Wire displacement sensor core assembly automatic assembly system and method

Abstract

The present application belongs to the field of linear displacement sensor core assembly assembly, and particularly relates to a kind of linear displacement sensor core assembly automatic assembly system and method, comprising: feeding and discharging device, gluing device, assembly device, torque clamping unit;Feeding and discharging device is used to store the parts of iron core assembly and the iron core assembly after assembly;Torque clamping unit clamps the connecting rod on feeding and discharging device in gluing device after completing gluing and then clamps to assembly device and positions, again clamps the iron core on feeding and discharging device in assembly device and completes assembly with connecting rod, finally clamps the guide head on feeding and discharging device in gluing device after completing gluing and completes assembly with iron core in assembly device.

Description

TECHNICAL FIELD

[0001] The present application belongs to the field of linear displacement sensor core assembly assembly, and particularly relates to a linear displacement sensor core assembly automatic assembly system and method. BACKGROUND

[0002] The linear displacement sensor is generally composed of a stator assembly and a core assembly. The core assembly makes linear motion in the hole of the stator assembly, and the stator assembly converts the linear mechanical displacement into a voltage signal in proportion to the expected value. The core assembly 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 through threads. The connecting rod and the guide head need to be coated with glue at the threaded connection.

[0003] In the known technology, the core assembly assembly personnel first dips HY-917 anti-creep glue with a coating tool, uniformly coats the assembly parts of the connecting rod and the guide head in one direction; then twists the core into the connecting rod, heats it with a hot air gun and twists it to no gap; then twists the guide head into the core, heats it with a hot air gun and twists it to no gap, and requires that the glue squeezed out of the contact parts of the connecting rod and the guide head, the core and the guide head should be distributed in the circumferential direction; finally, wipe the remaining glue squeezed out with a dry acetone cloth. However, in the manual assembly process, the amount of glue and the tightening torque cannot be quantitatively controlled, and there is a risk of missing glue in a large number of repeated operations, which seriously affects the assembly quality of the core assembly. SUMMARY

[0004] The purpose of the present application is to provide a linear displacement sensor core assembly automatic assembly system and method, which realizes automatic coating of a fixed amount of glue at the assembly parts of the connecting rod and the guide head, and automatically assembles the core, the guide head and the connecting rod into a core assembly through a constant tightening torque.

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

[0006] A linear displacement sensor core assembly automatic assembly system, comprising: a feeding and discharging device 1, a glue coating device 2, an assembly device 3 and a torque clamping unit 25.

[0007] The feeding and discharging device 1 is used to store each part of the core assembly and the assembled core assembly.

[0008] The torque clamping unit 25 clamps the connecting rod 14 on the feeding and discharging device 1, clamps it to the assembly device 3 for positioning after completing the glue coating in the glue coating device 2, clamps the core 12 on the feeding and discharging device 1 to complete the assembly with the connecting rod 14 in the assembly device 3, and finally clamps the guide head 13 on the feeding and discharging device 1 to complete the assembly with the core 12 in the assembly device 3 after completing the glue coating in the glue coating device 2.

[0009] Further, the feeding and discharging device 1 comprises: a part storage unit 4, a laser sensor connecting rod detection unit 5 and a laser sensor communication control unit 6.

[0010] The part storage unit 4 comprises: 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; and is respectively used for storing the core 12, the guide head 13, the connecting rod 14, the qualified core assembly 15 and the unqualified core assembly 16;

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

[0012] Further, the connecting rod support mechanism 9 is used for storing a plurality of connecting rods 14, and maintaining the uppermost connecting rod 14 to be assembled at a specified assembly height.

[0013] Further, the glue coating device 2 comprises a 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 for storing and outputting glue, and uniformly coating 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 for detecting 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 upper computer.

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

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

[0019] The glue pipe fixing mechanism 20 comprises a Y-axis movement mechanism 23 and a Z-axis movement mechanism 24; under the control of the glue coating communication control unit 19, the Y-axis movement mechanism 23 and the Z-axis movement mechanism 24 drive the glue pipe 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 comprises a two-jaw cylinder mechanism 26, a three-jaw cylinder mechanism 27, a three-dimensional motion module mechanism 28, a sliding module mechanism 29 and a sliding module detection unit 30;

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

[0022] The two-jaw cylinder mechanism 26 is used to clamp the connecting rod 14, and the three-jaw 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-jaw cylinder mechanism 26 and the three-jaw 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 iron core assembly is qualified.

