Tooth socket automatic assembly and visual error-proofing equipment

Abstract

The invention provides a tooth socket automatic assembly and visual error-proofing device, which relates to the technical field of mechanical assembly equipment, and comprises a material conveying positioning assembly, a tightening assembly and a clamp assembly, a jig needing to be provided with a thread tooth sleeve is clamped on the clamp assembly. The conveying positioning assembly comprises a vibration disc component and a positioner. The device has the beneficial effects that the first image acquisition device can take a picture of the jig and then transmit the picture to the visual detection system, and after the visual detection system judges the position, where the threaded tooth socket needs to be installed, of the jig, the first manipulator grabs the threaded tooth socket on the positioner and places the threaded tooth socket on the jig; after the tightening head tightens the thread tooth sleeve and the jig, the visual detection system can judge the installation effect of the thread tooth sleeve and the jig, so that the installed thread tooth sleeve does not need to be manually detected, a good detection effect can be achieved, the labor cost is saved, and the installation and detection efficiency is improved.

Description

Technical Field

[0001] The invention relates to the technical field of mechanical assembly equipment, in particular to an automatic assembly and visual error-proofing device for braces. Background Art

[0002] Threaded sleeves (also known as thread sleeves, threaded sleeves, wire thread sleeves, etc.) are spiral coils made of high-strength, high-precision stainless steel that can form standard internal and external threads. Threaded sleeves have high strength and good surface finish. They are designed as high-precision concentric bodies and can form internal threads that meet international standards. Their performance is better than traditional tapping threads. The main function of threaded sleeves is to improve the performance of screw holes and extend the service life of mechanical parts. Therefore, threaded sleeves are used on many equipment parts or molds instead of tapping directly on parts.

[0003] The technical content disclosed in the Chinese patent document (publication number: CN221603739U, patent name: full-automatic dental braces fitting equipment) is: including a frame, a first Y-axis module, a second Y-axis module, a mounting frame, a first braces feeder, a second braces feeder, an X-axis module, a Z-axis module and a braces dispensing and locking detection mechanism. A table is provided in the frame, the first braces feeder is arranged on the left side of the mounting frame and is used to feed the first fixture, the second braces feeder is arranged on the right side of the mounting frame and is used to feed the second fixture, the X-axis module is arranged in the middle of the table along the left-right direction and is located at the front side of the mounting frame, the Z-axis module is arranged on the X-axis module and a sliding plate is installed on the Z-axis module, the X-axis module is used to drive the Z-axis module to move left and right, and the braces dispensing and locking detection mechanism is arranged on the mounting plate and is used to dispense, detect and lock the braces in the first fixture and the second fixture.

[0004] From the above implementation plan, it can be seen that the fully automatic socket assembly equipment is equipped with a module to install the threaded sockets on the fixture. The module can only complete the actions of taking and installing the sockets, but cannot detect whether the installation of the sockets is qualified. Therefore, after the threaded sockets are mounted on the fixture, manual inspection is required. If it is found that the sockets are installed incorrectly, manual disassembly and reinstallation are required, which will result in a large and cumbersome workload for the installation of the threaded sockets. Summary of the invention

[0005] The present invention overcomes the shortcomings of the prior art and provides a first image acquisition device. The first image acquisition device can first take a picture of the jig and then transmit it to the visual inspection system. After the visual inspection system determines the position on the jig where the threaded sleeve needs to be installed, the first manipulator grabs the threaded sleeve on the locator and places it on the jig. After the tightening head tightens the threaded sleeve and the jig, the first image acquisition device takes a picture of the tightened threaded sleeve and transmits it to the visual inspection system. The visual inspection system can determine the installation effect of the threaded sleeve and the jig. Therefore, there is no need for manual inspection of the installed threaded sleeve. This not only achieves better inspection results, but also saves labor costs, thereby improving the efficiency of installation inspection. In order to solve the above technical problems, the present invention is achieved through the following technical solutions: A dental brace automatic assembly and visual error-proofing device, comprising a feeding positioning component, a tightening component and a clamp component; a jig for installing a threaded dental brace is clamped on the clamp component; The feeding positioning assembly includes a vibration plate component and a positioner; The tightening assembly includes a first manipulator connected to a first image acquisition device and a tightening head; The vibration plate component arranges the threaded sleeves and transports them to the positioner. The first manipulator grabs the threaded sleeves on the positioner and places them on the fixture. The tightening head tightens the threaded sleeves and the fixture. The first image acquisition device takes a picture of the tightened threaded sleeves and transmits it to the visual inspection system.

