Pump reversing mechanism assembly system and method

Abstract

The application discloses a pumping reversing mechanism assembling system and method. The pumping reversing mechanism comprises a hopper, an eye plate and a transition sleeve. The hopper is provided with a mounting hole for mounting the transition sleeve. The eye plate is detachably connected with the hopper through a fastener. The pumping reversing mechanism assembling system comprises a loading device, a taking device, a tightening device and a pressing device. The loading device is used for carrying the hopper and can be reversely arranged. The taking device is arranged on one side of the loading device. The taking device can align the eye plate with the hopper when the mounting hole of the hopper is reversely turned to face away from the taking device, and can place the transition sleeve of the pumping reversing mechanism outside the mounting hole when the mounting hole of the hopper is reversely turned to face the taking device. The tightening device is arranged on the opposite side of the taking device. The tightening device can tighten the eye plate to the hopper when the eye plate is aligned with the mounting hole. The pressing device can press the transition sleeve from outside to inside into the mounting hole, so that the assembling efficiency of the pumping reversing mechanism is improved.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of pumping, and particularly relates to a pumping reversing mechanism assembling system and an assembling method. BACKGROUND

[0002] The pumping unit is the core component of the concrete pumping machinery, responsible for transporting concrete from the hopper to the pipeline and ensuring its stable and efficient flow. The structural design of this unit is crucial, which mainly consists of a hopper, a concrete cylinder, a pumping reversing mechanism and a control system.

[0003] The pumping reversing mechanism plays a very important role in the pumping process, responsible for controlling the reversing movement of the concrete cylinder. The pumping reversing mechanism usually includes an eye plate and a transition sleeve. The eye plate can achieve effective switching between the concrete cylinders, while the transition sleeve passes through the mounting hole opened on the hopper and abuts against the eye plate and the concrete cylinder at both ends. The concrete in the concrete cylinder can flow through the transition sleeve and continue to flow.

[0004] Currently, in the manufacturing process of the concrete pumping machinery, the assembly of the eye plate and the transition sleeve is usually carried out by manual workstations. This method uses the hopper as the assembly carrier, and the workers assemble the remaining components of the concrete pumping unit to the hopper in a manual manner. However, due to the full-process manual assembly, the current assembly method has the problems of low automation degree and low efficiency. SUMMARY

[0005] In view of the above defects or deficiencies, the application provides a pumping reversing mechanism assembling system and an assembling method, aiming to solve the technical problems of low automation degree and low efficiency of manual assembly.

[0006] In order to achieve the above purpose, the application provides a pumping reversing mechanism assembling system. The pumping reversing mechanism includes a hopper, an eye plate and a transition sleeve. The hopper is provided with a mounting hole for mounting the transition sleeve, and the eye plate is detachably connected to the hopper by a fastener. The pumping reversing mechanism assembling system includes a loading device, a taking device, a tightening device and a pressing device. The loading device is used to carry the hopper and can be turned; the taking device is arranged on one side of the loading device. The taking device can align the eye plate with the hopper when the mounting hole of the hopper is turned away from the taking device, and can place the transition sleeve of the pumping reversing mechanism outside the mounting hole when the mounting hole of the hopper is turned to face the taking device; the tightening device is arranged on the opposite side of the taking device, and can tighten the eye plate to the hopper when the eye plate is aligned with the mounting hole; and the pressing device can press the transition sleeve from the outside to the inside of the mounting hole.

[0007] In the embodiment of the present application, the material taking device is a material taking robot, which can respectively grab the spectacle plate and the transition sleeve; the pressing device is located on the same side of the material taking robot and is adjustably arranged; the pressing device comprises a pressing driving element and a clamp assembly; the clamp assembly comprises a pressing base, an abutting end plate assembly and a variable-diameter positioning mechanism; the pressing base is drivingly connected with the pressing driving element; the abutting end plate assembly is arranged on the pressing base and can abut against the transition sleeve in the end direction; and the variable-diameter positioning mechanism is arranged on the pressing base or the abutting end plate assembly and can extend into the inside of the transition sleeve to abut against the transition sleeve in the radial direction.

[0008] In the embodiment of the present application, the variable-diameter positioning mechanism comprises a variable-diameter driving element and variable-diameter claws; the variable-diameter driving element is arranged on the pressing base or the abutting end plate assembly; the number of the variable-diameter claws is at least two; the at least two variable-diameter claws are respectively drivingly connected with the variable-diameter driving element; and the variable-diameter driving element can drive the at least two variable-diameter claws to move in the variable-diameter direction inside the transition sleeve towards or away from the transition sleeve.

[0009] In the embodiment of the present application, the variable-diameter claw comprises a clamping rod drivingly connected with the variable-diameter driving element and a clamping plate connected with the outside of the clamping rod; the outside edges of the at least two clamping rods are obliquely arranged towards each other in the direction of extending into the transition sleeve; the clamping plate can abut against the straight transition sleeve in the radial direction; and the clamping rod located on the side of the clamping plate away from the variable-diameter driving element can abut against the conical transition sleeve in the radial direction.

[0010] In the embodiment of the present application, the abutting end plate assembly comprises a straight sleeve end plate and a conical sleeve end plate which are spaced and connected; the straight sleeve end plate is used for abutting against the straight transition sleeve in the end direction; the conical sleeve end plate is used for abutting against the conical transition sleeve in the end direction; and the end of the variable-diameter claw away from the variable-diameter driving element extends out of the conical sleeve end plate.

[0011] In the embodiment of the present application, the pressing device further comprises a position adjusting assembly; the position adjusting assembly comprises a translation mechanism, a lifting mechanism and a lifting plate; the translation mechanism can drive the lifting mechanism to translate; the lifting mechanism can drive the lifting plate to lift; and the pressing driving element is arranged on the lifting plate.

[0012] In the embodiment of the present application, the tightening device comprises a tightening robot and a tightening mechanism; the tightening mechanism comprises a tightening base, a first driving element, a tightening driving element, a tightening mounting plate and a fastener clamping jaw; the tightening base is connected with the tightening robot; the first driving element and the fastener clamping jaw are mounted on the tightening base; the first driving element is drivingly connected with the tightening mounting plate; the tightening driving element is mounted on the tightening mounting plate; the fastener clamping jaw is used for clamping the fastener; and the tightening driving element is used for locking the fastener with the spectacle plate.

[0013] In the embodiment of the present application, the material carrying device comprises a conveying mechanism, a hopper tray for carrying the hopper, and a lifting mechanism arranged between the material taking device and the tightening device, the conveying mechanism is used to convey the hopper tray to the lifting mechanism, the lifting mechanism comprises a lifting assembly and a rotating assembly, the rotating assembly is arranged on the lifting platform and is used to drive the hopper tray to turn, and the lifting assembly is used to drive the rotating assembly to lift and lower.

[0014] In the embodiment of the present application, the material taking device comprises a material taking robot, a spectacle plate suction cup, and a transition sleeve clamp, the material taking robot can be connected with the spectacle plate suction cup or the transition sleeve clamp, the spectacle plate suction cup is used to suck the spectacle plate, and the transition sleeve clamp is used to clamp the transition sleeve.

[0015] In the embodiment of the present application, the tightening device is provided with a positioning camera, and the positioning camera is configured to:

[0016] acquire a positioning image from the outside of the hopper in the case that the spectacle plate is aligned with the hopper;

[0017] select any two first tightening holes on the hopper in the positioning image, and acquire the arc of the two first tightening holes and the arc segment of the second tightening hole of the spectacle plate exposed in the first tightening hole;

[0018] fit the arcs of the two first tightening holes to obtain two first center coordinates, respectively;

[0019] fit the arc segments exposed by the two second tightening holes to obtain two second center coordinates, respectively;

[0020] determine a skew angle according to the first center coordinates and the second center coordinates;

[0021] control the material taking device to adjust the position of the spectacle plate according to the skew angle.

[0022] In addition, the present application also provides a pump reversing mechanism assembly method, which is applied to the pump reversing mechanism assembly system as described above and comprises:

[0023] in the case that the mounting hole of the hopper turns to face away from the material taking device, control the material taking device to align the spectacle plate with the hopper, and control the tightening device to tighten the spectacle plate to the hopper;

[0024] in the case that the mounting hole of the hopper turns to face the material taking device, control the press fitting device to press fit the transition sleeve from the outside to the inside into the mounting hole.

[0025] In the embodiment of the present application, in the case that the mounting hole of the hopper turns to face away from the material taking device, control the material taking device to align the spectacle plate with the hopper, and control the tightening device to tighten the spectacle plate to the hopper, which comprises:

[0026] in a case where the mounting hole of the hopper is turned to face away from the material taking device, controlling the material taking device to align the spectacle plate to the hopper;

[0027] controlling the positioning camera to acquire a positioning image from the outside of the hopper in a case where the spectacle plate is aligned to the hopper;

[0028] controlling the material taking device to adjust the position of the spectacle plate according to the positioning image;

[0029] in a case where the position of the spectacle plate is adjusted to be in place, controlling the tightening device to tighten the spectacle plate to the hopper.

