Full-automatic welding equipment and method for ferrule sleeve and shell

Abstract

The invention discloses full-automatic welding equipment and method for a core inserting sleeve and a shell. The welding equipment comprises a working table, a welding station mechanism, a welding gun, an upper shell mechanism, an upper core inserting sleeve mechanism, a lower product mechanism, a manipulator suction clamping jaw mechanism, a top camera mechanism and a side camera mechanism, wherein the welding station mechanism, the welding gun, the upper shell mechanism, the upper core inserting sleeve mechanism, the lower product mechanism, the manipulator suction clamping jaw mechanism, the top camera mechanism and the side camera mechanism are arranged on the working table. Compared with the prior art, the full-automatic welding machine has the advantages that full-automatic welding of the inserting core sleeve and the shell is achieved, only the feeding disc and the discharging disc need to be replaced, and human intervention is not needed in the whole welding process; the inserting core sleeve is arranged on the lower portion, the shell is arranged on the upper portion, on the premise that the welding process is not affected, the inserting core sleeve is arranged on the lower portion, the problem that concentricity is not easy to adjust is solved, the processes of automatic direction recognition and automatic protective cap removing are further achieved, and the yield is guaranteed by 100%. Compared with manual welding, the welding time is shortened by one time, and the efficiency is improved by one time.

Description

Technical Field

[0001] The invention relates to equipment and method for fully automatic welding of an insert sleeve and a shell. Background Art

[0002] In the optical communication industry, there is a process in the device production process that requires welding the ferrule sleeve and the shell together to ensure the stability of the coupling in the subsequent process; there is a fiber optic ferrule inside the ferrule sleeve. In order to facilitate the rapid identification of optical coupling in the subsequent process, the fiber optic ferrule is generally chamfered like a crescent. When welding, the shell and the ferrule sleeve need to be welded in a relatively fixed direction. Since most of the ferrule sleeves are cylindrical, the optical fiber ferrule, which is a small section of optical fiber, is placed inside the ferrule sleeve. Since the crescent of the ferrule will be blocked after welding with the shell, it is not convenient for subsequent quality inspection. Usually, the cylindrical surface of the ferrule sleeve will be marked to identify the direction; currently most welding is semi-automatic welding machine, which requires manual operation to first remove the protective cap of the ferrule sleeve, which is to protect the optical fiber ferrule from contamination and damage during transportation, and then distinguish the direction of the ferrule sleeve, and then place the ferrule sleeve on the upper chuck to clamp it, and then take a shell and place it below to fix it, align the hole on the shell with the cylindrical step of the ferrule sleeve, and use three laser welding guns to weld at 120° evenly divided points in three directions after no gaps are formed. After the first shot is completed, the shell needs to be rotated left and right to fix the angle, and two or three shots are welded again, and then the clamp is released to take out the product for welding the next one; this welding process has the following two disadvantages:

[0003] 1. The entire process requires manual control, such as loading and unloading materials, confirming the product direction, and confirming the welding position for welding; this is very inefficient and the welding quality cannot be controlled.

[0004] 2. The equipment is old and the welding method is backward: the shell is placed at the bottom and the ferrule sleeve is placed at the top. Since the ferrule sleeve is a cylinder and the shell is mostly a cuboid, it is very difficult and unstable to adjust the welding three-degree and rotation concentricity.

[0005] Based on the above reasons, the present invention proposes a device and method for fully automatic welding of a ferrule sleeve and a housing, so as to improve the quality, efficiency and stability of the ferrule sleeve welding and reduce the involvement of personnel. Summary of the invention

[0006] In order to overcome the above-mentioned shortcomings of the prior art, the present invention provides a device and method for fully automatic welding of an insert sleeve and a housing.

[0007] The technical solution adopted by the present invention to solve the technical problem is: a device for fully automatic welding of a core sleeve and a shell, comprising a work surface and a welding station mechanism arranged on the work surface, a welding gun, an upper shell mechanism, an upper core sleeve mechanism, a lower product mechanism, a manipulator suction claw mechanism, a top camera mechanism and a side camera mechanism, wherein:

[0008] The welding station mechanism comprises a rotating mechanism and a chuck mechanism arranged on the rotating mechanism;

[0009] There are three welding guns, which are evenly distributed and fixed at 120 degrees with the clamp of the welding station mechanism as the center;

[0010] The upper shell mechanism includes a shell placement Y-axis mechanism, a shell pushing X-axis mechanism, and a shell flipping mechanism;

[0011] The upper core insert sleeve mechanism and the lower product mechanism have the same structure, both comprising a lower product mechanism platform and an upper core insert sleeve material tray or a lower product material tray arranged on the lower product mechanism platform;

[0012] The manipulator suction gripper mechanism comprises a shell suction nozzle mechanism, a core sleeve gripper mechanism and a gripper suction nozzle switching cylinder which are installed on the four-axis manipulator.

