Elastic sheet pre-assembling and welding machine

Abstract

The invention discloses an elastic piece pre-assembling and welding machine which comprises a jig mechanism, an elastic piece feeding mechanism, a main body feeding mechanism, an assembling mechanism, a cover plate taking and placing mechanism, a lug folding mechanism and a welding and discharging mechanism. The elastic sheet feeding mechanism is used for providing elastic sheets; the main body feeding mechanism is used for providing main body workpieces; the assembling mechanism is used for transferring the elastic sheet to the rotating jig platform and transferring the main body workpiece to the rotating jig platform; the cover plate taking and placing mechanism is used for pressing and fixing the two elastic sheets and the main body workpiece on the rotary jig platform after welding foot sheets of the two elastic sheets are assembled to preset positions on the main body workpiece; the lug folding mechanism is used for breaking and removing lug parts of the two elastic sheets after the two elastic sheets are welded to the main body workpiece; the welding discharging mechanism is arranged at the other end of the X-axis movement module and used for welding the elastic piece and the main body workpiece to form an assembly and transferring the assembly to the lug folding mechanism after welding is completed. According to the elastic piece pre-assembling and welding machine, automatic welding of elastic pieces is achieved.

Description

Technical Field

[0001] The invention relates to welding equipment, in particular to a spring piece pre-assembly welding machine. Background Art

[0002] In the field of modern electronic products and precision machinery manufacturing, springs are widely used as an important functional component. These springs usually need to be fixed to the main workpiece through welding process to achieve specific mechanical or electrical properties.

[0003] However, since the size of the shrapnel itself is usually very small, this small size feature makes it very easy for the shrapnel to shift position or change posture during transportation, positioning and clamping. It is difficult for traditional automated equipment to grasp accurately, and even if it can grasp, it is difficult to ensure that it maintains a stable posture during transportation. In addition, the shrapnel often has irregular geometric shapes and complex structural features. For example, some shrapnel may have a bent part, a protruding structure or a special functional shape. These irregular structural features increase the difficulty of automated operation. In addition, in actual production, the placement of the shrapnel and the welding position often require high precision. The welding area between the shrapnel and the main workpiece is usually very small, which requires extremely high stability during the welding process. However, since the shrapnel itself is light in weight and small in size, it is very easy to be affected by external factors and produce positional displacement, which further increases the difficulty of automated welding.

[0004] The above factors make it difficult to achieve automated welding in the shrapnel welding process of many products at present, which not only reduces production efficiency but also makes it difficult to ensure the consistency of product quality. Summary of the invention

[0005] The present invention aims to solve one of the technical problems in the related art at least to a certain extent. To this end, the purpose of the present invention is to provide a spring piece pre-assembly welding machine.

[0006] To achieve the above-mentioned purpose, a pre-assembled spring piece welding machine according to an embodiment of the present invention is used to weld two spring pieces to a main workpiece, wherein the spring piece includes a main body and an ear connected to the main body and used for grasping, and the main body has a welding foot piece. The pre-assembled spring piece welding machine includes:

[0007] A fixture mechanism, the fixture mechanism comprising an X-axis motion module and a rotating fixture platform provided on the X-axis motion module;

[0008] A spring feeding mechanism, which is arranged at one end of the X-axis motion module and located on one side of the X-axis motion module, and is used to provide the spring;

[0009] A main body feeding mechanism, which is arranged at one end of the X-axis motion module and located at the other side of the X-axis motion module, and is used to provide the main body workpiece;

[0010] An assembly mechanism, which is disposed adjacent to the jig mechanism and is used to transfer the spring pieces in the spring piece feeding mechanism to the rotating jig platform, and to transfer the main body workpiece in the main body feeding mechanism to the rotating jig platform;

[0011] A cover plate picking and placing mechanism, which is arranged at the other end of the X-axis motion module and is used to press and fix the two spring sheets and the main workpiece on the rotating fixture platform after the welding legs of the two spring sheets are assembled to the predetermined positions on the main workpiece;

[0012] An ear folding mechanism, which is arranged at the other end of the X-axis motion module and located on one side of the X-axis motion module, and is used to break and remove the ears of the two spring pieces after the two spring pieces are welded to the main workpiece;

[0013] The welding unloading mechanism is arranged at the other end of the X-axis motion module, and is used to weld the spring piece and the main workpiece to form an assembly, and after welding, the assembly is transferred to the ear folding mechanism so that the ear of the spring piece can be broken and removed by the ear folding mechanism.

[0014] According to the shrapnel pre-assembly welding machine provided in the embodiment of the present invention, the automatic welding of shrapnel is realized by using a fixture mechanism, a shrapnel feeding mechanism, a main body feeding mechanism, an assembly mechanism, a cover plate pick-up and placement mechanism, an ear folding mechanism and a welding blanking mechanism. Among them, the specially designed ears on the shrapnel are convenient for reliable grasping, which effectively overcomes the operational difficulties caused by the small size of the shrapnel; the cover plate pick-up and placement mechanism ensures the stability of the shrapnel during the welding process, and prevents the position of the shrapnel from shifting by pressing and fixing. The welding blanking mechanism cooperates with the ear folding mechanism, and the ears on the shrapnel can be removed after the welding is completed to form the final assembly. In this way, the full process of automated operation is realized, which not only improves the efficiency of shrapnel welding, but also ensures product quality, providing a guarantee for the large-scale production of products.

[0015] In addition, the spring piece pre-assembly welding machine according to the above embodiment of the present invention may also have the following additional technical features:

[0016] According to one embodiment of the present invention, the rotating fixture platform comprises:

[0017] A bracket, the bracket being arranged on the X-axis motion module, and the bracket being provided with a carrier that can pivot around an X-axis line;

[0018] A fixed fixture seat, the fixed fixture seat is arranged on the carrier, and the fixed fixture seat has a workpiece position suitable for placing the main workpiece;

[0019] A first movable fixture seat, the first movable fixture seat is arranged on the carrier, and the first movable fixture seat has a first spring piece placement position suitable for placing one of the spring pieces;

[0020] A second movable fixture seat, the second movable fixture seat is arranged on the carrier and forms a first predetermined angle with the first fixture seat, and the first movable fixture seat has a second spring piece placement position suitable for placing another spring piece;

[0021] A first driving device, the first driving device is connected to the first movable fixture seat, and is used to drive the first movable fixture seat to slide toward the fixed fixture seat, so that the welding foot piece of the spring piece is assembled to a first welding position on the main workpiece;

[0022] A second driving device, the second driving device is connected to the second movable fixture seat, and is used to drive the second movable fixture seat to slide toward the fixed fixture seat, so that the welding foot piece of the spring piece is assembled to a second welding position on the main workpiece;

[0023] A rotation driving device is connected to the carrier to drive the carrier to rotate, thereby switching the first movable fixture seat or the second movable fixture seat to a horizontal state.

[0024] According to one embodiment of the present invention, the shrapnel feeding mechanism comprises:

[0025] A material unwinding mechanism for loading the wound spring sheet material strip;

[0026] A material moving mechanism, the material moving mechanism and the material discharging mechanism are arranged at intervals in the X-axis direction, and are used to move the spring sheet material belt of the material discharging mechanism along the X-axis direction, and make the material discharging mechanism gradually discharge the material;

[0027] A punching mechanism, which is arranged between the material unloading mechanism and the material shifting mechanism and is used for punching out the spring pieces on the spring piece material strip to form a single spring piece;

[0028] A material suction mechanism, which is arranged below the punching mechanism and can move along the Y-axis direction to remove the spring pieces punched by the punching mechanism from the punching mechanism;

[0029] The flipping mechanism is arranged at intervals with the suction mechanism in the X-axis direction and can move along the X-axis direction, and is used to grab the spring sheet on the suction mechanism and flip it 180 degrees so that the spring sheet faces upward.