[0030] By means of the technical scheme, the pump reversing mechanism assembly system provided by the embodiment has the following beneficial effects:

[0031] The material taking device is arranged on one side of the material carrying device, and the tightening device is arranged on the opposite side of the material taking device, that is, the material taking device and the tightening device are respectively arranged on opposite sides of the material carrying device. The mounting hole of the hopper faces away from the material taking device to be a spectacle plate assembly station, and the material taking device can place the spectacle plate on the inside of the hopper and align the spectacle plate to the hopper in a case where the mounting hole of the hopper is turned to face away from the material taking device, and then the tightening device tightens the spectacle plate to the hopper to realize assembly of the spectacle plate to the hopper, so as to realize installation and fixation of the spectacle plate. The mounting hole of the hopper faces the material taking device to be a transition sleeve assembly station, and the material taking device can place the transition sleeve on the outside of the mounting hole in a case where the mounting hole of the hopper is turned to face the material taking device, and then the press fitting device press fits the transition sleeve from the outside to the inside of the mounting hole to realize installation and fixation of the transition sleeve.

[0032] The pump reversing mechanism assembly system in the application can realize automatic assembly of the spectacle plate and the transition sleeve, and improve the assembly efficiency of the pump reversing mechanism. Moreover, the material taking device can grasp both the spectacle plate and the transition sleeve, and such flexibility enables the material taking device to quickly adapt to the demand and reduce downtime caused by replacement of the device. The material carrying device drives the hopper to turn, and the switching of the spectacle plate assembly station and the transition sleeve assembly station can be realized by turning control of the material carrying device, thereby eliminating the loading and unloading operation and transfer of the hopper, improving the assembly efficiency of the pump reversing mechanism, and reducing the volume of the entire pump reversing mechanism assembly system, which helps to save production space.

[0033] Other features and advantages of the embodiments will be described in detail in the following detailed description. BRIEF DESCRIPTION OF DRAWINGS

[0034] The accompanying drawings are included to provide a further understanding of embodiments of the application, and are incorporated in and constitute a part of this specification, illustrate embodiments of the application, and together with the description serve to explain them. Other embodiments of the application will be apparent to those skilled in the art from consideration of the specification and drawings. In the drawings:

[0035] Figure 1 is a structural schematic diagram of a pumping unit according to an embodiment of the application;

[0036] Figure 2 is a structural schematic diagram of a glasses plate according to an embodiment of the application;

[0037] Figure 3 is a structural schematic diagram of a connection between a glasses plate and a hopper according to an embodiment of the application;

[0038] Figure 4 is a structural schematic diagram of a transition sleeve according to an embodiment of the application;

[0039] Figure 5 is a structural schematic diagram of a connection between a transition sleeve and a hopper according to an embodiment of the application;

[0040] Figure 6 is a structural schematic diagram of a pumping reversing mechanism assembly system according to an embodiment of the application;

[0041] Figure 7 is a structural schematic diagram of a press fitting device according to an embodiment of the application;

[0042] Figure 8 is a structural schematic diagram of a connection between a press fitting base and a variable-diameter positioning mechanism according to an embodiment of the application;

[0043] Figure 9 is a structural schematic diagram of a press fitting device according to another embodiment of the application;

[0044] Figure 10 is a structural schematic diagram of a tightening device according to an embodiment of the application;

[0045] Figure 11 is a structural schematic diagram of a tightening mechanism according to an embodiment of the application;

[0046] Figure 12 is a structural schematic diagram of a fastener tray according to an embodiment of the application;

[0047] Figure 13 is a structural schematic diagram of a connection between a hopper tray and a hopper according to an embodiment of the application;

[0048] Figure 14 is a structural schematic diagram of a lifting mechanism according to an embodiment of the application;

[0049] Figure 15 is a schematic view of a connection structure of a taking robot and a spectacle lens plate suction cup according to an embodiment of the present application;

[0050] Figure 16 is a schematic view of a connection structure of a clamp placement table and a spectacle lens plate suction cup according to an embodiment of the present application;

[0051] Figure 17 is a schematic view of a connection structure of a clamp placement table and a transition sleeve clamp according to an embodiment of the present application;

[0052] Figure 18 is a schematic view of a connection structure of a spectacle lens plate and a placement tray according to an embodiment of the present application;

[0053] Figure 19 is a schematic view of a connection structure of a placement tray according to an embodiment of the present application;

[0054] Figure 20 is a schematic view of a positioning image according to an embodiment of the present application.

[0055] BRIEF DESCRIPTION OF DRAWINGS

[0056] 10 press-fitting device 321 placement plate

[0057] 11 press-fitting driving member 322 baffle

[0058] 12 press-fitting base 40 loading device

[0059] 121 guide rod 41 conveying mechanism

[0060] 13 abutting end plate assembly 42 hopper tray

[0061] 131 straight sleeve end plate 421 insertion pin

[0062] 132 tapered sleeve end plate 422 guide wheel

[0063] 133 connecting body 423 fixing hole

[0064] 134 avoidance groove 43 lifting mechanism

[0065] 14 variable-diameter positioning mechanism 431 lifting base

[0066] 141 variable-diameter claw 4311 tray guide rail

[0067] 1411 clamping rod 432 lifting table

[0068] 1412 clamping plate 433 rotating assembly

[0069] 144 variable diameter drive 434 fixed pin

[0070] 15 Translation mechanism 435 Lifting assembly

[0071] 151 Translation base 50 Retrieving device

[0072] 152 Translation drive assembly 51 Retrieving robot

[0073] 1521 translation motor 52 glasses plate suction cup

[0074] 1522 translation screw 521 positioning pin

[0075] 16 lifting mechanism 53 transition sleeve fixture

[0076] 161 Lifting Base 54 Fixture Placement Table

[0077] 162 lifting drive assembly 541 fixed cylinder

[0078] 1621 lifting motor 542 fixing block

[0079] 1622 lifting screw 60 placing tray

[0080] 17 Press-fit bracket 61 Place the bracket

[0081] 18 Lifting plate 62 Limit rod

[0082] 20 Tightening device 63 Positioning bracket

[0083] 21 Tightening robot 70 Gluing device

[0084] 22 Tightening mechanism 200 Pumping unit

[0085] 221 Tighten the base 201 Hopper

[0086] 222 first drive member 2011 mounting hole

[0087] 223 Tightening drive 2012 First tightening hole

[0088] 224 Tighten the mounting plate 202 Concrete cylinder

[0089] 225 Fastener Claw 203 Glasses Plate

[0090] 23 Positioning camera 2031 positioning hole

[0091] 30 Fastener tray 2032 Second tightening hole

[0092] 31 tray base 204 transition sleeve

[0093] 32 Placement rack 205 Fasteners DETAILED DESCRIPTION

[0094] The following describes the specific embodiments of the present application in detail with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only used to illustrate and explain the present application and are not intended to limit the present application.

[0095] The pumping reversing mechanism assembly system and assembly method of the present application will be described below with reference to the accompanying drawings.

[0096] like Figures 1 to 20 As shown, the present application provides a pumping reversing mechanism assembly system. The pumping reversing mechanism includes a hopper 201, a spectacle plate 203, and a transition sleeve 204. The hopper 201 has a mounting hole 2011 for mounting the transition sleeve 204. The spectacle plate 203 is detachably connected to the hopper 201 via a fastener 205. The pumping reversing mechanism assembly system includes a loading device 40, a material removal device 50, a tightening device 20, and a press-fitting device 10. The loading device 40 is used to support the hopper 201 and is rotatable. The material removal device 50 is disposed on one side of the loading device 40. The material removal device 50 can align the spectacle plate 203 with the hopper 201 when the mounting hole 2011 is rotated to face away from the material removal device 50. Furthermore, the material removal device 50 can position the transition sleeve 204 of the pumping reversing mechanism outside the mounting hole 2011 when the mounting hole 2011 is rotated to face the material removal device 50. The tightening device 20 is provided on the opposite side of the material taking device 50 and can tighten the eyeglass plate 203 to the hopper 201 when the eyeglass plate 203 is aligned with the hopper 201. The press-fitting device 10 can press-fit the transition sleeve 204 into the mounting hole 2011 from the outside to the inside.

[0097] like Figure 1 As shown, the pumping unit 200 includes a pumping reversing mechanism and two concrete cylinders 202. The pumping reversing mechanism is responsible for controlling the reversing movement of the concrete cylinders 202. The pumping reversing mechanism includes a hopper 201, a spectacle plate 203, and a transition sleeve 204. The spectacle plate 203 can achieve effective switching between the concrete cylinders 202, and the transition sleeve 204 passes through the mounting hole 2011 opened on the hopper 201, and its two ends respectively abut the spectacle plate 203 and the concrete cylinder 202. The concrete in the concrete cylinder 202 can pass through the transition sleeve 204 and continue to flow. Figure 2 and Figure 3 As shown, the glasses plate 203 is mounted on the inner side of the hopper 201 by means of fasteners 205. Figure 4 and Figure 5 As shown, there are two transition sleeves 204 , which are installed in the mounting holes 2011 of the hopper 201 , and the inner end faces of the transition sleeves 204 are flush with the eyeglass plate 203 .