[0006] Furthermore, a tail flushing assembly is also provided on one side of the tightening assembly, and the tail flushing assembly includes a second manipulator, and the second manipulator is connected to the second image acquisition device, the tail flushing cylinder and the tail end recovery component; The second image acquisition device takes a photo and identifies the position of the tail end of the threaded sleeve, the tail flushing cylinder hits the installation tail end of the threaded sleeve to make it fall off, and the tail end recovery component collects the flushed tail end of the threaded sleeve into the tail end collection box.

[0007] Furthermore, the tightening assembly includes a tightening motor, which is connected to a tightening head clamp. The tightening head is detachably connected to the lower end of the tightening head clamp. A tightening head replacement lifting cylinder is arranged on the side of the tightening motor. The output end of the tightening head replacement lifting cylinder is connected to a tightening head replacement clamping cylinder, and the tightening head replacement clamping cylinder is connected to the tightening head clamp.

[0008] Furthermore, a tightening head placement assembly is also provided on the side of the first manipulator, and the tightening head placement assembly includes a placement base, on which is provided at least one transfer extraction cylinder, the transfer extraction cylinder is connected to the extraction clamp, a positioning socket is provided directly below the extraction clamp, and an infrared sensor is provided directly below the positioning socket. Furthermore, the second manipulator is connected to the tail-punching base, the tail-punching cylinder is connected to the tail-punching base, the tail-punching base includes a tail-punching socket and a suction interface; the tail-punching socket is communicated with the inside of the suction interface.

[0009] Furthermore, the tail-punching cylinder is connected to the tail-punching rod, and the tail-punching rod is movably inserted into the tail-punching socket; The suction interface is connected to the tail end recovery component, and the tail end recovery component is connected to the vacuum generator; A collection box opening and closing cylinder is arranged on the side of the tail end collection box, and the collection box opening and closing cylinder is connected to the collection box baffle, and the collection box baffle is arranged at one end of the tail end collection box away from the suction interface.

[0010] Furthermore, the vibration plate component includes a vibration plate, and a material unloading track and a material shortage detector are arranged above the vibration plate; The positioner includes a first positioner and a second positioner.

[0011] Furthermore, the first positioner includes a material guide pipe, and a material distribution component and a material discharge component are arranged on the side of the material guide pipe; the material distribution component includes a material distribution cylinder, and the output end of the material distribution cylinder is connected to a material distribution top block, and the material distribution top block is movably plugged into the side of the material guide pipe, and one end of the material distribution top block is provided with a fitting arc surface; The material unloading component comprises a material unloading cylinder, the material unloading cylinder is connected to a material unloading baffle, the material unloading baffle is movably plugged into the side of the material guide pipe, the material unloading baffle is located below the material dividing top block, and a material unloading hole is arranged on the material unloading baffle; The first positioner also includes a batch material taking cylinder, which is connected to two first material taking cylinders, and the first material taking cylinder is connected to a first material taking clamp, and a first material taking sensor is arranged on the side of the first material taking clamp.

[0012] Furthermore, the second positioner includes a screw sleeve arrangement track, one end of which is provided with a screw sleeve material distribution cylinder, the screw sleeve material distribution cylinder is connected to a material distribution clamp, and the two material distribution clamps are respectively located on both sides of the screw sleeve arrangement track; The second positioner is also provided with a movable material picking cylinder, the movable material picking cylinder is connected to the second material picking cylinder, the second material picking cylinder is connected to the second material picking clamp, and a second material picking sensor is provided on the side of the second material picking clamp; The second material taking clamp is provided with an inner top block and an inner arc block.

[0013] Furthermore, the clamp assembly is provided with at least one positioning top block and at least one corner pressing cylinder, and handles are provided on both sides of the clamp assembly.

