disc 106. The optical disc 106 moves to the optical disc 106 and the optical disc 104 moves to the optical disc 106. The optical disc 106 moves to the optical disc 106 and the optical disc 104 moves to the optical disc 106. The optical disc 106 moves to the optical disc 106 and the optical disc 104 moves to the optical disc 106.

[0067] In the present embodiment, the positioning between the thin metal sheet and the product shell has a high precision requirement, which is specifically reflected in the requirement that the product shell and the thin metal sheet have coaxiality, and also have a circumferential position positioning requirement. During the installation of the guide sleeve 147, there is contact between the guide sleeve 147 and the product shell, which may affect the circumferential position and center position of the product shell, and the product shell may collide when being clamped by the clamping claw cylinder 123, and then produce slight shaking, thereby affecting the position accuracy of the product shell. Although the coaxiality requirement of the product shell and the thin metal sheet can be guaranteed by setting the guide sleeve 147, the precise positioning of the circumferential position cannot be achieved by the guide sleeve 147. Therefore, in order to further improve the positioning accuracy between the thin metal sheet and the product shell, especially the circumferential position accuracy, in the present embodiment, Figure 3 and Figure 4As shown, the positioning mechanism for thin metal sheet welding also includes a second visual camera 20 and a third visual camera 30, both of which are installed on the working platform 1, and the second visual camera 20 is located between the feeding mechanism 100 and the product shell clamping mechanism 200, and the product shell clamping mechanism 200 is located between the second visual camera 20 and the third visual camera 30. After the guide sleeve 147 is installed on the product shell, the cross slide module 121 works to move the product shell to the bottom of the third visual camera 30, and then the third visual camera 30 takes a picture of the product shell, and then determines whether the product shell is The center position of the product shell is determined by the positioning reference on the product shell, and the circumferential position of the product shell is determined, and the feeding mechanism 100 conveys the thin metal sheet to the top of the second visual camera 20. In this embodiment, the first visual camera 10, the second visual camera 20 and the third visual camera 30 are all commercially available products, and their main function is to achieve position adjustment through image comparison. Therefore, the structures and specific functions of the first visual camera 10, the second visual camera 20 and the third visual camera 30 are all existing. Remember, therefore, their structures and functions are not repeated. In this embodiment, Figure 3 As shown, the second vision camera 20 has two cameras, one of which is an upward camera and the other is a horizontal camera. When the thin metal sheet moves to the second vision camera 20, the horizontal camera takes a picture of the thin metal sheet, and can determine the flatness of the thin metal sheet and whether the adsorption head adsorbs the thin metal sheet. If the thin metal sheet does not meet the requirements, the thin metal sheet is placed in a waste box on one side of the second vision camera 20, and the upward camera takes a picture of the thin metal sheet. By comparing the outer edge hub of the thin metal sheet, the center position of the thin metal sheet can be determined, and by detecting the positioning reference of the thin metal sheet, The circumferential position of the thin metal sheet can be determined, and then the center position and circumferential position of the product shell determined after taking a picture of the product shell by the third visual camera 30 are used as a reference. The position of the thin metal sheet can be fine-tuned through the Y-axis linear motion pair 101, the X-axis linear motion pair 102, the second Z-axis linear motion pair 106, and the second rotating motor 115, so that the center position and circumferential position of the thin metal sheet match the corresponding center position and circumferential position of the product shell, thereby ensuring the positioning accuracy between the thin metal sheet and the product shell, thereby ensuring the welding quality of the thin metal sheet and the product shell.

[0068] In this embodiment, if Figure 6 , Figure 7 and Figure 8As shown, the welding mechanism 300 includes a vertical mounting frame 133, a lifting module 131 is installed on the top of the vertical mounting frame 133, a welding needle clamping head 132 is arranged at the bottom of the lifting module 131, a welding needle 139 is installed on the welding needle clamping head 132, and the lifting module 131, the welding needle clamping head 132 and the welding needle 139 are all commercially available products. Therefore, their specific structure and working process are not repeated. A lifting cylinder 135 is installed on the working platform 1, and a welding platform 136 is installed on the top of the telescopic rod of the lifting cylinder 135. The conductive seat 137 is installed, and the conductive seat 137 is located below the welding platform 136. The conductive needle 138 is installed on the conductive seat 137. During welding, the welding platform 136 abuts against the product shell fixing seat 122, and the conductive needle 138 contacts the bottom of the product shell. In this embodiment, a positioning notch is provided below the product shell fixing seat 122, and a through hole is provided at the bottom of the product shell fixing seat 122. When the cross slide module 121 works and moves the product shell fixing seat 122 to the top of the welding platform 136, the welding platform 136 is moved under the lifting cylinder 135. The conductive needle 138 penetrates the through hole and contacts the product shell. In this embodiment, the bottom of the product shell also has a blind hole, and the blind hole has four contact pins. The four contact pins are evenly distributed on the same circumference. Correspondingly, the thin metal sheet has four welding points. When the conductive needle 138 contacts the contact pin, the conductive needle 138 applies a thrust to the product shell through the contact pin, thereby causing the product shell to vibrate slightly. Under this vibration, the product shell and the thin metal sheet may move relative to each other. Therefore, when the lifting cylinder 135 drives the welding platform 136 upward, the lifting module 131 drives the welding needle 139 downward, and the welding needle 139 contacts the thin metal sheet, and the welding needle 139 applies pre-pressure to the thin metal sheet, and the pre-pressure is -N, so that when the product shell vibrates slightly, the thin metal sheet and the product shell can vibrate synchronously, so that the product shell and the thin metal sheet do not move relative to each other, thereby ensuring the relative position of the product shell and the thin metal sheet, especially the relative position of the product shell and the thin metal sheet on the circumference, thereby ensuring the welding quality of the product shell and the thin metal sheet.

