Automatic assembling system and method for iron core assembly of linear displacement sensor

Abstract

The invention belongs to the field of linear displacement sensor iron core assembly assembling, and particularly relates to an automatic assembling system and method for a linear displacement sensor iron core assembly, and the system comprises a feeding and discharging device, a gluing device, an assembling device, and a torque clamping unit. The feeding and discharging device is used for storing all parts of the iron core assembly and the assembled iron core assembly. The moment clamping unit clamps a connecting rod on the feeding and discharging device to be glued in the gluing device, then clamps the connecting rod into the assembling device to be positioned, and then clamps an iron core on the feeding and discharging device to be assembled with the connecting rod in the assembling device. And finally, the guide head on the feeding and discharging device is clamped to be glued in the gluing device, and then the guide head and the iron core are assembled in the assembling device.

Description

Technical Field

[0001] The invention belongs to the field of linear displacement sensor core assembly, and in particular relates to an automatic assembly system and method for a linear displacement sensor core assembly. Background Art

[0002] Linear displacement sensors are generally composed of stator components and core components. The core component moves linearly in the inner hole of the stator component, and the stator component converts its linear mechanical displacement into a voltage signal proportional to the expected value. The core component is generally composed of a core, a guide head and a connecting rod. The connecting rod and the core, the guide head and the core are connected by threads, and the threaded connection between the connecting rod and the guide head needs to be glued.

[0003] In the known technology, the core assembly assembler first uses a glue-spreading tool to dip HY-917 anti-creep glue, and evenly applies it to the assembly parts of the connecting rod and the guide head in one direction; then screws the core into the connecting rod, heats it with a hot air gun, and screws it until there is no gap; then screws the guide head into the core, heats it with a hot air gun, and screws it until there is no gap. It is required that the glue squeezed out of the contact parts of the connecting rod and the guide head, and the core and the guide head should be spread in the circumferential direction; finally, wipe the squeezed excess glue with a wrung-out acetone silk cloth. However, in the manual assembly process, the amount of glue and the tightening torque cannot be quantitatively controlled, and a large number of repeated operations also have the risk of leaking glue, which seriously affects the assembly quality of the core assembly. Summary of the invention

[0004] The purpose of the present invention is to provide an automatic assembly system and method for a linear displacement sensor core assembly, so as to automatically assemble the core, the guide head and the connecting rod into a core assembly by applying a constant tightening torque on the basis of automatically applying a fixed amount of glue to the connecting rod and the guide head assembly parts.

[0005] To achieve the above purpose, the technical solution adopted by the present invention is as follows:

[0006] An automatic assembly system for a linear displacement sensor core assembly, comprising: a loading and unloading device 1, a gluing device 2, an assembly device 3, and a torque clamping unit 25;

[0007] The loading and unloading device 1 is used to store the various parts of the core assembly and the assembled core assembly;

[0008] The torque clamping unit 25 clamps the connecting rod 14 on the loading and unloading device 1, and after the gluing is completed in the gluing device 2, it is clamped into the assembly device 3 for positioning, and then the iron core 12 on the loading and unloading device 1 is clamped and assembled with the connecting rod 14 in the assembly device 3, and finally, the guide head 13 on the loading and unloading device 1 is clamped and after the gluing is completed in the gluing device 2, it is assembled with the iron core 12 in the assembly device 3.

[0009] Further, the loading and unloading device 1 comprises: a parts storage unit 4, a laser sensor connecting rod detection unit 5 and a laser sensor communication control unit 6;

[0010] The parts storage unit 4 comprises: an iron core storage mechanism 7, a guide head storage mechanism 8, a connecting rod support mechanism 9, a qualified iron core assembly storage mechanism 10 and an unqualified iron core assembly storage mechanism 11; which are respectively used to store an iron core 12, a guide head 13, a connecting rod 14, a qualified iron core assembly 15 and an unqualified close-fitting assembly 16;

[0011] The laser sensor connecting rod detection unit 5 is used to detect whether there is a remaining connecting rod 14 in the connecting rod support mechanism 9, and feed back the detection result to the host computer through the laser sensor communication control unit 6.

[0012] Furthermore, the connecting rod support mechanism 9 is used to store a plurality of connecting rods 14 and maintain the topmost connecting rod 14 to be assembled at a specified assembly height.