[0098] As shown in Figure 6 The carrying device 40 is mainly used to support and carry the hopper 201, ensuring the safety and stability of the hopper 201 during transportation and assembly. The carrying device 40 has a steering function, so that the carrying device 40 can flexibly adjust the direction according to different operation requirements and working environments, thereby improving the efficiency and flexibility of the operation. The carrying device 40 can drive the hopper 201 to rotate, so that the mounting hole 2011 of the hopper 201 faces away from the material taking device 50 or faces the material taking device 50.

[0099] The material taking device 50 is arranged on one side of the carrying device 40, and the tightening device 20 is arranged on the opposite side of the material taking device 50, that is, the material taking device 50 and the tightening device 20 are respectively located on opposite sides of the carrying device 40. The mounting hole 2011 of the hopper 201 faces away from the material taking device 50 as a spectacle plate 203 assembly station. The material taking device 50 can place the spectacle plate 203 on the inner side of the hopper 201 with the mounting hole 2011 of the hopper 201 rotated to face away from the material taking device 50, and the spectacle plate 203 is aligned with the hopper 201 (the second tightening hole 2032 on the spectacle plate 203 is aligned with the first tightening hole 2012 of the hopper 201), and then the tightening device 20 tightens the spectacle plate 203 to the hopper 201, realizing the assembly of the spectacle plate 203 to the hopper 201, to realize the installation and fixation of the spectacle plate 203. The mounting hole 2011 of the hopper 201 faces the material taking device 50 as a transition sleeve 204 assembly station. The material taking device 50 can place the transition sleeve 204 on the outer side of the mounting hole 2011 with the mounting hole 2011 of the hopper 201 rotated to face the material taking device 50, and then the press fitting device 10 press fits the transition sleeve 204 from the outside to the inside of the mounting hole 2011, to realize the installation and fixation of the transition sleeve 204.

[0100] The pumping reversing mechanism assembly system in the present application can realize automatic assembly of the spectacle plate 203 and the transition sleeve 204, and improve the assembly efficiency of the pumping reversing mechanism. Moreover, the material taking device 50 can grasp both the spectacle plate 203 and the transition sleeve 204, and this flexibility enables the material taking device 50 to quickly adapt to the requirements and reduce the downtime caused by device replacement. The carrying device 40 drives the hopper 201 to rotate, and the switching of the spectacle plate 203 assembly station and the transition sleeve 204 assembly station can be realized by steering control of the carrying device 40, which saves the feeding and discharging operations and transfer of the hopper 201, improves the assembly efficiency of the pumping reversing mechanism, and at the same time, reduces the volume of the whole pumping reversing mechanism assembly system, which helps to save production space.

[0101] In the embodiments of the present application, please refer to Figure 6 and Figure 7The taking device 50 is a taking robot 51, which can respectively grab the glasses plate 203 and the transition sleeve 204. The pressing device 10 is located at the same side of the taking robot 51 and can be adjusted in position. The pressing device 10 comprises a pressing driving element 11 and a clamp assembly. The clamp assembly comprises a pressing base 12, an abutting end plate assembly 13 and a variable-diameter positioning mechanism 14. The pressing base 12 is drivingly connected with the pressing driving element 11. The abutting end plate assembly 13 is arranged on the pressing base 12 and can abut against the transition sleeve 204 in the end direction. The variable-diameter positioning mechanism 14 is arranged on the pressing base 12 or the abutting end plate assembly 13 and can extend into the inside of the transition sleeve 204 to abut against the transition sleeve 204 in the radial direction.

[0102] The taking robot 51 can grab the glasses plate 203 and the transition sleeve 204. The pressing device 10 is located at the same side of the taking robot 51 of the material loading device 40, and the position of the pressing device 10 can be adjusted to avoid interference or obstacles of the pressing device 10 in the process that the taking robot 51 puts the transition sleeve 204 to the outside of the mounting hole 2011, and to enable the pressing device 10 to press the two transition sleeves 204 into the corresponding mounting holes 2011, respectively, so that the use of the pressing device 10 is more flexible and convenient.

[0103] The pressing device 10 comprises the pressing driving element 11 and the clamp assembly, and the pressing driving element 11 is drivingly connected with the clamp assembly. The pressing driving element 11 can be a pneumatic cylinder or an oil cylinder, which has stable output and high reliability. The pressing driving element 11 drives the clamp assembly to move, so that the clamp assembly can drive the transition sleeve 204 to move to press the transition sleeve 204 into the mounting hole 2011, thereby achieving the installation of the transition sleeve 204.

[0104] It can be understood that, in other embodiments, the taking robot 51 can grab the transition sleeve 204 and press the transition sleeve 204 into the mounting hole 2011, without the pressing device 10.

[0105] Please refer to Figure 7 and Figure 8 The pressing driving element 11 is drivingly connected with the pressing base 12, and the pressing driving element 11 can drive the pressing base 12 to move. The abutting end plate assembly 13 is arranged on the pressing base 12, and the pressing base 12 drives the abutting end plate assembly 13 to move. The abutting end plate assembly 13 can abut against the transition sleeve 204 in the end direction, that is, the end of the transition sleeve can abut against the abutting end plate assembly 13. The movement of the abutting end plate assembly 13 can drive the movement of the transition sleeve 204, thereby achieving the pressing of the transition sleeve 204 into the mounting hole 2011.

[0106] The variable-diameter positioning mechanism 14 can be arranged on the press-fitting base 12, or the variable-diameter positioning mechanism 14 is arranged on the abutting end plate assembly 13 to realize the installation and fixation of the variable-diameter positioning mechanism 14. The variable-diameter positioning mechanism 14 can extend into the inside of the transition sleeve 204, and the variable-diameter positioning mechanism 14 can move in variable diameter to abut the inner wall of the transition sleeve 204 in radial direction, so that the variable-diameter positioning mechanism 14 can clamp the transition sleeve 204 and press the transition sleeve 204 into the mounting hole 2011.

[0107] In the embodiments of the present application, referring to Figure 7 and Figure 8 , the variable-diameter positioning mechanism 14 includes a variable-diameter driving piece 144 and variable-diameter claws 141. The variable-diameter driving piece 144 is arranged on the press-fitting base 12 or the abutting end plate assembly 13. The number of the variable-diameter claws 141 is at least two. The at least two variable-diameter claws 141 are respectively drivingly connected with the variable-diameter driving piece 144. The variable-diameter driving piece 144 can drive the at least two variable-diameter claws 141 to move in variable diameter at the inside of the transition sleeve 204 towards or away from the transition sleeve 204.

[0108] The variable-diameter driving piece 144 is arranged on the press-fitting base 12 or the abutting end plate assembly 13 to realize the installation and fixation of the variable-diameter driving piece 144. The number of the variable-diameter claws 141 is at least two, so that the variable-diameter claws 141 can more stably and reliably clamp the transition sleeve 204. Figure 8 In the embodiment, the number of the variable-diameter claws 141 is three. In order to facilitate the description, the number of the variable-diameter claws 141 is taken as three for example. In other embodiments, the number of the variable-diameter claws 141 can be four, five or other numbers. The number of the variable-diameter claws 141 can be flexibly adjusted according to actual needs.

[0109] The variable-diameter claws 141 extend to the side of the abutting end plate assembly 13 away from the press-fitting base 12. The three variable-diameter claws 141 are respectively drivingly connected with the variable-diameter driving piece 144. The material taking robot 51 grabs the transition sleeve 204 and places it at the outside of the mounting hole 2011. Then the variable-diameter claws 141 first extend into the transition sleeve. The variable-diameter driving piece 144 drives the three variable-diameter claws 141 to move in variable diameter, so that the three variable-diameter claws 141 are away from each other, and the three variable-diameter claws 141 respectively abut the inner wall of the transition sleeve 204 in radial direction, so as to clamp the transition sleeve. Then the material taking robot 51 releases the transition sleeve 204. The press-fitting driving piece 11 drives the abutting end plate assembly 13 to move, so as to press the transition sleeve 204 into the mounting hole 2011. After the transition sleeve 204 is pressed into the mounting hole 2011, the variable-diameter driving piece 144 drives the three variable-diameter claws 141 to move in variable diameter, so that the three variable-diameter claws 141 are close to each other, and the three variable-diameter claws 141 respectively disengage from the abutment with the inner wall of the transition sleeve 204, so as to release the transition sleeve 204.

[0110] Specifically, the variable-diameter driving member 144 drives the three variable-diameter claws 141 to move in a variable-diameter manner. For details, refer to the structural design of a three-claw chuck.

[0111] In another embodiment, the variable-diameter positioning mechanism 14 can be an elastic member. The elastic member is compressed and then extends into the transition sleeve 204. The elastic member elastically recovers in the transition sleeve 204 to abut against the inner wall of the transition sleeve 204, so that the variable-diameter positioning mechanism 14 can extend into the inside of the transition sleeve 204 to abut against the transition sleeve 204 in a radial direction.

