Automatic assembling equipment for drill body clamping jaw

Abstract

The invention relates to drill body clamping jaw automatic assembling equipment which comprises an indexing rotary table body and a clamping jaw loading device, a workpiece carrier of the indexing rotary table body is connected with a to-be-assembled part, and the clamping jaw loading device is used for assembling the part into an inclined hole of the to-be-assembled part connected to the workpiece carrier; the clamping jaw loading device comprises a clamping jaw loading manipulator, a clamping jaw positioning mechanism and an automatic clamping jaw feeding module, the discharging end of the automatic clamping jaw feeding module is connected to the receiving end of the clamping jaw positioning mechanism, and the clamping jaw loading manipulator is matched with the clamping jaw positioning mechanism to execute assembly hole site alignment, clamping jaw taking and placing and clamping jaw assembly actions. According to the assembling device, assembling work of parts with holes can be accurately completed, and the assembling device has the advantages of being high in assembling quality and efficiency, low in assembling cost, high in practicability and the like.

Description

Technical Field

[0001] The present application relates to the technical field of automatic assembly of drill chucks, and in particular to an automatic assembly device for drill body jaws. Background Art

[0002] There are many parts of a drill chuck, which is mainly composed of three parts: drill body, clamping jaws and nut. Among them, the drill body is the most basic part. There are three evenly distributed inclined holes on the drill body, which form an angle of 15° with the central axis. The clamping jaws need to be installed in the three inclined holes of the drill body in sequence. The success or failure of the clamping jaw assembly directly affects the clamping accuracy of the drill chuck.

[0003] In the prior art, a three-hole machine is usually used to process the drill body. After the drill body is discharged, it is placed in a certain number on a plastic tray, and the remaining parts are assembled manually, which has the disadvantages of low efficiency and high labor intensity for workers. Especially for novice assemblers, the jaws may be assembled in the wrong order. If automated assembly is to be achieved, the drill body needs to be positioned on the carrier, and the jaws need to be assembled in a certain order until the drill chuck is assembled. However, the existing automated assembly equipment has low assembly accuracy, low coordination, and relatively low assembly quality and efficiency.

[0004] Therefore, a new type of drill body clamping automation equipment is urgently needed to improve assembly quality and efficiency, reduce assembly costs, reduce the disadvantages caused by manual wrong installation of clamps, and reduce the labor intensity of workers. Summary of the invention

[0005] The purpose of the present application is to provide an automatic assembly device for drill body clamps to solve the problems of low assembly quality and efficiency, high assembly cost, etc. existing in the prior art.

[0006] The embodiments of the present application can be implemented through the following technical solutions:

[0007] A drill body clamp automatic assembly device, comprising: a dividing turntable body, and a clamp loading device, wherein a workpiece carrier of the dividing turntable body is connected to a component to be assembled, and the clamp loading device is used to assemble the part into a hole of the component to be assembled connected to the workpiece carrier;

[0008] The clamp loading device includes a clamping jaw manipulator, a clamp positioning mechanism, and a clamp automatic feeding module. The discharge end of the clamp automatic feeding module is connected to the receiving end of the clamp positioning mechanism. The clamping jaw manipulator cooperates with the clamp positioning mechanism to respectively perform assembly hole location, part placement, and component assembly actions.

[0009] Furthermore, the jaw positioning mechanism includes a jaw ejection mechanism, an inclined hole positioning mechanism and a jaw pre-tensioning mechanism. The jaw ejection mechanism is arranged at the material receiving end of the jaw positioning mechanism, the output end of the inclined hole positioning mechanism is arranged in the horizontal direction and toward the drill body, and the jaw pre-tensioning mechanism is arranged at the top of the jaw positioning mechanism and toward the output end of the inclined hole positioning mechanism.

[0010] Furthermore, the drill body inclined hole positioning mechanism comprises a positioning drive component and an insertion rod, wherein the insertion rod is connected to the output end of the positioning drive component, and under the driving action of the positioning drive component, the insertion rod moves toward the drill body connected to the workpiece carrier;

[0011] The workpiece carrier drives the drill body to rotate, and the workpiece carrier cooperates with the insertion rod to insert the insertion rod into the designated inclined hole of the drill body, thereby completing the positioning of the inclined hole of the drill body.

[0012] Furthermore, the clamping jaw pre-tightening mechanism comprises a positioning component, a clamping jaw assembly socket which penetrates obliquely upward and downward is arranged in the middle of the positioning component, and the clamping jaw assembly socket is coaxially arranged with the drill hole positioned by the oblique hole positioning mechanism.

[0013] Further, the positioning assembly includes a positioning connecting plate and a clamping jaw pre-tightening assembly, and the clamping jaw pre-tightening assembly is used to adjust the clamping force applied by the clamping jaw assembly socket to the clamping jaw;

[0014] The clamping jaw pre-tightening assembly includes a positioning platform, a positioning block, and a positioning core block. A first accommodating hole that runs horizontally through the middle of the positioning block is provided. The positioning core block is slidably connected in the first accommodating hole. The positioning block is connected to the middle of the positioning platform, and the connection position between the positioning block and the positioning platform is positioned by the positioning connecting plate.

[0015] Furthermore, the positioning block further comprises a first assembly socket extending obliquely upward and downward, and the positioning core block comprises a second assembly socket extending obliquely upward and downward, and the first assembly socket and the second assembly socket cooperate to form a clamping claw assembly socket extending obliquely upward and downward;

[0016] Both ends of the positioning core block are elastically connected to the inner wall of the positioning platform, and under the elastic force, the second assembly socket can be laterally displaced relative to the first assembly socket.

[0017] Furthermore, the clamping jaw pre-tightening assembly also includes a pre-tightening spring, and the number of the pre-tightening springs is two. Both ends of the positioning core block are connected to the inner wall of the positioning platform through the pre-tightening springs.