[0069] In this embodiment, if Figure 6 , Figure 7 and Figure 8 As shown, a fourth visual camera 140 for detecting the welding needle 139 is also installed on the vertical mounting frame 133. Fig. 9As shown, a needle changing rack is also provided on the base of the product housing clamping mechanism 200, and the needle changing rack is located on one side of the product housing fixing seat 122. A welding needle 139 is placed on the needle changing rack. After the welding needle 139 is used, the welding needle 139 will be worn out, so it is necessary to replace a new welding needle 139. When the fourth visual camera 140 detects that the welding needle 139 needs to be replaced, the cross slide module 121 works, thereby driving the product housing fixing seat 122 to move, thereby driving the welding needle 139 rack Move, further, a spent needle box is installed on one side of the welding needle 139 rack, the spent needle box is moved to the bottom of the welding needle clamping head 132, the welding needle clamping head 132 releases the spent needle, and the spent needle falls into the spent needle box, and then the welding needle 139 rack is moved to the bottom of the welding needle clamping head 132, the welding needle clamping head 132 moves downward, and the new welding needle 139 is installed on the welding needle clamping head 132, and then the lifting module 131 and the cross slide module 121 are reset to complete the needle replacement of the welding needle 139.

[0070] In this embodiment, after the thin metal sheet is welded to the product shell, the guide sleeve 147 needs to be taken out first. After the guide sleeve 147 is taken out from the product shell loading station, the cross slide module 121 and the Y-axis moving module 126 work again to move the product shell to the bottom of the third visual camera 30. The third visual camera 30 then takes a picture of the product shell welded with the thin metal sheet to determine whether the welding of the thin metal sheet meets the requirements. The finished product that meets the requirements is clamped by the finished product handling mechanism 500 and transferred to the finished product pallet. Specifically, Figure 1 and Fig.15 As shown, the finished product handling mechanism 500 includes an XYZ axis linear module 501 and a finished product pallet. The XYZ axis linear module 501 is installed above the working platform 1 through the supporting stand 125. The XYZ axis linear module 501 is a prior art, so its specific structure is not described in detail. In this embodiment, the Z axis linear module moves along the Y axis linear module, and the Y axis linear module moves along the X axis linear module. A three-jaw chuck 502 is installed on the sliding plate of the Z axis linear module of the XYZ axis linear module 501. When the guide sleeve 147 is taken out, and the product shell is moved to the finished product removal station through the product shell clamping mechanism 200, the clamping cylinder 123 is reset, and the three-jaw chuck 502 moves downward to clamp the product shell, and under the action of the XYZ axis linear module 501, the product shell is placed into the finished product pallet.

[0071] In this embodiment, if Figure 1~Figure 4 As shown, a thin metal sheet feeding mechanism 40 is also installed on the working platform 1. Fig.14As shown, the thin metal sheet feeding mechanism 40 includes a fixed frame 41 and a support frame 42 arranged in pairs. A mounting hole is opened on the working platform 1. The fixed frame 41 can be detachably mounted on the working platform 1, and the two fixed frames 41 are located on both sides of the mounting hole. A Z-axis moving component 43 is installed on the inner side of the fixed frame 41, and a lifting frame 44 is installed on the sliding member of the Z-axis moving component 43. In this embodiment, the Z-axis moving component 43 is a screw transmission pair, and the height of the lifting frame 44 can be adjusted through the Z-axis moving component 43, and a material tray stacking platform 45 is installed on the top of the lifting frame 44, so that the height of the material tray on the material tray stacking platform 45 can be adjusted. The material tray stacking platform 45 is located in the mounting hole, and the support frame 42 is installed on the working platform 1, and the support frame 42 is located on the outside of the mounting hole. A thin metal sheet clamping device is installed on the top of the support frame 42 The first tray clamping mechanism of the tray, when the first tray clamping mechanism is in the clamping position, the first tray clamping mechanism clamps the tray on the top of the tray stacking platform 45, when the first tray clamping mechanism is in the initial position, the first tray clamping mechanism has a cavity through which the tray passes, and multiple layers of trays are stacked on the tray stacking platform 45, and the uppermost tray is moved to the clamping position by the Z-direction moving component 43, and then the first tray clamping mechanism clamps the tray, and the Z-direction moving component 43 moves downward to separate the uppermost tray from the tray below it. In the present embodiment, preferably, each fixed frame 41 is provided with a Z-direction moving component 43, and the two Z-direction moving components 43 work independently, and the tray stacking platforms 45 on the two lifting frames 44 are also independent components. Therefore, in the present embodiment, Figure 5 As shown, the thin metal sheet feeding mechanism 40 has two feeding paths. Preferably, when one of the tray stacking platforms 45 is moving upward and feeding, the other tray stacking platform 45 is loading. In this case, the thin metal sheet feeding mechanism 40 has two feeding stations. Therefore, a Y-direction moving mechanism 46 is provided on the support frame 42. Preferably, as shown in FIG. Fig.14 As shown, the Y-axis moving mechanism 46 has a linear slide rail, a moving frame 47 and a cylinder for driving the moving frame 47, and the first tray clamping mechanism is installed on the moving frame 47, and the cylinder works to enable the moving frame 47 to switch between the two feeding stations. The Y-axis moving mechanism 46 also belongs to the prior art, so its connection structure and function are no longer described in detail. Of course, in order to ensure the accuracy of the movement of the moving frame 47 between the two feeding stations, two spaced apart blocks are provided on the outside of the moving frame 47, and the connection between the cylinder and the moving frame 47 is between the two blocks. Therefore, the displacement of the moving frame 47 is limited by the blocks, thereby ensuring the movement accuracy of the moving frame 47.