[0013] Further, the glue coating device 2 includes glue: glue storage unit 17, laser sensor needle tube detection unit 18 and glue coating communication control unit 19;

[0014] The glue storage unit 17 is used to store and output the glue, and evenly apply the glue to the glue coating area of ​​the guide head 13 and the connecting rod 14;

[0015] The laser sensor needle tube detection unit 18 is used to detect the glue outlet position of the glue storage unit 17, and the glue coating communication control unit 19 receives the feedback signal of the laser sensor needle tube detection unit 18 and controls the glue storage unit 17 to move to the specified glue outlet position;

[0016] The glue coating communication control unit 19 communicates with the host computer.

[0017] Further, the rubber material storage unit 17 comprises a rubber hose storage mechanism 20, an air valve control mechanism 21 and a rubber hose fixing mechanism 22;

[0018] The hose glue storage mechanism 20 is used to store glue liquid, and a needle head is provided in front of the hose glue storage mechanism 20 as a glue outlet; the air valve control mechanism 21 is connected to the hose glue storage mechanism 20 through an air pipe, and the air valve control mechanism 21 outputs a constant air pressure, and the hose glue storage mechanism 20 outputs a constant amount of glue per unit time under the constant air pressure; the hose fixing mechanism 22 is used to fix the hose glue storage mechanism 20;

[0019] The hose fixing mechanism 20 includes a Y-axis motion mechanism 23 and a Z-axis motion mechanism 24; under the control of the glue communication control unit 19, the Y-axis motion mechanism 23 and the Z-axis motion mechanism 24 drive the hose glue storage mechanism 20 to move along the Y-axis direction first, and then move along the Z-axis direction to the glue outlet position;

[0020] Further, the torque clamping unit 25 includes a two-claw cylinder mechanism 26, a three-claw cylinder mechanism 27, a three-dimensional motion module mechanism 28, a sliding module mechanism 29 and a sliding module detection unit 30;

[0021] A sliding module mechanism 29 is installed below the three-dimensional motion module mechanism 28, and a two-claw cylinder mechanism 26 and a three-claw cylinder mechanism 27 are installed below the sliding module mechanism 29;

[0022] The two-claw cylinder mechanism 26 is used to clamp the connecting rod 14, and the three-claw cylinder mechanism 27 is used to clamp the guide head 13 and the iron core 14;

[0023] The sliding module mechanism 29 is used to drive the two-claw cylinder mechanism 26 and the three-claw cylinder mechanism 27 to move in the vertical direction;

[0024] The sliding module detection unit 30 is used to detect the moving height of the sliding module mechanism 29 in the vertical direction so as to determine whether the core assembly is assembled properly.

[0025] Further, the assembly device 3 includes: a connecting rod fixing unit 31, a heating unit 32, an image recognition unit 33, and an assembly communication control unit 34;

[0026] The connecting rod fixing unit 31 is used for clamping and fixing the connecting rod 14;

[0027] The heating unit 32 is used to heat the core 12 and the guide head 13;

[0028] The image recognition unit 33 is used to identify the center positions of the core 12 , the guide head 13 and the connecting rod 14 , and send the identified position information to the assembly communication control unit 34 , and the assembly communication control unit 34 controls the torque clamping unit 25 to work.

[0029] Further, the connecting rod fixing unit 31 includes a rotating mechanism 35, a clamping cylinder mechanism 36 and a supporting connection mechanism 37;

[0030] The supporting and connecting mechanism 37 is used to support and connect the rotating mechanism 35, and a clamping claw cylinder mechanism 36 is installed above the rotating mechanism 35;

[0031] The clamping claw cylinder mechanism 36 is used to clamp and fix the connecting rod 14; the rotating mechanism 35 drives the clamping claw cylinder mechanism 36 to rotate 90° clockwise in the XZ plane along the positive direction of the Y axis, so that the connecting rod 14 is parallel to the positive direction of the Z axis.

[0032] Further, the image recognition unit 33 includes a core guide camera mechanism 38, a connecting rod camera mechanism 39 and a point position calculation mechanism 40;

[0033] The core guide head camera mechanism 38 and the connecting rod camera mechanism 39 capture a two-dimensional point map of the core 12, the guide head 13 and the connecting rod 14 relative to the assembly surface, and the point calculation mechanism 40 is used to identify the center positions of the core 12, the guide head 13 and the connecting rod 14; and send the identified center positions of the core 12, the guide head 13 and the connecting rod 14 to the assembly communication control unit 19.

[0034] A method for automatically assembling a linear displacement sensor core assembly, the method being implemented based on the system, comprising the following steps:

[0035] S1: Put the glue liquid into the rubber hose glue storage mechanism 20, connect the air pipe of the air valve control mechanism 21, fix the rubber hose glue storage mechanism 20 at the rubber hose fixing mechanism 22, and adjust the air valve control mechanism 21 so that the glue output of the rubber hose glue storage mechanism 20 reaches an appropriate range.

