Pre-tensioning clamp assembling machine

Abstract

The invention relates to a pre-tensioning clamp assembling machine which is mainly composed of a rack, a first conveying belt mechanism, a second conveying belt mechanism, a material disc feeding device, an electric claw device, an in-place pressing assembly, a loading manipulator device, a first detection device, a second detection device and a carrying manipulator device. The first conveying belt mechanism is located on the left side and used for conveying and positioning clamps, and the second conveying belt mechanism is located on the right side and used for outputting finished products. The material disc feeding device automatically supplies copper heads, the electric claw device opens the hoop, the in-place pressing assembly presses the copper heads into the hoop, and the copper heads are loaded into the mechanical arm device to be carried. The first detection device judges the direction of the clamp, the second detection device detects the tension force of the clamp, and the carrying manipulator device carries the clamp between the first conveying belt mechanism and the first detection device. The functions of automatic assembly of the clamp and the copper head, clamp direction judgment, tensioning force detection and the like can be achieved, and the production efficiency and quality of the pre-tensioning clamp are improved.

Description

Technical Field

[0001] The invention relates to the field of mechanical assembly equipment, and in particular to a pre-tensioning clamp assembly machine. Background Art

[0002] In the production process of pre-tensioning clamps, traditional assembly methods mostly rely on manual operation, which has many problems. Manual assembly of clamps and copper heads is inefficient and difficult to meet the needs of large-scale production. Moreover, it is difficult to accurately determine the direction of the clamps manually, and it is easy for the clamps to be installed in the wrong way, resulting in unqualified products. In addition, manual operation lacks accuracy and consistency in the tension force detection of the clamps, and cannot guarantee the stability of product quality. At the same time, manual operation is prone to damage to the clamps and copper heads, increasing production costs.

[0003] In view of this, it is of great practical significance to develop an automated pre-tensioning clamp assembly machine. Summary of the invention

[0004] The purpose of the present invention is to provide a device which can realize the functions of automatic assembly of a clamp and a copper head, clamp direction judgment, tension force detection, etc., so as to improve the production efficiency and quality of the pre-tensioned clamp.

[0005] In order to realize the above technical scheme, the technical scheme of the present invention is as follows: A pre-tensioned clamp assembly machine is mainly composed of a frame, a first conveyor belt mechanism, a second conveyor belt mechanism, a tray feeding device, an electric claw device, an in-place clamping assembly, a loading robot device, a first detection device, a second detection device and a handling robot device. The frame has a table top, the first conveyor belt mechanism is located on the left side for conveying and positioning the clamp, and the second conveyor belt mechanism is on the right side for outputting the finished product. The tray feeding device automatically supplies the copper head, the electric claw device opens the clamp, the in-place clamping assembly presses the copper head into the clamp, and the loading robot device carries the copper head. The first detection device determines the direction of the clamp, the second detection device detects the tension of the clamp, and the handling robot device carries the clamp between the first conveyor belt mechanism and the first detection device.

[0006] Furthermore, the first detection device includes a first detection bracket, a first driving source, a flipping assembly, a visual detection assembly and a carrying assembly. The first detection bracket can be adjusted and installed on the table to adapt to different work requirements. The first driving source is a flipping and lifting cylinder, which provides vertical power and is installed on the first detection bracket through a cylinder mounting plate. The rotating cylinder of the flipping assembly is arranged horizontally, and the clamp grabbing finger cylinder can be detachably installed on its output end, which can flexibly grab the clamp and perform a flipping operation. The visual detection camera can be adjusted and installed on the visual detection bracket of the visual detection assembly. The annular light source on the shooting light path ensures the imaging quality, and the front and back directions of the clamp can be determined by imaging. A carrying moving cylinder is fixed on one side of the carrying bracket of the carrying assembly, and the movable carrying seat on the top transfers the clamp under the drive of the cylinder. The buffer prevents collision, and the magnetic assembly magnetizes the fixed clamp when energized to avoid interference with the electric claw device.

[0007] Furthermore, the second detection device is composed of a second detection lifting assembly, a first transplanting assembly, a second transplanting assembly and a handling pressure detection assembly. The second detection lifting cylinder of the second detection lifting assembly provides lifting power, the supporting plate at the output end is used to install other components, and the limit column and the guide assembly ensure the movement accuracy. The first transplanting assembly and the second transplanting assembly are both servo electric cylinders, and the sensors at the initial and final positions accurately control the movement position. The two work together to enable the handling pressure detection assembly to apply pressure to both ends of the clamp to test the elasticity of the retaining spring. A pull rod is movably inserted on the pressure detection seat of the handling pressure detection assembly, which is linked to the test arm through a hinge plate connected by a hinge. The test fixture at one end of the test arm is embedded with a second sensor, and the Z-shaped positioning plate assists in positioning to accurately detect the tension of the clamp.