[0013] The present invention also provides a method for fully automatic welding of a core sleeve and a housing, comprising the following steps:

[0014] Step 1: Place the housing tray, upper insert tray, and lower product tray:

[0015] Place the tray filled with shells in the shell placement Y-axis mechanism in a fixed direction and fix the position with a toggle clamp. Similarly, place the tray filled with ferrule sleeves with protective caps in the upper ferrule mechanism and fix the position with a toggle clamp. Place the empty lower product tray in the lower product mechanism and fix the position with a toggle clamp. The preparation work is complete.

[0016] Step 2: Automatically remove the cap and load the ferrule sleeve:

[0017] The manipulator sucks the clamping claw mechanism and moves it to the upper ferrule mechanism position, the clamping claw suction nozzle switching cylinder will extend downward, the ferrule sleeve clamping claw grabs the ferrule sleeve with the protective cap and places it in the chuck mechanism, the chuck clamps the lower end of the ferrule sleeve, the ferrule sleeve clamping claw is released and lifted to a certain height, and then the head of the protective cap is clamped and lifted upward, completing the separation of the protective cap root and the upper end of the ferrule sleeve, and then the manipulator sucks the clamping claw mechanism and moves it to the cap throwing position, opens the clamping claw and throws the protective cap into the waste cap box;

[0018] Step 3: Identify the direction of the ferrule sleeve:

[0019] After the ferrule sleeve is fixed and the protective cover is removed, the top camera mechanism collects the direction of the crescent in the ferrule, and then the rotating mechanism of the welding station mechanism rotates the ferrule sleeve to the set qualified angle. After the side camera mechanism confirms that the direction of the mark point on the cylindrical surface of the ferrule sleeve is consistent with the crescent direction identified by the top camera mechanism, it waits to be placed in the shell for welding;

[0020] Step 4: Weld the upper shell:

[0021] The shell placement Y-axis mechanism in the upper shell mechanism switches the number of rows of the trays filled with shells. Each row is in a straight line with the shell pushing X-axis mechanism and the shell flipping mechanism. The shell pushing X-axis mechanism pushes the shell to the flip shell tooling position in the flip shell mechanism, sucks it with vacuum, and then flips it 90° to stand the shell up; after the shell is separated and flipped, the manipulator sucks the clamping claw mechanism to move it above the shell, the clamping claw suction nozzle switching cylinder is retracted upward, and the shell suction nozzle sucks the upper surface of the shell to move it above the ferrule sleeve, and the shell is placed in the ferrule sleeve; three welding guns equally divided by 120° perform the first gun welding at the same time, and then the rotating mechanism rotates positively and negatively by 15° to weld the second and third guns, so that the welding of 9 points is completed, and the rotating mechanism rotates back to the angle of the upper shell;

[0022] Step 5: Download the product:

[0023] After the product welding is completed, the chuck mechanism releases the ferrule sleeve, and the robot sucks the product with the nozzle of the clamping claw mechanism and moves it to the lower product mechanism, and places the product in the lower product tray. In this way, the welding of one product is completed. Repeat steps 2 to 5 until the welding of all shells and ferrules in the tray is completed.

[0024] Compared with the prior art, the present invention has the following positive effects:

[0025] 1. The present invention realizes the fully automatic welding of the ferrule sleeve and the shell. It only needs to replace the upper and lower material trays, and there is no need for human intervention in the entire welding process, which saves 1 person / machine;

[0026] 2. Compared with manual welding, manual welding takes 22 seconds per piece, while equipment welding takes 11 seconds per piece, which shortens the welding time by half and increases the efficiency by half;

[0027] 3. Compared with the traditional welding method where the shell is at the bottom and the ferrule sleeve is at the top, the ferrule sleeve is placed at the bottom and the shell is at the top. Although the welding gun is inverted, the ferrule sleeve at the bottom solves the difficulty of adjusting the concentricity without affecting the welding process. It also realizes the process of automatic identification of direction and automatic removal of the protective cap, and the yield is 100% guaranteed. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] The present invention will now be described by way of example with reference to the accompanying drawings, in which:

[0029] Figure 1 This is the overall front view of the fully automatic welding equipment for the ferrule sleeve and the shell;

[0030] Figure 2 It is a top view of the working table 4 of the fully automatic welding equipment for the ferrule sleeve and the shell;

[0031] Figure 3It is a front view of the working table 4 of the fully automatic welding equipment for the ferrule sleeve and the shell;

[0032] Figure 4 It is a left view of the working table 4 of the fully automatic welding equipment for the ferrule sleeve and the housing;

[0033] Figure 5 is a schematic diagram of a welding station mechanism 15;

[0034] Figure 6 is a schematic diagram of a welding gun 12;

[0035] Figure 7 A schematic diagram of the robot gripping claw mechanism 18;

[0036] Figure 8 is a schematic diagram of the lower product mechanism 17;

[0037] Fig. 9 is a schematic diagram of the upper ferrule sleeve mechanism 14;

[0038] Fig.10 is a schematic diagram of the upper housing mechanism;

[0039] Fig.11 is a schematic diagram of the side camera mechanism 16;