[0030] According to one embodiment of the present invention, the stamping mechanism comprises a stamping die, and a feeding hole is provided at the bottom of the stamping die;

[0031] The suction mechanism includes a dual-axis motion module and a suction head. The dual-axis motion module can move in the Y-axis and Z-axis directions. The suction head is arranged on the dual-axis motion module, and the top surface of the suction head is provided with a positioning groove adapted to the spring sheet. Driven by the dual-axis motion module, the suction head can be inserted into the feed hole, adsorb the punched spring sheet into the positioning groove, and move it out of the stamping mechanism.

[0032] According to one embodiment of the present invention, the assembling mechanism comprises:

[0033] A first gantry, wherein the first gantry has a first two-axis movable arm and a second two-axis movable arm, and the first two-axis movable arm and the second two-axis movable arm are movable along the Y-axis and the Z-axis directions;

[0034] A first main body manipulator, the first main body manipulator is arranged on the first dual-axis movable arm, and is used to grasp the main workpiece;

[0035] A shrapnel manipulator, which is arranged on the second dual-axis movable arm and is used to grab the shrapnel;

[0036] An X-axis fine-tuning device is provided on the first dual-axis movable arm and is connected to the first main body manipulator to drive the main body manipulator to perform fine-tuning movement in the X-axis direction.

[0037] According to one embodiment of the present invention, the first main body manipulator includes a first pivot seat, a first sliding arm, two clamping claws, a clamping claw cylinder, a first lifting cylinder and a first R-axis driving device, the first pivot seat is arranged on the X-axis fine-tuning device, and the first sliding arm is arranged on the first pivot seat;

[0038] The two clamping jaws are arranged opposite to each other at the lower end of the first sliding arm in the horizontal direction, each of the clamping jaws has two fingers arranged at intervals, and the fingers on the two clamping jaws correspond to each other to form two pairs of clamping fingers, and the two pairs of clamping fingers are respectively suitable for clamping the two ends of the main workpiece;

[0039] The first lifting cylinder is connected to the first sliding arm to drive the first sliding arm to move along the Z-axis direction. The clamping cylinder is connected to the two clamping members to drive the two clamping members to move relative to each other to grasp or release the main workpiece. The first R-axis driving device is connected to the first pivot seat to drive the first pivot seat to rotate around the vertically extending R-axis.

[0040] According to one embodiment of the present invention, the spring-type manipulator comprises a second pivot seat, a second sliding arm, a suction nozzle, a second lifting cylinder and a second R-axis driving device, wherein the second pivot seat is arranged on the second dual-axis movable arm, and the second sliding arm is arranged on the second pivot seat;

[0041] The suction nozzle is arranged at the lower end of the second sliding arm and is suitable for sucking the ear of the spring sheet. The second lifting cylinder is connected to the second sliding arm to drive the second sliding arm to move along the Z-axis direction. The second R-axis driving device is connected to the second pivot seat to drive the second pivot seat to rotate around the vertically extending R-axis.

[0042] According to one embodiment of the present invention, the cover plate taking and placing mechanism comprises:

[0043] A cover plate, wherein a welding avoidance hole is provided on the top surface of the cover plate, elastic sliding lock buckles are provided on both sides of the cover plate, and a locking buckle capable of locking with the elastic sliding lock buckle is provided on the first movable fixture seat;

[0044] Dual-axis motion platform, capable of moving in the Y-axis and Z-axis directions;

[0045] A carrier plate, the carrier plate being arranged on the biaxial motion platform;

[0046] An elastic floating pressure plate, which is arranged below the carrier plate and can elastically float relative to the carrier plate in the Z-axis direction to be pressed against the cover plate;

[0047] A positioning clamp arm mechanism, which is disposed on both sides of the elastic floating pressure plate and can open and close to clamp or release the cover plate;

[0048] The unlocking mechanism is arranged on both sides of the elastic floating pressure plate and can push the elastic sliding lock buckle to move horizontally to release the lock between the cover plate and the locking buckle on the first movable fixture seat.

[0049] According to one embodiment of the present invention, the ear folding mechanism comprises:

[0050] A positioning platform, the positioning platform having a loading position suitable for placing the assembly;

[0051] A clamping mechanism, which is arranged on the outside of the positioning platform and is used to clamp and fix the assembly at the loading position;

[0052] A first rotating clamp, which is disposed on one side of the positioning platform and is capable of clamping an ear on the spring sheet and rotating to break the ear;

[0053] a second rotating clamp, the second rotating clamp being arranged at the other side of the positioning platform and being capable of clamping the ear on the other spring sheet and rotating to break the ear, the second rotating clamp and the first rotating clamp forming a second predetermined angle, the second predetermined angle being equal to the first predetermined angle;

[0054] a third driving device, the third driving device being connected to the first rotating clamp and being used for driving the first rotating clamp to move closer to or away from the positioning platform;

[0055] A fourth driving device is connected to the second rotary clamp and is used to drive the second rotary clamp to move closer to or away from the positioning platform.

[0056] According to one embodiment of the present invention, the welding blanking mechanism comprises:

[0057] A second gantry, wherein the second gantry has a third two-axis movable arm and a fourth two-axis movable arm, and the third two-axis movable arm and the fourth two-axis movable arm are movable along the Y-axis and the Z-axis directions;

[0058] A welding manipulator, which is arranged on the third dual-axis movable arm and is used to weld the spring piece and the main workpiece;

[0059] The second main body robot is arranged on the fourth dual-axis movable arm and is used for grasping and transferring the assembly.

[0060] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0061] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying creative work.

[0062] Figure 1 1 is a schematic structural diagram of a spring piece pre-assembly welding machine from one perspective according to an embodiment of the present invention;

[0063] Figure 2 is a structural schematic diagram of the spring piece pre-assembly welding machine from another perspective according to an embodiment of the present invention;

[0064] Figure 3 It is a structural schematic diagram of a fixture mechanism in a spring piece pre-assembly welding machine according to an embodiment of the present invention;

[0065] Figure 4 yes Figure 3 A partial enlarged view of the middle A;

[0066] Figure 5 It is a structural schematic diagram of a shrapnel feeding mechanism in a shrapnel pre-assembly welding machine according to an embodiment of the present invention;

[0067] Figure 6 It is a structural schematic diagram of an assembly mechanism in a spring piece pre-assembly welding machine according to an embodiment of the present invention;

[0068] Figure 7 It is a structural schematic diagram of the first main body manipulator in the spring piece pre-assembly welding machine according to an embodiment of the present invention;

[0069] Figure 8 It is a structural schematic diagram of a shrapnel manipulator in a shrapnel pre-assembly welding machine according to an embodiment of the present invention;

[0070] Fig. 9 It is a structural schematic diagram of a cover plate taking and placing mechanism in a spring piece pre-assembly welding machine according to an embodiment of the present invention;

[0071] Fig.10 It is a partial structural schematic diagram of a cover plate taking and placing mechanism in a spring piece pre-assembly welding machine according to an embodiment of the present invention;

[0072] Fig.11 It is a structural schematic diagram of a welding blanking mechanism in a spring piece pre-assembly welding machine according to an embodiment of the present invention from one perspective;

[0073] Fig.12 It is a structural schematic diagram of a welding blanking mechanism in a spring piece pre-assembly welding machine according to an embodiment of the present invention from another perspective;

[0074] Fig.13 2 is a schematic diagram of the structure of a cover plate in a spring piece pre-assembly welding machine according to an embodiment of the present invention;

[0075] Fig.14 It is a structural schematic diagram of the ear folding mechanism in the spring piece pre-assembly welding machine according to an embodiment of the present invention;

[0076] Fig.15 It is a schematic structural diagram of an assembly formed by welding a main workpiece and a spring sheet in an embodiment of the present invention.