[0072] In this embodiment, if Figure 1 and Figure 2 As shown, the thin metal sheet welding device also has a tray circulation mechanism 600, such as Fig.16 and Fig.17 As shown, the tray circulation mechanism 600 includes a shell supply component, a shell collection component and an empty tray transfer component. The shell supply component includes a second tray clamping mechanism 607, a first lifting plate 608 and a first translation slide rail 606. The first translation slide rail 606 is installed in pairs on the working platform 1 through a bracket. The second tray clamping mechanism 607 is slidably installed on the first translation slide rail 606. A first translation cylinder 605 is installed on the outer side of the bracket. The first translation cylinder 605 drives the second tray clamping mechanism 607 to move along the first translation slide rail 606. A first opening is opened on the working platform 1, and a first screw moving pair is installed on the side wall of the first opening. The first lifting plate 608 is installed on the sliding member of the first screw moving pair. The first screw moving pair works. Then drive the first lifting plate 608 to rise and fall; in the present embodiment, the housing assembly comprises a third material tray clamping mechanism 610, a second lifting plate 611 and a second translational slide rail 609, the second translational slide rail 609 is installed in pairs on the working platform 1 through a bracket, the third material tray clamping mechanism 610 is slidably installed on the second translational slide rail 609, a second translational cylinder is installed on the outer side of the bracket, the second translational cylinder drives the third material tray clamping mechanism 610 to move along the second translational slide rail 609, a second opening is also provided on the working platform 1, a second lead screw moving pair is installed on the side wall of the second opening, the second lifting plate 611 is installed on the sliding member of the second lead screw moving pair, the second lead screw moving pair works, then drives the second lifting plate 611 to rise and fall; as Fig.16 and Fig.17 As shown, the empty tray transfer assembly includes a pair of guide rails 603, the guide rails 603 are located above the working platform 1, a slide plate 615 is slidably installed on the guide rails 603, a push cylinder 601 is installed on the working platform 1, the execution end of the push cylinder 601 is connected to the slide plate 615, and a support chassis 602 is placed on the slide plate 615. Further, as shown in FIG. Fig.19 As shown, a limiting column 616 is installed on the top of the slide 615, and a limiting hole matching the limiting column 616 is opened on the supporting chassis 602. When the supporting chassis 602 is placed on the slide 615, the limiting column 616 is installed in the limiting hole, and in the Y direction, both ends of the supporting chassis 602 protrude from the slide 615. In this embodiment, the guide rail 603 is arranged along the X direction, and the first translation rail 606 and the second translation rail 609 are arranged in the Y direction. The first translation rail 606 and the second translation rail 609 are both located above the guide rail 603. On the XY projection plane, the area where the first translation rail 606 and the guide rail 603 intersect is the loading station, and the area where the second translation rail 609 and the guide rail 603 intersect is the unloading station. In this embodiment, the working platform 1 is provided with a third opening at the loading station and the unloading station, and a jacking mechanism is installed in the third opening, such as Fig.18As shown, the lifting mechanism includes a pair of lifting cylinders 604, which are fixedly installed on the working platform 1, and then a support beam 614 is installed on the top of the lifting rod of the lifting cylinder 604, and the support beam 614 is arranged along the X direction. Positioning cylinders 613 are installed at both ends of the support beam 614, and positioning columns 612 are arranged on the four corners of the supporting chassis 602. The positioning columns 612 are located on the outside of the slide plate 615. When the supporting chassis 602 is located at the loading station or the unloading station, the positioning columns 612 of the supporting chassis 602 are located above the corresponding positioning cylinders 613; in this embodiment, the second tray clamping mechanism 607, the third tray clamping mechanism 610, and the first tray clamping mechanism are all prior art, and their structures and working principles are also the same. Preferably, as Fig.14 As shown, the first tray clamping mechanism includes a clamping cylinder 48 and a clamping arm 49. The clamping cylinder 48 is installed on the moving frame 47, and the telescopic rod of the clamping cylinder 48 is connected to the clamping arm 49. The clamping end of the clamping arm 49 is provided with a step. When the clamping cylinder 48 works, the two clamping arms 49 move toward each other to clamp the tray, and the bottom of the tray is supported by the step. In order to improve production efficiency, the trays are usually stacked, and five trays are stacked as a row to illustrate the process of recycling the trays, as shown in FIG. Fig.17As shown, when in use, the first translation cylinder 605 works to move the second tray clamping mechanism 607 to the loading station. At this time, the two clamping arms 49 are at the farthest end, and the distance between the two clamping arms 49 is greater than the length of the tray in the X direction. Then the support chassis 602 is located at the loading station, and the tray with the product is placed on the support chassis 602. The lifting rod cylinder at the loading station works, thereby causing the support beam 614 to move upward, and then the positioning column 612 enters the positioning cylinder 613. As the support beam 614 moves upward, the support chassis 602 is separated from the slide plate 615. When the telescopic rod of the lifting cylinder 604 reaches the upper stroke, the tray arrives at the specified position, and then the clamping arms 49 of the second tray clamping mechanism 607 move toward each other. , and then clamp the material tray, and then the first translation cylinder 605 is reset, so that the second material tray clamping mechanism 607 drives the material tray to move above the first lifting plate 608, and then the first screw moving pair drives the first lifting plate 608 upward, the first lifting plate 608 supports the bottom of the material tray, and the two clamping arms 49 of the second material tray clamping mechanism 607 move away, and then release the material tray, and then the first screw moving pair drives the first lifting plate 608 downward, so that the material tray is located below the second material tray clamping mechanism 607. When loading is needed, the first lifting plate 608 moves the uppermost material tray to the second material tray clamping mechanism 607, and then the second material tray clamping mechanism 607 clamps the uppermost material tray, and then the first lifting plate 608 drives other material trays. The tray moves downward, and then the loading mechanism 100 puts the product shell on the tray clamped by the second tray clamping mechanism 607 into the product shell fixing seat 122. When the product shell on the tray is used up, the first translation cylinder 605 works to send the empty tray to the loading station, and then the lifting cylinder 604 works. After the supporting chassis 602 presses against the empty tray, the second tray clamping mechanism 607 releases the empty tray, and then the lifting cylinder 604 moves downward, and the empty tray moves downward with the supporting chassis 602, and the positioning column 612 is separated from the positioning cylinder 613, and then the pushing cylinder 601 works, thereby driving the empty tray to enter the unloading station. At the same time, the first translation cylinder 605 works to drive the second tray clamping mechanism 607 to reset, and then the first lifting cylinder 608 Then the top tray is sent to the second tray clamping mechanism 607, and the second tray clamping mechanism 607 clamps the tray. Then the loading mechanism 100 puts the product shell into the product shell fixing seat 122. After the empty tray enters the unloading station, when the third tray clamping mechanism 610 enters the unloading station under the action of the second translation cylinder, the lifting cylinder 604 of the unloading station moves upward, and the empty tray is sent to the third tray clamping mechanism 610, and then the third tray clamping mechanism 610 clamps the empty tray. The second translation cylinder drives the third tray clamping mechanism 610 to reset, and then the finished product handling mechanism 500 places the welded finished product on the empty tray. At this time, the empty tray is a finished product tray. When the empty tray is full of finished products,The second lifting plate 611 moves upward under the action of the second screw moving pair, and then receives the tray filled with finished products. Then the third tray clamping mechanism 610 releases the tray, and the second lifting plate 611 moves downward. The third tray clamping mechanism 610 enters the unloading station to clamp a new empty tray. After the third tray clamping mechanism 610 is reset, the finished product handling mechanism 500 places the welded finished product on the empty tray. When the trays on the second lifting plate 611 are stacked to the specified number of layers, the second lifting plate 611 moves upward, and the third tray clamping mechanism 610 clamps the stacked trays. Then the second translation mechanism drives the third tray clamping mechanism 610 to move to the unloading station, and then the stacked trays are moved away, completing the unloading of the trays filled with finished products.