[0040] Fig.12 is a schematic diagram of a top camera mechanism 6;

[0041] Fig.13 is a schematic diagram of the ferrule sleeve 38;

[0042] Fig.14 is a schematic diagram of the housing 64;

[0043] Fig.15 is a schematic diagram of product 28;

[0044] The serial number markings in the figure include: foot cup of the fully automatic welding equipment for ferrule sleeve and shell 1, universal wheel of the fully automatic welding equipment for ferrule sleeve and shell 2, overall frame of 1100*850*1670 of the fully automatic welding equipment for ferrule sleeve and shell 3, working table of the fully automatic welding equipment for ferrule sleeve and shell 4, display of the fully automatic welding equipment for ferrule sleeve and shell 5, top camera mechanism 6, protective cover of the fully automatic welding equipment for ferrule sleeve and shell 7, Y-axis mechanism for placing shell 8, X-axis mechanism for pushing shell 9, flipping shell mechanism 10, four-axis manipulator 11, welding gun 12, waste cap box 13, upper ferrule sleeve mechanism 14, welding station mechanism 15, side camera mechanism 16, lower product mechanism 17, manipulator suction claw mechanism 18, high-torque stepping motor 19, welding station installation platform 20, support block 21, connecting plate 22, chuck 23, small telescopic cylinder 24, sleeve 25, rotating platform 26, pneumatic slip ring 27, product Product 28, synchronous belt and synchronous wheel 29, laser welding gun 30, two-axis manual slide 31, suction shell nozzle 32, nozzle mounting plate 33, small micro slide 34, nozzle fixing plate 35, SX670 photoelectric switch 36, small slide cylinder 37, core sleeve 38, core sleeve clamping claw 39, adapter plate 40, clamping claw nozzle switching cylinder 41, lower product mechanism platform 42, limit block 43, lower product tray 44, pin 45, elbow clamp 46, upper Insert sleeve tray 47, shell pushing tooling 48, shell pushing X-axis mounting platform 49, shell pushing X-axis 50, shell flip tooling 51, 90° flip cylinder 52, sensor mounting block 53, shell placement Y-axis 54, side camera mounting platform 55, lens 56, camera 57, top camera mounting platform 58, top camera focal length adjustment axis 59, plane light source 60, protective cap 61, insert sleeve middle part 62, marking point 63, shell 64. DETAILED DESCRIPTION

[0045] A device for fully automatic welding of a core sleeve and a shell, the overall structure is as follows Figure 1As shown, it includes: a foot cup 1 of the fully automatic welding equipment for the ferrule sleeve and the shell, a universal wheel 2 of the fully automatic welding equipment for the ferrule sleeve and the shell, a 1100*850*1670 overall frame 3 of the fully automatic welding equipment for the ferrule sleeve and the shell, a working table 4 of the fully automatic welding equipment for the ferrule sleeve and the shell, a display 5 of the fully automatic welding equipment for the ferrule sleeve and the shell, a top camera mechanism 6, a protective cover 7 of the fully automatic welding equipment for the ferrule sleeve and the shell, etc. Among them, the working table 4 of the fully automatic welding equipment for the ferrule sleeve and the shell in the overall frame 3 of the fully automatic welding equipment for the ferrule sleeve and the shell 1100*850*1670 is 750mm away from the ground, suitable for The ferrule sleeve and shell fully automatic welding equipment display 5 can display the equipment software operation interface, the ferrule sleeve and shell fully automatic welding equipment foot cup 1 can fix the equipment position, the ferrule sleeve and shell fully automatic welding equipment universal wheel 2 is convenient for moving the equipment, the top camera mechanism 6 is installed on the aluminum profile on the ferrule sleeve and shell fully automatic welding equipment protective cover 7, and the crescent direction of the ferrule sleeve 38 is collected from top to bottom. The ferrule sleeve and shell fully automatic welding equipment protective cover 7 can protect the ferrule sleeve and shell fully automatic welding equipment work table 4 to prevent personnel from accidentally opening and entering the equipment during the operation of the equipment, thereby starting the safety protection function.

[0046] like Figure 2 , 3 As shown in FIG. 4 , a shell placing Y-axis mechanism 8, a shell pushing X-axis mechanism 9, a shell flipping mechanism 10, a four-axis manipulator 11, a welding gun 12, a waste cap box 13, an upper core sleeve mechanism 14, a welding station mechanism 15, a side camera mechanism 16, a lower product mechanism 17, and a manipulator suction claw mechanism 18 are arranged on the working table 4 of the fully automatic welding equipment for the core sleeve and the shell, wherein:

[0047] The welding station mechanism 15 has the function of clamping and rotating the ferrule sleeve, including a chuck mechanism and a rotating mechanism. The chuck mechanism can clamp the ferrule sleeve to a fixed position, and the chuck mechanism is installed on the rotating mechanism to make the ferrule sleeve rotate concentrically. Figure 5As shown, it includes: a high-torque stepper motor 19, a welding station mounting platform 20, a support block 21, a connecting plate 22, a chuck 23, a small telescopic cylinder 24, a sleeve 25, a rotating platform 26, a pneumatic slip ring 27, a product 28, a synchronous belt and a synchronous wheel 29, etc. The high-torque stepper motor 19 is installed on the welding station mounting platform 20, and the pneumatic slip ring 27 is also installed on the welding station mounting platform 20. The two can drive the pneumatic slip ring 27 to rotate through the synchronous belt and the synchronous wheel 29. In this way, the high-torque stepper motor 19, the welding station mounting platform 20, the pneumatic slip ring 27, the synchronous belt and the synchronous wheel 29 are a rotating mechanism with a rotating function; the chuck 23 is installed at the center of the rotating platform 26, and the support block 21 and the small telescopic cylinder 24 are located on both sides of the chuck 23 and are also installed on the rotating platform. On the platform 26, the two put the sleeve 25 on the chuck 23 through the connecting plate 22. When the small telescopic cylinder 24 moves up and down, the sleeve 25 can be driven to move up and down. The inner wall of the sleeve 25 and the outer wall of the chuck 23 are tapered and cooperate with each other, so that the chuck 23 can loosen and clamp the product 28. The support block 21, the connecting plate 22, the chuck 23, the small telescopic cylinder 24, the sleeve 25, and the rotating platform 26 constitute a clamping mechanism with a clamping function. The rotating platform 26 is concentrically installed on the pneumatic slip ring 27 to realize the function of rotating and clamping the core sleeve 38.

[0048] The structure of the welding gun 12 is as follows Figure 6 As shown, it includes: a laser welding gun 30, a two-axis manual slide 31, etc. The laser welding gun 30 is installed on the two-axis manual slide 31 through a mounting plate, and the two-axis manual slide 31 is fixed on the working table 4 of the ferrule sleeve and the shell full-automatic welding equipment. The three welding guns 12 are evenly distributed and fixed at 120° with the chuck 23 as the center.

[0049] The manipulator suction gripper mechanism includes a suction nozzle that can vacuum suck the shell and a gripper that can clamp the ferrule sleeve. The two can be used interchangeably. On a four-axis manipulator 11, it can realize the loading of the ferrule sleeve, the removal of the ferrule sleeve protective cover, the loading of the shell, and the unloading of the product after welding. It includes a shell suction nozzle, a ferrule sleeve gripper, a suction nozzle buffer mechanism, a gripper buffer mechanism, and a gripper suction nozzle switching cylinder. The structure of the manipulator suction gripper mechanism 18 is as follows: Figure 7As shown, it includes: a suction shell nozzle 32, a suction nozzle mounting plate 33, a small micro slide 34, a suction nozzle fixing plate 35, an SX670 photoelectric switch 36, a small slide cylinder 37, a core sleeve 38, a core sleeve clamping claw 39, an adapter plate 40, a clamping claw nozzle switching cylinder 41, etc. The suction shell nozzle 32 is mounted on the suction nozzle mounting plate 33, and the suction nozzle mounting plate 33 is fixed on the slider of the small micro slide 34. A spring is installed between the suction nozzle mounting plate 33 and the suction nozzle fixing plate 35 to realize the up and down buffering function of the suction shell nozzle 32 to prevent the suction nozzle from being damaged; the small micro slide 34 is fixed on the suction nozzle fixing plate 35, and the clamping claw nozzle switching cylinder 41 is also fixed on the suction nozzle fixing plate 35. The small micro slide 34 is also fixed on the back of the clamping claw nozzle switching cylinder 41, and the small micro slide 34 is overlapped with the small micro slide 34 through a connecting piece, and then connected with the adapter plate 40. The clamping jaw and nozzle switching cylinder 41 are connected, and the clamping jaw 39 of the core sleeve is installed on the small slide cylinder 37 to realize the opening and clamping of the clamping jaw. The SX670 photoelectric switch 36 can detect whether the clamping jaw 39 of the core sleeve is overloaded to protect the clamping jaw 39 from being damaged. The SX670 photoelectric switch 36 and the small slide cylinder 37 are installed on the overlapping small micro slide 34 through connecting parts, so that the clamping jaw and nozzle switching cylinder 41 can realize the function of switching the nozzle or the clamping jaw up and down through the adapter plate 40, and the nozzle fixing plate 35 is installed as a whole on the four-axis manipulator 11 to realize point movement.