[0008] Furthermore, the electric claw device includes an electric claw bracket, an electric claw moving power source, an electric claw fixture, an opening and closing power source and a raw material detection sensor. The electric claw bracket is fixed on the table top, and the obliquely arranged defective product drop chute facilitates the discharge of defective products, and the defective products can be directly collected by penetrating the frame. The electric claw moving power source is a servo motor, which drives the electric claw fixture to move through the screw assembly, and the electric claw fixture sensor ensures the accurate movement position. The electric claw fixture adopts a four-claw chuck, and the opening and closing power source is an opening and closing servo motor. The opening and closing head at its output end controls the gathering or dispersion of the four-claw chuck grab hook. The raw material detection sensor includes a copper head power-off sensor and a proximity sensor, which respectively detect the copper head in place and the opening of the clamp.

[0009] Furthermore, the output end of the automatic feeding mechanism of the tray feeding device is connected to the copper head vibration feeder, which feeds the copper head to the copper head profiling material receiving fixture, and the optical fiber on the fixture detects the position of the copper head. The first linear moving module is installed on the gantry bracket of the manipulator device, and the loading lifting component at its output end drives the copper head grabbing finger cylinder to move. The two work together to transport the copper head to the electric claw device, and cooperate with the clamping component in place to complete the pressing of the copper head and the clamp.

[0010] Furthermore, the raw material elevator of the first conveyor mechanism lifts the clamp to the first belt transport device, the first positioning visual camera and flat light source of the clamp positioning component identify whether the clamp is qualified and locate the opening and closing mouth, the screening motor of the screening component drives the screening rod on the rotating roller to evenly push the clamp apart and place it, and the reflux guide bar and clamp position adjustment component ensure the accurate discharge position of the clamp. The finished product visual inspection component above the feed of the second belt transport device of the second conveyor mechanism inspects the finished product, and the defective product pushing component pushes the defective product to the finished product defective guide slot.

[0011] Furthermore, the four-axis handling robot on the handling manipulator base of the handling manipulator device grabs the end effector handling clamp through the clamp. The output end of the clamping cylinder on the clamping bracket of the clamping assembly is screwed with the pressure head to accurately press the copper head into the clamp.

[0012] Compared with the prior art, the present invention has the following beneficial effects:

[0013] 1) Efficient production brought by the overall automation architecture:

[0014] The pre-tensioning clamp assembly machine integrates multiple functional components such as the first conveyor belt mechanism, the second conveyor belt mechanism, the tray feeding device, the electric claw device, the in-place clamping assembly, the loading manipulator device, the first detection device, the second detection device and the handling manipulator device. The various components are arranged in an orderly manner on the rack table and work together to realize the fully automated process from clamp feeding, positioning, direction judgment, tension force detection, copper head supply, pressing to finished product output. For example, the first conveyor belt mechanism transports the clamp in an orderly manner, and the handling manipulator device accurately transports it, which works closely with the subsequent detection and assembly components, avoiding the cumbersome and inefficient manual operation and greatly improving the production efficiency. The overall structural design makes the assembly process continuous and uninterrupted. The clamp automatically circulates between each station without manual intervention and waiting. The automated operation and rapid connection of each component ensure the continuity of production. For example, the efficient operation of the first detection device, the second detection device and the electric claw device enables the clamp to quickly complete the detection and assembly steps, and the finished product can be output in time through the second conveyor belt mechanism, effectively increasing the output per unit time and meeting the needs of large-scale production.

[0015] 2) Accurate detection and positioning structure to ensure product quality:

[0016] The visual inspection component of the first detection device uses an adjustable visual inspection camera and a ring light source, which can clearly image the clamp and accurately determine the positive and negative directions of the clamp. Its first driving source (flip lifting cylinder) and flip assembly (rotating cylinder cooperates with clamp grabbing finger cylinder) can quickly flip and adjust the clamp with the wrong direction to ensure the accuracy of subsequent assembly. For example, at the beginning of the clamp entering the assembly process, accurate direction judgment and adjustment can avoid assembly failure or product failure caused by the wrong direction of the clamp, thereby improving the product qualification rate. The handling pressure detection component of the second detection device can accurately apply pressure to both ends of the clamp and detect the tension through a unique structural design, such as the cooperation of the pressure detection seat, pull rod, hinge plate, test arm, test fixture and second sensor. The coordinated work of the second detection lifting component, the first transplanting component and the second transplanting component ensures the accuracy and stability of the detection process. This helps to screen out clamps with unqualified tension, ensure the consistency of product quality, and improve the overall performance and reliability of the product. The clamp positioning component in the first conveyor mechanism uses a combination of the first positioning visual camera and the flat light source to accurately identify whether the clamp is qualified and accurately locate the opening and closing position of the clamp, and then accurately transmit the position information to the handling robot device. This precise positioning provides a reliable basis for subsequent assembly and testing processes, ensuring that each clamp can be accurately processed in each link, reducing waste caused by inaccurate positioning and improving product quality.