[0025] Further, the assembly device 3 comprises 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 to clamp and fix the connecting rod 14;

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

[0028] The image recognition unit 33 is used to recognize the center positions of the iron core 12, the guide head 13 and the connecting rod 14, and send the recognized 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 comprises a rotating mechanism 35, a clamping cylinder mechanism 36 and a support connecting mechanism 37;

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

[0031] 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 14 is parallel to the positive direction of the Z axis.

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

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

[0034] An automatic assembly method of a wire displacement sensor core assembly, the method is based on the system implementation, comprising the following steps:

[0035] S1: The glue solution is filled into the glue pipe storage mechanism 20, the air pipe connected with the air valve control mechanism 21, the glue pipe storage mechanism 20 is fixed at the glue pipe fixing mechanism 22, and the glue output of the glue pipe storage mechanism 20 is adjusted to reach a suitable range through the air valve control mechanism 21.

[0036] S2: The connecting rod 14, the core 12 and the head 13 are respectively placed in the connecting rod supporting mechanism 9, the core storage mechanism 7 and the head storage mechanism 8.

[0037] S3: The assembly communication control unit 34 controls the connecting rod supporting mechanism 9 to lift the connecting rod 14 upwards, after the connecting rod 14 is detected by the laser sensor connecting rod detection unit 5, the laser sensor communication control unit 6 sends a signal to the upper computer that the connecting rod 14 has reached the connecting rod material taking height, and the communication control unit 34 sends an instruction to stop the connecting rod supporting mechanism 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 supporting mechanism 9, the sliding module mechanism 29 drives the two-claw air cylinder mechanism 26 to descend to the connecting rod material taking height to clamp the connecting rod 14, and then the three-dimensional motion mechanism 28 drives the two-claw air cylinder mechanism 26 to move to the glue coating device 2.

[0039] S5: The glue coating control unit 20 controls the Z-axis motion mechanism 25 to drive the glue pipe storage mechanism 21 to move to the Z-axis height of the laser sensor needle pipe detection unit 18, the Y-axis motion mechanism 24 moves along the Y-axis negative direction, the laser sensor needle pipe detection unit 18 collects the needle pipe head state in real time, until the laser sensor needle pipe detection unit 18 detects the needle pipe head, 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 constant air pressure, so that the glue pipe storage mechanism 21 coats an appropriate amount of glue solution on the connecting rod 15 thread, and the assembly communication control unit 34 controls the three-dimensional motion module mechanism 28 to move to the X-axis negative direction, so that the connecting rod 14 is uniformly coated with glue solution on the whole thread area.

[0040] S6: The assembly communication control unit 34 controls the three-dimensional motion module mechanism 28 to move the glued connecting rod 14 above the clamping cylinder mechanism 36 of the assembly device 3, the sliding module mechanism 29 drives the two-claw cylinder mechanism 26 to descend to the same Z-axis height of the clamping cylinder mechanism 36, the clamping cylinder mechanism 36 clamps and fixes the connecting rod 15, the two-claw cylinder mechanism 26 is loosened, and the rotating mechanism 35 drives the clamping cylinder mechanism 36 to rotate to the connecting rod 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 to move to the iron core guide head camera mechanism 39. The center point coordinates of the iron core 12 calculated by the point position calculation mechanism are uploaded to the assembly communication control unit 34, the three-dimensional motion module mechanism 28 moves the connecting rod camera mechanism 49 to the rotating mechanism 35, and the center point coordinates of the connecting rod 14 calculated by the point position calculation mechanism are 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 move the iron core 12 to the position where the XY coordinates of the connecting rod 14 coincide, the sliding module mechanism 29 moves the three-claw cylinder mechanism 27 downward to the initial assembly height of the iron core, the assembly communication control unit 34 controls the sliding module mechanism 29 to continue to move the three-claw cylinder mechanism 27 downward to the height of the iron core thread, so that the sliding module detection unit 30 generates the same displacement, and the data is uploaded to the assembly communication control unit 34 as a reference. Then the three-claw cylinder mechanism 27 outputs a constant torque, and the iron core rotates clockwise along the negative direction of the Z-axis to the final assembly position of the iron core. As the iron core 12 is screwed with the connecting rod 14, the sliding module detection unit 30 is compressed and 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 they are the same, it is determined that the iron core 12 is successfully installed, otherwise, it is determined that the iron core 12 is not successfully installed, and the assembly communication control unit 34 controls the system to put the iron core assembly into the unqualified iron 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 head storage mechanism 8, the three-jaw cylinder mechanism 27 clamps the head 13, the three-dimensional motion module mechanism 28 moves to the heating unit 37 to heat the head 13 for a constant time, and then clamps the head 13 and moves to the core head camera mechanism 39, the center point coordinates of the head 13 are calculated by the point position calculation mechanism and uploaded to the assembly communication control unit 34, the three-dimensional motion module mechanism 28 moves to the rotary mechanism 35 with the connecting rod camera mechanism 49, the center point coordinates of the connecting rod 14 are calculated by the point position 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 move the head 13 to the position where the XY coordinates of the core 12 coincide, the three-jaw cylinder mechanism 27 moves downward to the initial assembly height of the head under the control of the sliding module mechanism 29, the assembly communication control unit 34 controls the three-jaw cylinder mechanism 27 to continue to move downward to the height of the head thread under the control of the sliding module mechanism 29, so that the sliding module detection unit 30 generates the same displacement, and the data is uploaded to the assembly communication control unit 34 as a reference, then the three-jaw cylinder mechanism 27 outputs a constant torque, and the head 13 rotates clockwise along the negative direction of the Z axis to the final assembly position of the head 13, as the head 13 is tightened with the core 12 thread, 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 the same, it is determined that the head 13 is successfully installed, otherwise, it is determined that the head 13 is not successfully installed, and the assembly communication control unit 34 controls the system to put the product into the unqualified core assembly storage mechanism 11.

