A pre-tensioned clamp assembly machine

Abstract

The present application relates to a kind of pre-tensioning clamp assembly machine mainly by rack, first conveyor belt mechanism, second conveyor belt mechanism, tray feeding device, electric claw device, in-place compression assembly, loading manipulator device, first detection device, second detection device and handling manipulator device composition.Rack has table top, first conveyor belt mechanism is located left side for conveying and positioning clamp, and second conveyor belt mechanism is in right side for output finished product.Tray feeding device automatically supplies copper head, electric claw device props open clamp, in-place compression assembly presses into copper head into clamp, and loading manipulator device handles copper head.First detection device judges the direction of clamp, and second detection device detects the tension of clamp, and handling manipulator device handles clamp between first conveyor belt mechanism and first detection device.The present application can realize the automatic assembly of clamp and copper head, the direction of clamp determination, tension detection and other functions, improve the production efficiency and quality of pre-tensioning clamp.

Description

Technical Field

[0001] This invention relates to the field of mechanical assembly equipment, and more particularly to a pre-tensioned clamp assembly machine. Background Technology

[0002] In the production process of pre-tensioned clamps, traditional assembly methods rely heavily on manual operation, which presents numerous problems. Manual assembly of clamps and copper heads is inefficient and cannot meet the demands of large-scale production. Furthermore, it is difficult for humans to accurately determine the clamp's orientation, easily leading to incorrect installation and product defects. In addition, manual operation lacks accuracy and consistency in clamp tension testing, failing to guarantee product quality stability. Moreover, manual operation can easily damage the clamps and copper heads, increasing production costs.

[0003] In view of this, developing an automated pre-tensioned clamp assembly machine is of great practical significance. Summary of the Invention

[0004] The purpose of this invention is to provide a system that can automatically assemble clamps and copper heads, determine clamp direction, and detect tension, thereby improving the production efficiency and quality of pre-tensioned clamps.

[0005] To achieve the above technical solution, the technical solution of the present invention is as follows: A pre-tensioned clamp assembly machine mainly consists of a frame, a first conveyor belt mechanism, a second conveyor belt mechanism, a material tray feeding device, an electric gripper device, a positioning and pressing assembly, an insertion robot device, a first detection device, a second detection device, and a handling robot device. The frame has a table, the first conveyor belt mechanism is located on the left side for conveying and positioning clamps, and the second conveyor belt mechanism is on the right side for outputting finished products. The material tray feeding device automatically supplies copper heads, the electric gripper device opens the clamps, the positioning and pressing assembly presses the copper heads into the clamps, and the insertion robot device handles the copper heads. The first detection device determines the clamp direction, the second detection device detects the clamp tension, and the handling robot device handles the clamps between the first conveyor belt mechanism and the first detection device.

[0006] Furthermore, the first detection device includes a first detection bracket, a first drive source, a flipping assembly, a vision inspection assembly, and a transport assembly. The first detection bracket is adjustable and mounted on a table to adapt to different work requirements. The first drive source is a flipping and lifting cylinder that provides vertical power and is mounted on the first detection bracket via a cylinder mounting plate. The rotating cylinder of the flipping assembly is horizontally positioned, and its output end can be detachably fitted with a clamp-grabbing finger cylinder, which can flexibly grasp the clamp and perform a flipping operation. A vision inspection camera is adjustablely mounted on the vision inspection bracket of the vision inspection assembly. The ring light source in the imaging optical path ensures image quality and can determine the orientation of the clamp by imaging it. A transport moving cylinder is fixed on one side of the transport bracket of the transport assembly. The movable transport seat at the top is driven by the cylinder to transport the clamp. A buffer prevents collisions, and the magnetic component magnetizes and fixes the clamp when energized, avoiding interference with the electric gripper device.

[0007] Furthermore, the second testing device comprises a second testing lifting assembly, a first transfer assembly, a second transfer assembly, and a handling pressure testing assembly. The second testing lifting cylinder of the second testing lifting assembly provides lifting power, and the support plate at the output end is used to mount other components. Limiting posts and guide components ensure motion accuracy. Both the first and second transfer assemblies are servo electric cylinders, and sensors at the start and end positions precisely control the movement position. Working together, they enable the handling pressure testing assembly to apply pressure to both ends of the retaining ring to test the retaining ring's elasticity. A movable pull rod is inserted into the pressure testing seat of the handling pressure testing assembly. A hinge plate connected via a hinge links with the test arm. A second sensor is embedded in the test fixture at one end of the test arm, and a Z-shaped positioning plate assists in positioning, accurately detecting the clamp tension.