[0050] The upper core inserting mechanism and the lower product mechanism have the same structure, both of which include a material tray (upper core inserting sleeve material tray 47, lower product material tray 44), a toggle clamp 46, a limit block 43, and a material unloading platform 42. The upper core inserting sleeve material tray and the lower product material tray have different array hole sizes, and the rest of the array and size are exactly the same, which is convenient for debugging and the same loading and unloading quantity. The structure of the lower product mechanism 17 and the upper core inserting sleeve mechanism 14 is as follows Figure 8 and Fig. 9 As shown, it includes: product 28, insert sleeve 38, lower product mechanism platform 42, limit block 43, lower product tray 44, pin 45, elbow clamp 46, upper insert sleeve tray 47, etc. The limit block 43, pin 45 and elbow clamp 46 are all installed on the lower product mechanism platform 42. When the lower product tray 44 or the upper insert sleeve tray 47 is placed on the lower product mechanism platform 42, the pin 45 can prevent the tray from being placed upside down. The elbow clamp presses against the two sides of the material box at one corner, and the two sides of the diagonal are limited by the limit block 43 respectively, so that the material box can be fixed. The lower product tray 44 is used to place the product 28, and the upper insert sleeve tray 47 is used to place the insert sleeve 38.

[0051] The upper shell mechanism is responsible for dividing the lying shells one by one, rotating them 90° and putting them into an upright state, so that the robot can suck the shells with the gripper mechanism. It includes a shell placement Y-axis mechanism 8, a shell pushing X-axis mechanism 9 and a shell flipping mechanism 10. The shell placement Y-axis mechanism 8 is responsible for switching the number of rows of shells in the vertical direction of a whole array, the shell pushing X-axis mechanism 9 is responsible for pushing the shells of each row into the flipping shell mechanism 10 in the horizontal direction, and the flipping shell mechanism is responsible for flipping the lying shells 90° into an upright state, waiting for loading. The structure of the upper shell mechanism is as follows: Fig.10 As shown, it includes: a small micro slide 34, a limit block 43, an elbow clamp 46, a shell pushing tooling 48, a shell pushing X-axis mounting platform 49, a shell pushing X-axis 50, a shell flip tooling 51, a 90° flip cylinder 52, a sensor mounting block 53, a shell placement Y-axis 54, etc. The tooling tray filled with shells 64 is placed on the shell placement Y-axis 54, and the limit block 43 and the elbow clamp 46 fix it on the platform. Since the shells 64 are now lying in an array in the tooling tray, they need to be flipped 90°. The shell pushing X-axis 50 is installed on the shell pushing X-axis mounting platform 49. The small micro slide 34 also plays a buffering role on the shell pushing X-axis 50. The shell pushing tooling 48 is installed on the small micro slide 34, and the shells 64 are pushed one by one into the flip shell tooling 51. The flip shell tooling 51 is connected to a vacuum to hold the shell and keep it stable. The flip shell tooling 51 is installed on the 90° flip cylinder 52 to achieve a 90° flip. The sensor mounting block 53 is equipped with a detection sensor to detect the flipping state of the flip shell tooling 51.

[0052] The side camera mechanism is responsible for collecting the mark on the ferrule cylinder (the mark is consistent with the direction of the ferrule crescent) from the side, the purpose is to ensure the correct direction for the second time, and can also be used as a second guarantee for identifying the direction of the ferrule, including a camera lens, a ring light source, and a fixing mechanism. The structure of the side camera mechanism 16 is as follows Fig.11 As shown, it includes: a side camera mounting platform 55, a lens 56, and a camera 57. The lens 56 and the camera 57 are assembled and mounted on the side camera mounting platform 55, and are aligned with the marking point 63 on the ferrule sleeve 38 of the welding station mechanism 15 to collect images in the side direction.

[0053] The top camera mechanism is responsible for collecting the direction of the crescent of the ferrule in the ferrule sleeve from above, so that the ferrule sleeve can be rotated to a fixed angle for easy welding with the shell, and includes a camera lens, a plane light source, and an up and down adjustment shaft mechanism. The structure of the top camera mechanism 6 is as follows Fig.12 As shown, it includes: lens 56, camera 57, top camera mounting platform 58, top camera focus adjustment shaft 59, plane light source 60, etc. The lens 56 and camera 57 components are installed on the top camera focus adjustment shaft 59 to facilitate the up and down adjustment of the focus, and the top camera focus adjustment shaft 59 and the plane light source 60 are installed on the top camera mounting platform 58.

[0054] The structure of the ferrule sleeve 38 is as follows Fig.13 As shown, it includes: a protective cap 61, a middle part of the ferrule sleeve 62, and a marking point 63. The protective cap 61 is a soft silicone protective sleeve that protects the optical fiber ferrule from contamination and damage during transportation. The marking point 63 corresponds to the crescent shape of the optical fiber ferrule, which is convenient for identifying the direction in the subsequent process.

[0055] The structure of the housing 64 is as follows Fig.14 shown.

[0056] The structure of the product 28 is as follows Fig.15 As shown, it is composed of a ferrule sleeve 38 and a housing 64 .

