Automatic assembly line body and assembly method for cylindrical parts and disc-shaped parts

Abstract

The invention belongs to the technical field of automatic assembly, and particularly relates to an automatic assembly line body and method for cylindrical parts and disc-shaped parts. The automatic assembly line body comprises a part feeding system, a bolt and stud feeding system and an assembly part discharging system. The part feeding system comprises a cylindrical part feeding mechanism, a disc-shaped part feeding mechanism and a carrying mechanism, and a preassembled part is obtained through assembling; the bolt and stud feeding system comprises a bolt feeding mechanism and a double-end stud feeding mechanism, and assembly parts are obtained through assembly; the assembly part discharging system comprises an assembly part turnover mechanism and an assembly part discharging mechanism. Automatic cleaning, protective sleeve and protective paper dismounting and feeding of cylindrical parts can be achieved, automatic overturning and feeding of disc-shaped parts can be achieved, automatic feeding and assembling of bolts can be achieved, automatic feeding and assembling of double-end studs can be achieved, automatic overturning and discharging of assembly parts can be achieved, and the production efficiency is improved. And in the assembling process, the cylindrical part and the disc-shaped part cannot be damaged.

Description

Technical Field

[0001] The present invention belongs to the technical field of automatic assembly, and particularly relates to an automatic assembly line body and an assembly method for cylindrical parts and disc-shaped parts. Background Art

[0002] The assembly operation process of cylindrical parts and disc-shaped parts is as follows: remove the protective sleeve on the cylindrical part and clean it, put the rubber gasket on the disc-shaped part → use a balance crane to lift the cylindrical part onto the auxiliary line → place the disc-shaped part on the cylindrical part (align the six holes of the disc-shaped part and the cylindrical part) → install the top screw in the middle of the cylindrical part → install six M8 bolts and tighten them → screw in eight M6 stud bolts to obtain the assembled part → turn the assembled part 180° and stack it on the turnover cart.

[0003] At present, the assembly of disc-shaped parts and cylindrical parts is manually assembled by operators. The existing manual line body is difficult to cope with the further improvement of production capacity. Therefore, developing an automatic assembly line body for disc-shaped parts and cylindrical parts to improve the assembly production capacity of disc-shaped parts and cylindrical parts is an urgent technical problem in this field. Summary of the Invention

[0004] In order to solve the problems existing in the above-mentioned prior art, the present invention designs an automatic assembly line body for cylindrical parts and disc-shaped parts to realize the automatic assembly of disc-shaped parts and cylindrical parts.

[0005] The technical solution adopted by the present invention to solve this problem is:

[0006] An automatic assembly line body for cylindrical parts and disc-shaped parts, which includes continuously operating:

[0007] A part feeding system, which includes a cylindrical part feeding mechanism for completing the feeding, cleaning, and removing the protective sleeve and protective paper processes of cylindrical parts, a disc-shaped part feeding mechanism for completing the feeding, flipping, and lifting processes of disc-shaped parts, and a conveying mechanism for completing the transfer and pre-assembly processes of cylindrical parts and disc-shaped parts, and assembling to obtain a pre-assembled part;

[0008] A bolt and stud feeding system, which includes a bolt feeding mechanism for completing the feeding, pre-assembly, and tightening processes of bolts for the pre-assembled part and a stud feeding mechanism for completing the feeding and assembly processes of stud bolts for the pre-assembled part, and assembling to obtain an assembled part;

[0009] An assembled part discharging system, which includes an assembled part flipping mechanism for completing the flipping process of the assembled part and an assembled part discharging mechanism for completing the discharging process of the assembled part.

[0010] In the above technical solution, the cylindrical part feeding mechanism includes a cylindrical part tray conveying slide for conveying the cylindrical part tray, a protective sleeve and dust-proof paper removing device for removing the protective sleeve and dust-proof paper at the lower end of the cylindrical part, a cleaning device for cleaning the inner cavity of the cylindrical part, a cylindrical part gripper for grasping and transporting the cylindrical part, and an automatic assembly line tray for positioning and pre-assembling the cylindrical part;

[0011] In the above technical solution, the cylindrical part gripper includes a cylindrical main body structure, and further includes:

[0012] Airbag grippers, the number of which is several, are arranged in an annular array outside the cylindrical main body structure, and airbags are used to center the central hole of the cylindrical part;

[0013] Grippers, the number of which is several, are arranged in an annular array outside the cylindrical main body structure and are located above the airbag grippers. A cylinder is used to realize the functions of extending and clamping and retracting and opening. When grasping, the end face of the gripper abuts against the upper surface of the cylindrical part;

[0014] The first elastic floating mechanism is arranged at the upper part of the cylindrical main body structure to make up for the height difference of the cylindrical part on the cylindrical part tray when the cylindrical part is fed by elasticity;

[0015] A servo motor and a rotary platform are arranged between the elastic floating mechanism and the cylindrical main body structure.

[0016] In the above technical solution, the protective sleeve and dust-proof paper removing device includes:

[0017] A pressing sleeve device, which includes pressing grippers arranged oppositely, and both sides of the pressing grippers are driven by an opening and closing cylinder. The pressing grippers are designed in a semi-circular shape. When the cylindrical part gripper transports the cylindrical part to this position, the pressing grippers are clamped, and the lower end of the pressing grippers presses the end face of the protective sleeve. When the cylindrical part gripper rises, the protective sleeve can be removed by using the pressing grippers;

[0018] A paper pressing device, which includes a pressing block, and a link-type pressing mechanism driven by a vertical cylinder is used to realize the pressing of the pressing block on the dust-proof paper;

[0019] A paper-breaking tip is convexly arranged between the pressing grippers. The link-type pressing mechanism is arranged inside the paper-breaking tip. After the paper-breaking tip penetrates through the sheath paper, the sheath paper is broken from the center, and then the link-type pressing mechanism is driven by the vertical cylinder to realize the pressing of the pressing block on the sheath paper. When the cylindrical part gripper rises, the dust-proof paper is pressed by the pressing block to realize removal;

[0020] The overturning device consists of a vertical lifting cylinder and an inclined side-pushing cylinder. After the protective cover and dust-proof paper are removed, the vertical lifting cylinder extends to make the overall height exceed the height of the paper-breaking tip. Then, the inclined side-pushing cylinder extends to tilt the whole at a certain angle, facilitating the sliding of the protective cover and dust-proof paper into the collection vehicle, thus realizing the removal of the protective cover and dust-proof paper.

[0021] In the above technical solution, the disc-shaped part feeding mechanism includes a disc-shaped part tray conveying slide for conveying the disc-shaped part tray, a disc-shaped part gripper for grasping and transporting the disc-shaped part, a disc-shaped part flipping device for driving the disc-shaped part to flip, and a disc-shaped part lifting device for driving the disc-shaped part to lift.

[0022] In the above technical solution, the disc-shaped part gripper includes:

[0023] Two layers of grippers, which include two sets of clamping grippers respectively used for clamping the disc-shaped part before and after flipping. A step boss is designed under each set of clamping grippers to support the disc-shaped part and prevent it from falling. The two layers of grippers are driven by an opening and closing gripper clamping cylinder;

[0024] A disc-shaped elastic floating mechanism, which is arranged above the two layers of grippers to compensate for the height difference of the disc-shaped part on the disc-shaped part tray during the incoming material by elasticity;

[0025] A servo motor and a rotary platform, which are arranged between the two layers of grippers and the elastic floating mechanism.

[0026] In the above technical solution, the bolt feeding mechanism includes a bolt feeding device for feeding the bolt gasket integrated part, a bolt cutting device for cutting the bolt gasket integrated part, a bolt lifting slide for installing the bolt gasket integrated part into the workpiece through hole, and a bolt tightening device for tightening the bolt gasket integrated part.

[0027] In the above technical solution, the stud feeding mechanism includes an upper-end stud feeding and assembling mechanism for feeding and assembling the stud above the disc-shaped part and a side stud feeding and assembling mechanism for feeding and assembling the stud on the side of the disc-shaped part.

[0028] In the above technical solution, the upper-end stud feeding and assembling mechanism includes an upper-end stud feeding device for feeding the stud, an upper-end stud cutting device for cutting the stud, an upper-end stud lifting slide for lifting the stud, an upper-end stud tightening device for tightening the stud, and an upper-end servo rotary device for driving the upper-end stud tightening device to rotate.

[0029] In the above technical solution, the side double-headed stud feeding and assembling mechanism includes a side double-headed stud feeding device for feeding double-headed studs, a side double-headed stud cutting device for cutting double-headed studs, a side double-headed stud tightening device for tightening double-headed studs, a side servo rotating device for driving the side double-headed stud tightening device to rotate, and a lifting device for driving the double-headed stud cutting device and the side double-headed stud tightening device to lift.

[0030] In the above technical solution, the upper-end double-headed stud cutting device is located below the upper-end double-headed stud feeding device. The upper-end double-headed stud cutting device includes upper-end stud cutting jaws, and the upper-end stud cutting jaws are driven to open and close by an opening and closing cylinder and driven to move horizontally by a horizontal cutting cylinder.

[0031] In the above technical solution, the upper-end double-headed stud tightening device is located above the upper-end double-headed stud cutting device. The central axis of the upper-end double-headed stud tightening device coincides with the central axis of the pre-assembled fitting. The upper-end double-headed stud tightening device includes at least a pair of tightening heads. When the upper-end stud cutting jaws drive the double-headed stud to move to directly below the upper-end double-headed stud tightening device, the upper-end double-headed stud tightening device extends to recognize the cap and tighten. After tightening is completed, it is driven by the upper-end servo rotating device to rotate with the central axis of the pre-assembled fitting as the self-rotation axis.

[0032] In the above technical solution, the side double-headed stud cutting device is located below the side double-headed stud feeding device. The side double-headed stud cutting device includes side stud cutting jaws, and the side stud cutting jaws are driven to open and close and rotate 90 degrees by a clamping and rotating cylinder to adjust the double-headed stud to a horizontal state.

[0033] In the above technical solution, the side double-headed stud tightening device is arranged along the radial direction of the circumferential surface where the pre-assembled fitting is located. When the side stud cutting jaws drive the double-headed stud to be adjusted to a horizontal state, the side double-headed stud tightening device extends to recognize the cap and tighten. After tightening is completed, it is driven by the servo rotating device to rotate with the central axis of the pre-assembled fitting as the public rotation axis.

[0034] In the above technical solution, the fitting flipping mechanism includes a fitting X-Y servo conveying device, a fitting lifting device, fitting conveying jaws, and fitting flipping jaws. The fitting blanking mechanism includes a blanking transfer cart and a cart positioning device.