[0014] Compared with the prior art, the present invention has the following beneficial effects: 1. A first image acquisition device is set up. The first image acquisition device can first take a picture of the fixture and then transmit it to the visual inspection system. After the visual inspection system determines the position on the fixture where the threaded sleeve needs to be installed, the first manipulator grabs the threaded sleeve on the locator and places it on the fixture. After the tightening head tightens the threaded sleeve and the fixture, the first image acquisition device takes a picture of the tightened threaded sleeve and transmits it to the visual inspection system. The visual inspection system can determine the installation effect of the threaded sleeve and the fixture. Therefore, there is no need for manual inspection of the installed threaded sleeve. This not only achieves better inspection results, but also saves labor costs, thereby improving the efficiency of installation inspection.

[0015] 2. A tightening head placement assembly is provided to place tightening heads of different models and sizes. A tightening head replacement clamping cylinder is also provided on the tightening assembly to assist the tightening head fixture in replacing different tightening heads. Therefore, the first manipulator can automatically replace different tightening heads for the tightening head fixture according to the instructions of the program to adapt to threaded sleeves of different sizes. Therefore, the tightening assembly can install and operate a variety of threaded sleeves, making the equipment more flexible and having a wider range of applications.

[0016] 3. The first positioner and the second positioner are set to position the threaded sleeves output from the vibration plate one by one, making it convenient for the first manipulator to pick up the material.

[0017] 4. A tail punching component is set up to automatically punch out the tail of the threaded sleeve, eliminating the need for manual secondary processing of the threaded sleeve, thus saving manpower and installation and processing time and improving production efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The accompanying drawings are used to provide a further understanding of the present invention and are used together with the embodiments of the present invention to explain the present invention, but do not constitute a limitation of the present invention. In the accompanying drawings: Figure 1 is a general schematic diagram of a dental braces automatic assembly and visual error-proofing device according to an embodiment of the present invention; Figure 2 is an exploded schematic diagram of a dental braces automatic assembly and visual error-proofing device according to an embodiment of the present invention; Figure 3 It is an exploded schematic diagram of a clamp assembly, a tightening assembly and a tightening head placement assembly according to an embodiment of the present invention; Figure 4 is a structural schematic diagram of a tightening head placement assembly according to an embodiment of the present invention; Figure 5 is an exploded schematic diagram of a tightening head placement assembly according to an embodiment of the present invention; Figure 6 is a schematic structural diagram of a tightening assembly according to an embodiment of the present invention; Figure 7is an exploded schematic diagram of a tightening assembly according to an embodiment of the present invention; Figure 8 is a schematic structural diagram of a clamp assembly according to an embodiment of the present invention; Fig. 9 2 is a schematic diagram of the structure of a tail punch assembly according to an embodiment of the present invention; Fig.10 is an exploded schematic diagram of a tail punch assembly according to an embodiment of the present invention; Fig.11 is a schematic diagram of the structure of a conveying and positioning component according to an embodiment of the present invention; Fig.12 is a schematic structural diagram of a first positioner according to an embodiment of the present invention; Fig.13 is an exploded schematic diagram of a first positioner according to an embodiment of the present invention; Fig.14 It is a schematic structural diagram of a material guide pipe, a material distribution component and a material discharge component according to an embodiment of the present invention; Fig.15 is a schematic structural diagram of a second positioner according to an embodiment of the present invention; Fig.16 is an exploded schematic diagram of a second positioner according to an embodiment of the present invention; Fig.17 It is a schematic diagram of the structure of the second material taking cylinder according to an embodiment of the present invention.

