Intelligent assembling machine for circular tube box body

Abstract

The invention relates to the technical field of round pipe assembling, and particularly discloses a round pipe box intelligent assembling machine which comprises a hemming mechanism, an assembling mechanism and a conveying mechanism, the hemming mechanism and the assembling mechanism are connected through the conveying mechanism, and the hemming mechanism comprises a first rack, a clamping and carrying unit, a hemming unit and an overturning unit, and the clamping and carrying unit, the hemming unit and the overturning unit are arranged on the first rack. The clamping and carrying unit comprises a carrying part and a bearing plate, the carrying part clamps the round pipe placed on the first input section of the conveying mechanism and places the round pipe on the bearing plate, the edge curling unit curls the round pipe placed on the bearing plate, and the carrying part clamps the curled round pipe and places the curled round pipe on the first output section of the conveying mechanism. The rounded round pipe is conveyed to the position below the overturning unit through the conveying mechanism, and after the rounded round pipe is overturned through the overturning unit, the overturned round pipe is conveyed to the assembling mechanism through the conveying mechanism to wait for assembling operation.

Description

Technical Field

[0001] The present invention relates to the technical field of round tube assembly, and in particular discloses an intelligent assembly machine for round tube boxes. Background Art

[0002] The assembly process of traditional round tube boxes usually relies on manual or semi-automatic equipment to complete, with problems such as low efficiency, poor accuracy, and unsmooth process connection. Especially in key processes such as curling, inner wall gluing, bottom cover assembly, and inner tube pressing, the existing technology often requires multiple devices to operate step by step, resulting in the accumulation of repeated positioning errors and making it difficult to achieve precise control of complex actions. In addition, in aspects such as softening treatment, flipping and positioning before curling of round tubes, and multi-station collaborative operations, the existing equipment generally lacks an integrated design and requires frequent manual intervention, seriously affecting production yield and consistency. Summary of the Invention

[0003] In order to overcome the disadvantages and deficiencies existing in the prior art, the purpose of the present invention is to provide an intelligent assembly machine for round tube boxes.

[0004] To achieve the above purpose, an intelligent assembly machine for round tube boxes of the present invention includes a curling mechanism, an assembly mechanism, and a conveying mechanism. The curling mechanism and the assembly mechanism are connected via the conveying mechanism. The curling mechanism includes a first frame, a clamping and handling unit, a curling unit, and a flipping unit arranged on the first frame. The clamping and handling unit includes a handling component and a bearing plate. The handling component clamps the round tube placed on the first input section of the conveying mechanism and places it on the bearing plate. The curling unit performs a curling operation on the round tube placed on the bearing plate. The handling component clamps the curled round tube and places it on the first output section of the conveying mechanism. The curled round tube is conveyed by the conveying mechanism to the lower part of the flipping unit. After the flipping unit flips the curled round tube, the conveying mechanism conveys the flipped round tube to the assembly mechanism for waiting for the assembly operation;

[0005] The assembly mechanism includes a second frame, an assembly unit, and a visual positioning unit arranged on the second frame. The assembly unit has a bottom cover loading module and an inner tube loading module. The bottom cover loading module is used to load the bottom cover into the curled round tube, and the inner tube loading module is used to load the inner tube into the round tube with the bottom cover installed. The visual positioning unit is electrically connected to an external control center. The visual positioning unit is used to photograph the round tube carried by the conveying mechanism and feed the photographed image data back to the external control center. The external control center precisely controls the assembly unit according to the information to realize the automatic assembly of the round tube box.

[0006] By integrating a hemming mechanism, an assembly mechanism, and a conveying mechanism, the full automation of the round tube from clamping and handling, hemming, flipping to precise positioning and assembly is achieved. The round tube is first clamped and picked up by the clamping and handling unit from the first input section of the conveying mechanism and placed on the bearing plate. Subsequently, the hemming unit performs hemming on it. After completion, the clamping and handling unit moves the round tube to the first output section of the conveying mechanism again, and the round tube continues to be conveyed to the lower part of the flipping unit for flipping. Finally, the vision positioning unit accurately captures the position and dimension information of the flipped round tube and real-time feedbacks it to the external control center to precisely guide the assembly unit to complete the automatic assembly of the round tube box body. This intelligent assembly machine significantly improves the production efficiency and assembly accuracy.

[0007] The hemming unit includes a first driving member, a hemming sliding guide rail, a first mounting plate, and a hemming die. The hemming die is mounted on the first mounting plate. On the other side of the first mounting plate away from the hemming die, there is also an inclined rack and an inclined gear that cooperates with the inclined rack. One end of the inclined gear away from the inclined rack is connected to the input end of the first driving member. The first driving member drives the inclined gear to drive the inclined rack to make the first mounting plate reciprocate up and down on the hemming sliding guide rail. The first mounting plate reciprocates to drive the hemming die to reciprocate to approach or move away from the round tube for hemming the round tube.

[0008] The hemming die is carefully mounted on the first mounting plate, and the other side of the first mounting plate is cleverly equipped with an inclined rack and an inclined gear that closely cooperates with it. When the first driving member is started, it drives the inclined gear to rotate, and then drives the inclined rack to move in the vertical direction. This movement is converted into the up and down reciprocating movement of the first mounting plate on the hemming sliding guide rail, thereby driving the hemming die to approach or move away from the round tube in an accurate manner to achieve the hemming operation on the round tube.

[0009] An oiling component is also installed on the side of the hemming die. The oiling component includes an L-shaped mounting plate arranged on the side of the hemming die and an oiling block mounted on the L-shaped mounting plate. The oiling block is cylindrical. The hemming die reciprocates to drive the oiling block to approach or move away from the round tube to perform an oiling and softening operation on the upper part of the round tube. The round tube that has been oiled and softened is clamped and transported by the clamping and handling unit to the lower part of the hemming die, and the hemming die performs a hemming operation on the round tube that has been oiled and softened. The hemming die includes a second driving member, a third driving member, a first die, and a second die. The first die and the second die are coaxially arranged, and the first die is sleeved outside the second die. The second die is connected to the input end of the third driving member, and the third driving member drives the second die to move to the inner wall of the round tube to resist and support the round tube. The first die is connected to the input end of the second driving member, and the second driving member drives the first die to rotate and press to perform a hemming operation on the oiled round tube.

[0010] On the side of the curling die, an oiling component is specially installed, which consists of an L-shaped mounting plate and a cylindrical oiling block. When the curling die reciprocates on the curling sliding guide rail, the oiling block also approaches or moves away from the round tube accordingly, performing an oiling and softening operation on the upper part of the round tube. This step is crucial because it can significantly reduce the hardness of the round tube material, making the subsequent curling operation smoother and more precise. After being oiled and softened, the round tube is accurately clamped and transported to the lower part of the curling die by the clamping and handling unit. The curling part consists of a second driving member, a third driving member, a first die, and a second die. The first die and the second die are coaxially arranged, and the first die is sleeved outside the second die. During the curling process, the third driving member drives the second die to move to the inner wall of the round tube to resist and support the round tube, ensuring its stable shape during curling. At the same time, the second driving member drives the first die to rotate to perform an accurate curling operation on the supported round tube. This design not only improves the accuracy and stability of curling but also ensures the integrity of the round tube during the curling process. The close cooperation between the oiling component and the curling die enables the entire process of the round tube from oiling and softening to curling to be completed in a fully automated state without manual intervention. This not only greatly improves production efficiency but also reduces production costs and labor costs.

[0011] The handling component includes a first sliding guide rail, a second sliding guide rail, a third sliding guide rail, a first clamping member, a second clamping member, a fourth driving member, a fifth driving member, and a sixth driving member. The first clamping member and the second clamping member are respectively arranged on both sides of the bearing plate. The length direction of the first sliding guide rail is perpendicular to the length direction of the bearing plate. The fourth driving member drives the first clamping member and the second clamping member to slide respectively at both ends of the first sliding guide rail. The first clamping member and the second clamping member approach the bearing plate to clamp the round tube placed on the bearing plate. The second sliding guide rail and the third sliding guide rail are arranged in parallel at both ends of the first sliding guide rail. The sixth driving member drives the first sliding guide rail to reciprocally slide on the second sliding guide rail and the third sliding guide rail. The first sliding guide rail reciprocally slides to drive the first clamping member and the second clamping member that have clamped the round tube to reciprocally slide, moving the round tube from the first input section of the conveying mechanism to the bearing plate for curling operation or moving the round tube on the bearing plate to the first output section of the conveying mechanism for assembly operation.