[0017] 3) Flexible adjustment and reliable structure enhance equipment adaptability and stability:

[0018] The first detection bracket of the first detection device can be adjusted and installed on the table, and the visual detection camera can be adjusted and installed on the visual detection bracket, which can be flexibly adjusted according to the clamps of different specifications to adapt to the diversified production needs. The copper head profiling material connection fixture and other components of the tray feeding device can also be adapted according to the specific shape and size of the copper head, so that the equipment has strong versatility when processing different types of pre-tensioning clamps and copper heads, reducing the equipment replacement cost and improving the utilization rate of the equipment. The electric claw bracket of the electric claw device is firmly fixed, and the electric claw moving power source (servo motor and screw rod assembly) and the opening and closing power source (opening and closing servo motor) provide stable power to ensure the precise movement of the electric claw fixture and the reliable opening and closing of the grab hook. The second detection lifting cylinder, servo electric cylinder and other power components of the second detection device have reliable performance, and the mechanical structure design of the support plate, limit column, guide assembly and other mechanical structures is reasonable to ensure that the components move smoothly and are accurately positioned during the detection process. These reliable structural designs reduce the probability of equipment failure, ensure the stability and continuity of production, and reduce the equipment maintenance cost.

[0019] 4) Efficient material handling and processing mechanism optimizes production process:

[0020] The four-axis handling robot of the handling manipulator device has high motion accuracy and flexibility. The clamp grabbing end effector at its output end can accurately grab the clamp and quickly transport it to the designated position according to the position information provided by the clamp positioning component. In the process of handling the clamp from the first conveyor belt mechanism to the first detection device, and in the subsequent transfer between processes, the efficient work of the handling manipulator device ensures the timely supply and circulation of materials, avoids material accumulation and delays, and improves production efficiency. The tray feeding device realizes the automatic supply and orderly arrangement of copper heads through the cooperation of the automatic feeding mechanism, the copper head vibration feeder and the copper head profiling material fixture, and the detection of the optical fiber ensures the accuracy of the copper head supply. The defective product drop trough of the electric claw device is reasonably designed, which can timely discharge unqualified clamps or poorly assembled products to avoid defective products from mixing into the finished product. The finished product visual inspection component and the defective product pushing component of the second conveyor belt mechanism can quickly detect the quality of the finished product and push the defective products to the finished product defective guide trough, ensuring the quality of the finished product and optimizing the entire production process.

[0021] 5) The equipment takes up little space and has high efficiency:

[0022] During the operation of the pre-tensioning clamp assembly machine, the layout and movement of the electric claw device and the carrier assembly have been carefully designed to achieve efficient assembly while avoiding interference and reducing the space occupied by the equipment. Specifically: This parallel and staggered movement of the electric claw device and the carrier assembly allows them to be reasonably arranged in a relatively small table area. By rationally planning the movement range and position relationship of the two, the excess space reserved to avoid interference is reduced, making the overall structure of the equipment more compact. There is no need to set up completely independent and non-interfering large-area working areas for the two. Instead, through clever space sharing and staggered movement, multiple functions are integrated on a limited table, improving space utilization. This compact layout method not only reduces the space occupied by the electric claw device and the carrier assembly itself, but also has a positive impact on the layout of the entire pre-tensioning clamp assembly machine. Due to the space optimization of these two key components, other components such as the tray feeding device, the first detection device, the second detection device, etc. can be more reasonably distributed on the table, further optimizing the spatial structure of the entire equipment, reducing the overall footprint of the equipment, improving the space utilization efficiency of the production site, reducing production costs and improving production efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] To further illustrate the various embodiments, the present invention provides drawings. These drawings are part of the disclosure of the present invention, which are mainly used to illustrate the embodiments and can be used in conjunction with the relevant descriptions in the specification to explain the operating principles of the embodiments. With reference to these contents, a person of ordinary skill in the art should be able to understand other possible implementations and advantages of the present invention. The components in the figures are not drawn to scale, and similar component symbols are generally used to represent similar components.

[0024] Figure 1 It is a top view of the pre-tensioning clamp assembly machine;

[0025] Figure 2 is a three-dimensional stereogram of a first detection device;

[0026] Figure 3 is a partial enlarged schematic diagram of the second detection device;

[0027] Figure 4 It is a three-dimensional stereogram of the electric claw device;

[0028] Figure 5 A three-dimensional diagram of the robot device for loading;

[0029] Figure 6 A three-dimensional image of a pre-tensioning clamp assembly machine;

[0030] Figure 7 This is a schematic diagram of the axial side of the pre-tensioning clamp assembly machine. DETAILED DESCRIPTION

[0031] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0032] In order to enable those skilled in the art to better understand the scheme of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0033] Please refer to the attached Figures 1 to 7 As shown: A pre-tensioning clamp assembly machine includes a frame 10 with a table 11, a first conveyor belt mechanism 20 for conveying and positioning the clamp on the left side of the table 11, and a second conveyor belt mechanism 30 for outputting a finished product on the right side.

[0034] On the table 11 behind the second conveyor belt mechanism 30, there are sequentially installed a tray feeding device 40 for automatically supplying copper heads, an electric claw device 50 movably mounted on the table 11 for opening the clamp, a clamping assembly 60 for pressing the copper heads into the clamp, and a loading robot device 70 movably mounted above the tray feeding device 40, the electric claw device 50 and the second conveyor belt mechanism 30, which is used to carry the copper heads output by the tray feeding device 40 to the clamp assembly position on the electric claw device 50, cooperate with the clamping assembly 60 to press them into the clamp, and then carry them to the second conveyor belt mechanism 30;

[0035] A first detection device 80 for determining the direction of the clamp M is set up between the first conveyor belt mechanism 20 and the second conveyor belt mechanism 30;

[0036] A second detection device 90 is movably provided between the first detection device 80 and the in-place clamping assembly 60 for detecting the tensioning force of the clamp outputted from the first detection device 80 after positioning; and

[0037] A transport robot device 100 is provided on the table 11 between the first conveyor belt mechanism 20 and the first detection device 80 , and is used to transport the clamp output from the first conveyor belt mechanism 20 to the first detection device 80 .