[0008] Furthermore, the electric gripper device includes an electric gripper support, an electric gripper movement power source, an electric gripper fixture, an opening and closing power source, and raw material detection sensors. The electric gripper support is fixed to the table, and the inclined defective product discharge chute facilitates the discharge of defective products. A through-frame allows for direct collection of defective products. The electric gripper movement power source is a servo motor, which drives the electric gripper fixture to move via a lead screw assembly. Sensors on the electric gripper fixture ensure accurate positioning. The electric gripper fixture uses a four-jaw chuck, and the opening and closing power source is an opening and closing servo motor. The opening and closing head at its output controls the convergence or discontinuation of the four-jaw chuck's gripping hooks. The raw material detection sensors include a copper head energizing sensor and a proximity sensor, which respectively detect the copper head's positioning and the clamp's opening status.

[0009] Furthermore, the output end of the automatic replenishment mechanism of the material tray feeding device is connected to the copper head vibrating feeder. The copper head vibrating feeder feeds the copper head to the copper head conformal receiving fixture, and the through-beam fiber on the fixture detects the position of the copper head. The first linear motion module is mounted on the gantry support of the robotic arm device. The loading and lifting component at its output end drives the copper head gripping finger cylinder to move. The two work together to transport the copper head to the electric gripper device, and the clamping component completes the pressing of the copper head with the clamp.

[0010] Furthermore, the raw material elevator of the first conveyor belt mechanism lifts the clamps to the first conveyor belt device. The first positioning vision camera and flat panel light source of the clamp positioning component identify whether the clamps are qualified and position the opening and closing. The screening motor of the screening component drives the screening rod on the rotating roller to evenly separate and place the clamps. The return guide bar and the clamp position adjustment component ensure that the clamp discharge position is accurate. The finished product vision inspection component above the feed port of the second conveyor belt device of the second conveyor belt mechanism inspects the finished products, and the defective product pusher component pushes the defective products to the finished product defective guide chute.

[0011] Furthermore, the four-axis handling robot on the base of the handling robot device grips the end effector to handle the clamp via a clamp. The output end of the clamping cylinder on the clamping bracket of the clamping assembly is screwed with a pressure head, which precisely presses the copper head into the clamp.

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

[0013] 1) High-efficiency production brought about by the overall automation architecture:

[0014] This pre-tensioned clamp assembly machine integrates multiple functional components, including a first conveyor belt mechanism, a second conveyor belt mechanism, a material tray feeding device, an electric gripper device, a positioning and clamping assembly, an loading robot device, a first detection device, a second detection device, and a handling robot device. These components are arranged systematically on the machine frame and work collaboratively to achieve a fully automated process from clamp feeding, positioning, orientation determination, tension detection, copper head supply, pressing, to finished product output. For example, the first conveyor belt mechanism transports the clamps systematically, and the handling robot device precisely transports them, working closely with subsequent detection and assembly components to avoid the tediousness and inefficiency of manual operation, greatly improving production efficiency. The overall structural design ensures a continuous and uninterrupted assembly process. The clamps automatically flow between workstations without manual intervention or waiting, and the automated operation and rapid connection of each component guarantee production continuity. The efficient operation of devices such as the first and second detection devices and the electric gripper device allows the clamps to quickly complete the detection and assembly steps, and the finished products can be promptly output via the second conveyor belt mechanism, effectively increasing output per unit time and meeting the needs of large-scale production.

[0015] 2) Precise detection and positioning structure ensures product quality:

[0016] The visual inspection component of the first inspection device employs an adjustable visual inspection camera and a ring light source, enabling clear imaging of the clamps and accurate determination of their orientation. Its first drive source (a tilting and lifting cylinder) and tilting component (a rotary cylinder working in conjunction with a clamp-gripping finger cylinder) can quickly tilt and adjust clamps with incorrect orientation, ensuring accuracy in subsequent assembly. For example, in the early stages of the clamp assembly process, precise orientation judgment and adjustment prevent assembly failures or product defects caused by incorrect clamp orientation, improving the product pass rate. The handling pressure detection component of the second inspection device, through a unique structural design, including the cooperation of a pressure detection seat, pull rod, hinge plate, test arm, test fixture, and second sensor, can accurately apply pressure to both ends of the clamp and detect tension. The coordinated work of the second inspection lifting component, the first transfer component, and the second transfer component ensures the accuracy and stability of the inspection process. This helps to screen out clamps with unacceptable tension, ensuring product quality consistency and improving overall product performance and reliability. The clamp positioning component in the first conveyor belt mechanism, utilizing a combination of a first positioning vision camera and a flat panel light source, can accurately identify whether the clamps are qualified and precisely locate the opening and closing positions of the clamps. This positional information is then accurately transmitted to the handling robot. This precise positioning provides a reliable foundation for subsequent assembly and inspection processes, ensuring that each clamp is accurately processed at every stage, 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 inspection device features an adjustable first inspection bracket mounted on the table, and an adjustable vision inspection camera mounted on the vision inspection bracket. This allows for flexible adjustment to accommodate different specifications of clamps, adapting to diverse production needs. Components such as the copper head conformal receiving fixture of the material tray feeding device can also be adapted to the specific shape and size of the copper head, making the equipment highly versatile in handling different types of pre-tensioned clamps and copper heads, reducing equipment replacement costs and improving equipment utilization. The electric gripper device has a securely fixed electric gripper bracket, and the electric gripper's movement power source (servo motor and lead screw assembly) and opening / closing power source (opening / closing servo motor) provide stable power, ensuring precise movement of the electric gripper fixture and reliable opening and closing of the gripper hook. The second inspection device features reliable power components such as the second inspection lifting cylinder and servo electric cylinder. The supporting plate, limit posts, and guide components are rationally designed to ensure smooth movement and accurate positioning of all components during inspection. These reliable structural designs reduce the probability of equipment failure, ensure production stability and continuity, and lower equipment maintenance costs.

[0019] 4) Efficient material handling and processing mechanisms optimize the production process:

[0020] The four-axis handling robot of the handling manipulator device possesses high motion precision and flexibility. Its output end clamp gripping end effector can accurately grasp clamps and quickly transport them to designated locations based on the position information provided by the clamp positioning component. During the transport of clamps from the first conveyor belt mechanism to the first inspection device, and in subsequent inter-process transfers, the efficient operation of the handling manipulator device ensures timely material supply and flow, avoids material accumulation and delays, and improves production efficiency. The material tray feeding device, through the cooperation of an automatic replenishment mechanism, a copper head vibrating feeder, and a copper head contour receiving fixture, achieves automatic supply and orderly arrangement of copper heads. The detection of the through-beam fiber ensures the accuracy of the copper head supply. The electric gripper device's defective product discharge chute is rationally designed to promptly discharge unqualified clamps or poorly assembled products, preventing defective products from being mixed with finished products. The finished product vision inspection component and defective product pushing component of the second conveyor belt mechanism can quickly detect finished product quality and push defective products to the finished product defective product guide chute, ensuring finished product quality and optimizing the entire production process.

[0021] 5) The equipment occupies little space and is highly efficient:

[0022] During the operation of the pre-tensioned clamp assembly machine, the layout and movement of the electric gripper device and the transport component are carefully designed to achieve efficient assembly while avoiding interference and reducing the space occupied by the equipment. Specifically, the parallel and staggered movement of the electric gripper device and the transport component allows them to be rationally arranged within a relatively small table area. By rationally planning their movement range and positional relationship, the excess space reserved to avoid interference is reduced, making the overall structure of the equipment more compact. It is not necessary to set up completely independent, non-interfering large-area work areas for each; instead, through clever space sharing and staggered movement, multiple functions are integrated on a limited table surface, improving space utilization. This compact layout not only reduces the space occupied by the electric gripper device and the transport component themselves but also has a positive impact on the overall layout of the pre-tensioned clamp assembly machine. Due to the space optimization of these two key components, other components such as the material tray feeding device, the first detection device, and the second detection device can be more rationally 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 increasing production efficiency. Attached Figure Description

[0023] To further illustrate the various embodiments, the present invention provides accompanying drawings. These drawings are part of the disclosure of the present invention, primarily used to illustrate the embodiments and to explain the operating principles of the embodiments in conjunction with the relevant descriptions in the specification. With reference to these drawings, those skilled in the art should be able to understand other possible implementations and the advantages of the present invention. Components in the drawings are not drawn to scale, and similar component symbols are generally used to represent similar components.

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

[0025] Figure 2 This is a three-dimensional view of the first detection device;

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

[0027] Figure 4 This is a three-dimensional view of the electric gripper device;

[0028] Figure 5 A three-dimensional view of the device containing the robotic arm;

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

[0030] Figure 7 This is a side view of the pre-tensioned clamp assembly machine. Detailed Implementation

[0031] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0032] To enable those skilled in the art to better understand the present invention, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

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

[0034] On the platform 11 behind the second conveyor belt mechanism 30, an automatic copper head feeding device 40, an electric claw device 50 movably mounted on the platform 11 for opening the clamp, a positioning clamping assembly 60 for pressing the copper head into the clamp, and an loading robot device 70 movably mounted above the feeding device 40, the electric claw device 50, and the second conveyor belt mechanism 30 are installed in sequence. The robot device 70 is used to transport the copper head output from the feeding device 40 to the clamp assembly on the electric claw device 50 to cooperate with the positioning clamping assembly 60 to press it into the clamp before transporting it to the second conveyor belt mechanism 30.

