Coil spring fully automatic feeding and assembly equipment

Abstract

The invention discloses a fully automatic loading and assembling device for coil springs, comprising a frame assembly table, a clip loading device, a feeding rotating mechanism, a loading and grabbing truss, a product positioning mechanism and an automatic material taking manipulator, a loading and grabbing truss is arranged in the middle of the frame assembly table, a feeding rotating mechanism is arranged directly below the loading and grabbing truss, the feeding rotating mechanism is directly opposite to the clip loading device, the clip loading device comprises a plurality of drum-type silos; a plurality of rows of coil spring workpieces are clamped on each drum-type silo, the feeding rotating mechanism can drive the drum-type silo to rotate, the feeding rotating mechanism divides and shifts the coil spring workpieces in the drum-type silo, the loading and grabbing truss grabs the coil spring workpiece after shifting and puts it into the product positioning mechanism, an automatic material taking manipulator is arranged on one side of the product positioning mechanism, the product positioning mechanism rotates and positions the coil spring workpiece, and the automatic material taking manipulator takes away the coil spring workpiece after positioning; the equipment can realize the automatic assembly of coil springs, the assembly efficiency is high, and the quality of finished products is stable.

Description

Technical Field

[0001] The invention belongs to the field of automatic assembly of automobile interior decoration in automobile manufacturing industry, and in particular relates to a fully automatic feeding and assembly device for coil springs. Background Art

[0002] Automotive interior parts are one of the important factors that determine the brand image of an automobile. In the era of smart cars, cars are gradually becoming the third space for people after their homes and offices, so users have higher and higher requirements for human-vehicle interaction. The cup holder in the car is one of the important interior parts. The sliding door assembly with automatic reset function above the cup holder is used in more and more car models. The automatic reset sliding door can open and cover the cup holder, which is convenient for placing water cups. When there is no water cup, it can cover the cup holder area to keep the interior of the car clean and tidy. In the sliding door assembly, the coil spring reset mechanism responsible for automatic reset is the core component. The coil spring is a cylindrical structure set on the shaft, but the end sheet on the coil spring is an upwardly tilted structure. Therefore, there are difficulties in the coil spring feeding and assembly process. First, the automated equipment cannot accurately pick up and clamp the coil spring during feeding, and it is not easy for the robot to properly protect the tilted coil spring sheet. Improper force during feeding can easily cause deformation of the coil spring sheet. Second, positioning is difficult. The coil spring sheets will eventually be fed in the same posture. However, due to the unstable center of gravity caused by the tilted coil spring sheet, the shape of the coil spring cannot be kept consistent during the feeding process. Therefore, the coil spring must be further positioned before assembly and feeding can be carried out, but the existing equipment lacks such positioning equipment. In view of the above problems, the current assembly method mostly adopts manual assembly, which is inefficient and prone to misassembly, missing assembly and inadequate assembly. The finished product has poor stability and requires additional labor for re-inspection and testing, which wastes manpower and has high production costs. Therefore, it is necessary to improve the existing assembly method. Summary of the invention

[0003] In response to the above-mentioned problems and technical requirements, the present invention provides a fully automatic loading and assembly equipment for coil springs, which can realize fully automatic loading and positioning verification of coil springs, so that the coil springs can be grabbed by the robot arm of the assembly system in the same assembly and loading posture, thereby realizing automated assembly, and has the advantages of high assembly efficiency and stable finished product quality.

[0004] The technical scheme of the present invention is as follows: a fully automatic coil spring feeding and assembly device, comprising a frame assembly table, a clip feeding device, a feeding rotating mechanism, a feeding grabbing truss, a product positioning mechanism and an automatic material taking manipulator, a feeding grabbing truss is arranged along the X-axis in the middle of the frame assembly table, a feeding rotating mechanism is arranged directly below the feeding grabbing truss, the feeding rotating mechanism moves along the X-axis, the feeding rotating mechanism is directly opposite to the clip feeding device, the clip feeding device comprises a plurality of drum-type silos, the drum-type silos can slide along the Y-axis close to or away from the feeding rotating mechanism; each drum-type silo has an outer Multiple rows of coil spring workpieces are clamped on the circumferential surface. When the drum-type hopper is close to the feeding rotating mechanism, the feeding rotating mechanism can drive the drum-type hopper to rotate. The feeding rotating mechanism divides and shifts the coil spring workpieces in the drum-type hopper. The loading and grabbing truss grabs the individual coil spring workpieces after shifting and puts them into the product positioning mechanism. The product positioning mechanism is arranged on the table on the front side of the loading and grabbing truss. An automatic material picking manipulator is arranged on one side of the product positioning mechanism. The product positioning mechanism rotates and positions the coil spring workpiece, and the automatic material picking manipulator takes away the coil spring workpiece after positioning.

[0005] Furthermore, the magazine loading device includes a fixed base plate, a Y-axis linear module, a slide plate and a drum-type material bin. The table top of the frame assembly table is hollow in the middle, and the fixed base plate is suspended and connected to the hollow table top. A group of Y-axis linear modules are respectively provided on the left and right sides of the fixed base plate, and each Y-axis linear module is connected to a slide plate. Two drum-type material bins are arranged side by side on the slide plate. The slide plate drives the drum-type material bin to move along the Y-axis. The bottom of the drum-type material bin is rotatably connected to the slide plate. An upper rotating hole is opened on the slide plate at the connection with the slide plate. Four lower rotating holes corresponding to the upper rotating holes are provided at the front of the fixed base plate. When the slide plate drives the drum-type material bin to slide forward, so that the positions of the upper rotating holes and the lower rotating holes correspond, the feeding rotating mechanism can pass through the lower rotating holes and the upper rotating holes from below to rotate the drum-type material bin.