[0043] S9: the rotary mechanism 35 drives the jaw cylinder mechanism 36 to rotate to the connecting rod parallel to the positive direction of the X axis, the three-dimensional motion module mechanism 28 moves to the assembly device 3, the two-jaw cylinder mechanism 26 clamps the connecting rod 14, and the jaw cylinder mechanism 36 of the connecting rod fixing unit 31 is loosened, 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 product into, if not qualified, the three-dimensional motion module mechanism 28 moves to the unqualified core assembly storage mechanism 11 to put the unqualified product into.

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

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

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

[0047] Figure 3 It is the schematic diagram of partial side of the feeding and discharging device of one embodiment of the application;

[0048] Figure 4 It is the schematic diagram of partial side of the part storage unit of one embodiment of the application;

[0049] Figure 5 It is the schematic diagram of partial side of the gluing device of one embodiment of the application;

[0050] Figure 6 It is the schematic diagram of partial side of the glue storage unit of one embodiment of the application;

[0051] Figure 7 It is the schematic diagram of partial side of the glue pipe fixing mechanism of one embodiment of the application;

[0052] Figure 8 It is the schematic diagram of partial side of the torque clamping unit of one embodiment of the application;

[0053] Figure 9 It is the schematic diagram of partial side of the assembly device of one embodiment of the application;

[0054] Figure 10 It is the schematic diagram of partial side of the connecting rod fixing unit of one embodiment of the application;

[0055] Figure 11 It is the schematic diagram of partial side of the image recognition unit of one embodiment of the application;

[0056] In the figure, 1 - feeding and discharging device, 2 - glue coating device, 3 - assembling device, 4 - part 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 core assembly, 17 - glue storage unit, 18 - laser sensor needle tube detection unit, 19 - glue coating communication control unit, 20 - glue pipe storage mechanism, 21 - air valve control mechanism, 22 - glue pipe fixing mechanism, 23 - Y-axis movement mechanism, 24 - shaft movement mechanism, 25 - torque clamping unit, 26 - two-jaw air cylinder mechanism, 27 - three-jaw air cylinder mechanism, 28 - three-dimensional movement module mechanism, 29 - sliding module mechanism, 30 - sliding module detection unit, 31 - connecting rod fixing unit, 32 - heating unit, 33 - image recognition unit, 34 - assembling communication control unit, 35 - rotating mechanism, 36 - clamping jaw air cylinder mechanism, 37 - support connecting mechanism, 38 - core guide head camera mechanism, 39 - connecting rod camera mechanism, 40 - point position calculation mechanism. DETAILED DESCRIPTION

[0057] To make the objectives, technical solutions, and advantages of the embodiments of the present application clearer, the following will be combined with the accompanying drawings for the embodiments of the present application to make a clear and complete description of the technical solutions in the embodiments of the present application. Obviously, the described embodiments are some of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, any other embodiments obtained by a person of ordinary skill in the art without creative work fall within the protection scope of the present application.