[0036] S2: Place the connecting rod 14, the iron core 12, and the guide head 13 into the connecting rod supporting mechanism 9, the iron core storing mechanism 7, and the guide head storing mechanism 8 respectively.

[0037] S3: The assembly communication control unit 34 controls the connecting rod support mechanism 9 to lift the connecting rod 14 upward. After it rises to the point where the laser sensor connecting rod detection unit 5 detects the connecting rod 14, a signal that the connecting rod 14 has reached the connecting rod material picking height is sent to the upper computer through the laser sensor communication control unit 6, and the communication control unit 34 sends an instruction to stop the rod support structure 9 from rising.

[0038] S4: The assembly communication control unit 34 controls the three-dimensional motion module mechanism 28 to move above the connecting rod support mechanism 9, and the sliding module mechanism 29 drives the two-claw cylinder mechanism 26 to descend to the connecting rod material picking height to clamp the connecting rod 14, and then the three-dimensional motion mechanism 28 drives the two-claw cylinder mechanism 26 to move to the gluing device 2.

[0039] S5: The glue coating control unit 20 controls the Z-axis motion mechanism 25 to drive the hose glue storage mechanism 21 to move to the Z-axis height of the laser sensor needle tube detection unit 18, and the Y-axis motion mechanism 24 moves along the negative direction of the Y-axis. The laser sensor needle tube detection unit 18 collects the needle tube head status in real time until the laser sensor needle tube detection unit 18 detects the needle tube head and sends the coordinate information to the glue coating communication control unit 19. The glue coating communication control unit 19 controls the Y-axis motion mechanism 24 and the Z-axis motion mechanism 25 to move to the glue coating position. The air valve control mechanism 22 starts to output a constant air pressure, so that the hose glue storage mechanism 21 applies an appropriate amount of glue to the thread of the connecting rod 15. At the same time, the assembly communication control unit 34 controls the three-dimensional motion module mechanism 28 to move in the negative direction of the X-axis, so that the entire thread area of ​​the connecting rod 14 is evenly coated with glue.

[0040] S6: The assembly communication control unit 34 controls the three-dimensional motion module mechanism 28 to drive the glue-coated connecting rod 14 to move to the top of the clamping cylinder mechanism 36 of the assembly device 3, and the sliding module mechanism 29 drives the two-claw cylinder mechanism 26 to descend to the same Z-axis height as the clamping cylinder mechanism 36, the clamping cylinder mechanism 36 clamps and fixes the connecting rod 15, the two-claw cylinder mechanism 26 is released, and the rotating mechanism 35 drives the clamping cylinder mechanism 36 to rotate until the connecting rod is parallel to the positive direction of the Z-axis.

[0041] S7: Under the control of the assembly communication control unit 34, the three-dimensional motion module mechanism 28 moves to the iron core storage mechanism 7, the three-claw cylinder mechanism 27 clamps the iron core 12, the three-dimensional motion module mechanism 28 moves to the heating unit 37 to heat the iron core 12 for a constant time, and then clamps the iron core 12 and moves it to the iron core guide camera mechanism 39. The coordinates of the center point of the iron core 12 are calculated based on the point calculation mechanism and uploaded to the assembly communication control unit 34. The three-dimensional motion module mechanism 28 moves with the connecting rod camera mechanism 49 to the top of the rotating mechanism 35. The coordinates of the center point of the connecting rod 14 are calculated based on the point calculation mechanism and uploaded to the assembly communication control unit 34. Based on the coordinate calculation, the assembly communication control unit 34 controls the three-dimensional motion module mechanism 28 to drive the iron core 12 to move to the position where the XY coordinates of the connecting rod 14 coincide with each other, and the sliding module mechanism 29 moves downward with the three-claw cylinder mechanism 27. When the core reaches the initial assembly height, the assembly communication control unit 34 will control the sliding module mechanism 29 to carry the three-jaw cylinder mechanism 27 to continue to move downward the height of the core thread, so that the sliding module detection unit 30 produces the same displacement, and upload the data to the assembly communication control unit 34 as a reference, and then the three-jaw cylinder mechanism 27 outputs a constant torque, and the core rotates clockwise along the negative direction of the Z axis to the core assembly end position. As the core 12 and the connecting rod 14 are threaded, the compressed distance of the sliding module detection unit 30 is released, and the sliding module detection unit 30 sends the released distance to the assembly communication control unit 34 again for calculation with the reference displacement. If it is the same as the thread height, it is determined that the core 12 is installed successfully. Otherwise, it is determined that the core 12 is installed unsuccessfully. The assembly communication control unit 34 control system puts the core assembly into the unqualified core assembly storage mechanism 11.

