A shuttle changing apparatus

Abstract

The application discloses a shuttle replacing device and relates to the technical field of glass fiber production equipment. The shuttle comprises a body, a sliding ring and a threading plate arranged on the body, and the shuttle replacing device comprises a rack, a feeding station, a visual inspection station and a dismounting and assembling station; a feeding device is arranged at the feeding station and is used for feeding the shuttle, the sliding ring and the threading plate; a visual inspection device is arranged at the visual inspection station and is used for visually inspecting the shuttle conveyed by the feeding device; when the shuttle meets preset conditions, the sliding ring and the threading plate of the shuttle are replaced; a dismounting and assembling part is arranged at the dismounting and assembling station and is used for dismounting the sliding ring and the threading plate of the shuttle meeting the preset conditions and assembling the sliding ring and the threading plate conveyed by the feeding device to the body. The shuttle replacing device can replace the sliding ring and the threading plate of the shuttle, reduces the labor intensity and improves the production efficiency.

Description

Technical Field

[0001] This application relates to the field of glass fiber production equipment technology, and in particular to a shuttle changing device. Background Technology

[0002] In fiberglass production, the slide shuttle, as an accessory used in conjunction with the drawing machine, directly affects the quality of the fiberglass product due to its structure and quality. Therefore, the slide shuttle needs to be replaced after each use, and the replaced slide shuttle needs to be manually inspected.

[0003] like Figure 1 As shown, the shuttle 10 includes a body 101 and slip rings 102 and threading plates 103 respectively disposed on both sides of the body 101. The slip rings 101 are inserted into the body 101 through mounting holes 104, and the threading plates 103 are fixed to the body 101 by screws 105. If the replaced shuttle 10 fails the inspection, the operator needs to manually disassemble the slip rings 101 and threading plates 103 and then reassemble new slip rings 101 and threading plates 103. However, this process is cumbersome, inefficient, and labor-intensive. Summary of the Invention

[0004] To address the aforementioned technical problems, this application provides a shuttle changing device that can automatically replace the slip ring and threading plate of the shuttle, reducing manual labor intensity and improving production efficiency.

[0005] This application provides a shuttle changing device, the shuttle including a body and a slip ring and a threading plate disposed on the body, the shuttle changing device comprising:

[0006] The frame includes a loading station, a vision inspection station, and a disassembly and assembly station;

[0007] A feeding device is installed at the feeding station for feeding the shuttle, the slip ring, and the threading plate;

[0008] A visual inspection device is installed at the visual inspection station to perform visual inspection on the shuttle conveyed by the feeding device. When the shuttle meets the preset conditions, the slip ring and the threading plate of the shuttle are replaced.

[0009] The disassembly and assembly section is located at the disassembly and assembly station and is used to disassemble the slip ring and the threading plate of the shuttle that meet the preset conditions, and to assemble the slip ring and the threading plate conveyed by the feeding device onto the main body.

[0010] In some embodiments of this application, the disassembly and assembly station includes a slip ring disassembly station, and the disassembly and assembly part includes a slip ring disassembly device, the slip ring disassembly device comprising:

[0011] The first ejector bar is located on one side of the slip ring disassembly station;

[0012] A first driving mechanism is mounted on the frame and connected to the first ejector rod. The first driving mechanism is used to drive the first ejector rod to move horizontally along a first direction, thereby ejecting the slip ring located at the slip ring disassembly station from the body to disassemble the slip ring. The first direction is perpendicular to the conveying direction of the shuttle.

[0013] In some embodiments of this application, the disassembly and assembly station includes a slip ring assembly station, and the disassembly and assembly part includes a slip ring assembly device, the slip ring assembly device comprising:

[0014] A slip ring supply mechanism is disposed above the slip ring assembly station. The slip ring supply mechanism is connected to the feeding device and is used to receive the slip rings conveyed by the feeding device. The slip ring supply mechanism has a first position and a second position.

[0015] The second ejector rod is positioned above the slip ring assembly station;

[0016] A clamping clamp, the top end of which is connected to the bottom end of the second top material rod;

[0017] The second drive mechanism is mounted on the frame and is connected to the top end of the second push rod, and is used to drive the second push rod to move in the vertical direction.

[0018] A clamping mechanism is provided on one side of the slip ring assembly station and is used to drive the slip ring to move in the horizontal direction;

[0019] In the first position, the slip ring receiving area of ​​the slip ring supply mechanism is located directly below the clamp, so that when the second drive mechanism drives the second push rod to move downward, the clamp holds the slip ring located in the slip ring receiving area. In the second position, the slip ring supply mechanism avoids the travel path of the clamp, so that the second drive mechanism drives the clamp to continue moving downward to move the slip ring to the slip ring assembly station. The clamping mechanism drives the slip ring to move horizontally to push the slip ring into the body.

[0020] In some embodiments of this application, the disassembly / assembly station includes a screw removal station, and the disassembly / assembly part includes a screw removal device, the screw removal device comprising:

[0021] Loosen the screwdriver and position it above the screw removal station;

[0022] A third drive mechanism is provided on the frame. The third drive mechanism is connected to the loosening screwdriver and is used to drive the loosening screwdriver to move in the vertical direction and to drive the loosening screwdriver to rotate, so as to remove the screw between the wire plate and the body located at the screw removal station.

[0023] A screw clamping mechanism is located on one side of the screw disassembly station and is used to clamp the disassembled screws.

[0024] In some embodiments of this application, the disassembly and assembly station includes a wire guide plate replacement station, and the disassembly and assembly part includes a wire guide plate replacement device, which includes:

[0025] At least one vacuum suction cup is positioned above the threading plate replacement station;

[0026] A fourth driving mechanism is provided on the frame. The fourth driving mechanism is connected to at least one of the vacuum suction cups and is used to drive at least one of the vacuum suction cups to move in the vertical direction and in the horizontal direction. The vacuum suction cups are used to adsorb and disassemble the threading plate located at the threading plate replacement station, and to adsorb and assemble the threading plate conveyed by the feeding device onto the body of the disassembled threading plate.