[0035] The second object of the present invention is to provide an assembly method for an automatic assembly line of cylindrical parts and disc-shaped parts, including the following steps:

[0036] S1. The cylindrical part feeding mechanism automatically feeds cylindrical parts;

[0037] S101. The cylindrical part X-Y servo transfer device drives the cylindrical part gripper to move. The cylindrical part gripper moves to the cylindrical part grasping position on the cylindrical part tray, and the cylindrical vision inspection system positions the cylindrical part.

[0038] S102. The cylindrical part gripper moves according to the feedback position coordinates. After moving to the accurate position, the cylindrical part gripper descends.

[0039] S103. Grasp the cylindrical part, and the cylindrical part gripper ascends.

[0040] S104. The cylindrical part gripper transports the cylindrical part to the dust-proof paper installation for removing the protective sleeve, and the cylindrical part gripper descends.

[0041] S105. The pressing sleeve device clamps the protective sleeve and the protective paper. The cylindrical part gripper ascends, the air blow is opened, the tipping device tilts, the protective sleeve and the protective paper are separated from the cylindrical part, and are recycled into the protective sleeve and paper collection cart.

[0042] S106. The cylindrical part gripper transports the cylindrical part to the cleaning device, aligns the angular orientation of the cylindrical part and cleans the cylindrical part.

[0043] S107. The cylindrical part gripper transports the cleaned cylindrical part to the automatic assembly line tray and conveys it to the next process.

[0044] S2. The disc-shaped part feeding mechanism automatically feeds the disc-shaped part.

[0045] S201. The disc-shaped part X-Y servo transfer device drives the disc-shaped part gripper to move. The disc-shaped part gripper moves to the disc-shaped part grasping position on the disc-shaped part tray and grasps the disc-shaped part.

[0046] S202. Place the disc-shaped part on the disc-shaped part flipping device and flip the disc-shaped part.

[0047] S203. After flipping, the disc-shaped part lifting device lifts, and the disc-shaped part gripper places the disc-shaped part on the lifting positioning seat.

[0048] S204. The disc-shaped vision inspection system moves to directly above the disc-shaped part and identifies the angular orientation of the disc-shaped part.

[0049] S205. The disc-shaped part gripper descends to grasp the disc-shaped part. After adjusting the angular orientation of the disc-shaped part correctly, it is transported above the cylindrical part and the disc-shaped part is installed.

[0050] S206. After installation, the cylindrical part and the disc-shaped part are assembled to obtain a pre-assembled part, which is conveyed to the next process.

[0051] S3. The bolt feeding mechanism automatically pre-assembles the bolts.

[0052] S301. The bolts are automatically fed by a bolt feeding device, sorted automatically, and blown out through a bolt air-blowing pipeline.

[0053] S302. The cutting jaws clamp and guide to ensure that the bolts are in a vertical posture.

[0054] S303. The bolt lifting and sliding table descends with an elastic device to install the bolts into the bolt holes of the disc-shaped parts.

[0055] S304. After installation, the pre-assembled parts are conveyed to the next process.

[0056] S4. The bolt feeding mechanism automatically tightens the bolts.

[0057] S401. After being conveyed to the position, the bolt tightening device descends, automatically recognizes the nut, and automatically tightens.

[0058] S402. After tightening, the pre-assembled parts are conveyed to the next process.

[0059] S5. The upper-end double-headed stud feeding and assembling mechanism automatically tightens the upper-end double-headed studs.

[0060] S501. The upper-end double-headed studs are blown and fed into the upper-end stud cutting jaws.

[0061] S502. The upper-end stud cutting jaws move to below the upper-end double-headed stud tightening device and pick up two upper-end double-headed studs.

[0062] S503. The tightening head of the upper-end double-headed stud tightening device descends, recognizes the nut, and tightens the upper-end double-headed studs.

[0063] S504. Repeat the above steps, pick up two upper-end double-headed studs again, the upper-end double-headed stud tightening device rotates, descends, and tightens two upper-end double-headed studs.

[0064] S505. After all tightening is completed, the pre-assembled parts are conveyed to the next process.

[0065] S6. The side double-headed stud feeding and assembling mechanism automatically tightens the side double-headed studs.

[0066] S601. The side double-headed studs are blown and fed into the side stud cutting jaws.

[0067] S602. The side double-headed studs rotate 90 degrees.

[0068] S603. The side stud cutting device moves to directly in front of the side stud tightening device, and the air cylinder ejects the side double-headed studs to facilitate clamping by the side stud tightening device.

[0069] S604. The side stud tightening device picks up the material, retracts, and the side stud cutting device returns to its original position;

[0070] S605. The side stud tightening device extends and tightens the side double-headed stud;

[0071] S606. Repeat the above steps, pick up another side double-headed stud again, the side stud tightening device shifts, and tightens the next double-headed stud;

[0072] S607. After all tightening is completed, the assembled part is conveyed to the next process;

[0073] S7. The assembled part flipping mechanism automatically flips and exits the line;

[0074] S701. The assembled part flipping jaw descends to clamp the assembled part, and the assembled part flipping jaw ascends and flips 180 degrees;

[0075] S702. The assembled part conveying jaw grabs the assembled part, moves to the discharging position of the discharging turnover cart, and places the flipped assembled part on the discharging turnover cart;

[0076] S703. Move back to the original position and wait to grab the next assembled part.

[0077] The advantages and positive effects of the present invention are as follows: The present invention can realize the automatic cleaning of cylindrical parts, the removal of protective sleeves and protective papers, and the feeding, can realize the automatic flipping and feeding of disc-shaped parts, can realize the automatic feeding and assembly of bolts, can realize the automatic feeding and assembly of double-headed studs, can realize the automatic flipping and discharging of cylindrical parts, disc-shaped parts and assembled parts, and will not damage the cylindrical parts and disc-shaped parts during the assembly process. Brief Description of the Drawings

[0078] The technical solution of the present invention will be further described in detail below in conjunction with the drawings and embodiments. However, it should be noted that these drawings are only designed for the purpose of explanation and therefore are not intended to limit the scope of the present invention. In addition, unless otherwise specified, these drawings are only intended to conceptually illustrate the structural configurations described herein and are not necessarily drawn to scale.

[0079] Figure 1 is the top view of the automatic assembly equipment for cylindrical parts and disc-shaped parts in the present invention;

[0080] Figure 2 is the structural schematic diagram of the cylindrical part feeding mechanism and the disc-shaped part feeding mechanism in the present invention;

[0081] Figure 3 is in the present invention Figure 2 front view;

[0082] Figure 4It is a schematic structural diagram of the cylindrical part feeding mechanism in the present invention;

[0083] Figure 5 It is a schematic structure of the cylindrical part gripper in the present invention Figure 1 ;

[0084] Figure 6 It is a schematic structure of the cylindrical part gripper in the present invention Figure 2 ;

[0085] Figure 7 It is a schematic structural diagram of the protective sleeve and dust-proof paper removing device in the present invention;

[0086] Figure 8 It is a schematic structural diagram of the protective sleeve and dust-proof paper removing device, protective sleeve and paper collection cart in the present invention;

[0087] Figure 9 It is a schematic structural diagram of the disc-shaped part gripper in the present invention;

[0088] Figure 10 It is a schematic structure of the disc-shaped part flipping device in the present invention Figure 1 ;

[0089] Figure 11 It is a schematic structure of the disc-shaped part flipping device in the present invention Figure 2 ;

[0090] Figure 12 It is a schematic structure of the bolt feeding device and bolt cutting device in the present invention Figure 1 ;

[0091] Figure 13 It is a schematic structure of the bolt feeding device and bolt cutting device in the present invention Figure 2 ;

[0092] Figure 14 It is a schematic structural diagram of the bolt cutting device in the present invention;

[0093] Figure 15 It is a schematic structure of the bolt tightening device in the present invention Figure 1 ;

[0094] Figure 16 It is a schematic structure of the bolt tightening device in the present invention Figure 2 ;

[0095] Figure 17 It is a schematic structure of the upper end face double-headed stud feeding and assembling mechanism in the present invention Figure 1 ;

[0096] Figure 18 It is a schematic structure of the upper end face double-headed stud feeding and assembling mechanism in the present invention Figure 2 ;

[0097] Figure 19 It is a schematic structure diagram of the upper-end double-headed stud feeding and assembling mechanism in the present invention Figure 2 ;

[0098] Figure 20 It is a partial structure schematic diagram of the upper-end double-headed stud cutting device part in the present invention;

[0099] Figure 21 It is a schematic structure diagram of the side double-headed stud feeding and assembling mechanism in the present invention;

[0100] Figure 22 It is a partial structure schematic diagram of the side double-headed stud cutting device and the side double-headed stud tightening device parts in the present invention Figure 1 ;

[0101] Figure 23 It is a partial structure schematic diagram of the side double-headed stud cutting device and the side double-headed stud tightening device parts in the present invention Figure 2 ;

[0102] Figure 24 It is a schematic structure diagram of the fitting transfer gripper in the present invention;

[0103] Figure 25 It is a schematic structure diagram of the fitting flipping mechanism and the fitting discharging mechanism in the present invention;

[0104] Figure 26 It is a schematic structure diagram of the fitting flipping gripper in the present invention.

[0105] In the figure: 1 - cylindrical part tray; 2 - cylindrical part tray conveying slide; 3 - cylindrical part; 4 - protective sleeve removal and dust-proof paper device; 401 - pressing jaw; 402 - paper pressing device; 403 - paper-breaking tip; 404 - vertical lifting cylinder; 405 - oblique side-pushing cylinder; 406 - sheath and paper collection cart; 5 - cylindrical part jaw; 501 - airbag jaw; 502 - jaw; 503 - first elastic floating mechanism; 504 - first servo motor; 505 - first rotary platform; 6 - cylindrical servo device; 8 - cleaning device; 11 - cylindrical part vision inspection system; 12 - dust collection cylinder; 13 - disc part tray; 14 - disc part tray conveying slide; 15 - disc part; 16 - disc part jaw; 1601 - two-layer jaw; 1602 - disc elastic floating mechanism; 1603 - second servo motor; 1604 - second rotary platform; 1605 - opening and closing jaw clamping cylinder; 17 - disc part flipping device; 1701 - flipping jaw; 18 - disc part lifting device; 1801 - lifting positioning seat; 19 - disc servo device; 20 - disc vision inspection system; 21 - cylindrical part X-Y servo transfer device; 22 - disc part X-Y servo transfer device; 23 - bolt cutting device; 2301 - cutting jaw; 24 - bolt lifting slide; 2401 - bolt lifting cylinder; 2402 - slider; 2403 - guide rail; 25 - bolt tightening device; 2501 - tightening lifting slide; 2502 - tightening device; 2503 - tightening lifting cylinder; 26 - bolt air-blowing pipeline; 27 - upper-end double-headed stud cutting device; 2701 - upper-end stud cutting jaw; 2702 - transverse cutting cylinder; 28 - upper-end double-headed stud lifting slide; 2801 - rodless cylinder; 29 - upper-end double-headed stud tightening device; 2901 - tightening head; 30 - upper-end servo rotary device; 31 - upper-end double-headed stud air-blowing pipeline; 32 - upper-end double-headed stud; 33 - side double-headed stud cutting device; 3301 - clamping rotary cylinder; 34 - side double-headed stud tightening device; 35 - side servo rotary device; 36 - lifting device; 37 - side double-headed stud air-blowing pipeline; 38 - side double-headed stud; 39 - assembly X-Y servo transfer device; 40 - assembly lifting device; 41 - assembly transfer jaw; 42 - assembly flipping jaw; 43 - blanking turnover cart; 44 - cart positioning device; 45 - bolt gasket integrated part. Detailed implementation

[0106] First of all, it should be noted that the following will specifically illustrate the specific structure, characteristics, advantages, etc. of the present invention by way of examples. However, all descriptions are only for illustration and should not be construed as forming any limitation to the present invention. In addition, any single technical feature described or implied in each of the embodiments mentioned in this article, or any single technical feature shown or implied in each of the drawings, can still be arbitrarily combined or deleted between these technical features (or their equivalents), so as to obtain more other embodiments of the present invention that may not be directly mentioned in this article. Additionally, for the sake of simplifying the drawings, the same or similar technical features may be labeled only at one place in the same drawing.