[0035] 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.

[0036] A second detection device 90 is movably disposed between the first detection device 80 and the positioning clamping assembly 60 for detecting the tension of the clamp output after the first detection device 80 is positioned; and

[0037] A handling robot 100 is provided on the table 11 between the first conveyor belt mechanism 20 and the first detection device 80, for transporting the clamps output from the first conveyor belt mechanism 20 to the first detection device 80.

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

[0039] The first testing bracket 801 is adjustablely mounted on the table 11;

[0040] The first drive source 802 is fixed vertically on the first detection bracket 801 to provide power;

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

[0042] The visual inspection component 804, located directly in front of the flipping component 803, is used to determine the orientation of the clamp after imaging it; and

[0043] The transport component 805 is movably disposed between the flipping component 803 and the vision inspection component 804, and is used to transport the clamp with the determined direction to the second inspection device 90 for inspection to avoid interference with the electric gripper device 50.

[0044] The aforementioned electric gripper device 50 primarily performs operations such as clamp opening and copper head pressing within a certain height range above the table 11, with its movement trajectory concentrated in a relatively low area in the vertical direction. The carrier seat of the transport component 805 moves at the top of the transport support, its height being relatively high, creating a spatial layering with the electric gripper device 50 in the vertical direction. This layout prevents interference between the two in the vertical direction, fully utilizing the equipment's height. When the electric gripper fixture 503 of the electric gripper device 50 moves to a specific position for clamp processing, such as during the clamp opening phase awaiting copper head pressing, the carrier seat of the transport component 805 can perform clamp transfer operations at other positions. The transport moving cylinder drives the carrier seat to move horizontally, transferring the clamps, whose direction has been determined by the first detection device 80 and whose tension may have been detected by the second detection device 90, from the area of ​​the vision detection component 804 and the flipping component 803 to a suitable position near the electric gripper device 50, ready for subsequent assembly steps. Because the movement paths of the two are carefully planned in the horizontal direction, they can move in an alternating manner, avoiding movement conflicts in the horizontal direction. For example, when the electric gripper fixture 503 moves to the left to open the clamp, the carrier can move to the right to transfer the new clamp, or when the electric gripper fixture 503 is stationary waiting for the copper head to be pressed in, the carrier can move the clamp in the horizontal space above or below it without interfering with the normal operation of the electric gripper device 50.

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

[0046] The flipping assembly 803 includes a horizontally arranged rotary cylinder; the output of the rotary cylinder is a detachable clamp-on finger-grabbing cylinder.

[0047] The visual inspection component 804 includes a visual inspection bracket; a visual inspection camera is tunably mounted on the visual inspection bracket; and a ring light source is provided along the optical path of the visual inspection camera.

[0048] The carrier assembly 805 includes a carrier support; a carrier moving cylinder is fixedly mounted on one side of the carrier support; a carrier seat is movably mounted on the top of the carrier support; the carrier moving cylinder can drive the carrier seat to move back and forth, and a buffer is provided at each end position of the moving end of the carrier seat; a magnetic component is detachably inserted into the carrier seat, wherein: when energized, the magnetic component magnetizes and fixes the carrier seat to prevent it from being clamped on the carrier seat.

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

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

[0051] The first transplanting component 902 is fixed to 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.

[0052] The second transplanting assembly 903, disposed parallel to the first transplanting assembly 902, is used to provide power; and

[0053] The handling pressure detection component 904 is fixed to the output end of the second transfer component 903; the second transfer component 903 can drive the handling pressure detection component 904 to apply pressure to both ends of the retaining ring to test the elasticity of the retaining ring.

[0054] Based on the above embodiments, the second detection lifting assembly 901 has a second detection lifting cylinder; a support plate is detachably installed at the output end of the second detection lifting cylinder; a limiting post is fixed on the periphery of the second detection lifting cylinder; and guide components are symmetrically provided at both ends of the support plate.

[0055] Both the first transplanting component 902 and the second transplanting component 903 are servo electric cylinders, and sensors are provided at the beginning and end positions of the first transplanting component 902 / second transplanting component 903; of course, in other embodiments, the first transplanting component 902 and the second transplanting component 903 can also be electric, cylinder-type or other linear moving mechanical structures, which are not specifically limited here.