[0027] In some embodiments of this application, the disassembly and assembly station includes a screw assembly station, and the disassembly and assembly part includes a screw assembly device, the screw assembly device comprising:

[0028] Tighten the screwdriver, positioned above the screw assembly station;

[0029] A fifth drive mechanism is mounted on the frame and connected to the screwdriver. The fifth drive mechanism is used to drive the screwdriver to move vertically and to drive the screwdriver to rotate, so as to assemble screws between the threading plate and the body located at the screw assembly station.

[0030] In some embodiments of this application, the visual detection device includes:

[0031] A shuttle ejection mechanism, mounted on the frame, is used to push the shuttle conveyed by the feeding device to the vision inspection station;

[0032] A clamping mechanism, mounted on the frame, is used to fix the shuttle at the vision inspection station;

[0033] A first visual inspection component is disposed on the side of the visual inspection station away from the shuttle ejection mechanism, and is used to perform visual inspection on the shuttle located at the visual inspection station.

[0034] A second visual inspection component is disposed at the top of the visual inspection station and is used to perform visual inspection on the shuttle located at the visual inspection station.

[0035] In some embodiments of this application, the feeding device includes:

[0036] A first feeding mechanism is used to feed the shuttle; the first feeding mechanism includes a first feeding component and a first feeding channel, one end of the first feeding channel is connected to the first feeding component, and the other end of the first feeding channel is connected to the vision inspection device, and the first feeding channel is used to transport the shuttle in the first feeding component to the vision inspection device.

[0037] The second feeding mechanism is used to feed the threaded plate; the second feeding mechanism includes a second feeding component and a second feeding channel, one end of the second feeding channel is connected to the second feeding component, and the other end of the second feeding channel is connected to the disassembly and assembly part, and the second feeding channel is used to transport the threaded plate in the second feeding component to the disassembly and assembly part.

[0038] The third feeding mechanism is used to feed the slip ring; the third feeding mechanism includes a third feeding component and a third feeding channel, one end of the third feeding channel is connected to the third feeding component, and the other end of the third feeding channel is connected to the disassembly and assembly part, and the third feeding channel is used to transport the slip ring in the third feeding component to the disassembly and assembly part.

[0039] In some embodiments of this application, the shuttle changing device further includes:

[0040] A first moving device is located between the visual detection device and the second moving device, and the first moving device is used to move the shuttle from the visual detection device to one side of the second moving device;

[0041] A clamping device is disposed above the first moving device and the second moving device, for transferring the shuttle that meets the preset conditions from the first moving device to the second moving device, and for transferring the shuttle that does not meet the preset conditions and the assembled shuttle to the finished product area;

[0042] The second moving device is disposed on one side of the first moving device and is used to move the shuttle at the disassembly and assembly station.

[0043] In some embodiments of this application, the clamping device includes:

[0044] At least one gripping robot arm is mounted on the frame;

[0045] A sixth drive mechanism is disposed on the frame. The sixth drive mechanism is connected to at least one of the clamping manipulators and is used to drive at least one of the clamping manipulators to move in the vertical and horizontal directions. The clamping manipulators transfer the shuttle that meets the preset conditions from the first moving device to the second moving device, and transfer the shuttle that does not meet the preset conditions and the assembled shuttle to the finished product area.

[0046] The technical solution provided in this application may include the following beneficial effects:

[0047] This application uses a feeding device to feed the shuttle and a vision inspection device to visually inspect the shuttle. When the shuttle meets preset conditions, the slip ring and threading plate on the shuttle are disassembled by the disassembly and assembly part, and new slip rings and threading plates conveyed by the feeding device are assembled onto the main body to complete the replacement of various components of the shuttle. The shuttle replacement equipment of this application can replace manual work in the inspection and replacement of shuttles, saving manpower, reducing labor intensity, and improving the degree of automation and production efficiency.

[0048] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit this application. Attached Figure Description

[0049] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0050] Figure 1 This is a schematic diagram of the structure of a shuttle as shown in the background art.

[0051] Figure 2 This is a schematic diagram of the structure of a shuttle changing device according to an exemplary embodiment.

[0052] Figure 3 This is a schematic diagram of the disassembly and assembly section according to an exemplary embodiment.

[0053] Figure 4 This is a schematic diagram of a slip ring disassembly device and a screw assembly device according to an exemplary embodiment.

[0054] Figure 5 This is a schematic diagram of the structure of a slip ring assembly device according to an exemplary embodiment.

[0055] Figure 6 yes Figure 3 A magnified view of a portion of point A in the middle.

[0056] Figure 7 This is a schematic diagram of a screw removal device according to an exemplary embodiment.

[0057] Figure 8 This is a schematic diagram of a threading plate replacement device according to an exemplary embodiment.

[0058] Figure 9 This is a schematic diagram of the structure of a vision inspection device and a feeding device according to an exemplary embodiment.

[0059] Figure 10 yes Figure 9 A magnified view of a section at point B in the middle.

[0060] Figure 11 This is a schematic diagram of the structure of a clamping device according to an exemplary embodiment.

[0061] Figure Labels

[0062] 1. Frame; 11. Loading Station; 111. Shuttle Loading Station; 112. Threading Plate Loading Station; 113. Slip Ring Loading Station; 12. Vision Inspection Station; 13. Disassembly and Assembly Station; 131. Slip Ring Disassembly Station; 132. Slip Ring Assembly Station; 133. Screw Disassembly Station; 134. Threading Plate Replacement Station; 135. Screw Assembly Station; 14. Transfer Station;

[0063] 2. Feeding device; 21. First feeding mechanism; 211. First feeding assembly; 212. First feeding channel; 22. Second feeding mechanism; 221. Second feeding assembly; 222. Second feeding channel; 23. Third feeding mechanism; 231. Third feeding assembly; 232. Third feeding channel;

[0064] 3. Visual inspection device; 31. Shuttle ejection mechanism; 32. Clamping mechanism; 33. First visual inspection assembly; 34. Second visual inspection assembly;

[0065] 4. Disassembly and assembly unit; 41. Slip ring disassembly device; 411. First ejector rod; 412. First drive mechanism;

