Automatic assembly equipment and assembly method for cylindrical parts and disc-shaped parts

Abstract

The invention belongs to the technical field of automatic assembling, and particularly relates to automatic assembling equipment and method for cylindrical parts and disc-shaped parts. The equipment comprises an assembly line body and an intelligent storage line, and the 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. According to the device, automatic cleaning of cylindrical parts, dismounting of protective sleeves and protective paper and feeding can be achieved, automatic overturning and feeding of disc-shaped parts are achieved, automatic feeding and assembling of bolts are achieved, automatic feeding and assembling of studs are achieved, and automatic overturning and discharging of assembly parts are achieved; and small-space and large-quantity caching of cylindrical parts and disc-shaped parts can be realized.

Description

Technical Field

[0001] The invention belongs to the technical field of automatic assembly, and in particular relates to an automatic assembly device and an assembly method for cylindrical parts and disc parts. Background Art

[0002] The assembly operation process of cylindrical parts and disc-shaped parts is as follows: remove the protective cover on the cylindrical part and clean it, put the rubber gasket on the disc-shaped part → use a balancing hoist to lift the cylindrical part onto the auxiliary line → put the disc-shaped part on the cylindrical part (align the six holes of the disc-shaped part with the cylindrical part) → install the middle top screw of the cylindrical part → install six M8 bolts and tighten them → screw in eight M6 studs to get the assembly → turn the assembly 180° and stack it on the turnover vehicle.

[0003] Currently, the assembly of disc-shaped parts and cylindrical parts is done manually by operators, and the existing manual lines are unable to cope with further increases in production capacity. Therefore, developing an automatic assembly line for disc-shaped parts and cylindrical parts to increase the assembly capacity of disc-shaped parts and cylindrical parts is a technical problem that needs to be urgently solved 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 device for cylindrical parts and disc-shaped parts, which realizes the automatic assembly, loading and unloading 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 device for cylindrical parts and disc-shaped parts, comprising: an assembly line for assembling cylindrical parts and disc-shaped parts and an intelligent storage line for caching and transferring disc-shaped parts trays and cylindrical parts trays to the assembly line, wherein the assembly line comprises:

[0007] 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;

[0008] 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;

[0009] 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.

[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 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.

[0012] In the above technical solution, the bolt feeding mechanism includes a bolt feeding device for feeding the bolt and gasket integrated part, a bolt cutting device for cutting the bolt and gasket integrated part, a bolt lifting slide for installing the bolt and gasket integrated part into the through hole of the workpiece, and a bolt tightening device for tightening the bolt and gasket integrated part.

[0013] In the above technical solution, the stud feeding mechanism includes an upper end face 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.

[0014] In the above technical solution, the upper end face stud feeding and assembling mechanism includes an upper end face stud feeding device for feeding the stud, an upper end face stud cutting device for cutting the stud, an upper end face stud lifting slide for lifting the stud, an upper end face stud tightening device for tightening the stud, and an upper end face servo slewing device for driving the upper end face stud tightening device to slewing.

[0015] In the above technical solution, the side stud feeding and assembling mechanism includes a side stud feeding device for feeding the stud, a side stud cutting device for cutting the stud, a side stud tightening device for tightening the stud, a side servo slewing device for driving the side stud tightening device to slewing, and a lifting device for driving the side stud cutting device and the side stud tightening device to lift.

[0016] In the above technical solution, the assembled part flipping mechanism includes an assembled part X-Y servo transfer device, an assembled part lifting device, an assembled part transfer gripper, and an assembled part flipping gripper. The assembled part discharging mechanism includes a discharging turnover cart and a cart positioning device.

[0017] In the above technical solution, the intelligent storage line includes a base, a disc-shaped parts line fixing tooling, a three-dimensional warehouse for caching disc-shaped parts pallets and cylindrical parts pallets, a ground rail for transmitting disc-shaped parts pallets and cylindrical parts pallets to the assembly line, a stacker and a loading slide, and the intelligent storage line also includes an intelligent storage control system.