[0112] In the embodiments of the present application, please refer to Figure 7 and Figure 8 The variable-diameter claw 141 includes clamping rods 1411 connected with the variable-diameter driving member 144, and clamping plates 1412 connected with the outer sides of the clamping rods 1411. The at least two clamping rods 1411 are arranged to be inclined to each other in a direction of extending into the transition sleeve 204. The clamping plates 1412 can abut against the straight transition sleeve in a radial direction. The clamping rods 1411 located on the side away from the variable-diameter driving member 144 of the clamping plates 1412 can abut against the conical transition sleeve in a radial direction.

[0113] The transition sleeve 204 is divided into a straight transition sleeve and a conical transition sleeve. The inner diameter of the straight transition sleeve is consistent. The inner diameter of the conical transition sleeve is tapered, and the inner diameter of the conical transition sleeve is arranged to be tapered inward from the abutment end plate assembly 13 to the direction away from the press-fitting base 12.

[0114] The outer side of the clamping rod 1411 is connected with the clamping plate 1412. The clamping plate 1412 extends in a radial direction. The clamping plate 1412 is used to abut against the inner wall of the straight transition sleeve to clamp the straight transition sleeve. In addition, the clamping plate 1412 is arc-shaped, which increases the contact area of the clamping plate 1412 with the straight transition sleeve, so that the clamping plate 1412 can more stably and reliably abut against the inner wall of the straight transition sleeve.

[0115] The outer side edges of the three clamping rods 1411 are arranged to be inclined to each other in a direction of extending into the transition sleeve 204. That is, in the direction of extending into the transition sleeve 204, the diameters of the circles surrounded by the outer side edges of the three clamping rods 1411 gradually decrease, so that the three clamping rods 1411 can form a variable diameter to match the inner diameter profile of the conical transition sleeve, and abut against the inner wall of the conical transition sleeve to clamp the conical transition sleeve.

[0116] By arranging the clamping plate 1412 and the clamping rod 1411, the variable-diameter claw 141 can be compatible with the straight transition sleeve and the conical transition sleeve, so that the use of the clamp assembly can be more flexible and convenient, and can adapt to more application scenarios.

[0117] Specifically, the clamping rods 1411 can be circular rods with consistent diameters, and the clamping rods 1411 are inclined as a whole, so that the outer edges of the three clamping rods 1411 are inclined to be close to each other in the direction of extending into the transition sleeve 204. The clamping rods 1411 can also be tapered rods with diameters gradually decreasing in the direction of extending into the transition sleeve 204, so that the outer edges of the three clamping rods 1411 are inclined to be close to each other.

[0118] In the embodiments of the present application, referring to Figure 8 , the abutting end plate assembly 13 includes spaced and connected straight sleeve end plate 131 and tapered sleeve end plate 132, the straight sleeve end plate 131 is used for abutting with the straight transition sleeve, and the tapered sleeve end plate 132 is used for abutting with the tapered transition sleeve, and the variable-diameter claw 141 extends from the tapered sleeve end plate 132 at the end away from the variable-diameter driving member 144.

[0119] The straight sleeve end plate 131 and the tapered sleeve end plate 132 are connected through the connecting body 133, and the connecting body 133 is arranged to space the straight sleeve end plate 131 and the tapered sleeve end plate 132.

[0120] In the case of the straight transition sleeve, the inner wall of the straight transition sleeve abuts against the clamping plate 1412, and the clamping plate 1412 supports the straight transition sleeve. The end of the straight transition sleeve abuts against the straight sleeve end plate 131, the compression driving member 11 drives the straight sleeve end plate 131 to move, the straight sleeve end plate 131 pushes the straight transition sleeve to move, so as to press the straight transition sleeve into the mounting hole 2011.

[0121] In the case of the tapered transition sleeve, the inner wall of the tapered transition sleeve abuts against the clamping rod 1411 on the side of the clamping plate 1412 away from the variable-diameter driving member 144, and the clamping rod 1411 supports the tapered transition sleeve. The end of the tapered transition sleeve abuts against the tapered sleeve end plate 132, the compression driving member 11 drives the tapered sleeve end plate 132 to move, the tapered sleeve end plate 132 pushes the tapered transition sleeve to move, so as to press the tapered transition sleeve into the mounting hole 2011.

[0122] The straight sleeve end plate 131 and the tapered sleeve end plate 132 are arranged to make the abutting end plate assembly 13 compatible with the straight transition sleeve and the tapered transition sleeve, so that the abutting end plate assembly 13 is more flexible and convenient to use.

[0123] It can be understood that the radial dimension of the conical sleeve end plate 132 is smaller than that of the straight sleeve end plate 131. And, the straight sleeve end plate 131 and the conical sleeve end plate 132 are both provided with a relief groove 134, and the clamping rod 1411 passes through the relief grooves 134 on the straight sleeve end plate 131 and the conical sleeve end plate 132 in turn. And, the clamping plate 1412 is located in the relief groove 134 of the conical sleeve end plate 132. The relief groove 134 extends in the radial direction, and the relief groove 134 can guide the radial movement of the variable-diameter claw 141, so that the radial movement of the variable-diameter claw 141 is more stable and reliable.

[0124] In the embodiments of the present application, referring to Figure 9 The press-fitting device 10 further comprises a position adjusting assembly, which comprises a translation mechanism 15, a lifting mechanism 16 and a lifting plate 18. The translation mechanism 15 can drive the lifting mechanism 16 to translate, the lifting mechanism 16 can drive the lifting plate 18 to lift, and the press-fitting driving part 11 is arranged on the lifting plate 18.

[0125] The translation mechanism 15 can drive the lifting mechanism 16 to translate in the horizontal direction, and timely adjust the position in the horizontal direction, so that the press-fitting device 10 can press-fit the two transition sleeves 204 into the corresponding mounting holes 2011 respectively, so that the use of the press-fitting device 10 is more flexible and convenient. The lifting mechanism 16 can drive the lifting plate 18 to lift, and the lifting plate 18 drives the press-fitting driving part 11 and the press-fitting base 12 to lift, so that the position of the press-fitting base 12 in the up-down direction can be flexibly adjusted according to the position of the mounting hole 2011, improving the use flexibility of the press-fitting device 10.

[0126] Specifically, the press-fitting device 10 further comprises a press-fitting support 17, the translation mechanism 15 comprises a translation base 151 and a translation driving assembly 152, the translation driving assembly 152 is connected with the press-fitting support 17, and the translation driving assembly 152 is drivingly connected with the translation base 151. The translation driving assembly 152 can comprise a translation motor 1521 and a translation screw 1522, the translation motor 1521 is drivingly connected with the translation screw 1522, the translation screw 1522 is threadedly connected with the translation base 151, the translation motor 1521 drives the translation screw 1522 to rotate, and the translation screw 1522 drives the translation base 151 to move relative to the press-fitting support 17. The translation base 151 and the press-fitting support 17 are slidingly connected through a sliding block sliding rail, which guides the movement of the translation base 151 to be stable and reliable.

[0127] The lifting mechanism 16 comprises a lifting base 161 connected with the translation base 151 and a lifting driving assembly 162 connected with the lifting base 161 and drivingly connected with the lifting plate 18. The lifting driving assembly 162 can comprise a lifting motor 1621 drivingly connected with a lifting screw 1622 threadedly connected with the lifting plate 18, so that the lifting motor 1621 drives the lifting screw 1622 to rotate and drives the lifting plate 18 to lift relative to the lifting base 161. The lifting plate 18 is slidingly connected with the lifting base 161 through a sliding block sliding rail, so that the sliding block sliding rail guides and improves the stability and reliability of the lifting plate 18 during lifting.

[0128] The pressing driving member 11 can be connected with the lifting plate 18, the lifting plate 18 is provided with a guide sleeve, and the pressing base 12 is provided with a guide rod 121. The pressing driving member 11 drives the pressing base 12 to move relative to the lifting plate 18, the guide rod 121 moves relative to the guide sleeve, and the pressing process of the pressing base 12 is guided through the cooperation of the guide rod 121 and the guide sleeve, so that the pressing process of the pressing base 12 is more stable and reliable.

[0129] The translation driving assembly 152 and the lifting driving assembly 162 can also be cylinders or other structures capable of driving.

[0130] It can be understood that the number of clamp assemblies can be two, and the two clamp assemblies are respectively arranged at the two mounting holes 2011 of the hopper 201 to realize synchronous pressing of the two transition sleeves 204 and improve work efficiency.

[0131] In the embodiment of the present application, please refer to Figure 10 and Figure 11 The tightening device 20 comprises a tightening robot 21 and a tightening mechanism 22. The tightening mechanism 22 comprises a tightening base 221, a first driving member 222, a tightening driving member 223, a tightening mounting plate 224 and a fastener clamping jaw 225. The tightening base 221 is connected with the tightening robot 21. The first driving member 222 and the fastener clamping jaw 225 are mounted on the tightening base 221. The first driving member 222 is connected with the tightening mounting plate 224. The tightening driving member 223 is mounted on the tightening mounting plate 224. The fastener clamping jaw 225 is used for clamping the fastener 205. The tightening driving member 223 is used for locking the fastener 205 with the spectacle plate 203.