[0077] Reference numerals:

[0078] 10. Fixture mechanism;

[0079] 101, bracket; 1011, carrier; 102, fixed fixture seat; 103, first movable fixture seat; 104, second movable fixture seat; 105, first driving device; 106, second driving device; 107, rotating driving device; P01, workpiece position; P02, first spring piece placement position; P03, second spring piece placement position;

[0080] 20. Shrapnel feeding mechanism;

[0081] 201, material discharge mechanism; 202, material transfer mechanism; 203, stamping mechanism; 2031, stamping mold; 204, material suction mechanism; 2041, double-axis motion module; 2042, material suction head; 205, flipping mechanism; 2051, grabbing arm;

[0082] 30. Main feeding mechanism;

[0083] 40. Assembly mechanism;

[0084] 401, first gantry; 4011, first double-axis movable arm; 4012, second double-axis movable arm;

[0085] 402, first main body manipulator; 4021, first pivot seat; 4022, first sliding arm; 4023, clamping claw member; 4024, clamping claw cylinder; 4025, first lifting cylinder; 4026, first R-axis driving device;

[0086] 403, spring-clip manipulator; 4031, second pivot seat; 4032, second sliding arm; 4033, suction nozzle; 4034, second lifting cylinder; 4035, second R-axis driving device;

[0087] 404, X-axis fine adjustment device;

[0088] 50. Cover plate taking and placing mechanism;

[0089] 501, cover plate; 5011, elastic sliding lock; 502, dual-axis motion platform; 503, carrier plate; 504, elastic floating pressure plate; 505, positioning clamp arm mechanism; 506, unlocking mechanism;

[0090] 60. Ear folding mechanism;

[0091] 601, positioning platform; 602, clamping mechanism; 603, first rotary clamp; 604, second rotary clamp; 605, third driving device; 606, fourth driving device;

[0092] 70. Welding unloading mechanism;

[0093] 701, second gantry; 7011, third double-axis movable arm; 7012, fourth double-axis movable arm; 702, welding manipulator; 703, second main body manipulator;

[0094] 80. Assemblies;

[0095] 801, main workpiece;

[0096] 802, shrapnel;

[0097] 802a, ontology;

[0098] 802b. Ears.

[0099] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0100] The embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, but are not to be construed as limiting the present invention. All other embodiments obtained by ordinary technicians in the field without creative work based on the embodiments of the present invention are within the scope of protection of the present invention.

[0101] In the description of the present invention, it is to be understood that the terms “center”, “longitudinal”, “lateral”, “length”, “width”, “thickness”, “up”, “down”, “front”, “back”, “left”, “right”, “vertical”, “horizontal”, “top”, “bottom”, “inside”, “outside”, “clockwise”, “counterclockwise”, “axial”, “circumferential”, “radial”, etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0102] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0103] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0104] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0105] The spring piece pre-assembly welding machine according to an embodiment of the present invention will be described in detail below with reference to the accompanying drawings.

[0106] Reference Figures 1 to 15 As shown, the spring piece pre-assembly welding machine provided according to an embodiment of the present invention is used to weld two spring pieces 802 on a main workpiece 801, wherein the spring piece 802 includes a main body 802a and an ear 802b connected to the main body 802a and used for grasping, and the main body 802a has a welding foot piece. The spring piece pre-assembly welding machine includes a fixture mechanism 10, a spring piece feeding mechanism 20, a main body feeding mechanism 30, an assembly mechanism 40, a cover plate picking and placing mechanism 50, an ear folding mechanism 60, and a welding unloading mechanism 70.

[0107] Specifically, the fixture mechanism 10 includes an X-axis motion module and a rotating fixture platform disposed on the X-axis motion module. The rotating fixture platform can be driven to move between different positions through the X-axis motion module, so as to facilitate cooperation with the assembly mechanism 40, the cover plate pick-up and placement mechanism 50, and the welding unloading mechanism 70. The rotating fixture platform can rotate, so as to facilitate cooperation with the assembly mechanism 40 to realize the assembly between the spring piece 802 and the main workpiece 801.

[0108] The spring feeding mechanism 20 is arranged at one end of the X-axis motion module and located at one side of the X-axis motion module to provide the spring 802. The main body feeding mechanism 30 is arranged at one end of the X-axis motion module and located at the other side of the X-axis motion module to provide the main body workpiece 801.

[0109] The assembly mechanism 40 is disposed adjacent to the jig mechanism 10 to transfer the spring pieces 802 in the spring piece feeding mechanism 20 to the rotating jig platform, and to transfer the main body workpiece 801 in the main body feeding mechanism 30 to the rotating jig platform.

[0110] The cover plate picking and placing mechanism 50 is arranged at the other end of the X-axis motion module, and is used to press and fix the two spring pieces 802 and the main workpiece 801 on the rotating fixture platform after the welding legs of the two spring pieces 802 are assembled to the predetermined positions on the main workpiece 801.

[0111] The ear folding mechanism 60 is disposed at the other end of the X-axis motion module and located on one side of the X-axis motion module, and is used to break and remove the ear portions 802 b of the two spring pieces 802 after the two spring pieces 802 are welded to the main workpiece 801 .

[0112] The welding unloading mechanism 70 is arranged at the other end of the X-axis motion module, and is used to weld the spring piece 802 and the main workpiece 801 to form an assembly 80, and after welding, the assembly 80 is transferred to the ear folding mechanism 60 so that the ear 802b of the spring piece 802 can be broken and removed by the ear folding mechanism 60.

[0113] During the working process, first, the spring piece 802 is transported to the specified position by the spring piece feeding mechanism 20, and the main workpiece 801 is transported to the specified position by the main body feeding mechanism 30; secondly, the assembly mechanism 40 transfers the two spring pieces 802 to the rotating fixture platform, and transfers the main workpiece 801 to the rotating fixture platform; thirdly, the cover plate picking and placing mechanism 50 covers the cover plate 501 on the rotating fixture platform, and uses the cover plate 501 to press and fix the spring piece 802 and the main workpiece 801 to ensure the stability of the spring piece 802 and the main workpiece 801; finally, the welding unloading mechanism 70 welds the spring piece 802 to the main workpiece 801. After completing the welding operation, the welding unloading mechanism 70 transfers the assembly 80 to the ear folding mechanism 60, and the ear folding mechanism 60 breaks the ear part 802b to form the final assembly 80 product.