[0018] The second invention object of the present invention is to provide an assembly method of a cylindrical part and a disc-shaped part automatic assembly device, comprising the following steps:

[0019] S1, cylindrical parts feeding mechanism automatically feeds cylindrical parts;

[0020] S2, disc-shaped parts feeding mechanism automatically feeds disc-shaped parts;

[0021] S3, bolt feeding mechanism automatically pre-installs bolts;

[0022] S4, bolt feeding mechanism automatically tightens the bolts;

[0023] S5, the upper end surface stud feeding and assembly mechanism automatically tightens the upper end surface stud;

[0024] S6, the side stud feeding and assembly mechanism automatically tightens the side studs;

[0025] S7, the assembly part turning mechanism automatically turns down the assembly line;

[0026] S8. Intelligent storage warehouse performs intelligent warehousing, realizing automatic placement of full pallets, automatic collection of empty pallets, and automatic stocking.

[0027] The advantages and positive effects of the present invention are:

[0028] 1. The present invention can realize automatic cleaning of cylindrical parts, removal of protective covers and protective papers, and loading of disc-shaped parts, automatic loading and assembly of bolts, automatic loading and assembly of studs, and automatic flipping and unloading of cylindrical parts and disc-shaped parts assemblies, and will not cause damage to the cylindrical parts and disc-shaped parts during the assembly process.

[0029] 2. The present invention can achieve large-quantity caching of cylindrical parts and disc-shaped parts in a small space, solving the problem of narrow space in the workshop. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] The technical solution of the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments, but it should be understood that these drawings are designed only for explanation purposes and are not intended to limit the scope of the present invention. In addition, unless otherwise specified, these drawings are intended only to conceptually illustrate the structural configurations described herein and are not necessarily drawn to scale.

[0031] Figure 1 It is the top view of the automatic assembly equipment for cylindrical parts and disc-shaped parts in the present invention;

[0032] Figure 2 It is the structural schematic diagram of the feeding mechanism for cylindrical parts and the feeding mechanism for disc-shaped parts in the present invention;

[0033] Figure 3 It is in the present invention Figure 2 front view;

[0034] Figure 4 It is the structural schematic diagram of the feeding mechanism for cylindrical parts in the present invention;

[0035] Figure 5 It is the structural schematic of the gripper for cylindrical parts Figure 1 ;

[0036] Figure 6 It is the structural schematic of the gripper for cylindrical parts Figure 2 ;

[0037] Figure 7 It is the structural schematic diagram of the device for removing the protective sleeve and dust-proof paper in the present invention;

[0038] Figure 8 It is the structural schematic diagram of the device for removing the protective sleeve and dust-proof paper, the protective sleeve and the paper collection cart in the present invention;

[0039] Figure 9 It is the structural schematic diagram of the gripper for disc-shaped parts in the present invention;

[0040] Figure 10 It is the structural schematic of the flipping device for disc-shaped parts Figure 1 ;

[0041] Figure 11 It is the structural schematic of the flipping device for disc-shaped parts Figure 2 ;

[0042] Figure 12 It is the structural schematic of the bolt feeding device and the bolt cutting device in the present invention Figure 1 ;

[0043] Figure 13 It is the structural schematic of the bolt feeding device and the bolt cutting device in the present invention Figure 2 ;

[0044] Figure 14 It is the structural schematic diagram of the bolt cutting device in the present invention;

[0045] Figure 15 It is the structural schematic of the bolt tightening device in the present invention Figure 1 ;

[0046] Figure 16 is the structural schematic diagram of the bolt tightening device in the present invention Figure 2 ;

[0047] Figure 17 is the structural schematic diagram of the feeding and assembling mechanism for the upper-end double-headed stud in the present invention Figure 1 ;

[0048] Figure 18 is the structural schematic diagram of the feeding and assembling mechanism for the upper-end double-headed stud in the present invention Figure 2 ;