[0038] Based on the above embodiment, the first detection device 80 includes:

[0039] A first detection bracket 801 is adjustably mounted on the table 11;

[0040] A first driving source 802 is fixed on the first detection bracket 801 along a vertical direction to provide power;

[0041] The flip assembly 803 is movably disposed on one side of the first detection bracket 801, and the first driving source 802 can drive the flip assembly 803 to move back and forth;

[0042] A visual inspection component 804 is located in front of the flip component 803 and is used to determine the front and back directions of the clamp after imaging the clamp; and

[0043] The transport component 805 can be movably disposed between the flip component 803 and the visual detection component 804 , and is used to transport the clamp with a determined direction to the second detection device 90 for detection to avoid interference with the electric claw device 50 .

[0044] The electric claw device 50 mentioned above mainly performs operations such as opening the clamp and pressing the copper head within a certain height range above the table 11, and its movement trajectory is concentrated in a relatively low area in the vertical direction. The carrier seat of the carrier component 805 moves on the top of the carrier bracket, and its height position is relatively high, forming a certain spatial layering with the electric claw device 50 in the vertical direction. Such a layout prevents the two from interfering in the vertical direction, and fully utilizes the spatial height of the equipment; when the electric claw fixture 503 of the electric claw device 50 moves to a specific position for clamp processing, such as the stage of opening the clamp and waiting for the copper head to be pressed in, the carrier seat of the carrier component 805 can perform the transfer operation of the clamp at other positions. The carrier moving cylinder drives the carrier seat to move in the horizontal direction, and the clamp, which has been judged by the first detection device 80 for direction and may be detected by the second detection device 90 for tension, is transferred from the visual detection component 804 and the flip component 803 area to a suitable position near the electric claw device 50, ready for subsequent assembly steps. Because the movement paths of the two are carefully planned in the horizontal direction, staggered movement is achieved to avoid movement conflicts in the horizontal direction. For example, when the electric claw fixture 503 moves to the left to open the clamp, the carrier can move to the right to transport the new clamp, or when the electric claw fixture 503 is stationary waiting for the copper head to be pressed in, the carrier moves the clamp in the horizontal space above or below it, which will not interfere with the normal operation of the electric claw device 50.

[0045] Based on the above embodiment, the first driving source 802 is a flip lifting cylinder; the flip lifting cylinder is installed on the first detection bracket 801 through a cylinder mounting plate; on the first detection bracket 801, of course, in other embodiments, the first driving source 802 can also be an electric type or a cylinder type or other linear moving mechanical structure, which is not specifically limited here;

[0046] The flip assembly 803 includes a rotating cylinder arranged horizontally; the output of the rotating cylinder can be detachably mounted with a clamp to grab the finger cylinder;

[0047] The visual inspection component 804 includes a visual inspection bracket; a visual inspection camera is adjustably mounted on the visual inspection bracket; and an annular light source is provided along the shooting light path of the visual inspection camera;

[0048] The carrying component 805 includes a carrying bracket; a carrying moving cylinder is fixedly provided on one side of the carrying bracket; a carrying seat is movably provided on the top of the carrying bracket; the carrying moving cylinder can drive the carrying seat to move back and forth, and buffers are provided corresponding to the moving end positions of the carrying seat; a magnetic component is detachably inserted on the carrying seat, wherein: when power is turned on, the magnetic component magnetizes and fixes the carrying seat to prevent the clamp on the carrying seat.

[0049] Based on the above embodiment, the second detection device 90 includes:

[0050] The second detection lifting component 901 is fixed on the table 11 to provide lifting power;

[0051] The first transplanting assembly 902 is fixedly mounted at the output end of the second detection lifting assembly 901, and the second detection lifting assembly 901 can drive the first transplanting assembly 902 to move back and forth;

[0052] A second transplanting assembly 903 is arranged in parallel with the first transplanting assembly 902 and is used to provide power; and

[0053] The transport pressure detection component 904 is fixedly mounted on the output end of the second transplanting component 903; the second transplanting component 903 can drive the transport pressure detection component 904 to apply pressure to both ends of the clamping ring to test the elasticity of the clamping spring.

[0054] Based on the above embodiment, the second detection lifting component 901 is a second detection lifting cylinder; the output end of the second detection lifting cylinder is detachably provided with a support plate; corresponding to the second detection lifting cylinder, a limit column is fixedly provided on the peripheral side; and guide components are symmetrically provided at both ends of the support plate;

[0055] The first transplanting assembly 902 and the second transplanting assembly 903 are both servo electric cylinders, and sensors are provided corresponding to the initial and final positions of the first transplanting assembly 902 / the second transplanting assembly 903; of course, in other embodiments, the first transplanting assembly 902 and the second transplanting assembly 903 may also be electric or cylinder or other linear moving mechanical structures, which are not specifically limited here;

[0056] The handling pressure detection component 904 includes a pressure detection seat; a pull rod is movably inserted on the pressure detection seat; one end of the pull rod is hingedly connected to a hinge plate; a test arm is provided on the pressure detection seat which can move closer or farther away from each other; one end of the test arm is hinged to the hinge plate; a test fixture is embedded at one end of the test arm; a second sensor is provided on the test fixture; and a Z-shaped positioning plate is provided above the test arm.