[0073] A thin metal sheet welding method comprises the following steps:

[0074] Loading the product shell: the first translation cylinder 605 works to move the second tray clamping mechanism 607 to the loading station, and the tray with the product is placed on the supporting chassis 602. The lifting rod cylinder at the loading station works to make the supporting beam 614 move upward, and then the positioning column 612 enters the positioning cylinder 613. As the supporting beam 614 moves upward, the supporting chassis 602 separates from the slide plate 615. When the telescopic rod of the lifting cylinder 604 reaches the upper stroke, the tray reaches the specified position. Then the clamping arms 49 of the second tray clamping mechanism 607 move toward each other to clamp the tray. Then the first translation cylinder 605 resets, so that the second tray clamping mechanism 607 drives the tray to move above the first lifting plate 608, and then the first wire The lever moving pair drives the first lifting plate 608 upward, and the first lifting plate 608 supports the bottom of the material tray, and the two clamping arms 49 of the second material tray clamping mechanism 607 move away from each other, thereby releasing the material tray, and then the first lead screw moving pair drives the first lifting plate 608 downward, so that the material tray is located below the second material tray clamping mechanism 607. When loading is required, the first lifting plate 608 moves the uppermost material tray to the second material tray clamping mechanism 607, and then the second material tray clamping mechanism 607 clamps the uppermost material tray, and then the first lifting plate 608 drives other material trays downward, and then the loading mechanism 100 puts the product shell on the material tray clamped by the second material tray clamping mechanism 607 into the product shell fixing seat 122, and the second material tray clamping mechanism 607 holds the product The tray of the product shell is clamped, and then the Y-direction linear moving pair 101 and the X-direction linear moving pair 102 are moved, and the first visual camera 10 is moved to the top of the product shell. The first visual camera 10 takes a picture of the product shell, and the moving distances of the Y-direction linear moving pair 101 and the X-direction linear moving pair 102 and the rotation angle of the product shell clamping mechanism 200 are determined according to the position of the product shell and the positioning reference on the product shell. Then the Y-direction linear moving pair 101 and the X-direction linear moving pair 102 are fine-tuned so that the center position of the three-claw clamp 113 coincides with the center position of the product shell. At the same time, the first rotating motor 111 rotates the corresponding angle to adjust the position of the three-claw clamp 113 on the circumference, and then the first Z-direction linear moving pair 103 The three-jaw clamp 113 moves downward to clamp the product shell, and then the first Z-direction linear moving pair 103 drives the three-jaw clamp 113 upward. During the upward movement of the three-jaw clamp 113, the three-jaw clamp 113 is reset to adjust the circumferential position of the product shell to the specified position. Then the X-direction linear moving pair 102 and the Y-direction linear moving pair 101 work to move the three-jaw clamp 113 to the top of the product shell fixing seat 122. The first Z-direction linear moving pair 103 drives the three-jaw clamp 113 downward and places the product shell on the product shell fixing seat 122. Then the clamp cylinder 123 moves downward under the action of the Z-direction moving module 124. After the clamp cylinder 123 reaches the specified position, the clamp cylinder 123 works to clamp the product shell.Then the feeding mechanism 100 is reset to complete the feeding of the product shell;

[0075] The guide sleeve 147 is installed in the product housing: the Z-direction lead screw module 141 works, and then drives the guide sleeve 147 and the elastic component 145 downward through the sliding frame 142. During the downward process, the guide sleeve 147 is inserted into the product housing, and the guide sleeve 147 and the product housing are installed in coordination. When the guide sleeve 147 and the product housing are assembled, the fork 144 retracts under the action of the telescopic cylinder 143, so that the fork 144 is separated from the guide sleeve 147. At this time, due to the existence of the compression spring 153, the limiting step on the guide sleeve 147 abuts against the top of the product housing. Then the Z-direction lead screw module 141 works, and then drives the elastic component 145 upward through the sliding frame 142. At this time, the compression spring 153 is reset, and the compression spring 153 applies a thrust to the guide sleeve 147 through the top pressure ring 154, so that the elastic component 145 will not bring out the guide sleeve 147 in the product housing during the upward process;