[0042] S8: Under the control of the assembly communication control unit 34, the three-dimensional motion module mechanism 28 moves to the guide head storage mechanism 8, the three-claw cylinder mechanism 27 clamps the guide head 13, the three-dimensional motion module mechanism 28 moves to the heating unit 37 to heat the guide head 13 for a constant time, and then clamps the guide head 13 and moves it to the iron core guide head camera mechanism 39. The coordinates of the center point of the guide head 13 are calculated based on the point calculation mechanism and uploaded to the assembly communication control unit 34. The three-dimensional motion module mechanism 28 moves with the connecting rod camera mechanism 49 to the top of the rotating mechanism 35. The coordinates of the center point of the connecting rod 14 are calculated based on the point calculation mechanism and uploaded to the assembly communication control unit 34. Based on the coordinate calculation, the assembly communication control unit 34 controls the three-dimensional motion module mechanism 28 to drive the guide head 13 to move to the position where the XY coordinates of the iron core 12 coincide, and the sliding module mechanism 29 moves downward with the three-claw cylinder mechanism 27 to the guide head. At the initial assembly height, the assembly communication control unit 34 will control the sliding module mechanism 29 to carry the three-jaw cylinder mechanism 27 to continue to move downward to the height of the guide head thread, so that the sliding module detection unit 30 produces the same displacement, and uploads the data to the assembly communication control unit 34 as a reference, and then the three-jaw cylinder mechanism 27 outputs a constant torque, and the guide head 13 rotates clockwise along the negative direction of the Z axis to the assembly end position of the guide head 13. As the threads of the guide head 13 and the core 12 are tightened, the compressed distance of the sliding module detection unit 30 is released, and the sliding module detection unit 30 sends the released distance to the assembly communication control unit 34 again for calculation with the reference displacement. If it is the same as the thread height, it is determined that the guide head 13 is installed successfully. Otherwise, it is determined that the installation of the guide head 13 fails. The assembly communication control unit 34 will control the system to put the product into the unqualified core assembly storage mechanism 11.

[0043] S9: The rotating mechanism 35 drives the clamping cylinder mechanism 36 to rotate until the connecting rod is parallel to the positive direction of the X-axis, and the three-dimensional motion module mechanism 28 moves to the assembly device 3. The two-claw cylinder mechanism 26 clamps the connecting rod 14. At the same time, the clamping cylinder mechanism 36 of the connecting rod fixing unit 31 is released. Under the control of the assembly communication control unit 34, if qualified, the three-dimensional motion module mechanism 28 moves to the qualified core assembly storage mechanism 10 to put the assembled products in. If unqualified, the three-dimensional motion module mechanism 28 moves to the unqualified core assembly storage mechanism 11 to put the unqualified products in.

[0044] In the above scheme, through the communication between the communication units, the loading and unloading device 1, the gluing device 2 and the assembling device 3 cooperate with each other to complete the bonding of the core assembly. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 It is a schematic diagram of the structure of a core assembly in the prior art;

[0046] Figure 2It is a structural schematic diagram of an automatic assembly system for a linear displacement sensor core assembly in the prior art;

[0047] Figure 3 It is a partial side view schematic diagram of a loading and unloading device according to an embodiment of the present invention;

[0048] Figure 4 It is a partial side view schematic diagram of a parts storage unit of an embodiment of the present invention;

[0049] Figure 5 is a partial side view schematic diagram of a glue coating device according to an embodiment of the present invention;

[0050] Figure 6 It is a partial side view schematic diagram of a rubber material storage unit according to an embodiment of the present invention;

[0051] Figure 7 It is a partial side view schematic diagram of a hose fixing mechanism according to an embodiment of the present invention;

[0052] Figure 8 is a partial side view schematic diagram of a torque clamping unit according to an embodiment of the present invention;

[0053] Fig. 9 is a partial side view schematic diagram of an assembly device according to an embodiment of the present invention;

[0054] Fig.10 is a partial side view schematic diagram of a connecting rod fixing unit according to an embodiment of the present invention;

[0055] Fig.11 is a partial side view schematic diagram of an image recognition unit according to an embodiment of the present invention;