[0012] The design of the handling component not only improves the accuracy and stability of round tube handling but also greatly enhances the flexibility and automation degree of the entire intelligent assembly machine. Through the precise control and coordinated work of each driving member, the handling component can automatically complete operations such as clamping, handling, and placing of the round tube according to the preset program without manual intervention, thus greatly improving production efficiency and reducing production costs.

[0013] The flipping unit includes a flipping bracket and a flipping component installed on the flipping bracket, the flipping component includes a first flipping driving component, a second flipping driving component, a flipping shaft, a third clamping component and a gear group, the output end of the first flipping driving component is connected to the gear group, the gear group is connected to the third clamping component, the third clamping component is installed on the flipping shaft, the flipping shaft is connected to the output end of the second flipping driving component, the first flipping driving component drives the gear group to move back and forth to drive the third clamping component to clamp the round tube, the second flipping driving component drives the flipping shaft to grab the round tube and then drives the third clamping component that has clamped the round tube to flip, and the flipped round tube waits for assembly operation.

[0014] The design of the flipping unit realizes the automatic clamping and flipping of the round tube. The first flipping driving member accurately controls the gear set to drive the third clamping member to clamp the round tube, and then the second flipping driving member drives the flipping axis to complete the flipping action, which improves production efficiency and flipping accuracy, ensures the accurate position of the round tube after flipping, and provides strong support for subsequent assembly operations.

[0015] The second input section and the second output section of the transport mechanism are arranged on the second frame, the second input section is connected to the first output section, the assembly unit is arranged between the second input section and the second output section, and the turned round tube moves to the second input section via the first output section; a limit plate is arranged on the second input section, the assembly unit also includes a placement station and a round tube shaping mechanism arranged on the second frame, the placement station is connected to the second input section, the round tube shaping mechanism includes a fourth sliding guide rail arranged on the second frame, a sliding plate arranged on the fourth sliding guide rail for reciprocating sliding left and right, and a fixedly arranged sliding plate on the sliding guide rail The fifth sliding guide rail on the movable plate, the shaping clamp which slides up and down on the fifth sliding guide rail, the first shaping drive component, the second shaping drive component and the third shaping drive component; the second input section transports the round tube to the limit position in front of the limit plate, the third shaping drive component drives the shaping clamp to open the inner wall of the round tube and grab it by resistance, the second shaping drive component drives the shaping clamp to move up along the fifth sliding guide rail, the first shaping drive component drives the sliding plate to move horizontally to drive the shaping clamp that has grabbed the round tube to move to the top of the placement station, the third drive component drives the shaping clamp to reset to release the resistance and grab, so that the round tube falls to the placement station and waits for subsequent assembly.

[0016] The second input section is equipped with a limit plate to cooperate with the multi-stage drive mechanism. The third shaping drive component controls the shaping clamp to radially open the inner wall of the round tube to grab it, avoiding the deformation caused by the external clamping of the traditional clamp. Combined with the orthogonal motion control of the first and second shaping drives, the round tube is positioned with an accuracy of ±0.1mm in the three axes of X / Y / Z. The shaping clamp adopts a memory alloy inner support claw structure, which produces controllable elastic deformation (deformation ≤0.05mm) under the action of the third shaping drive component. When grabbing, the force is evenly applied and the curvature of the round tube is automatically fitted, solving the problem of tube wall indentation caused by traditional mechanical clamping, and the yield rate is increased to more than 99.5%.

[0017] The assembly unit further includes a clamping and handling module disposed between the placement station and the second output section. The clamping and handling module includes a sixth slide rail provided on the second rack, a first slide plate slidably disposed on the sixth slide rail, a first bottom plate fixedly provided on the first slide plate, a first clamping plate and a second clamping plate respectively disposed on both sides of the first bottom plate, a first handling driving member, a first clamping driving member, and a second clamping driving member. The first bottom plate is used for placing the round tube. The first clamping driving member drives the first clamping plate to reciprocate and be disposed on the first slide plate. The second clamping driving member drives the second clamping plate to reciprocate and be disposed on the first slide plate. After the first clamping plate and the second clamping plate jointly abut against the outer side wall of the round tube to clamp the round tube, the first handling driving member drives the first slide plate to reciprocate left and right to transport the round tube to a preset station. After the first clamping driving member and the second clamping driving member are reset, the round tube is released onto the preset station and waits for assembly.

[0018] By adding a clamping and handling module, the assembly unit uses the sixth slide rail, the first slide plate, the first bottom plate, and the first clamping plate and the second clamping plate that can reciprocate on both sides, combined with the driving members to precisely control the clamping and handling of the round tube, realizing the automatic and high-precision transfer of the round tube from the placement station to the preset station, significantly improving the assembly efficiency and accuracy, and ensuring the precise positioning of the round tube before assembly.

[0019] The clamping and handling module and the preset station adopt a magnetic coupling synchronous communication interface to complete the coordinate data exchange with the assembly manipulator within 0.5 s at the end of the handling, eliminating the positioning cumulative error of 2 - 3 mm of traditional equipment, and controlling the multi-station collaborative beat error within ±50 ms.

[0020] The assembly unit further includes a bottom gluing module. The bottom gluing module is installed below the first bottom plate. The bottom gluing module includes a first gluing guide rail installed on the second rack, a second gluing guide rail that reciprocates left and right and slides on the first gluing guide rail, a suction-type dispensing valve that reciprocates up and down and slides on the second gluing guide rail, a first dispensing driving member, and a second dispensing driving member. A through hole is provided at the bottom of the first bottom plate. The first dispensing driving member drives the second gluing guide rail to reciprocate on the first gluing guide rail to adjust the position of the suction-type dispensing valve. The second dispensing driving member drives the suction-type dispensing valve to move upward on the second gluing guide rail. The suction-type dispensing valve protrudes into the round tube through the through hole to apply glue to the inner curled edge at the bottom of the round tube. The assembly unit further includes a driving rubber wheel group provided on the first clamping plate, a rubber wheel driving member, and a driven rubber wheel group provided on the second clamping plate. The driving rubber wheel group and the driven rubber wheel group jointly abut against the outer side wall of the round tube. The rubber wheel driving member drives the driving rubber wheel group to rotate to drive the round tube to rotate to cooperate with the suction-type dispensing valve to apply glue to the inner wall at the bottom of the round tube.

[0021] Drive the back suction type dispensing valve through a two-axis linkage guide rail (the first and second glue application guide rails), cooperate with through-hole positioning to achieve a radial centering accuracy of ±0.1 mm, combine with a rubber wheel group to drive the round tube to rotate at a speed of 10 - 30 rpm, so that the thickness fluctuation of the inner wall glue layer is controlled within ±0.02 mm, and the glue line width accuracy reaches ±0.15 mm, saving 35% of the glue compared with the traditional manual glue application; the back suction type dispensing valve adopts negative pressure closed-loop control (pressure fluctuation ≤ 5%), completes the glue application - back suction action cycle within 0.3 s, and cooperates with a ceramic nozzle to achieve a glue volume control of 0.01 ml level, completely solving the dripping problem of the traditional dispenser, and improving the equipment cleanliness by 80%; the active / passive rubber wheel group adopts an elastic wheel surface coated with silicon carbide alloy (Shore hardness 45A), generates an elastic deformation of 0.5 mm under a clamping force of 12 N, not only ensures the rotation synchronism of the round tube, but also avoids the ellipticity distortion (<0.05 mm) of the thin-walled tube (0.3 mm), meeting the appearance standards of medical-grade products.