[0066] 42. Slip ring assembly device; 421. Slip ring supply mechanism; 4211. Crank cylinder; 4212. Connecting rod; 4213. Rotating shaft; 4214. Receiving block; 422. Second ejector rod; 423. Clamping clamp; 424. Second drive mechanism; 425. Tightening mechanism;

[0067] 43. Screw removal device; 431. Screw loosening tool; 432. Third drive mechanism; 433. Screw clamping mechanism;

[0068] 44. Threading plate replacement device; 441. Vacuum suction cup; 4411. First vacuum suction cup; 4412. Second vacuum suction cup; 442. Fourth drive mechanism; 4421. First lifting cylinder; 4422. First translation cylinder;

[0069] 45. Screw assembly device; 451. Screwdriver; 452. Fifth drive mechanism; 453. Screw feeding air pipe;

[0070] 5. First moving device; 51. Telescopic cylinder; 52. First moving platform;

[0071] 6. Second moving device; 61. Screw mechanism; 62. Second moving platform;

[0072] 7. Clamping device; 71. Clamping robot; 711. First clamping robot; 712. Second clamping robot; 72. Sixth drive mechanism; 721. Second lifting cylinder; 722. Second translation cylinder;

[0073] 10. Shuttle; 101. Body; 102. Slip ring; 103. Threading plate; 104. Mounting hole; 105. Screw;

[0074] 20. First position; 30. Second position. Detailed Implementation

[0075] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application. It should be noted that, unless otherwise specified, the embodiments and features in the embodiments of this application can be arbitrarily combined with each other.

[0076] This application provides a shuttle changing device, which includes a frame, a feeding device, a vision inspection device, and a disassembly and assembly section. The frame includes a feeding station, a vision inspection station, and a disassembly and assembly station. The feeding device feeds the shuttle, and the vision inspection device performs visual inspection on the shuttle. When the shuttle meets preset conditions, the disassembly and assembly section disassembles the slip ring and threading plate on the shuttle, and assembles the new slip ring and threading plate delivered by the feeding device onto the main body, thereby completing the replacement of the various components of the shuttle. Using the shuttle changing device of this application can replace manual work in the inspection and replacement of shuttles, saving manpower, reducing labor intensity, and improving the degree of automation and production efficiency.

[0077] The specific embodiments described below are intended to help those skilled in the art understand this embodiment, but this embodiment is not limited to the specific embodiments described below.

[0078] An exemplary embodiment of this application provides a shuttle changing device, such as... Figure 1 As shown, the shuttle 10 includes a body 101 and a slip ring 102 and a threading plate 103 disposed on the body 101, as follows: Figure 2 As shown, the shuttle changing device includes a frame 1, a feeding device 2, a vision inspection device 3, and a disassembly and assembly section 4. The frame 1 includes a feeding station 11, a vision inspection station 12, and a disassembly and assembly station 13. The feeding device 2 is located at the feeding station 11 and is used to feed the shuttle 10, slip ring 102, and threading plate 103. The vision inspection device 3 is located at the vision inspection station 12 and is used to perform visual inspection on the shuttle 10 conveyed by the feeding device 2. When the shuttle 10 meets the preset conditions, the slip ring 102 and threading plate 103 of the shuttle 10 are replaced. The disassembly and assembly section 4 is located at the disassembly and assembly station 13 and is used to disassemble the slip ring 102 and threading plate 103 of the shuttle 10 that meet the preset conditions, and assemble the slip ring 102 and threading plate 103 conveyed by the feeding device 2 onto the main body 101.

[0079] In this embodiment, the feeding device 2 feeds the shuttle 10, and the visual inspection device 3 performs visual inspection on the shuttle 10. When the shuttle 10 meets preset conditions (e.g., surface wear or other defects on the slip ring 102 and threading plate 103 of the shuttle 10 require replacement), the slip ring 102 and threading plate 103 on the shuttle 10 are disassembled by the disassembly and assembly part 4, and new slip ring 102 and threading plate 103 delivered by the feeding device 2 are assembled onto the body 101 to complete the replacement of the various components of the shuttle 10. The shuttle replacement equipment of this application can replace manual inspection and replacement of the shuttle 10, saving manpower, reducing labor intensity, and improving the degree of automation and production efficiency in production.

[0080] In one embodiment, such as Figures 2-4 As shown, the disassembly and assembly station 13 includes a slip ring disassembly station 131, and the disassembly and assembly part 4 includes a slip ring disassembly device 41. The slip ring disassembly device 41 includes a first push rod 411 disposed on one side of the slip ring disassembly station 131 and a first drive mechanism 412 disposed on the frame 1. The first drive mechanism 412 is connected to the first push rod 411 and is used to drive the first push rod 411 to move horizontally in a first direction to push the slip ring 102 located in the slip ring disassembly station 131 out of the body 101 so that the slip ring 102 is disassembled. The first direction is perpendicular to the conveying direction of the shuttle 10.

[0081] In this embodiment, when the shuttle 10 is located at the slip ring disassembly station 131, the first ejector rod 411 is located on one side of the slip ring 102. The first drive mechanism 412 can drive the first ejector rod 411 to move horizontally in a first direction, pushing the slip ring 102 located at the slip ring disassembly station 131 off the body 101, thereby disassembling the slip ring 102. The conveying direction of the shuttle 10 in the disassembly and assembly section 4 can be, for example, [missing information]. Figure 3 The y-direction in the equation; the first direction can be, for example, the y-direction. Figure 3 The x-direction. The first drive mechanism 412 can be, for example, a cylinder. One end of the cylinder is mounted on the frame 1, and the other end of the cylinder is fixedly connected to the first push rod 411. The cylinder drives the first push rod 411 to move horizontally in the first direction.