[0056] In the figure, 1-loading and unloading device, 2-glue coating device, 3-assembly device, 4-parts storage unit, 5-laser sensor connecting rod detection unit, 6-laser sensor communication control unit, 7-core storage mechanism, 8-guide head storage mechanism, 9-connecting rod support mechanism, 10-qualified core assembly storage mechanism, 11-unqualified core assembly storage mechanism, 12-core, 13-guide head, 14-connecting rod, 15-qualified core assembly, 16-unqualified close-fitting assembly, 17-glue storage unit, 18-laser sensor needle tube detection unit, 19-glue coating communication control unit, 20-hose glue storage mechanism, 21-air valve control mechanism, 22-hose fixing mechanism, 23-Y-axis motion mechanism, 24-axis motion mechanism, 25-torque clamping unit, 26-two-claw cylinder mechanism, 27-three-claw cylinder mechanism, 28-three-dimensional motion module mechanism, 29-sliding module mechanism, 30-sliding module detection unit, 31-connecting rod fixing unit, 32-heating unit, 33-image recognition unit, 34-assembly communication control unit, 35-rotation mechanism, 36-clamping cylinder mechanism, 37-support connection mechanism, 38-core guide head camera mechanism, 39-connecting rod camera mechanism, 40-point calculation mechanism. DETAILED DESCRIPTION

[0057] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0058] The features and illustrative embodiments of various aspects of the present invention will be described in detail below. In the detailed description below, many specific details are proposed to provide a comprehensive understanding of the present invention. However, it is obvious to those skilled in the art that the present invention can be implemented without the need for some of these specific details. The following description of the embodiments is only to provide a better understanding of the present invention by illustrating examples of the present invention. The present invention is by no means limited to any specific settings and methods proposed below, but covers any improvements, replacements and modifications of hardware, methods, software without departing from the spirit of the present invention. In the accompanying drawings and the following description, known structures and technologies are not shown to avoid unnecessary ambiguity in the present invention.

[0059] Embodiment 1

[0060] See also Figure 1 , a core assembly, the core assembly comprising a core 12, a guide head 13 and a connecting rod 14.

[0061] See also Figure 2 , an automatic assembly system for a linear displacement sensor core assembly, the device comprising a loading and unloading device 1, a gluing device 2, an assembly device 3 and a torque clamping unit 25;

[0062] See also Figure 3 The loading and unloading device includes a parts storage unit 4, a laser sensor connecting rod detection unit 5 and a laser sensor communication control unit 6; the laser sensor connecting rod detection unit 5 is used to detect whether the connecting rod support mechanism 9 rises to the material picking height. If the connecting rod 14 is detected, the laser sensor communication control unit 6 sends a signal to the upper computer that the connecting rod 14 has reached the connecting rod picking height, and the assembly communication control unit 34 sends an instruction to stop the rod support structure 9 from rising.

[0063] See also Figure 4 The parts storage unit 4 includes a core storage mechanism 7, a guide head storage mechanism 8, a connecting rod support mechanism 9, a qualified core assembly storage mechanism 10 and an unqualified core assembly storage mechanism 11, which are respectively used to store the core 12, the guide head 13, the connecting rod 14, the assembled qualified core assembly 15 and the unqualified core assembly 16;

[0064] See also Figure 5 The glue coating device 2 includes a glue storage unit 17, a laser sensor needle tube detection unit 18 and a glue coating communication control unit 19;

[0065] The laser sensor needle tube detection unit 18 is used to determine the glue coating coordinates of the needle of the glue tube storage mechanism 20 and upload them to the host computer through the glue coating communication control unit 19.

[0066] See also Figure 6 The glue coating device 2 includes a hose glue storage mechanism 20, an air valve control mechanism 21, and a hose fixing mechanism 22;

[0067] The air valve control mechanism 21 is used to adjust the glue output of the hose glue storage mechanism 20 ; the hose fixing mechanism 22 is used to fix the hose glue storage mechanism 20 .

[0068] See also Figure 7 The hose fixing mechanism 22 includes a Y-axis motion mechanism 23 and a Z-axis motion mechanism 24; the Y-axis motion mechanism 23 and the Z-axis motion mechanism 24 are used to control the needle head of the hose glue storage mechanism 20 to reach the glue coating coordinate detected by the laser sensor needle detection unit 18;

[0069] See also Figure 8 The torque clamping unit 25 includes a three-dimensional motion module mechanism 28, a sliding module mechanism 29, and a sliding module detection unit 30;

[0070] The torque clamping unit 25 includes a two-claw cylinder mechanism 26, a three-claw cylinder mechanism 27, a three-dimensional motion module mechanism 28, a sliding module mechanism 29 and a sliding module detection unit 30. The three-claw cylinder mechanism 27 is used to grab the iron core 12 and the guide head 13, and the two-claw cylinder mechanism 26 is used to grab the connecting rod 14.