[0022] The assembly unit realizes the precise glue application operation on the inner wall of the round tube through the combination of an innovative bottom glue application module and a clamping and handling module. The bottom glue application module uses the precise cooperation of a multi-stage guide rail and a back suction type dispensing valve, and through the precise control of the driving part, evenly coats the glue on the inner wall of the bottom of the round tube. At the same time, the setting of the active rubber wheel group and the passive rubber wheel group not only stabilizes the position of the round tube during rotation, but also through the drive of the rubber wheel driving part, makes the round tube and the glue application action of the back suction type dispensing valve perfectly cooperate, ensuring the uniformity and efficiency of glue application.

[0023] The assembly unit also includes a gland shaping module. The bottom cover assembly module includes a first cover assembly guide rail, a second cover assembly guide rail, an inclined feeding rod body, a first cover assembly driving part, and a second cover assembly driving part that are horizontally arranged on the second rack. The first cover assembly driving part drives the second cover assembly guide rail to move left and right on the first cover assembly guide rail to drive the inclined feeding rod body to approach the round tube with glue applied at the bottom. The second cover assembly driving part drives the inclined feeding rod body to move downward on the second cover assembly guide rail to place the bottom cover into the round tube; the gland shaping module includes a first gland guide rail, a gland rod body slidably arranged on the first gland guide rail, and a gland driving part that drives the gland rod body to move up and down. The active rubber wheel group and the passive rubber wheel group limit the round tube with the cover installed, and the gland driving part drives the gland rod body to move downward and extend into the round tube to perform gland shaping on the round tube with the cover installed.

[0024] The inclined feeding rod body adopts a 15° inclination angle design, cooperates with the double-guide rail linkage (the first and second cover assembly guide rails) to achieve a coaxial positioning of the bottom cover and the round tube axis of ±0.08 mm, and real-time monitors the contact pressure (control range 2 - 5 N) through a piezoelectric ceramic sensor to ensure uniform contact between the bottom cover and the glue layer, and the assembly verticality error <0.05°, increasing the qualified rate by 27% compared with the traditional vibrating disk feeding method.

[0025] The assembly unit further integrates the bottom cover mounting module and the cover pressing and shaping module, forming a complete automated process from gluing the round tube, mounting the bottom cover to pressing and shaping the cover. The bottom cover mounting module realizes the automatic feeding and precise placement of the bottom cover through accurately controlled guide rails and driving components, ensuring a perfect fit between the bottom cover and the round tube. The cover pressing and shaping module uses the cooperation between the cover pressing rod body and the driving component to press and shape the round tube with the bottom cover mounted, ensuring a tight fit between the round tube and the bottom cover and a flat overall appearance. This design not only further improves the automation level and production efficiency of round tube assembly, but also ensures the stability and consistency of the assembly quality, providing a solid quality guarantee for subsequent packaging and transportation.

[0026] The assembly unit also includes a middle part gluing module and an inner tube pressing module. The active rubber wheel group and the driven rubber wheel group rotate and cooperate with the middle part gluing module to glue the top wall of the round tube. The inner tube mounting module includes a first tube mounting guide rail horizontally arranged on the second rack, a second tube mounting guide rail slidably arranged left and right on the first tube mounting guide rail, a rotary gripper slidably arranged up and down on the second tube mounting guide rail, a first tube mounting driving component, a second tube mounting driving component, and a rotary motor. The first tube mounting driving component drives the second tube mounting guide rail to reciprocate on the first tube mounting guide rail to the inner tube feeding position. The second tube mounting driving component drives the rotary gripper to move downward to grab the inner tube. The first tube mounting driving component drives the second tube mounting guide rail to reciprocate on the first tube mounting guide rail to drive the rotary gripper with the grabbed inner tube to move above the round tube. The rotary gripper drives the inner tube to be loaded into the round tube through the second tube mounting driving component and rotates and extrudes the inner tube into the round tube through the drive of the rotary motor. The inner tube pressing module presses and shapes the round tube with the inner tube already loaded.

[0027] The middle part gluing module shares the rubber wheel drive system with the bottom gluing, and realizes the continuous 360° rotation of the round tube (the rotation speed is adjustable from 5 to 20 rpm) through servo synchronous control. Cooperating with the Z-axis compensation movement of the back suction type dispensing valve, the position accuracy of the top glue line reaches ±0.1 mm, and the CV value of the glue layer thickness consistency is <2%. The process beat is shortened by 40% compared with the step-by-step gluing process.

[0028] The assembly unit further integrates the middle part gluing module, the inner tube mounting module and the inner tube pressing module, forming a fully automated assembly process from bottom gluing of the round tube, mounting the bottom cover, pressing and shaping the cover to top gluing, mounting the inner tube, and pressing and shaping the inner tube. The cooperation between the middle part gluing module and the active and driven rubber wheel groups ensures uniform gluing of the top wall of the round tube. The inner tube mounting module realizes the automatic grasping, precise placement and rotary extrusion loading of the inner tube through the precise control of multi-stage guide rails and the rotary gripper, ensuring a tight fit between the inner tube and the round tube. The inner tube pressing module shapes the round tube with the inner tube loaded, ensuring the stability of the overall structure and the flatness of the appearance.

[0029] The conveying mechanism includes a conveyor belt, a conveying driving member for driving the conveyor belt to move, a first limiting group, and a second limiting group. The conveyor belt is used to place the to-be-processed round tubes. The first limiting group and the second limiting group are respectively arranged on both sides of the conveyor belt to abut against the round tubes during transportation for positioning and correction. The first limiting group and the second limiting group have the same structure. Both the first limiting group and the second limiting group include a limiting driving member, a limiting push rod connected to the output end of the limiting driving member, and a limiting push plate. One end of the limiting push rod away from the limiting driving member is connected to the limiting push plate. The surface of the limiting push plate is coated with a polyurethane-silicon carbide composite coating (friction coefficient 0.15 - 0.25). When the conveyor belt runs at a speed of 1.5 m / s, it can inhibit the rolling and offset of the round tubes (amplitude < 0.3 mm), ensuring the pose stability of the materials during high-speed transportation.

[0030] When the to-be-processed round tubes are placed on the conveyor belt and start to be transported, the limiting driving members of the first limiting group and the second limiting group will start to work according to the preset control signals. They will drive the limiting push rods and the limiting push plates to move towards the round tubes until the limiting push plates contact the round tubes and perform positioning and correction on them. In this way, the conveying mechanism can ensure that the to-be-processed round tubes always maintain the correct position and pose during transportation, providing accurate positioning for subsequent processing operations.

[0031] The beneficial effects of the present invention: The intelligent round tube and box body assembling machine proposed by the present invention realizes the full automation of the whole process of round tube from clamping and handling, curling, flipping to precise positioning and assembly by integrating a curling mechanism, an assembling mechanism and a conveying mechanism. Among them, the curling mechanism is responsible for curling the round tubes and softening them with oil; the flipping unit realizes the automatic flipping of the round tubes; the conveying mechanism is responsible for the precise conveying of the round tubes between each working station. The assembling mechanism integrates multiple modules including visual positioning, bottom and top gluing, installing the bottom cover and the inner tube, pressing the cover and shaping the inner tube, forming a complete round tube and box body assembling production line; through the highly integrated automated process and precise drive control technology, the production efficiency and assembly accuracy are significantly improved, and the production cost and labor cost are reduced. At the same time, the close cooperation and coordinated work among each module ensure the stability and consistency of the assembly quality, providing a reliable quality guarantee for subsequent packaging, transportation and the use of the final product, demonstrating a very high level of industrial automation and intelligence. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 is the overall structural schematic diagram of the present invention;

[0033] Figure 2 is the structural schematic diagram of the curling mechanism of the present invention;

[0034] Figure 3 is the structural schematic diagram of the assembling mechanism of the present invention;

[0035] Figure 4 Schematic structural diagram of the handling component of the present invention;

[0036] Figure 5 Schematic structural diagram of the hemming die of the present invention;

[0037] Figure 6 Schematic structural diagram of the hemming die of the present invention from another perspective;

[0038] Figure 7 Schematic structural diagram of the flipping unit of the present invention;

[0039] Figure 8 Schematic structural diagram of the circular tube shaping mechanism of the present invention;

[0040] Figure 9 Schematic structural diagram of the clamping and handling module of the present invention;

[0041] Figure 10 Schematic structural diagram of the bottom gluing module of the present invention;

[0042] Figure 11 Schematic structural diagram of the active rubber wheel group, rubber wheel driving member, and driven rubber wheel group of the present invention;

[0043] Figure 12 Schematic structural diagram of the bottom cover mounting module of the present invention;

[0044] Figure 13 Schematic structural diagram of the cover pressing and shaping module of the present invention;

[0045] Figure 14 Schematic structural diagram of the middle gluing module of the present invention;

[0046] Figure 15 Schematic structural diagram of the middle gluing module of the present invention

[0047] Figure 16 Schematic structural diagram of the inner tube pressing module of the present invention;

[0048] Figure 17 Schematic structural diagram of the conveying mechanism of the present invention.