[0049] Figure 19 is the structural schematic diagram of the feeding and assembling mechanism for the upper-end double-headed stud in the present invention Figure 2 ;

[0050] Figure 20 is the partial structural schematic diagram of the cutting device for the upper-end double-headed stud in the present invention;

[0051] Figure 21 is the structural schematic diagram of the feeding and assembling mechanism for the side double-headed stud in the present invention;

[0052] Figure 22 is the partial structural schematic diagram of the cutting device and the tightening device for the side double-headed stud in the present invention Figure 1 ;

[0053] Figure 23 is the partial structural schematic diagram of the cutting device and the tightening device for the side double-headed stud in the present invention Figure 2 ;

[0054] Figure 24 is the structural schematic diagram of the transfer gripper for the assembled parts in the present invention;

[0055] Figure 25 is the structural schematic diagram of the turnover mechanism and the discharging mechanism for the assembled parts in the present invention;

[0056] Figure 26 is the structural schematic diagram of the turnover gripper for the assembled parts in the present invention;

[0057] Figure 27 is the front view of the intelligent storage line in the present invention;

[0058] Figure 28 is the structural schematic diagram of the intelligent storage line in the present invention.

[0059] In the figure: 1 - cylindrical part tray; 2 - conveying slide of cylindrical part tray; 3 - cylindrical part; 4 - dust-proof paper device for removing protective sleeve; 401 - pressing jaw; 402 - paper pressing device; 403 - paper-breaking tip; 404 - vertical lifting cylinder; 405 - oblique side-pushing cylinder; 406 - protective sleeve 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; 7 - loading slide; 8 - cleaning device; 9 - stacker crane; 10 - automated storage and retrieval system; 11 - visual inspection system for cylindrical parts; 12 - dust collection cylinder; 13 - disc part tray; 14 - conveying slide of disc part tray; 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 - visual inspection system for disc parts; 21 - X-Y servo transfer device for cylindrical parts; 22 - X-Y servo transfer device for disc parts; 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 face stud cutting device for double-headed stud; 2701 - upper-end face stud cutting jaw; 2702 - transverse cutting cylinder; 28 - upper-end face stud lifting slide for double-headed stud; 2801 - rodless cylinder; 29 - upper-end face stud tightening device for double-headed stud; 2901 - tightening head; 30 - upper-end face servo rotary device; 31 - upper-end face stud air-blowing pipeline for double-headed stud; 32 - upper-end face double-headed stud; 33 - side stud cutting device for double-headed stud; 3301 - clamping rotary cylinder; 34 - side stud tightening device for double-headed stud; 35 - side servo rotary device; 36 - lifting device; 37 - side stud air-blowing pipeline for double-headed stud; 38 - side double-headed stud; 39 - X-Y servo transfer device for assembled parts; 40 - lifting device for assembled parts; 41 - transfer jaw for assembled parts; 42 - flipping jaw for assembled parts; 43 - blanking turnover cart; 44 - cart positioning device; 45 - bolt gasket integrated part; 46 - ground rail. Detailed implementation manners

[0060] 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 any limitation to the present invention. In addition, any single technical feature described or implied in each of the embodiments mentioned herein, 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) to obtain more other embodiments of the present invention that may not be directly mentioned herein. 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.

[0061] In the present invention, unless otherwise clearly specified and defined, 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, and 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 with reference to the drawings.

[0062] Embodiment 1:

[0063] An automatic assembly device for cylindrical parts and disc-shaped parts, comprising an assembly line body for assembling cylindrical parts and disc-shaped parts and an intelligent storage line for caching and conveying disc-shaped part trays and cylindrical part trays to the assembly line body. The assembly line body includes a continuously operating part feeding system, a bolt and stud feeding system, and an assembled part discharging system, wherein:

[0064] 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-assembly is obtained through assembly;

[0065] The bolt and stud feeding system includes a bolt feeding mechanism for completing the feeding, pre-assembly, and tightening processes of bolts to the pre-assembled assembly and a double-headed stud feeding mechanism for completing the feeding and assembly processes of double-headed studs to the pre-assembled assembly, and an assembled part is obtained through assembly;

[0066] The assembled part discharging system 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.