[0006] Furthermore, the drum-type hopper includes a drum base, an axial workpiece groove, a guide bar and a coil spring shock-absorbing assembly. The drum base is cylindrical, and a plurality of groups of axial workpiece grooves are evenly arranged on the outer circumference of the drum base. Each group of axial workpiece grooves includes two opposite fixed baffles, and the fixed baffles are fixedly connected to the circumference of the drum base by a row of screws. A layer of guide bar is provided on the inner side of each fixed baffle, and the guide bar is made of plastic. A slide groove is axially arranged in the middle of the guide bar. A plurality of coil spring workpieces are axially arranged and stacked in the axial workpiece groove. The fixed shafts extending from both ends of the coil spring workpiece are slidably connected in the slide grooves of the guide bars on both sides, and the coil spring workpiece can slide up and down in the axial workpiece groove.

[0007] Furthermore, the coil spring shock absorber assembly is arranged at the bottom of the axial workpiece groove, and the coil spring shock absorber assembly includes a top plate, a bottom plate, a spring and a guide rod. The bottom plate is fixedly blocked at the bottom ends of the two fixed baffles, and the top plate is arranged above the bottom plate in parallel with the bottom plate. The top plate and the bottom plate are connected by a spring, and guide rods are arranged on both sides of the spring. The upper end of the guide rod is fixedly connected to the bottom surface of the top plate, and the guide rod is movably connected to the bottom plate. The lower end of the guide rod is connected to a limiting nut, and the bottom plate limits the guide rod by the limiting nut, and the coil spring workpiece loaded into the axial workpiece groove falls to the bottom and is supported by the top plate.

[0008] Furthermore, the feeding rotating mechanism includes an X-axis servo transfer module, a support plate, a servo rotation module, a Z-axis drive module and a material discharging cylinder assembly. The X-axis servo transfer module is arranged below the fixed bottom plate, the support plate is connected to the X-axis servo transfer module, the X-axis servo transfer module drives the support plate to slide along the X-axis, and a servo rotation module and a vertical bracket are staggered along the Y-axis direction on the support plate. The servo rotation module corresponds to the position of the lower rotating hole opened on the fixed bottom plate, and the servo rotation module can move up and down. After rising, the servo rotation module can pass through the lower rotating hole and the upper rotating hole to rotate the drum-type silo around its axis by a certain angle; there is a vertical bracket provided on the vertical bracket. The Z-axis driving module, the material-shifting cylinder assembly is connected to the Z-axis driving module, the material-shifting cylinder assembly includes a Y-axis cylinder and a material-shifting plate, the material-shifting plate is connected to the front end of the Y-axis cylinder, the Y-axis cylinder drives the material-shifting plate to automatically extend and retract in the Y-axis direction, separates the top layer of the coiled spring workpiece in the axial workpiece slot in the drum-type silo from the coiled spring workpiece below it, and shifts the top layer of the coiled spring workpiece upward to the top of the axial workpiece slot, the top of the axial workpiece slot is open, and the coiled spring workpiece is filled in or leaves the axial workpiece slot from the top; a laser detection sensor is also provided on the top of the vertical bracket, the laser detection sensor emits light along the Y-axis to the drum-type silo to detect the presence of the drum-type silo.

[0009] Furthermore, the feeding and grabbing truss includes supporting columns, trusses and clamping claw cylinders. The supporting columns at the four corners support the truss above the magazine feeding device. An X-axis linear module is provided on the feeding and grabbing truss. The X-axis linear module is connected to a Z-axis bracket. The bottom of the Z-axis bracket is connected to a Y-axis linear module. The clamping claw cylinder is connected to the Y-axis linear module. The clamping claw cylinder can move freely along the X-axis, Y-axis and Z-axis. The front end of the clamping claw cylinder is connected to a material picking claw. The material picking claw clamps the two ends of the fixed axis of the coil spring workpiece from the top of the axial workpiece groove to transfer the coil spring workpiece to the product positioning mechanism.

[0010] Furthermore, the product positioning mechanism includes an installation base, a lifting material receiving platform, a clamping and positioning component, a rotating edge-finding mechanism and an edge-finding sensor. The installation base is fixedly arranged on the table top of the frame assembly table. A lifting material receiving platform is provided on one side of the installation base. The coil spring workpiece is placed on the lifting material receiving platform. The fixed axis of the coil spring workpiece is parallel to the X-axis. A rotating edge-finding mechanism is provided on the left side of the lifting material receiving platform. The rotating edge-finding mechanism can clamp the fixed axis of the coil spring workpiece for rotation. The front and rear sides of the lifting material receiving platform along the Y-axis are respectively provided with a clamping and positioning component and an edge-finding sensor. The front end of the clamping and positioning component is provided with a clamping claw aligned with the fixed axes on both sides of the coil spring workpiece. The clamping claw can be lifted up and down. The clamping claw can clamp the end of the fixed axis to fix the coil spring workpiece; the lifting material receiving platform drives the coil spring workpiece to lift up and down. During the rotation of the coil spring workpiece, the edge-finding sensor can identify the coil spring sheet that is raised on the outer periphery of the coil spring workpiece.

[0011] Furthermore, the rotary edge-finding mechanism includes an X-axis cylinder, a material moving platform, a flipping cylinder and a clamping cylinder. The X-axis cylinder is fixedly connected to the mounting base plate, and the mounting base plate is also provided with an X-axis slide rail. The material moving platform is simultaneously connected to the X-axis slide rail and the X-axis cylinder. The material moving platform is provided with a flipping cylinder, and the clamping cylinder is connected to the flipping cylinder. The clamping claw at the front end of the clamping claw cylinder can move telescopically. The clamping claw cylinder can clamp the fixed axis of the coil spring workpiece placed on the lifting material receiving platform. The clamping claw cylinder drives the coil spring workpiece to rotate along the axis center, so that the raised coil spring sheet on the coil spring workpiece is identified by the edge-finding sensor; an NG product recovery pipe mouth is also provided on the outer side of the rotary edge-finding mechanism, and the flipping cylinder can flip the clamping claw cylinder outward, and the clamping claw cylinder puts the clamped NG product into the NG product recovery pipe mouth; a CCD light source is also provided on the outer side of the lifting material receiving platform, and the CCD light source is connected to the mounting base plate through a fixed rod, and the CCD light source illuminates the lifting material receiving platform.