[0107] In the present invention, unless otherwise clearly defined and limited, terms such as "installation", "setting", "connection", "fixation", "swivel connection", etc. should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or integrated; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium. It can be the communication inside two components or the interaction relationship between two components. Unless otherwise clearly defined, for those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances. The present invention will be specifically described below in conjunction with the drawings.

[0108] Embodiment 1:

[0109] An automatic assembly line for cylindrical parts and disc-shaped parts, which includes a continuous working part feeding system, a bolt and stud feeding system, and an assembled part discharging system, wherein:

[0110] The part feeding system includes a cylindrical part feeding mechanism for completing the feeding, cleaning, and removal of the protective sleeve and protective paper processes of cylindrical parts, a disc-shaped part feeding mechanism for completing the feeding, flipping, and lifting processes of disc-shaped parts, and a conveying mechanism for completing the transfer and pre-assembly processes of cylindrical parts and disc-shaped parts, and an assembled pre-assembled part is assembled;

[0111] The bolt and stud feeding system includes a bolt feeding mechanism for completing the feeding, pre-assembly, and tightening processes of bolts and a double-headed stud feeding mechanism for completing the feeding and assembly processes of double-headed studs, and an assembled part is assembled;

[0112] The assembled part discharging system includes an assembled part flipping mechanism for completing the flipping process of assembled parts and an assembled part discharging mechanism for completing the discharging process of assembled parts.

[0113] In this embodiment, as Figure 1As shown in the figure, the automatic assembly equipment for cylindrical parts and disc-shaped parts includes seven functional workstations and two auxiliary supporting equipment in the whole line; it is controlled by two sets of electric control systems and one set of pneumatic system, and has one set of main frame and one set of equipment protection.

[0114] The assembly line body is respectively composed of the following parts:

[0115] Workstation 10, for automatically loading cylindrical parts, specifically including: automatically removing the protective sleeve and protective paper, automatically cleaning the cylindrical parts, and automatically loading;

[0116] Workstation 20, for automatically loading disc-shaped parts, specifically including: automatically flipping, automatically lifting, and automatically loading;

[0117] Workstation 30, for automatically loading and pre-assembling bolts;

[0118] Workstation 40, for automatically tightening bolts;

[0119] Workstation 50, for automatically loading, pre-assembling and tightening the double-headed studs on the upper end face;

[0120] Workstation 60, for automatically loading, pre-assembling and tightening the double-headed studs on the side;

[0121] Workstations 70 and the unloading station, for automatically flipping and unloading

[0122] Embodiment 2:

[0123] As Figure 1 shown, the feeding mechanism for cylindrical parts is Workstation 10, which is used for automatically feeding cylindrical parts. The feeding mechanism for cylindrical parts includes a cylindrical part tray conveying slide 2 for conveying the cylindrical part tray 1, a protective sleeve and dust-proof paper removing device 4 for removing the lower protective sleeve and dust-proof paper of the cylindrical part 3, a cleaning device 8 for cleaning the inner cavity of the cylindrical part 3, a cylindrical part gripper 5 for grasping and transporting the cylindrical part 3, and an automatic assembly line tray for positioning and pre-assembling the cylindrical part 3. The automatic assembly line tray is provided with a cylindrical part positioning device for positioning the cylindrical part. By designing the positioning device, it is used for positioning the cylindrical part. Since thread assembly belongs to high-precision assembly and has relatively high requirements for position accuracy, it is necessary to design a positioning device to position the cylindrical part.

[0124] Workstation 10 is used for removing the lower protective sleeve and dust-proof paper of the cylindrical part, cleaning the inner cavity of the cylindrical part, and feeding the cylindrical part. The main configurations of this workstation are: an X-Y servo transfer device, a cylindrical servo device, a cylindrical part gripper, a cylindrical part tray conveying slide, a dust collection seat, and a protective sleeve and dust-proof paper removing device. A cylindrical vision system and a cleaning device are also installed on the cylindrical part gripper.

[0125] Actions of the feeding mechanism for cylindrical parts with 10 stations: The cylindrical part pallet conveying slide 2 is used to store and transport the cylindrical part pallet 1. The cylindrical part gripper 5 moves above the cylindrical part pallet 1 driven by the cylindrical servo device 6, takes pictures and locates the cylindrical part 3 through the cylindrical vision system 11. The cylindrical part gripper 5 clamps the cylindrical part 3 and moves to the dust collecting seat of the cleaning device 8, and cleans the inner cavity of the cylindrical part 3 by air blowing. The cylindrical part gripper 5 clamps the cylindrical part 3 to the protective sleeve and dust-proof paper removing device 4 to remove the protective sleeve and dust-proof paper of the cylindrical part 3. The cylindrical part gripper 5 clamps the cylindrical part 3 to the automatic assembly line pallet to complete the feeding of the cylindrical part 3.

[0126] Furthermore, it can also be considered in this embodiment that the cylindrical part pallet conveying slide 2 is used to store and transport the cylindrical part pallet 1. The stacker 9 transports the cylindrical part pallet 1 to the cylindrical part pallet conveying slide 2, and the cylindrical part pallet conveying slide 2 sends the cylindrical part pallet 1 to the grasping position of the cylindrical part gripper 5. After grasping, the stacker 9 transports the empty cylindrical part pallet 1 to the stereoscopic warehouse 10. The cylindrical part pallet conveying slide 2 is welded by square steel and steel plates. After annealing and aging treatment, the stress is fully released to ensure the overall stability and accuracy. The overall frame is analyzed for stress by software to ensure the optimal safety factor and deformation amount. Pallet limit blocks are designed on the cylindrical part pallet conveying slide to ensure that the stacker can be placed smoothly and accurately. The pallet conveying slide is driven by a high-precision cylinder and guided by a guide rail, and mechanical stoppers and buffer devices are set to ensure the repeated position accuracy of the two positions. In-situ and in-position detection switches are also set on the pallet conveying slide to detect whether each action is in place.

[0127] Furthermore, it can also be considered in this embodiment that the cylindrical part gripper 5 includes a cylindrical main structure, and also includes:

[0128] Airbag grippers 501, the number of which is several, are arranged in a circular array outside the cylindrical main structure, and the airbag is used to center the central hole of the cylindrical part;

[0129] Grippers 502, the number of which is several, are arranged in a circular array outside the cylindrical main structure and are located above the airbag grippers 501. The cylinder is used to realize the functions of extending and clamping and retracting and opening. When grasping, the end face of the gripper abuts against the upper surface of the cylindrical part 3, and the airbag expands, which can realize automatic centering of the core hole and realize the positioning form of one plane and one pin;

[0130] The first elastic floating mechanism 503 is arranged on the upper part of the cylindrical main structure to make up for the height difference of the cylindrical part on the cylindrical part pallet when the cylindrical part comes in by elasticity;

[0131] The first servo motor 504 and the first rotating platform 505 are arranged between the elastic floating mechanism and the cylindrical main body structure and are used for automatically aligning the angular position of the cylindrical part. Detection switches are arranged at each action link to detect whether each action is in place.

[0132] The contact positions between the clamping jaws and the workpiece are all rounded to avoid scratching the cylindrical part. A mechanical link mechanism is adopted and driven by a cylinder to realize the functions of clamping when the cylinder extends and opening when the cylinder retracts. When the cylinder extends, it can hook the stepped surface of the cylindrical part to ensure that there will be no shaking, falling, etc. during the handling process.

[0133] Furthermore, it can also be considered in this embodiment that a visual inspection system 11 for the cylindrical part is further arranged on the cylindrical part clamping jaw 5. The visual inspection system integrates a camera on the cylindrical part clamping jaw. Since the raised feature points for angular recognition are very small, the cylindrical part is conveyed by an existing tray. When placed in the tray, the cylindrical part is sometimes in an inclined state. When directly performing angular alignment on the tray, the feature points will be blocked. Therefore, centering and photographing are carried out above the tray for concentrically grasping the cylindrical part. The rough angular alignment of the raised feature points of the cylindrical part is performed by the cleaning station, and then the accurate angular alignment of the bolt holes is performed by the camera. The accurate angular alignment function is realized.

[0134] In this embodiment, the cylindrical part clamping jaw uses an airbag to center the central hole of the cylindrical part, and an elastic floating mechanism is designed to compensate for the height difference of the workpiece on the tray during incoming material through elasticity. When grasping, the end face of the clamping jaw abuts against the upper surface of the cylindrical part, and the airbag expands, which can realize automatic alignment of the core hole and realize the positioning form of one plane and one pin. The contact positions with the workpiece are all rounded to avoid scratching the cylindrical part. A mechanical link mechanism is adopted and driven by a cylinder to realize the functions of clamping when the cylinder extends and opening when the cylinder retracts. When the cylinder extends, it can hook the stepped surface of the cylindrical part to ensure that there will be no shaking, falling, etc. during the handling process. A servo motor and a rotating platform are arranged for automatically aligning the angular position of the cylindrical part. Detection switches are arranged at each action link to detect whether each action is in place.