[0057] Based on the above embodiment, the electric claw device 50 includes:

[0058] The electric claw bracket 501 is fixed on the table 11;

[0059] The electric claw moving power source 502 is fixedly mounted on one side of the electric claw bracket 501 to provide power;

[0060] The electric claw fixture 503 is movably disposed on the top of the electric claw bracket 501, and the electric claw moving power source 502 can drive the electric claw fixture 503 to move back and forth;

[0061] The opening and closing power source 504 is fixedly mounted on one side of the electric claw fixture 503, and the output end is detachably mounted on the electric claw fixture 503; the opening and closing power source 504 can drive the grab hooks on the electric claw fixture 503 to gather or spread radially; and

[0062] The raw material detection sensors 505 are sequentially arranged along the circumference of the electric claw fixture 503 to detect whether the clamp on the electric claw fixture 503 is open and whether the copper head is in place.

[0063] Based on the above embodiment, the electric claw bracket 501 is provided with a defective product drop groove obliquely; the defective product drop groove penetrates the frame 10;

[0064] The electric claw moving power source 502 is a servo motor; the output end of the servo motor is connected to a screw assembly; an electric claw fixture sensor is provided corresponding to the start and end positions of the screw assembly. Of course, in other embodiments, the electric claw moving power source 502 can also be an electric type or a cylinder type or other rotating mechanical structure, which is not specifically limited here;

[0065] The electric claw fixture 503 is a four-claw chuck;

[0066] The opening and closing power source 504 is an opening and closing servo motor; the output end of the opening and closing servo motor is provided with a directional opening and closing head; one end of the opening and closing head is inserted into the four-claw chuck;

[0067] The raw material detection sensor 505 includes a copper head power-off sensor and a proximity sensor; the detection direction of the proximity sensor points to the axis of the electric claw fixture 503; the detection optical path of the copper head power-off sensor is set parallel to the length direction of the frame 10.

[0068] On the basis of the above embodiment, the material tray feeding device 40 includes an automatic feeding mechanism 401; a copper head vibrating feeder 402 is provided at the output end of the automatic feeding mechanism 401; a copper head profiling material receiving fixture 403 is provided at the output end of the copper head vibrating feeder 402; a corresponding optical fiber 404 is provided in the array on the copper head profiling material receiving fixture 403; the copper head profiling material receiving fixture 403 is located directly below the loading robot device 70;

[0069] The loading robot device 70 includes a gantry bracket 701 mounted on the table 11, and a first linear motion module 702 is provided on one side of the gantry bracket 701; a loading lifting component 703 is provided at the output end of the first linear motion module 702; and a copper head grabbing finger cylinder 704 is provided at the output end of the loading lifting component 703;

[0070] Among them: after the copper head grabbing finger cylinder 704 grabs the copper head, it is transported to the electric claw device 50 under the coordinated action of the first linear moving module 702 and the loading lifting component 703, and then the positioning clamping component 60 starts to move. Under the positioning condition of the copper head grabbing finger cylinder 704, the copper head and the clamp are accurately pressed into a whole under the horizontal position adjustment of the first linear moving module 702.

[0071] On the basis of the above embodiment, the first conveyor mechanism 20 includes a raw material elevator 201 located on one side of the frame 10; a first belt transport device 202 is provided at the output end of the raw material elevator 201; one end of the first belt transport device 202 is mounted on the table 11; a clamp positioning component 203 is provided just above the output end of the first belt transport device 202, which is used to identify whether the clamp conveyed by the first belt transport device 202 is qualified and to locate the clamp opening and closing mouth and send the position information to the handling robot device 100 for handling; a screening component 204 is obliquely provided at the feeding place of the first belt transport device 202; the screening component 204 can be rotatably arranged on the top of the first belt transport device 202 to evenly push the clamps away and place them; a return guide strip 205 is provided in parallel on one side of the screening component 204; a clamp position adjustment component 206 is provided on one side of the return guide strip 205, which is used to apply a thrust in the width direction to the moving clamp so that it is in the same straight line when discharging;

[0072] The second conveyor mechanism 30 includes a second belt transport device 302; a finished product visual inspection component 302 is provided above the feeding part of the second belt transport device 302; a defective product pushing component 303 is provided on one side of the finished product visual inspection component 302; and a defective finished product guide trough 303 is provided on one side of the second belt transport device 302;

[0073] The handling robot device 100 includes a handling robot base 1001; a four-axis handling robot 1002 is provided on the handling robot base 1001; a clamp grabbing end effector is provided at the output end of the four-axis handling robot 1002;

[0074] The clamping assembly 60 comprises a clamping bracket; a clamping cylinder is arranged on the clamping bracket; and a pressure head is screwed on the output end of the clamping cylinder.