[0012] Furthermore, the automatic material picking robot includes a four-axis robot, a lifting rod and a coil spring clamp assembly, and the coil spring clamp assembly is connected to the front end of the four-axis robot through the lifting rod; the coil spring clamp assembly includes a horizontal bracket, a CCD camera and a flexible positioning clamp, the middle part of the horizontal bracket is connected to the lifting rod, the tail of the horizontal bracket is connected to the CCD camera, and the flexible positioning clamp is arranged at the front end of the horizontal bracket. The flexible positioning clamp can clamp the coil spring sheet that is raised on the coil spring workpiece between the clamping jaws of the clamping positioning assembly, so that the fixed axes on both sides of the coil spring workpiece are loosened, and the CCD camera is aimed at the coil spring workpiece in front.

[0013] Furthermore, the flexible positioning clamp includes a clamping cylinder, an upper clamp and a lower clamp. The shapes of the upper clamp and the lower clamp correspond to the upper and lower surfaces of the coil spring sheet. Positioning columns are provided on the opposite surfaces of the upper clamp and the lower clamp. A process hole is processed on the front section of the coil spring sheet on the coil spring workpiece. When the clamping cylinder drives the upper clamp and the lower clamp to close and clamp the coil spring sheet, the positioning column is correspondingly embedded in the process hole. The surfaces of the upper clamp and the lower clamp that are in contact with the coil spring sheet are both made of polyurethane. A vertical cylinder is also provided at the front end of the horizontal bracket. A U-shaped positioning groove is provided at the lower end of the vertical cylinder. The U-shaped positioning groove is driven by the vertical cylinder to extend downward, and the U-shaped positioning groove just blocks the outer side of the two end surfaces of the coil spring workpiece.

[0014] The beneficial effects of the present invention are as follows: 1) A drum-type hopper is used to store coil spring workpieces. The servo rotation of the drum base can align different axial workpiece slots with the feeding rotating mechanism, which is convenient for switching the workpiece slots. The guide bars on both sides of the axial workpiece slot are detachable. The guide bars can be freely replaced according to the size of the coil spring workpiece, so that the slide slots of the guide bars are adapted to the size of the coil spring workpiece. In order to prevent the workpieces from being overweight and crushing the bottom workpieces after multiple layers are stacked in the vertical direction, a coil spring shock-absorbing assembly is arranged at the bottom of the axial workpiece slot. The spring can play a good shock-absorbing and buffering role, protect the coil spring workpiece, and prevent the workpieces from being deformed by excessive compression due to excessive stacking; The feeding rotating mechanism is arranged between the magazine feeding device and the feeding grabbing truss, and plays the role of dividing and shifting materials. The shifting plate at the front end of the shifting cylinder assembly can extend into the axial workpiece slot to separate the upper and lower coil spring workpieces, and lift the upper coil spring workpiece to slide upward. Since the shifting cylinder assembly can move freely in the X-axis, Y-axis and Z-axis directions, and the servo rotation module can also drive each drum-type silo to rotate, the shifting plate can cooperate with all axial workpiece slots in all drum-type silos to complete the upward shifting action, and assist the feeding grabbing truss to clamp and take materials; The product positioning mechanism can position and calibrate the coil spring workpiece placed therein, so that the coil spring workpiece can be clamped by the automatic material taking robot in a fixed posture. Since the final assembly of the coil spring workpiece is achieved through the fixed shafts on both sides of it, when the coil spring workpiece is taken away by the robot, the robot cannot clamp the coil spring workpiece through the fixed shafts, but can only clamp it through the coil spring pieces that are raised on the coil spring workpiece. The rotating edge-finding mechanism and the edge-finding sensor cooperate to accurately identify the coil spring pieces with raised edges during the rotation of the coil spring workpiece and keep the coil spring pieces in a fixed posture. The clamping and positioning assembly clamps the fixed shafts on both sides of the coil spring workpiece to keep the coil spring workpiece in this posture, and also keeps stable during the process of the flexible positioning jaws approaching to clamp the coil spring pieces, so as to avoid damage to the coil spring pieces during the clamping process. Flexible positioning clamps are used to clamp materials. Since the installation position is the fixed axis of the coiled spring workpiece, the clamping method can only clamp the coiled spring sheet. Because the thickness of the coiled spring sheet is 0.1mm thin, excessive force will cause the product to be clamped and deformed, and too little force will cause unstable clamping. Therefore, the clamp adopts a contoured design. The shapes of the upper and lower clamps correspond to the upper and lower surfaces of the coiled spring sheet, and the product's own process holes are used for positioning. The contact surface with the product is made of polyurethane, and the Shore hardness range of the material is 85A-90A, which not only ensures that the clamp has a certain clamping force, but also reduces the deformation of the coiled spring sheet due to excessive force. The clamp cylinder can ensure the stability of the output pressure. The automatic material-retrieving manipulator is used to participate in the next step of assembly, which has the characteristics of high precision, strong flexibility, high safety and easy connection with other equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 This is the overall structure diagram of the fully automatic feeding and assembling equipment for coil springs of the present invention; Figure 2 It is a structural diagram of the magazine feeding device; Figure 3 This is a structural diagram of a drum-type silo; Figure 4 This is an enlarged view of the bottom structure of the drum-type silo; Figure 5 It is the coordination diagram of the feeding rotating mechanism and the magazine loading device; Figure 6 It is the structural diagram of the feeding rotating mechanism; Figure 7 This is the structural diagram of the loading and grabbing truss; Figure 8 The layout diagram of the product positioning mechanism, automatic material taking robot and NG product recovery nozzle; Fig. 9 A structural diagram of the product positioning mechanism; Fig.10 This is the structural diagram of the automatic material-retrieving manipulator; Fig.11 is a structural diagram of a coiled spring clamp assembly; Fig.12 It is the matching diagram of the flexible positioning clamp and the process hole on the coil spring workpiece; The markings in the figure are: frame assembly table 1, magazine loading device 2, fixed bottom plate 21, lower rotating hole 211, Y-axis linear module 22, slide plate 23, drum type magazine 24, drum base 241, axial workpiece groove 242, fixed stop bar 2421, guide bar 243, slide groove 2431, coil spring workpiece 244, coil spring damping assembly 245, top plate 2451, bottom plate 2452, spring 2453, guide rod 2454, limit nut 2455; Feeding rotating mechanism 3, X-axis servo transfer module 31, support plate 32, servo rotation module 33, Z-axis drive module 34, material shifting cylinder assembly 35, Y-axis cylinder 351, material shifting plate 352, laser detection sensor 36; Feeding and grabbing truss 4, supporting column 41, truss 42, X-axis linear module 43, Z-axis bracket 44, Y-axis linear module 45, clamping claw cylinder 46, material grabbing claw 461; Product positioning mechanism 5, mounting base plate 51, CCD light source 511, lifting material receiving platform 52, clamping positioning assembly 53, clamping claw 531, rotating edge finding mechanism 54, X-axis cylinder 541, material moving platform 542, flip cylinder 543, clamping claw cylinder 544, X-axis slide rail 545, edge finding sensor 55, NG product recovery nozzle 6; Automatic material picking manipulator 7, four-axis robot 71, lifting rod 72, yellow film rolling clamp assembly 73, horizontal bracket 74, vertical cylinder 741, U-shaped positioning groove 742, CCD camera 75, flexible positioning clamp 76, clamp cylinder 761, upper clamp 762, lower clamp 763, positioning column 764, process hole 765. DETAILED DESCRIPTION