[0057] The present invention uses a motion mechanism to grab two different devices respectively, provides a process of welding two different devices together, simplifies the motion mechanism and improves production efficiency. The process mainly includes five steps: 1. Place the tray of the shell 64, the upper core sleeve tray 47, and the lower product tray 44; 2. Automatically remove the cap of the core sleeve 38 for loading; 3. Identify the direction of the core sleeve 38; 4. Weld the upper shell 64; 5. Lower the product 28. The tray filled with shells 64, the upper core sleeve tray 47 filled with core sleeves 38, and the empty lower product tray 44 are fixed in position using the elbow clamp 46. The manipulator sucks the jaw suction nozzle switching cylinder 41 on the clamp mechanism 18 and extends downward. At this time, the core sleeve clamp 39 can grab the core sleeve 38 with the protective cap 61 and put it into the chuck 23 for clamping. Then the core sleeve clamp 39 is opened and lifted to a certain height and clamped again. The core sleeve clamp 39 is lifted upward to complete the separation of the root of the protective cap 61 and the upper part of the core sleeve 38. The top camera mechanism 6 collects the direction of the crescent in the core, and then the rotating mechanism rotates the core sleeve 38 to the set qualified angle. The side camera mechanism 16 confirms the direction of the marking point 63 on the cylindrical surface of the core sleeve 38 for the second time. Whether it is consistent with the crescent direction recognized by the top camera mechanism 6, the manipulator sucks the clamping claw mechanism 18 and moves it to the top of the shell 64, and the clamping claw nozzle switching cylinder 41 is retracted upward, and the shell suction nozzle 32 can suck the upper surface of the shell 64, and then move to the top of the core sleeve 38, put the shell into the core sleeve 38 for the first welding shot, and then the rotating mechanism rotates 15° in positive and negative directions, welds the second and third shots, and finally rotates the rotating mechanism back to the angle of the upper shell, and the manipulator sucks the shell suction nozzle 32 of the clamping claw mechanism 18 to suck the top of the shell, and the chuck 23 that clamps the core sleeve below is released, and the manipulator sucks the clamping claw mechanism 18 and moves it to the position of the lower product mechanism 17, and places it in the lower product tray 44, thus completing the welding of a product 28, and then reciprocating is sufficient.

[0058] The present invention also provides a method for fully automatic welding of a core sleeve and a housing, comprising the following steps:

[0059] Step 1: Place the tray of the housing 64, the upper insert sleeve tray 47, and the lower product tray 44:

[0060] Place the tray filled with the shell 64 in the shell placement Y-axis mechanism 8 in a fixed direction and fix the position with the toggle clamp 46. Similarly, place the upper core sleeve tray 47 filled with the core sleeve 38 with the protective cap 61 in the upper core sleeve mechanism 14 and fix the position with the toggle clamp 46. Place the empty lower product tray 47 in the lower product mechanism 17 and fix the position with the toggle clamp 46. The preparation work is completed.

[0061] Step 2: Automatically remove the cap and load the ferrule sleeve 38:

[0062] The manipulator suction gripper mechanism 18 on the four-axis manipulator 11 will go to the position of the ferrule sleeve mechanism 14, and the gripper nozzle switching cylinder 41 in the manipulator suction gripper mechanism 18 will extend downward, at this time, the ferrule sleeve gripper 39 can grab the ferrule sleeve 38 with the protective cap 61, because the root of the protective cap 61 is in close contact with the upper part of the ferrule sleeve 38, the ferrule sleeve gripper 39 can clamp the root of the protective cap 61 together with the ferrule sleeve 38 and take it out, and put it into the chuck mechanism, and the chuck 23 clamps the ferrule sleeve 38. 8, the ferrule sleeve clamping claw 39 is loosened, lifted to a certain height and then clamped, so that the head of the protective cap 61 can be caught. Since the lower end of the ferrule sleeve 38 is clamped by the clamping head 23, the head of the protective cap 61 is clamped by the ferrule sleeve clamping claw 39 at this time. It is only necessary to lift the ferrule sleeve clamping claw 39 upward to complete the separation of the root of the protective cap 61 and the upper end of the ferrule sleeve 38, and then the manipulator sucks the clamping claw mechanism 18 to move to the cap throwing position, open the ferrule sleeve clamping claw 39 and throw the protective cap 61 into the waste cap box 13;

[0063] Step 3: Identify the direction of the ferrule sleeve 38:

[0064] When the ferrule sleeve 38 is fixed and the protective cap 61 is removed, the top camera mechanism 6 collects the direction of the crescent in the ferrule, and then the rotating mechanism rotates the ferrule sleeve 38 to the set qualified angle, and the side camera mechanism 16 confirms for the second time whether the direction of the marking point 63 on the cylindrical surface of the ferrule sleeve 38 is consistent with the direction of the crescent identified by the top camera mechanism 6, and waits to be placed in the shell 64 for welding.