[0135] Furthermore, it can also be considered in this embodiment that the cleaning device 8 includes a blowing nozzle arranged on the cylindrical part gripper 5, a dust collection docking port, a negative pressure generator arranged below the cylindrical part gripper 5, a recovery pipeline for collecting dust, and a dust collection cylinder 12. The dust collection docking port is arranged on the dust collection seat. When cleaning is required, the cylindrical part gripper transports the cylindrical part to this position, the bottom surface of the cylindrical part is docked with the dust collection docking port, the dust collection device controls the on-off of the gas through the solenoid valve, passes through the upper blowing nozzle and the lower negative pressure generator, realizes the formation of a negative pressure eddy current in the cavity, and collects the dust into the dust collection cylinder through the recovery pipeline, thereby realizing cleaning. The dust collection cylinder can be regularly replaced with a filter screen. At the same time, a servo rotary motor and a rotary platform are integrated at this position, and the rotation of the cylindrical part is realized by the drive of the motor, and the characteristic points of the cylindrical part are detected by the switch to realize the rough angular positioning function.

[0136] Furthermore, it can also be considered in this embodiment that the protective sleeve and dust-proof paper removing device 4 includes:

[0137] A pressing sleeve device, which includes oppositely arranged pressing jaws 401, and the two pressing jaws 401 are driven by an opening and closing cylinder. The pressing jaws 401 are designed in a semi-circular shape. When the cylindrical part gripper 4 transports the cylindrical part 3 to this position, the pressing jaws 401 clamp, and the lower end of the pressing jaws 401 presses the end face of the protective sleeve. When the cylindrical part gripper 5 rises, the protective sleeve can be removed by using the pressing jaws 401;

[0138] A paper pressing device 402, which includes a pressing block, and the pressing block is pressed by a vertical cylinder driving a link-type pressing mechanism;

[0139] A paper-breaking tip 403, which protrudes between the pressing jaws 401. The link-type pressing mechanism is arranged inside the paper-breaking tip. After the paper-breaking tip penetrates the sheath paper, the sheath paper is broken from the center, and then the vertical cylinder drives the link-type pressing mechanism to realize the pressing block pressing the sheath paper. When the cylindrical part gripper rises, the dust-proof paper is pressed by the pressing block to realize removal;

[0140] A tipping device, which is composed of a vertical lifting cylinder 404 and an inclined side-pushing cylinder 405. After the protective sleeve and the dust-proof paper are removed, the vertical lifting cylinder extends to make the overall height exceed the height of the paper-breaking tip, and then the inclined side-pushing cylinder extends to tilt the whole body at a certain angle, facilitating the protective sleeve and the dust-proof paper to slide into the protective sleeve and paper collection cart 406, realizing the removal of the protective sleeve and the dust-proof paper.

[0141] Furthermore, it can also be considered in this embodiment that the protective sleeve and dust-proof paper removal device is driven by an opening / closing clamping cylinder to clamp the protective sleeve and protective paper of the cylindrical part. When the cylindrical part rises, the protective sleeve and protective paper are clamped by the clamping jaws. At the same time, the air blowing device is turned on to ensure that the protective paper falls off. After the clamping jaws open, they are automatically retracted into the collection box to remove the protective sleeve and protective paper. The collection box is designed with wheels and a handle for easy extraction and cleaning by personnel.

[0142] In this embodiment, the protective sleeve and dust-proof paper removal device consists of a pressing sleeve device, a paper-breaking tip, a paper-pressing device, a tipping device, etc. The pressing sleeve device drives the clamping jaws on both sides by an opening / closing cylinder. The clamping jaws are designed in a semi-circular shape. When the manipulator transports the workpiece to this position, the opening / closing clamping jaws clamp, and the lower end of the clamping jaws presses the end face of the protective sleeve. When the manipulator rises, the protective sleeve can be removed by using the pressing clamping jaws. Paper-pressing device: The vertical cylinder drives the linkage mechanism to realize the pressing block pressing the protective sleeve paper. A linkage pressing mechanism is designed inside the tip. When the tip passes through the protective sleeve paper, the paper is broken from the center, and then the vertical cylinder drives the linkage to realize the pressing block pressing the protective sleeve paper. When the manipulator rises, the dust-proof paper is pressed by the pressing block to realize removal. The tipping device consists of a vertical lifting cylinder and an inclined side-pushing cylinder. After the protective sleeve and paper are removed, the vertical cylinder extends to make the overall height exceed the height of the tip, and then the inclined side-pushing cylinder extends to tilt the whole at a certain angle, facilitating the protective sleeve and dust-proof paper to slide into the collection vehicle to remove the protective sleeve and dust-proof paper.

[0143] Embodiment 2:

[0144] As Figure 1 shown, the disk-shaped part loading mechanism is a 20-station mechanism, which includes a disk-shaped part tray conveying slide 14 for conveying the disk-shaped part tray 13, a disk-shaped part clamping jaw 16 for grasping and transporting the disk-shaped part 15, a disk-shaped part flipping device 17 for driving the disk-shaped part 15 to flip, and a disk-shaped part lifting device 18 for driving the disk-shaped part 15 to lift. When the disk-shaped parts come in, due to manual assembly of gaskets, the adhesive surface of the disk-shaped parts needs to face up, and when the disk-shaped parts are assembled with cylindrical parts, the adhesive surface of the disk-shaped parts needs to face down. Therefore, it is necessary to flip the disk-shaped parts by 180°. The disk-shaped part loading mechanism is designed to realize the flipping and automatic loading of the disk-shaped parts.

[0145] The 20 stations are used for flipping and loading the disk-shaped parts. The main configurations of the 20 stations are: X-Y servo transfer device, disk-shaped servo clamping jaw, disk-shaped vision detection system, disk-shaped part flipping device, disk-shaped part lifting device, and disk-shaped part tray conveying slide.

[0146] The operation of the disc-shaped part loading mechanism: The disc-shaped part pallet conveying slide 14 is used to store and transport the disc-shaped part pallet 13. The disc-shaped part gripper 16 moves above the disc-shaped part pallet 13 driven by the disc-shaped servo device 19. The disc-shaped part 15 is photographed and positioned by the disc-shaped vision detection system 20. The disc-shaped part gripper 16 grips the disc-shaped part 15 and moves to the disc-shaped part flipping device 17. The disc-shaped part flipping device 17 flips the disc-shaped part 15 by 180°. The disc-shaped part 15 is placed on the disc-shaped part lifting device 18. The angular orientation of the disc-shaped part 15 is determined by photographing. The disc-shaped part gripper 16 grips the flipped disc-shaped part 15 and moves it to the automatic assembly line pallet, completing the loading of the disc-shaped part 15.

[0147] Furthermore, it can also be considered in this embodiment that the disc-shaped part pallet conveying slide 14 is used to store and transport the disc-shaped part pallet 13. The stacker 9 transports the disc-shaped part pallet 13 onto the disc-shaped part pallet conveying slide 14. The disc-shaped part pallet conveying slide 14 sends the disc-shaped part pallet 13 to the grasping position of the disc-shaped part gripper 16. After grasping, the stacker 9 transports the empty disc-shaped part pallet 13 onto the stereoscopic warehouse 10. The disc-shaped part pallet conveying slide 14 is welded by square steel and steel plates. After annealing and aging treatment, the stress is fully released to ensure the overall stability and precision. The overall framework is analyzed for stress by software to ensure the optimal safety factor and deformation amount. Pallet limit blocks are designed on the slide to ensure that the stacker can be placed smoothly and accurately. It is driven by a high-precision cylinder, guided by a rail, and provided with mechanical stoppers and buffer devices. The repeated position accuracy of two positions is ensured. In-situ and in-place detection switches are set to detect whether each action is in place.

[0148] Furthermore, it can also be considered in this embodiment that the disc-shaped part gripper 16 includes:

[0149] Two layers of grippers 1601, which include two sets of clamping grippers, respectively used to clamp the disc-shaped part 15 before and after flipping. A stepped boss is designed under each set of clamping grippers to support the disc-shaped part and prevent it from falling. The two layers of grippers are driven by an opening and closing gripper clamping cylinder 1605; the contact positions between the two layers of grippers and the workpiece are all rounded to avoid scratching the disc-shaped part. Detection switches are set at each action link to detect whether each action is in place. A sensor is set to realize the detection and installation confirmation of the presence or absence of the gasket. The servo motor adopts a multi-turn absolute encoder form, which can accurately remember the current position when restarted after an accidental shutdown;

[0150] The disc-shaped elastic floating mechanism 1602, which is arranged above the two layers of grippers, compensates for the height difference of the disc-shaped part on the disc-shaped part pallet during incoming material through elasticity;

[0151] The second servo motor 1603 and the second rotating platform 1604 are arranged between the two-layer gripper and the elastic floating mechanism, and are used for automatically aligning the angular orientation of the disc-shaped part.

[0152] Furthermore, it can also be considered in this embodiment that a disc-shaped visual inspection system 20 is also integrated on the disc-shaped part gripper 15. The disc-shaped visual inspection system 20 integrates a camera on the disc-shaped part gripper. The camera is used to detect the angular orientation of the disc-shaped part. After the angle value is fed back to the PLC, the PLC issues an instruction to the rotary motor. After the gripper grabs the part, the servo motor rotates automatically, and the disc-shaped part can be rotated to the correct angular orientation before installation.

[0153] In this embodiment, the disc-shaped part gripper uses an open-close gripper to clamp the disc-shaped part. Two layers of grippers are designed to clamp the disc-shaped part before and after flipping. A stepped boss is designed under each set of clamping grippers to support the workpiece and prevent it from falling. An elastic floating mechanism is designed to compensate for the height difference of the workpiece on the tray during incoming material through elasticity. The positions in contact with the workpiece are all rounded to avoid scratching the disc-shaped part. Sensors are set to realize the detection of the presence or absence of the gasket and the installation confirmation. A servo motor and a rotating platform are set to automatically align the angular orientation of the disc-shaped part. The servo motor adopts the form of a multi-turn absolute encoder, which can accurately remember the current position when restarted after an unexpected shutdown.

[0154] Furthermore, it can also be considered in this embodiment that the disc-shaped part flipping device 17 includes flipping grippers 1701 and a 180° rotary cylinder, which are driven by an open-close cylinder to realize the opening and closing of the flipping grippers; and then driven by the 180° rotary cylinder to realize the attitude transformation of the disc-shaped part. The flipping grippers adopt a C-shaped design, and both the upper and lower surfaces can support the outer edge of the disc-shaped part. Ensure that there is no risk of the disc-shaped part falling off or shifting during the flipping process. Magnetic switches are set for the rotation, clamping and other actions. Ensure that each action has monitoring.

[0155] Furthermore, it can also be considered in this embodiment that the disc-shaped part lifting device 18 includes a lifting positioning seat 1801, which is driven by a cylinder and guided by a guide rail. After the disc-shaped part is flipped by the flipping gripper, the lifting device then lifts. First, the flipping grippers open, place the disc-shaped part on the lifting positioning seat, and after secondary positioning of the disc-shaped part, it is grabbed by the disc-shaped part gripper to ensure the positioning accuracy of the disc-shaped part.