[0018] Furthermore, the clamping jaw pre-tightening assembly further comprises an adjusting bolt, and the number of the adjusting bolts is two;

[0019] The positioning platform includes a second accommodating hole, the second accommodating hole penetrates the middle part of the positioning platform in the transverse direction and is coaxially arranged with the first accommodating hole, the adjusting bolt is threadedly connected with the second accommodating hole, and the preload spring is connected with the adjusting bolt through the second accommodating hole;

[0020] The positioning connecting plate and the adjusting bolt are adjusted in coordination so that the first assembly insertion hole, the second assembly insertion hole and the inclined hole of the drill body are adjusted to coaxial positions.

[0021] Furthermore, the clamping jaw manipulator includes a clamping jaw horizontal displacement driving component and a clamping jaw execution component. The clamping jaw horizontal displacement driving component is arranged in the horizontal direction, and the clamping jaw execution component is obliquely connected to the output end of the clamping jaw horizontal displacement driving component. Under the driving action of the clamping jaw horizontal displacement driving component, the clamping jaw execution component moves back and forth between the clamping jaw ejection mechanism and the clamping jaw pre-tightening mechanism in the horizontal direction.

[0022] Furthermore, the clawing execution assembly includes a clawing mechanism, an inclined hole coaxial positioning mechanism, and a clawing mechanism. The clawing mechanism, the inclined hole coaxial positioning mechanism, and the clawing mechanism are respectively connected to a cylinder driving member. Under the action of each cylinder driving member, the inclined hole coaxial positioning mechanism moves up and down obliquely, and passes through the first assembly socket, the second assembly socket, and the inclined hole of the drill body that are coaxially arranged to verify whether the first assembly socket, the second assembly socket, and the inclined hole of the drill body are coaxially arranged correctly.

[0023] The claw taking mechanism moves up and down obliquely to take and place the clamping jaw, and transfers the clamping jaw to the clamping jaw assembly socket that has been inspected and found to be correct. The claw hitting mechanism hits the clamping jaw in the clamping jaw assembly socket obliquely downward into the oblique hole of the drill body that is coaxial with the clamping jaw.

[0024] The drill body clamp automatic assembly device provided by the embodiment of the present application has at least the following beneficial effects:

[0025] The present application can automatically complete the assembly of the clamping jaws and the drill body. Compared with the prior art, the main advantage of the present application is that an elastically connected positioning core block is provided in the clamping jaw pre-tightening mechanism. When the clamping jaw mechanism installs the clamping jaw into the positioning block, it will force the positioning core block to compress the spring and deform. After the clamping jaw robot is removed, the spring deformation force forces the clamping jaw to be stuck between the positioning core block and the positioning block, thereby keeping the clamping jaw position fixed and waiting for subsequent actions, ensuring that the clamping jaw can be stably positioned in the clamping jaw assembly socket, avoiding the uncertain position of the clamping jaw thread surface inside the inclined hole of the drill body caused by the clamping jaw automatically falling into the drill hole, and having the advantages of high assembly quality and efficiency, low assembly cost, and strong practicality.

[0026] This application can be extended to the assembly of other parts such as nut assembly, bearing assembly, and jacket assembly, and has the advantages of wide application range, strong practicality, and high degree of automation. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 This is a schematic diagram of the overall structure of an automatic assembly device for a drill body clamp in the present application;

[0028] Figure 2 This is a schematic diagram of the overall structure of the indexing turntable body in this application;

[0029] Figure 3 It is a schematic diagram of the structure of the workpiece carrier in this application;

[0030] Figure 4 This is a schematic diagram of the decomposed state of the workpiece carrier in this application;

[0031] Figure 5 This is a schematic diagram of the structure of the drill body loading platform in this application;

[0032] Figure 6 This is a schematic diagram of the installation position of the material detection switch in this application;

[0033] Figure 7 This is a schematic diagram of the structure of the feeding robot in this application;

[0034] Figure 8 This is the structural diagram of the automatic feeding module of the clamping jaws;

[0035] Fig. 9 It is a structural schematic diagram of the clamping jaw positioning mechanism in this application;

[0036] Fig.10 This is a schematic diagram of the structure of the drill body inclined hole positioning mechanism in this application;

[0037] Fig.11 It is a schematic diagram of the disassembled state of the clamping jaw pre-clamping assembly in this application;

[0038] Fig.12 It is a schematic diagram of the cross-sectional structure of the clamping jaw pre-clamping assembly in the present application in the assembled state;

[0039] Fig.13 This is a schematic diagram of the structure of the gripper manipulator in this application;

[0040] Fig.14 This is a schematic diagram of the structure of the unloading robot in this application;

[0041] Fig.15 It is a schematic diagram of the structure of the material feeding and conveying device in this application.

[0042] Numbers in the figure

[0043] 1- indexing turntable body; 11- turntable; 12- cam intermittent separation mechanism; 13- workpiece carrier; 131- clamping nozzle; 132- guide sleeve; 133- bearing; 134- threaded top screw; 135- rotating mechanism installation sleeve; 136- adjusting gasket; 137- rotating mechanism locking nut; 138- compression spring; 139- spring compression nut; 14- loading and unloading station lifting assembly; 15- claw assembly station rotation drive assembly;

[0044] 2-feeding manipulator; 21-feeding horizontal moving module; 22-feeding up and down moving mechanism; 23-feeding grabbing mechanism; 24-in-place detection switch;

[0045] 3-claw manipulator; 30-claw horizontal displacement drive assembly; 31-claw removal mechanism; 32-oblique hole coaxial positioning mechanism; 33-claw striking mechanism;

[0046] 4- material unloading manipulator; 41- material unloading horizontal moving module; 42- material unloading up and down moving mechanism; 43- material unloading grabbing mechanism;

[0047] 5-drill body loading platform; 50-loading platform; 51-Y-direction servo moving structure, 52-X-direction servo moving mechanism, 53-Z-direction moving mechanism, 54-pneumatic finger assembly; 55-rotation waiting mechanism;

[0048] 6-feeding conveying device; 61-sorting conveying mechanism; 62-feeding conveying bracket; 63-stop bar;