[0065] Step 4: Welding the upper shell 64:

[0066] The shell placement Y-axis mechanism 8 in the upper shell mechanism will switch the number of material tray rows filled with shells 64, and each row is in a straight line with the shell pushing X-axis mechanism 9 and the shell flipping mechanism 10. The shell pushing X-axis mechanism 9 will push the shell 64 to the flip shell tooling 51 position in the flip shell mechanism 10, use vacuum to suck it, and then flip 90° to stand up the shell 64; after the shell 64 is separated and flipped, the manipulator sucks the clamping claw mechanism 18 and moves it to the top of the shell 64, the clamping claw nozzle switching cylinder 41 is retracted upward, and the shell suction nozzle 32 can suck the upper surface of the shell 64, and then move it to the top of the core sleeve 38, put the shell 64 into the core sleeve 38, and use the 120° equally divided welding gun 12 to perform the first gun welding, and then the rotating mechanism rotates positively and negatively by 15° to weld the second and third guns. The rotating mechanism is finally rotated back to the angle when the upper shell was used, which is convenient for the shell suction nozzle 32 to unload. The core sleeve 38 is at the bottom and the shell 64 is at the top, and the three 120° direction welding guns are assembled and welded upside down. The first advantage is that the core sleeve 38 is a cylinder, which is convenient for clamping and adjusting the concentricity relative to the rectangular shell 64; the second is that the image recognition direction is collected from the top, which is convenient for rotation; third, welding requires welding at 9 points in 3 positions that evenly divide the 120° direction by plus or minus 15°, which has high requirements for rotation concentricity.

[0067] Step 5: Download product 28:

[0068] After the product 28 is welded, the shell suction nozzle 32 of the robot suction clamp mechanism 18 will suck from the top of the shell, and the clamp 23 that clamps the core sleeve below will be released. The robot suction clamp mechanism 18 moves to the position of the lower product mechanism 17 and places it in the lower product tray 44. In this way, the welding of a product 28 is completed, and steps 2 to 5 can be repeated subsequently.

[0069] The differences between the present invention and the background technology are as follows:

[0070] (1) Background technology Manual semi-automatic welding requires manual control of the entire process, such as loading and unloading, confirming the product direction, confirming the welding position for welding; this is very inefficient and the welding quality cannot be controlled. The present invention realizes the fully automatic welding of the ferrule sleeve and the shell, only needs to replace the loading and unloading tray, and no manual intervention is required in the entire welding process, saving one person / machine; and manual welding takes 22 seconds / piece, while equipment welding takes 11 seconds / piece, which shortens the welding time by half and doubles the efficiency.

[0071] (2) Background technology The welding method is backward: the shell is placed at the bottom and the ferrule sleeve is placed at the top. Since the ferrule sleeve is a cylinder and the shell is mostly a cuboid, it is very difficult and unstable to adjust the three-degree welding and rotation concentricity. The present invention places the ferrule sleeve at the bottom and the shell at the top. Although the welding gun is inverted, the ferrule sleeve at the bottom solves the difficulty of adjusting the concentricity without affecting the welding process. It also realizes the process of automatic identification of direction and automatic removal of the protective cap, and the yield rate is 100% guaranteed.

Claims

1. A device for fully automatic welding of a ferrule sleeve and a housing, characterized in that: It includes a work surface and a welding station mechanism arranged on the work surface, a welding gun, an upper shell mechanism, an upper core sleeve mechanism, a lower product mechanism, a manipulator suction claw mechanism, a top camera mechanism and a side camera mechanism, wherein: The welding station mechanism comprises a rotating mechanism and a chuck mechanism arranged on the rotating mechanism; There are three welding guns, which are evenly distributed and fixed at 120 degrees with the clamp of the welding station mechanism as the center; The upper shell mechanism includes a shell placement Y-axis mechanism, a shell pushing X-axis mechanism, and a shell flipping mechanism; The upper core insert sleeve mechanism and the lower product mechanism have the same structure, both comprising a lower product mechanism platform and an upper core insert sleeve material tray or a lower product material tray arranged on the lower product mechanism platform; The manipulator suction gripper mechanism comprises a shell suction nozzle mechanism, a core sleeve gripper mechanism and a gripper suction nozzle switching cylinder which are installed on the four-axis manipulator.

2. The device for fully automatic welding of a ferrule sleeve and a housing according to claim 1, characterized in that: The rotating mechanism of the welding station mechanism includes a high-torque stepper motor and a welding station mounting platform, a pneumatic slip ring is installed on the welding station mounting platform, and the high-torque stepper motor drives the pneumatic slip ring to rotate through a synchronous belt and a synchronous wheel; the chuck mechanism includes a rotating platform and a chuck arranged at the center position of the rotating platform, support blocks and a small telescopic cylinder are installed on both sides of the chuck, the support blocks and the small telescopic cylinder sleeve the chuck through a connecting plate, and the rotating platform is concentrically installed on the pneumatic slip ring.

3. The device for fully automatic welding of a ferrule sleeve and a housing according to claim 2, characterized in that: The inner wall of the sleeve and the outer wall of the chuck are tapered and matched with each other.

4. The device for fully automatic welding of a ferrule sleeve and a housing according to claim 1, characterized in that: The shell placing Y-axis mechanism of the upper shell mechanism includes a shell placing Y-axis and a tooling tray filled with shells placed thereon, and the tooling tray is fixed by a limit block and an elbow clamp; the shell pushing X-axis mechanism includes a shell pushing X-axis installed on a shell pushing X-axis mounting platform, a micro slide is installed on the shell pushing X-axis, and a shell pushing tooling is installed on the micro slide; the shell flipping mechanism includes a 90° flipping cylinder and a flipping shell tooling and a flipping state detection sensor installed on the 90° flipping cylinder.