[0114] According to the shrapnel pre-assembly welding machine provided by the embodiment of the present invention, the automatic welding of the shrapnel 802 is realized by using the fixture mechanism 10, the shrapnel feeding mechanism 20, the main body feeding mechanism 30, the assembly mechanism 40, the cover plate pick-up and placement mechanism 50, the ear folding mechanism 60 and the welding blanking mechanism 70. Among them, the ear 802b specially designed on the shrapnel 802 is convenient for reliable grasping, which effectively overcomes the operational difficulties caused by the small size of the shrapnel 802; the cover plate pick-up and placement mechanism 50 ensures the stability of the shrapnel 802 during the welding process, and prevents the position of the shrapnel 802 from shifting by pressing and fixing. The welding blanking mechanism 70 cooperates with the ear folding mechanism 60, and the ear 802b on the shrapnel 802 can be removed after the welding is completed to form the final assembly 80, so that the full process of automated operation is realized, which not only improves the efficiency of the welding of the shrapnel 802, but also ensures the product quality, and provides a guarantee for the large-scale production of the product.

[0115] Reference Figure 3 to Figure 4As shown, in one embodiment of the present invention, the rotating fixture platform includes a bracket 101 , a fixed fixture seat 102 , a first movable fixture seat 103 , a second movable fixture seat 104 , a first driving device 105 and a second driving device 106 .

[0116] Specifically, the bracket 101 is arranged on the X-axis motion module, and a carrier 1011 pivotable about an X-axis line is arranged on the bracket 101. The bracket 101 is driven to move along the X-axis by the X-axis motion module, thereby realizing the movement of the rotating fixture platform between various positions along the X-axis direction, and realizing the coordination with other mechanisms.

[0117] The fixed fixture seat 102 is arranged on the carrier 1011, and the fixed fixture seat 102 has a workpiece position P01 suitable for placing the main workpiece 801. In use, the assembly mechanism 40 can transfer the main workpiece 801 to the workpiece position P01 of the fixed fixture seat 102. The fixed fixture seat 102 can be provided with a positioning structure to position the main workpiece 801 and ensure that the position of the main workpiece 801 on the fixed fixture seat 102 is accurate and stable.

[0118] The first movable fixture seat 103 is arranged on the carrier 1011, and the first movable fixture seat 103 has a first spring piece placement position P02 suitable for placing one of the spring pieces 802. The second movable fixture seat 104 is arranged on the carrier 1011, and forms a first predetermined angle with the first fixture seat, and the first movable fixture seat 103 has a second spring piece placement position P03 suitable for placing another spring piece 802. In other words, the first movable fixture seat 103 and the second movable fixture seat 104 are both arranged on the carrier 1011, and are arranged at a first predetermined angle therebetween, and this angle arrangement is compatible with the installation angle of the two spring pieces 802 on the main workpiece 801, that is, the two spring pieces 802 form a certain angle on the main workpiece 801. In addition, positioning structures may also be provided on the first movable fixture seat 103 and the second movable fixture seat 104 to facilitate positioning of the spring piece 802 and ensure that the position of the spring piece 802 on the first movable fixture seat 103 and the second movable fixture seat 104 is accurate and stable.

[0119] The first driving device 105 is connected to the first movable fixture seat 103, and is used to drive the first movable fixture seat 103 to slide toward the fixed fixture seat 102, so that the welding leg piece of the spring piece 802 is assembled to the first welding position on the main workpiece 801. The second driving device 106 is connected to the second movable fixture seat 104, and is used to drive the second movable fixture seat 104 to slide toward the fixed fixture seat 102, so that the welding leg piece of the spring piece 802 is assembled to the second welding position on the main workpiece 801.

[0120] The rotation driving device 107 is connected to the carrier 1011 to drive the carrier 1011 to rotate, thereby switching the first movable fixture seat 103 or the second movable fixture seat 104 to a horizontal state.

[0121] During assembly, first, the first movable fixture seat 103 is kept in a horizontal state, at which time, the second fixture seat is in an inclined state, and the assembly mechanism 40 transfers a spring 802 of the spring feeding mechanism 20 to the first fixture seat. Then, the rotating drive device 107 drives the carrier 1011 to rotate a certain angle, switches the second fixture seat to a horizontal state, and then transfers another spring 802 to the second fixture seat through the assembly mechanism 40. Next, a main workpiece 801 in the main feeding mechanism 30 is moved to the fixed fixture seat 102 through the assembly mechanism 40. Finally, the first movable fixture seat 103 is pushed to slide close to the fixed fixture seat 102 through the first drive device 105, and the second movable fixture seat 104 is pushed to slide toward the fixed fixture seat 102 through the second drive device 106, so that the welding pins of the two springs 802 are moved to the corresponding welding positions on the main workpiece 801 on the fixed fixture seat 102, so as to realize the pre-assembly of the two springs 802 and the main workpiece 801. After the pre-assembly is completed, the welding blanking mechanism 70 can be used to weld the spring piece 802 and the main workpiece 801 .

[0122] In this embodiment, the above-mentioned rotating fixture platform is used to realize the continuous automatic assembly of the spring pieces 802. Among them, the alternating switching mode of the first movable fixture seat 103 and the second movable fixture seat 104 can ensure that the two spring pieces 802 are transferred in sequence, and ensure that the spring pieces 802 are loaded in a horizontal state, thereby improving the reliability and accuracy of the loading of the spring pieces 802. In addition, the sliding design of the first movable fixture seat 103 and the second interactive fixture seat ensures that the spring pieces 802 are accurately assembled to the welding position of the main workpiece 801, thereby realizing the continuity and reliability of the entire assembly process.

[0123] Reference Figure 5 As shown, in one embodiment of the present invention, the shrapnel feeding mechanism 20 includes a discharge mechanism 201, a material transfer mechanism 202, a punching mechanism 203, a material suction mechanism 204 and a flipping mechanism 205. The discharge mechanism 201 is used to load the wound shrapnel material strip. The discharge mechanism 201 can adopt a coiling tray structure for storing and releasing the shrapnel material strip.

[0124] The material moving mechanism 202 is arranged at intervals with the material discharging mechanism 201 in the X-axis direction, and is used to move the elastic sheet material strip of the material discharging mechanism 201 along the X-axis direction, and make the material discharging mechanism 201 gradually discharge the material. Exemplarily, the material moving mechanism 202 includes a feeding cylinder and a lifting gripper, and the feeding cylinder can realize precise stroke control to ensure that the distance of each movement matches the pitch of the elastic sheet 802. After the lifting gripper descends, it grabs the elastic sheet material strip and drives the elastic material strip to move under the push of the feeding cylinder.

[0125] The punching mechanism 203 is arranged between the unloading mechanism 201 and the material shifting mechanism 202, and is used to punch and cut the spring pieces 802 on the spring piece material strip to form a single spring piece 802. The spring pieces 802 are arranged in sequence on the elastic material strip, and the punching mechanism 203 punches and cuts once each time the material shifting mechanism 202 moves a pitch, so that two spring pieces 802 on the material strip can be peeled off from the spring piece material strip.

[0126] The suction mechanism 204 is disposed below the punching mechanism 203 and can move along the Y-axis direction to remove the spring piece 802 punched by the punching mechanism 203 from the punching mechanism 203. The suction mechanism 204 can adopt a vacuum adsorption structure to absorb the punched spring piece 802 and remove it from the punching mechanism 203 to the outside.