[0156] Embodiment 3:

[0157] Such as Figure 1As shown in the figure, the conveying mechanism includes a cylindrical part X-Y servo conveying device 21 for driving the movement of the cylindrical part gripper 5 and a disc-shaped part X-Y servo conveying device 22 for driving the movement of the disc-shaped part gripper 16. After the cylindrical part gripper 5 grips the cylindrical part 3 and feeds it onto the automatic assembly line pallet to complete the feeding of the cylindrical part, then the disc-shaped part gripper 16 grips the disc-shaped part 15 and feeds it onto the automatic assembly line pallet to complete the feeding of the disc-shaped part. The disc-shaped part and the cylindrical part are pre-assembled to obtain a pre-assembled component.

[0158] The main mounting frames of the cylindrical part X-Y servo conveying device and the disc-shaped part X-Y servo conveying device are both composed of square steel and steel plates welded together to ensure the stability and accuracy of long-term and high-strength operation. Both the X and Y directions are composed of electric cylinders equipped with servo motors and auxiliary guide rails, ensuring that the repeat position accuracy is within ±0.05 mm. A double limit protection device is set. The servo motor adopts a multi-turn absolute encoder form, which can accurately remember the current position when restarted after an accidental shutdown.

[0159] Embodiment 4:

[0160] The bolt feeding mechanism includes a bolt feeding device for feeding the bolt gasket integrated parts, a bolt cutting device 23 for cutting the bolt gasket integrated parts, a bolt lifting slide 24 for installing the bolt gasket integrated parts into the workpiece through hole, and a bolt tightening device 25 for tightening the bolt gasket integrated parts. The bolt feeding mechanism is designed for the automatic feeding and assembly of M8 bolts. The feeding and pre-assembly of the bolts are at Station 30, and Station 30 is used for the pre-assembly of M8 bolts. The main configurations of the station include: the main frame, the bolt feeding system (vibratory hopper), the bolt cutting device, the bolt lifting slide, etc. The tightening of the bolts is at Station 40, and Station 40 is used for bolt tightening. The main configurations of the station include: the main frame, the lifting slide, the tightening device, etc.

[0161] Furthermore, it can also be considered in this embodiment that the bolt feeding device includes a vibratory hopper and a bolt air blowing pipeline 26. Through a number of bolt air blowing pipelines 26, they are directly docked with a number of inner hole positions of the bolt cutting device 23 one by one, and after air blowing feeding, the bolt gasket integrated parts 45 are directly fed into the inner hole of the bolt cutting device. In this embodiment, the bolt feeding system is a bolt gasket integrated parts feeding system. Through the air blowing pipeline, it is directly docked with six positions of the cutting device, and after air blowing feeding, the bolt gasket integrated parts are directly fed into the inner hole of the cutting device.

[0162] Furthermore, it can also be considered in this embodiment that the bolt cutting device 23 includes a cutting plate, an inner hole, and a cutting jaw 2301. The cutting plate is guided by a slider and driven by a cutting cylinder. The bolt gasket integrated part is cut and falls into the cutting jaw 2301. A slope-shaped guiding port is provided on the cutting jaw 2301 to guide the bolt gasket integrated part into the cutting jaw 2301 and ensure that the posture is vertical. The cutting jaw 2301 positions the bolt end face and the outer diameter of the thread. In this embodiment, the hopper in the bolt cutting device supplies six bolts each time through the air blowing pipeline. The cutting plate is guided by a slider and driven by a cylinder. An opening and closing jaw is designed. The bolt and gasket integrated part is cut by the pipeline and falls into the opening and closing jaw. The jaw is designed with a slope-shaped guiding port to guide the bolt into the jaw and ensure that the posture is vertical. The jaw positions the bolt end face and the outer diameter of the thread. Then, it is driven by a cylinder to cut the bolt to directly above the corresponding workpiece hole. An elastic device is designed above to assist in guiding the bolt into the hole. Then, through the lifting slide table, the bolt is installed into the through hole of the workpiece. A mechanical dead stop and a buffer device are provided to ensure the repeat positioning accuracy. Detection switches are provided in each action link to detect whether each action moves in place.

[0163] Furthermore, it can also be considered in this embodiment that the bolt lifting slide table 24 is used to drive the bolt cutting device to lift. After guiding the cut bolt gasket integrated part by the cutting jaw 2301, the bolt gasket integrated part is accurately installed into the through hole of the workpiece by the downward movement of the bolt lifting slide table 24. In this embodiment, the entire lifting slide table is driven by a cylinder and assisted by a guide rail. It has an anti-falling function. In case of accidental power-off or air-off, it can be self-locked in the current position to ensure safety. A mechanical dead stop and a buffer device are provided to ensure the repeat positioning accuracy. The bolt gasket integrated part is cut to directly above the corresponding workpiece through hole by the bolt lifting slide table. An elastic device can also be designed above to assist in guiding the bolt gasket integrated part into the hole. Then, through the lifting slide table, the bolt gasket integrated part is installed into the workpiece hole. A mechanical dead stop and a buffer device are provided to ensure the repeat positioning accuracy.

[0164] Furthermore, it can also be considered in this embodiment that the bolt lifting slide table 24 is driven by a bolt lifting cylinder 2401 and assisted by a slider 2402 and a guide rail 2403. It has an anti-falling function. In case of accidental power-off or air-off, it can be self-locked in the current position to ensure safety. A mechanical dead stop and a buffer device are provided to ensure the repeat positioning accuracy. A detection switch is equipped at each action position to monitor the situation of the action in place.

[0165] Furthermore, it can also be considered in this embodiment that the bolt tightening device 25 includes a tightening lifting slide 2501 and a tightening device 2502. The tightening lifting slide is driven by the tightening lifting cylinder 2503 as a whole, and the guide rail assists in guiding. The whole has an anti-drop function, and can be self-locked in the current position in case of accidental power failure and gas failure to ensure safety. A mechanical dead gear and a buffer device are set to ensure the accuracy of repeated positioning. Each action position is equipped with a detection switch to monitor the action in place. The tightening device 2502 is installed as a whole on the tightening lifting slide 25, and a sleeve of appropriate length and diameter is selected based on the condition that it does not interfere with the disc-shaped parts. The six tightening shafts are installed corresponding to the positions of the bolt holes of the disc-shaped parts. Tightening is completed in one time. During the screwing process, the tightening shaft is monitored throughout the process. When the tightening torque exceeds 20±2.5N·m, the result is fed back to the PLC, and the PLC issues an alarm prompt based on the feedback result. A special self-aligning fixture is used to adjust the concentricity between the tightening device and the workpiece hole to ensure smooth tightening.

[0166] Furthermore, in this embodiment, it can also be considered that the main frame of the bolt feeding mechanism is welded from square steel and steel plates, and the stress is fully released after suffocation and aging treatment to ensure the overall stability and accuracy. The overall frame is subjected to force analysis through software to ensure the optimal safety factor and deformation. The adjustment reference block is set to adjust the plane position of the overall device.

[0167] Embodiment 5:

[0168] The stud feeding mechanism includes an upper end stud feeding and assembly mechanism for feeding and assembling studs on the upper side of the disc-shaped part 15 and a side stud feeding and assembly mechanism for feeding and assembling studs on the side of the disc-shaped part 15. The stud feeding mechanism is designed for automatic feeding and assembly of studs. Figure 1 As shown, the upper end face stud feeding and assembly mechanism is station 50, which is used to tighten the studs on the upper end face of disc-shaped parts. The station is mainly equipped with: main frame, stud feeding system, cutting device, lifting slide, servo rotary device, tightening device, etc. The side stud feeding and assembly mechanism is station 60, which is used to tighten the side studs of disc-shaped parts. The station is mainly equipped with: main frame, stud feeding system, cutting device, tightening device, servo rotary device, lifting device, etc.

[0169] Embodiment 6:

[0170] The upper-end face double-headed stud feeding and assembling mechanism includes an upper-end face double-headed stud feeding device for feeding double-headed studs, an upper-end face double-headed stud cutting device 27 for cutting double-headed studs, an upper-end face double-headed stud lifting and sliding table 28 for lifting double-headed studs, an upper-end face double-headed stud tightening device 29 for tightening double-headed studs, and an upper-end face servo rotary device 30 for driving the upper-end face double-headed stud tightening device to rotate.

[0171] Furthermore, it can also be considered in this embodiment that the upper-end face double-headed stud feeding device includes a vibrating hopper and an upper-end face double-headed stud air-blowing pipeline 31. Through a number of upper-end face double-headed stud air-blowing pipelines 31, they are directly docked with a number of inner hole positions of the upper-end face double-headed stud cutting device 27 one by one. After air-blowing feeding, the double-headed studs are directly fed into the inner holes of the upper-end face double-headed stud cutting device. In this embodiment, the upper-end face double-headed stud feeding device is transformed through air-blowing pipelines to directly dock six positions of the cutting device, and after air-blowing feeding, the bolt gasket integrated parts are directly fed into the inner holes of the cutting device.

[0172] Furthermore, it can also be considered in this embodiment that the upper-end face double-headed stud cutting device 27 is located below the upper-end face double-headed stud feeding device. The upper-end face double-headed stud cutting device 27 includes an upper-end face stud cutting jaw 2701, and the upper-end face stud cutting jaw 2701 is driven to open and close by an opening and closing cylinder and is driven to move horizontally by a horizontal cutting cylinder 2702.

[0173] Furthermore, it can also be considered in this embodiment that the upper-end face double-headed stud tightening device 29 is located above the upper-end face double-headed stud cutting device 27. The central axis of the upper-end face double-headed stud tightening device 29 coincides with the central axis of the workpiece. The upper-end face double-headed stud tightening device 29 includes at least a pair of tightening heads 2901. In this embodiment, the upper-end face double-headed stud tightening device 29 includes two tightening heads 2901. When the upper-end face stud cutting jaw 2701 drives the double-headed stud to move to directly below the upper-end face double-headed stud tightening device 29, the upper-end face double-headed stud tightening device 29 extends to recognize the cap and tighten. After tightening is completed, it is driven by the upper-end face servo rotary device 30 to rotate around the central axis of the workpiece. The servo rotary device is driven by a servo motor, connected by a coupling, and transmitted by gears to realize the position transformation of the tightening heads. In case of accidental power-off and air-off, it can achieve self-locking at the current position to ensure safety. Each action position is equipped with a detection switch to monitor the in-place situation of the action.