[0016] The present invention is further described below in conjunction with the accompanying drawings and embodiments.

[0017] like Figure 1-12 The figure shows the fully automatic loading and assembly equipment of the coil spring of the present invention, including a frame assembly table 1, a clip loading device 2, a feeding rotating mechanism 3, a loading grabbing truss 4, a product positioning mechanism 5 and an automatic material picking manipulator 7. A loading grabbing truss 4 is provided in the middle of the table top of the frame assembly table 1 along the X-axis, and a feeding rotating mechanism 3 is provided directly below the loading grabbing truss 4. The feeding rotating mechanism 3 moves along the X-axis, and the feeding rotating mechanism 3 is directly opposite to the clip loading device 2. The clip loading device 2 includes a plurality of drum-type silos 24, and the drum-type silos 24 can slide along the Y-axis to approach or move away from the feeding rotating mechanism 3.

[0018] The magazine loading device 2 includes a fixed base plate 21, a Y-axis linear module 22, a slide plate 23 and a drum-type silo 24. The middle part of the table top of the frame assembly table 1 is hollow, and the fixed base plate 21 is suspended and connected to the hollow table top. A group of Y-axis linear modules 22 are respectively provided on the left and right sides of the fixed base plate 21, and each Y-axis linear module 22 is connected to a slide plate 23. Two drum-type silos 24 are arranged side by side on the slide plate 23. The slide plate 23 drives the drum-type silos 24 to move along the Y-axis. The bottom of the drum-type silo 24 is rotatably connected to the slide plate 23. An upper rotating hole (not shown) is opened on the slide plate 23 at the connection with the slide plate. Four lower rotating holes 211 corresponding to the upper rotating holes are provided at the front part of the fixed base plate 21. When the slide plate 23 drives the drum-type silo 24 to slide forward, so that the positions of the upper rotating holes and the lower rotating holes correspond, the feeding rotating mechanism 3 can pass through the lower rotating holes 211 and the upper rotating holes from below to rotate the drum-type silo 24.

[0019] A plurality of rows of coil spring workpieces 244 are clamped on the outer circumference of each drum-type hopper 24. Specifically, the drum-type hopper 24 includes a drum base 241, an axial workpiece groove 242, a guide bar 243 and a coil spring damping assembly 245. The drum base 241 is cylindrical, and a plurality of groups of axial workpiece grooves 242 are evenly arranged on the outer circumference of the drum base 241. Each group of axial workpiece grooves 242 includes two opposite fixed baffles 2421. The fixed baffles 2421 and the drum base 241 are fixed to each other. The circumferential surface is fixedly connected by a row of screws, and a layer of guide strip 243 is provided on the inner side of each fixed baffle strip 2421. The guide strip 243 is made of plastic. A slide groove 2431 is axially provided in the middle of the guide strip 243. A plurality of coil spring workpieces 244 are axially arranged and stacked in the axial workpiece groove 242. The fixed shafts extending from both ends of the coil spring workpiece 244 are slidably connected in the slide grooves 2431 of the guide strips 243 on both sides, and the coil spring workpiece 244 can slide up and down in the axial workpiece groove 242. The coil spring shock absorber assembly 245 is arranged at the bottom of the axial workpiece groove 242, and the coil spring shock absorber assembly 245 includes a top plate 2451, a bottom plate 2452, a spring 2453 and a guide rod 2454. The bottom plate 2452 is fixedly blocked at the bottom end of the two fixed blocking bars 2421, and the top plate 2451 is arranged above the bottom plate 2452 in parallel. The top plate 2451 and the bottom plate 2452 are connected by a spring 2453, and guide rods 2454 are arranged on both sides of the spring 2453. The upper end of the guide rod 2454 is fixedly connected to the bottom surface of the top plate 2451, and the guide rod 2454 is movably connected to the bottom plate 2452. The lower end of the guide rod 2454 is connected to a limiting nut 2455, and the bottom plate 2452 limits the guide rod 2454 through the limiting nut 2455. The coil spring workpiece loaded into the axial workpiece groove 242 falls to the bottom and is supported by the top plate 2451.