[0132] The end of the tightening base 221 is connected with the tightening robot 21, so as to realize installation and fixation of the tightening base 221, and the tightening robot 21 can drive the tightening base 221 to move. The first driving member 222 and the fastener clamping jaw 225 are installed on the tightening base 221, and the first driving member 222 can be a pneumatic cylinder. The first driving member 222 is connected with the tightening mounting plate 224, and the first driving member 222 can drive the tightening mounting plate 224 to move relative to the tightening base 221. The tightening mounting plate 224 is slidably connected with the tightening base 221 through a sliding block sliding rail, and the sliding block sliding rail guides, so that the stability and reliability of the movement of the tightening mounting plate 224 are improved.

[0133] The tightening driving member 223 is installed on the tightening mounting plate 224, and the center of the tightening driving member 223 and the fastener clamping jaw 225 is located on the same axis. The fastener clamping jaw 225 clamps the fastener 205, and the fastener 205 can be a bolt, for example, a hexagonal bolt. After the fastener clamping jaw 225 clamps the fastener 205, the fastener 205 is placed into the tightening hole from the outside of the hopper 201, the first driving member 222 drives the tightening mounting plate 224 to move, the tightening mounting plate 224 drives the tightening driving member 223 to move, the tightening driving member 223 is aligned with the head of the fastener 205 and extends into the head of the fastener 205, and the tightening driving member 223 can lock the fastener 205 with the spectacle plate 203, so as to stably install the spectacle plate 203 on the inside of the hopper 201. The automatic clamping and tightening of the fastener 205 are realized through cooperation of the fastener clamping jaw 225 and the tightening driving member 223, and then the fully automatic and unmanned assembly of the spectacle plate 203 is realized.

[0134] It can be understood that the number of the tightening driving member 223 can be one, two or more, and the number of the tightening driving member 223 can be flexibly adjusted according to actual needs, and the number of the tightening driving member 223 is not limited in the application.

[0135] Specifically, the clamping position of the fastener clamping jaw 225 is a V-shaped structure, the middle position of the clamped bolt can be automatically aligned, and the bolt is prevented from being skewed.

[0136] In the embodiment of the application, please refer to Figure 6 The pumping reversing mechanism assembly system further comprises a gluing device 70, which is used for gluing the fastener 205. After the fastener clamping jaw 225 clamps the fastener 205, the tightening robot 21 drives the fastener 205 to move to the gluing device 70, the gluing device 70 glues the fastener 205, and then the tightening robot 21 drives the fastener 205 to move to the tightening hole. The gluing device 70 is arranged to glue the fastener 205, so as to improve the connection stability between the spectacle plate 203 and the hopper 201.

[0137] In the embodiment of the application, please refer toFigure 12 The pump reversing mechanism assembly system further comprises a fastener tray 30, the fastener tray 30 comprising a tray base 31 and a plurality of placement racks 32 connected to the tray base 31, the plurality of placement racks 32 being arranged in a staggered manner.

[0138] The placement rack 32 is connected to the tray base 31 to achieve the installation and fixation of the placement rack 32. The plurality of placement racks 32 are arranged in a staggered manner to form a multi-layer stepped structure, reserving a clamping space for the fastener clamping jaw 225. When the fastener clamping jaw 225 clamps the fastener 205, the fastener tray 30 will not interfere with the fastener clamping jaw 225, so that the fastener clamping jaw 225 can clamp the fastener 205 more conveniently.

[0139] The placement rack 32 comprises a baffle 322 and two placement plates 321, the two placement plates 321 being arranged in a spaced manner to reserve a clamping space for the fastener clamping jaw 225. The placement plate 321 is provided with a groove, and the fastener 205 is placed in the groove and supported by the two placement plates 321. The baffle 322 is arranged close to the head of the fastener 205, which makes the fastener 205 placed relatively consistent and improves the accuracy of grabbing.

[0140] In the embodiments of the present application, please refer to Figure 13 and Figure 14 The material loading device 40 comprises a conveying mechanism 41, a hopper tray 42 and a lifting mechanism 43, the hopper tray 42 is used for carrying the hopper 201, the lifting mechanism 43 is arranged between the material taking device 50 and the tightening device 20, the conveying mechanism 41 is used for conveying the hopper tray 42 to the lifting mechanism 43, the lifting mechanism 43 comprises a lifting assembly 435 and a rotating assembly 433, the rotating assembly 433 is arranged on the lifting assembly 435, the rotating assembly 433 is used for driving the hopper tray 42 to turn, and the lifting assembly 435 is used for driving the rotating assembly 433 to lift and lower.

[0141] The hopper tray 42 is used for carrying the hopper 201, the hopper tray 42 is provided with a latch 421 and a guide wheel 422, and the hopper 201 is installed on the hopper tray 42 through the latch 421 and a fastening nut. The lifting mechanism 43 is arranged between the material taking device 50 and the tightening device 20, and the conveying mechanism 41 is used for conveying the hopper tray 42. The conveying mechanism 41 can refer to a conveying chain structure.

[0142] The lifting assembly 435 comprises a lifting base 431, a lifting driving member and a lifting platform 432, the lifting driving member is connected to the lifting base 431, the lifting driving member is drivingly connected to the lifting platform 432, and the lifting driving member is used for driving the lifting platform 432 to lift and lower so as to connect the lifting platform 432 with the hopper tray 42.

[0143] The lifting base 431 is provided with a tray guide rail 4311, and the guide wheel 422 on the hopper tray 42 is in sliding connection with the tray guide rail 4311. The guide wheel 422 and the tray guide rail 4311 are arranged to guide the hopper tray 42, so that the conveying mechanism 41 can drive the hopper tray 42 to move more stably and reliably.

[0144] The lifting drive is connected with the lifting base 431, and the lifting drive is connected with the lifting platform 432. The lifting drive can be a pneumatic cylinder or an oil cylinder. The lifting drive is used to drive the lifting platform 432 to ascend and descend, so that the lifting platform 432 is connected with the hopper tray 42. Specifically, the hopper tray 42 is provided with a fixing hole 423 penetrating in the up-down direction, and the lifting base 431 is provided with a fixing pin 434. The lifting drive drives the lifting platform 432 to ascend and descend, so that the fixing pin 434 is inserted into the fixing hole 423, thereby connecting the hopper tray 42 with the lifting platform 432. The lifting height can be controlled by a stroke limit switch.

[0145] The rotating assembly 433 is arranged on the lifting platform 432, and is used to drive the hopper tray 42 to rotate, so that the hopper tray 42 can be turned to face the material taking device 50 or to face away from the material taking device 50. The rotating angle can be controlled by an angle encoder. The top of the rotating assembly 433 and the bottom of the hopper tray 42 can also be positioned by a pin hole structure.

[0146] In the embodiment of the present application, please refer to Figures 15 to 17 The material taking device 50 includes a material taking robot 51, a spectacle plate suction cup 52 and a transition sleeve clamp 53. The material taking robot 51 can be connected with the spectacle plate suction cup 52 or the transition sleeve clamp 53. The spectacle plate suction cup 52 is used to suck the spectacle plate 203, and the transition sleeve clamp 53 is used to clamp the transition sleeve 204.

[0147] The retrieving robot 51 can quickly switch between connecting to the eyeglass plate suction cup 52 or connecting to the transition sleeve fixture 53. When connected to the eyeglass plate suction cup 52, the retrieving robot 51 can drive the eyeglass plate suction cup 52 to move, allowing the eyeglass plate suction cup 52 to pick up the eyeglass plate 203. A locating pin 521 is provided on the eyeglass plate suction cup 52, and a locating hole 2031 is provided on the eyeglass plate 203 for insertion of the locating pin 521. The locating pin 521 is inserted into the locating hole 2031 to position the connection between the eyeglass plate suction cup 52 and the eyeglass plate 203, thereby improving the stability of the connection between the eyeglass plate suction cup 52 and the eyeglass plate 203. The locating pin 521 can be set in the same position on different models of eyeglass plates 203, thereby ensuring compatibility with all models of eyeglass plates 203. The eyeglass plate suction cup 52 is an electric suction cup. Through the cooperation of the positioning pin 521 and the positioning hole 2031, after grabbing the eyeglass plate 203, the eyeglass plate suction cup 52 automatically attracts the eyeglass plate 203 through electromagnetic force, so that the eyeglass plate 203 will not fall off regardless of any change in posture during the movement, thereby reducing the safety risk of the eyeglass plate 203 falling off and improving the safety of the movement of the eyeglass plate 203.

[0148] When the material-picking robot 51 is connected to the transition sleeve fixture 53 , the material-picking robot 51 can drive the transition sleeve fixture 53 to move, so that the transition sleeve fixture 53 can clamp the transition sleeve 204 .

[0149] See also Figure 16 and Figure 17 The material removal device 50 also includes a fixture placement platform 54 for placing the eyeglass plate suction cup 52 and the transition sleeve fixture 53. The fixture placement platform 54 is provided with a fixed cylinder 541 and a fixed block 542. The fixed cylinder 541 is connected to the fixed block 542. The fixed cylinder 541 is used to drive the fixed block 542 to move so that the fixed block 542 abuts against the eyeglass plate suction cup 52 or the transition sleeve fixture 53, thereby fixing the eyeglass plate suction cup 52 or the transition sleeve fixture 53 on the fixture placement platform 54.