[0058] The features and illustrative embodiments of various aspects of the present application will be described in detail below. In the following detailed description, numerous specific details are set forth in order to provide a thorough understanding of the present application. However, it will be apparent to one of ordinary skill in the art that the present application can be practiced without some of these specific details. The description of the embodiments is merely to provide a better understanding of the present application by showing examples of the present application. The present application is in no way limited to any specific settings and methods presented below, but covers any improvements, replacements, and modifications of hardware, methods, and software without departing from the spirit of the present application. In the accompanying drawings and the following description, well-known structures and technologies are not shown to avoid unnecessary obscuring of the present application.

[0059] Embodiment One

[0060] Reference Figure 1 A core assembly includes a core 12, a guide head 13, and a connecting rod 14.

[0061] Referring to Figure 2 A linear displacement sensor core assembly automatic assembly system, the device comprises a feeding and discharging device 1, a gluing device 2, an assembly device 3 and a torque clamping unit 25;

[0062] Referring to Figure 3 The feeding and discharging device comprises a part 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 supporting mechanism 9 rises to the material taking height, if the connecting rod 14 is detected, the laser sensor communication control unit 6 sends a signal to the host computer that the connecting rod 14 has reached the connecting rod material taking height, and the assembly communication control unit 34 sends an instruction to stop the rod supporting structure 9 from rising.

[0063] Referring to Figure 4 The part storage unit 4 comprises a core storage mechanism 7, a guide head storage mechanism 8, a connecting rod supporting 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 qualified core assembly 15 and the unqualified core assembly 16 after assembly;

[0064] Referring to Figure 5 The gluing device 2 comprises a glue storage unit 17, a laser sensor needle tube detection unit 18 and a gluing communication control unit 19;

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

[0066] Referring to Figure 6 The gluing device 2 comprises a glue pipe storage mechanism 20, a gas valve control mechanism 21 and a glue pipe fixing mechanism 22;

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

[0068] Referring to Figure 7 The glue pipe fixing mechanism 22 comprises 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 tube head of the glue pipe storage mechanism 20 to reach the glue coating coordinates detected by the laser sensor needle tube detection unit 18;

[0069] Referring to Figure 8 The torque clamping unit 25 comprises 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-jaw cylinder mechanism 26, a three-jaw cylinder mechanism 27, a three-dimensional motion module mechanism 28, a sliding module mechanism 29, and a sliding module detection unit 30. The three-jaw cylinder mechanism 27 is used to grab the iron core 12 and the guide head 13, and the two-jaw 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 iron core 12, and the guide head 13 between various regions of the system, and complete the actions of glue coating and installation.

[0072] The three-dimensional motion module mechanism 28 moves above the connecting rod support mechanism 9, the sliding module mechanism 29 drives the two-jaw cylinder mechanism 26 to descend to the connecting rod material taking height to clamp the connecting rod 14, and then the three-dimensional motion mechanism 28 drives the two-jaw cylinder mechanism 26 to move to the glue coating device 2. The air valve control mechanism 22 starts to output constant air pressure, the glue pipe storage mechanism 21 coats an appropriate amount of glue on the threads of the connecting rod 15, and 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] Referring to Figure 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, promote the flowability of the glue during assembly, and thus reduce the assembly resistance between parts.

[0075] Referring to Figure 10 The connecting rod fixing unit 31 includes a rotating mechanism 35, a clamping jaw cylinder mechanism 36, and a support 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 support connection mechanism 37 is used to support and connect the rotating mechanism 35 and the clamping jaw cylinder mechanism 36. The clamping jaw cylinder mechanism 36 is used to clamp and fix the connecting rod 14. The rotating mechanism 35 drives the clamping jaw 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] Referring to Figure 11 The image recognition unit 33 includes an iron core guide head camera mechanism 38, a connecting rod camera mechanism 39, and a point position calculation mechanism 40.