[0049] 7-claw positioning mechanism; 70-positioning mechanism connecting frame; 71-claw ejection mechanism; 72-oblique hole positioning mechanism; 721-first driving cylinder; 722-first connector; 723-slider mounting plate; 724-guide rail; 725-insertion rod mounting plate; 726-insertion rod; 73-claw pre-tightening mechanism; 731-second driving cylinder; 732-slider connecting plate; 733-displacement connecting plate; 734-positioning assembly; 7340-positioning connecting plate; 735-positioning platform; 7351-second accommodating hole; 736-positioning block; 7361-first accommodating hole; 7362-first assembly socket; 737-positioning core block; second assembly socket 7371; 738-pre-tightening spring; 739-adjusting bolt;

[0050] 8-gripper automatic feeding module; 81-adjustable bracket; 82-vibrating plate; 83-adjusting screw; 84-discharging slideway. DETAILED DESCRIPTION

[0051] Hereinafter, the present application will be further described based on preferred embodiments with reference to the accompanying drawings.

[0052] In addition, various components on the drawings are enlarged (thickened) or reduced (thinned) for ease of understanding, but this practice is not intended to limit the scope of protection of the present application.

[0053] Words importing the singular also include the plural and vice versa.

[0054] In the description of the embodiments of the present application, it should be noted that if the terms "upper", "lower", "inside", "outside", etc. indicate an orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship in which the products of the embodiments of the present application are usually placed when in use, it is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application. In addition, in the description of the present application, in order to distinguish different units, the words first, second, etc. are used in this specification, but these are not limited by the order of manufacture, nor can they be understood as indicating or implying relative importance, and their names may be different in the detailed description and claims of the present application.

[0055] The vocabulary in this specification is used to illustrate the embodiments of the present application, but is not intended to limit the present application. It should also be noted that, unless otherwise clearly specified and limited, the terms "disposed", "connected", and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, a direct connection, an indirect connection through an intermediate medium, or a connection between the two elements. For those skilled in the art, the specific meanings of the above terms in this application can be specifically understood.

[0056] Figure 1 This is a schematic diagram of the overall structure of an automatic assembly device for a drill body clamp in this application, such as Figure 1 As shown, an automatic assembly device for a drill body clamp comprises a dividing turntable body 1, a loading robot 2, a clamp loading device, a unloading robot 4, a drill body loading platform 5, and an unloading conveying device 6. The loading robot 2 is used to transfer the components to be assembled on the drill body loading platform 5 to the dividing turntable body 1, so that the workpiece carrier 13 of the dividing turntable body 1 is connected to the components to be assembled. The clamp loading device is used to assemble the parts into the holes of the components to be assembled connected to the workpiece carrier 13 to complete the assembly of the parts. The unloading robot is used to transfer the assembled parts to the unloading conveying device 6.

[0057] Among them, the clamping jaw loading device includes a clamping jaw manipulator 3, a clamping jaw positioning mechanism 7, and a clamping jaw automatic feeding module 8. The discharge end of the clamping jaw automatic feeding module 8 is connected to the receiving end of the clamping jaw positioning mechanism 7. The clamping jaw manipulator 3 cooperates with the clamping jaw positioning mechanism 7 to respectively perform assembly hole positioning, part picking and placing, and component assembly actions.

[0058] Of course, the parts to be assembled in the present application can be any parts with assembly holes, and the parts can be any parts that can be assembled into the holes. For the convenience of description, the present application takes the drill body and the clamping jaws as examples for detailed description, which is not intended to limit the application scenarios of the present application.

[0059] In some preferred embodiments, the dividing turntable body 1 is provided with a plurality of workstations, namely a loading station, an unloading station and three jaw assembly stations. Correspondingly, the jaw loading device is also provided with three groups. The three groups of jaw loading devices are respectively arranged in one-to-one correspondence with the jaw assembly stations for installing the jaws in sequence.

[0060] Specifically, the indexing turntable body 1 is a supporting turntable for performing the jaw assembly work. The indexing turntable body 1 includes a workbench for placing the drill body and a driving device for driving the workbench to move. Under the driving action of the driving device, the workbench of the indexing turntable body 1 moves intermittently, which is used to accurately transfer the drill body connected to the workbench to the next workstation, so as to complete the automated assembly work in each workstation in sequence.

[0061] In some preferred embodiments, the worktable of the dividing turntable body 1 is in the shape of a disk. Under the action of the driving device of the dividing turntable body 1, the worktable of the dividing turntable body 1 intermittently rotates around its axis, so that the drill body connected to the worktable surface of the dividing turntable body 1 is transferred to the next designated workstation. The worktable of the dividing turntable body 1 adopts a disk-shaped structure, which has the advantages of saving floor space, concentrating the working area, and facilitating operation and management.

[0062] Specifically, Figure 2 This is a schematic diagram of the overall structure of the indexing turntable body 1 in this application, such as Figure 2 As shown, the indexing turntable body 1 includes a turntable 11, a cam intermittent dividing mechanism 12, a workpiece carrier 13, a loading and unloading station lifting assembly 14, and a claw assembly station rotation drive assembly 15. The cam intermittent dividing mechanism 12 is connected to the turntable 11, and the cam intermittent dividing mechanism 12 is used to drive the turntable 11 to complete the indexing rotation around its axis. The loading and unloading station lifting assembly 14 is used to lift the compression spring for loading and unloading the drill body.

[0063] The workpiece carrier 13 is connected to the table of the turntable 11. The workpiece carrier 13 is a connecting device for fixing the drill body on the turntable 11, so that when the turntable 11 rotates to change the workstation, the drill body can still be stably connected to the turntable 11 by the workpiece carrier 13 without deviation.

[0064] In some preferred embodiments, a plurality of workpiece carriers 13 are provided, and the plurality of workpiece carriers 13 are evenly arranged along the circumference of the turntable 11, and each of the workpiece carriers 13 is driven to rotate by a corresponding jaw assembly station rotation drive assembly 15. When assembling the jaws, the jaw assembly station rotation drive assembly 15 drives the workpiece carrier 13 to rotate through the loading and unloading station lifting assembly 14, so as to drive the drill body connected to the workpiece carrier 13 to rotate and adjust its position, and rotate the jaw hole of the next assembly order of the drill body to correspond to the jaw loading device.