[0075] Based on the above embodiment, the clamp positioning component 203 includes a clamp positioning bracket mounted above the first belt transport device 202; the clamp positioning bracket is provided with a first positioning visual camera; a flat light source is provided directly below the first positioning visual camera; the flat light source is installed on the inner side of the first belt transport device 202;

[0076] The screening component 204 comprises a screening bracket; a screening motor is provided on one side of the screening bracket; a rotating roller is provided at the output end of the screening motor; and a deformable screening rod is densely arranged on the circumference of the rotating roller.

[0077] The present invention works as follows: the clamp is first placed in the raw material elevator of the first conveyor mechanism, and the raw material elevator lifts the clamp to the first belt conveyor. At the feed point of the first belt conveyor, the screening component starts to work, and its screening motor drives the rotating roller, and the deformable screening rods on the circumference of the rotating roller evenly push the clamp apart and place it, ensuring that the clamp is arranged in an orderly manner on the conveyor. At the same time, the clamp position adjustment component applies a thrust in the width direction to the moving clamp, so that the clamp is in the same straight line when it is discharged, which is convenient for subsequent precise positioning. When the clamp is transmitted to the top of the output end of the first belt conveyor, the first positioning visual camera and the flat light source in the clamp positioning component work together. The first positioning visual camera shoots the clamp, and the flat light source provides uniform illumination. The image recognition technology is used to determine whether the clamp is qualified, and the opening and closing position of the clamp is accurately located. Then, the clamp positioning component sends the position information of the clamp to the handling robot device. After the four-axis handling robot on the handling manipulator base of the handling manipulator device receives the clamp position information, the clamp grabbing end effector at its output end accurately grabs the clamp and transports the clamp to the first detection device. In the first detection device, the visual inspection camera of the visual inspection component images the clamp with the assistance of the annular light source. The visual inspection camera transmits the captured image to the control system, and the control system determines the positive and negative directions of the clamp through the image processing algorithm. If the direction of the clamp is correct, the carrying moving cylinder of the carrying component drives the carrying seat to move to the appropriate position to prepare to receive the clamp; if the direction of the clamp is wrong, the first driving source (flip lifting cylinder) drives the rotating cylinder of the flipping component to descend, and the rotating cylinder drives the clamp grabbing finger cylinder to grab the clamp, and then the rotating cylinder rotates 180° to flip the clamp, and the flip lifting cylinder lifts the clamp again, and the carrying component transfers the flipped clamp to the second detection device. The second detection lifting assembly (second detection lifting cylinder) of the second detection device first lifts the first transfer assembly (servo electric cylinder) to a suitable height, and the handling manipulator device places the clamp on the first transfer assembly. Then, the first transfer assembly moves the clamp to the bottom of the handling pressure detection assembly. The second transfer assembly (servo electric cylinder) drives the handling pressure detection assembly to move toward the clamp, and the test arms of the handling pressure detection assembly move closer to each other on the pressure detection seat, and the test fixture at one end of the test arm contacts both ends of the clamp. As the second transfer assembly continues to push, the test arm transmits the pressure to the pressure detection seat through the hinge plate and the pull rod, and the sensor on the pressure detection seat detects the pressure value, thereby testing the tension of the clamp. After the detection is completed, the second transfer assembly removes the handling pressure detection assembly, and the first transfer assembly transports the clamp to the electric claw device. The electric claw moving power source (servo motor) of the electric claw device drives the electric claw fixture (four-claw chuck) to move to the appropriate position, waiting to receive the clamp. When the clamp is moved to the top of the electric claw fixture, the electric claw fixture descends, and the clamp grabbing end effector places the clamp on the electric claw fixture. The opening and closing power source (opening and closing servo motor) drives the grabbing hook of the electric claw fixture to gather radially and open the clamp.At the same time, the automatic feeding mechanism of the tray feeding device transports the copper head to the copper head vibrating feeder, which arranges the copper heads in order through vibration and transports them to the copper head profiling material receiving jig. The optical fiber on the copper head profiling material receiving jig detects whether the copper head is in place. The copper head grabbing finger cylinder installed in the manipulator device moves to the top of the copper head profiling material receiving jig under the coordinated action of the first linear moving module and the loading lifting component to grab the copper head. Then, the manipulator device is installed to move the copper head to the clamp assembly on the electric claw device. The clamping cylinder of the in-place clamping assembly pushes the pressure head down, and under the positioning action of the copper head grabbing finger cylinder, the copper head is accurately pressed into the clamp. After the pressing is completed, the grab hook of the electric claw jig is dispersed, and the finished clamp remains on the electric claw jig. The electric claw moving power source drives the electric claw jig to move again, and the finished clamp is transported to the second belt conveyor of the second conveyor mechanism. Above the feeding point of the second belt conveyor, the finished product visual inspection component inspects the finished clamp. If the finished product is detected to be unqualified, the defective product pushing component will push the unqualified product to the finished product defective material guide trough; if the finished product is qualified, it will continue to be transmitted on the second belt conveyor and finally output the finished product.