[0150] In the examples of this application, please refer to Figure 18 and Figure 19 The pumping reversing mechanism assembly system further includes a placement tray 60, which includes a placement bracket 61, a limiting rod 62 connected to the placement bracket 61, and a positioning bracket 63. Figure 19 As shown, three groups of limit rods 62 of different heights are provided to be compatible with different types of transition sleeves 204. The transition sleeves 204 are placed between the limit rods 62. The small transition sleeves 204 are limited by the inner wall, and the large transition sleeves 204 are limited by the outer wall.

[0151] The positioning support 63 is provided with two steps, the lower step is used to place the small-sized eyeglass plate 203, and the upper step is used to place the large-sized eyeglass plate 203. The eyeglass plate 203 and the positioning support 63 can be fixed by a pin hole structure, and the lower side of the eyeglass plate 203 is suspended, so that the eyeglass plate suction cup 52 can grab the eyeglass plate 203 from the lower side of the eyeglass plate 203.

[0152] When the eyeglass plate 203, the transition sleeve 204 and the fastener 205 are fed, information can be written by scanning the code, and the fastener tray 30 and the placement tray 60 can be transferred to the pumping reversing mechanism assembly system to read the information by the code reader.

[0153] In the embodiments of the present application, please refer to Figure 20 , Figure 20 The dashed line in the figure represents the part of the eyeglass plate 203 that is blocked. The tightening device 20 is provided with a positioning camera 23, which is configured to:

[0154] acquire a positioning image from the outside of the eyeglass plate alignment hopper 201;

[0155] As shown in Figure 20 , the positioning image is acquired from the outside of the eyeglass plate alignment hopper 201 when the material taking device 50 is in the case of aligning the eyeglass plate 203 to the hopper 201. There is a first tightening hole 2012 outside the mounting hole 2011 in the positioning image. At this time, the material taking device 50 is preliminarily aligned, and the position of the eyeglass plate 203 needs to be further adjusted so that the first tightening hole 2012 on the hopper 201 is aligned with the second tightening hole 2032 on the eyeglass plate 203.

[0156] In the positioning image, any two first tightening holes 2012 on the hopper 201 are selected, and the circular arcs of the two first tightening holes 2012 and the exposed arc segment of the second tightening hole 2032 of the eyeglass plate 203 in the first tightening hole 2012 are acquired;

[0157] In the positioning image, any two first tightening holes 2012 on the hopper 201 are selected, and the circular arcs of the two first tightening holes 2012 and the exposed arc segment of the second tightening hole 2032 of the eyeglass plate 203 in the first tightening hole 2012 are acquired; Figure 20 As shown in the figure, the first tightening hole 2012 is preliminarily aligned with the second tightening hole 2032, the circular arc parts of the first tightening hole 2012 and the second tightening hole 2032 overlap, and the exposed arc segment of the second tightening hole 2032 in the first tightening hole 2012, i.e., the arc part of the second tightening hole 2032 that is not blocked.

[0158] As shown in Figure 20As shown, the two first tightening holes 2012 can be located on the same horizontal line to facilitate subsequent calculation of the deflection angle. The two first tightening holes 2012 at the farthest ends of the horizontal line can be selected. The center distance between the two farthest ends of the first tightening holes 2012 is longer, and the calculated deflection angle is more accurate.

[0159] Fitting the arcs of the two first tightening holes 2012 respectively to obtain two first circle center coordinates;

[0160] Fitting the exposed arc segments of the two second tightening holes 2032 respectively to obtain two second circle center coordinates;

[0161] like Figure 20 As shown, the arcs of the two first tightening holes 2012 are fitted to obtain two first circle center coordinates, and the exposed arc segments of the second tightening hole 2032 are fitted to obtain two second circle center coordinates.

[0162] Determine the deflection angle according to the first circle center coordinate and the second circle center coordinate;

[0163] Connect the two first circle center coordinates to obtain the first line L1, connect the two second circle center coordinates to obtain the second line L2, and calculate the angle between the first line L1 and the second line L2, as shown in the following example: Figure 20 As shown, this angle is the deflection angle A.

[0164] The material taking device 50 is controlled to adjust the position of the eyeglass plate 203 according to the deflection angle.

[0165] The tightening device 20 transmits the data of the deflection angle A to the material removal device 50. The material removal device 50 rotates the eyeglass plate 203 by angle A, aligning the first connecting line L1 with the second connecting line L2. The eyeglass plate 203 is then moved so that the centers of the first tightening hole 2012 and the second tightening hole 2032 coincide with each other. The positioning camera 23 can capture a positioning image again to verify the degree of alignment between the first tightening hole 2012 and the second tightening hole 2032. If the centers of the first tightening hole 2012 and the second tightening hole 2032 are still not aligned, the deflection angle can be re-determined and the position of the eyeglass plate 203 can be adjusted until the centers of the first tightening hole 2012 and the second tightening hole 2032 coincide with each other.

[0166] The application is configured with a positioning camera 23 at the front end of the tightening robot 21, cooperates with the material taking robot 51, and adjusts in time when shooting, that is, the tightening robot 21 takes the first tightening hole 2012 of the hopper 201 as a reference, identifies and calculates the deflection angle of the second tightening hole 2032 of the spectacle plate 203 and the first tightening hole 2012 of the hopper 201, and the material taking robot 51 adjusts the posture of the spectacle plate 203 in time according to the deflection angle to coincide the center of the second tightening hole 2032 and the first tightening hole 2012, realizes accurate positioning of the spectacle plate 203 and the hopper 201, and the device can automatically adjust the posture and is more intelligent.

[0167] In other embodiments, three or more first tightening holes 2012 can be obtained for positioning to improve positioning accuracy.

[0168] In addition, the application also provides a pumping reversing mechanism assembly method, which is applied to the pumping reversing mechanism assembly system as described above and comprises:

[0169] Step S10, in the case that the mounting hole 2011 of the hopper 201 is turned to face away from the material taking device 50, the material taking device 50 is controlled to align the spectacle plate 203 with the hopper 201, and the tightening device 20 is controlled to tighten the spectacle plate 203 to the hopper 201.

[0170] In the case that the mounting hole 2011 of the hopper 201 is turned to face away from the material taking device 50, the material taking device 50 is controlled to align the spectacle plate 203 with the hopper 201, and the tightening device 20 is controlled to tighten the spectacle plate 203 to the hopper 201.

[0171] Step S20, in the case that the mounting hole 2011 of the hopper 201 is turned to face the material taking device 50, the press-fitting device 10 is controlled to press-fit the transition sleeve from outside to inside into the mounting hole 2011.

[0172] The transition sleeve 204 is mounted in the mounting hole 2011 of the hopper 201 to realize mounting and fixing of the transition sleeve 204.

[0173] Step S10, in the case that the mounting hole 2011 of the hopper 201 is turned to face away from the material taking device 50, the material taking device 50 is controlled to align the spectacle plate 203 with the hopper 201, and the tightening device 20 is controlled to tighten the spectacle plate 203 to the hopper 201.

[0174] Step S11, in the case that the mounting hole 2011 of the hopper 201 is turned to face away from the material taking device 50, the material taking device 50 is controlled to align the spectacle plate 203 with the hopper 201.

[0175] In step S12, the positioning camera 23 is controlled to acquire a positioning image from the outside of the hopper 201 when the spectacle plate 203 is aligned with the hopper 201.

[0176] In step S13, the position of the spectacle plate 203 is adjusted by the material taking device 50 according to the positioning image.

[0177] There are first screw holes 2012 and second screw holes 2032 in the positioning image. Two first screw holes 2012 are selected from the positioning image, and the two first screw holes 2012 are located on opposite sides of the mounting hole 2011. The arc of the two first screw holes 2012 and the arc segment of the second screw hole 2032 exposed in the spectacle plate 203 in the first screw hole 2012 are acquired respectively, as shown in FIG. 6, the first screw hole 2012 is preliminarily aligned with the second screw hole 2032, the arc portions of the first screw hole 2012 and the second screw hole 2032 overlap, and the arc segment of the second screw hole 2032 exposed in the first screw hole 2012, i.e. the arc portion of the second screw hole 2032 not blocked. The arcs of the two first screw holes 2012 are fitted respectively to obtain two first center coordinates. Moreover, the arc segments of the second screw hole 2032 exposed are fitted respectively to obtain two second center coordinates. The first center coordinates are connected to obtain a first connecting line L1, and the second center coordinates are connected to obtain a second connecting line L2, and the angle between the first connecting line L1 and the second connecting line L2 is calculated, as shown in FIG. 7, and the angle is the skew angle A. Figure 20 Figure 2 to 20

[0178] The screwing device 20 transmits the data of the skew angle A to the material taking device 50, the material taking device 50 rotates the spectacle plate 203 by an angle A so that the first connecting line L1 and the second connecting line L2 are parallel, and moves the spectacle plate 203 so that the centers of the first screw hole 2012 and the second screw hole 2032 coincide. The positioning camera 23 can acquire a positioning image again to check the coincidence of the first screw hole 2012 and the second screw hole 2032, if the centers of the first screw hole 2012 and the second screw hole 2032 are still not aligned, the skew angle can be determined again, the position of the spectacle plate 203 is adjusted until the centers of the first screw hole 2012 and the second screw hole 2032 coincide.