[0019] In the figure: 1. guardrail; 2. feeding positioning assembly; 201. vibration plate component; 2011. material discharge track; 2012. vibration plate; 2013. material shortage detector; 202. first positioner; 2021. material guide pipe; 2022. material distribution component; 20221. material distribution cylinder; 20222. material distribution top block; 20223. fitting arc surface; 2023. material discharge component; 20231. material discharge cylinder; 20232. material discharge partition; 20233. material discharge hole; 2024 , batch feeding cylinder; 2025, first feeding cylinder; 20251, first feeding clamp; 20252, first feeding sensor; 203, second positioner; 2031, screw sleeve arrangement track; 2032, screw sleeve dividing cylinder; 20321, dividing clamp; 2033, movable feeding cylinder; 2034, second feeding cylinder; 20341, second feeding clamp; 2034A, inner top block; 2034B, inner arc block; 20342, second feeding sensor; 3, fixture Components; 301, positioning top block; 302, corner pressing cylinder; 303, handle; 4, tightening component; 401, tightening motor; 402, tightening head mounting seat; 4021, tightening head; 403, first image acquisition device; 404, tightening head replacement lifting cylinder; 405, tightening head replacement clamping cylinder; 4051, tightening head fixture; 406, first manipulator; 5, tightening head placement component; 501, placement base; 502, transfer extraction cylinder; 5021, Extraction clamp; 503, positioning socket; 504, infrared sensor; 6, tail punching assembly; 601, second manipulator; 602, tail punching base; 6021, tail punching socket; 6022, suction interface; 603, tail punching cylinder; 6031, tail punching rod; 604, tail end recovery component; 6041, tail end collection box; 6042, vacuum generator; 605, collection box opening and closing cylinder; 6051, collection box baffle; 606, second image acquisition device; 7, manual operation table. DETAILED DESCRIPTION The preferred embodiments of the present invention are described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0020] like Figures 1 to 16The device for automatic assembly and visual error prevention of braces is shown, which is used to install threaded braces on a jig, and uses a visual system to position the braces during the installation process and perform post-installation inspection, including a feeding positioning component 2, a tightening component 4, and a fixture component 3; the fixture component 3 is provided with at least one positioning top block 301 and at least one corner pressing cylinder 302, and handles 303 are also provided on both sides of the fixture component 3. The positioning top block 301 can position the bottom of the jig, which is conducive to the stable placement of the jig on the jig component 3, and the corner pressing cylinder 302 presses the jig on the jig component 3 from the upper end of the jig, so that the jig will not move when the threaded braces are installed, and the handle 303 can lift the jig when the operator moves the jig, which is convenient for the operator to operate. The jig on which the threaded sleeve needs to be installed is clamped on the fixture assembly 3; the feeding and positioning assembly 2 includes a vibration plate component 201 and a positioner; the vibration plate component 201 arranges and outputs the threaded sleeves, and then the threaded sleeves are taken individually to the positioner, and the tightening assembly 4 includes a first manipulator 406, and the first manipulator 406 is connected to a first image acquisition device 403 and a tightening head 4021; the first image acquisition device 403 can first take a picture of the jig and then transmit it to the visual inspection system. After the visual inspection system determines the position on the jig where the threaded sleeve needs to be installed, the first manipulator 406 grabs the threaded sleeve on the positioner and places it on the jig. After the tightening head tightens the threaded sleeve and the jig, the first image acquisition device 403 takes a picture of the tightened threaded sleeve and transmits it to the visual inspection system. The visual inspection system can determine the installation effect of the threaded sleeve and the jig, so there is no need to manually inspect the installed threaded sleeve. This not only achieves a better inspection effect, but also saves labor costs, thereby improving the efficiency of installation inspection.

[0021] A tail flushing assembly 6 is also provided on one side of the tightening assembly 4. The tail flushing assembly 6 includes a second manipulator 601. The second manipulator 601 is connected to a second image acquisition device 606, a tail flushing cylinder 603 and a tail end recovery component 604. The second image acquisition device 606 takes a photo and uses a visual inspection system to identify the position of the tail end of the threaded sleeve. The tail flushing cylinder 603 hits the installed tail end of the threaded sleeve to make it fall off. The tail end recovery component 604 collects the flushed tail end of the threaded sleeve into the tail end collection box 6041.

[0022] The working principle of the visual inspection system is to first input qualified photos into the system, and then use the first image acquisition device 403 or the second image acquisition device 606 to take photos of the jig and threaded sockets during the installation process, and compare the photos of the installation process with the photos stored in the system. The first is to determine which position in the jig is used to install the threaded socket based on the function of the corresponding position of the photo in the system, and the second function is to determine whether there are distinguishing points, and to determine the defects generated during the installation process based on the distinguishing points for detection.