[0082] In one embodiment, such as Figure 2 , Figure 3 , Figure 5 and Figure 6As shown, the disassembly and assembly station 13 includes a slip ring assembly station 132, and the disassembly and assembly part 4 includes a slip ring assembly device 42. The slip ring assembly device 42 includes a slip ring supply mechanism 421, a second ejector rod 422, a clamping clamp 423, a second drive mechanism 424, and a clamping mechanism 425. The slip ring supply mechanism 421 is located above the slip ring assembly station 132 and is connected to the feeding device 2 to receive the slip ring 102 conveyed by the feeding device 2. The slip ring supply mechanism 421 has a first position 20 and a second position 30. The second ejector rod 422 is located above the slip ring assembly station 132. The top end of the clamping clamp 423 is connected to the bottom end of the second ejector rod 422. The second drive mechanism 424 is located on the frame 1 and is connected to the top end of the second ejector rod 422. Next, the second push rod 422 is driven to move vertically; the clamping mechanism 425 is located on one side of the slip ring assembly station 132 and is used to drive the slip ring 102 to move horizontally. In the first position 20, the slip ring receiving area of ​​the slip ring supply mechanism 421 is located directly below the clamp 423, so that when the second drive mechanism 424 drives the second push rod 422 to move downward, the clamp 423 clamps the slip ring 102 located in the slip ring receiving area. In the second position 30, the slip ring supply mechanism 421 avoids the travel path of the clamp 423, so that the second drive mechanism 424 drives the clamp 423 to continue to move downward, so as to move the slip ring 102 to the slip ring assembly station 132, and drive the slip ring 102 to move horizontally through the clamping mechanism 425, so as to push the slip ring 102 into the body 101. The vertical direction and the direction of the travel path of the clamp 423 can be, for example, Figure 3 The z-direction in the middle.

[0083] In this embodiment, at the first position 20, the slip ring receiving area of ​​the slip ring supply mechanism 421 is connected to the feeding device 2 to receive new slip rings 102 fed by the feeding device 2; the second drive mechanism 424 drives the second push rod 422 to move vertically, so that the clamping clamp 423 clamps the slip ring 102 located in the slip ring receiving area; then the slip ring supply mechanism 421 moves to the second position 30, which can avoid the travel path of the clamping clamp 423, so that the second drive mechanism 424 drives the second push rod 422 and the clamping clamp 423 to continue to move downward, so as to move the slip ring 102 to the slip ring assembly station 132, and drive the slip ring 102 to move horizontally through the clamping mechanism 425, so as to push the slip ring 102 into the body 101. The second drive mechanism 424 can be a cylinder, one end of which is mounted on the frame 1, and the other end of which is fixedly connected to the end of the second push rod 422 away from the clamping clamp 423. The clamping mechanism 425 includes a cylinder and a push block. The cylinder drives the push block to move horizontally, and the push block pushes the slip ring 102 to move horizontally, so as to push the slip ring 102 into the body 101.

[0084] In one embodiment, the slip ring supply mechanism 421 includes a crank cylinder 4211 and a crank mechanism. The crank mechanism includes a connecting rod 4212, a rotating shaft 4213, and a receiving block 4214. One end of the crank cylinder 4211 is mounted on the frame 1, and the other end of the crank cylinder 4211 is connected to the connecting rod 4212. The two sides of the rotating shaft 4213 are respectively connected to the connecting rod 4212 and the receiving block 4214. The slip ring receiving area is disposed on the receiving block 4214. The crank cylinder 4211 drives the connecting rod 4212 to move upward, and the connecting rod 4212 drives the rotating shaft 4213 to rotate, thereby causing the receiving block 4214 to rotate downward from the first position 20 to the second position 30 (i.e., at...). Figure 6 (Rotate clockwise) to avoid the travel path of the clamp 423.

[0085] In one embodiment, such as Figure 2 , Figure 3 and Figure 7 As shown, the disassembly and assembly station 13 includes a screw removal station 133, and the disassembly and assembly part 4 includes a screw removal device 43. The screw removal device 43 includes a loosening screwdriver 431, a third drive mechanism 432, and a screw clamping mechanism 433. The loosening screwdriver 431 is located above the screw removal station 133. The third drive mechanism 432 is located on the frame 1 and is connected to the loosening screwdriver 431. The third drive mechanism 432 is used to drive the loosening screwdriver 431 to move vertically and to drive the loosening screwdriver 431 to rotate, so as to remove the screw 105 located between the wire guide plate 103 and the body 101 in the screw removal station 133. The screw clamping mechanism 433 is located on one side of the screw removal station 133 and is used to clamp the removed screw 105.

[0086] In this embodiment, the third drive mechanism 432 drives the loosening screwdriver 431 to move vertically, adjusting its position so that it contacts the screw 105 located between the threaded plate 103 and the body 101 at the screw removal station 133. Then, the third drive mechanism 432 drives the loosening screwdriver 431 to rotate, thereby rotating and removing the screw 105. The removed screw 105 is held by the screw clamping mechanism 433 located on one side of the screw removal station 133. A screw storage box can also be provided on one side of the screw clamping mechanism 433 on the frame 1. The screw clamping mechanism 433 releases the clamped screw 105, allowing it to fall into the screw storage box, thus completing the storage of the screw 105. The third drive mechanism 432 includes a cylinder, a linear guide slider assembly, a motor mounting base, and a motor. The motor is mounted on the linear guide slider assembly via the motor mounting base and connected to the loosening screwdriver 431 to drive the loosening screwdriver 431 to rotate. One end of the cylinder is mounted on the frame 1, and the other end of the cylinder is connected to the linear guide slider assembly. The cylinder drives the motor to move in the vertical direction to adjust the distance between the loosening screwdriver 431 and the screw removal station 133. The screw clamping mechanism 433 can be a pneumatic gripper, and its structure can adopt relevant existing technologies, which will not be described in detail here.

[0087] In one embodiment, such as Figure 2 , Figure 3 and Figure 8 As shown, the disassembly and assembly station 13 includes a threading plate replacement station 134, and the disassembly and assembly part 4 includes a threading plate replacement device 44. The threading plate replacement device 44 includes at least one vacuum suction cup 441 and a fourth drive mechanism 442 disposed on the frame 1. At least one vacuum suction cup 441 is disposed above the threading plate replacement station 134. The fourth drive mechanism 442 is connected to at least one vacuum suction cup 441 and is used to drive at least one vacuum suction cup 441 to move in the vertical direction and in the horizontal direction. The threading plate 103 located at the threading plate replacement station 134 is adsorbed and disassembled by at least one vacuum suction cup 441, and the threading plate 103 conveyed by the feeding device 2 is adsorbed and assembled onto the body 101 of the disassembled threading plate 103.