[0127] The flipping mechanism 205 is arranged at intervals with the suction mechanism 204 in the X-axis direction and can move along the X-axis direction, so as to grab the spring piece 802 on the suction mechanism 204 and flip it 180° so that the spring piece 802 faces upward. After the spring piece 802 on the suction mechanism 204 is flipped 180° by the flipping mechanism 205, it is convenient for the assembly mechanism 40 to grab the spring piece 802. Exemplarily, the flipping structure may include an X-axis motion module, a rotary cylinder and a grabbing arm 2051, wherein the rotary cylinder is arranged on the X-axis motion module, the grabbing arm 2051 is connected to the rotary cylinder and driven to rotate by the rotary cylinder, and a vacuum adsorption head is arranged on the grabbing arm 2051 to utilize vacuum to adsorb the spring piece 802.

[0128] In the actual working process, first, the unloading mechanism 201 releases the material belt, and the material transfer mechanism 202 conveys the material belt to the stamping station through intermittent feeding; secondly, the stamping mechanism 203 performs the stamping action to separate the single spring piece 802 from the material belt; then, the suction mechanism 204 rises to the appropriate position, absorbs the stamped spring piece 802 through vacuum adsorption, descends and transfers it to the specified position; finally, the flipping mechanism 205 moves into place, grabs the spring piece 802 and completes a 180-degree flip, so that the spring piece 802 maintains the correct orientation.

[0129] The shrapnel feeding mechanism 20 realizes the automatic feeding of the shrapnel 802, solves the operational difficulty of the small and thin shrapnel 802, and can ensure the stability and reliability of the feeding process, providing a reliable supply guarantee of the shrapnel 802 for the subsequent assembly process.

[0130] Reference Figure 5 As shown, in one embodiment of the present invention, the stamping mechanism 203 includes a stamping die 2031 , and a feeding hole is provided at the bottom of the stamping die 2031 .

[0131] The suction mechanism 204 includes a dual-axis motion module 2041 and a suction head 2042. The dual-axis motion module 2041 can move in the Y-axis and Z-axis directions. The suction head 2042 is arranged on the dual-axis motion module 2041, and the top surface of the suction head 2042 is provided with a positioning groove adapted to the spring piece 802. Under the drive of the dual-axis motion module 2041, the suction head 2042 can be inserted into the feed hole, adsorb the punched spring piece 802 on the positioning groove, and move it out of the stamping mechanism 203.

[0132] In the actual working process, the stamping mechanism 203 cooperates with the suction mechanism 204. First, the stamping mechanism 203 completes the stamping action of the spring piece 802, and the stamped spring piece 802 will fall through the feed hole; at the same time, the dual-axis motion module 2041 drives the suction head 2042 to move to the predetermined position, and through the Z-axis movement, the suction head 2042 is accurately inserted into the feed hole; when the spring piece 802 falls into place, the vacuum is started, and the spring piece 802 is firmly adsorbed through the adsorption hole in the positioning groove; then, under the control of the dual-axis motion module 2041, the suction head 2042 moves upward along the Z-axis to withdraw from the feed hole, and then moves the spring piece 802 to the specified position along the Y-axis direction.

[0133] In this embodiment, the above-mentioned suction mechanism 204 is adopted, and the dual-axis motion module 2041 is used to drive the suction head 2042 to move, thereby cooperating with the stamping mechanism 203 to ensure that the spring piece 802 can be accurately adsorbed on the suction head 2042 after the punching is completed, and moved out of the stamping mechanism 203. The whole process is stable and orderly, ensuring the reliable supply of the spring piece 802 and improving the stability and production efficiency of the entire mechanism.

[0134] Reference Figures 6 to 8 As shown, in one embodiment of the present invention, the assembly mechanism 40 includes a first gantry 401 , a first main body manipulator 402 , a spring manipulator 403 and an X-axis fine-tuning device 404 .

[0135] The first gantry 401 has a first biaxial movable arm 4011 and a second biaxial movable arm 4012, and the first biaxial movable arm 4011 and the second biaxial movable arm 4012 are both movable along the Y-axis and Z-axis directions.

[0136] The first main body manipulator 402 is arranged on the first dual-axis movable arm 4011 to grasp the main workpiece 801. The first main body manipulator 402 can adopt a mechanical clamping method, and the grasping structure is adapted to the shape and size of the main workpiece 801 to ensure stable and reliable grasping of the main workpiece 801.

[0137] The spring piece manipulator 403 is arranged on the second dual-axis movable arm 4012, and is used to grab the spring piece 802. The spring piece manipulator 403 can use a vacuum adsorption method to adsorb and grab the spring piece 802.

[0138] The X-axis fine adjustment device 404 is provided on the first dual-axis movable arm 4011 and is connected to the first main body manipulator 402 to drive the main body manipulator to fine-tune and move in the X-axis direction. The X-axis fine adjustment device 404 can be used to achieve fine adjustment of the first main body manipulator 402 in the X-axis direction, ensuring that the first main body manipulator 402 can more accurately grasp and place the assembly main workpiece 801.

[0139] During the working process, the spring clip manipulator 403, driven by the second biaxial movable arm 4012, moves to the feeding position of the spring clip 802, accurately grabs the spring clip 802 processed by the flip mechanism 205, and then transfers it to the first movable fixture seat 103 or the second movable fixture seat 104 on the rotating fixture platform. By switching the rotating fixture platform, the assembly of the two spring clips 802 is completed in sequence. At the same time, under the control of the first biaxial movable arm 4011, the first main body manipulator 402 moves to the main feeding position to grab the main workpiece 801 and accurately places it on the fixed fixture seat 102. During the grabbing and placing process, the X-axis fine-tuning device 404 can accurately adjust the position of the main workpiece 801 to ensure that its relative position with the spring clip 802 meets the assembly requirements.

[0140] In this embodiment, the assembly mechanism 40 realizes high-precision automated transfer assembly of the main workpiece 801 and the spring piece 802. The first gantry 401 provides a stable motion platform, the first biaxial movable arm 4011, the second biaxial movable arm 4012, the first main body manipulator 402 and the spring piece manipulator 403 ensure the independent transfer assembly of the spring piece 802 and the main workpiece 801, and the X-axis fine-tuning device 404 further improves the assembly accuracy and the reliability of the transfer assembly.

[0141] Reference Figure 7As shown, in one embodiment of the present invention, the first main body manipulator 402 includes a first pivot seat 4021, a first sliding arm 4022, two clamping jaws 4023, a clamping jaw cylinder 4024, a first lifting cylinder 4025 and a first R-axis drive device 4026, the first pivot seat 4021 is arranged on the X-axis fine-tuning device 404, and the first sliding arm 4022 is arranged on the first pivot seat 4021.

[0142] The two clamping jaws 4023 are arranged horizontally opposite to each other at the lower end of the first sliding arm 4022, and each of the clamping jaws has two fingers arranged at intervals. The fingers on the two clamping jaws 4023 correspond to each other to form two pairs of clamping fingers, and the two pairs of clamping fingers are respectively suitable for clamping the two ends of the main workpiece 801. This double-point clamping design not only provides a stable grasping force, but also ensures that the main workpiece 801 remains in a horizontal state during the clamping process, which is convenient for accurate transfer and assembly.