[0065] In some preferred embodiments, the claw assembly station rotation drive component 15 is located below the workpiece carrier 13, and the claw assembly station rotation drive component 15 and the workpiece carrier 13 are detachably connected and driven, so that when the dividing turntable body 1 drives the workpiece carrier 13 to rotate, the claw assembly station rotation drive component 15 can be separated from the workpiece carrier 13, and the claw assembly station rotation drive component 15 does not need to move with the workpiece carrier 13, which has the advantages of saving energy, streamlining equipment wiring, facilitating equipment maintenance and replacement, and reducing equipment maintenance costs.

[0066] In some preferred embodiments, the workpiece carrier 13 can also be replaced with other forms of mechanisms, such as a pneumatic clamping mechanism. In this embodiment, for the convenience of description, the workpiece carrier 13 adopts a compression spring type clamp. Compared with other clamping tools, the compression spring is the advantage of the clamp that it can achieve the clamping function at low cost without the cooperation of other actuators such as cylinders or motors. It is particularly suitable for turntable mechanisms and does not need to be equipped with other pneumatic and electric slip ring mechanisms.

[0067] When the drill body is connected to the surface of the workpiece carrier 13 and the claw assembly needs to be positioned, the loading and unloading lifting assembly 14 moves upward, so that the claw assembly station rotation driving assembly 15 is connected to the workpiece carrier 13, and the claw assembly station rotation driving assembly 15 is driven to rotate, thereby driving the workpiece carrier 13 to rotate, and then the drill body connected to the workpiece carrier 13 also rotates, so that the jaw hole of the next assembly order of the drill body is rotated to correspond to the jaw loading device.

[0068] Specifically, Figure 3 is a schematic diagram of the structure of the workpiece carrier 13 in this application, Figure 4 Schematic diagram of the decomposition state of the workpiece carrier 13 in this application, as shown in FIG. Figure 3 , Figure 4 As shown, the workpiece carrier 13 includes a clamping nozzle 131, a guide sleeve 132, a bearing 133, a threaded top screw 134, a rotating mechanism mounting sleeve 135, an adjusting gasket 136, a rotating mechanism locking nut 137, a compression spring 138, and a spring clamping nut 139. The rotating mechanism mounting sleeve 135 is fixedly connected to the turntable 11, and the bearings 133 are installed at both ends of the rotating mechanism mounting sleeve 135. The guide sleeve 132 passes through the bearing 133 and is fixed to the rotating mechanism mounting sleeve 135 by a rotating mechanism locking nut 137. The clamping nozzle 131 passes through the guide sleeve 132, and through the compression spring 138 and the spring clamping nut 139, the outer conical surface of the clamping nozzle 131 cooperates with the inner conical surface of the guide sleeve 132, and the threaded top screw 134 is used to lock the spring clamping nut 139.

[0069] The following describes how the workpiece carrier 13 achieves the clamping and anti-loosening states in combination with the two states.

[0070] Clamping: In the natural state, the compression spring 138 is elastically deformed under the action of the spring clamping nut 139, and the elastic force acts in the opposite direction on the clamping nozzle 131, forcing the clamping nozzle 131 to move downward. The conical surface outside the clamping nozzle 131 is fully matched with the conical surface inside the guide sleeve 132. With the cooperation of the conical surface, the clamping nozzle 131 is guaranteed to shrink axially inward to clamp the drill body.

[0071] Relaxation: When the lifting assembly 14 of the loading and unloading station is working, it pushes upward. When the lifting force is greater than the elastic force of the compression spring 138, the clamping nozzle 131 is forced to move upward, the conical mating surface begins to decrease, and the clamping nozzle 131 expands outward, thereby releasing the force that clamps the drill body, loosening the drill body, and making the drill body in a relaxed and rotatable state.

[0072] The following combination Figures 5 to 15 , the process of automatic loading and unloading and assembling the jaws of a drill body jaw automatic assembly device of the present application is introduced in detail:

[0073] Figure 5 This is a schematic diagram of the structure of the drill body loading platform 5 in this application, as shown Figure 5 As shown, the drill body loading platform 5 includes a loading platform 50, a loading displacement drive module, a pneumatic finger assembly 54 and a rotating waiting mechanism 55. The loading displacement drive module drives the pneumatic finger assembly 54 to move above the customized disk of the loading platform 50, so that the pneumatic finger assembly 54 can take out the drill body from the customized disk and transfer it to the rotating waiting mechanism 55 to wait for the loading robot 2 to pick up the material.

[0074] Specifically, the loading displacement drive module includes a Y-direction servo moving structure 51, an X-direction servo moving mechanism 52, and a Z-direction moving mechanism 53. The Y-direction servo moving structure 51 is connected to the loading platform 50 along the Y direction, the X-direction servo moving mechanism 52 is connected to the output end of the Y-direction servo moving structure 51 along the X direction, the Z-direction moving mechanism 53 is connected to the output end of the X-direction servo moving mechanism 52, and the pneumatic finger assembly 54 is connected to the output end of the Z-direction moving mechanism 53, so as to meet the displacement requirement of the pneumatic finger assembly 54 above the loading platform 50.

[0075] In some preferred embodiments, the drill body loading platform 5 further includes a drill body material detection switch 56, such as Figure 6 As shown, Figure 6 This is a schematic diagram of the installation position of the material detection switch 56 in the present application. The material detection switch 56 is arranged at the clamping end of the pneumatic finger assembly 54, and is used to detect whether there is a drill body at the position where the pneumatic finger assembly 54 is located. If the sensing switch of the material detection switch 56 is on, the pneumatic finger assembly 54 performs a grasping action at this position. Otherwise, if the sensing switch is not on, the loading displacement drive module drives the pneumatic finger assembly 54 to move to the next grasping position, automatically avoiding the position without material.