[0088] In this embodiment, the fourth driving mechanism 442 can drive the vacuum suction cup 441 to move in both vertical and horizontal directions, allowing the vacuum suction cup 441 to adsorb and disassemble the threading plate 103 at the threading plate replacement station 134, and to adsorb and assemble the threading plate 103 conveyed by the feeding device 2 onto the body 101 of the threading plate 103. The number of vacuum suction cups 441 can be one, two, etc. For example, as... Figure 8As shown, the number of vacuum suction cups 441 can be set to two. Each vacuum suction cup 441 includes a first vacuum suction cup 4411 and a second vacuum suction cup 4412. The first vacuum suction cup 4411 and the second vacuum suction cup 4412 are spaced apart. The line connecting the first vacuum suction cup 4411 and the second vacuum suction cup 4412 is perpendicular to the conveying direction of the shuttle 10. The distance between the first vacuum suction cup 4411 and the second vacuum suction cup 4412 is equal to the distance between the new threading plate 103 conveyed by the feeding device 2 and the threading plate... The distance between the changing stations 134 is such that when the first vacuum suction cup 4411 picks up a new threading board 103 conveyed by the feeding device 2, the second vacuum suction cup 4412 can simultaneously pick up the old threading board 103 located at the threading board changing station 134; when the first vacuum suction cup 4411 assembles the new threading board 103 picked up by it onto the body 101 located at the threading board changing station 134, the second vacuum suction cup 4412 can release the old threading board 103 picked up by it, thereby improving work efficiency. The fourth drive mechanism 442 includes a first lifting cylinder 4421 and a first translation cylinder 4422 mounted on the frame 1. The first lifting cylinder 4421 can drive the vacuum suction cup 441 to move vertically, and the first translation cylinder 4422 can drive the vacuum suction cup 441 to move horizontally.

[0089] In one embodiment, such as Figures 2-4 As shown, the disassembly and assembly station 13 includes a screw assembly station 135, and the disassembly and assembly part 4 includes a screw assembly device 45. The screw assembly device 45 includes a tightening screwdriver 451 and a fifth drive mechanism 452. The tightening screwdriver 451 is disposed above the screw assembly station 135. The fifth drive mechanism 452 is disposed on the frame 1 and is connected to the tightening screwdriver 451. The fifth drive mechanism 452 is used to drive the tightening screwdriver 451 to move vertically and to drive the tightening screwdriver 451 to rotate, so as to assemble screws 105 between the wire guide plate 103 and the body 101 located at the screw assembly station 135.

[0090] In this embodiment, the fifth drive mechanism 452 drives the tightening screwdriver 451 to move vertically, thereby adjusting the position of the tightening screwdriver 451. The fifth drive mechanism 452 also drives the tightening screwdriver 451 to rotate, thus tightening the screw 105 and fixing the new wiring board 103 onto the body 101. A screw 105 feeding air pipe 453 is provided on one side of the tightening screwdriver 451. When the screw 105 needs to be installed, high-pressure gas is used to transport the screw 105 along the screw 105 feeding air pipe 453 to the installation position, and then the tightening screwdriver 451 tightens the screw 105. In this embodiment, the fifth drive mechanism 452 includes a cylinder, a linear guide slider assembly, a motor mounting base, and a motor. The motor is mounted on the linear guide slider assembly via the motor mounting base and connected to the tightening screwdriver 451 to drive the tightening screwdriver 451 to rotate. One end of the cylinder is mounted on the frame 1, and the other end of the cylinder is connected to the linear guide slider assembly. The cylinder drives the motor to move vertically to adjust the distance between the tightening screwdriver 451 and the screw assembly station 135. To achieve a compact overall structure, in this embodiment, the screw assembly device 45 is positioned above the slip ring disassembly device 41.

[0091] In one embodiment, such as Figure 2 , Figure 9 and Figure 10 As shown, the vision inspection device 3 includes a shuttle ejection mechanism 31, a clamping mechanism 32, a first vision inspection component 33, and a second vision inspection component 34. The shuttle ejection mechanism 31 is mounted on the frame 1 and is used to push the shuttle 10 conveyed by the feeding device 2 to the vision inspection station 12. The clamping mechanism 32 is mounted on the frame 1 and is used to fix the shuttle 10 to the vision inspection station 12. The first vision inspection component 33 is mounted on the side of the vision inspection station 12 away from the shuttle ejection mechanism 31 and is used to perform vision inspection on the shuttle 10 located on the vision inspection station 12. The second vision inspection component 34 is mounted on the top of the vision inspection station 12 and is used to perform vision inspection on the shuttle 10 located on the vision inspection station 12.

[0092] In this embodiment, the feeding device 2 transports the shuttle 10 to be inspected to one side of the vision inspection station 12. The shuttle 10 is pushed to the vision inspection station 12 by the shuttle ejection mechanism 31, and then the shuttle 10 is clamped and fixed by the clamping mechanism 32. The surface wear of the slip ring 102 and the threading plate 103 on the shuttle 10 can be detected by the first vision inspection component 33 and the second vision inspection component 34 respectively set on the side and top of the vision inspection station 12. When the surface wear reaches the replacement requirement, the slip ring 102 and the threading plate 103 need to be inspected. The shuttle ejection mechanism 31 and the clamping mechanism 32 can both be cylinders, which realize the pushing and clamping of the shuttle 10. The first vision inspection component 33 and the second vision inspection component 34 can be devices with image acquisition and image processing analysis, which can convert the images captured by the shuttle 10 into image information and analyze them. Their specific structures can adopt relevant structures in the prior art, which will not be described in detail here.