[0071] The three-dimensional motion module mechanism 28 is used to cooperate with the sliding module mechanism 29 and the sliding module detection unit 30 to realize the movement of the connecting rod 14, the core 12, and the guide head 13 between various areas of the system, and complete the actions of gluing and installation;

[0072] The three-dimensional motion module mechanism 28 moves to above the connecting rod support mechanism 9, the sliding module mechanism 29 drives the two-claw cylinder mechanism 26 to descend to the connecting rod material picking height to clamp the connecting rod 14, and then the three-dimensional motion mechanism 28 drives the two-claw cylinder mechanism 26 to move to the glue coating device 2, and the air valve control mechanism 22 starts to output constant air pressure, so that the hose glue storage mechanism 21 applies an appropriate amount of glue to the thread of the connecting rod 15. At the same time, the assembly communication control unit 34 controls the three-dimensional motion module mechanism 28 to move in the negative direction of the X-axis, so that the entire thread area of ​​the connecting rod 14 is evenly coated with glue.

[0073] See also Fig. 9 The assembly device 3 includes a connecting rod fixing unit 31, a heating unit 32, an image recognition unit 33 and an assembly communication control unit 34;

[0074] The heating unit 32 is used to heat the iron core 12 and the guide head 13 to promote the fluidity of the rubber during the assembly process and thus reduce the assembly resistance between the parts.

[0075] See also Fig.10 The connecting rod fixing unit 31 includes a rotating mechanism 35 , a clamping claw cylinder mechanism 36 , and a supporting connection mechanism 37 .

[0076] Under the control of the assembly communication control unit 34, the three-dimensional motion module mechanism 28 drives the connecting rod to move to the connecting rod fixing unit 31; the supporting connection mechanism 37 is used to support and connect the rotating mechanism 35 and the clamping cylinder mechanism 36, and the clamping cylinder mechanism 36 is used to clamp and fix the connecting rod 14; the rotating mechanism 35 drives the clamping cylinder mechanism 36 to rotate 90° clockwise in the XZ plane along the positive direction of the Y axis, so that the connecting rod is parallel to the positive direction of the Z axis;

[0077] See also Fig.11 The image recognition unit 33 includes a core guide camera mechanism 38 , a connecting rod camera mechanism 39 , and a point position calculation mechanism 40 .

[0078] Embodiment 2

[0079] Under the control of the assembly communication control unit 34, the three-dimensional motion module mechanism 28 moves to the core storage mechanism 7 or the guide head storage mechanism 8, the three-claw cylinder mechanism 27 clamps the core 12 or the guide head 13, the three-dimensional motion module mechanism 28 moves to the heating unit 37 to heat the core 12 and the guide head 13 for a constant time, and then clamps the core 12 and the guide head 13 to move to the core and guide head camera mechanism 39, and calculates the center point coordinates of the core 12 and the guide head 13 based on the point position calculation mechanism and uploads them to the assembly communication control unit 34, and the three-dimensional motion module mechanism 28 moves to the heating unit 37 to heat the core 12 and the guide head 13 for a constant time. The three-dimensional motion module mechanism 28 moves with the connecting rod camera mechanism 39 to the top of the rotating mechanism 35. The coordinates of the center point of the connecting rod 14 are calculated by the point calculation mechanism and uploaded to the assembly communication control unit 34. Based on the coordinate calculation, the assembly communication control unit 34 controls the three-dimensional motion module mechanism 28 to drive the core 12 and the guide head 13 to move to the position where the XY coordinates of the connecting rod 14 coincide. The sliding module mechanism 29 moves downward with the three-claw cylinder mechanism 27 to the initial assembly height of the core. The assembly communication control unit 34 controls the sliding module mechanism 2 9 The three-claw cylinder mechanism 27 continues to move downward by the height of the thread of the core 12 or the guide head 13, so that the sliding module detection unit 30 produces the same displacement, and the data is uploaded to the assembly communication control unit 34 as a reference, and then the three-claw cylinder mechanism 27 outputs a constant torque, and the core rotates clockwise along the negative direction of the Z axis to the assembly end position of the core 12 and the guide head 13. As the threads of the core 12, the guide head 13 and the connecting rod 14 are tightened, the compressed distance of the sliding module detection unit 30 is released, and the sliding module detection unit 30 sends the released distance to the assembly communication control unit 34 again for calculation with the reference displacement. If it is the same as the thread height, it is determined that the core 12 and the guide head 13 are installed successfully, and the assembly communication control unit 34 control system will control the three-dimensional motion module mechanism 28 to place the core assembly into the qualified core assembly storage mechanism 10; otherwise, it is determined that the core 12 and the guide head 13 are installed unsuccessfully, and the assembly communication control unit 34 control system will control the three-dimensional motion module mechanism 28 to place the core assembly into the unqualified core assembly storage mechanism 11.