[0076] In some preferred embodiments, the rotary waiting mechanism 55 is arranged on the loading platform 50 and is adjacent to the dividing turntable body 1. After the pneumatic finger assembly 54 clamps the drill body, under the driving action of the loading displacement driving module, the pneumatic finger assembly 54 moves to the rotary waiting mechanism 55 and places the drill body on the rotary waiting mechanism 55.

[0077] The loading robot 2 is disposed between the drill body loading platform 5 and the indexing turntable body 1 , and is used to clamp the drill body on the rotating waiting mechanism 55 and transfer it to the loading station of the indexing turntable body 1 .

[0078] Specifically, Figure 7 It is a structural diagram of the feeding robot 2 in this application, such as Figure 7 As shown, the feeding manipulator 2 includes a feeding horizontal moving module 21, a feeding up and down moving mechanism 22, and a feeding grabbing mechanism 23. The feeding horizontal moving module 21 is arranged between the rotating waiting mechanism 55 and the feeding station of the indexing turntable body 1 in the horizontal direction. The up and down moving mechanism 22 is connected to the output end of the horizontal moving module 21, and is used to drive the up and down moving mechanism 22 to move in the horizontal direction.

[0079] The loading and grabbing mechanism 23 is connected to the output end of the loading and up-and-down moving mechanism 22, and the loading and up-and-down moving mechanism 22 is used to drive the loading and grabbing mechanism 23 to move up and down in the vertical direction. The loading and grabbing mechanism 23 is used to take the drill body out of the rotating waiting mechanism 55 and place the drill body onto the workpiece carrier 13 at the loading station of the dividing turntable main body 1.

[0080] In some preferred embodiments, the loading robot 2 also includes an in-place detection switch 24, and the loading grabbing mechanism 23 is provided with a metal sensing sheet that cooperates with the in-place detection switch 24. The in-place detection switch 24 is used to detect the displacement position of the loading grabbing mechanism 23, and then determine whether the drill body clamped by the loading grabbing mechanism 23 is placed on the workpiece carrier 13. If the drill body is loaded on the workpiece carrier 13, the shading sheet of the loading grabbing mechanism 23 will be displaced to the sensing area of ​​the in-place detection switch 24, and the switch of the in-place detection switch 24 will light up. The in-place detection switch 24 sends a signal to the main control system, and the main control system controls the next action. Otherwise, if the detection switch is not lit, the system will alarm, and the operator can troubleshoot the fault according to the alarm information.

[0081] When the loading robot 2 successfully loads the drill body onto the workpiece carrier 13 at the loading station, the cam intermittent dividing mechanism 12 drives the turntable 11 to rotate, driving the drill body to move to the first jaw assembly station, and then the jaw loading device loads the jaw into the designated drill hole of the drill body.

[0082] Specifically, the clamping jaw loading device includes a clamping jaw manipulator 3, a clamping jaw positioning mechanism 7, and a clamping jaw automatic feeding module 8. The discharge end of the clamping jaw automatic feeding module 8 is connected to the receiving end of the clamping jaw positioning mechanism 7. The clamping jaw manipulator 3 cooperates with the clamping jaw positioning mechanism 7 to respectively perform assembly hole positioning, clamping jaw placement, and assembly jaw actions. The clamping jaw at the receiving end cooperates with the workpiece carrier 13 located at the first clamping jaw assembly station to locate the clamping jaw hole, and cooperates with the clamping jaw manipulator 3 to drive the clamping jaw at the assembly end into the positioned clamping jaw hole.

[0083] Specifically, Figure 8 This is a schematic diagram of the automatic feeding module 8 of the clamp in this application, as shown Figure 8 As shown, the clamping jaw automatic loading module 8 includes a vibration plate 82 and a discharge chute 84. The discharge chute 84 is connected to the vibration plate 82. The end of the discharge chute 84 is the discharge end of the clamping jaw automatic loading module 8, which is used for automatically loading the clamping jaws through the vibration plate 82 and transferring the clamping jaws to the receiving end of the clamping jaw positioning mechanism 7 through the discharge chute 84.

[0084] In some preferred embodiments, the clamping jaw automatic feeding module 8 includes an adjustable bracket 81 and an adjusting screw 83, the adjusting screw 83 is connected between the table top of the adjustable bracket 81 and the bracket, and the vibration plate 82 is arranged on the table top of the adjustable bracket 81, and is used to adjust the height of the vibration plate 82 by adjusting the screw 83 so that the discharge port of the discharge chute 84 is adapted to the feed port of the receiving end of the clamping jaw positioning mechanism 7 to meet the connection requirements for feeding.

[0085] Fig. 9 Schematic diagram of the structure of the clamping jaw positioning mechanism 7 in this application, as shown Fig. 9 As shown, the jaw positioning mechanism 7 includes a positioning mechanism connecting frame 70 and a jaw ejection mechanism 71, an inclined hole positioning mechanism 72 and a jaw pre-tightening mechanism 73 connected to the same side of the positioning mechanism connecting frame 70, wherein the jaw ejection mechanism 71 is arranged at the material receiving end of the jaw positioning mechanism 7, and the output end of the inclined hole positioning mechanism 72 is arranged in the horizontal direction and is arranged toward the workpiece carrier 13 located at the first jaw assembly station, for locating and locating the drilling hole of the drill body.

[0086] The jaw pre-tightening mechanism 73 is connected to the top of the positioning mechanism connecting frame 70 and is arranged toward the output end of the inclined hole positioning mechanism 72. Under the action of the jaw manipulator 3, the jaw assembly socket of the jaw pre-tightening mechanism 73 is coaxially arranged with the drill hole positioned by the inclined hole positioning mechanism 72, so that the jaw manipulator 3 can accurately assemble the jaw along the axis of the jaw assembly socket through the jaw assembly socket of the jaw pre-tightening mechanism 73 into the drill hole positioned by the inclined hole positioning mechanism 72, thereby ensuring the accuracy of the jaw assembly.