[0143] The first lifting cylinder 4025 is connected to the first sliding arm 4022, and is used to drive the first sliding arm 4022 to move along the Z-axis direction. The clamping cylinder 4024 is connected to the two clamping members 4023, and is used to drive the two clamping members to move relative to each other to grasp or release the main workpiece 801. The first R-axis driving device 4026 is connected to the first pivot seat 4021, and is used to drive the first pivot seat 4021 to rotate around the vertically extending R-axis.

[0144] During the working process, the first lifting cylinder 4025 is first adjusted to a suitable working height, and then rotated to a specified angle under the control of the first R-axis driving device 4026. When reaching the grasping position, the clamping cylinder 4024 drives the two clamping jaws 4023 to move synchronously, and the two pairs of clamping fingers firmly clamp the two ends of the main workpiece 801. Subsequently, under the drive of the first dual-axis moving arm 4011, and in conjunction with the X-axis fine-tuning device 404, the main workpiece 801 is accurately transported to the workpiece position P01 on the fixed fixture seat 102.

[0145] In this embodiment, the first main manipulator 402 realizes reliable grasping and precise positioning of the main workpiece 801 through a multi-degree-of-freedom mechanical structure design. The double-point clamping mechanism ensures the stability of the workpiece, and the R-axis rotation increases the degree of freedom of the assembly process, thereby improving the accuracy and efficiency of the assembly process.

[0146] Reference Figure 8As shown, in one embodiment of the present invention, the spring clip manipulator 403 includes a second pivot seat 4031, a second sliding arm 4032, a suction nozzle 4033, a second lifting cylinder 4034 and a second R-axis drive device 4035, the second pivot seat 4031 is arranged on the second dual-axis movable arm 4012, and the second sliding arm 4032 is arranged on the second pivot seat 4031.

[0147] The suction nozzle 4033 is arranged at the lower end of the second sliding arm 4032 and is suitable for adsorbing the ear 802b of the spring 802. The second lifting cylinder 4034 is connected to the second sliding arm 4032 to drive the second sliding arm 4032 to move along the Z-axis direction. The second R-axis driving device 4035 is connected to the second pivot seat 4031 to drive the second pivot seat 4031 to rotate around the vertically extending R-axis.

[0148] During operation, the second biaxial movable arm 4012 is first used to move to the upper part of the feeding position of the shrapnel 802. Then, under the control of the second lifting cylinder 4034, the suction nozzle 4033 is lowered to an appropriate height, and the vacuum is started to achieve adsorption of the ear 802b of the shrapnel 802. After confirming that the adsorption is reliable, the second lifting cylinder 4034 drives the suction nozzle 4033 to rise, and at the same time, the second R-axis drive device 4035 can adjust the angular position of the shrapnel 802 as needed. Subsequently, the second biaxial movable arm 4012 transports the shrapnel 802 to the designated placement position on the first movable fixture seat 103 or the second movable fixture seat 104, and ensures that the shrapnel 802 can be accurately placed and positioned by precisely controlling the movement of each axis.

[0149] In this embodiment, the shrapnel manipulator 403 realizes the precise grasping, transfer and positioning of the shrapnel 802, and the multi-degree-of-freedom motion control ensures the flexibility and accuracy of the transfer and assembly process, and the coordinated work of various execution components ensures the stability and reliability of the entire operation process.

[0150] Reference Figures 9 and 10 and Fig.13 As shown, in one embodiment of the present invention, the cover plate picking and placing mechanism 50 includes a cover plate 501, a dual-axis motion platform 502, a carrier plate 503, an elastic floating pressure plate 504, a positioning clamp arm mechanism 505 and an unlocking mechanism 506, the top surface of the cover plate 501 is provided with a welding avoidance hole, and the two side surfaces of the cover plate 501 are provided with elastic sliding locks 5011, and the first movable fixture seat 103 is provided with a locking buckle that can be locked with the elastic sliding lock 5011.

[0151] The dual-axis motion platform 502 can move in the Y-axis and Z-axis directions. The carrier plate 503 is arranged on the dual-axis motion platform 502. The elastic floating pressure plate 504 is arranged below the carrier plate 503 and can elastically float relative to the carrier plate 503 in the Z-axis direction to be pressed against the cover plate 501. By driving the dual-axis motion platform 502, the elastic floating pressure plate 504 can be moved to the top of the first movable fixture seat 103.

[0152] The positioning clamp arm mechanism 505 is disposed on both sides of the elastic floating pressure plate 504 and can open and close to clamp or release the cover plate 501. The positioning clamp arm mechanism 505 can clamp the cover plate 501, thereby conveniently moving the cover plate 501 to the top of the first movable fixture seat 103, and after the cover plate 501 is buckled with the first movable fixture seat 103, the positioning clamp arm mechanism 505 can be released on the cover plate 501.

[0153] The unlocking mechanism 506 is arranged on both sides of the elastic floating pressure plate 504 and can push the elastic sliding lock 5011 to move horizontally to release the locking of the cover plate 501 and the locking buckle on the first movable fixture seat 103. After the cover plate 501 is buckled with the first movable fixture seat 103, the cover plate 501 presses the spring piece 802 and the main workpiece 801, and then the welding unloading mechanism 70 is used to weld the welding foot piece of the spring piece 802 on the second movable fixture seat 104 from the welding avoidance hole position on the cover plate 501. After the welding is completed, the cover plate pick-up and placement mechanism 50 needs to be used to remove the cover plate 501 again. At this time, the unlocking mechanism 506 needs to be used to unlock the elastic sliding lock 5011 on the cover plate 501. After unlocking, the cover plate 501 can be grabbed and removed by the positioning clamp arm mechanism 505.

[0154] During the working process, at the stage of taking the cover plate 501, the dual-axis motion platform 502 first drives the entire mechanism assembly to move to the position of the cover plate 501. Then, the elastic floating pressure plate 504 is brought close to the cover plate 501 by the downward movement in the Z-axis direction. When the elastic floating pressure plate 504 contacts the top surface of the cover plate 501, the pressure plate will produce a moderate elastic deformation in the Z-axis direction, thereby applying a suitable pre-tightening force to the cover plate 501. The existence of this pre-tightening force can effectively ensure the position stability of the cover plate 501 in subsequent operations. Then, the positioning clamping arm mechanism 505 on both sides of the elastic floating pressure plate 504 begins to perform the clamping action, forming a stable mechanical clamping effect on the cover plate 501. At the same time, the unlocking mechanism 506 pushes the elastic sliding lock buckle 5011 on both sides of the cover plate 501 to move horizontally, so that it is separated from the locking buckle on the first movable fixture seat 103, thereby releasing the locked state of the cover plate 501. When the lock is released, the dual-axis motion platform 502 moves upward along the Z axis, driving the firmly clamped cover plate 501 to move away from the original position, so that the cover plate 501 is separated from the second movable fixture and removed.

[0155] In the stage of placing the cover plate 501, the dual-axis motion platform 502 first carries the clamped cover plate 501 to the top of the second movable fixture seat 104. Then, the cover plate 501 is gradually approached to the second movable fixture seat 104 through the downward movement of the Z axis. When the cover plate 501 reaches the appropriate position, the elastic sliding lock buckles 5011 on both sides thereof will be precisely aligned and buckled with the locking buckles at the target position. At this time, the positioning clamp arm mechanism 505 performs a release action to release the clamping of the cover plate 501. Finally, the dual-axis motion platform 502 performs a retraction action, and the mechanism is completely separated from the cover plate 501 through the upward movement of the Z axis, and then returns to the standby position through the Y axis movement, completing the entire pick-and-place cycle.