[0093] In one embodiment, such as Figure 2 , Figure 3 and Figure 9 As shown, the feeding device 2 includes a first feeding mechanism 21 for feeding the shuttle 10, a second feeding mechanism 22 for feeding the threading plate 103, and a third feeding mechanism 23 for feeding the slip ring 102. The first feeding mechanism 21 includes a first feeding assembly 211 and a first feeding channel 212. One end of the first feeding channel 212 is connected to the first feeding assembly 211, and the other end of the first feeding channel 212 is connected to the vision inspection device 3. The first feeding channel 212 is used to transport the shuttle 10 in the first feeding assembly 211 to the vision inspection device 3. The second feeding mechanism 22 includes a second feeding assembly 221 and a second feeding assembly 222. The second feeding channel 222 has one end connected to the second feeding assembly 221 and the other end connected to the disassembly and assembly part 4. The second feeding channel 222 is used to transport the threading plate 103 in the second feeding assembly 221 to the disassembly and assembly part 4. The third feeding mechanism 23 includes a third feeding assembly 231 and a third feeding channel 232. One end of the third feeding channel 232 is connected to the third feeding assembly 231 and the other end connected to the disassembly and assembly part 4. The third feeding channel 232 is used to transport the slip ring 102 in the third feeding assembly 231 to the disassembly and assembly part 4.

[0094] In this embodiment, the first feeding component 211, the second feeding component 221 and the third feeding component 231 can be a vibratory feeder. By vibrating the feeder, the shuttle 10, the threading plate 103 and the slip ring 102 are fed through the first feeding channel 212, the second feeding channel 222 and the third feeding channel 232 respectively. The feeding station 11 includes a shuttle feeding station 111, a threading plate feeding station 112, and a slip ring feeding station 113. The first feeding mechanism 21 is located at the shuttle feeding station 111, that is, on the side of the vision inspection device 3 away from the disassembly and assembly part 4. The second feeding mechanism 22 is located at the threading plate feeding station 112, that is, on the side of the disassembly and assembly part 4 away from the vision inspection device 3. The third feeding mechanism 23 is located at the slip ring feeding station 113, that is, on the side of the second feeding mechanism 22 away from the disassembly and assembly part 4. The other end of the second feeding channel 222 is connected to the threading plate replacement device 44. The other end of the third feeding channel 232 is connected to the slip ring assembly device 42.

[0095] In one embodiment, such as Figure 2 and Figure 3 As shown, the shuttle changing device also includes a first moving device 5, a second moving device 6, and a clamping device 7. The first moving device 5 is located between the vision inspection device 3 and the second moving device 6. The first moving device 5 is used to move the shuttle 10 from the vision inspection device 3 to one side of the second moving device 6. The clamping device 7 is disposed above the first moving device 5 and the second moving device 6. It is used to transfer the shuttle 10 that meets the preset conditions from the first moving device 5 to the second moving device 6, and to transfer the shuttle 10 that does not meet the preset conditions and the assembled shuttle 10 to the finished product area. The second moving device 6 is disposed on one side of the first moving device 5. It is used to move the shuttle 10 at the disassembly and assembly station 13.

[0096] In this embodiment, the frame 1 further includes a transfer station 14, where the first moving device 5, the second moving device 6, and the clamping device 7 are located. After visual inspection, the first moving device 5 moves to below the visual inspection station 12, the clamping mechanism 32 releases, and the shuttle 10 falls onto the first moving device 5. Then, the first moving device 5 moves to one side of the second moving device 6, and through the clamping of the clamping device 7, the shuttle 10 that meets the preset conditions (i.e., needs component replacement) is transferred from the first moving device 5 to the second moving device 6. Then, through the movement of the second moving device 6, the shuttle 10 shuttles between the various stations of the disassembly and assembly station 13 to replace the slip ring 102 and the threading plate 103. After the replacement is completed, the assembled shuttle 10 or the shuttle 10 that does not meet the preset conditions (i.e., does not need component replacement) is transferred to the finished product area to complete the inspection, disassembly, and assembly process. Figure 9As shown, the first moving device 5 includes a telescopic cylinder 51 and a first moving platform 52. One end of the telescopic cylinder 51 is mounted on the frame 1, and the other end of the telescopic cylinder 51 is connected to the first moving platform 52. The first moving platform 52 moves on the frame 1 via a linear guide slider assembly. Figure 3 and Figure 6 As shown, the second moving device 6 includes a lead screw mechanism 61 and a second moving platform 62. The lead screw mechanism 61 is mounted on the frame 1, and the second moving platform 62 is mounted on the lead screw of the lead screw mechanism 61. The lead screw mechanism 61 drives the second moving platform 62 to move along the conveying direction of the shuttle 10.

[0097] In one embodiment, such as Figure 3 and Figure 11 As shown, the clamping device 7 includes at least one clamping manipulator 71 mounted on the frame 1 and a sixth drive mechanism 72 mounted on the frame 1. The sixth drive mechanism 72 is connected to at least one clamping manipulator 71 and is used to drive at least one clamping manipulator 71 to move in the vertical and horizontal directions. The at least one clamping manipulator 71 is used to transfer the slide shuttle 10 that meets the preset conditions from the first moving device 5 to the second moving device 6, and to transfer the slide shuttle 10 that does not meet the preset conditions and the assembled slide shuttle 10 to the finished product area.

[0098] In this embodiment, at least one gripping robot 71 can be driven to move vertically and horizontally via the sixth drive mechanism 72 to transfer the shuttle 10. The sixth drive mechanism 72 includes a second lifting cylinder 721 and a second translation cylinder 722. The second lifting cylinder 721 drives the gripping robot 71 to move vertically, and the second translation cylinder 722 drives the gripping robot 71 to move horizontally. The specific structure of the gripping robot 71 can adopt relevant structures in the prior art, which will not be described in detail here. The number of gripping robots 71 can be one, two, etc. For example, Figure 11In this process, the number of gripping robotic arms 71 can be set to two, including a first gripping robotic arm 711 and a second gripping robotic arm 712. The first gripping robotic arm 711 and the second gripping robotic arm 712 are arranged at intervals. The line connecting the first gripping robotic arm 711 and the second gripping robotic arm 712 is perpendicular to the conveying direction of the shuttle 10. The distance between the first gripping robotic arm 711 and the second gripping robotic arm 712 is equal to the distance between the first moving platform 52 and the second moving platform 62, and the distance between the second moving platform 62 and the shuttle 10. The distance between the product areas is such that when the first gripping robot 711 grips the shuttle 10 located on the first moving platform 52, the second gripping robot 712 can simultaneously grip the shuttle 10 located on the second moving platform 62. When the first gripping robot 711 transfers the shuttle 10 it grips (which requires component replacement) to the second moving platform 62, the second gripping robot 712 can release the shuttle 10 it grips (which does not require component replacement or has already completed component replacement) to the finished product area, thereby improving production efficiency.