[0174] The upper end face stud tightening device adopts the structure of a pneumatic tightening shaft + pneumatic sleeve. Through a sleeve with an internal thread and an elastic core rod, the internal thread is used to identify the cap on the stud when tightening. The stud is pressed by the elastic core rod so that the stud thread and the sleeve thread are in full contact. The tightening of the stud is achieved. When tightened to the bottom, the elastic core rod breaks open, and the sleeve thread breaks into contact with the stud thread, allowing the sleeve to be withdrawn. The coaxiality of the tightening shaft and the threaded hole is adjusted by the inspection rod to be within 0.1mm. It can ensure smooth tightening and tightening accuracy

[0175] In this embodiment, the upper end face stud 32 is blown by air and enters the upper end face stud cutting jaw in a vertical state. The upper end face stud cutting jaw is driven to open and close by the opening and closing cylinder. The upper end face stud cutting jaw is designed with a guide groove to allow the stud to enter the guide hole smoothly. The bottom surface of the upper end face stud cutting jaw is closed for easy cap recognition. The stud is driven to move horizontally by the horizontal cutting cylinder so that the stud is switched to the bottom of the upper end face stud tightening device. The upper end face stud tightening device descends to recognize the cap. After the cap recognition is completed, the upper end face stud cutting jaw opens and retracts, and the upper end face stud tightening device continues to descend and tighten. After tightening, repeat the above action to take the material again to complete the tightening of the remaining two studs. The servo motor adopts a multi-turn absolute encoder form, which can realize restarting after an unexpected shutdown and accurately memorize the current position. The motor adopts an absolute encoder.

[0176] Furthermore, in this embodiment, it can also be considered that the upper end face stud lifting slide 28 is driven by a rodless cylinder 2801, and the guide rail assists the guide. The whole has an anti-drop function, and can be self-locked in the current position in the event of accidental power failure and air failure to ensure safety. A mechanical dead gear and buffer device are set to ensure repeated positioning accuracy. Each action position is equipped with a detection switch to monitor the action in place.

[0177] Furthermore, in this embodiment, it can also be considered that the main frame of the upper end face stud feeding and assembly mechanism is welded from square steel and steel plate, and the stress is fully released after suffocation and aging treatment to ensure the overall stability and accuracy. The overall frame is subjected to force analysis through software to ensure the optimal safety factor and deformation. The adjustment reference block is set to adjust the plane position of the overall device.

[0178] Embodiment 7:

[0179] The side stud feeding and assembly mechanism includes a side stud feeding device for feeding studs, a side stud cutting device 33 for cutting studs, a side stud tightening device 34 for tightening studs, a side servo rotating device 35 for driving the side stud tightening device 34 to rotate, and a lifting device 36 for driving the stud cutting device and the side stud tightening device to rise and fall.

[0180] Furthermore, it can also be considered in this embodiment that the side double-headed stud feeding device includes a vibrating hopper and a side double-headed stud air blowing pipeline 37. Through a plurality of side double-headed stud air blowing pipelines 37, they are directly docked with a plurality of inner hole positions of the side double-headed stud cutting device 33 one by one. After air blowing feeding, the double-headed studs are directly fed into the inner holes of the side double-headed stud cutting device. In this embodiment, the side double-headed stud feeding device is transformed through the air blowing pipeline to directly dock six positions of the cutting device. After air blowing feeding, the bolt gasket integrated parts are directly fed into the inner holes of the cutting device.

[0181] Furthermore, it can also be considered in this embodiment that the side double-headed stud cutting device 33 is located below the side double-headed stud feeding device. The side double-headed stud cutting device 33 includes side stud cutting jaws, and the side stud cutting jaws are driven to open, close and rotate 90 degrees by a clamping rotary cylinder 3301 to adjust the double-headed studs to a horizontal state.

[0182] Furthermore, it can also be considered in this embodiment that the side double-headed stud tightening device 34 is arranged along the radial direction of the circumferential surface where the workpiece is located. When the side stud cutting jaws drive the double-headed studs to adjust to a horizontal state, the side double-headed stud tightening device 34 extends to identify the cap and tighten. After tightening is completed, it is driven by a servo rotary device to rotate around the central axis of the workpiece. In this embodiment, the tightening device adopts a structural form of a pneumatic tightening shaft + a pneumatic sleeve. Through a sleeve with internal threads and an elastic core rod, when tightening, the cap is identified on the double-headed stud through the internal threads. The double-headed stud is pressed by the elastic core rod, so that the threads of the double-headed stud are in full contact with the threads of the sleeve, realizing the tightening of the double-headed stud. When tightening to the end, the elastic core rod breaks, and the sleeve thread breaks contact with the double-headed stud thread, realizing the withdrawal of the sleeve. The tightening device is driven by a motor. The coaxiality of the tightening shaft and the threaded hole is guaranteed to be within 0.1 mm after being adjusted by a check rod, which can ensure smooth cap identification and tightening accuracy during tightening.

[0183] In this embodiment, the side double-headed studs 38 enter the side stud cutting jaws in a vertical state after air blowing. The side stud cutting jaws are driven by a clamping rotary cylinder. The side stud cutting jaws are designed with a guiding groove to allow the double-headed studs to smoothly enter the guiding holes. The bottom surface of the side stud cutting jaws is closed, which is convenient for cap identification. After clamping, the clamping rotary cylinder rotates 90 degrees to adjust the double-headed studs to a horizontal state. The side double-headed stud tightening device extends to identify the cap. After cap identification is completed, the side stud cutting jaws open, and the side double-headed stud tightening device continues to extend to tighten. After tightening is completed, the whole device rotates to the other side, repeats the above actions to pick up materials again, and completes the tightening of the remaining two double-headed studs.

[0184] Furthermore, in this embodiment, it can also be considered that the side servo rotary device 35 is driven by a servo motor, connected by a coupling, and driven by gears to achieve rotation. The repeat position accuracy is guaranteed to be within ±0.05mm. A double limit protection device is set. The servo motor adopts a multi-turn absolute encoder form, which can realize the accurate memory of the current position after restarting after an unexpected shutdown. Each action position is equipped with a detection switch to monitor the action in place.

[0185] Furthermore, in this embodiment, it can also be considered that the lifting device 36 is pneumatically driven by an air lifting cylinder, and guided by a guide rod and a linear bearing to ensure the straightness of the lifting device. A buffer device and a mechanical stopper are provided to ensure the repeatable position accuracy. Each action position is equipped with a detection switch to monitor the action in place.

[0186] Furthermore, in this embodiment, it can also be considered that the main frame of the side stud feeding and assembly mechanism is welded from square steel and steel plate, and the stress is fully released after suffocation and aging treatment to ensure the overall stability and accuracy. The overall frame is subjected to force analysis through software to ensure the optimal safety factor and deformation. The adjustment reference block is set to adjust the plane position of the overall device.

[0187] Embodiment 9:

[0188] Design the turning and unloading mechanism of disc-shaped parts and cylindrical parts assembly parts, which is used for turning and unloading disc-shaped parts and cylindrical parts assembly parts. Figure 1 As shown, the turning and unloading mechanism of the disk-shaped parts and cylindrical parts assembly parts is the 70th station, and the 70th station is mainly equipped with: XY servo conveying device, cylindrical parts lifting device, turning clamp, conveying clamp, trolley positioning device, unloading turnover vehicle, etc. The assembly turning mechanism includes the assembly XY servo conveying device 39, the assembly lifting device 40, the assembly conveying clamp 41 and the assembly turning clamp 42, wherein:

[0189] Assembly XY servo conveying device 39: The main frame is welded from square steel and steel plates. After suffocation and aging treatment, the stress is fully released to ensure overall stability and accuracy. The overall frame is subjected to force analysis through software to ensure the optimal safety factor and deformation. Lifting holes and wiring holes are set to fully consider the convenience of transportation and installation. The X and Y directions are composed of electric cylinders equipped with servo motors and equipped with auxiliary guide rails to ensure that the repeat position accuracy is within ±0.05mm. A double limit protection device is set. The servo motor adopts a multi-turn absolute encoder, which can realize accurate memory of the current position after restarting after an unexpected shutdown.

[0190] Lifting device 40 for cylindrical parts: The Z-axis is driven by a servo motor, guided by a rail, and driven by a gear and rack to achieve lifting. The repeat position accuracy is guaranteed to be within ±0.05 mm. A double-limit protection device is set. The servo motor adopts a multi-turn absolute encoder form, which can accurately memorize the current position when restarted after an accidental shutdown.

[0191] Transfer gripper 41 for assembled parts: The inner hole of the cylindrical part is positioned by a central core rod, and four sets of tightening devices 4101 are designed to clamp the stepped surface of the cylindrical part to ensure that it will not fall off during operation. It is driven by a cylinder and driven by a gear and rack to achieve overall rotation and ensure the angle of feeding to the trolley. An elastic floating mechanism is designed integrally to make up for the height difference between different trolleys and different positioning seats.

[0192] Flip gripper 42 for assembled parts: A lifting device is designed, driven by a cylinder. After clamping, the lifting device lifts the workpiece off the roller conveyor tray surface, and then the cylindrical part is flipped. The flipping action is driven by a cylinder, pushing and pulling the gear and rack to convert the linear motion into a rotary motion, thereby achieving rotation. The gripper clamps the upper and lower surfaces of the cylindrical part to ensure that the workpiece will not fall during rotation. Buffers and mechanical stoppers are set at the original position and in-place position of lifting and rotation to ensure the rotation accuracy. A detection switch is equipped at each action position to monitor the in-place situation of the action.

[0193] Furthermore, it can also be considered in this embodiment that the feeding mechanism for assembled parts is the feeding station, and the feeding mechanism for assembled parts includes a feeding turnover trolley 43 and a trolley positioning device 44, where:

[0194] Trolley positioning device: Guide strips are provided on both the left and right sides to limit the left and right of the trolley rollers and the side of the vehicle body. A dead stop is set in the front and rear directions to limit the trolley. When the trolley is pushed against the dead stop position, the trolley is clamped by a cylinder to achieve position locking. A detection switch is provided after the trolley arrives to monitor the action.

[0195] Feeding turnover trolley: By adding a trolley positioning device, the trolley is repositioned, so the original feeding turnover trolley on site meets the usage requirements.

[0196] Embodiment 10:

[0197] Main configurations of the intelligent warehousing station: It consists of a stereoscopic warehouse, a base, a stacker, a loading slide, a fixed tooling for the disc-shaped part line, a disc-shaped part tray, a cylindrical part tray, an intelligent warehousing control system, etc. An intelligent warehousing is designed for caching disc-shaped parts and cylindrical parts to solve the problem of narrow space in the workshop.