[0020] When the drum-type hopper 24 is close to the feeding rotating mechanism 3, the feeding rotating mechanism 3 can drive the drum-type hopper 24 to rotate, and the feeding rotating mechanism 3 performs material separation and material shifting operations on the coil spring workpiece 244 in the drum-type hopper 24. The feeding rotating mechanism 3 includes an X-axis servo transfer module 31, a support plate 32, a servo rotation module 33, a Z-axis drive module 34 and a material shifting cylinder assembly 34. The X-axis servo transfer module 31 is arranged below the fixed base plate 21, and the support plate 32 is connected to the X-axis servo transfer module 31. The X-axis servo transfer module 31 drives the support plate 32 to slide along the X-axis. The support plate 32 is staggered with a servo rotation module 33 and a vertical bracket along the Y-axis direction. The servo rotation module 33 corresponds to the position of the lower rotating hole 211 opened on the fixed base plate 21, and the servo rotation module 33 can move up and down. The servo rotation module 33 after rising can pass through the lower rotating hole 211 and the upper rotating hole 211. hole, and rotates the drum-type silo 24 around its axial direction by a certain angle; a Z-axis driving module 34 is provided on the vertical bracket, and a material-discharging cylinder assembly 35 is connected to the Z-axis driving module 34. The material-discharging cylinder assembly 35 includes a Y-axis cylinder 351 and a material-discharging plate 352. The material-discharging plate 352 is connected to the front end of the Y-axis cylinder 351, and the Y-axis cylinder 351 drives the material-discharging plate 352 to automatically extend and retract in the Y-axis direction, so as to separate the top layer of the coil spring workpiece 244 in the axial workpiece groove 242 in the drum-type silo 24 from the coil spring workpiece below it, and toggle the top layer of the coil spring workpiece to move upward to the top end of the axial workpiece groove 242, and the top end of the axial workpiece groove 242 is opened, and the coil spring workpiece 244 is filled into or leaves the axial workpiece groove 242 from the top end; a laser detection sensor 36 is also provided on the top of the vertical bracket, and the laser detection sensor 36 emits light along the Y-axis to the drum-type silo 24 to detect the position of the drum-type silo 24.

[0021] The loading and grabbing truss 4 grabs the separate coil spring workpiece 244 after the material is transferred and places it into the product positioning mechanism 5. The product positioning mechanism 5 is arranged on the table on the front side of the loading and grabbing truss 4. The loading and grabbing truss 4 includes a supporting column 41, a truss 42 and a clamping cylinder 46. The supporting columns 41 at the four corners support the truss 42 above the clip feeding device 2. The loading and grabbing truss 4 is provided with an X-axis linear module 43. The X-axis linear module 43 is connected to a Z-axis bracket 44. The bottom of the Z-axis bracket 44 is connected to a Y-axis linear module 45. The clamping cylinder 46 is connected to the Y-axis linear module 45. The clamping cylinder 46 can move freely along the X-axis, Y-axis and Z-axis. The front end of the clamping cylinder 46 is connected to a material picking clamp 461. The material picking clamp 461 clamps the two ends of the fixed axis of the coil spring workpiece from the top of the axial workpiece groove 242 to transfer the coil spring workpiece 244 to the product positioning mechanism 5.

[0022] An automatic material picking robot 7 is provided on one side of the product positioning mechanism 5. The product positioning mechanism 5 performs rotational positioning on the coil spring workpiece, and the automatic material picking robot 7 takes away the coil spring workpiece after positioning. The product positioning mechanism 5 includes a mounting base plate 51, a lifting material receiving platform 52, a clamping positioning assembly 53, a rotating edge finding mechanism 54 and an edge finding sensor 55. The mounting base plate 51 is fixedly arranged on the table of the frame assembly table 1. A lifting material receiving platform 52 is provided on one side of the mounting base plate 51. The coil spring workpiece 244 is placed on the lifting material receiving platform 52. The fixed axis of the coil spring workpiece 244 is parallel to the X axis. A rotating edge finding mechanism 54 is provided on the left side of the lifting material receiving platform 52. The rotating edge finding mechanism 54 can clamp the fixed axis of the coil spring workpiece. The lifting and receiving platform 52 is rotated, and a clamping and positioning component 53 and an edge-finding sensor 55 are respectively provided on the front and rear sides along the Y-axis. The front end of the clamping and positioning component 53 is provided with a clamping claw 531 aligned with the fixed axes on both sides of the coil spring workpiece 244. The clamping claw 531 can be lifted up and down, and the clamping claw 531 can clamp the end of the fixed axis to fix the coil spring workpiece 244; the lifting and receiving platform 52 drives the coil spring workpiece to lift up and down. During the rotation of the coil spring workpiece 244, the edge-finding sensor 55 can identify the coil spring sheet that is raised on the outer periphery of the coil spring workpiece.

[0023] The rotary edge-finding mechanism 54 includes an X-axis cylinder 541, a material transfer platform 542, a flip cylinder 543 and a clamping cylinder 544. The X-axis cylinder 541 is fixedly connected to the mounting base plate 51. The mounting base plate 51 is also provided with an X-axis slide rail 545. The material transfer platform 542 is connected to the X-axis slide rail 545 and the X-axis cylinder 541 at the same time. The material transfer platform 542 is provided with a flip cylinder 543. The clamping cylinder 544 is connected to the flip cylinder 543. The clamping claw at the front end of the clamping claw cylinder 544 can move telescopically. The clamping claw cylinder 544 can clamp the coil spring workpiece placed on the lifting material receiving platform 52 The fixed axis of the clamping cylinder 544 drives the coil spring workpiece 244 to rotate along the axis, so that the raised coil spring sheet on the coil spring workpiece 244 is recognized by the edge-finding sensor 55; the outer side of the rotating edge-finding mechanism 54 is also provided with an NG product recovery pipe mouth 6, and the flipping cylinder 543 can flip the clamping cylinder 544 outward, and the clamping cylinder 544 puts the clamped NG product into the NG product recovery pipe mouth 6; the outer side of the lifting material receiving platform 52 is also provided with a CCD light source 511, and the CCD light source 511 is connected to the mounting base plate 51 through a fixed rod, and the CCD light source 511 illuminates the lifting material receiving platform 52.