[0049] Reference numerals include:

[0050] 1. Hemming mechanism; 2. Assembly mechanism; 3. Conveyor mechanism; 4. First frame; 5. Clamping and handling unit; 6. Hemming unit; 7. Flipping unit; 8. Handling component; 9. Carrier plate; 100. First input section; 110. First output section; 120. Second input section; 130. Second output section; 11. Second frame; 12. Assembly unit; 13. Vision positioning unit; 14. First driving member; 15. Hemming sliding guide rail; 16. First mounting plate; 17. Hemming die; 18. Helical rack; 19. Helical gear; 21. Oil coating component; 22. L-shaped mounting plate; 23. Oil coating block; 24. Second driving member; 25. Third driving member; 26. First die; 27. Second die; 28. First sliding guide rail; 29. Second sliding guide rail; 31. Third sliding guide rail; 32. First clamping member; 33. Second clamping member; 34. Fourth driving member; 35. Fifth driving member; 36. Sixth driving member; 37. Flipping bracket; 38. Flipping component; 39. First flipping driving member; 41. Second flipping driving member; 42. Flipping shaft body; 43. Third clamping member; 44. Gear set; 45. Limiting plate; 46. Placing station; 47. Round tube shaping mechanism; 48. Fourth sliding guide rail; 49. Sliding plate; 51. Fifth sliding guide rail; 52. Shaping clamp; 53. First shaping driving member; 54. Second shaping driving member; 55. Third shaping driving member; 56. Clamping and handling module; 57. Sixth sliding rail; 58. First sliding plate; 59. First bottom plate; 61. First clamping plate; 62. Second clamping plate; 63. First handling driving member; 64. First clamping driving member; 65. Second clamping driving member; 66. Bottom gluing module; 67. First gluing guide rail; 670. Second gluing guide rail; 68. Suction-back type dispensing valve; 69. First dispensing driving member; 71. Second dispensing driving member; 72. Active rubber wheel group; 73. Rubber wheel driving member; 74. Driven rubber wheel group; 75. Bottom cover mounting module; 76. Cover pressing and shaping module; 77. First cover mounting guide rail; 78. Second cover mounting guide rail; 79. Inclined feeding rod body; 81. First cover mounting driving member; 82. Second cover mounting driving member; 83. First cover pressing guide rail; 84. Cover pressing rod body; 86. Cover pressing driving member; 87. Middle gluing module; 88. Inner tube mounting module; 89. Inner tube pressing module; 91. First tube mounting guide rail; 92. Second tube mounting guide rail; 93. Rotary gripper; 94. First tube mounting driving member; 95. Second tube mounting driving member; 96. Rotary motor; 201. Conveyor belt; 202. Conveyor driving member; 203. First limiting group; 204. Second limiting group; 205. Limiting driving member; 206. Limiting push rod; 207. Limiting push plate. Detailed implementation manner

[0051] For the convenience of those skilled in the art to understand, the present invention will be further described below in conjunction with embodiments and the accompanying drawings. The content mentioned in the implementation manner does not limit the present invention.

[0052] Please refer to Figures 1 to 17 As shown, an intelligent assembly machine for a round tube box body of the present invention includes a curling mechanism 1, an assembly mechanism 2 and a conveying mechanism 3. The curling mechanism 1 and the assembly mechanism 2 are connected via the conveying mechanism 3. The curling mechanism 1 includes a first frame 4, a clamping and handling unit 5, a curling unit 6 and a flipping unit 7 provided on the first frame 4. The clamping and handling unit 5 includes a handling component 8 and a carrier plate 9. The handling component 8 clamps the round tube placed on the first input section 100 of the conveying mechanism 3 and places it on the carrier plate 9. The curling unit 6 performs a curling operation on the round tube placed on the carrier plate 9. The handling component 8 clamps the curled round tube and places it on the first output section 110 of the conveying mechanism 3. The curled round tube is conveyed by the conveying mechanism 3 to below the flipping unit 7. After the flipping unit 7 flips the curled round tube, the conveying mechanism 3 conveys the flipped round tube to the assembly mechanism 2 for waiting for the assembly operation;

[0053] The assembly mechanism 2 includes a second frame 11, an assembly unit 12 and a vision positioning unit 13 provided on the second frame 11. The assembly unit 12 has a bottom cover loading module 75 and an inner tube loading module 88. The bottom cover loading module 75 is used to load the bottom cover into the curled round tube. The inner tube loading module 88 is used to load the inner tube into the round tube with the bottom cover installed. The vision positioning unit 13 is electrically connected to an external control center. The vision positioning unit 13 is used to photograph the round tube carried by the conveying mechanism 3 and feed the photographed image data back to the external control center. The external control center precisely controls the assembly unit 12 according to the information to achieve the automatic assembly of the round tube box body.

[0054] By integrating the curling mechanism 1, the assembly mechanism 2 and the conveying mechanism 3, the whole process automation of the round tube from clamping and handling, curling, flipping to precise positioning and assembly is realized. First, the clamping and handling unit 5 clamps the round tube from the first input section 100 of the conveying mechanism 3 and places it on the carrier plate 9. Subsequently, the curling unit 6 performs a curling process on it. After completion, the clamping and handling unit 5 moves the round tube to the first output section 110 of the conveying mechanism 3 again, and the round tube continues to be conveyed to below the flipping unit 7 for flipping. Finally, the vision positioning unit 13 accurately captures the position and dimension information of the flipped round tube and feeds it back to the external control center in real time to precisely guide the assembly unit 12 to complete the automatic assembly of the round tube box body. This intelligent assembly machine significantly improves the production efficiency and assembly accuracy.

[0055] The hemming unit 6 includes a first driving member 14, a hemming sliding guide rail 15, a first mounting plate 16, and a hemming die 17. The hemming die 17 is mounted on the first mounting plate 16. On the other side of the first mounting plate 16 away from the hemming die 17, there is also an inclined rack 18 and an inclined gear 19 that cooperates with the inclined rack 18. One end of the inclined gear 19 away from the inclined rack 18 is connected to the input end of the first driving member 14. The first driving member 14 drives the inclined gear 19 to drive the inclined rack 18, causing the first mounting plate 16 to reciprocate up and down on the hemming sliding guide rail 15. The first mounting plate 16 reciprocates to drive the hemming die 17 to reciprocate to approach or move away from the round tube for hemming the round tube.

[0056] The hemming die 17 is carefully mounted on the first mounting plate 16, and on the other side of the first mounting plate 16, there is ingeniously provided an inclined rack 18 and an inclined gear 19 that closely cooperates with it. When the first driving member 14 is activated, it drives the inclined gear 19 to rotate, thereby driving the inclined rack 18 to move in the vertical direction. This movement is converted into the reciprocating up and down movement of the first mounting plate 16 on the hemming sliding guide rail 15, so as to drive the hemming die 17 to approach or move away from the round tube in an accurate manner to achieve the hemming operation on the round tube.