[0056] The handling pressure detection assembly 904 includes a pressure detection seat; a pull rod is movably inserted into the pressure detection seat; a hinge plate is hinged to one end of the pull rod; test arms are provided on the pressure detection seat, which can be close to or far apart 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 embodiments, the electric gripper device 50 includes:

[0058] The electric gripper bracket 501 is fixedly mounted on the platform 11;

[0059] The electric gripper's moving power source 502 is fixed to one side of the electric gripper bracket 501 and is used to provide power;

[0060] An electric gripper fixture 503 is movably mounted on the top of the electric gripper bracket 501, and the electric gripper moving power source 502 can drive the electric gripper fixture 503 to move back and forth.

[0061] An opening / closing power source 504 is fixedly mounted on one side of the electric gripper fixture 503, and its output end is detachably inserted into the electric gripper fixture 503; the opening / closing power source 504 can drive the grippers on the electric gripper fixture 503 to converge or disperse radially; and

[0062] The raw material detection sensor 505 is arranged sequentially along the periphery of the electric gripper fixture 503 to detect whether the clamps on the electric gripper fixture 503 are open and whether the copper head is in place.

[0063] Based on the above embodiments, the electric claw support 501 is provided with a defective product discharge chute at an angle; the defective product discharge chute passes through the frame 10;

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

[0065] The electric gripper fixture 503 is a four-jaw 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 a four-jaw 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 is directed towards the axis of the electric gripper fixture 503; the detection optical path of the copper head power-off sensor is arranged parallel to the length direction of the frame 10.

[0068] Based on the above embodiments, the material tray feeding device 40 includes an automatic feeding mechanism 401; the output end of the automatic feeding mechanism 401 is provided with a copper head vibrating feeder 402; the output end of the copper head vibrating feeder 402 is provided with a copper head contour receiving fixture 403; an array of through-beam optical fibers 404 is provided on the copper head contour receiving fixture 403; the copper head contour receiving fixture 403 is located directly below the loading robot device 70;

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

[0070] Wherein: After the copper head gripping finger cylinder 704 grips the copper head, it is transported to the electric gripper device 50 under the coordinated action of the first linear movement module 702 and the loading lifting component 703. Then, the positioning clamping component 60 starts to operate. Under the positioning condition of the copper head gripping finger cylinder 704, the copper head and the clamp are precisely pressed into a whole under the horizontal position adjustment action of the first linear movement module 702.

[0071] Based on the above embodiments, the first conveyor belt mechanism 20 includes a raw material elevator 201 located on one side of the frame 10; the output end of the raw material elevator 201 is provided with a first belt conveyor device 202; one end of the first belt conveyor device 202 is mounted on the platform 11; a clamp positioning component 203 is provided directly above the output end of the first belt conveyor device 202, which is used to identify whether the clamps conveyed by the first belt conveyor device 202 are qualified, and to position the clamp opening and closing opening and then send the position information to the handling robot device 100 for handling; a screening component 204 is inclinedly provided at the feed point of the first belt conveyor device 202; the screening component 204 is rotatably set on the top of the first belt conveyor device 202 to evenly separate and place the clamps; a return guide strip 205 is provided parallel to 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 pushing force in the width direction to the moving clamps so that they are on the same straight line when they are discharged.

[0072] The second conveyor belt mechanism 30 includes a second belt transport device 302; a finished product visual inspection component 302 is provided above the feed port of the second belt transport device 302; a defective product pusher component 303 is provided on one side of the finished product visual inspection component 302; and a finished product defective guide chute 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 mounted on the handling robot base 1001; and a clamping end effector is mounted at the output end of the four-axis handling robot 1002.

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

[0075] Based on the above embodiments, the clamp positioning component 203 includes a clamp positioning bracket mounted above the first belt transport device 202; a first positioning vision camera is provided on the clamp positioning bracket; a flat light source is provided directly below the first positioning vision camera; the flat light source is installed inside the first belt transport device 202.

[0076] The screening component 204 includes 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 periphery of the rotating roller.