[0024] The automatic material picking robot 7 includes a four-axis robot 71, a lifting rod 72 and a coil spring clamp assembly 73, and the coil spring clamp assembly 73 is connected to the front end of the four-axis robot 71 through the lifting rod 72; the coil spring clamp assembly 73 includes a horizontal bracket 74, a CCD camera 75 and a flexible positioning clamp 76, the middle part of the horizontal bracket 74 is connected to the lifting rod 72, the tail of the horizontal bracket 74 is connected to the CCD camera 75, and the flexible positioning clamp 76 is arranged at the front end of the horizontal bracket 74. The flexible positioning clamp 76 can clamp the coil spring sheet that is raised on the coil spring workpiece 244 between the clamping jaws 531 of the clamping positioning assembly 53, so that the fixed axes on both sides of the coil spring workpiece 244 are loosened, and the CCD camera 75 is aimed at the coil spring workpiece in front. The flexible positioning clamp 76 includes a clamping cylinder 761, an upper clamp 762 and a lower clamp 763. The shapes of the upper clamp 762 and the lower clamp 763 correspond to the upper and lower surfaces of the coil spring sheet. Positioning columns 764 are provided on the opposite surfaces of the upper clamp 762 and the lower clamp 763. The front section of the coil spring sheet on the coil spring workpiece is processed with a process hole 765. When the clamping cylinder 761 drives the upper clamp 762 and the lower clamp 763 to close and clamp the coil spring sheet, the positioning column 764 is correspondingly embedded in the process hole 765. The surfaces of the upper clamp 762 and the lower clamp 763 that contact the coil spring sheet are both made of polyurethane. The front end of the horizontal bracket 74 is also provided with a vertical cylinder 741. The lower end of the vertical cylinder 741 is provided with a U-shaped positioning groove 742. The U-shaped positioning groove 742 is driven by the vertical cylinder 741 to extend downward, and the U-shaped positioning groove 742 just blocks the outer side of the two end surfaces of the coil spring workpiece 244.

[0025] The action process of the present invention is as follows: the multiple axial workpiece grooves 242 on the circumference of the drum-type hopper 24 are fully loaded with the coil spring workpiece 244, the slide plate 23 drives the drum-type hopper 24 to slide forward along the Y-axis, so that the bottom of the drum-type hopper 24 is aligned with the lower rotating hole 211, and the servo rotating module 33 at the front end of the feeding rotating mechanism 3 rises and aligns with the bottom of the drum-type hopper 24; the laser detection sensor 36 detects that the front drum-type hopper 24 is in place, and the material-discharging cylinder assembly 35 is aligned with the axial workpiece groove 242, and the Y-axis cylinder 351 drives the material-discharging plate 352 to be inserted forward into the axial workpiece groove 242 to separate the uppermost coil spring workpiece from the lower coil spring workpiece, and the material-discharging cylinder assembly 35 moves upward along the Z-axis, and the material-discharging plate 352 displaces the coil spring workpiece. The part 244 is lifted to the top, and the material picking claw 461 at the bottom of the loading and grabbing truss 4 moves to the top of the material picking plate 352, and the material picking claw 461 clamps the fixed shafts at both ends of the coil spring workpiece 244, and takes the coil spring workpiece 244 and puts it into the product positioning mechanism 5; the material picking plate 352 moves and retracts along the Z axis again, and divides and picks all the workpieces in this axial workpiece slot 242 from top to bottom one by one, and peels the coil spring workpiece 244 from the axial workpiece slot 242 one by one; after all the workpieces in an axial workpiece slot 242 are picked up, the servo rotation module 33 rotates the drum-type bin 24 once, turns away the unloaded axial workpiece slot 242, and turns the fully loaded axial workpiece slot 243 to face the material picking cylinder assembly 35; The material picking clamp 461 clamps the coil spring workpiece 244 and places it on the lifting material receiving platform 52. The material moving platform 542 drives the clamp cylinder 544 to slide along the X-axis toward the lifting material receiving platform 52. The clamp cylinder 544 clamps the fixed axis of the coil spring workpiece 244. The clamp cylinder 544 drives the coil spring workpiece 244 to rotate at a uniform speed. At the same time, the edge finding sensor 55 continuously detects the movement posture of the coil spring workpiece 244. Due to the characteristics of the coil spring workpiece 244, one coil spring sheet is higher than the coil spring axis. When the clamp When the claw cylinder 544 drives the coil spring workpiece 244 to rotate to this elevated position, the edge-finding sensor 55 is triggered, and the signal is transmitted to the external control system. The control system controls the clamping claw cylinder 544 to stop moving, completing the calibration action; the lifting material receiving platform 52 rises to receive the material, and the coil spring workpiece 244 that has been corrected is placed back on the lifting material receiving platform 52, the rotating edge-finding mechanism 54 is reset, and the clamping positioning assembly 53 extends the clamping claw to clamp the fixed shafts at both ends of the coil spring workpiece 244, completing the positioning calibration work; The coil spring sheet clamp assembly 73 at the front end of the automatic material picking robot 7 approaches the coil spring workpiece 244, the upper clamp 762 and the lower clamp 763 of the flexible positioning clamp 76 are respectively aligned with the upper and lower surfaces of the coil spring sheet, the positioning column 764 is aligned with the process hole 765, and the clamp cylinder 761 drives the upper and lower clamps to close, clamp the coil spring sheet, and complete the material picking; the automatic material picking manipulator 7 transfers the coil spring sheet to the next assembly process. In the subsequent assembly process, the U-shaped positioning groove 742 can position the coil spring workpiece, and the CCD camera 75 can automatically take pictures and detect the assembly posture to ensure the quality of the assembly stage; During the detection process of the edge-finding sensor 55, if an NG workpiece is detected, the flipping cylinder flips the clamping cylinder and the NG workpiece to the other side at the same time, and the rotating edge-finding mechanism 54 moves to the other side, and the NG workpiece is put into the NG workpiece recovery pipe mouth 6, and the NG workpiece is collected together.