[0023] The first image acquisition device 403 and the second image acquisition device 606 can replace manual identification of the safety of the fixture and detection and judgment of the effect after installation, thereby saving the process of manual identification and detection. The recognition efficiency of the visual inspection system is higher than that of manual identification and detection, thereby also improving the efficiency of fixture installation and detection.

[0024] The tightening assembly 4 includes a tightening motor 401, which is connected to a tightening head mounting seat 402, and a tightening head 4021 is detachably connected to the lower end of the tightening head mounting seat 402. A tightening head replacement lifting cylinder 404 is arranged on the side of the tightening motor 401, and the output end of the tightening head replacement lifting cylinder 404 is connected to a tightening head replacement clamping cylinder 405, and the tightening head replacement clamping cylinder 405 is connected to a tightening head clamp 4051. When the tightening head 4021 needs to be removed, the tightening head clamp 4051 clamps the tightening head 4021 under the drive of the tightening head replacement clamping cylinder 405, and then the output end of the tightening head replacement lifting cylinder 404 descends to pull the tightening head 4021 out of the lower end of the tightening head mounting seat 402.

[0025] When the tightening head 4021 needs to be installed, the tightening head clamp 4051 clamps the tightening head 4021 under the drive of the tightening head replacement clamping cylinder 405, and then the output end of the tightening head replacement lifting cylinder 404 rises, and the tightening head 4021 is inserted into the lower end of the tightening head mounting seat 402, so that the tightening head 4021 is connected to the tightening head mounting seat 402.

[0026] A tightening head placement component 5 is also provided on the side of the first manipulator 406, and the tightening head placement component 5 includes a placement base 501, and the placement base 501 is provided with at least one transfer extraction cylinder 502, and the transfer extraction cylinder 502 is connected to the extraction clamp 5021, and a positioning socket 503 is provided directly below the extraction clamp 5021, and an infrared sensor 504 is provided directly below the positioning socket 503. The infrared sensor 504 can sense whether there is a tightening head 4021 on the positioning socket 503 at this moment. In this embodiment, a plurality of positioning sockets 503 are provided, and different types of tightening heads 4021 are respectively plugged into the plurality of positioning sockets 503. If the infrared sensor 504 senses that there is no tightening head 4021 on the positioning socket 503 at this moment, it means that the tightening head 4021 is in use at this moment. When the first manipulator 406 drives the tightening head fixture 4051 to replace the tightening head 402 1, first the tightening head fixture 4051 clamps the tightening head 4021 pulled out from the tightening head mounting seat 402 and comes to the top of the extraction clamp 5021, the extraction clamp 5021 clamps the tightening head 4021, the tightening head fixture 4051 loosens the tightening head 4021, and then the tightening head fixture 4051 is moved away, and the extraction clamp 5021 loosens the tightening head 4021, and the tightening head 4021 falls into the positioning socket 503. When the tightening head fixture 4051 needs to take away the tightening head 4021 on another positioning socket 503, it only needs to directly clamp the tightening head 4021. Therefore, the first manipulator 406 can automatically replace different tightening heads 4021 for the tightening head fixture 4051 according to the instructions of the program to adapt to threaded sleeves of different sizes. Therefore, the tightening assembly 4 can install and operate a variety of threaded sleeves, making the equipment more flexible and having a wider range of applications.