[0087] Specifically, Fig.10 FIG. 7 is a structural diagram of the drill body inclined hole positioning mechanism 72 in this application. Fig.10 As shown, the drill body inclined hole positioning mechanism 72 includes a positioning drive component and an insertion rod 726. The insertion rod 726 is connected to the output end of the positioning drive component. Under the driving action of the positioning drive component, the insertion rod 726 moves toward the drill body. At the same time, the claw assembly station rotation drive component 15 drives the workpiece carrier 13 to rotate until the insertion rod 726 is inserted into the drill body inclined hole located at the first clamping jaw assembly station to complete the drill body inclined hole positioning.

[0088] In some preferred embodiments, the positioning drive assembly includes a first driving cylinder 721, a first connecting head 722, a slider mounting plate 723, a guide rail 724, and an insertion rod mounting plate 725. The insertion rod 726 is connected to the insertion rod mounting plate 725, and the insertion rod mounting plate 725 is connected to one end of the slider mounting plate 723. The other end of the slider mounting plate 723 is connected to the output end of the first driving cylinder 721 through the first connecting head 722, and the bottom of the slider mounting plate 723 is slidingly connected to the top of the guide rail 724. Under the driving action of the first driving cylinder 721, the slider mounting plate 723 is horizontally displaced along the slide rail of the guide rail 724, thereby driving the insertion rod 726 to move toward the drill body on the workpiece carrier 13 located at the first clamp assembly station.

[0089] In some preferred embodiments, after the insertion rod 726 is horizontally displaced to the outer circumference of the drill body, the claw assembly station rotation drive component 15 drives the workpiece carrier 13 to rotate until the insertion rod 726 is inserted into the inclined hole of the drill body located at the first jaw assembly station. At this time, the first drive cylinder 721 reaches the predetermined displacement terminal position, the magnetic switch installed on the first drive cylinder 721 lights up, and sends a feedback signal of successful positioning to the main control system. After receiving the successful positioning signal, the main control system sends a stop signal to the claw assembly station rotation drive component 15. At this time, the jaw assembly socket of the jaw pre-tightening mechanism 73 is coaxially arranged with the drill hole positioned by the inclined hole positioning mechanism 72.

[0090] In some preferred embodiments, the clamping jaw pre-tightening mechanism 73 includes a second driving cylinder 731, a slider connecting plate 732, a displacement connecting plate 733, and a positioning assembly 734. The second driving cylinder 731 is fixedly connected to the top of the positioning mechanism connecting frame 70 through the displacement connecting plate 733, and the slider connecting plate 732 is slidably connected to the side of the displacement connecting plate 733. The output end of the second driving cylinder 731 is connected to the positioning assembly 734 through the slider connecting plate 732. A clamping jaw assembly socket that passes through obliquely upward and downward is provided in the middle of the positioning assembly 734. Under the driving action of the second driving cylinder 731, the positioning assembly 734 is displaced toward or away from the output end of the inclined hole positioning mechanism 72, so that the clamping jaw assembly socket and the drill hole positioned by the inclined hole positioning mechanism 72 are coaxially arranged.

[0091] In some preferred embodiments, after the clamp is placed in the clamp assembly socket of the positioning component 734, a force is required to position the clamp in the hole, otherwise the clamp will slide directly into the inclined hole of the drill body, which will cause the position of the clamp thread surface falling into the inclined hole of the drill body to be uncertain, which will cause the thread to be unable to be found during the subsequent nut assembly, and the position of the clamp thread needs to be manually adjusted, affecting the assembly efficiency. For this reason, the present application creatively designs a clamp pre-tightening component, such as Fig.11 As shown, Fig.12 As shown, the positioning assembly 734 includes a positioning connecting plate 7340 and a clamp pre-tightening assembly. The clamp pre-tightening assembly is connected to the slider connecting plate 732 via the positioning connecting plate 7340. The clamp pre-tightening assembly is used to adjust the clamping force applied by the clamp assembly socket to the clamp to ensure that the clamp assembly socket can stably clamp the clamp and wait for subsequent actions.

[0092] Specifically, the clamp pre-tightening assembly includes a positioning platform 735, a positioning block 736, and a positioning core block 737. A first accommodating hole 7361 that runs horizontally through the middle of the positioning block 736 is provided. The positioning core block 737 is slidably connected in the first accommodating hole 7361. The positioning block 736 is connected to the middle of the positioning platform 735, and the connection position between the positioning block 736 and the positioning platform 735 is positioned by the positioning connecting plate 7340.

[0093] Furthermore, the positioning block 736 also includes a first assembly socket 7362 that penetrates obliquely upward and downward, and the positioning core block 737 includes a second assembly socket 7371 that penetrates obliquely upward and downward. The first assembly socket 7362 and the second assembly socket 7371 cooperate to form a clamping jaw assembly socket that penetrates obliquely upward and downward.

[0094] Furthermore, the two ends of the positioning core block 737 are elastically connected to the inner wall of the positioning platform 735. Under the elastic force, the second assembly socket 7371 can be laterally displaced relative to the first assembly socket 7362, so that the socket clamping claw formed after the dislocation between the second assembly socket 731 and the first assembly socket 7362 can be utilized to fix the clamping position of the claw.

[0095] In a preferred embodiment, the positioning platform 735 and the positioning block 736 may be integrally formed, which has the advantage of a simple structure.

[0096] In some preferred embodiments, the clamping jaw pre-tightening assembly also includes a pre-tightening spring 738, and the number of the pre-tightening springs 738 is two. The two ends of the positioning core block 737 are respectively connected to the inner wall of the positioning platform 735 through the pre-tightening springs 738, so as to realize the elastic connection between the positioning core block 737 and the inner wall of the positioning platform 735.