[0076] Thin metal sheet feeding: The cross slide module 121 works, so that the product shell installed with the guide sleeve 147 enters the third visual camera 30 for taking pictures, and then the center position of the product shell is determined, and the circumferential position of the product shell is determined through the positioning reference on the product shell. When the guide sleeve 147 is installed, the feeding mechanism 100 is reset, and the feeding mechanism 100 adsorbs the thin metal sheet. When the thin metal sheet is adsorbed, the thin metal sheet is first photographed by the first visual camera 10, and then the center position and angle position of the thin metal sheet are obtained through image comparison, and then the Y-axis linear moving pair 101 and The X-direction linear moving pair 102 is linked to adjust the horizontal position of the thin metal sheet suction head 114, thereby ensuring that the thin metal sheet suction head 114 can centrally suck the thin metal sheet, and the second rotary motor 115 rotates to adjust the circumferential position of the thin metal sheet suction head 114, and then the second Z-direction linear moving pair 106 drives the thin metal sheet suction head 114 downward to suck the thin metal sheet, and then the second Z-direction linear moving pair 106 and the second rotary motor 115 work to reset the thin metal sheet suction head 114, and finally the Y-direction linear moving pair 101 and the X-direction linear moving pair 102 are controlled to link to move the thin metal sheet to the second visual camera 2 0, the flatness of the thin metal sheet and whether the adsorption head adsorbs the thin metal sheet can be determined by the second visual camera 20. If the thin metal sheet does not meet the requirements, the thin metal sheet is placed in a waste box on one side of the second visual camera 20, and the upward camera takes a picture of the thin metal sheet. By comparing the outer edge hub of the thin metal sheet, the center position of the thin metal sheet can be determined, and by detecting the positioning reference of the thin metal sheet, the circumferential position of the thin metal sheet can be determined. Then, the center position and circumferential position of the product shell determined after the third visual camera 30 takes a picture of the product shell are used as the reference, and the Y-direction linear motion pair 10 is used to move the thin metal sheet to the center position of the product shell. 1. The X-axis linear moving pair 102, the second Z-axis linear moving pair 106, and the second rotating motor 115 are used to fine-tune the position of the thin metal sheet, so that the center position and circumferential position of the thin metal sheet match the center position and circumferential position of the product shell. Finally, the cross slide module 121 works to move the product shell to the thin metal sheet loading station, and the material station works to move the thin metal sheet to the thin metal sheet loading station. Then, the second Z-axis linear moving pair 106 drives the thin metal sheet suction head 114 downward, so that the thin metal sheet is placed in the blind hole of the product shell, and the positioning and placement of the thin metal sheet and the product shell are realized.

[0077] Welding of thin metal sheet to product shell: the cross slide module 121 and the Z-direction moving module 124 of the product shell clamping mechanism 200 work to move the product shell fixing seat 122 to the welding station of the welding mechanism, and then the lifting module 131 moves downward, the welding needle 139 enters the blind hole of the product shell, and applies a pre-pressure of 5-10N to the thin metal sheet, and then the lifting cylinder 135 works, the welding platform 136 abuts against the product shell fixing seat 122, and the conductive needle 138 contacts the bottom of the product shell, and then the lifting module 131 moves downward again, and the welding needle 139 applies welding pressure to the thin metal sheet, and the welding pressure is 10-200N, preferably, the welding pressure is 50-200N, and then power is turned on to complete the blind hole welding of the thin metal sheet and the product shell. , the thin metal sheet and the product shell have multiple welding points. In this embodiment, the thin metal sheet and the product shell have four welding points, and the four welding points are evenly distributed on the same circumference. When the welding of the first welding point is completed, the cross slide module 121 works, thereby driving the product shell to move in the XY plane, so that the next welding point is located below the welding needle 139, and then the welding needle 139 moves downward to apply a pre-pressure of 5-10N to the thin metal sheet, and then the lifting cylinder 135 works, the welding platform 136 abuts against the product shell fixing seat 122, and the conductive needle 138 contacts the bottom of the product shell, and then the lifting module 131 moves downward again, and the welding needle 139 applies welding pressure to the thin metal sheet, and then the power is turned on to complete the welding of the next welding point, until all welding points are completed;

[0078] Then the lifting module 131 drives the welding needle 139 to reset, and the product shell clamping mechanism 200 moves to the bottom of the third visual camera 30. The third visual camera 30 takes pictures to judge the welding quality of the thin metal sheet. Then the product shell clamping mechanism 200 is reset again, and the guide sleeve installation mechanism 400 takes out the guide sleeve 147 in the product shell. Finally, the clamping claw cylinder 123 is reset, and the product shell with the thin metal sheet welded is taken out to complete the welding.

[0079] Take out the guide sleeve 147: the product shell clamping mechanism 200 is reset again, and the guide sleeve installation mechanism 400 takes out the guide sleeve 147 in the product shell. Specifically, the Z-axis screw module 141 drives the elastic component 145 downward. When the top pressure ring 154 contacts the guide sleeve 147, the Z-axis screw module 141 drives the elastic component 145 downward for a certain distance, thereby compressing the compression spring 153, and then the telescopic cylinder 143 extends, so that the wear-resistant sleeve 148 enters the notch of the fork 144. The top outer circle of the wear-resistant sleeve 148 has a conical ring, so the wear-resistant sleeve 148 can It can easily enter the gap of the shift fork 144, and the shift fork 144 can also abut against the tapered ring of the wear-resistant sleeve 148, and then the Z-direction lead screw module 141 moves upward, thereby driving the shift fork 144, the guide sleeve 147 and the elastic component 145 to move upward as a whole, so that the guide sleeve 147 is pulled out from the product housing, and the pulled out guide sleeve 147 is always squeezed between the wear-resistant sleeve 148 and the top pressure ring 154 under the action of the elastic restoring force of the compression spring 153, thereby ensuring the stability of the relative position of the guide sleeve 147 and the elastic component 145, so that the guide sleeve 147 can be used continuously;

[0080] Welding quality inspection: After the guide sleeve 147 is taken out, the product shell clamping mechanism 200 is moved to the bottom of the third visual camera 30, and the third visual camera 30 takes pictures to judge the welding quality of the thin metal sheet;

[0081] Finished product handling: The cross slide module 121 of the product shell clamping mechanism 200 moves and then moves to the finished product handling station. The three-claw chuck 502 of the finished product handling mechanism 500 grabs the product shell, and then the product shell clamping mechanism 200 is reset, and the good finished product is placed in the finished product tray;