[0099] An exemplary embodiment of this application provides the working process of a shuttle changing device, such as... Figure 2 As shown, the workstations on the frame 1 from left to right are, in sequence: shuttle loading station 111, visual inspection station 12, transfer station 14, screw removal station 133, threading plate replacement station 134, slip ring removal station 131, screw assembly station 135, slip ring assembly station 132, threading plate loading station 112, and slip ring loading station 113. In this embodiment, the shuttle 10 replacement process is as follows: the shuttle 10 undergoes visual inspection, slip ring removal, slip ring assembly, screw removal, threading plate replacement (removal and assembly), and screw assembly sequentially on the shuttle replacement equipment.

[0100] The shuttle 10 is fed by vibration from the first feeding assembly 211 and conveyed to one side of the vision inspection station 12 through the first feeding channel 212. The shuttle 10 is pushed to the vision inspection station 12 by the shuttle ejection mechanism 31 and fixed at the vision inspection station 12 by the clamping mechanism 32. The shuttle 10 is visually inspected by the first vision inspection assembly 33 and the second vision inspection assembly 34 to determine whether it needs to be replaced. After the visual inspection is completed, the first moving device 5 moves to below the vision inspection station 12, the clamping mechanism 32 is released, and the shuttle 10 falls onto the first moving platform 52 of the first moving device 5. The clamping device 7 clamps the shuttle 10 onto the second moving platform 62 of the second moving device 6, at which point the second moving platform 62 is in the initial position. The second moving device 6 moves the shuttle 10 to the slip ring disassembly station 131. The first driving mechanism 412 drives the first ejector rod 411 to move horizontally along the first direction, so as to push the slip ring 102 located at the slip ring disassembly station 131 out of the body 101 and disassemble the slip ring 102. The second moving device 6 moves the shuttle 10, from which the slip ring 102 has been removed, to the slip ring assembly station 132. At the first position 20, the slip ring receiving area of ​​the slip ring supply mechanism 421 is connected to the feeding device 2 to receive the new slip ring 102 delivered by the feeding device 2. The second driving mechanism 424 drives the second top rod 422 to move vertically, so that the clamping clamp 423 clamps the slip ring 102 located in the slip ring receiving area. Then, the slip ring supply mechanism 421 drives the slip ring receiving area to rotate downward to the second position 30, which can avoid the travel path of the clamping clamp 423, so that the second driving mechanism 424 drives the second top rod 422 and the clamping clamp 423 to continue to move downward, so as to move the slip ring 102 to the slip ring assembly station 132. The clamping mechanism 425 drives the slip ring 102 to move horizontally, so as to push the slip ring 102 into the body 101. The second moving device 6 moves the shuttle 10 equipped with the new slip ring 102 to the screw removal station 133. The third driving mechanism 432 drives the loosening screwdriver 431 to move vertically to adjust its position so that it contacts the screw 105 located between the threading plate 103 and the body 101 at the screw removal station 133. Then, the third driving mechanism 432 drives the loosening screwdriver 431 to rotate, thereby removing the screw 105. The second moving device 6 moves the shuttle 10 with the screw 105 removed to the threading plate replacement station 134. The fourth driving mechanism 442 drives the vacuum suction cup 441 to move vertically and horizontally, so that the vacuum suction cup 441 adsorbs and removes the threading plate 103 at the threading plate replacement station 134, and adsorbs and assembles the threading plate 103 conveyed by the feeding device 2 onto the body 101 of the threading plate 103.The second moving device 6 moves the shuttle 10 equipped with the new threading plate 103 to the screw assembly station 135. The fifth drive mechanism 452 drives the tightening screwdriver 451 to move vertically to adjust the position of the tightening screwdriver 451. The fifth drive mechanism 452 drives the tightening screwdriver 451 to rotate, thereby tightening the screw 105, thus fixing the new threading plate 103 onto the body 101. At this point, the replacement of the slip ring 102 and the threading plate 103 of the shuttle 10 is completed. The second moving device 6 moves the replaced shuttle 10 to the starting position of the second moving platform 62, and the clamping device 7 transfers the assembled shuttle 10 to the finished product area.

[0101] It should be noted that the order of the processes in this embodiment is only for illustrative purposes and is not limited to this order in actual production.

[0102] Other embodiments of this application will readily occur to those skilled in the art upon consideration of the specification and practice of the embodiments disclosed herein. This application is intended to cover any variations, uses, or adaptations of this application that follow the general principles of this application and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of this application are indicated by the claims.

[0103] It should be understood that this application is not limited to the precise structure described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this application is limited only by the appended claims.