[0057] An oiling component 21 is also mounted on the side of the hemming die 17. The oiling component 21 includes an L-shaped mounting plate 22 provided on the side of the hemming die 17 and an oiling block 23 mounted on the L-shaped mounting plate 22. The oiling block 23 is cylindrical. The hemming die 17 reciprocates to drive the oiling block 23 to approach or move away from the round tube to perform an oiling and softening operation on the upper part of the round tube. The round tube that has been oiled and softened is clamped and transported to the lower part of the hemming die 17 by the clamping and transporting unit 5, and the hemming die 17 performs a hemming operation on the round tube that has been oiled and softened; the hemming die 17 includes a second driving member 24, a third driving member 25, a first die 26, and a second die 27. The first die 26 and the second die 27 are coaxially arranged, and the first die 26 is sleeved outside the second die 27; the second die 27 is connected to the input end of the third driving member 25, and the third driving member 25 drives the second die 27 to move to the inner wall of the round tube to abut and support the round tube. The first die 26 is connected to the input end of the second driving member 24, and the second driving member 24 drives the first die 26 to rotate and press to perform a hemming operation on the oiled round tube.

[0058] On the side of the curling die 17, an oiling component 21 is specially installed. This component consists of an L-shaped mounting plate 22 and a cylindrical oiling block 23. When the curling die 17 reciprocates on the curling sliding guide 15, the oiling block 23 also approaches or moves away from the round tube accordingly, performing an oiling and softening operation on the upper part of the round tube. This step is crucial because it can significantly reduce the hardness of the round tube material, making the subsequent curling operation smoother and more precise. After being oiled and softened, the round tube is precisely clamped and transported to the lower part of the curling die 17 by the clamping and handling unit 5. The curling part is composed of a second driving member 24, a third driving member 25, a first die 26, and a second die 27. Among them, the first die 26 and the second die 27 are coaxially arranged, and the first die 26 is sleeved outside the second die 27. During the curling process, the third driving member 25 drives the second die 27 to move to the inner wall of the round tube to resist and support the round tube, ensuring its stable shape during curling. At the same time, the second driving member 24 drives the first die 26 to rotate to perform an accurate curling operation on the supported round tube. This design not only improves the accuracy and stability of curling but also ensures the integrity of the round tube during the curling process. The close cooperation between the oiling component 21 and the curling die 17 enables the entire process of the round tube from oiling and softening to curling to be completed in a fully automated state without manual intervention. This not only greatly improves production efficiency but also reduces production costs and labor costs.

[0059] The handling component 8 includes a first sliding guide 28, a second sliding guide 29, a third sliding guide 31, a first clamping member 32, a second clamping member 33, a fourth driving member 34, a fifth driving member 35, and a sixth driving member 36. The first clamping member 32 and the second clamping member 33 are respectively arranged on both sides of the bearing plate 9. The length direction of the first sliding guide 28 is perpendicular to the length direction of the bearing plate 9. The fourth driving member 34 drives the first clamping member 32 and the second clamping member 33 to be respectively slidably arranged at both ends of the first sliding guide 28. The first clamping member 32 and the second clamping member 33 approach the bearing plate 9 to clamp the round tube placed on the bearing plate 9. The second sliding guide 29 and the third sliding guide 31 are arranged in parallel at both ends of the first sliding guide 28. The sixth driving member 36 drives the first sliding guide 28 to reciprocally slide on the second sliding guide 29 and the third sliding guide 31. The first sliding guide 28 reciprocally slides to drive the first clamping member 32 and the second clamping member 33 that have clamped the round tube to reciprocally slide to move the round tube from the first input section 100 of the conveying mechanism 3 to the bearing plate 9 for curling operation or to move the round tube on the bearing plate 9 to the first output section 110 of the conveying mechanism 3 for assembly operation.

[0060] The design of the handling component 8 not only improves the accuracy and stability of round tube handling, but also greatly enhances the flexibility and automation level of the entire intelligent assembly machine. Through the precise control and coordinated operation of each driving component, the handling component 8 can automatically complete operations such as clamping, handling, and placing of round tubes according to a preset program without manual intervention, thus greatly improving production efficiency and reducing production costs.

[0061] The flipping unit 7 includes a flipping bracket 37 and a flipping component 38 mounted on the flipping bracket 37. The flipping component 38 includes a first flipping driving component 39, a second flipping driving component 41, a flipping shaft body 42, a third clamping component 43, and a gear set 44. The output end of the first flipping driving component 39 is connected to the gear set 44, the gear set 44 is connected to the third clamping component 43, the third clamping component 43 is mounted on the flipping shaft body 42, and the flipping shaft body 42 is connected to the output end of the second flipping driving component 41. The first flipping driving component 39 drives the gear set 44 to reciprocate to drive the third clamping component 43 to clamp the round tube, and the second flipping driving component 41 drives the flipping shaft body 42 to rotate to drive the third clamping component 43 that has clamped the round tube to flip. The flipped round tube waits for the assembly operation.

[0062] The design of the flipping unit 7 realizes the automatic clamping and flipping of round tubes. The first flipping driving component 39 precisely controls the gear set 44 to drive the third clamping component 43 to clamp the round tube, and then the second flipping driving component 41 drives the flipping shaft body 42 to complete the flipping action, improving production efficiency and flipping accuracy, ensuring the accurate position of the round tube after flipping, and providing strong support for subsequent assembly operations.

[0063] The second input section 120 and the second output section 130 of the transport mechanism are arranged on the second frame 11, the second input section 120 is connected to the first output section 110, the assembly unit 12 is arranged between the second input section 120 and the second output section 130, and the turned round tube moves to the second input section 120 via the first output section 110; a limiting plate 45 is provided on the second input section 120, the assembly unit 12 also includes a placement station 46 and a round tube shaping mechanism 47 arranged on the second frame 11, the placement station 46 is connected to the second input section 120, the round tube shaping mechanism 47 includes a fourth sliding guide rail 48 arranged on the second frame 11, a sliding plate 49 arranged on the fourth sliding guide rail 48 for reciprocating sliding left and right, A fifth sliding guide rail 51 fixedly arranged on the sliding plate 49, a shaping clamp 52 sliding up and down on the fifth sliding guide rail 51, a first shaping drive member 53, a second shaping drive member 54 and a third shaping drive member 55; the second input section 120 transports the round tube to the limit position in front of the limit plate 45, the third shaping drive member 55 drives the shaping clamp 52 to open the inner wall of the round tube and grab it by resistance, the second shaping drive member 54 drives the shaping clamp 52 to move upward along the fifth sliding guide rail 51, the first shaping drive member 53 drives the sliding plate 49 to move horizontally to drive the shaping clamp 52 that has grabbed the round tube to move to the top of the placement station 46, the third drive member 25 drives the shaping clamp 52 to reset and release the resistance and grabbing, so that the round tube is placed on the placement station 46 and waits for subsequent assembly.

[0064] The second input section 120 is provided with a limit plate 45 to cooperate with the multi-stage drive mechanism, and the third shaping drive 55 controls the shaping clamp 52 to radially open the inner wall of the round tube to grasp, avoiding the deformation caused by the external clamping of the traditional clamping claws, and combining the orthogonal motion control of the first and second shaping drives 54 to achieve the positioning of the round tube with an accuracy of ±0.1mm in the three axes of X / Y / Z. The shaping clamp 52 adopts a memory alloy inner support claw structure, and produces controllable elastic deformation (deformation ≤0.05mm) under the action of the third shaping drive 55. When grasping, the force is evenly applied and the curvature of the round tube is automatically fitted, which solves the problem of tube wall indentation caused by traditional mechanical clamping, and the yield rate is increased to more than 99.5%.

[0065] The assembly unit 12 further includes a clamping and handling module 56 disposed between the placement station 46 and the second output section 130. The clamping and handling module 56 includes a sixth slide rail 57 disposed on the second frame 11, a first slide plate 58 slidably disposed on the sixth slide rail 57, a first bottom plate 59 fixedly disposed on the first slide plate 58, a first clamping plate 61 and a second clamping plate 62 respectively disposed on both sides of the first bottom plate 59, a first handling driving member 63, a first clamping driving member 64, and a second clamping driving member 65. The first bottom plate 59 is used to place the round tube. The first clamping driving member 64 drives the first clamping plate 61 to reciprocate and be disposed on the first slide plate 58, and the second clamping driving member 65 drives the second clamping plate 62 to reciprocate and be disposed on the first slide plate 58. After the first clamping plate 61 and the second clamping plate 62 jointly abut against the outer side wall of the round tube to clamp the round tube, the first handling driving member 63 drives the first slide plate 58 to reciprocate left and right to transport the round tube to a preset station. After the first clamping driving member 64 and the second clamping driving member 65 are reset, the round tube is released to the preset station to wait for assembly.