[0082] Empty tray transfer: After the product shell on the tray is used up, the first translation cylinder 605 works to send the empty tray to the loading station, and then the lifting cylinder 604 works. After the support chassis 602 presses against the empty tray, the second tray clamping mechanism 607 releases the empty tray, and then the lifting cylinder 604 moves downward, and the empty tray moves downward with the support chassis 602, and the positioning column 612 is separated from the positioning cylinder 613, and then the pushing cylinder 601 works, thereby driving the empty tray to enter the unloading station. At the same time, the first translation cylinder 605 works The second tray clamping mechanism 607 is driven to reset, and then the first lifting plate 608 sends the top tray to the second tray clamping mechanism 607, and the second tray clamping mechanism 607 clamps the tray, and then the feeding mechanism 100 puts the product shell into the product shell fixing seat 122. After the empty tray enters the unloading station, when the third tray clamping mechanism 610 enters the unloading station under the action of the second translation cylinder, the lifting cylinder 604 of the unloading station moves upward to send the empty tray to the third tray clamping mechanism. The third tray clamping mechanism 610 then clamps the empty tray, the second translation cylinder drives the third tray clamping mechanism 610 to reset, and then the finished product handling mechanism 500 places the welded finished product on the empty tray. At this time, the empty tray is a finished product tray. When the empty tray is full of finished products, the second lifting tray 611 moves upward under the action of the second lead screw moving pair, and then receives the tray full of finished products. Then the third tray clamping mechanism 610 releases the tray, the second lifting tray 611 moves downward, and the third tray The tray clamping mechanism 610 then enters the unloading station to clamp a new empty tray. After the third tray clamping mechanism 610 is reset, the finished product handling mechanism 500 places the welded finished product on the empty tray. When the trays on the second lifting tray 611 are stacked to the specified number of layers, the second lifting tray 611 moves upward, and the third tray clamping mechanism 610 clamps the stacked trays. Then the second translation mechanism drives the third tray clamping mechanism 610 to move to the unloading station, and then the stacked trays are moved away, completing the unloading of the trays containing the finished products.

Claims

1. A positioning mechanism for thin metal sheet welding, characterized in that: It includes a feeding mechanism, a product shell clamping mechanism and a guide sleeve installation mechanism installed on a working platform. The feeding mechanism is located on one side of the product shell clamping mechanism. The feeding mechanism first puts the product shell into the product shell clamping mechanism. When the guide sleeve installation mechanism installs the guide sleeve into the blind hole of the product shell, the feeding mechanism then places the thin metal sheet into the blind hole of the product shell. Before welding, the guide sleeve is inserted into the product shell, and then the thin metal sheet is placed. The thin metal sheet is guided and limited by the guide sleeve, so that the thin metal sheet can only move in the inner cavity of the guide sleeve. Although the thin metal sheet is still affected by the airflow when it is placed in the guide sleeve, the floating space of the thin metal sheet is limited due to the limitation of the guide sleeve. The product shell clamping mechanism includes a machine base, on which a product shell fixing seat and a clamping claw cylinder are installed, and a positioning step through hole is opened on the product shell fixing seat. The feeding mechanism places the product shell in the positioning step through hole, and the clamping claw cylinder is located above the product shell fixing seat, and the clamping claw cylinder clamps the head of the product shell; The guide sleeve installation mechanism includes a Z-direction screw module, a telescopic cylinder is installed on the sliding frame of the Z-direction screw module, the telescopic cylinder is telescopic along the Y direction, a fork is installed on the execution end of the telescopic cylinder, a guide sleeve is placed on the fork, and an elastic component is also installed on the sliding frame, the elastic component abuts the guide sleeve and the fork under the action of elastic restoring force, and when the guide sleeve is taken and placed, the guide sleeve is coaxial with the positioning step through hole; The top of the guide sleeve has a limiting step, and the top of the guide sleeve is also sleeved with a wear-resistant sleeve, the wear-resistant sleeve has a step surface abutting against the top of the product shell, and the wear-resistant sleeve is located below the limiting step.

2. The positioning mechanism for thin metal sheet welding according to claim 1, characterized in that: The elastic component includes a guide column, a sliding sleeve, a compression spring and a top pressure ring. A cantilever beam is installed on the sliding frame. The top of the guide column is fixedly installed on the cantilever beam. A limiting ring is arranged on the top of the guide column. A sliding sleeve is sleeved on the guide column below the limiting ring. A compression spring is installed on the top and / or bottom of the sliding sleeve, and the compression spring below the sliding sleeve is connected to the top pressure ring. A guide through groove is opened in the middle of the guide column, and a stop pin is installed in the guide through groove. Both ends of the stop pin are radially penetrated on the top pressure ring. When the guide sleeve is placed on the shift fork, the top pressure ring abuts against the guide sleeve under the action of the elastic restoring force of the compression spring.

3. The positioning mechanism for thin metal sheet welding according to claim 2, characterized in that: The product shell clamping mechanism also includes a cross slide module with X-direction movement and Y-direction movement. A Y-direction movement module is also arranged on the top of the cross slide module. A vertical frame is installed on the sliding seat of the Y-direction movement module. A Z-direction movement module is installed on the vertical frame. The clamping claw cylinder is installed on the sliding part of the Z-direction movement module.

4. The positioning mechanism for thin metal sheet welding according to any one of claims 1 to 3, characterized in that: The feeding mechanism includes a Y-direction linear moving pair and an X-direction linear moving pair, both of which are installed on the working platform through a frame, the Y-direction linear moving pair is slidably installed on the X-direction linear moving pair, and the Y-direction linear moving pair moves in the X direction along the X-direction linear moving pair, the first Z-direction linear moving pair, the second Z-direction linear moving pair and the first visual camera are installed on the sliding member of the Y-direction linear moving pair, the second Z-direction linear moving pair is located between the first Z-direction linear moving pair and the first visual camera, the sliding member of the first Z-direction linear moving pair is installed with a product shell grasping mechanism, and the second Z-direction linear moving pair is installed with a thin metal sheet adsorption mechanism.