[0027] The second manipulator 601 is connected to the tail punching base 602, and the tail punching cylinder 603 is connected to the tail punching base 602. The tail punching base 602 includes a tail punching socket 6021 and a suction interface 6022; the tail punching socket 6021 is connected to the inside of the suction interface 6022. The tail punching cylinder 603 is connected to the tail punching rod 6031, and the tail punching rod 6031 is movably inserted in the tail punching socket 6021; the suction interface 6022 is connected to the tail end recovery component 604, and the tail end recovery component 604 is connected to the vacuum generator 6042; the side of the tail end collection box 6041 is provided with a collection box opening and closing cylinder 605, and the collection box opening and closing cylinder 605 is connected to the collection box baffle 6051, and the collection box baffle 6051 is arranged at one end of the tail end collection box 6041 away from the suction interface 6022. First, the second image acquisition device 606 takes a photo of the fixture on which the threaded sleeve has been screwed, and the photo is transmitted to the visual inspection system. The visual inspection system recognizes and judges the image of the threaded sleeve thereon, locates the threaded sleeve whose tail end has not been flushed out, and then uses the tail punch rod 6031 to flush out the tail end of the threaded sleeve. The tail end of the flushed threaded sleeve is adsorbed by the vacuum generated by the vacuum generator 6042 and is sucked into the tail end collection box 6041 along the pipe of the tail end recovery component 604. When the tail end collection box 6041 collects a certain number of the tail ends of the flushed threaded sleeves, the operator can make the collection box opening and closing cylinder 605 open the collection box baffle 6051, so that the tail end of the threaded sleeve is cleaned out, and the tail punch component 6 automatically flushes out the tail of the threaded sleeve, and there is no need for manual secondary processing of the threaded sleeve, thereby saving manpower and installation processing time, and improving production efficiency.

[0028] The vibration plate component 201 includes a vibration plate 2012, and a material discharge track 2011 and a material shortage detector 2013 are arranged above the vibration plate 2012; the vibration plate 2012 arranges and outputs the threaded sleeves by vibration, and the material shortage detector 2013 is an infrared sensor that can detect whether there are any threaded sleeves in the vibration plate 2012. When the threaded sleeves in the vibration plate 2012 have been fully output, the material shortage detector 2013 detects it and transmits a signal to the control system of the equipment, reminding the staff to add threaded sleeves to the vibration plate 2012.

[0029] The positioner includes a first positioner 202 and a second positioner 203. Different positioners can be selected to position threaded sockets of different sizes. The positioner mainly positions and takes the threaded sockets individually, which facilitates the subsequent first manipulator 406 to take the threaded sockets.

[0030] The first positioner 202 includes a material guide tube 2021, and a material dividing component 2022 and a material discharge component 2023 are arranged on the side of the material guide tube 2021; the material dividing component 2022 includes a material dividing cylinder 20221, and the output end of the material dividing cylinder 20221 is connected to a material dividing top block 20222, and the material dividing top block 20222 is movably plugged into the side of the material guide tube 2021, and one end of the material dividing top block 20222 is provided with a fitting arc surface 20223; when the threaded sleeve falls into the material guide tube 2021, the threaded sleeves are stacked one on top of another to form a vertical row, and when the material dividing top block 20222 is inserted into the material guide tube 2021, the fitting arc surface 20223 presses against the side of one of the threaded sleeves, and the threaded sleeve cannot fall down any further, and only the threaded sleeve below the pressed threaded sleeve can continue to fall down.

[0031] The unloading component 2023 includes an unloading cylinder 20231, which is connected to an unloading baffle 20232, which is movably plugged into the side of the guide tube 2021, and the unloading baffle 20232 is located below the dividing top block 20222. The distance between the unloading baffle 20232 and the dividing top block 20222 is the length of a threaded sleeve, and the unloading baffle 20232 is provided with an unloading hole 20233; at the beginning, the unloading hole 20233 is not aligned with the empty space of the guide tube 2021, then a threaded sleeve just falls on the unloading baffle 20232, and when it is needed When taking out a threaded sleeve, the feed cutting baffle 20232 continues to be inserted into the guide tube 2021, so that the feed cutting hole 20233 coincides with the hole position of the guide tube 2021, and the threaded sleeve will fall out. Since the threaded sleeve above the threaded sleeve is supported by the fitting arc surface 20223, only one threaded sleeve falls out at a time. After one threaded sleeve falls out, the feed cutting baffle 20232 continues to seal the middle hole of the guide tube 2021, and the feed dividing top block 20222 temporarily withdraws, so that another threaded sleeve falls onto the feed cutting baffle 20232, and the feed dividing top block 20222 is inserted into the guide tube 2021.

[0032] The first positioner 202 also includes a batch picking cylinder 2024, which is connected to two first picking cylinders 2025, which are connected to a first picking clamp 20251, and a first picking sensor 20252 is arranged on the side of the first picking clamp 20251. The two first picking clamps 20251 are sequentially located directly below the guide tube 2021 under the drive of the batch picking cylinder 2024, so that each time a threaded sleeve falls out, it is just taken out by one of the first picking clamps 20251. In this embodiment, the first picking sensor 20252 is an infrared sensor, which can sense whether the first picking clamp 20251 has successfully picked up the threaded sleeve.