[0097] In some preferred embodiments, in order to achieve adjustable clamping force of the clamping jaw pre-tightening assembly, the clamping jaw pre-tightening assembly also includes an adjusting bolt 739, and the number of the adjusting bolts 739 is two. Accordingly, the positioning platform 735 includes a second accommodating hole 7351, and the second accommodating hole 7351 passes through the middle of the positioning platform 735 in the transverse direction, and is coaxially arranged with the first accommodating hole 7361. The adjusting bolt 739 is threadedly connected to the second accommodating hole 7351, and the pre-tightening spring 738 is connected to the adjusting bolt 739 through the second accommodating hole 7351. When the clamping force needs to be adjusted, the connection position of the adjusting bolts 739 at both ends relative to the second accommodating hole 7351 connected thereto is rotated to adjust the position, so as to adjust the position of the first assembly socket 7362 relative to the second assembly socket 7371, thereby achieving adjustable clamping force.

[0098] Furthermore, in order to adjust the first assembly socket 7362 and the second assembly socket 7371 to a coaxial line setting and ensure that the clamping jaws can be smoothly and accurately assembled into the designated drill hole, before installing the clamping jaws, the clamping jaw robot 3 will cooperate with the clamping jaw pre-tightening mechanism 73 to perform pre-assembly inspection work.

[0099] Specifically, Fig.13 It is a schematic diagram of the structure of the gripper manipulator 3 in this application, as shown in FIG. Fig.13 As shown, the clamping jaw manipulator 3 includes a clamping jaw horizontal displacement driving component 30 and a clamping jaw execution component. The clamping jaw horizontal displacement driving component 30 is arranged in the horizontal direction, and the clamping jaw execution component is connected to the output end of the clamping jaw horizontal displacement driving component 30. Under the driving action of the clamping jaw horizontal displacement driving component 30, the clamping jaw execution component moves back and forth in the horizontal direction between the clamping jaw ejection mechanism 71 and the clamping jaw pre-tightening mechanism 73 for taking and placing the clamping jaw.

[0100] In some preferred embodiments, in order to adapt the jaw positioning mechanism 7 and realize the assembly of the jaw into the inclined hole of the drill body, the jaw mounting actuator is obliquely connected to the side of the jaw mounting horizontal displacement driving assembly 30, and the jaw mounting actuator includes a jaw removing mechanism 31, an inclined hole coaxial positioning mechanism 32, and a jaw hitting mechanism 33. The jaw removing mechanism 31, the inclined hole coaxial positioning mechanism 32, and the jaw hitting mechanism 33 are respectively connected to cylinder driving parts. Under the action of their respective cylinder driving parts, the inclined hole coaxial positioning mechanism 32 can be displaced obliquely up and down, and through the first assembly socket 7362, the second assembly socket 7371 and the inclined hole of the drill body which are coaxially arranged, it is possible to verify whether the first assembly socket 7362, the second assembly socket 7371 and the inclined hole of the drill body are coaxially and correctly arranged.

[0101] If the inclined hole coaxial positioning mechanism 32 cannot pass through the above-mentioned three hole positions, it proves that the first assembly hole 7362, the second assembly hole 7371 and the inclined hole position of the drill body are not coaxially arranged, and it is necessary to adjust the positioning connecting plate 7340 and the adjusting bolt 739 to coordinate and adjust the first assembly hole 7362, the second assembly hole 7371 and the inclined hole of the drill body to a coaxial position.

[0102] After confirming that the first assembly socket 7362, the second assembly socket 7371 and the inclined hole of the drill body are coaxially arranged, the claw removing mechanism 31 moves obliquely up and down to pick up and place the jaw, and transfers the jaw to the jaw assembly socket that has been inspected and found to be correct, and the claw driving mechanism 33 drives the jaw in the jaw assembly socket obliquely downward into the oblique hole of the drill body that is coaxial with it.

[0103] In some preferred embodiments, the jaw loading device is provided in three groups, and the three groups of the jaw loading device are arranged between the loading robot 2 and the unloading robot 4 along the circumferential direction of the dividing turntable body 1, so as to realize the sequential installation of the jaws.

[0104] In some preferred embodiments, the unloading robot 4 is arranged between the dividing turntable body 1 and the unloading conveying device 6, and the unloading robot 4 is used to clamp the assembly at the unloading station of the dividing turntable body 1 and transfer it to the unloading conveying device 6.

[0105] Specifically, Fig.14 It is a structural schematic diagram of the unloading robot 4 in this application, such as Fig.14 As shown, the unloading robot 4 includes a unloading horizontal moving module 41, an unloading up and down moving mechanism 42, and a unloading grabber 43. The unloading robot 4 is similar in structure to the loading robot 2, except that the two have opposite movements when working. The specific structure will not be described in detail here.

[0106] Fig.15 It is a structural schematic diagram of the material feeding and conveying device 6 in this application, as shown in FIG. Fig.15 As shown, the unloading conveying device 6 includes a sorting conveying mechanism 61 and a unloading conveying bracket 62. The sorting conveying mechanism 61 is located on the unloading conveying bracket 62, so that the sorting conveying mechanism 61 is adapted to the worktable height of the dividing turntable body 1, and is used to facilitate the unloading robot 4 to clamp the assembly on the workpiece carrier 13 located at the unloading station and transfer it to different material channels of the unloading conveying device 6 for transportation.

[0107] In some preferred embodiments, a stop bar 63 is provided at the conveying end of the sorting and conveying mechanism 61, and the stop bar 63 is used for storing materials to facilitate centralized collection of materials.

[0108] The above is a detailed introduction to the specific implementation methods of the present application. For those skilled in the art, several improvements and modifications may be made to the present application without departing from the principles of the present application. These improvements and modifications also fall within the scope of protection of the claims of the present application.

Claims

1. An automatic assembly device for drill body clamps, characterized in that: include: A dividing turntable body (1) and a clamping jaw loading device, wherein a workpiece carrier (13) of the dividing turntable body (1) is connected to a component to be assembled, and the clamping jaw loading device is used to assemble the component into a hole of the component to be assembled connected to the workpiece carrier (13); The clamping jaw loading device comprises a clamping jaw manipulator (3), a clamping jaw positioning mechanism (7), and a clamping jaw automatic feeding module (8). The discharge end of the clamping jaw automatic feeding module (8) is connected to the receiving end of the clamping jaw positioning mechanism (7). The clamping jaw manipulator (3) cooperates with the clamping jaw positioning mechanism (7) to respectively perform assembly hole location positioning, part placement, and component assembly actions.