[0077] The invention operates as follows: The clamps are first placed in the raw material elevator of the first conveyor belt mechanism, which lifts them onto the first conveyor belt. At the feed point of the first conveyor belt, the screening component begins operation. Its screening motor drives a rotating roller, and deformable screening bars on the circumference of the rotating roller evenly separate and place the clamps, ensuring they are arranged orderly on the conveyor belt. Simultaneously, the clamp position adjustment component applies a width-direction thrust to the moving clamps, ensuring they are aligned in a straight line upon discharge, facilitating subsequent precise positioning. When the clamps are conveyed to the output end of the first conveyor belt, the first positioning vision camera and flat panel light source in the clamp positioning component work together. The first positioning vision camera captures an image of the clamp, and the flat panel light source provides uniform illumination. Image recognition technology is used to determine if the clamp is qualified and to precisely locate the opening and closing position of the clamp. Then, the clamp positioning component sends the clamp position information to the handling robot device. After receiving the clamp position information, the four-axis handling robot on the base of the handling robot device accurately grasps the clamp and transports it to the first detection device. In the first detection device, the vision inspection camera of the vision inspection component images the clamp with the assistance of a ring light source. The vision inspection camera transmits the captured image to the control system, which uses an image processing algorithm to determine the clamp's orientation. If the clamp is correctly oriented, the transport component's transport cylinder drives the transport base to the appropriate position to receive the clamp; if the clamp is incorrectly oriented, the first drive source (tilting and lifting cylinder) drives the tilting component's rotary cylinder to descend. The rotary cylinder then drives the clamp-grabbing finger cylinder to grasp the clamp, and the rotary cylinder rotates 180° to tilt the clamp. The tilting and lifting cylinder then lifts the clamp, and the transport component transfers the tilted clamp to the second detection device. The second lifting assembly (second lifting cylinder) of the second testing device first lifts the first transfer assembly (servo cylinder) to a suitable height, and the handling robot places the clamp on the first transfer assembly. Then, the first transfer assembly moves the clamp below the handling pressure testing assembly. The second transfer assembly (servo cylinder) drives the handling pressure testing assembly to move towards the clamp, and the test arms of the handling pressure testing assembly move closer to each other on the pressure testing seat, with the test fixture at one end of the test arm contacting both ends of the clamp. As the second transfer assembly continues to push, the test arms transmit pressure to the pressure testing seat through the hinge plate and pull rod. The sensor on the pressure testing seat detects the pressure value, thereby testing the tension of the clamp. After the test is completed, the second transfer assembly removes the handling pressure testing assembly, and the first transfer assembly transports the clamp to the electric gripper device. The electric gripper device's electric gripper movement power source (servo motor) drives the electric gripper fixture (four-jaw chuck) to move to a suitable position, waiting to receive the clamp. As the clamp is moved above the electric gripper fixture, the fixture descends, and the clamp gripping end effector places the clamp onto the fixture. The opening / closing power source (opening / closing servo motor) drives the gripper hooks of the electric gripper fixture to converge radially, opening the clamp.Simultaneously, the automatic replenishment mechanism of the material tray feeding device transports the copper heads to the copper head vibrating feeder. The copper head vibrating feeder arranges the copper heads in an orderly manner through vibration and transports them to the copper head conforming receiving fixture. The through-beam optical fiber on the copper head conforming receiving fixture detects whether the copper heads are in position. The copper head gripping finger cylinder of the loading robot device, under the coordinated action of the first linear motion module and the loading lifting assembly, moves above the copper head conforming receiving fixture and grips the copper head. Then, the loading robot device transports the copper head to the clamp assembly point on the electric gripper device. The clamping cylinder of the positioning clamping assembly pushes the pressure head down, and under the positioning action of the copper head gripping finger cylinder, the copper head is precisely pressed into the clamp. After pressing, the gripping hook of the electric gripper fixture opens, leaving the finished clamp on the electric gripper fixture. The electric gripper movement power source drives the electric gripper fixture to move again, transporting the finished clamp to the second conveyor belt of the second conveyor belt mechanism. Above the feed point of the second conveyor belt device, the finished product vision inspection component inspects the finished clamp. If a defective product is detected, the defective product pusher will push the defective product to the defective product guide chute; if the finished product is qualified, it will continue to be transported on the second belt conveyor and finally output as a finished product.

[0078] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any way. Although the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art should be able to make equivalent embodiments by making some changes or modifications to the above-disclosed technical content without departing from the scope of the present invention. Any simple modifications, equivalent changes, and modifications made to the above embodiments based on the technical essence of the present invention without departing from the scope of the present invention shall still fall within the scope of the present invention.