[0078] Example Two

[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 head storage mechanism 8, the three-jaw cylinder mechanism 27 clamps the core 12 or the head 13, the three-dimensional motion module mechanism 28 moves to the heating unit 37 to heat the core 12 or the head 13 for a constant time, and then clamps the core 12 or the head 13 and moves to the core and head camera mechanism 39. The center point coordinates of the core 12 and the head 13 calculated by the point position calculation mechanism are uploaded to the assembly communication control unit 34. The three-dimensional motion module mechanism 28 moves with the connecting rod camera mechanism 39 to the upper side of the rotating mechanism 35. The center point coordinates of the connecting rod 14 calculated by the point position calculation mechanism are 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 move the core 12 and the head 13 to the position where the XY coordinates of the connecting rod 14 coincide. The three-jaw cylinder mechanism 27 moves downward to the initial assembly height of the core together with the sliding module mechanism 29. The assembly communication control unit 34 controls the sliding module mechanism 29 to continue to move downward with the three-jaw cylinder mechanism 27 to the height of the threads of the core 12 or the head 13, so that the sliding module detection unit 30 generates the same displacement, and the data is uploaded to the assembly communication control unit 34 as a reference. 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 final assembly position of the core 12 and the head 13. As the core 12 and the head 13 are tightened with the threads of the connecting rod 14, the sliding module detection unit 30 is released by the compressed distance. 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 the distances are the same, it is determined that the core 12 and the head 13 are successfully installed. The assembly communication control unit 34 controls the system to place the core assembly into the qualified core assembly storage mechanism 10. Otherwise, it is determined that the core 12 and the head 13 are not successfully installed. The assembly communication control unit 34 controls the system to place the core assembly into the unqualified core assembly storage mechanism 11.

[0080] In the above scheme, the feeding and discharging 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 through communication between the communication units.

Claims

1. An automated 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 iron core assembly and the assembled iron core assembly. The torque clamping unit clamps the connecting rod on the loading and unloading device, applies glue in the gluing device, and then clamps it into the assembly device for positioning. It then clamps the iron core on the loading and unloading device and assembles it with the connecting rod in the assembly device. Finally, it clamps the guide head on the loading and unloading device, applies glue in the gluing device, and then assembles it with the iron core in the assembly device. The torque clamping unit includes a two-jaw cylinder mechanism, a three-jaw cylinder mechanism, a three-dimensional motion module mechanism, a sliding module mechanism, and a sliding module detection unit. The sliding module mechanism is installed below the three-dimensional motion module mechanism, and the two-jaw and three-jaw cylinder mechanisms are installed below the sliding module mechanism. The two-jaw cylinder mechanism is used to clamp the connecting rod, and the three-jaw cylinder mechanism is used to clamp the guide head and the iron core. The sliding module mechanism is used to drive the two-jaw and three-jaw cylinder mechanisms to move vertically. The sliding module detection unit is used to detect the vertical movement height of the sliding module mechanism, thereby determining whether the iron core assembly is assembled correctly.

2. The system according to claim 1, characterized in that, The loading and unloading device includes: a parts storage unit, a laser sensor linkage detection unit, and a laser sensor communication control unit; The parts storage unit includes: a core storage mechanism, a guide head storage mechanism, a connecting rod support mechanism, a qualified core assembly storage mechanism, and a defective core assembly storage mechanism; these are used to store the core, guide head, connecting rod, qualified core assembly, and defective core assembly, respectively. The laser sensor link detection unit is used to detect whether there are any remaining links in the link support mechanism, and feeds 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 linkage support mechanism is used to store multiple linkages and maintain the uppermost linkage to be assembled at the specified assembly height.

4. The system according to claim 3, characterized in that, The adhesive application device includes: an adhesive storage unit, a laser sensor needle detection unit, and an adhesive application communication control unit; The adhesive storage unit is used to store and output adhesive, and to evenly apply the adhesive to the adhesive application areas of the guide and connecting rod. The laser sensor needle detection unit is used to detect the position of the glue outlet of the glue storage unit. The glue application communication control unit receives the feedback signal from the laser sensor needle detection unit and controls the glue storage unit to move to the designated glue outlet position. The glue application communication control unit communicates with the host computer.

5. The system according to claim 4, characterized in that, The adhesive storage unit includes: an adhesive storage mechanism for the adhesive hose, an air valve control mechanism, and an adhesive hose fixing mechanism; The glue storage mechanism of the hose is used to store glue, and a needle tip is provided at the front of the glue storage mechanism as the glue outlet; the air valve control mechanism is connected to the glue storage mechanism of the hose through an air pipe, the air valve control mechanism outputs a constant air pressure, and the glue storage mechanism of the hose outputs a constant amount of glue per unit time under the constant air pressure; the hose fixing mechanism is used to fix the glue storage mechanism of the hose. The hose fixing mechanism includes a Y-axis motion mechanism and a Z-axis motion mechanism. Under the control of the glue application communication control unit, the Y-axis motion mechanism and the Z-axis motion mechanism drive the glue storage mechanism of the hose to move first along the Y-axis direction, and then along the Z-axis direction to the glue dispensing position.