[0033] The second positioner 203 includes a screw sleeve arrangement track 2031, one end of which is provided with a screw sleeve material distribution cylinder 2032, the screw sleeve material distribution cylinder 2032 is connected to the material distribution clamp 20321, and the two material distribution clamps 20321 are respectively located on both sides of the screw sleeve arrangement track 2031; the second positioner 203 is also provided with a movable material picking cylinder 2033, the movable material picking cylinder 2033 is connected to the second material picking cylinder 2034, the second material picking cylinder 2034 is connected to the second material picking clamp 20341, and the side of the second material picking clamp 20341 is provided with a second material picking sensor 20342; the second material picking clamp 20341 is provided with an inner top block 2034A and Inner arc block 2034B, when the second material removal clamp 20341 is located at the front end of the screw sleeve arrangement track 2031, the threaded sleeve is pushed to the inner top block 2034A. Because the inner top block 2034A supports one end of the threaded sleeve, only one threaded sleeve is exactly at the position of the inner arc block 2034B at a time. The second material removal clamp 20341 only takes away one threaded sleeve each time, and the material separation clamp 20321 just clamps a threaded sleeve at the front end of the screw sleeve arrangement track 2031, so that when the second material removal clamp 20341 has not reached the front end of the screw sleeve arrangement track 2031, the threaded sleeve will not slip out, so that only one threaded sleeve can be taken away each time.

[0034] The feeding positioning assembly 2, the clamp assembly 3, the tightening assembly 4, the tightening head placement assembly 5 and the tail punching assembly 6 are all arranged in the guardrail 1, which prevents the first manipulator 406 and the second manipulator 601 from causing harm to the operator during work. A manual operating table 7 is also provided on the side of the guardrail 1 to facilitate the operator to manually operate and organize the fixture.

[0035] Finally, it should be noted that the above are only preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or make equivalent substitutions for some of the technical features therein. However, any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A dental braces automatic assembly and visual error-proofing device, characterized in that: It comprises a material feeding positioning component (2), a tightening component (4) and a clamp component (3); a jig for installing a threaded sleeve is clamped on the clamp component (3); The material feeding positioning assembly (2) comprises a vibration plate component (201) and a positioner; The tightening assembly (4) comprises a first manipulator (406), wherein the first manipulator (406) is connected to a first image acquisition device (403) and a tightening head (4021); The vibration plate component (201) arranges the threaded sleeves and conveys them to the positioner. The first manipulator (406) grabs the threaded sleeves on the positioner and places them on the fixture. The tightening head (4021) tightens the threaded sleeves and the fixture. The first image acquisition device (403) takes a picture of the tightened threaded sleeves and transmits it to the visual inspection system.

2. The automatic braces assembly and visual error-proofing device according to claim 1, characterized in that: A tail-punching assembly (6) is also provided on one side of the tightening assembly (4), the tail-punching assembly (6) comprising a second manipulator (601), the second manipulator (601) being connected to a second image acquisition device (606), a tail-punching cylinder (603) and a tail-end recovery component (604); The second image acquisition device (606) takes a photo and identifies the position of the tail end of the threaded sleeve, the tail flushing cylinder (603) impacts the installed tail end of the threaded sleeve to make it fall off, and the tail end recovery component (604) collects the flushed tail end of the threaded sleeve into the tail end collection box (6041).

3. The automatic braces assembly and visual error-proofing device according to claim 2, characterized in that: The tightening assembly (4) comprises a tightening motor (401), the tightening motor (401) is connected to a tightening head mounting seat (402), a tightening head (4021) is detachably connected to the lower end of the tightening head mounting seat (402), a tightening head replacement lifting cylinder (404) is arranged on the side of the tightening motor (401), the output end of the tightening head replacement lifting cylinder (404) is connected to a tightening head replacement clamping cylinder (405), and the tightening head replacement clamping cylinder (405) is connected to a tightening head clamp (4051).