[0026] The above are only several preferred embodiments of the present invention, but the protection scope of the present invention is not limited thereto. Any changes and substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed by the present invention should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. Automatic coil spring feeding and assembly equipment, characterized by: The invention comprises a frame assembly table, a magazine loading device, a feeding rotating mechanism, a loading grabbing truss, a product positioning mechanism and an automatic material picking manipulator. A loading grabbing truss is arranged along the X-axis in the middle of the frame assembly table, a feeding rotating mechanism is arranged directly below the loading grabbing truss, the feeding rotating mechanism moves along the X-axis, and the feeding rotating mechanism faces the magazine loading device. The magazine loading device comprises a plurality of drum-type bins, which can slide along the Y-axis toward or away from the feeding rotating mechanism; a plurality of rows of coil spring workpieces are clamped on the outer peripheral surface of each drum-type bin. When the drum-type hopper approaches the feeding rotating mechanism, the feeding rotating mechanism can drive the drum-type hopper to rotate, and the feeding rotating mechanism performs material separation and material transfer operations on the coil spring workpieces in the drum-type hopper. The loading and grabbing truss grabs the individual coil spring workpieces after material transfer and places them into the product positioning mechanism. The product positioning mechanism is arranged on the table on the front side of the loading and grabbing truss. An automatic material picking manipulator is arranged on one side of the product positioning mechanism. The product positioning mechanism rotates and positions the coil spring workpiece, and the automatic material picking manipulator takes away the coil spring workpiece after positioning.

2. The fully automatic coil spring feeding and assembly equipment according to claim 1 is characterized in that: The magazine loading device includes a fixed base plate, a Y-axis linear module, a slide plate and a drum-type material bin. The middle part of the table top of the frame assembly table is hollow, and the fixed base plate is suspended and connected to the hollow table top. A group of Y-axis linear modules are respectively provided on the left and right sides of the fixed base plate, and each Y-axis linear module is connected to a slide plate. Two drum-type material bins are arranged side by side on the slide plate. The slide plate drives the drum-type material bin to move along the Y-axis. The bottom of the drum-type material bin is rotatably connected to the slide plate. An upper rotating hole is opened on the slide plate at the connection with the slide plate. Four lower rotating holes corresponding to the upper rotating holes are provided at the front of the fixed base plate. When the slide plate drives the drum-type material bin to slide forward, so that the positions of the upper rotating holes and the lower rotating holes correspond, the feeding rotating mechanism can pass through the lower rotating holes and the upper rotating holes from below to rotate the drum-type material bin.

3. The fully automatic coil spring feeding and assembly equipment according to claim 2 is characterized in that: The drum-type hopper comprises a drum base, an axial workpiece groove, a guide bar and a coil spring shock-absorbing assembly. The drum base is cylindrical, and a plurality of groups of axial workpiece grooves are evenly arranged on the outer peripheral surface of the drum base. Each group of axial workpiece grooves comprises two opposite fixed baffles, and the fixed baffles are fixedly connected to the peripheral surface of the drum base by a row of screws. A layer of guide bar is arranged on the inner side of each fixed baffle, and the guide bar is made of plastic. A slide groove is axially arranged in the middle of the guide bar. A plurality of coil spring workpieces are axially arranged and stacked in the axial workpiece groove. The fixed shafts extending from the two ends of the coil spring workpiece are slidably connected in the slide grooves of the guide bars on both sides, and the coil spring workpiece can slide up and down in the axial workpiece groove.

4. The fully automatic coil spring feeding and assembly equipment according to claim 3 is characterized in that: The coil spring shock-absorbing assembly is arranged at the bottom of the axial workpiece groove, and the coil spring shock-absorbing assembly includes a top plate, a bottom plate, a spring and a guide rod. The bottom plate is fixedly blocked at the bottom ends of two fixed baffles, and the top plate is arranged above the bottom plate in parallel with the bottom plate. The top plate and the bottom plate are connected by a spring, and guide rods are arranged on both sides of the spring. The upper ends of the guide rods are fixedly connected to the bottom surface of the top plate, and the guide rods are movably connected to the bottom plate. The lower ends of the guide rods are connected to a limiting nut, and the bottom plate limits the guide rod by the limiting nut. The coil spring workpiece loaded into the axial workpiece groove falls to the bottom and is supported by the top plate.

5. The fully automatic coil spring feeding and assembly equipment according to claim 4 is characterized in that: The feeding rotating mechanism comprises an X-axis servo transfer module, a support plate, a servo rotation module, a Z-axis drive module and a material-discharging cylinder assembly. The X-axis servo transfer module is arranged below the fixed bottom plate, the support plate is connected to the X-axis servo transfer module, the X-axis servo transfer module drives the support plate to slide along the X-axis, and a servo rotation module and a vertical bracket are staggered along the Y-axis direction on the support plate. The servo rotation module corresponds to the position of the lower rotating hole opened on the fixed bottom plate, and the servo rotation module can move up and down. After rising, the servo rotation module can pass through the lower rotating hole and the upper rotating hole to rotate the drum-type silo around its axis by a certain angle; a Z-axis is arranged on the vertical bracket. The drive module and the material-shifting cylinder assembly are connected to the Z-axis drive module. The material-shifting cylinder assembly includes a Y-axis cylinder and a material-shifting plate. The material-shifting plate is connected to the front end of the Y-axis cylinder. The Y-axis cylinder drives the material-shifting plate to automatically extend and retract in the Y-axis direction to separate the top layer of the coiled spring workpiece in the axial workpiece slot in the drum-type silo from the coiled spring workpiece below it, and shift the top layer of the coiled spring workpiece to move upward to the top of the axial workpiece slot. The top of the axial workpiece slot is open, and the coiled spring workpiece is filled into or leaves the axial workpiece slot from the top. A laser detection sensor is also provided on the top of the vertical bracket. The laser detection sensor emits light along the Y-axis to the drum-type silo to detect the presence of the drum-type silo.