Claims

1. A pre-tensioning clamp assembly machine, comprising a frame (10) with a table (11) and a first conveying belt mechanism (20) for conveying and positioning a clamp on the left side of the table (11) and a second conveying belt mechanism (30) for finished product output on the right side, characterized in that: a tray feeding device (40) for automatically supplying copper heads is sequentially installed on the table (11) behind the second conveying belt mechanism (30), a movable electric claw device (50) for spreading the clamp is installed on the table (11), a in-place pressing assembly (60) for pressing the copper head into the clamp is installed, and a loading robot device (70) is movably installed above the tray feeding device (40), the electric claw device (50), and the second conveying belt mechanism (30) to carry the copper head output by the tray feeding device (40) to the clamp assembly on the electric claw device (50) and press it into the clamp by the in-place pressing assembly (60) and then carry it to the second conveying belt mechanism (30); a first detection device (80) for judging the direction of the clamp (M) is installed between the first conveying belt mechanism (20) and the second conveying belt mechanism (30); a second detection device (90) for detecting the tension of the clamp output by the first detection device (80) is movably installed between the first detection device (80) and the in-place pressing assembly (60); and a carrying robot device (100) is installed between the first conveying belt mechanism (20) and the first detection device (80) on the table (11) to carry the clamp output by the first conveying belt mechanism (20) to the first detection device (80). The first detection device (80) comprises:

2. The pre-tensioned clamp assembly machine of claim 1, wherein: a first detection support (801) adjustably installed on the table (11); a first drive source (802) fixedly installed on the first detection support (801) in the vertical direction for providing power; a turnover assembly (803) movably installed on one side of the first detection support (801), wherein the first drive source (802) can drive the turnover assembly (803) to move back and forth; a visual detection assembly (804) located directly in front of the turnover assembly (803) for imaging the clamp to determine the front and back directions of the clamp; and a carrying assembly (805) movably installed between the turnover assembly (803) and the visual detection assembly (804) for transferring the clamp with the determined direction to the second detection device (90) for detection to avoid interference with the electric claw device (50). The first drive source (802) is a turnover lifting cylinder; the turnover lifting cylinder is installed on the first detection support (801) through a cylinder mounting plate; the first detection support (801) is installed on the table (11); 3. The pre-tensioned clamp assembly machine of claim 2, wherein: The turnover assembly (803) comprises a horizontally arranged rotating cylinder; the output of the rotating cylinder is detachably installed with a clamp grabbing finger cylinder. ​ The visual detection assembly (804) comprises a visual detection support; a visual detection camera is adjustably mounted on the visual detection support; an annular light source is arranged along the shooting light path of the visual detection camera; The carrying assembly (805) comprises a carrying support; a carrying moving air cylinder is fixedly arranged on one side of the carrying support; a carrying seat is movably arranged on the top of the carrying support; the carrying moving air cylinder can drive the carrying seat to move back and forth; buffers are arranged at the end positions corresponding to the movement of the carrying seat; a magnetic force assembly is detachably inserted on the carrying seat, wherein: when energized, the magnetic force assembly magnetizes and fixes the carrying seat to prevent the clamp on the carrying seat.

4. The pre-tensioned clamp assembly machine of claim 1, wherein: The second detection device (90) comprises: A second detection lifting assembly (901) is fixedly arranged on the table top (11) to provide lifting power; A first transplanting assembly (902) is fixedly arranged on 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; A second transplanting assembly (903) is arranged in parallel with the first transplanting assembly (902) to provide power; and A carrying pressure detection assembly (904) is fixedly arranged on the output end of the second transplanting assembly (903), and the second transplanting assembly (903) can drive the carrying pressure detection assembly (904) to apply pressure to the two ends of the clamp ring to test the elasticity of the clamp spring.

5. The pre-tensioned clamp assembly machine of claim 4, wherein: The second detection lifting assembly (901) comprises a second detection lifting cylinder; a supporting flat plate is detachably mounted on the output end of the second detection lifting cylinder; limit posts are fixedly arranged on the periphery of the second detection lifting cylinder; guide assemblies are symmetrically arranged at the two ends of the supporting flat plate; The first transplanting assembly (902) and the second transplanting assembly (903) are both servo cylinders, and sensors are arranged at the beginning and end positions of the first transplanting assembly (902) and the second transplanting assembly (903); The carrying pressure detection assembly (904) comprises a pressure detection seat; a pull rod is movably inserted on the pressure detection seat; a hinge plate is hingedly connected to one end of the pull rod; test arms are movably arranged on the pressure detection seat; one end of the test arm is hingedly connected to the hinge plate; a test jig is embedded at one end of the test arm; a second sensor is arranged on the test jig; a Z-shaped positioning plate is arranged above the test arm.

6. The pre-tensioned clamp assembly machine of claim 1, wherein: The electric claw device (50) comprises: An electric claw support (501) is fixedly arranged on the table top (11); An electric claw moving power source (502) is fixedly arranged on one side of the electric claw support (501) to provide power; An electric claw jig (503) is movably arranged on the top of the electric claw support (501), and the electric claw moving power source (502) can drive the electric claw jig (503) to move back and forth; An opening and closing power source (504) is fixedly arranged on one side of the electric claw jig (503), and the output end is detachably inserted on the electric claw jig (503); the opening and closing power source (504) can drive the claws on the electric claw jig (503) to gather or spread radially; and The raw material detection sensor (505) is arranged in sequence along the side of the electric claw jig (503) and is used for detecting whether the clamp is opened and whether the copper head is in place on the electric claw jig (503).