[0066] By adding the clamping and handling module 56, the assembly unit 12 utilizes the sixth slide rail 57, the first slide plate 58, the first bottom plate 59, and the first clamping plate 61 and the second clamping plate 62 that can reciprocate on both sides, combined with the driving members to precisely control the clamping and handling of the round tube, realizing the automatic and high-precision transfer of the round tube from the placement station 46 to the preset station, significantly improving the assembly efficiency and accuracy, and ensuring the precise positioning of the round tube before assembly.

[0067] The clamping and handling module 56 and the preset station adopt a magnetic coupling synchronous communication interface to complete the coordinate data exchange with the assembly manipulator within 0.5 s at the end of the handling, eliminating the positioning cumulative error of 2 - 3 mm of the traditional equipment, and controlling the multi-station collaborative beat error within ±50 ms.

[0068] The assembly unit 12 further includes a bottom gluing module 66, which is installed below the first bottom plate 59. The bottom gluing module 66 includes a first gluing guide rail 67 installed on the second frame 11, a second gluing guide rail 670 that reciprocates left and right and slides on the first gluing guide rail 67, a suction-type dispensing valve 68 that reciprocates up and down and slides on the second gluing guide rail 670, a first dispensing driving member 69, and a second dispensing driving member 71. There is a through hole at the bottom of the first bottom plate 59. The first dispensing driving member 69 drives the second gluing guide rail 670 to reciprocate on the first gluing guide rail 67 to adjust the position of the suction-type dispensing valve 68. The second dispensing driving member 71 drives the suction-type dispensing valve 68 to move upward on the second gluing guide rail 670. The suction-type dispensing valve 68 protrudes into the round tube through the through hole to apply glue to the inner curled edge at the bottom of the round tube; the assembly unit 12 further includes a driving rubber wheel group 72, a rubber wheel driving member 73 arranged on the first clamping plate 61, and a driven rubber wheel group 74 arranged on the second clamping plate 62. The driving rubber wheel group 72 and the driven rubber wheel group 74 jointly abut against the outer side wall of the round tube. The rubber wheel driving member 73 drives the driving rubber wheel group 72 to rotate to drive the round tube to rotate to cooperate with the suction-type dispensing valve 68 to apply glue to the inner wall at the bottom of the round tube.

[0069] The suction-type dispensing valve 68 is driven by a dual-axis linkage guide rail (the first and second gluing guide rails 670). With the cooperation of through-hole positioning, the radial centering accuracy of ±0.1 mm is achieved. Combining with the rubber wheel group driving the round tube to rotate at a speed of 10 - 30 rpm, the fluctuation of the inner wall glue layer thickness is controlled within ±0.02 mm, and the glue line width accuracy reaches ±0.15 mm, saving 35% of the glue compared with traditional manual gluing; the suction-type dispensing valve 68 adopts negative pressure closed-loop control (pressure fluctuation ≤ 5%), and completes the glue dispensing - suction action cycle within 0.3 s. With the cooperation of the ceramic nozzle, the glue volume control at the 0.01 ml level is realized, completely solving the dripping problem of traditional dispensing machines, and the equipment cleanliness is improved by 80%; the driving / driven rubber wheel group 74 adopts an elastic wheel surface coated with silicon carbide alloy (Shore hardness 45A), generating an elastic deformation of 0.5 mm under a clamping force of 12 N, which not only ensures the rotation synchronism of the round tube but also avoids the ellipticity distortion (<0.05 mm) of the thin-walled tube (0.3 mm), meeting the appearance standards of medical-grade products.

[0070] Through the combination of the innovative bottom gluing module 66 and the clamping and handling module 56, the assembly unit 12 realizes the precise gluing operation on the inner wall of the round tube. The bottom gluing module 66 uses the precise cooperation of multi-stage guide rails and the suction-type dispensing valve 68. Through the precise control of the driving member, the glue is evenly coated on the inner wall at the bottom of the round tube. At the same time, the setting of the driving rubber wheel group 72 and the driven rubber wheel group 74 not only stabilizes the position of the round tube during rotation but also, through the drive of the rubber wheel driving member 73, enables the round tube to perfectly cooperate with the glue application action of the suction-type dispensing valve 68, ensuring the uniformity and efficiency of glue application.

[0071] The assembly unit 12 further includes a gland shaping module 76. The bottom cover mounting module 75 includes a first cover mounting guide rail 77, a second cover mounting guide rail 78, an inclined feeding rod body 79, a first cover mounting driving member 81, and a second cover mounting driving member 82 that are horizontally arranged on the second rack 11. The first cover mounting driving member 81 drives the second cover mounting guide rail 78 to move left and right on the first cover mounting guide rail 77, driving the inclined feeding rod body 79 to approach the round tube with glue applied at the bottom. The second cover mounting driving member 82 drives the inclined feeding rod body 79 to move downward on the second cover mounting guide rail 78 to place the bottom cover into the round tube. The gland shaping module 76 includes a first gland guide rail 83 arranged on the second rack 11, a gland rod body 84 slidably arranged on the first gland guide rail 83, and a gland driving member 86 that drives the gland rod body 84 to move up and down. The active rubber wheel group 72 and the driven rubber wheel group 74 limit the round tube with the cover installed. The gland driving member 86 drives the gland rod body 84 to move downward and extend into the round tube to perform gland shaping on the round tube with the cover installed.

[0072] The inclined feeding rod body 79 is designed with an inclination angle of 15°. With the linkage of double guide rails (the first and second cover mounting guide rails 78), it realizes the coaxial positioning of the bottom cover and the round tube axis with an accuracy of ±0.08 mm. The contact pressure is monitored in real time through a piezoelectric ceramic sensor (the control range is 2 - 5 N) to ensure uniform contact between the bottom cover and the glue layer. The assembly verticality error is <0.05°, and the qualified rate is increased by 27% compared with the traditional vibrating disk feeding method.

[0073] The assembly unit 12 further integrates the bottom cover mounting module 75 and the gland shaping module 76, forming a complete automated process from gluing the round tube to mounting the bottom cover and then to gland shaping. The bottom cover mounting module 75 realizes the automatic feeding and precise placement of the bottom cover through accurately controlled guide rails and driving members, ensuring the perfect fit between the bottom cover and the round tube. The gland shaping module 76 uses the cooperation between the gland rod body 84 and the driving member to perform gland shaping on the round tube with the bottom cover installed, ensuring the tight fit between the round tube and the bottom cover and the flatness of the overall appearance. This design not only further improves the automation degree and production efficiency of round tube assembly but also ensures the stability and consistency of the assembly quality, providing a solid quality guarantee for subsequent packaging and transportation.

[0074] The assembly unit 12 further includes a middle gluing module 87 and an inner tube pressing module 89. The active rubber wheel set 72 and the driven rubber wheel set 74 perform rotational cooperation on the capped round tube. The middle gluing module 87 applies glue to the top wall of the round tube. The inner tube loading module 88 includes a first tube loading guide rail 91 horizontally arranged on the second frame 11, a second tube loading guide rail 92 slidably arranged left and right on the first tube loading guide rail 91, a rotating gripper 93 slidably arranged up and down on the second tube loading guide rail 92, a first tube loading driving member 94, a second tube loading driving member 95, and a rotating motor 96. The first tube loading driving member 94 drives the second tube loading guide rail 92 to reciprocate on the first tube loading guide rail 91 to the inner tube feeding position. The second tube loading driving member 95 drives the rotating gripper 93 to move downward to grab the inner tube. The first tube loading driving member 94 drives the second tube loading guide rail 92 to reciprocate on the first tube loading guide rail 91 to drive the rotating gripper 93 holding the inner tube to move above the round tube. The rotating gripper 93 drives the inner tube to be loaded into the round tube by the second tube loading driving member 95 and rotates and extrudes the inner tube into the round tube by the driving of the rotating motor 96. The inner tube pressing module 89 presses and shapes the inner tube of the round tube into which the inner tube has been loaded.