Claims

1. A shuttle changing device, characterized in that, The shuttle includes a body and a slip ring and a threading plate disposed on the body. The shuttle changing device includes: The frame includes a loading station, a vision inspection station, and a disassembly and assembly station; A feeding device is installed at the feeding station for feeding the shuttle, the slip ring, and the threading plate; A visual inspection device is installed at the visual inspection station to perform visual inspection on the shuttle conveyed by the feeding device. When the shuttle meets the preset conditions, the slip ring and the threading plate of the shuttle are replaced. A disassembly and assembly section is provided at the disassembly and assembly station for disassembling the slip ring and threading plate of the shuttle that meet the preset conditions, and assembling the slip ring and threading plate conveyed by the feeding device onto the main body; The disassembly and assembly station includes a slip ring disassembly station, and the disassembly and assembly part includes a slip ring disassembly device, which includes: The first ejector bar is located on one side of the slip ring disassembly station; A first drive mechanism is mounted on the frame. The first drive mechanism is connected to the first push rod and is used to drive the first push rod to move horizontally along a first direction to push the slip ring located at the slip ring disassembly station out of the body so as to disassemble the slip ring. The first direction is perpendicular to the conveying direction of the shuttle. The disassembly and assembly station includes a slip ring assembly station, and the disassembly and assembly part includes a slip ring assembly device, which includes: A slip ring supply mechanism is disposed above the slip ring assembly station. The slip ring supply mechanism is connected to the feeding device and is used to receive the slip rings conveyed by the feeding device. The slip ring supply mechanism has a first position and a second position. The second ejector rod is positioned above the slip ring assembly station; A clamping clamp, the top end of which is connected to the bottom end of the second top material rod; The second drive mechanism is mounted on the frame and is connected to the top end of the second push rod, and is used to drive the second push rod to move in the vertical direction. A clamping mechanism is provided on one side of the slip ring assembly station and is used to drive the slip ring to move in the horizontal direction; In the first position, the slip ring receiving area of ​​the slip ring supply mechanism is located directly below the clamp, so that when the second drive mechanism drives the second push rod to move downward, the clamp holds the slip ring located in the slip ring receiving area. In the second position, the slip ring supply mechanism avoids the travel path of the clamp, so that the second drive mechanism drives the clamp to continue moving downward to move the slip ring to the slip ring assembly station. The clamping mechanism drives the slip ring to move horizontally to push the slip ring into the body.

2. The shuttle changing device according to claim 1, characterized in that, The disassembly / assembly station includes a screw removal station, and the disassembly / assembly unit includes a screw removal device, which includes: Loosen the screwdriver and position it above the screw removal station; A third drive mechanism is provided on the frame. The third drive mechanism is connected to the loosening screwdriver and is used to drive the loosening screwdriver to move in the vertical direction and to drive the loosening screwdriver to rotate, so as to remove the screw between the wire plate and the body located at the screw removal station. A screw clamping mechanism is located on one side of the screw disassembly station and is used to clamp the disassembled screws.

3. The shuttle changing device according to claim 1, characterized in that, The disassembly and assembly station includes a wire guide plate replacement station, and the disassembly and assembly section includes a wire guide plate replacement device, which includes: At least one vacuum suction cup is positioned above the threading plate replacement station; A fourth driving mechanism is disposed on the frame. The fourth driving mechanism is connected to at least one of the vacuum suction cups and is used to drive at least one of the vacuum suction cups to move in the vertical direction and in the horizontal direction. The at least one vacuum suction cup is used to adsorb and disassemble the threading plate located at the threading plate replacement station, and to adsorb and assemble the threading plate conveyed by the feeding device onto the body of the disassembled threading plate.

4. The shuttle changing device according to claim 1, characterized in that, The disassembly and assembly station includes a screw assembly station, and the disassembly and assembly part includes a screw assembly device, which includes: Tighten the screwdriver, positioned above the screw assembly station; A fifth drive mechanism is mounted on the frame and connected to the screwdriver. The fifth drive mechanism is used to drive the screwdriver to move vertically and to drive the screwdriver to rotate, so as to assemble screws between the threading plate and the body located at the screw assembly station.

5. The shuttle changing device according to claim 1, characterized in that, The visual inspection device includes: A shuttle ejection mechanism, mounted on the frame, is used to push the shuttle conveyed by the feeding device to the vision inspection station; A clamping mechanism, mounted on the frame, is used to fix the shuttle at the vision inspection station; A first visual inspection component is disposed on the side of the visual inspection station away from the shuttle ejection mechanism, and is used to perform visual inspection on the shuttle located at the visual inspection station. A second visual inspection component is disposed at the top of the visual inspection station and is used to perform visual inspection on the shuttle located at the visual inspection station.

6. The shuttle changing device according to claim 1, characterized in that, The feeding device includes: A first feeding mechanism is used to feed the shuttle; the first feeding mechanism includes a first feeding component and a first feeding channel, one end of the first feeding channel is connected to the first feeding component, and the other end of the first feeding channel is connected to the vision inspection device, and the first feeding channel is used to transport the shuttle in the first feeding component to the vision inspection device. The second feeding mechanism is used to feed the threaded plate; the second feeding mechanism includes a second feeding component and a second feeding channel, one end of the second feeding channel is connected to the second feeding component, and the other end of the second feeding channel is connected to the disassembly and assembly part, and the second feeding channel is used to transport the threaded plate in the second feeding component to the disassembly and assembly part. The third feeding mechanism is used to feed the slip ring; the third feeding mechanism includes a third feeding component and a third feeding channel, one end of the third feeding channel is connected to the third feeding component, and the other end of the third feeding channel is connected to the disassembly and assembly part, and the third feeding channel is used to transport the slip ring in the third feeding component to the disassembly and assembly part.

7. The shuttle changing device according to claim 1, characterized in that, The shuttle changing device also includes: A first moving device is located between the visual detection device and the second moving device, and the first moving device is used to move the shuttle from the visual detection device to one side of the second moving device; A clamping device is disposed above the first moving device and the second moving device, for transferring the shuttle that meets the preset conditions from the first moving device to the second moving device, and for transferring the shuttle that does not meet the preset conditions and the assembled shuttle to the finished product area; The second moving device is disposed on one side of the first moving device and is used to move the shuttle at the disassembly and assembly station.

8. The shuttle changing device according to claim 7, characterized in that, The clamping device includes: At least one gripping robot arm is mounted on the frame; A sixth drive mechanism is disposed on the frame. The sixth drive mechanism is connected to at least one of the clamping manipulators and is used to drive at least one of the clamping manipulators to move in the vertical and horizontal directions. The clamping manipulators transfer the shuttle that meets the preset conditions from the first moving device to the second moving device, and transfer the shuttle that does not meet the preset conditions and the assembled shuttle to the finished product area.

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