4. The automatic braces assembly and visual error-proofing device according to claim 3, characterized in that: A tightening head placement component (5) is also provided on the side of the first manipulator (406), the tightening head placement component (5) comprising a placement base (501), at least one connecting and extracting cylinder (502) being provided on the placement base (501), the connecting and extracting cylinder (502) being connected to an extracting clamp (5021), a positioning socket (503) being provided directly below the extracting clamp (5021), and an infrared sensor (504) being provided directly below the positioning socket (503).

5. The automatic braces assembly and visual error-proofing device according to claim 2, characterized in that: The second manipulator (601) is connected to the tail-punching base (602), the tail-punching cylinder (603) is connected to the tail-punching base (602), and the tail-punching base (602) comprises a tail-punching socket (6021) and a suction interface (6022); the tail-punching socket (6021) and the suction interface (6022) are internally communicated.

6. The automatic braces assembly and visual error-proofing device according to claim 5, characterized in that: The tail-punching cylinder (603) is connected to the tail-punching rod (6031), and the tail-punching rod (6031) is movably inserted into the tail-punching socket (6021); The suction interface (6022) is connected to the tail end recovery component (604), and the tail end recovery component (604) is connected to the vacuum generator (6042); A collection box opening and closing cylinder (605) is arranged on the side of the tail end collection box (6041), and the collection box opening and closing cylinder (605) is connected to a collection box baffle (6051), and the collection box baffle (6051) is arranged at one end of the tail end collection box (6041) away from the suction interface (6022).

7. The automatic braces assembly and visual error-proofing device according to any one of claims 1 to 6, characterized in that: The vibration plate component (201) comprises a vibration plate (2012), and a material discharge track (2011) and a material shortage detector (2013) are arranged above the vibration plate (2012); The positioner comprises a first positioner (202) and a second positioner (203).

8. The automatic braces assembly and visual error-proofing device according to claim 7, characterized in that: The first positioner (202) comprises a material guide tube (2021), and a material distribution component (2022) and a material discharge component (2023) are arranged on the side of the material guide tube (2021); the material distribution component (2022) comprises a material distribution cylinder (20221), and the output end of the material distribution cylinder (20221) is connected to a material distribution top block (20222), and the material distribution top block (20222) is movably plugged into the side of the material guide tube (2021), and one end of the material distribution top block (20222) is provided with a fitting arc surface (20223); The material unloading component (2023) comprises a material unloading cylinder (20231), the material unloading cylinder (20231) is connected to a material unloading baffle (20232), the material unloading baffle (20232) is movably plugged into the side of the material guide pipe (2021), the material unloading baffle (20232) is located below the material dividing top block (20222), and a material unloading hole (20233) is provided on the material unloading baffle (20232); The first positioner (202) further comprises a batch material picking cylinder (2024), the batch material picking cylinder (2024) is connected to two first material picking cylinders (2025), the first material picking cylinder (2025) is connected to a first material picking clamp (20251), and a first material picking sensor (20252) is arranged on the side of the first material picking clamp (20251).

9. The automatic braces assembly and visual error-proofing device according to claim 8, characterized in that: The second positioner (203) comprises a screw sleeve arrangement track (2031), one end of which is provided with a screw sleeve material distribution cylinder (2032), the screw sleeve material distribution cylinder (2032) being connected to a material distribution clamp (20321), and the two material distribution clamps (20321) being respectively located on both sides of the screw sleeve arrangement track (2031); The second positioner (203) is further provided with a movable material picking cylinder (2033), the movable material picking cylinder (2033) is connected to the second material picking cylinder (2034), the second material picking cylinder (2034) is connected to the second material picking clamp (20341), and a second material picking sensor (20342) is provided on the side of the second material picking clamp (20341); The second material picking clamp (20341) is provided with an inner top block (2034A) and an inner arc block (2034B).

10. The automatic braces assembly and visual error-proofing device according to any one of claims 1 to 6, 8 to 9, characterized in that: The clamp assembly (3) is provided with at least one positioning top block (301) and at least one corner pressing cylinder (302), and handles (303) are also provided on both sides of the clamp assembly (3).

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