[0198] The intelligent warehousing line includes a base, a fixing tool for the disc-shaped part line, a three-dimensional warehouse 10 for caching the disc-shaped part trays 13 and the cylindrical part trays 1, a ground rail 46 for conveying the disc-shaped part trays and the cylindrical part trays to the assembly line body, a stacker 9 and a loading slide 7 (i.e., the loading station), and the intelligent warehousing line further includes an intelligent warehousing control system.

[0199] In this embodiment, according to the load weight of each layer of goods, the three-dimensional warehouse is checked and calculated by a structural engineer to meet the requirements that the safety factor and the seismic grade are not lower than level 7. Appropriate steel specifications are selected. The shelf adopts a crossbeam support method, and this structure can bear a greater load than the bracket type. And the rigid requirement for the tray will be reduced. For the situation that there is no flat crossbeam on the ground of the cylindrical part tray, a support plate is arranged on the storage location of the three-dimensional warehouse according to the position of the tray legs to ensure stable support. A safety distance of 50 mm is reserved in the left-right direction between the storage location and the tray according to industry standards, and a safety distance of more than 140 mm is reserved in height. A diagonal bracing structure is arranged on the side of the three-dimensional warehouse to ensure the seismic grade and its own safety. Taking this embodiment as an example, the cylindrical part three-dimensional warehouse has a total of 5 columns and 3 layers, with 15 storage locations, and a total of 300 pieces can be stored. The disc-shaped part three-dimensional warehouse has a total of 2 columns and 2 layers, with 4 storage locations. One of the storage locations is used to store the empty disc-shaped part trays, and a total of 240 disc-shaped parts can be stored.

[0200] Furthermore, it can also be considered in this embodiment that the base is welded by square steel and steel plates. After annealing and aging treatment, the stress is fully released to ensure the overall stability and accuracy. The overall framework is analyzed for stress by software to ensure the optimal safety factor and deformation amount. Hoisting holes and wire routing holes are set to fully consider the convenience of transportation and installation.

[0201] Furthermore, it can also be considered in this embodiment that the main function of the stacker is to run back and forth in the aisle of the three-dimensional warehouse, store the goods located at the aisle entrance into the storage cells of the three-dimensional warehouse, or take out the goods in the storage cells and transport them to the aisle entrance. The main application characteristics of the stacker include high operation efficiency, high space utilization rate, high automation degree, good stability, etc.

[0202] Embodiment 11: The working process of the automatic assembly equipment for disc-shaped parts and cylindrical parts is as follows:

[0203] S1. The cylindrical part feeding mechanism automatically feeds the cylindrical parts.

[0204] S101. The cylindrical part X-Y servo transfer device drives the cylindrical part gripper to move. The cylindrical part gripper moves to the cylindrical part grasping position on the cylindrical part tray, and the cylindrical part is positioned by the cylindrical vision detection system.

[0205] S102. The cylindrical part gripper moves according to the feedback position coordinates. After moving to the accurate position, the cylindrical part gripper descends.

[0206] S103. Grab the cylindrical part and raise the cylindrical part gripper.

[0207] S104. The cylindrical part gripper transports the cylindrical part to the dust-proof paper installation for removing the protective sleeve, and the cylindrical part gripper descends.

[0208] S105. The pressing sleeve device clamps the protective sleeve and the protective paper. The cylindrical part gripper rises, the air blow opens, the tipping device tilts, the protective sleeve and the protective paper are separated from the cylindrical part, and are recycled into the protective sleeve and paper collection vehicle.

[0209] S106. The cylindrical part gripper transports the cylindrical part to the cleaning device again, aligns the angular orientation of the cylindrical part and cleans the cylindrical part.

[0210] S107. The cylindrical part gripper transports the cleaned cylindrical part to the automatic assembly line tray and conveys it to the next process.

[0211] S2. The disk-shaped part feeding mechanism automatically feeds the disk-shaped part.

[0212] S201. The X-Y servo conveying device of the disk-shaped part drives the disk-shaped part gripper to move. The disk-shaped part gripper moves to the disk-shaped part grasping position on the disk-shaped part tray and grasps the disk-shaped part.

[0213] S202. Place the disk-shaped part on the disk-shaped part flipping device and flip the disk-shaped part.

[0214] S203. After flipping, the disk-shaped part lifting device lifts, and the disk-shaped part gripper places the disk-shaped part gripper on the lifting positioning seat.

[0215] S204. The disk-shaped vision inspection system moves to directly above the disk-shaped part and identifies the angular orientation of the disk-shaped part.

[0216] S205. The disk-shaped part gripper descends to grasp the disk-shaped part. After adjusting the angular orientation of the disk-shaped part correctly, it is transported above the cylindrical part and the disk-shaped part is installed.

[0217] S206. After the installation is completed, the cylindrical part and the disk-shaped part are assembled to obtain a pre-assembled part, which is conveyed to the next process.

[0218] S3. The bolt feeding mechanism automatically pre-assembles the bolts.

[0219] S301. The bolts are automatically fed by the bolt feeding device, automatically sorted, and blown out through the bolt air blow pipeline.

[0220] S302. Clamp and guide it with the cutting gripper to ensure that the bolt is in a vertical posture.

[0221] S303. The bolt lifting and sliding table descends with the elastic device to install the bolt into the bolt hole of the disc-shaped part of the disc-shaped part;

[0222] S304. After the installation is completed, the pre-assembled fitting is conveyed to the next process;

[0223] S4. The bolt feeding mechanism automatically tightens the bolt;

[0224] S401. After being conveyed in place, the bolt tightening device descends, automatically recognizes the cap, and automatically tightens;

[0225] S402. After the tightening is completed, the pre-assembled fitting is conveyed to the next process;

[0226] S5. The upper-end face stud feeding and assembling mechanism automatically tightens the upper-end face studs;

[0227] S501. The upper-end face studs are pneumatically fed into the upper-end face stud cutting claws;

[0228] S502. The upper-end face stud cutting claws move to below the upper-end face stud tightening device and pick up two upper-end face studs;

[0229] S503. The tightening head of the upper-end face stud tightening device descends, recognizes the cap, and tightens the upper-end face studs;

[0230] S504. Repeat the above steps, pick up two upper-end face studs again, the upper-end face stud tightening device rotates, descends, and tightens two upper-end face studs;

[0231] S505. After all the tightening is completed, the pre-assembled fitting is conveyed to the next process;

[0232] S6. The side stud feeding and assembling mechanism automatically tightens the side studs;

[0233] S601. The side studs are pneumatically fed into the side stud cutting claws;

[0234] S602. The side studs rotate 90 degrees;

[0235] S603. The side stud cutting device moves to directly in front of the side stud tightening device, and the air cylinder ejects the side studs to facilitate the side stud tightening device to pick them up;

[0236] S604. The side stud tightening device picks up the material and retracts, and the side stud cutting device returns to its original position;

[0237] S605. The side stud tightening device extends and tightens the side studs;

[0238] S606. Repeat the above steps. Take another side double-headed stud, shift the side stud tightening device, and tighten the next double-headed stud.

[0239] S607. After all tightening is completed, the assembled parts are conveyed to the next process.

[0240] S7. The assembled parts flipping mechanism automatically flips and exits the line.

[0241] S701. The flipping jaws of the assembled parts descend to clamp the assembled parts, then rise and flip 180 degrees.

[0242] S702. The conveying jaws of the assembled parts grab the assembled parts, move to the discharging position on the blanking transfer cart, and place the flipped assembled parts on the blanking transfer cart.

[0243] S703. Move back to the original position and wait to grab the next assembled part.

[0244] S8. The intelligent storage warehouse conducts intelligent warehousing.

[0245] S801. At the start of the shift, the three-dimensional warehouse can transport the first cylindrical part tray and disc part tray for feeding from the forklift loading area to the corresponding tray placement table, then the entire line can start running.

[0246] S802. The stacker can continue to transport the cylindrical part tray and disc part tray from the fork picking position to the storage location in the three-dimensional warehouse.

[0247] S803. When materials are needed on the line, the program calls the stacker. The stacker will automatically place an empty tray in the empty storage location, and then place the full material tray at the corresponding position on the line.

[0248] S804. When production reaches a certain stage and empty trays need to be collected and sent to other workshops, the stacker can take the empty trays from the storage locations, place them in the fork picking position, and can stack them in multiple layers. After the trays are conveyed to the first layer of protection by the conveying slide, they are then transported away by the forklift.

[0249] S805. Thus, functions such as automatically placing full material trays, automatically retrieving empty trays, and automatically warehousing are realized. Among them: two positions, namely the forklift placement position and the fork picking position, are designed, and the conveying slide is used for switching to realize the exchange between the forklift placement position and the fork placement and picking position.

[0250] The above embodiments have described the present invention in detail, but the described content is only the preferred embodiments of the present invention and cannot be considered as limiting the scope of implementation of the present invention. All equivalent changes and improvements made according to the scope of the present invention application should still fall within the patent coverage scope of the present invention.

Claims

1. An automatic assembly line for cylindrical parts and disc-shaped parts, characterized by: It includes the continuous operation of: A parts feeding system, which includes a cylindrical parts feeding mechanism for completing the feeding, cleaning and removal of protective covers and protective paper of cylindrical parts, a disc parts feeding mechanism for completing the feeding, turning and lifting of disc parts, and a conveying mechanism for completing the transfer and pre-installation of cylindrical parts and disc parts, and assembling them to obtain pre-installed assembly parts; The bolt and stud feeding system includes a bolt feeding mechanism for completing the feeding, pre-installation and tightening processes of bolts for pre-assembled assembly parts and a stud feeding mechanism for completing the feeding and assembly processes of studs for pre-assembled assembly parts, and assembling them to obtain assembly parts; The assembly part blanking system comprises an assembly part turning mechanism for completing the turning process of the assembly part and an assembly part blanking mechanism for completing the assembly part blanking process.

2. The automatic assembly line for cylindrical parts and disc-shaped parts according to claim 1 is characterized by: The cylindrical parts feeding mechanism includes a cylindrical parts tray conveying slide for conveying cylindrical parts trays, a protective cover and dustproof paper removal device for removing the protective cover and dustproof paper at the lower end of the cylindrical parts, a cleaning device for cleaning the inner cavity of the cylindrical parts, a cylindrical parts clamp for grabbing and conveying the cylindrical parts, and an automatic assembly line tray for positioning and pre-assembling the cylindrical parts; The cylindrical part clamp comprises a cylindrical main body structure, and further comprises: There are several airbag grippers, which are arranged in a circular array outside the cylindrical main structure, and the airbags are used to center the central hole of the cylindrical part; The number of the clamping jaws is several, and they are arranged in a circular array outside the cylindrical main structure and above the airbag clamping jaws. The cylinder is used to realize the functions of extending and clamping and retracting and opening. When grasping, the end face of the clamping jaw is close to the upper surface of the cylindrical part; The first elastic floating mechanism is arranged on the upper part of the cylindrical main structure and elastically compensates for the height difference of the cylindrical parts on the cylindrical parts tray when the cylindrical parts are fed; The servo motor and the rotary platform are arranged between the elastic floating mechanism and the cylindrical main body structure.