[0179] In step S14, after the position of the spectacle plate 203 is adjusted in place, the screwing device 20 is controlled to screw the spectacle plate 203 to the hopper 201.

[0180] After the precise positioning of the spectacle plate 203 and the hopper 201, the spectacle plate 203 is screwed to the hopper 201, which is more accurate and safe, and avoids damage to the spectacle plate 203 caused by screwing when the position of the spectacle plate 203 is not adjusted in place. ​​

[0181] In combination Figures 2 to 20 The assembly method of the eyeglass plate 203 is further described, wherein the fastener 205 is a bolt.

[0182] 1. Assemble the hopper 201 to the hopper tray 42 by inserting the pin 421 and fastening the nut. Place the eyeglass plate 203 and the transition sleeve 204 into the placement tray 60, and the bolt into the fastener tray 30; scan and write the workpiece information into the Radio Frequency Identification (RFID) of the placement tray 60 and the fastener tray 30.

[0183] 2. Transport the placement tray 60 and the fastener tray 30 to the docking rack, and the tray detection sensor feeds back the tray in-place signal; the code reader reads the workpiece information in the RFID and feeds back to the central control system.

[0184] 3. Transport the hopper tray 42 to the conveying mechanism 41, and the conveying mechanism 41 runs, the hopper tray 42 is guided by the guide wheel 422 and the tray guide rail 4311, runs to the material stopper position, the material sensing switch feeds back the hopper tray 42 in-place signal, the conveying mechanism 41 stops running, the code reader reads the workpiece information in the hopper tray 42, and feeds back to the central control system.

[0185] 4. The lifting drive drives the lifting platform 432 to move vertically, so that the fixing hole 423 of the hopper tray 42 is inserted into the fixing pin 434, and the hopper tray 42 is fixed.

[0186] 5. The material taking robot 51 sucks the eyeglass plate suction cup 52 from the clamp placement table 54, and runs to the upper end of the placement tray 60 according to the matching workpiece preset program, the visual system takes a photo to identify the shape of the eyeglass plate 203, after matching the model of the workpiece hopper 201, the eyeglass plate suction cup 52 is inserted below the eyeglass plate 203, the positioning pin 521 of the eyeglass plate suction cup 52 penetrates into the positioning hole 2031 to grab the eyeglass plate 203, and the eyeglass plate 203 is placed inside the hopper 201 according to the preset program, and the gap between the inside of the hopper 201 and the eyeglass plate 203 is about 1mm.

[0187] 6. The tightening robot 21 runs to the installation hole 2011 position of the hopper 201 according to the matching workpiece preset program, the positioning camera 23 identifies the two first tightening holes 2012 with the farthest end in the same horizontal line interval, and the exposed circular arc segment of the second tightening hole 2032 in the first tightening hole 2012, respectively, fits the two first tightening holes 2012 to obtain two first center coordinates, respectively, fits the two second tightening hole 2032 circular arc segments to obtain two second center coordinates, calculates and determines the deflection angle A according to the first center coordinate connecting line and the second center coordinate connecting line, and transmits the deflection angle A to the material taking robot 51.

[0188] 7、Pick robot 51 rotates the glasses plate 203 by angle A, so that the second tightening hole 2032 of the glasses plate 203 is concentric with the first tightening hole 2012 of the hopper 201.

[0189] 8、The positioning camera 23 of the tightening device 20 takes a picture again to check the coincidence of the first tightening hole 2012 and the second tightening hole 2032, and the pick robot 51 is fine-tuned to coincide the first tightening hole 2012 and the second tightening hole 2032.

[0190] 9、The tightening robot 21 runs above the fastener tray 30, the vision system takes a picture to identify the bolt length, matches the type of the upper hopper 201, the fastener gripper 225 clamps the bolt from the fastener tray 30, and feeds back a signal to the gluing device 70.

[0191] 10、The gluing device 70 raises the glue gun, the tightening robot 21 places the bolt below the glue gun, and the glue gun applies glue to the bolt.

[0192] 11、The tightening robot 21 inserts the bolt into the first tightening hole 2012. The first driving member 222 extends forward to push the tightening driving member 223 to move, and the sleeve at the front end of the tightening driving member 223 is sleeved into the bolt head; the fastener gripper 225 releases the bolt, the tightening driving member 223 completely installs the bolt into the first tightening hole 2012, and the bolt is pre-tightened to fit the glasses plate 203.

[0193] 12、Repeat steps 9-11 to complete the pre-installation of all bolts.

[0194] 13、The glasses plate suction cup 52 is powered off, the pick robot 51 is separated from the glasses plate 203, the glasses plate suction cup 52 is placed back on the clamp placement table 54, the fixing cylinder 541 drives the fixing block 542 to press down and fix the glasses plate suction cup 52, and the pick robot 51 returns to the initial position.

[0195] 14、The tightening robot 21 tightens the bolts to the required torque according to the diagonal tightening sequence to tighten the glasses plate 203 to the hopper 201; the tightening robot 21 returns to the initial position and feeds back a completion signal.

[0196] 15、The lifting driving member lowers the lifting table 432 to the initial position, so that the hopper tray 42 is separated from the lifting table 432 and falls onto the conveying mechanism 41, completing the assembly of the glasses plate 203.

[0197] Combined ​ , the assembly method of the transition sleeve 204 is further described, wherein the transition sleeve is a conical transition sleeve.

[0198] 1. Assemble hopper 201 to hopper tray 42 by inserting pin 421 and fastening nut. Place eyeglass plate 203 and transition sleeve 204 into placement tray 60; scan to write workpiece information into RFID in placement tray 60.

[0199] 2. Transport placement tray 60 to adapter frame; tray detection sensor feeds placement tray 60 in place signal; code reader reads workpiece information in RFID.

[0200] 3. Transport hopper tray 42 to conveying mechanism 41; conveying mechanism 41 runs, hopper tray 42 is guided by guide wheel 422 and tray guide rail 4311, runs to material stopper position, material sensing switch feeds hopper tray 42 in place signal, conveying mechanism 41 stops running, code reader reads workpiece information in hopper tray 42.

[0201] 4. Lift drive drives lifting platform 432 to move vertically, rotation assembly 433 rotates hopper tray 42 to face material taking device 50 and feeds in place signal, rotation angle is controlled by angle encoder. Lift drive continues to lift so that fixed hole 423 of hopper tray 42 is inserted into fixed pin 434, hopper tray 42 is fixed.

[0202] 5. Material taking robot 51 fast changes transition sleeve clamp 53 from clamp placement platform 54.

[0203] 6. Material taking robot 51 runs to upper end of placement tray 60 according to matching workpiece preset program, visual system takes a picture to identify the shape of transition sleeve 204, matches the model of upper piece hopper 201, then grabs transition sleeve 204 from the upper end, places transition sleeve 204 to clamp assembly according to preset program, variable diameter positioning mechanism 14 opens to hold transition sleeve 204, transition sleeve clamp 53 is loosened. Material taking robot 51 returns to initial position.

[0204] 7. Translation motor 1521 drives translation screw 1522 to rotate, so that translation base 151 moves to initial photographing position along X direction, visual system identifies the first installation hole 2011 arc, calculates the installation hole 2011 center coordinates (X0, Z0) through arc fitting.

[0205] 8. Translation motor 1521 adjusts the X direction coordinate of translation base 151, lifting motor 1621 adjusts the Z direction coordinate of lifting plate 18 to coincide with the installation hole 2011 center coordinates (X0, Z0).

[0206] 9. The press-fitting driver 11 pushes the press-fitting base 12 in the Y direction, installing the transition sleeve 204 into the mounting hole 2011. The extension distance is controlled by a pressure sensor and calibrated by a tensile encoder. After the transition sleeve 204 is installed, the variable diameter positioning mechanism 14 releases the transition sleeve 204, and the press-fitting base 12, the lifting base 161, and the translation base 151 return to their initial positions.

[0207] 10. Repeat steps 6-9 to complete the automatic assembly of the second transition sleeve 204. The material-picking robot 51 places the transition sleeve fixture 53 back on the fixture placement table 54. The fixed cylinder 541 drives the fixed block 542 to press down and fix the transition sleeve fixture 53. The material-picking robot 51 returns to the initial position and feeds back a completion signal to the lifting mechanism 43.

[0208] 11. The lifting drive member lowers the lifting platform 432 to the initial position.

[0209] Complete the assembly of transition sleeve 204.

[0210] This application designs a high-definition visual system to identify the actual position of the mounting hole 2011 of the hopper 201 and provide real-time feedback to the pressing device 10. The pressing device 10 adjusts the clamp assembly according to the actual position to perform XZ movement, thereby achieving coaxiality between the transition sleeve 204 and the mounting hole 2011 of the hopper 201. The equipment can automatically adjust the position, which is more intelligent.

[0211] In the description of this application, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be understood to indicate or imply relative importance or implicitly specify the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of such features. In the description of this application, "plurality" means at least two, for example, two, three, etc., unless otherwise specifically defined.