7. The pre-tensioned clamp assembly machine of claim 6, wherein: The electric claw support (501) is provided with a defective product falling groove in a slope manner; the defective product falling groove penetrates the rack (10); The electric claw moving power source (502) is a servo motor; the servo motor output end is transmissionally connected with a screw rod assembly; the electric claw jig sensor is arranged at the start and end positions of the screw rod assembly; The electric claw jig (503) is a four-claw chuck; The opening and closing power source (504) is an opening and closing servo motor; the opening and closing servo motor output end is provided with a directional opening and closing head; one end of the opening and closing head is inserted into the four-claw chuck; The raw material detection sensor (505) includes a copper head power-off sensor and a proximity sensor; the detection direction of the proximity sensor is directed to the axis of the electric claw jig (503); the detection light path of the copper head power-off sensor is arranged in parallel with the length direction of the rack (10).

8. The pre-tensioned clamp assembly machine of claim 1, wherein: The material disc feeding device (40) includes an automatic feeding mechanism (401); the output end of the automatic feeding mechanism (401) is provided with a copper head vibration feeder (402); the output end of the copper head vibration feeder (402) is provided with a copper head profiling material receiving jig (403); a pair of light fibers (404) are arranged 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) includes a gantry support (701) arranged on the table top (11); one side of the gantry support (701) is provided with a first linear movement module (702); the output end of the first linear movement module (702) is provided with a loading lifting assembly (703); the output end of the loading lifting assembly (703) is provided with a copper head grabbing finger air cylinder (704); Wherein: after the copper head grabbing finger air cylinder (704) grabs the copper head, the copper head is carried to the electric claw device (50) under the cooperation of the first linear movement module (702) and the loading lifting assembly (703); then the bit pressing assembly (60) starts to act, under the positioning condition of the copper head grabbing finger air cylinder (704) and the horizontal position adjustment of the first linear movement module (702), the copper head and the clamp are precisely pressed into a body.

9. The pre-tensioned clamp assembly machine of claim 1, wherein: The first conveying belt mechanism (20) comprises a raw material elevator (201) located on one side of the rack (10); the output end of the raw material elevator (201) is provided with a first belt conveying device (202); one end of the first belt conveying device (202) is erected on the table top (11); the output end of the first belt conveying device (202) is provided with a clamp positioning component (203) directly above, which is used to identify whether the clamp conveyed by the first belt conveying device (202) is qualified, to position the opening and closing of the clamp, and to send the position information to the carrying manipulator device (100) for carrying; a screening assembly (204) is obliquely arranged at the feeding end of the first belt conveying device (202); the screening assembly (204) is rollably arranged on the top of the first belt conveying device (202) for uniformly pushing the clamps away; a reflux guide strip (205) is arranged in parallel on one side of the screening assembly (204); a clamp position adjusting assembly (206) is arranged on one side of the reflux guide strip (205) for applying a width direction pushing force to the moving clamp to make it discharge on the same straight line; The second conveying belt mechanism (30) comprises a second belt conveying device; a finished product visual detection assembly is arranged above the feeding end of the second belt conveying device; a defective product pushing assembly (303) is arranged on one side of the finished product visual detection assembly; a finished product defective guide groove (304) is arranged on one side of the second belt conveying device; The carrying manipulator device (100) comprises a carrying manipulator base (1001); a four-axis carrying robot (1002) is arranged on the carrying manipulator base (1001); a clamp grabbing end effector is arranged at the output end of the four-axis carrying robot (1002); The pressing assembly (60) comprises a pressing support; a pressing cylinder is arranged on the pressing support; a pressing head is rotatably connected to the output end of the pressing cylinder.

10. The pre-tensioned clamp assembly machine of claim 9, wherein: The clamp positioning component (203) comprises a clamp positioning support erected above the first belt conveying device (202); a first positioning visual camera is arranged on the clamp positioning support; a flat light source is arranged directly below the first positioning visual camera; the flat light source is mounted on the inner side of the first belt conveying device (202); The screening assembly (204) comprises a screening support; a screening motor is arranged on one side of the screening support; a rotating roller is arranged at the output end of the screening motor; a deformable screening rod is densely arranged on the circumferential side of the rotating roller.

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