3. The automatic assembly line for cylindrical parts and disc-shaped parts according to claim 2 is characterized in that: The protective cover dustproof paper removal device comprises: The compression sleeve device includes compression jaws arranged opposite to each other. The compression jaws on both sides are driven by an opening and closing cylinder. The compression jaws are designed in a semicircular shape. When the cylindrical part jaws carry the cylindrical part to this position, the compression jaws are clamped, and the lower end of the compression jaws compresses the end surface of the protective sleeve. When the cylindrical part jaws rise, the protective sleeve can be removed by using the compression jaws. The paper pressing device includes a pressing block, and a connecting rod type pressing mechanism is driven by a vertical cylinder to realize that the pressing block presses the dustproof paper; The paper-breaking top has a protrusion disposed between the clamping jaws. The connecting rod type clamping mechanism is disposed inside the paper-breaking top. When the paper-breaking top passes through the sheath paper, the sheath paper is broken from the center. The connecting rod type clamping mechanism is then driven by the vertical cylinder to realize the clamping block to clamp the sheath paper. When the cylindrical part clamping jaws rise, the dustproof paper is clamped by the clamping block to realize removal. The overturning device is composed of a vertical lifting cylinder and an oblique side pushing cylinder. When the protective cover and the dustproof paper are removed, the vertical lifting cylinder extends out to make the overall height exceed the height of the paper breaking top, and then the oblique side pushing cylinder extends out to tilt the whole at a certain angle to facilitate the protective cover and the dustproof paper to slide into the collection vehicle, thereby removing the protective cover and the dustproof paper.

4. The automatic assembly line for cylindrical parts and disc-shaped parts according to claim 1 is characterized by: The disc-shaped parts feeding mechanism comprises a disc-shaped parts tray conveying slide for conveying the disc-shaped parts tray, a disc-shaped parts clamping claw for grabbing and conveying the disc-shaped parts, a disc-shaped parts turning device for driving the disc-shaped parts to turn over, and a disc-shaped parts lifting device for driving the disc-shaped parts to lift; The disc-shaped part clamp comprises: Two-layer clamping jaws, which include two sets of clamping jaws, respectively used to clamp the disc-shaped parts before and after flipping. A step boss is designed under each set of clamping jaws to hold the disc-shaped parts and prevent them from falling. The two-layer clamping jaws are driven by an opening and closing clamping cylinder; The disc-shaped elastic floating mechanism is arranged above the two layers of clamps and compensates for the height difference of the disc-shaped parts on the disc-shaped parts tray when the disc-shaped parts are fed in through elasticity; The servo motor and the rotary platform are arranged between the two layers of clamping jaws and the elastic floating mechanism.

5. The automatic assembly line for cylindrical parts and disc-shaped parts according to claim 1 is characterized by: The bolt feeding mechanism includes a bolt feeding device for feeding the bolt-washer integrated part, a bolt cutting device for cutting the bolt-washer integrated part, a bolt lifting slide for installing the bolt-washer integrated part into the through hole of the workpiece, and a bolt tightening device for tightening the bolt-washer integrated part.

6. The automatic assembly line for cylindrical parts and disc-shaped parts according to claim 1 is characterized by: The stud feeding mechanism includes an upper end surface stud feeding and assembly mechanism for feeding and assembling studs above the disc-shaped part and a side surface stud feeding and assembly mechanism for feeding and assembling studs on the side surfaces of the disc-shaped part; The upper end surface stud feeding and assembly mechanism comprises an upper end surface stud feeding device for feeding studs, an upper end surface stud cutting device for cutting studs, an upper end surface stud lifting slide for lifting studs, an upper end surface stud tightening device for tightening studs, and an upper end surface servo rotating device for driving the upper end surface stud tightening device to rotate; The side stud feeding and assembly mechanism includes a side stud feeding device for feeding studs, a side stud cutting device for cutting studs, a side stud tightening device for tightening studs, a side servo rotating device for driving the side stud tightening device to rotate, and a lifting device for driving the stud cutting device and the side stud tightening device to rise and fall.

7. The automatic assembly line for cylindrical parts and disc-shaped parts according to claim 6 is characterized by: The upper end face double-headed stud cutting device is located below the upper end face double-headed stud feeding device, and the upper end face double-headed stud cutting device includes an upper end face stud cutting clamping jaw, which is driven to open and close by an opening and closing cylinder and driven to move horizontally by a horizontal cutting cylinder; The upper end face stud tightening device is located above the upper end face stud cutting device, the central axis of the upper end face stud tightening device coincides with the central axis of the pre-assembled assembly part, the upper end face stud tightening device includes at least one pair of tightening heads, when the upper end face stud cutting clamp drives the stud to move to the bottom of the upper end face stud tightening device, the upper end face stud tightening device extends the cap and tightens, and after tightening is completed, it is driven by the upper end face servo rotating device to rotate with the central axis of the pre-assembled assembly part as the rotation axis.

8. The automatic assembly line for cylindrical parts and disc-shaped parts according to claim 6 is characterized by: The side stud cutting device is located below the side stud feeding device, and includes a side stud cutting clamp, which is driven by a clamping rotary cylinder to open and close and rotate 90 degrees to adjust the stud to a horizontal state; The side stud tightening device is arranged along the radial direction of the circumferential surface where the pre-assembled assembly part is located. When the side stud cutting clamp drives the stud to be adjusted to a horizontal state, the side stud tightening device extends out to identify the cap and tighten it. After tightening, it is driven by the servo rotating device to rotate with the central axis of the pre-assembled assembly part as the orbital axis.

9. The automatic assembly line for cylindrical parts and disc-shaped parts according to claim 1, characterized in that: The assembly part turning mechanism comprises an assembly part XY servo conveying device, an assembly part lifting device, an assembly part conveying clamp and an assembly part turning clamp, and the assembly part unloading mechanism comprises an unloading turnover vehicle and a trolley positioning device.

10. An assembly method for an automatic assembly line for cylindrical parts and disc-shaped parts, characterized in that: The following steps are involved: S1, cylindrical parts feeding mechanism automatically feeds cylindrical parts; S101, the XY servo conveying device of the cylindrical part drives the cylindrical part clamping claw to move, and the cylindrical part clamping claw moves to the cylindrical part grabbing position on the cylindrical part tray, and the cylindrical part is positioned by the cylindrical visual inspection system; S102, the cylindrical part clamp moves according to the feedback position coordinates, and the cylindrical part clamp descends after moving to the accurate position; S103, grab the cylindrical part, and the cylindrical part clamp rises; S104, the cylindrical part gripper moves the cylindrical part to the protective cover and dustproof paper package, and the cylindrical part gripper descends; S105, the pressing sleeve device clamps the protective sleeve and the protective paper, the cylindrical part clamping claw rises, the air blow is opened, the flipping device is tilted, the protective sleeve and the protective paper are separated from the cylindrical part, and are recovered into the sleeve and paper collection vehicle; S106, the cylindrical part clamping claw then transports the cylindrical part to the cleaning device, aligns the cylindrical part angle and cleans the cylindrical part; S107, the cylindrical parts gripper moves the cleaned cylindrical parts to the automatic assembly line tray and transports them to the next process; S2, disc-shaped parts feeding mechanism automatically feeds disc-shaped parts; S201, the disc-shaped part XY servo conveying device drives the disc-shaped part clamping claw to move, and the disc-shaped part clamping claw moves to the disc-shaped part grabbing position on the disc-shaped part tray to grab the disc-shaped part; S202, placing the disc-shaped part on the disc-shaped part turning device, and turning the disc-shaped part over; S203, the disc-shaped part lifting device is lifted after flipping, and the disc-shaped part clamping claw places the disc-shaped part clamping claw on the lifting positioning seat; S204, the disc-shaped visual inspection system moves to the top of the disc-shaped part to identify the angular direction of the disc-shaped part; S205, the disc-shaped part clamp descends to grab the disc-shaped part, and after the disc-shaped part is adjusted correctly in angle, it is moved to the top of the cylindrical part to install the disc-shaped part; S206, after the installation is completed, the cylindrical parts and the disc parts are assembled to obtain pre-assembled parts, which are then transported to the next process; S3, bolt feeding mechanism automatically pre-installs bolts; S301, bolts are automatically fed and sorted by a bolt feeding device, and the bolts are blown out through a bolt air blowing pipeline; S302, clamp and guide the cutting jaws to ensure that the bolt is in a vertical position; S303, the bolt lifting slide table is lowered with the elastic device to install the bolt into the disc-shaped part hole of the disc-shaped part; S304, installation is completed, and the pre-assembled parts are transported to the next process; S4, bolt feeding mechanism automatically tightens the bolts; S401, after being delivered to the right place, the bolt tightening device descends, automatically recognizes the cap, and automatically tightens; S402, after tightening, the pre-assembled parts are transported to the next process; S5, the upper end surface stud feeding and assembly mechanism automatically tightens the upper end surface stud; S501, the upper end face double-headed stud is fed by air blowing into the upper end face stud cutting jaws; S502, the upper end surface stud cutting clamp moves to the bottom of the upper end surface stud tightening device, and takes two upper end surface studs; S503, the tightening head of the upper end face stud tightening device descends, recognizes the cap, and tightens the upper end face stud; S504, repeat the above steps, fill the two upper end surface studs again, rotate the upper end surface stud tightening device, descend, and tighten the two upper end surface studs; S505, all tightening is completed, and the pre-assembled parts are transported to the next process; S6, the side stud feeding and assembly mechanism automatically tightens the side studs; S601, air blow feeding of the side studs into the side stud cutting jaws; S602, side studs rotated 90 degrees; S603, the side stud cutting device moves to the front of the side stud tightening device, and the cylinder pushes the side double-headed stud out to facilitate the side stud tightening device to clamp; S604, the side stud tightening device takes the material and returns, and the side stud cutting device returns to its original position; S605, the side stud tightening device extends out to tighten the side stud; S606, repeat the above steps, take another side stud, shift the side stud tightening device, and tighten the next stud; S607, all tightening is completed, and the assembled parts are transported to the next process; S7, the assembly part turning mechanism automatically turns down the assembly line; S701, the assembly part flipping jaws descend to clamp the assembly part, and the assembly part flipping jaws rise and flip 180 degrees; S702, the assembly part conveying gripper grabs the assembly part, moves it to the unloading position of the unloading turnover vehicle, and places the turned assembly part on the unloading turnover vehicle; S703, move back to the original position and wait for grabbing the next assembly part.

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