[0156] Through the above working process, the cover plate picking and placing mechanism 50 utilizes the precise control of the dual-axis motion platform 502 in combination with the buffering effect of the elastic floating pressure plate 504 to ensure the stability and reliability of the entire picking and placing process; in addition, the coordinated cooperation of the positioning clamping arm mechanism 505 and the unlocking mechanism 506 realizes the stable clamping and convenient unlocking of the cover plate 501.

[0157] Exemplarily, the positioning clamp arm mechanism 505 may include two clamp arms and a first driving cylinder that drives the two clamp arms to move relative to each other, and the first driving cylinder drives the two clamp arms to move relative to each other to achieve clamping of the cover plate 501. In order to improve the clamping stability, positioning holes may be provided on the opposite sides of the cover plate 501, and positioning protrusions may be provided on the two clamp arms. When the two clamp arms are clamped on the opposite sides of the cover plate 501, the positioning protrusions are inserted into the positioning holes, ensuring that the clamping is more stable and reliable. The unlocking mechanism 506 may include two unlocking arms and a second driving cylinder. The second driving cylinder drives the two unlocking arms to move relative to each other. When the two unlocking arms move inwardly, the two unlocking arms push the two elastic sliding lock buckles 5011 to move relative to each other, thereby releasing the locked state.

[0158] Reference Fig.14 As shown, in one embodiment of the present invention, the ear folding mechanism 60 includes a positioning platform 601, a clamping mechanism 602, a first rotating clamp 603, a second rotating clamp 604, a third driving device 605 and a fourth driving device 606. The positioning platform 601 has a loading position suitable for placing the assembly 80. The size and shape of the loading position are compatible with the assembly 80, which can ensure the positioning accuracy of the assembly 80 during the placement process.

[0159] The clamping mechanism 602 is arranged outside the positioning platform 601 to clamp and fix the assembly 80 at the loading position. Exemplarily, the clamping mechanism 602 includes two rotating arms and a third driving cylinder. The two rotating arms are respectively arranged on both sides of the positioning platform 601. The third driving cylinder drives the two rotating arms to rotate, so that when the rotating arms rotate toward the inner side of the positioning platform 601, the upper ends of the two rotating arms can be clamped on the two ends of the assembly 80 respectively.

[0160] The first rotating clamp 603 is disposed on one side of the positioning platform 601, and is capable of clamping the ear 802b on one of the spring pieces 802 and rotating and breaking the ear 802b. The second rotating clamp 604 is disposed on the other side of the positioning platform 601, and is capable of clamping the ear 802b on another of the spring pieces 802 and rotating and breaking the ear 802b. The second rotating clamp 604 and the first rotating clamp 603 form a second predetermined angle, and the second predetermined angle is equal to the first predetermined angle.

[0161] The third driving device 605 is connected to the first rotating clamp 603 to drive the first rotating clamp 603 to approach or move away from the positioning platform 601. The fourth driving device 606 is connected to the second rotating clamp 604 to drive the second rotating clamp 604 to approach or move away from the positioning platform 601.

[0162] During the working process, the assembly 80 is first placed on the loading position of the positioning table 601 by the welding blanking robot, and is fixed by the clamping mechanism 602; then, the third drive device 605 and the fourth drive device 606 respectively drive the first rotary clamp 603 and the second rotary clamp 604 to move toward the positioning table 601, until the first rotary clamp 603 and the second rotary clamp 604 are accurately positioned at the position of the ear 802b to be broken; then, the first rotary clamp 603 and the second rotary clamp 604 simultaneously clamp their corresponding ears 802b and perform rotational motion, so that the ear 802b is broken at a predetermined position and discarded through force deformation, completing the entire ear folding process.

[0163] Through the above design, the ear folding mechanism 60 ensures the stability of the assembly 80 during the ear folding process through the cooperation of the positioning platform 601 and the clamping mechanism 602; and the cooperation of the first rotary clamp 603, the second rotary clamp 604 and the third drive device 605 and the fourth drive device 606 ensures that the ear folding operation is completed automatically, and the operation process is stable and reliable.

[0164] Reference Figure 11 to Figure 12As shown, in one embodiment of the present invention, the welding unloading mechanism 70 includes a second gantry 701, a welding robot 702 and a second main body robot 703, the second gantry 701 has a third two-axis movable arm 7011 and a fourth two-axis movable arm 7012, and the third two-axis movable arm 7011 and the fourth two-axis movable arm 7012 are both movable along the Y-axis and Z-axis directions.

[0165] The welding robot 702 is disposed on the third dual-axis movable arm 7011 to weld the spring piece 802 to the main workpiece 801. The second main body robot 703 is disposed on the fourth dual-axis movable arm 7012 to grab and transfer the assembly 80 and transfer the welded assembly 80 to the ear folding mechanism 60.

[0166] In this embodiment, the welding robot 702 is used to perform welding operations on the spring piece 802. After the welding is completed, the second main robot 703 is used to transfer the assembly 80 to the ear folding mechanism 60. In this way, the whole process is ensured to be more orderly and the overall efficiency is improved.

[0167] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0168] The above description is only a preferred embodiment of the present invention, and does not limit the patent scope of the present invention. All equivalent structural changes made by using the contents of the present invention specification and drawings under the inventive concept of the present invention, or directly / indirectly applied in other related technical fields are included in the patent protection scope of the present invention.

Claims

1. A spring piece pre-assembly welding machine, used to weld two spring pieces to a main workpiece, characterized in that: The spring piece includes a body and an ear connected to the body and used for grasping, the body has a welding foot piece, and the spring piece pre-assembly welding machine includes: A fixture mechanism, the fixture mechanism comprising an X-axis motion module and a rotating fixture platform provided on the X-axis motion module; A spring feeding mechanism, which is arranged at one end of the X-axis motion module and located on one side of the X-axis motion module, and is used to provide the spring; A main body feeding mechanism, which is arranged at one end of the X-axis motion module and located at the other side of the X-axis motion module, and is used to provide the main body workpiece; An assembly mechanism, which is disposed adjacent to the jig mechanism and is used to transfer the spring pieces in the spring piece feeding mechanism to the rotating jig platform, and to transfer the main body workpiece in the main body feeding mechanism to the rotating jig platform; A cover plate picking and placing mechanism, which is arranged at the other end of the X-axis motion module and is used to press and fix the two spring sheets and the main workpiece on the rotating fixture platform after the welding legs of the two spring sheets are assembled to the predetermined positions on the main workpiece; An ear folding mechanism, which is arranged at the other end of the X-axis motion module and located on one side of the X-axis motion module, and is used to break and remove the ears of the two spring pieces after the two spring pieces are welded to the main workpiece; The welding unloading mechanism is arranged at the other end of the X-axis motion module, and is used to weld the spring piece and the main workpiece to form an assembly, and after welding, the assembly is transferred to the ear folding mechanism so that the ear of the spring piece can be broken and removed by the ear folding mechanism.