5. The positioning mechanism for thin metal sheet welding according to claim 4, characterized in that: The product shell grasping mechanism includes a first rotating motor, which is installed on the sliding member of the first Z-direction moving linear pair, and the bottom of the power output shaft of the first rotating motor is connected to a three-jaw clamp, and the bottom of the power output shaft of the first rotating motor is mounted on a first bearing seat, and the first bearing seat is installed on the sliding member of the first Z-direction moving linear pair.

6. The positioning mechanism for thin metal sheet welding according to claim 4, characterized in that: The thin metal sheet adsorption mechanism includes a second rotating motor, which is installed on the sliding member of the second Z-direction linear motion pair, and the bottom of the power output shaft of the second rotating motor is connected to a thin metal sheet suction head, and the bottom of the power output shaft of the second rotating motor is mounted on a second bearing seat, and the second bearing seat is installed on the sliding member of the second Z-direction linear motion pair.

7. The positioning mechanism for thin metal sheet welding according to claim 1, characterized in that: It also includes a second visual camera and a third visual camera, both of which are installed on the working platform, the second visual camera is located between the feeding mechanism and the product shell clamping mechanism, and the product shell clamping mechanism is located between the second visual camera and the third visual camera.

8. Thin metal sheet welding device, characterized in that: The thin metal sheet welding positioning mechanism comprises the thin metal sheet welding positioning mechanism as described in any one of claims 1 to 7, and also comprises a welding mechanism, before welding, the guide sleeve installation mechanism installs the guide sleeve in the blind hole of the product shell, during welding, the product shell clamping mechanism moves the product shell equipped with the thin metal sheet to the welding station of the welding mechanism, the welding mechanism welds the thin metal sheet to the bottom of the blind hole of the product shell, after welding, the guide sleeve installation mechanism removes the guide sleeve from the blind hole of the product shell, the welding mechanism comprises a vertical mounting frame, a lifting module is installed on the top of the vertical mounting frame, a welding needle clamping head is arranged at the bottom of the lifting module, a welding needle is installed on the welding needle clamping head, a lifting cylinder is installed on the working platform, a welding platform is installed on the top of the telescopic rod of the lifting cylinder, a conductive seat is also installed on the telescopic rod of the lifting cylinder, the conductive seat is located below the welding platform, a conductive needle is installed on the conductive seat, during welding, the welding platform abuts against the product shell fixing seat, and the conductive needle contacts the bottom of the product shell.

9. The thin metal sheet welding device according to claim 8, characterized in that: A fourth visual camera for detecting the welding needle is also installed on the vertical mounting frame, and a needle changing rack is also provided on the base of the product shell clamping mechanism. The needle changing rack is located on one side of the product shell fixing seat, and the welding needle is placed on the needle changing rack.

10. A thin metal sheet welding device, characterized in that: It includes the thin metal sheet welding device as described in claim 8 or 9, and also includes a material tray circulation mechanism and a finished product conveying mechanism, both of which are installed on a working platform, the material tray circulation mechanism includes a shell supply component, a shell collection component and an empty tray transfer component, the shell supply component supplies product shells to the product shell clamping mechanism, the finished product conveying mechanism conveys the welded product shells to the shell collection component, and the empty tray transfer component transfers the empty tray of the shell supply component to the shell collection component.

11. The thin metal sheet welding device according to claim 10, characterized in that: The finished product handling mechanism includes an XYZ axis linear module and a finished product pallet. A three-jaw chuck is installed on the sliding plate of the Z axis linear module of the XYZ axis linear module. When the guide sleeve is taken out, the product shell clamping mechanism moves to the finished product removal station, the clamping cylinder resets, the three-jaw chuck moves downward to clamp the product shell, and under the action of the XYZ axis linear module, the product shell is placed in the finished product pallet.

12. The thin metal sheet welding device according to claim 11, characterized in that: The shell supply assembly includes a second tray clamping mechanism, a first lifting plate and a first translation slide rail. The first translation slide rail is installed in pairs on the working platform through a bracket. The second tray clamping mechanism is slidably installed on the first translation slide rail. A first translation cylinder is installed on the outer side of the bracket. The first translation cylinder drives the second tray clamping mechanism to move along the first translation slide rail. A first opening is opened on the working platform. A first screw moving pair is installed on the side wall of the first opening. The first lifting plate is installed on the sliding part of the first screw moving pair.

13. The thin metal sheet welding device according to claim 12, characterized in that: The shell assembly includes a third material tray clamping mechanism, a second lifting plate and a second translation slide rail. The second translation slide rails are installed in pairs on the working platform through brackets. The third material tray clamping mechanism is slidably installed on the second translation slide rail. A second translation cylinder is installed on the outer side of the bracket. The second translation cylinder drives the third material tray clamping mechanism to move along the second translation slide rail. A second opening is also opened on the working platform. A second screw moving pair is installed on the side wall of the second opening. The second lifting plate is installed on the sliding part of the second screw moving pair.

14. The thin metal sheet welding device according to claim 13, characterized in that: The empty tray transfer assembly includes a pair of guide rails, the guide rails are located above the working platform, a slide is slidably installed on the guide rails, a pushing cylinder is installed on the working platform, the execution end of the pushing cylinder is connected to the slide, a supporting chassis is placed on the slide, a limiting column is installed on the top of the slide, and a limiting hole matching the limiting column is opened on the supporting chassis. When the supporting chassis is placed on the slide, the limiting column is installed in the limiting hole, and in the Y direction, both ends of the supporting chassis protrude from the slide. On the XY projection plane, the area where the first translation slide rail and the guide rail intersect is the loading station, and the area where the second translation slide rail and the guide rail intersect is the unloading station. The working platform is provided with a third opening at the loading station and the unloading station, and a lifting mechanism for lifting the supporting chassis is installed in the third opening.