[0067] In this embodiment, asFigure 1 As shown in the figure, the automatic assembly equipment for cylindrical parts and disc-shaped parts includes seven functional workstations and two auxiliary supporting devices throughout the line; it shares two sets of electric control systems, one set of pneumatic system control, one main frame, and one equipment protection.

[0068] The assembly line body is respectively composed of the following parts:

[0069] 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;

[0070] Workstation 20, for automatically loading disc-shaped parts, specifically including: automatically flipping, automatically lifting, and automatically loading;

[0071] Workstation 30, for automatically loading and pre-assembling bolts;

[0072] Workstation 40, for automatically tightening bolts;

[0073] Workstation 50, for automatically loading, pre-assembling, and tightening the double-headed studs on the upper end face;

[0074] Workstation 60, for automatically loading, pre-assembling, and tightening the double-headed studs on the side;

[0075] Workstations 70 and the unloading station, for automatically flipping and unloading

[0076] Embodiment 2:

[0077] 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.

[0078] 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.

[0079] 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. The cylindrical part 3 is photographed and positioned through the cylindrical vision system 11. The cylindrical part gripper 5 grips the cylindrical part 3 and moves to the dust collection seat of the cleaning device 8. The inner cavity of the cylindrical part 3 is cleaned by air blowing. The cylindrical part gripper 5 grips 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 grips the cylindrical part 3 to the automatic assembly line pallet to complete the feeding of the cylindrical part 3.

[0080] 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. 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 rail, and mechanical stoppers and buffer devices are set to ensure the repeat 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.

[0081] Furthermore, it can also be considered in this embodiment that the cylindrical part gripper 5 includes a cylindrical main body structure, and also includes:

[0082] Airbag grippers 501, 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;

[0083] Grippers 502, 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 501. 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 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;

[0084] The first elastic floating mechanism 503 is arranged on the upper part of the cylindrical main body structure to compensate for the height difference of the cylindrical part on the cylindrical part pallet during the incoming material of the cylindrical part through elasticity;

[0085] 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 to automatically align the angular position of the cylindrical part. Detection switches are arranged in each action link to detect whether each action is in place.

[0086] 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, dropping, etc. during the handling process.

[0087] Furthermore, it can also be considered in this embodiment that a visual inspection system 11 for cylindrical parts 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 and the cylindrical parts are conveyed by the existing trays, some of the cylindrical parts are in an inclined state when placed in the trays. When directly performing angular alignment on the trays, the feature points will be blocked. Therefore, centering and photographing are performed above the trays for concentrically grasping the cylindrical parts. The raised feature points of the cylindrical parts are roughly aligned in angular position by the cleaning station, and then the bolt holes are accurately aligned in angular position by the camera. The accurate angular alignment function is realized.

[0088] 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 by 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 centering 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, dropping, 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 in each action link to detect whether each action is in place.

[0089] Furthermore, it can also be considered in this embodiment that the cleaning device 8 includes a blowing nozzle provided on the cylindrical part gripper 5, a dust collection docking port, a negative pressure generator provided below the cylindrical part gripper 5, a recovery pipeline for collecting dust, and a dust collection cylinder 12. The dust collection docking port is provided 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 an electromagnetic valve, passes through the upper blowing nozzle and the lower negative pressure generator, forms a negative pressure vortex in the cavity, and collects the dust into the dust collection cylinder through the recovery pipeline, thereby achieving 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. The feature points of the cylindrical part are detected by a switch to achieve the rough angular positioning function.