2. The shrapnel pre-assembly welding machine according to claim 1, characterized in that: The rotating fixture platform comprises: A bracket, the bracket being arranged on the X-axis motion module, and the bracket being provided with a carrier that can pivot around an X-axis line; A fixed fixture seat, the fixed fixture seat is arranged on the carrier, and the fixed fixture seat has a workpiece position suitable for placing the main workpiece; A first movable fixture seat, the first movable fixture seat is arranged on the carrier, and the first movable fixture seat has a first spring piece placement position suitable for placing one of the spring pieces; A second movable fixture seat, the second movable fixture seat is arranged on the carrier and forms a first predetermined angle with the first movable fixture seat, and the second movable fixture seat has a second spring piece placement position suitable for placing another spring piece; A first driving device, the first driving device is connected to the first movable fixture seat, and is used to drive the first movable fixture seat to slide toward the fixed fixture seat, so that the welding foot piece of the spring piece is assembled to a first welding position on the main workpiece; A second driving device, the second driving device is connected to the second movable fixture seat, and is used to drive the second movable fixture seat to slide toward the fixed fixture seat, so that the welding foot piece of the spring piece is assembled to a second welding position on the main workpiece; A rotation driving device is connected to the carrier to drive the carrier to rotate, thereby switching the first movable fixture seat or the second movable fixture seat to a horizontal state.

3. The shrapnel pre-assembly welding machine according to claim 1, characterized in that: The shrapnel feeding mechanism comprises: A material unwinding mechanism for loading the wound spring sheet material strip; A material moving mechanism, the material moving mechanism and the material discharging mechanism are arranged at intervals in the X-axis direction, and are used to move the spring sheet material belt of the material discharging mechanism along the X-axis direction, and make the material discharging mechanism gradually discharge the material; A punching mechanism, which is arranged between the material unloading mechanism and the material shifting mechanism and is used for punching out the spring pieces on the spring piece material strip to form a single spring piece; A material suction mechanism, which is arranged below the punching mechanism and can move along the Y-axis direction to remove the spring pieces punched by the punching mechanism from the punching mechanism; The flipping mechanism is arranged at intervals with the suction mechanism in the X-axis direction and can move along the X-axis direction, and is used to grab the spring sheet on the suction mechanism and flip it 180 degrees so that the spring sheet faces upward.

4. The shrapnel pre-assembly welding machine according to claim 3, characterized in that: The stamping mechanism comprises a stamping die, and a feeding hole is provided at the bottom of the stamping die; The suction mechanism includes a dual-axis motion module and a suction head. The dual-axis motion module can move in the Y-axis and Z-axis directions. The suction head is arranged on the dual-axis motion module, and the top surface of the suction head is provided with a positioning groove adapted to the spring sheet. Driven by the dual-axis motion module, the suction head can be inserted into the feed hole, adsorb the punched spring sheet into the positioning groove, and move it out of the stamping mechanism.

5. The shrapnel pre-assembly welding machine according to claim 1, characterized in that: The assembly mechanism comprises: A first gantry, wherein the first gantry has a first two-axis movable arm and a second two-axis movable arm, and the first two-axis movable arm and the second two-axis movable arm are movable along the Y-axis and the Z-axis directions; A first main body manipulator, the first main body manipulator is arranged on the first dual-axis movable arm, and is used to grasp the main workpiece; A shrapnel manipulator, which is arranged on the second dual-axis movable arm and is used to grab the shrapnel; An X-axis fine-tuning device is provided on the first dual-axis movable arm and is connected to the main body manipulator to drive the first main body manipulator to perform fine-tuning movement in the X-axis direction.

6. The shrapnel pre-assembly welding machine according to claim 5, characterized in that: The first main body manipulator includes a first pivot seat, a first sliding arm, two clamping claws, a clamping claw cylinder, a first lifting cylinder and a first R-axis driving device, the first pivot seat is arranged on the X-axis fine-tuning device, and the first sliding arm is arranged on the first pivot seat; The two clamping jaws are arranged opposite to each other at the lower end of the first sliding arm in the horizontal direction, each of the clamping jaws has two fingers arranged at intervals, and the fingers on the two clamping jaws correspond to each other to form two pairs of clamping fingers, and the two pairs of clamping fingers are respectively suitable for clamping the two ends of the main workpiece; The first lifting cylinder is connected to the first sliding arm to drive the first sliding arm to move along the Z-axis direction. The clamping cylinder is connected to the two clamping members to drive the two clamping members to move relative to each other to grasp or release the main workpiece. The first R-axis driving device is connected to the first pivot seat to drive the first pivot seat to rotate around the vertically extending R-axis.

7. The shrapnel pre-assembly welding machine according to claim 5, characterized in that: The spring sheet manipulator comprises a second pivot seat, a second sliding arm, a suction nozzle, a second lifting cylinder and a second R-axis driving device, wherein the second pivot seat is arranged on the second dual-axis movable arm, and the second sliding arm is arranged on the second pivot seat; The suction nozzle is arranged at the lower end of the second sliding arm and is suitable for sucking the ear of the spring sheet. The second lifting cylinder is connected to the second sliding arm to drive the second sliding arm to move along the Z-axis direction. The second R-axis driving device is connected to the second pivot seat to drive the second pivot seat to rotate around the vertically extending R-axis.

8. The shrapnel pre-assembly welding machine according to claim 2, characterized in that: The cover plate taking and placing mechanism comprises: A cover plate, wherein a welding avoidance hole is provided on the top surface of the cover plate, elastic sliding lock buckles are provided on both sides of the cover plate, and a locking buckle capable of locking with the elastic sliding lock buckle is provided on the first movable fixture seat; Dual-axis motion platform, capable of moving in the Y-axis and Z-axis directions; A carrier plate, the carrier plate being arranged on the biaxial motion platform; An elastic floating pressure plate, which is arranged below the carrier plate and can elastically float relative to the carrier plate in the Z-axis direction to be pressed against the cover plate; A positioning clamp arm mechanism, which is disposed on both sides of the elastic floating pressure plate and can open and close to clamp or release the cover plate; The unlocking mechanism is arranged on both sides of the elastic floating pressure plate and can push the elastic sliding lock buckle to move horizontally to release the lock between the cover plate and the locking buckle on the first movable fixture seat.

9. The shrapnel pre-assembly welding machine according to claim 2, characterized in that: The ear folding mechanism comprises: A positioning platform, the positioning platform having a loading position suitable for placing the assembly; A clamping mechanism, which is arranged on the outside of the positioning platform and is used to clamp and fix the assembly at the loading position; A first rotating clamp, which is disposed on one side of the positioning platform and is capable of clamping an ear on the spring sheet and rotating to break the ear; a second rotating clamp, the second rotating clamp being arranged at the other side of the positioning platform and being capable of clamping the ear on the other spring sheet and rotating to break the ear, the second rotating clamp and the first rotating clamp forming a second predetermined angle, the second predetermined angle being equal to the first predetermined angle; a third driving device, the third driving device being connected to the first rotating clamp and being used for driving the first rotating clamp to move closer to or away from the positioning platform; A fourth driving device is connected to the second rotary clamp and is used to drive the second rotary clamp to move closer to or away from the positioning platform.

10. The shrapnel pre-assembly welding machine according to claim 1, characterized in that: The welding blanking mechanism comprises: A second gantry, wherein the second gantry has a third two-axis movable arm and a fourth two-axis movable arm, and the third two-axis movable arm and the fourth two-axis movable arm are movable along the Y-axis and the Z-axis directions; A welding manipulator, which is arranged on the third dual-axis movable arm and is used to weld the spring piece and the main workpiece; The second main body robot is arranged on the fourth dual-axis movable arm and is used for grasping and transferring the assembly.

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