[0078] The above is only a preferred embodiment of the present invention, and does not limit the present invention in any form. Although the present invention has been disclosed as a preferred embodiment, it is not used to limit the present invention. Any person skilled in the art should be able to use the technical content disclosed above to make equivalent embodiments that are equivalent changes by slight changes or modifications without departing from the scope of the technical solution of the present invention. However, any brief modification, equivalent change and modification made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solution of the present invention still fall within the scope of the technical solution of the present invention.

Claims

1. A pre-tensioning clamp assembly machine, comprising a frame (10) having a table (11), and a first conveyor belt mechanism (20) mounted on the left side of the table (11) for conveying and positioning the clamp, and a second conveyor belt mechanism (30) on the right side for outputting a finished product, characterized in that: A material tray feeding device (40) for automatically supplying copper heads, an electric claw device (50) movably mounted on the table (11) for opening the clamp, a position clamping assembly (60) for pressing the copper heads onto the clamp, and a loading robot device (70) movably mounted above the material tray feeding device (40), the electric claw device (50) and the second conveyor mechanism (30) are sequentially mounted on the table (11) behind the second conveyor mechanism (30) and are used to carry the copper heads output from the material tray feeding device (40) to the clamp assembly position on the electric claw device (50) to cooperate with the position clamping assembly (60) to press the copper heads into the clamp and then carry them to the second conveyor mechanism (30); A first detection device (80) for determining the direction of the clamp (M) is installed between the first conveyor belt mechanism (20) and the second conveyor belt mechanism (30); A second detection device (90) is movably provided between the first detection device (80) and the in-position clamping assembly (60) for detecting the tensioning force of the clamp outputted from the first detection device (80) after positioning; and A transport robot device (100) is provided on the table (11) between the first conveyor belt mechanism (20) and the first detection device (80), and is used to transport the clamp output from the first conveyor belt mechanism (20) to the first detection device (80).

2. The pre-tensioning clamp assembly machine according to claim 1, characterized in that: The first detection device (80) comprises: A first detection bracket (801) is adjustably mounted on the table (11); A first driving source (802) is fixedly mounted on the first detection bracket (801) in a vertical direction and is used to provide power; A flip assembly (803) is movably arranged on one side of the first detection bracket (801), and the first driving source (802) can drive the flip assembly (803) to move back and forth; A visual detection component (804), located in front of the flip component (803), is used to determine the front and back directions of the clamp after imaging the clamp; and The transport component (805) is movably disposed between the flip component (803) and the visual detection component (804), and is used to transport the clamp with a determined direction to the second detection device (90) for detection to avoid interference with the electric claw device (50).

3. The pre-tensioning clamp assembly machine according to claim 2, characterized in that: The first driving source (802) is a flip lifting cylinder; the flip lifting cylinder is mounted on the first detection bracket (801) through a cylinder mounting plate; on the first detection bracket (801); The flip assembly (803) comprises a rotating cylinder arranged horizontally; the output of the rotating cylinder can be detachably mounted with a clamp to grasp the finger cylinder; The visual detection component (804) comprises a visual detection bracket; a visual detection camera is adjustably mounted on the visual detection bracket; and an annular light source is provided along the shooting light path of the visual detection camera; The carrying component (805) comprises a carrying bracket; a carrying moving cylinder is fixedly provided on one side of the carrying bracket; a carrying seat is movably provided on the top of the carrying bracket; the carrying moving cylinder can drive the carrying seat to move back and forth, and buffers are provided at the end positions of the moving ends of the carrying seat; a magnetic component is detachably inserted on the carrying seat, wherein: when power is turned on, the magnetic component magnetizes and fixes the carrying seat to prevent the clamp on the carrying seat.

4. The pre-tensioning clamp assembly machine according to claim 1, characterized in that: The second detection device (90) comprises: A second detection lifting component (901) is fixedly mounted on the table (11) and is used to provide lifting power; The first transplanting component (902) is fixedly mounted on the output end of the second detection lifting component (901), and the second detection lifting component (901) can drive the first transplanting component (902) to move back and forth; A second transplanting assembly (903) is arranged in parallel with the first transplanting assembly (902) and is used to provide power; and The transport pressure detection component (904) is fixedly mounted at the output end of the second transplanting component (903); the second transplanting component (903) can drive the transport pressure detection component (904) to apply pressure to both ends of the clamping ring to test the elasticity of the clamping spring.

5. The pre-tensioning clamp assembly machine according to claim 4, characterized in that: The second detection lifting assembly (901) is a second detection lifting cylinder; a support plate is detachably mounted on the output end of the second detection lifting cylinder; a limit column is fixedly arranged on the peripheral side of the second detection lifting cylinder; guide assemblies are symmetrically arranged at both ends of the support plate; The first transplanting component (902) and the second transplanting component (903) are both servo electric cylinders, and sensors are provided corresponding to the initial and final positions of the first transplanting component (902) / the second transplanting component (903); The handling pressure detection component (904) includes a pressure detection seat; a pull rod is movably inserted on the pressure detection seat; one end of the pull rod is hingedly connected to a hinge plate; a test arm is provided on the pressure detection seat, which can move closer or farther away from each other; one end of the test arm is hinged to the hinge plate; a test fixture is embedded at one end of the test arm; a second sensor is provided on the test fixture; and a Z-shaped positioning plate is provided above the test arm.