[0075] The middle gluing module 87 shares the rubber wheel drive system with the bottom gluing, and realizes the 360° continuous rotation of the round tube (the rotation speed is adjustable from 5 to 20 rpm) through servo synchronous control. Cooperating with the Z-axis compensation movement of the back suction type dispensing valve 68, the position accuracy of the top glue line reaches ±0.1 mm, the CV value of the glue layer thickness consistency is <2%, and the process beat is shortened by 40% compared with the step-by-step gluing process.

[0076] The assembly unit 12 further integrates the middle gluing module 87, the inner tube loading module 88, and the inner tube pressing module 89 to form a fully automated assembly process from bottom gluing of the round tube, installing the bottom cover, pressing and shaping the cover to top gluing, installing the inner tube, and pressing and shaping the inner tube. The cooperation between the middle gluing module 87 and the active and driven rubber wheel sets 74 ensures uniform gluing on the top wall of the round tube. The inner tube loading module 88 realizes the automatic grasping, precise placement, and rotational extrusion loading of the inner tube through the precise control of the multi-stage guide rail and the rotating gripper 93, ensuring the tight fit between the inner tube and the round tube. The inner tube pressing module 89 shapes the round tube into which the inner tube has been loaded, ensuring the stability of the overall structure and the flatness of the appearance.

[0077] The conveying mechanism 3 includes a conveyor belt 201, a conveying driving member 202 for driving the movement of the conveyor belt 201, a first limiting group 203 and a second limiting group 204. The conveyor belt 201 is used to place the to-be-processed round tubes. The first limiting group 203 and the second limiting group 204 are respectively arranged on both sides of the conveyor belt 201 to abut against the round tubes during transportation for positioning and correction. The first limiting group 203 and the second limiting group 204 have the same structure. Both the first limiting group 203 and the second limiting group 204 include a limiting driving member 205, a limiting push rod 206 connected to the output end of the limiting driving member 205, and a limiting push plate 207. One end of the limiting push rod 206 far from the limiting driving member 205 is connected to the limiting push plate. The surface of the limiting push plate 207 is coated with a polyurethane-silicon carbide composite coating (friction coefficient 0.15 - 0.25). When the conveyor belt 201 runs at a speed of 1.5 m / s, it can inhibit the rolling and offset of the round tubes (amplitude < 0.3 mm), ensuring the pose stability of the materials during high-speed transportation.

[0078] When the to-be-processed round tubes are placed on the conveyor belt 201 and start to be transported, the limiting driving members 205 of the first limiting group 203 and the second limiting group 204 will start working according to the preset control signals. They will drive the limiting push rods 206 and the limiting push plates 207 to move towards the round tubes until the limiting push plates 207 contact the round tubes and perform positioning and correction on them. In this way, the conveying mechanism 3 can ensure that the to-be-processed round tubes always maintain the correct position and pose during transportation, providing accurate positioning for subsequent processing operations.

[0079] The above content is only the preferred embodiment of the present invention. For those of ordinary skill in the art, according to the idea of the present invention, there will be changes in the specific implementation manners and application scopes. The content of this specification should not be construed as a limitation to the present invention.

Claims

1. A round tube box intelligent assembly machine, characterized by: The invention comprises a curling mechanism (1), an assembling mechanism (2) and a conveying mechanism (3), wherein the curling mechanism (1) and the assembling mechanism (2) are connected via the conveying mechanism (3), wherein the curling mechanism (1) comprises a first frame (4), a clamping and conveying unit (5) arranged on the first frame (4), a curling unit (6) and a flipping unit (7), wherein the clamping and conveying unit (5) comprises a conveying component (8) and a carrying plate (9), wherein the conveying component (8) clamps a round tube placed on a first input section (100) of the conveying mechanism (3) and places it on the carrying plate (9), wherein the curling unit (6) performs a curling operation on the round tube placed on the carrying plate (9), wherein the conveying component (8) clamps the curled round tube and places it on a first output section (110) of the conveying mechanism (3), wherein the curled round tube is conveyed to the bottom of the flipping unit (7) via the conveying mechanism (3), wherein the flipping unit (7) flips the curled round tube, and then the conveying mechanism (3) conveys the flipped round tube to the assembling mechanism (2); The assembly mechanism (2) comprises a second frame (11), an assembly unit (12) arranged on the second frame (11), and a visual positioning unit (13); the assembly unit (12) comprises a bottom cover installation module (75) and an inner tube installation module (88); the bottom cover installation module (75) is used to install the bottom cover into a round tube with a curled edge; the inner tube installation module (88) is used to install the inner tube into the round tube with the bottom cover installed; the visual positioning unit (13) is electrically connected to an external control center; the visual positioning unit (13) is used to photograph the round tube carried by the conveying mechanism (3) and feed back the photographed image data to the external control center; the external control center accurately controls the assembly unit (12) according to the information to realize the automatic assembly of the round tube box body.

2. The intelligent assembly machine for round tube boxes according to claim 1, characterized in that: The curling unit (6) comprises a first driving member (14), a curling sliding guide rail (15), a first mounting plate (16) and a curling die (17); the curling die (17) is mounted on the first mounting plate (16); a bevel rack (18) and a bevel gear (19) used in conjunction with the bevel rack (18) are also provided on the other side of the first mounting plate (16) away from the curling die (17); an end of the bevel gear (19) away from the bevel rack (18) is connected to an input end of the first driving member (14); the first driving member (14) drives the bevel gear (19) to drive the bevel rack (18) to make the first mounting plate (16) reciprocate up and down on the curling sliding guide rail (15); the first mounting plate (16) reciprocates to drive the curling die (17) to reciprocate to approach or move away from the round tube to perform a curling operation on the round tube.

3. The intelligent assembly machine for round tube boxes according to claim 2, characterized in that: The side of the curling die (17) is also equipped with an oiling component (21), the oiling component (21) comprising an L-shaped mounting plate (22) arranged on the side of the curling die (17), and an oiling block (23) mounted on the L-shaped mounting plate (22), the oiling block (23) being cylindrical, the curling die (17) reciprocatingly moves to drive the oiling block (23) to approach or move away from the round tube to perform an oiling and softening operation on the upper part of the round tube, the oiled and softened round tube is clamped and transported to the bottom of the curling die (17) by the clamping and transporting unit (5), and the curling die (17) performs a curling operation on the oiled and softened round tube; the curling die (17) comprises The invention comprises a second driving member (24), a third driving member (25), a first mold (26) and a second mold (27); the first mold (26) and the second mold (27) are coaxially arranged and the first mold (26) is sleeved on the outside of the second mold (27); the second mold (27) is connected to the input end of the third driving member (25); the third driving member (25) drives the second mold (27) to move to the inner wall of the round tube to support the round tube; the first mold (26) is connected to the input end of the second driving member (24); the second driving member (24) drives the first mold (26) to rotate and press the oiled round tube to perform a curling operation.

4. The intelligent assembly machine for round tube boxes according to claim 1, characterized in that: The transport component (8) comprises a first sliding guide rail (28), a second sliding guide rail (29), a third sliding guide rail (31), a first clamping member (32), a second clamping member (33), a fourth driving member (34), a fifth driving member (35) and a sixth driving member (36) arranged below the bearing plate (9); the first clamping member (32) and the second clamping member (33) are respectively arranged on both sides of the bearing plate (9); the length direction of the first sliding guide rail (28) is perpendicular to the length direction of the bearing plate (9); the fourth driving member (34) drives the first clamping member (32) and the second clamping member (33) to slide at both ends of the first sliding guide rail (28); the first clamping member (32) and the second clamping member (33) are respectively arranged The conveyor moves toward the carrier plate (9) to clamp the round tube placed on the carrier plate (9); the second sliding guide rail (29) and the third sliding guide rail (31) are arranged in parallel at both ends of the first sliding guide rail (28); the sixth driving member (36) drives the first sliding guide rail (28) to slide back and forth on the second sliding guide rail (29) and the third sliding guide rail (31); the first sliding guide rail (28) slides back and forth to drive the first clamping member (32) and the second clamping member (33) that have clamped the round tube to slide back and forth to move the round tube from the first input section (100) of the conveying mechanism (3) to the carrier plate (9) for curling operation or to move the round tube on the carrier plate (9) to the first output section (110) of the conveying mechanism (3) for assembly operation.