6. The fully automatic coil spring feeding and assembly equipment according to claim 5, characterized in that: The feeding and grabbing truss includes supporting columns, trusses and clamping claw cylinders. The supporting columns at the four corners support the truss above the magazine feeding device. An X-axis linear module is provided on the feeding and grabbing truss. The X-axis linear module is connected to a Z-axis bracket. The bottom of the Z-axis bracket is connected to the Y-axis linear module. The clamping claw cylinder is connected to the Y-axis linear module. The clamping claw cylinder can move freely along the X-axis, Y-axis and Z-axis. The front end of the clamping claw cylinder is connected to the material picking claw. The material picking claw clamps the two ends of the fixed axis of the coil spring workpiece from the top of the axial workpiece groove to transfer the coil spring workpiece to the product positioning mechanism.

7. The fully automatic coil spring feeding and assembling equipment according to claim 6, characterized in that: The product positioning mechanism includes an installation base, a lifting material receiving platform, a clamping and positioning component, a rotating edge-finding mechanism and an edge-finding sensor. The installation base is fixedly arranged on the table top of the frame assembly table. A lifting material receiving platform is arranged on one side of the installation base. The coil spring workpiece is placed on the lifting material receiving platform. The fixed axis of the coil spring workpiece is parallel to the X-axis. A rotating edge-finding mechanism is arranged on the left side of the lifting material receiving platform. The rotating edge-finding mechanism can clamp the fixed axis of the coil spring workpiece for rotation. The front and rear sides of the lifting material receiving platform along the Y-axis are respectively provided with a clamping and positioning component and an edge-finding sensor. The front end of the clamping and positioning component is provided with a clamping claw aligned with the fixed axes on both sides of the coil spring workpiece. The clamping claw can be lifted up and down. The clamping claw can clamp the end of the fixed axis to fix the coil spring workpiece. The lifting material receiving platform drives the coil spring workpiece to lift up and down. During the rotation of the coil spring workpiece, the edge-finding sensor can identify the coil spring sheet that is raised on the outer periphery of the coil spring workpiece.

8. The fully automatic coil spring feeding and assembling equipment according to claim 7, characterized in that: The rotary edge-finding mechanism comprises an X-axis cylinder, a material moving platform, a flipping cylinder and a clamping cylinder. The X-axis cylinder is fixedly connected to the mounting base plate, and an X-axis slide rail is also provided on the mounting base plate. The material moving platform is connected to the X-axis slide rail and the X-axis cylinder at the same time. A flipping cylinder is provided on the material moving platform, and the clamping cylinder is connected to the flipping cylinder. The clamping claw at the front end of the clamping claw cylinder can move telescopically. The clamping claw cylinder can clamp the fixed axis of the coil spring workpiece placed on the lifting material receiving platform. The clamping claw cylinder drives the coil spring workpiece to rotate along the axis center, so that the raised coil spring sheet on the coil spring workpiece is identified by the edge-finding sensor; an NG product recovery pipe mouth is also provided on the outer side of the rotary edge-finding mechanism, and the flipping cylinder can flip the clamping claw cylinder outward, and the clamping claw cylinder puts the clamped NG product into the NG product recovery pipe mouth; a CCD light source is also provided on the outer side of the lifting material receiving platform, and the CCD light source is connected to the mounting base plate through a fixed rod, and the CCD light source illuminates the lifting material receiving platform.

9. The fully automatic coil spring feeding and assembling equipment according to claim 8, characterized in that: The automatic material picking robot includes a four-axis robot, a lifting rod and a coil spring clamp assembly, and the coil spring clamp assembly is connected to the front end of the four-axis robot through the lifting rod; the coil spring clamp assembly includes a horizontal bracket, a CCD camera and a flexible positioning clamp, the middle part of the horizontal bracket is connected to the lifting rod, the tail of the horizontal bracket is connected to the CCD camera, and the flexible positioning clamp is arranged at the front end of the horizontal bracket. The flexible positioning clamp can clamp the coil spring sheet that is raised on the coil spring workpiece between the clamping jaws of the clamping positioning assembly, so that the fixed axes on both sides of the coil spring workpiece are loosened, and the CCD camera is aimed at the coil spring workpiece in front.

10. The fully automatic coil spring feeding and assembling equipment according to claim 9, characterized in that: The flexible positioning clamp comprises a clamping cylinder, an upper clamp and a lower clamp. The shapes of the upper clamp and the lower clamp correspond to the upper and lower surfaces of the coil spring sheet. Positioning columns are arranged on the opposite surfaces of the upper clamp and the lower clamp. A process hole is processed on the front section of the coil spring sheet on the coil spring workpiece. When the clamping cylinder drives the upper clamp and the lower clamp to close and clamp the coil spring sheet, the positioning column is correspondingly embedded in the process hole. The surfaces of the upper clamp and the lower clamp that contact the coil spring sheet are both made of polyurethane. A vertical cylinder is also arranged at the front end of the horizontal bracket. A U-shaped positioning groove is arranged at the lower end of the vertical cylinder. The U-shaped positioning groove is driven to extend downward by the vertical cylinder. The U-shaped positioning groove just blocks the outer side of the two end surfaces of the coil spring workpiece.

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