[0080] In the above scheme, through the communication between the communication units, the loading and unloading device 1, the gluing device 2, the assembly device 3 and the torque clamping unit 25 cooperate with each other to complete the bonding of the core assembly.

Claims

1. An automatic assembly system for a linear displacement sensor core assembly, characterized in that: include: Loading and unloading device, gluing device, assembly device, torque clamping unit; The loading and unloading device is used to store the various parts of the core assembly and the assembled core assembly; The torque clamping unit clamps the connecting rod on the loading and unloading device, completes gluing in the gluing device, and then clamps it in the assembly device for positioning, then clamps the iron core on the loading and unloading device and completes assembly with the connecting rod in the assembly device, and finally clamps the guide head on the loading and unloading device and completes gluing in the gluing device and then completes assembly with the iron core in the assembly device.

2. The system according to claim 1, characterized in that The loading and unloading device includes: a parts storage unit, a laser sensor connecting rod detection unit and a laser sensor communication control unit; The parts storage unit includes: an iron core storage mechanism, a guide head storage mechanism, a connecting rod support mechanism, a qualified iron core assembly storage mechanism and an unqualified iron core assembly storage mechanism; which are used to store the iron core, the guide head, the connecting rod, the qualified iron core assembly and the unqualified iron core assembly respectively; The laser sensor connecting rod detection unit is used to detect whether there are any remaining connecting rods in the connecting rod support mechanism, and feed back the detection results to the host computer through the laser sensor communication control unit.

3. The system according to claim 2, characterized in that The connecting rod support mechanism is used to store multiple connecting rods and maintain the uppermost connecting rod to be assembled at a specified assembly height.

4. The system according to claim 3, characterized in that The glue coating device includes: a glue storage unit, a laser sensor needle tube detection unit and a glue coating communication control unit; The rubber storage unit is used to store and output the rubber, and evenly apply the rubber to the rubber coating area of ​​the guide head and the connecting rod; The laser sensor needle tube detection unit is used to detect the glue outlet position of the glue storage unit. The glue coating communication control unit receives the feedback signal of the laser sensor needle tube detection unit and controls the glue storage unit to move to the specified glue outlet position. The glue coating communication control unit communicates with the host computer.

5. The system according to claim 4, characterized in that The rubber material storage unit comprises: a rubber hose storage mechanism, an air valve control mechanism and a rubber hose fixing mechanism; The hose glue storage mechanism is used to store glue liquid, and a needle head is provided in front of the hose glue storage mechanism as a glue outlet; the air valve control mechanism is connected to the hose glue storage mechanism through an air pipe, the air valve control mechanism outputs a constant air pressure, and the hose glue storage mechanism outputs a constant amount of glue per unit time under the constant air pressure; the hose fixing mechanism is used to fix the hose glue storage mechanism. The hose fixing mechanism includes a Y-axis motion mechanism and a Z-axis motion mechanism; under the control of the glue coating communication control unit, the Y-axis motion mechanism and the Z-axis motion mechanism drive the hose glue storage mechanism to move first along the Y-axis direction, and then move along the Z-axis direction to the glue discharging position; 6. The system according to claim 5, characterized in that The torque clamping unit includes a two-claw cylinder mechanism, a three-claw cylinder mechanism, a three-dimensional motion module mechanism, a sliding module mechanism and a sliding module detection unit; A sliding module mechanism is installed below the three-dimensional motion module mechanism, and a two-claw cylinder mechanism and a three-claw cylinder mechanism are installed below the sliding module mechanism; The two-claw cylinder mechanism is used to clamp the connecting rod, and the three-claw cylinder mechanism is used to clamp the guide head and the core; The sliding module mechanism is used to drive the two-claw cylinder mechanism and the three-claw cylinder mechanism to move in the vertical direction; The sliding module detection unit is used to detect the moving height of the sliding module mechanism in the vertical direction, so as to judge whether the core assembly is assembled properly.

7. The system according to claim 6, characterized in that The assembly device includes: a connecting rod fixing unit, a heating unit, an image recognition unit, and an assembly communication control unit; The connecting rod fixing unit is used for clamping and fixing the connecting rod; The heating unit is used to heat the core and the guide head; The image recognition unit is used to identify the center position of the iron core, the guide head and the connecting rod, and send the identified position information to the assembly communication control unit, which controls the operation of the torque clamping unit.