[0090] Furthermore, it can also be considered in this embodiment that the protective sleeve and dust-proof paper removing device 4 includes:

[0091] A pressing sleeve device, which includes pressing jaws 401 arranged oppositely. The two pressing jaws 401 are driven by an opening and closing air 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. 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;

[0092] A paper pressing device 402, which includes a pressing block. The connecting rod type pressing mechanism is driven by a vertical air cylinder to realize the pressing of the pressing block on the dust-proof paper;

[0093] A paper-breaking tip 403, which protrudes between the pressing jaws 401. The connecting rod type pressing mechanism is arranged inside the paper-breaking tip. After the paper-breaking tip penetrates through the protective sleeve paper, the protective sleeve paper is broken from the center. Then, the connecting rod type pressing mechanism is driven by the vertical air cylinder to realize the pressing of the pressing block on the protective sleeve paper. When the cylindrical part gripper rises, the dust-proof paper is pressed by the pressing block to achieve removal;

[0094] A tipping device, which consists of a vertical lifting air cylinder 404 and an inclined side-pushing air cylinder 405. After the protective sleeve and the dust-proof paper are removed, the vertical lifting air cylinder extends to make the overall height exceed the height of the paper-breaking tip. Then, the inclined side-pushing air cylinder extends to tilt the whole by a certain angle, facilitating the sliding of the protective sleeve and the dust-proof paper into the protective sleeve and paper collection cart 406 to achieve the removal of the protective sleeve and the dust-proof paper.

[0095] Furthermore, it can also be considered in this embodiment that the protective sleeve and dust-proof paper removing device is driven by an opening and 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.

[0096] In this embodiment, the protective sleeve and dust-proof paper removing device is composed 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 and closing cylinder. The clamping jaws are designed in a semi-circular shape. When the manipulator transports the workpiece to this position, the opening and 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 type 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 is composed 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.

[0097] Embodiment 2:

[0098] As Figure 1 shown, the feeding mechanism for the disc-shaped part is a 20-station mechanism, which includes a disc-shaped part tray conveying slide 14 for conveying the disc-shaped part tray 13, a disc-shaped part clamping jaw 16 for grasping and transporting the disc-shaped part 15, a disc-shaped part flipping device 17 for driving the disc-shaped part 15 to flip, and a disc-shaped part lifting device 18 for driving the disc-shaped part 15 to lift. When the disc-shaped part comes in, due to manual assembly of the gasket, the adhesive surface of the disc-shaped part needs to face up, and when the disc-shaped part is assembled with the cylindrical part, the adhesive surface of the disc-shaped part needs to face down. Therefore, it is necessary to flip the disc-shaped part by 180°. The feeding mechanism for the disc-shaped part is designed to realize the flipping and automatic feeding of the disc-shaped part.

[0099] The 20 stations are used for flipping and feeding the disc-shaped part. The main configurations of the 20 stations are: X-Y servo transfer device, disc-shaped servo clamping jaw, disc-shaped vision detection system, disc-shaped part flipping device, disc-shaped part lifting device, and disc-shaped part tray conveying slide.

[0100] The operation of the disc-shaped part feeding mechanism: The disc-shaped part tray conveying slide 14 is used to store and transport the disc-shaped part tray 13. The disc-shaped part gripper 16 moves above the disc-shaped part tray 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 to the automatic assembly line tray, completing the feeding of the disc-shaped part 15.

[0101] Furthermore, it can also be considered in this embodiment that the disc-shaped part tray conveying slide 14 is used to store and transport the disc-shaped part tray 13. The stacker 9 transports the disc-shaped part tray 13 onto the disc-shaped part tray conveying slide 14. The disc-shaped part tray conveying slide 14 sends the disc-shaped part tray 13 to the grasping position of the disc-shaped part gripper 16. After grasping, the stacker 9 transports the empty disc-shaped part tray 13 onto the stereoscopic warehouse 10. The disc-shaped part tray 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 accuracy. The overall framework is analyzed for stress by software to ensure the optimal safety factor and deformation amount. Tray limit blocks are designed on the slide to ensure that the stacker can place the tray smoothly and accurately. It is driven by a high-precision cylinder and guided by a rail, with mechanical stoppers and buffer devices set. The repeat position accuracy of the two positions is ensured. In-situ and in-position detection switches are set to detect whether each action is in place.