6. The system according to claim 5, 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 to clamp and fix the connecting rod; The heating unit is used to heat the iron core and the conductor. The image recognition unit is used to identify the center position of the core, guide head and connecting rod, and sends the identified position information to the assembly communication control unit, which then controls the torque clamping unit to work.

7. The system according to claim 6, characterized in that, The linkage fixing unit includes a rotating mechanism, a gripper cylinder mechanism, and a support connection mechanism; The support connection mechanism is used to support and connect the rotating mechanism, and the gripper cylinder mechanism is installed above the rotating mechanism. The gripper cylinder mechanism is used to clamp and fix the connecting rod; the rotating mechanism drives the gripper cylinder mechanism to rotate 90° clockwise in the XZ plane along the positive Y-axis, so that the connecting rod is parallel to the positive Z-axis.

8. The system according to claim 7, characterized in that, The image recognition unit includes a core guide head camera mechanism, a connecting rod camera mechanism, and a point calculation mechanism; The core guide head camera mechanism and the connecting rod camera mechanism capture two-dimensional point diagrams 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 sends the identified center positions of the core, guide head, and connecting rod to the assembly communication control unit.

9. An automatic assembly method for a linear displacement sensor core assembly, the method being implemented based on the system described in any one of claims 1-8, characterized in that: Includes the following steps: S1: Load the adhesive into the glue storage mechanism of the glue tube, connect the air tube of the air valve control mechanism, fix the glue storage mechanism of the glue tube at the glue tube fixing mechanism, and adjust the air valve control mechanism to make the glue dispensing amount of the glue storage mechanism of the glue tube reach the appropriate range. S2: Place the connecting rod, iron core, and guide head into the connecting rod support mechanism, iron core storage mechanism, and guide head storage mechanism, respectively; S3: The assembly communication control unit controls the linkage support mechanism to lift the linkage upward. After the linkage is lifted to the point where the laser sensor linkage detection unit detects the linkage, the laser sensor communication control unit sends a signal to the host computer that the linkage has reached the assembly position. The assembly communication control unit then sends a command to stop the linkage support structure from rising. S4: The three-dimensional motion module mechanism moves to the assembly height, and after the two-jaw cylinder mechanism grabs the connecting rod, the three-dimensional motion module mechanism drives the connecting rod to move to the glue applicator. S5: The glue application communication control unit controls the Y-axis motion mechanism and the Z-axis motion mechanism to drive the glue storage mechanism of the glue tube to the glue outlet position. The air valve control mechanism starts to output constant air pressure, so that the glue storage mechanism of the glue tube sprays an appropriate amount of glue onto the connecting rod thread. S6: The three-dimensional motion module mechanism drives the glued connecting rod to the assembly device. The clamping cylinder mechanism of the connecting rod fixing unit clamps and fixes the connecting rod. The two-jaw cylinder mechanism releases, and the rotating mechanism drives the clamping 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 iron core storage mechanism, the three-jaw cylinder mechanism clamps the iron core, the three-dimensional motion module mechanism moves to the heating unit to heat the iron core for a constant time, and then clamps the iron core to the iron core guide head camera mechanism. Based on the point-position algorithm mechanism, it moves to the iron core assembly starting position, and the Z-axis of the iron core assembly starting position coincides with the Z-axis of the connecting rod; the three-jaw cylinder mechanism outputs constant torque, and the iron core rotates clockwise along the negative Z-axis to the iron core assembly ending 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-jaw 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 to the core guide head camera mechanism. Based on the point-position algorithm mechanism, the mechanism moves to the guide head assembly starting position, and the Z-axis of the guide head assembly starting position coincides with the Z-axis of the connecting rod; the three-jaw cylinder mechanism outputs constant torque, and the core rotates clockwise along the negative Z-axis to the guide head assembly ending position; S9: The rotating mechanism drives the gripper cylinder mechanism to rotate until the connecting rod is parallel to the positive X-axis direction. The three-dimensional motion module mechanism moves to the assembly device, the two-jaw cylinder mechanism clamps the connecting rod, and at the same time the gripper cylinder mechanism of the connecting rod fixing unit releases. Under the control of the assembly communication control unit, the three-dimensional motion module mechanism moves to the qualified iron core assembly storage mechanism and puts the assembled qualified iron core assembly into it.

Images