[0212] In this application, unless otherwise specified or limited, the terms "installed," "connected," "connect," "fixed," etc. should be understood in a broad sense. For example, they can refer to fixed connection, detachable connection, or integration; mechanical connection, electrical connection, or communication; direct connection or indirect connection through an intermediate medium; internal communication between two elements or interaction between two elements, unless otherwise specified. Those skilled in the art will understand the specific meanings of the above terms in this application based on specific circumstances.

[0213] In the description of the specification, the description of the terms "one embodiment", "some embodiments", "an example", "a specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are contained in at least one embodiment or example of the present application. In the specification, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any appropriate manner in any one or more embodiments or examples. In addition, the person skilled in the art can combine and combine the different embodiments or examples described in the specification and the features of the different embodiments or examples without contradiction.

[0214] Although the embodiments of the present application have been shown and described above, it is understood that the above-described embodiments are exemplary and are not to be construed as limiting the present application, and the person skilled in the art can make changes, modifications, replacements and variations to the above-described embodiments within the scope of the present application.

Claims

1. A pumping reversing mechanism assembly system, characterized in that: The pumping reversing mechanism comprises a hopper (201), a spectacle plate (203) and a transition sleeve (204); the hopper (201) is provided with a mounting hole (2011) for mounting the transition sleeve (204); the spectacle plate (203) and the hopper (201) are detachably connected via a fastener (205); and the pumping reversing mechanism assembly system comprises: A loading device (40) for carrying the hopper (201) and capable of being steered; A material taking device (50), the material taking device (50) being arranged on one side of the material loading device (40), the material taking device (50) being capable of aligning the eyeglass plate (203) with the hopper (201) when the mounting hole (2011) is turned away from the material taking device (50), and being capable of placing the transition sleeve (204) outside the mounting hole (2011) when the mounting hole (2011) is turned toward the material taking device (50); a tightening device (20), which is provided on the opposite side of the material taking device (50) and can tighten the eyeglass plate (203) onto the hopper (201) when the eyeglass plate (203) is aligned with the hopper (201); A press-fitting device (10) can press-fit the transition sleeve (204) into the mounting hole (2011) from the outside to the inside; The tightening device (20) has a positioning camera (23), and the positioning camera (23) is configured to: Acquiring a positioning image from the outside of the hopper (201) with the spectacle plate (203) aligned with the hopper (201); Select any two first tightening holes (2012) on the hopper (201) in the positioning image, and respectively obtain the arcs of the two first tightening holes (2012) and the exposed arc segment of the second tightening hole (2032) of the eyeglass plate (203) within the first tightening holes (2012); Fitting the arcs of the two first tightening holes (2012) respectively to obtain two first circle center coordinates; Fitting the exposed arc segments of the two second tightening holes (2032) to obtain two second circle center coordinates; Determine the deflection angle according to the first circle center coordinate and the second circle center coordinate; The material taking device (50) is controlled to adjust the position of the eyeglass plate (203) according to the deflection angle.

2. The pumping reversing mechanism assembly system according to claim 1, characterized in that: The picking device (50) is configured as a picking robot (51) and can grab the eyeglass plate (203) and the transition sleeve (204) respectively. The pressing device (10) is on the same side as the picking robot (51) and is adjustable in position. The pressing device (10) includes a pressing drive (11) and a clamp assembly. The clamp assembly includes a pressing base (12), an abutting end plate assembly (13) and a variable diameter positioning mechanism (14). The pressing base (12) is driven and connected to the pressing drive (11). The abutting end plate assembly (13) is provided on the pressing base (12) and can be end-to-end abutted with the transition sleeve (204). The variable diameter positioning mechanism (14) is provided on the pressing base (12) or the abutting end plate assembly (13) and can extend into the inner side of the transition sleeve (204) and be radially abutted with the transition sleeve (204).

3. The pumping reversing mechanism assembly system according to claim 2, characterized in that: The variable diameter positioning mechanism (14) includes a variable diameter driving member (144) and a variable diameter claw (141). The variable diameter driving member (144) is provided on the press-fitting base (12) or the abutting end plate assembly (13). The number of the variable diameter claws (141) is at least two. At least two of the variable diameter claws (141) are respectively connected to the variable diameter driving member (144) in a driving manner. The variable diameter driving member (144) can drive at least two of the variable diameter claws (141) to perform variable diameter movement on the inner side of the transition sleeve (204) in a direction close to or away from the transition sleeve (204).

4. The pumping reversing mechanism assembly system according to claim 3, characterized in that: The variable diameter claw (141) includes a clamping rod (1411) driven and connected to the variable diameter driving member (144), and a clamping plate (1412) connected to the outer side of the clamping rod (1411), and the outer edges of at least two of the clamping rods (1411) are inclined and arranged close to each other in the direction of extending into the transition sleeve (204), and the clamping plate (1412) can be radially abutted against the straight transition sleeve, and the clamping rod (1411) located on the side of the clamping plate (1412) away from the variable diameter driving member (144) can be radially abutted against the conical transition sleeve.

5. The pumping reversing mechanism assembly system according to claim 3, characterized in that: The abutting end plate assembly (13) comprises a straight sleeve end plate (131) and a tapered sleeve end plate (132) that are spaced apart and connected. The straight sleeve end plate (131) is used to abut against the end of the straight transition sleeve, and the tapered sleeve end plate (132) is used to abut against the end of the tapered transition sleeve. The reducing claw (141) extends out of the tapered sleeve end plate (132) at one end away from the reducing drive member (144).

6. The pumping reversing mechanism assembly system according to claim 2, characterized in that: The press-fitting device (10) further includes a position adjustment component, which includes a translation mechanism (15), a lifting mechanism (16) and a lifting plate (18). The translation mechanism (15) can drive the lifting mechanism (16) to translate, and the lifting mechanism (16) can drive the lifting plate (18) to move up and down. The press-fitting drive component (11) is provided on the lifting plate (18).

7. The pumping reversing mechanism assembly system according to any one of claims 1 to 6, characterized in that: The tightening device (20) includes a tightening robot (21) and a tightening mechanism (22), wherein the tightening mechanism (22) includes a tightening base (221), a first driving member (222), a tightening driving member (223), a tightening mounting plate (224) and a fastener clamp (225), wherein the tightening base (221) is connected to the tightening robot (21), the first driving member (222) and the fastener clamp (225) are installed on the tightening base (221), and the first driving member (222) is drivingly connected to the tightening mounting plate (224), the tightening driving member (223) is installed on the tightening mounting plate (224), the fastener clamp (225) is used to clamp the fastener (205), and the tightening driving member (223) is used to lock the fastener (205) with the eyeglass plate (203).

8. The pumping reversing mechanism assembly system according to any one of claims 1 to 6, characterized in that: The loading device (40) includes a conveying mechanism (41), a hopper tray (42) and a lifting mechanism (43), wherein the hopper tray (42) is used to carry the hopper (201), and the lifting mechanism (43) is placed between the material taking device (50) and the tightening device (20), and the conveying mechanism (41) is used to convey the hopper tray (42) to the lifting mechanism (43), and the lifting mechanism (43) includes a lifting component (435) and a rotating component (433), wherein the rotating component (433) is arranged on the lifting component (435), and the rotating component (433) is used to drive the hopper tray (42) to turn, and the lifting component (435) is used to drive the rotating component (433) to rise and fall; and / or, The material picking device (50) includes a material picking robot (51), a glasses plate suction cup (52) and a transition sleeve clamp (53), wherein the material picking robot (51) can be connected to the glasses plate suction cup (52) or the transition sleeve clamp (53), the glasses plate suction cup (52) is used to suck the glasses plate (203), and the transition sleeve clamp (53) is used to clamp the transition sleeve (204).

9. A method for assembling a pumping reversing mechanism, characterized in that: The pumping reversing mechanism assembly method is applied to the pumping reversing mechanism assembly system according to any one of claims 1 to 8, and comprises: When the mounting hole (2011) of the hopper (201) is turned to face away from the material taking device (50), the material taking device (50) is controlled to align the eyeglass plate (203) with the hopper (201), and the tightening device (20) is controlled to tighten the eyeglass plate (203) onto the hopper (201); When the mounting hole (2011) of the hopper (201) is turned to face the material taking device (50), the pressing device (10) is controlled to press the transition sleeve (204) into the mounting hole (2011) from the outside to the inside.

10. The method for assembling a pumping reversing mechanism according to claim 9, characterized in that: The method comprises: controlling the taking device (50) to align the eyeglass plate (203) with the hopper (201) when the mounting hole (2011) of the hopper (201) is turned to face away from the taking device (50); and controlling the tightening device (20) to tighten the eyeglass plate (203) onto the hopper (201). When the mounting hole (2011) of the hopper (201) is turned to face away from the material taking device (50), the material taking device (50) is controlled to align the eyeglass plate (203) with the hopper (201); controlling the positioning camera (23) to acquire a positioning image from the outside of the hopper (201) when the eyeglass plate (203) is aligned with the hopper (201); Controlling a material taking device (50) to adjust the position of the eyeglass plate (203) according to the positioning image; After the position of the glasses plate (203) is adjusted to the right position, the tightening device (20) is controlled to tighten the glasses plate (203) onto the hopper (201).

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