[0102] Furthermore, it can also be considered in this embodiment that the disc-shaped part gripper 16 includes:

[0103] 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 hold 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. Sensors are set to realize the detection of the presence or absence of the gasket and the confirmation of installation. 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;

[0104] 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 tray during the incoming material of the disc-shaped part through elasticity;

[0105] 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.

[0106] Furthermore, it can also be considered in this embodiment that a disc-shaped vision detection system 20 is also integrated on the disc-shaped part gripper 15. The disc-shaped vision detection 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 rotating 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.

[0107] In this embodiment, the disc-shaped part gripper uses an opening and closing 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 pallet 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 restarting after an unexpected shutdown.

[0108] Furthermore, it can also be considered in this embodiment that the disc-shaped part flipping device 17 includes a flipping gripper 1701 and a 180° rotating cylinder, which is driven by an opening and closing cylinder to realize the opening and closing of the flipping gripper; and then driven by the 180° rotating cylinder to realize the attitude transformation of the disc-shaped part. The flipping gripper adopts 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 actions such as rotation and clamping. Ensure that each action has monitoring.

[0109] 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 performs lifting. First, the flipping gripper opens, places the disc-shaped part on the lifting positioning seat, and after the disc-shaped part is repositioned, it is grabbed by the disc-shaped part gripper to ensure the positioning accuracy of the disc-shaped part.

[0110] Embodiment 3:

[0111] 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 tray 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 tray 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 part.

[0112] 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, ensuring the stability and accuracy during long-term and high-intensity 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 the form of a multi-turn absolute encoder, which can accurately memorize the current position when restarted after an accidental shutdown.

[0113] Embodiment 4:

[0114] The bolt feeding mechanism includes a bolt feeding device for feeding bolt gasket assemblies, a bolt cutting device 23 for cutting bolt gasket assemblies, a bolt lifting slide 24 for installing bolt gasket assemblies into the through holes of workpieces, and a bolt tightening device 25 for tightening bolt gasket assemblies. The bolt feeding mechanism is designed for the automatic feeding and assembly of M8 bolts. The feeding and pre-assembly of bolts are at Station 30, and Station 30 is used for the pre-assembly of M8 bolts. The main configurations of the station include: a main frame, a bolt feeding system (vibratory hopper), a bolt cutting device, a bolt lifting slide, etc. The tightening of bolts is at Station 40, and Station 40 is used for bolt tightening. The main configurations of the station include: a main frame, a lifting slide, a tightening device, etc.

[0115] Furthermore, it can also be considered in this embodiment that the bolt feeding device includes a vibratory hopper and bolt air blowing pipes 26. Through a number of bolt air blowing pipes 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 assemblies 45 are directly fed into the inner hole of the bolt cutting device. In this embodiment, the bolt feeding system is a bolt gasket assembly feeding system. Through the air blowing pipes, it is directly docked with six positions of the cutting device, and after air blowing feeding, the bolt gasket assemblies are directly fed into the inner hole of the cutting device.

[0116] 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 assembly falls onto the cutting jaw 2301 after being cut. A sloped guiding port is provided on the cutting jaw 2301 to guide the bolt gasket assembly into the cutting jaw 2301 and ensure that its posture is vertical. The cutting jaw 2301 positions the end face and the outer diameter of the thread of the bolt. In this embodiment, the hopper in the bolt cutting device supplies six bolts each time through an 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 assembly is cut and falls into the opening and closing jaw through the pipeline. The jaw is designed with a sloped guiding port to guide the bolt into the jaw and ensure that its posture is vertical. The jaw positions the end face and the outer diameter of the thread of the bolt. Then, it is driven by a cylinder to cut the bolt to directly above the corresponding hole of the workpiece. An elastic device is designed above to assist in guiding the bolt into the hole. Then, through a 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 arranged in each action link to detect whether each action moves in place.