5. The device for fully automatic welding of a ferrule sleeve and a housing according to claim 1, characterized in that: The upper core sleeve tray and the lower product tray are both fixed by limit blocks and elbow clamps; pins are arranged on the lower product mechanism platform to prevent the tray from being reversed.

6. The device for fully automatic welding of a ferrule sleeve and a housing according to claim 1, characterized in that: The shell nozzle mechanism includes a nozzle fixing plate and a first micro slide installed on the nozzle fixing plate. A shell nozzle is installed on the slider of the first micro slide through the nozzle mounting plate, and a spring is installed between the nozzle mounting plate and the nozzle fixing plate. A clamping jaw nozzle switching cylinder is arranged on the nozzle fixing plate, a second micro slide is fixed on the clamping jaw nozzle switching cylinder, a third micro slide is installed on the second micro slide through a connecting piece, and the third micro slide is connected to the clamping jaw nozzle switching cylinder through an adapter plate. A small slide cylinder and a photoelectric switch are arranged on the third micro slide, and a core sleeve clamp is installed on the small slide cylinder.

7. The device for fully automatic welding of a ferrule sleeve and a housing according to claim 1, characterized in that: The top camera mechanism comprises a top camera mounting platform, a focus adjustment axis and a plane light source arranged on the top camera mounting platform, and a lens and a camera assembly are mounted on the focus adjustment axis.

8. The device for fully automatic welding of a ferrule sleeve and a housing according to claim 1, characterized in that: The side camera mechanism includes a side camera mounting platform and a camera lens assembly and an annular light source arranged on the side camera mounting platform.

9. The device for fully automatic welding of a ferrule sleeve and a housing according to claim 1, characterized in that: The welding gun comprises a two-axis manual slide table and a laser welding gun mounted on the two-axis manual slide table through a mounting plate.

10. A method for fully automatic welding of a ferrule sleeve and a housing, characterized in that: The steps include: Step 1: Place the housing tray, upper insert tray, and lower product tray: Place the tray filled with shells in the shell placement Y-axis mechanism in a fixed direction and fix the position with a toggle clamp. Similarly, place the tray filled with ferrules with protective caps in the upper ferrule mechanism and fix the position with a toggle clamp. Place the empty lower product tray in the lower product mechanism and fix the position with a toggle clamp. The preparation work is complete. Step 2: Automatically remove the cap and load the ferrule sleeve: The manipulator sucks the clamping claw mechanism and moves it to the upper ferrule sleeve mechanism position, the clamping claw suction nozzle switching cylinder will extend downward, the ferrule sleeve clamping claw grabs the ferrule sleeve with the protective cap and places it in the chuck mechanism, the chuck clamps the lower end of the ferrule sleeve, the ferrule sleeve clamping claw is released and lifted to a certain height, and then the head of the protective cap is clamped and lifted upward, completing the separation of the protective cap root and the upper end of the ferrule sleeve, and then the manipulator sucks the clamping claw mechanism and moves it to the cap throwing position, opens the clamping claw and throws the protective cap into the waste cap box; Step 3: Identify the direction of the ferrule sleeve: After the ferrule sleeve is fixed and the protective cover is removed, the top camera mechanism collects the direction of the crescent in the ferrule, and then the rotating mechanism of the welding station mechanism rotates the ferrule sleeve to the set qualified angle. After the side camera mechanism confirms that the direction of the mark point on the cylindrical surface of the ferrule sleeve is consistent with the crescent direction identified by the top camera mechanism, it waits to be placed in the shell for welding; Step 4: Weld the upper shell: The shell placement Y-axis mechanism in the upper shell mechanism switches the number of rows of trays filled with shells. Each row is in a straight line with the shell pushing X-axis mechanism and the shell flipping mechanism. The shell pushing X-axis mechanism pushes the shell to the flip shell tooling position in the flip shell mechanism, sucks it with vacuum, and then flips it 90° to stand the shell up. After the shell is separated and turned over, the manipulator sucks the gripper mechanism and moves it to the top of the shell, the gripper nozzle switching cylinder is retracted upward, and the shell nozzle sucks the upper surface of the shell and moves it to the top of the ferrule sleeve to put the shell into the ferrule sleeve; three welding guns with 120° evenly divided perform the first welding at the same time, and then the rotating mechanism rotates positively and negatively by 15° to weld the second and third welding guns, thus completing the welding of 9 points, and the rotating mechanism rotates back to the angle of the upper shell; Step 5: Download the product: After the product welding is completed, the chuck mechanism releases the ferrule sleeve, and the robot sucks the product with the nozzle of the clamping claw mechanism and moves it to the lower product mechanism, and places the product in the lower product tray. In this way, the welding of one product is completed. Repeat steps 2 to 5 until the welding of all shells and ferrules in the tray is completed.

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