5. The intelligent assembly machine for round tube boxes according to claim 4, characterized in that: The flip unit (7) comprises a flip bracket (37), a flip component (38) mounted on the flip bracket (37), the flip component (38) comprising a first flip driving component (39), a second flip driving component (41), a flip shaft (42), a third clamping component (43) and a gear set (44), the output end of the first flip driving component (39) is connected to the gear set (44), the gear set (44) is connected to the third clamping component (43), the third clamping component (43) is mounted on the flip shaft (42), the flip shaft (42) is connected to the output end of the second flip driving component (41), the first flip driving component (39) drives the gear set (44) to move back and forth to drive the third clamping component (43) to clamp the round tube, the second flip driving component (41) drives the flip shaft (42) to grab the round tube, and then drives the third clamping component (43) that has clamped the round tube to flip.

6. The intelligent assembly machine for round tube boxes according to claim 5, characterized in that: The second input section (120) and the second output section (130) of the transport mechanism are arranged on the second frame (11), the second input section (120) is connected to the first output section (110), the assembly unit (12) is arranged between the second input section (120) and the second output section (130), and the turned round tube moves to the second input section (120) via the first output section (110); the second input section (120) is provided with a limit plate (45), the assembly unit (12) further comprises a placement station (46) and a round tube shaping mechanism (47) arranged on the second frame (11), the placement station (46) is connected to the second input section (120), the round tube shaping mechanism (47) comprises a fourth sliding guide rail (48) arranged on the second frame (11), a sliding plate (45) arranged on the fourth sliding guide rail (48) for reciprocating left and right sliding, and a second sliding plate (45) arranged on the fourth sliding guide rail (48) for reciprocating left and right sliding. 9), a fifth sliding guide rail (51) fixedly arranged on the sliding plate (49), a shaping clamp (52) slidingly arranged on the fifth sliding guide rail (51) up and down, a first shaping drive member (53), a second shaping drive member (54) and a third shaping drive member (55); the second input section (120) transports the round tube to the front limit of the limiting plate (45), the third shaping drive member (55) drives the shaping clamp (52) to open the inner wall of the round tube and resist and grab, the second shaping drive member (54) drives the shaping clamp (52) to move up along the fifth sliding guide rail (51), the first shaping drive member (53) drives the sliding plate (49) to move horizontally to drive the shaping clamp (52) that has grasped the round tube to move to the top of the placement station (46), the third drive member (25) drives the shaping clamp (52) to reset to release the resistance and grab, so that the round tube falls to the placement station (46) and waits for subsequent assembly.

7. The intelligent assembly machine for round tube boxes according to claim 6, characterized in that: The assembly unit (12) further comprises a clamping and transporting module (56) arranged between the placement station (46) and the second output section (130), the clamping and transporting module (56) comprising a sixth slide rail (57) arranged on the second frame (11), a first slide plate (58) slidably arranged on the sixth slide rail (57), a first base plate (59) fixedly arranged on the first slide plate (58), a first clamping plate (61) and a second clamping plate (62) respectively arranged on both sides of the first base plate (59), a first transport driving member (63), a first clamping driving member (64) and a second clamping driving member (65), and a first A bottom plate (59) is used to place a round tube, a first clamping driving member (64) drives a first clamping plate (61) to move back and forth and is arranged on a first slide plate (58), and a second clamping driving member (65) drives a second clamping plate (62) to move back and forth and is arranged on the first slide plate (58). After the first clamping plate (61) and the second clamping plate (62) jointly contact the outer side wall of the round tube to clamp the round tube, the first transport driving member (63) drives the first slide plate (58) to move back and forth left and right to transport the round tube to a preset work station, and after the first clamping driving member (64) and the second clamping driving member (65) are reset, the round tube is released to the preset work station to wait for assembly.

8. The intelligent assembly machine for round tube boxes according to claim 7, characterized in that: The assembly unit (12) further comprises a bottom glue module (66), the bottom glue module (66) being mounted below the first bottom plate (59), the bottom glue module (66) comprising a first glue guide rail (67) mounted on the second frame (11), a second glue guide rail (670) being reciprocatingly slidable left and right on the first glue guide rail (67), a back-suction type glue dispensing valve (68) being reciprocatingly slidable up and down on the second glue guide rail (670), a first glue dispensing driving component (69) and a second glue dispensing driving component (71), a through hole being provided at the bottom of the first bottom plate (59), and the first glue dispensing driving component (69) driving the second glue guide rail (670) to reciprocate on the first glue guide rail (67) to adjust the back-suction The second dispensing valve (68) is positioned, the second dispensing drive (71) drives the back-suction dispensing valve (68) to move upward on the second gluing guide rail (670), and the back-suction dispensing valve (68) protrudes into the round tube through the through hole to apply glue to the inner curling edge at the bottom of the round tube; the assembly unit (12) also includes an active rubber wheel group (72) arranged on the first clamping plate (61), a rubber wheel drive member (73), and a driven rubber wheel group (74) arranged on the second clamping plate (62), the active rubber wheel group (72) and the driven rubber wheel group (74) jointly abut against the outer side wall of the round tube, and the rubber wheel drive member (73) drives the active rubber wheel group (72) to rotate to drive the round tube to rotate to cooperate with the back-suction dispensing valve (68) to apply glue to the round tube.

9. The intelligent assembly machine for round tube boxes according to claim 8, characterized in that: The assembly unit (12) further comprises a capping shaping module (76), the bottom capping module (75) comprising a first capping guide rail (77) horizontally arranged on the second frame (11), a second capping guide rail (78), an inclined loading rod body (79), a first capping drive member (81) and a second capping drive member (82), the first capping drive member (81) driving the second capping guide rail (78) to move left and right on the first capping guide rail (77) to drive the inclined loading rod body (79) to move closer to the round tube with glue on the bottom, and the second capping drive member (82) driving the inclined loading rod body (79) moves downward on the second capping guide rail (78) to place the bottom cover into the round tube; the capping shaping module (76) includes a first capping guide rail (83) arranged on the second frame (11), a capping rod body (84) slidably arranged on the first capping guide rail (83), and a capping driving member (86) driving the capping rod body (84) to move up and down, the active rubber wheel group (72) and the driven rubber wheel group (74) limit the capped round tube, and the capping driving member (86) drives the capping rod body (84) to move downward and extend into the round tube to cap and shape the capped round tube.

10. The intelligent assembly machine for round tube boxes according to claim 9, characterized in that: The assembly unit (12) further comprises a middle gluing module (87) and an inner tube pressing module (89); the active rubber wheel group (72) and the driven rubber wheel group (74) rotate the capped round tube to cooperate with the middle gluing module (87) to glue the top tube wall of the round tube; the inner tube loading module (88) comprises a first tube loading guide rail (91) horizontally arranged on the second frame (11), a second tube loading guide rail (92) slidably arranged on the first tube loading guide rail (91) left and right, a rotating gripper (93) slidably arranged on the second tube loading guide rail (92) up and down, a first tube loading drive member (94), a second tube loading drive member (95) and a rotating motor (96); The first tube loading driving member (94) drives the second tube loading guide rail (92) to reciprocate on the first tube loading guide rail (91) to the inner tube loading position, the second tube loading driving member (95) drives the rotating gripper (93) to move downward to grip the inner tube, the first tube loading driving member (94) drives the second tube loading guide rail (92) to reciprocate on the first tube loading guide rail (91) to drive the rotating gripper (93) that has gripped the inner tube to move above the round tube, the rotating gripper (93) is driven by the second tube loading driving member (95) to load the inner tube into the round tube, and is driven by the rotating motor (96) to rotate and squeeze the inner tube into the round tube, and the inner tube pressing module (89) presses and shapes the round tube that has been loaded with the inner tube.

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