[0117] 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 assembly by the cutting jaw 2301, the bolt gasket assembly 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 and can be self-locked at the current position in case of accidental power-off or air-off, ensuring safety. A mechanical dead stop and a buffer device are provided to ensure the repeat positioning accuracy. The bolt gasket assembly is cut to directly above the corresponding through hole of the workpiece by the bolt lifting slide table. An elastic device can also be designed above to assist in guiding the bolt gasket assembly into the hole. Then, through the lifting slide table, the bolt gasket assembly is installed into the hole of the workpiece. A mechanical dead stop and a buffer device are provided to ensure the repeat positioning accuracy.

[0118] 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 and can be self-locked at the current position in case of accidental power-off or air-off, ensuring 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.

[0119] 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 a tightening lifting cylinder 2503 as a whole, and is assisted by a guide rail for guiding. As a whole, it has an anti-falling function. In case of accidental power-off or air-off, it can be self-locked at 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 in-place situation of the action. The tightening device 2502 is installed on the tightening lifting slide 25 as a whole. A sleeve with a suitable length and diameter is selected on the premise of not interfering with the disc-shaped part. Six tightening shafts are installed corresponding to the bolt holes of the disc-shaped part. One-time tightening is completed. During the screwing process, the tightening shafts are monitored throughout the process. When the tightening torque exceeds 20 ± 2.5 N·m, the result is fed back to the PLC, and the PLC gives an alarm prompt according to the feedback result. A special centering jig is used to adjust the concentricity between the tightening device and the workpiece hole to ensure smooth tightening.

[0120] Furthermore, it can also be considered in this embodiment that the main frame of the bolt feeding mechanism 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. An adjustment reference block is provided to adjust the plane position of the overall device.

[0121] Embodiment 5:

[0122] The stud feeding mechanism includes an upper-end stud feeding and assembling mechanism for realizing the feeding and assembling of studs above the disc-shaped part 15 and a side stud feeding and assembling mechanism for realizing the feeding and assembling of studs on the side of the disc-shaped part 15. The stud feeding mechanism is designed for the automatic feeding and assembling of studs. As Figure 1 shown, the upper-end stud feeding and assembling mechanism is the 50-station, and the 50-station is used for tightening the studs on the upper end face of the disc-shaped part. The main configurations of the station are: main frame, stud feeding system, cutting device, lifting slide, servo rotary device, tightening device, etc. The side stud feeding and assembling mechanism is the 60-station, and the 60-station is used for tightening the studs on the side of the disc-shaped part. The main configurations of the station are: main frame, stud feeding system, cutting device, tightening device, servo rotary device, lifting device, etc.

[0123] Embodiment 6:

[0124] The upper-end face stud feeding and assembling mechanism includes an upper-end face stud feeding device for feeding studs, an upper-end face stud cutting device 27 for cutting studs, an upper-end face stud lifting slide 28 for lifting studs, an upper-end face stud tightening device 29 for tightening studs, and an upper-end face servo slewing device 30 for driving the upper-end face stud tightening device to slewing.

[0125] Furthermore, it can also be considered in this embodiment that the upper-end face stud feeding device includes a vibrating hopper and an upper-end face stud air-blowing pipeline 31. Through a plurality of upper-end face stud air-blowing pipelines 31, they are directly docked with a plurality of inner hole positions of the upper-end face stud cutting device 27 one by one. After air-blowing feeding, the studs are directly fed into the inner holes of the upper-end face stud cutting device. In this embodiment, the upper-end face 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.

[0126] Furthermore, it can also be considered in this embodiment that the upper-end face stud cutting device 27 is located below the upper-end face stud feeding device. The upper-end face 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 air cylinder and is driven to move horizontally by a horizontal cutting air cylinder 2702.