8. The system according to claim 7, characterized in that The connecting rod fixing unit comprises a rotating mechanism, a clamping claw cylinder mechanism and a supporting connection mechanism; The supporting connection mechanism is used to support and connect the rotating mechanism, and a clamping claw cylinder mechanism is installed above the rotating mechanism; The clamping claw cylinder mechanism is used to clamp and fix the connecting rod; the rotating mechanism drives the clamping claw cylinder mechanism to rotate 90° clockwise in the XZ plane along the positive direction of the Y axis, so that the connecting rod is parallel to the positive direction of the Z axis.

9. The system according to claim 8, characterized in that The image recognition unit includes a core guide head camera mechanism, a connecting rod camera mechanism and a point position calculation mechanism; The core guide head camera mechanism and the connecting rod camera mechanism capture the two-dimensional point map of the core, guide head and connecting rod relative to the assembly surface. The point calculation mechanism is used to identify the center position of the core, guide head and connecting rod; and send the identified center position of the core, guide head and connecting rod to the assembly communication control unit.

10. A method for automatically assembling a core assembly of a linear displacement sensor, the method being implemented based on any of the above-mentioned systems, characterized in that: The following steps are involved: S1: Put the glue liquid into the rubber hose storage mechanism, connect the air pipe of the air valve control mechanism, fix the rubber hose storage mechanism at the rubber hose fixing mechanism, and adjust the air valve control mechanism to make the glue output of the rubber hose storage mechanism reach an appropriate range; S2: placing the connecting rod, the iron core and the guide head into the connecting rod supporting mechanism, the iron core storing mechanism and the guide head storing mechanism respectively; S3: The assembly communication control unit controls the connecting rod support mechanism to lift the connecting rod up. After the connecting rod is lifted up to the point where the laser sensor connecting rod detection unit detects the connecting rod, the laser sensor communication control unit sends a signal to the upper computer that the connecting rod has reached the assembly position. The assembly communication control unit sends a command to stop the rod support structure from rising. S4: The three-dimensional motion module mechanism moves to the assembly height, and after the two-claw cylinder mechanism grabs the connecting rod, the three-dimensional motion module mechanism drives the connecting rod to move to the gluing device; S5: The glue communication control unit controls the Y-axis motion mechanism and the Z-axis motion mechanism to drive the hose glue storage mechanism to move to the glue outlet position, and the air valve control mechanism starts to output a constant air pressure, so that the hose glue storage mechanism sprays an appropriate amount of glue onto the connecting rod thread; S6: The three-dimensional motion module mechanism drives the glued connecting rod to move to the assembly device, the clamping claw cylinder mechanism of the connecting rod fixing unit clamps and fixes the connecting rod, the two-claw cylinder mechanism is released, and the rotating mechanism drives the clamping claw cylinder mechanism to rotate until the connecting rod is parallel to the positive direction of the Z axis; S7: Under the control of the assembly communication control unit, the three-dimensional motion module mechanism moves to the core storage mechanism, the three-claw cylinder mechanism clamps the core, the three-dimensional motion module mechanism moves to the heating unit to heat the core for a constant time, and then clamps the core to move to the core guide camera mechanism, and the point algorithm mechanism moves to the core assembly starting position, and the Z-axis axis of the core assembly starting position coincides with the Z-axis axis of the connecting rod; the three-claw cylinder mechanism outputs a constant torque, and the core rotates clockwise along the negative direction of the Z axis to the core assembly end position; S8: Under the control of the assembly communication control unit, the three-dimensional motion module mechanism moves to the guide head storage mechanism, the three-claw cylinder mechanism clamps the guide head, the three-dimensional motion module mechanism moves to the heating unit to heat the guide head for a constant time, and then clamps the guide head and moves it to the iron core guide head camera mechanism, and the point algorithm mechanism moves to the guide head assembly starting position, and the Z-axis axis of the guide head assembly starting position coincides with the Z-axis axis of the connecting rod; the three-claw cylinder mechanism outputs a constant torque, and the iron core rotates clockwise along the negative direction of the Z axis to the guide head assembly end position; S9: The rotating mechanism drives the clamping cylinder mechanism to rotate until the connecting rod is parallel to the positive direction of the X-axis, and the three-dimensional motion module mechanism moves to the assembly device. The two-claw cylinder mechanism clamps the connecting rod, and at the same time, the clamping cylinder mechanism of the connecting rod fixing unit is released. Under the control of the assembly communication control unit, the three-dimensional motion module mechanism moves to the qualified core assembly storage mechanism to put the assembled qualified core assembly in.

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