2. The automatic assembly equipment for drill body clamps according to claim 1, characterized in that: The clamping jaw positioning mechanism (7) comprises a clamping jaw ejecting mechanism (71), an inclined hole positioning mechanism (72) and a clamping jaw pre-tightening mechanism (73); the clamping jaw ejecting mechanism (71) is arranged at the material receiving end of the clamping jaw positioning mechanism (7); the output end of the inclined hole positioning mechanism (72) is arranged in the horizontal direction and is arranged toward the drill body; the clamping jaw pre-tightening mechanism (73) is arranged at the top of the clamping jaw positioning mechanism (7) and is arranged toward the output end of the inclined hole positioning mechanism (72).

3. The automatic assembly equipment for drill body clamps according to claim 2, characterized in that: The drill body inclined hole positioning mechanism (72) comprises a positioning drive component and an insertion rod (726), wherein the insertion rod (726) is connected to the output end of the positioning drive component, and under the driving action of the positioning drive component, the insertion rod (726) moves toward the drill body connected to the workpiece carrier (13); The workpiece carrier (13) drives the drill body to rotate, and the workpiece carrier (13) cooperates with the insertion rod (726) to insert the insertion rod (726) into the designated inclined hole of the drill body, thereby completing the positioning of the inclined hole of the drill body.

4. The automatic assembly equipment for drill body clamps according to claim 2, characterized in that: The clamping jaw pre-tightening mechanism (73) comprises a positioning assembly (734), the middle of which is provided with a clamping jaw assembly socket which passes through obliquely upward and downward, and the clamping jaw assembly socket is coaxially arranged with the drill hole positioned by the oblique hole positioning mechanism (72).

5. The automatic assembly equipment for drill body clamps according to claim 4, characterized in that: The positioning assembly (734) comprises a positioning connection plate (7340) and a clamping jaw pre-tightening assembly, wherein the clamping jaw pre-tightening assembly is used to adjust the clamping force applied by the clamping jaw assembly socket to the clamping jaw; The clamping jaw pre-tightening assembly includes a positioning platform (735), a positioning block (736), and a positioning core block (737). A first accommodating hole (7361) extending transversely therethrough is provided in the middle of the positioning block (736). The positioning core block (737) is slidably connected in the first accommodating hole (7361). The positioning block (736) is connected to the middle of the positioning platform (735), and the connection position between the positioning block (736) and the positioning platform (735) is positioned by the positioning connecting plate (7340).

6. The automatic assembly equipment for drill body clamps according to claim 5, characterized in that: The positioning block (736) further comprises a first assembly socket (7362) extending obliquely upward and downward, and the positioning core block (737) comprises a second assembly socket (7371) extending obliquely upward and downward, and the first assembly socket (7362) and the second assembly socket (7371) cooperate to form a clamping claw assembly socket extending obliquely upward and downward; The two ends of the positioning core block (737) are elastically connected to the inner wall of the positioning platform (735), and under the elastic force, the second assembly socket (7371) can be laterally displaced relative to the first assembly socket (7362).

7. The automatic assembly equipment for drill body clamps according to claim 6, characterized in that: The clamping jaw pre-tightening assembly also includes a pre-tightening spring (738), and the number of the pre-tightening springs (738) is two. The two ends of the positioning core block (737) are respectively connected to the inner wall of the positioning platform (735) through the pre-tightening springs (738).

8. The automatic assembly equipment for drill body clamps according to claim 7, characterized in that: The clamping jaw pre-tightening assembly further comprises an adjusting bolt (739), and the number of the adjusting bolts (739) is two; The positioning platform (735) includes a second accommodating hole (7351), the second accommodating hole (7351) penetrates the middle of the positioning platform (735) in the transverse direction and is coaxially arranged with the first accommodating hole (7361), the adjusting bolt (739) is threadedly connected to the second accommodating hole (7351), and the preload spring (738) is connected to the adjusting bolt (739) through the second accommodating hole (7351); The positioning connecting plate (7340) and the adjusting bolt (739) are adjusted in coordination so that the first assembly socket (7362), the second assembly socket (7371) and the inclined hole of the drill body are adjusted to a coaxial position.

9. The automatic assembly equipment for drill body clamps according to claim 6, characterized in that: The clamping jaw manipulator (3) comprises a clamping jaw horizontal displacement driving component (30) and a clamping jaw execution component. The clamping jaw horizontal displacement driving component (30) is arranged in the horizontal direction. The clamping jaw execution component is obliquely connected to the output end of the clamping jaw horizontal displacement driving component (30). Under the driving action of the clamping jaw horizontal displacement driving component (30), the clamping jaw execution component moves back and forth between the clamping jaw ejection mechanism (71) and the clamping jaw pre-tightening mechanism (73) in the horizontal direction.

10. The automatic assembly equipment for drill body clamps according to claim 9, characterized in that: The clawing execution assembly comprises a clawing mechanism (31), an inclined hole coaxial positioning mechanism (32), and a clawing mechanism (33). The clawing mechanism (31), the inclined hole coaxial positioning mechanism (32), and the clawing mechanism (33) are respectively connected to a cylinder driving member. Under the action of each cylinder driving member, the inclined hole coaxial positioning mechanism (32) moves up and down obliquely, and through the first assembly socket (7362), the second assembly socket (7371), and the inclined hole of the drill body, which are coaxially arranged, the first assembly socket (7362), the second assembly socket (7371), and the inclined hole of the drill body are checked to see whether the first assembly socket (7362), the second assembly socket (7371), and the inclined hole of the drill body are coaxially arranged correctly. The claw taking mechanism (31) moves up and down obliquely to take and place the clamping jaw, and transfers the clamping jaw to the clamping jaw assembly socket that has been inspected and found to be correct, and the claw hitting mechanism (33) hits the clamping jaw in the clamping jaw assembly socket obliquely downwardly into the oblique hole of the drill body that is coaxial with the clamping jaw.

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