6. The pre-tensioning clamp assembly machine according to claim 1, characterized in that: The electric claw device (50) comprises: An electric claw bracket (501) is fixedly mounted on the table (11); An electric claw moving power source (502) is fixedly mounted on one side of the electric claw support (501) and is used to provide power; The electric claw fixture (503) is movably arranged on the top of the electric claw bracket (501), and the electric claw moving power source (502) can drive the electric claw fixture (503) to move back and forth; An opening and closing power source (504) is fixedly mounted on one side of the electric claw fixture (503), and an output end is detachably mounted on the electric claw fixture (503); the opening and closing power source (504) can drive the grab hooks on the electric claw fixture (503) to gather or spread radially; and The raw material detection sensors (505) are sequentially arranged along the circumference of the electric claw jig (503) and are used to detect whether the clamp on the electric claw jig (503) is open and whether the copper head is in place.

7. The pre-tensioning clamp assembly machine according to claim 6, characterized in that: The electric claw bracket (501) is provided with a defective product drop chute on an inclined surface; the defective product drop chute passes through the frame (10); The electric claw moving power source (502) is a servo motor; the output end of the servo motor is transmission-connected to a screw assembly; electric claw fixture sensors are provided corresponding to the start and end positions of the screw assembly; The electric claw fixture (503) is a four-claw chuck; The opening and closing power source (504) is an opening and closing servo motor; an opening and closing head with a direction is arranged at the output end of the opening and closing servo motor; one end of the opening and closing head is inserted into the four-claw chuck; The raw material detection sensor (505) comprises a copper head power-off sensor and a proximity sensor; the detection direction of the proximity sensor points to the axis of the electric claw fixture (503); and the detection optical path of the copper head power-off sensor is arranged parallel to the length direction of the frame (10).

8. The pre-tensioning clamp assembly machine according to claim 1, characterized in that: The material tray feeding device (40) comprises an automatic feeding mechanism (401); a copper head vibration feeder (402) is provided at the output end of the automatic feeding mechanism (401); a copper head profiling material receiving jig (403) is provided at the output end of the copper head vibrating feeder (402); a corresponding optical fiber (404) is provided in an array on the copper head profiling material receiving jig (403); the copper head profiling material receiving jig (403) is located directly below the loading robot device (70); The loading robot device (70) comprises a gantry support (701) mounted on the table (11), a first linear motion module (702) being provided on one side of the gantry support (701); a loading lifting component (703) being provided at the output end of the first linear motion module (702); and a copper head grabbing finger cylinder (704) being provided at the output end of the loading lifting component (703); Wherein: after the copper head grasping finger cylinder (704) grasps the copper head, it is transported to the electric claw device (50) under the coordinated action of the first linear moving module (702) and the loading lifting component (703), and then the position clamping component (60) starts to move. Under the positioning condition of the copper head grasping finger cylinder (704), the first linear moving module (702) adjusts the horizontal position to accurately press the copper head and the clamp into a whole.

9. The pre-tensioning clamp assembly machine according to claim 1, characterized in that: The first conveyor belt mechanism (20) comprises a raw material elevator (201) located on one side of the frame (10); a first belt transport device (202) is provided at the output end of the raw material elevator (201); one end of the first belt transport device (202) is mounted on the table (11); a clamp positioning component (203) is provided just above the output end of the first belt transport device (202), which is used to identify whether the clamp conveyed by the first belt transport device (202) is qualified and to locate the clamp opening and closing mouth and then send the position information to the conveyor. A conveyor manipulator device (100) is used for transport; a screening component (204) is obliquely provided at the feeding position of the first belt conveyor (202); the screening component (204) can be rotatably arranged on the top of the first belt conveyor (202) for evenly displacing and placing the clamps; a return material guide strip (205) is provided in parallel on one side of the screening component (204); a clamp position adjustment component (206) is provided on one side of the return material guide strip (205) for applying a thrust in the width direction to the moving clamps so that they are in the same straight line when discharging; The second conveyor belt mechanism (30) comprises a second belt transport device (302); a finished product visual inspection component (302) is provided above the feeding position of the second belt transport device (302); a defective product pushing component (303) is provided on one side of the finished product visual inspection component (302); and a defective finished product guide trough (304) is provided on one side of the second belt transport device (302); The handling robot device (100) comprises a handling robot base (1001); a four-axis handling robot (1002) is arranged on the handling robot base (1001); a clamp grabbing end effector is arranged at the output end of the four-axis handling robot (1002); The clamping assembly (60) comprises a clamping bracket; a clamping cylinder is arranged on the clamping bracket; and a pressure head is screwed onto the output end of the clamping cylinder.

10. The pre-tensioning clamp assembly machine according to claim 9, characterized in that: The clamp positioning component (203) comprises a clamp positioning bracket mounted above the first belt transport device (202); a first positioning visual camera is provided on the clamp positioning bracket; a flat light source is provided directly below the first positioning visual camera; the flat light source is installed on the inner side of the first belt transport device (202); The screening component (204) comprises a screening bracket; a screening motor is provided on one side of the screening bracket; a rotating roller is provided at the output end of the screening motor; and deformable screening rods are densely arranged on the circumference of the rotating roller.

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