15. The thin metal sheet welding device according to claim 10, characterized in that: The working platform is also equipped with a thin metal sheet feeding mechanism, and the thin metal sheet feeding mechanism includes a fixed frame and a support frame arranged in pairs, and the working platform is provided with a mounting hole, the fixed frame can be detachably mounted on the working platform, and the two fixed frames are located on both sides of the mounting hole, a Z-axis moving component is installed on the inner side of the fixed frame, a lifting frame is installed on the sliding member of the Z-axis moving component, and a material tray stacking platform is installed on the top of the lifting frame, and the material tray stacking platform is located in the mounting hole, the support frame is installed on the working platform, and the support frame is located on the outer side of the mounting hole, and a first material tray clamping mechanism for clamping the thin metal sheet material tray is installed on the top of the support frame, when the first material tray clamping mechanism is in the clamping position, the first material tray clamping mechanism clamps the material tray at the top of the material tray stacking platform, and when the first material tray clamping mechanism is in the initial position, the first material tray clamping mechanism has a cavity through which the material tray passes.

16. A method for welding thin metal sheets, characterized in that: The following steps are involved: Product shell loading: The second tray clamping mechanism clamps the tray with the product shell, and then the Y-direction linear moving pair and the X-direction linear moving pair move, and the first visual camera is moved to the top of the product shell. The first visual camera takes a picture of the product shell, and the moving distance of the Y-direction linear moving pair and the X-direction linear moving pair and the rotation angle of the product shell clamping mechanism are determined according to the position of the product shell and the positioning reference on the product shell. Then the Y-direction linear moving pair and the X-direction linear moving pair are fine-tuned to make the center position of the three-claw clamp coincide with the center position of the product shell. At the same time, the first rotating motor rotates the corresponding angle to adjust the position of the three-claw clamp on the circumference, and then the first Z The first Z-direction linear moving pair works, the three-jaw clamp moves downward to clamp the product shell, and then the first Z-direction linear moving pair drives the three-jaw clamp upward. During the upward movement of the three-jaw clamp, the three-jaw clamp is reset to adjust the circumferential position of the product shell to the specified position, and then the X-direction linear moving pair and the Y-direction linear moving pair work to move the three-jaw clamp to the top of the product shell fixing seat, and the first Z-direction linear moving pair drives the three-jaw clamp downward, and places the product shell on the product shell fixing seat, and then the clamp cylinder moves downward under the action of the Z-direction moving module. After the clamp cylinder reaches the specified position, the clamp cylinder works to clamp the product shell, and then the feeding mechanism is reset to complete the feeding of the product shell; The guide sleeve is installed in the product housing: the Z-axis screw module works, and then the guide sleeve and the elastic component are driven downward through the sliding frame. During the downward process, the guide sleeve is inserted into the product housing, and the guide sleeve and the product housing are installed in coordination. When the guide sleeve and the product housing are assembled, the fork retracts under the action of the telescopic cylinder, so that the fork is separated from the guide sleeve, and then the Z-axis screw module works, and then the elastic component is driven upward through the sliding frame, and then the guide sleeve is installed in the product housing; Loading of thin metal sheets: The cross slide module works, so that the product shell installed with the guide sleeve enters the third visual camera for taking pictures, and then the center position of the product shell is determined, and the circumferential position of the product shell is determined through the positioning reference on the product shell. Then the loading mechanism works, first taking pictures of the thin metal sheet through the first visual camera, and then the center position and angle position of the thin metal sheet are obtained through image comparison, and then the Y-direction linear moving pair and the X-direction linear moving pair are controlled to move to the specified position, and then the second rotary motor rotates to adjust the circumferential position of the thin metal sheet suction head, and then the second Z-direction linear moving pair drives the thin metal sheet suction head downward to suck the thin metal sheet, and then the second Z-direction linear moving pair and the second rotary motor work to reset the thin metal sheet suction head, and finally the Y-direction linear moving pair and the X-direction linear moving pair are controlled The moving pair is linked to move the thin metal sheet to the second visual camera, and the position of the thin metal sheet is determined by the second visual camera. Then, the center position and circumferential position of the product shell determined by the third visual camera after taking a picture of the product shell are used as a reference. Through the Y-axis linear moving pair, the X-axis linear moving pair, the second Z-axis linear moving pair, and the second rotating motor, the position of the thin metal sheet is fine-tuned, so that the center position and circumferential position of the thin metal sheet match the center position and circumferential position of the product shell. Finally, the cross slide module works to move the product shell to the thin metal sheet loading station, and the material station works to move the thin metal sheet to the thin metal sheet loading station. Then, the second Z-axis linear moving pair drives the thin metal sheet suction head downward, so that the thin metal sheet is placed in the blind hole of the product shell to realize the loading of the thin metal sheet. Welding of thin metal sheet and product shell: The cross slide module and Z-axis moving module of the product shell clamping mechanism work to move the product shell fixing seat to the welding station of the welding mechanism, and then the lifting module moves downward, the welding needle enters the blind hole of the product shell, and applies a pre-pressure of 5-10N to the thin metal sheet, and then the lifting cylinder works, the welding platform abuts against the product shell fixing seat, and the conductive needle contacts the bottom of the product shell, and then the lifting module moves downward again, the welding needle applies welding pressure to the thin metal sheet, and then the power is turned on to complete the blind hole welding of the thin metal sheet and the product shell, and then the lifting module drives the welding needle to reset, completing the welding of the thin metal sheet and the product shell; Take out the guide sleeve: the product shell clamping mechanism is reset, and the guide sleeve installation mechanism takes out the guide sleeve in the product shell; Welding quality inspection: After the thin metal sheet and the product shell are welded, the product shell clamping mechanism moves to the bottom of the third vision camera, and the third vision camera takes pictures to judge the welding quality of the thin metal sheet; Finished product handling: The cross slide module of the product shell clamping mechanism moves and then moves to the finished product handling station. The three-jaw chuck of the finished product handling mechanism grabs the product shell, and then the product shell clamping mechanism is reset, and the qualified finished product is placed in the finished product tray.

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