[0127] Furthermore, it can also be considered in this embodiment that the upper-end face stud tightening device 29 is located above the upper-end face stud cutting device 27. The central axis of the upper-end face stud tightening device 29 coincides with the central axis of the workpiece. The upper-end face stud tightening device 29 includes at least a pair of tightening heads 2901. In this embodiment, the upper-end face stud tightening device 29 includes two tightening heads 2901. When the upper-end face stud cutting jaw 2701 drives the stud to move to directly below the upper-end face stud tightening device 29, the upper-end face stud tightening device 29 extends to recognize the cap and tighten. After tightening is completed, it is driven by the upper-end face servo slewing device 30 to slewing around the central axis of the workpiece. The slewing 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.

[0128] 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

[0129] 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.

[0130] 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.

[0131] 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.

[0132] Embodiment 7:

[0133] 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.

[0134] 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, and after air-blowing feeding, the bolt gasket integrated parts are directly fed into the inner holes of the cutting device.

[0135] 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 stud to a horizontal state.

[0136] 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 stud 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 to make the threads of the double-headed stud and the sleeve threads fully contact, realizing the tightening of the double-headed stud. When tightening to the bottom, the elastic core rod breaks, and the sleeve threads and the double-headed stud threads break into contact, realizing the withdrawal of the sleeve. The tightening device is driven by a motor. The coaxiality between the tightening shaft and the threaded hole is adjusted by a feeler bar to ensure within 0.1 mm, which can ensure smooth cap identification and tightening accuracy during tightening.

[0137] In this embodiment, the side double-headed stud 38 enters 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 stud to smoothly enter the guiding hole. 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 stud 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.

[0138] Furthermore, it can also be considered in this embodiment that the side servo slewing device 35 is driven by a servo motor, connected by a coupling, and driven by gears to achieve slewing. Ensure that the repeat position accuracy is within ±0.05 mm. A double limit protection device is set. 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. A detection switch is equipped at each action position to monitor the in-place situation of the action.

[0139] Furthermore, it can also be considered in this embodiment that the lifting device 36 is pneumatically actuated by a pneumatic 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 stop are set. Ensure the repeat position accuracy. A detection switch is equipped at each action position to monitor the in-place situation of the action.

[0140] Furthermore, it can also be considered in this embodiment that the main frame of the side stud feeding and assembling mechanism 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. An adjustment reference block is set to adjust the plane position of the overall device.

[0141] Embodiment 9:

[0142] Design a flipping and blanking mechanism for the assembly of disc-shaped parts and cylindrical parts, which is used for the flipping and offline of the assembly of disc-shaped parts and cylindrical parts. As Figure 1 shown, the flipping and blanking mechanism for the assembly of disc-shaped parts and cylindrical parts is the 70-station. The main configurations of the 70-station are: X-Y servo transfer device, cylindrical part lifting device, flipping gripper, transfer gripper, trolley positioning device, blanking transfer cart, etc. The assembly flipping mechanism includes an assembly X-Y servo transfer device 39, an assembly lifting device 40, an assembly transfer gripper 41, and an assembly flipping gripper 42, where:

[0143] Assembly X-Y servo transfer device 39: The main frame 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. Lifting holes and wire routing holes are set to fully consider the convenience of transportation and installation. Both the X and Y directions are composed of electric cylinders equipped with servo motors and auxiliary guide rails to ensure that the repeat position accuracy is within ±0.05 mm. A double limit protection device is set. 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.

[0144] 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 repeated 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.

[0145] 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.

[0146] 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 flips the cylindrical part. 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.

[0147] Furthermore, it can also be considered in this embodiment that the blanking mechanism for assembled parts is the blanking station. The blanking mechanism for assembled parts includes a blanking turnover trolley 43 and a trolley positioning device 44, where:

[0148] Trolley positioning device: Guide strips are arranged on 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 available after the trolley arrives to monitor the action.

[0149] Blanking turnover trolley: By adding a trolley positioning device, the trolley is repositioned, so the existing blanking turnover trolley on site meets the usage requirements.

[0150] Embodiment 10:

[0151] Main configurations of the intelligent storage warehouse 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 warehouse control system, etc. An intelligent warehouse is designed for caching disc-shaped parts and cylindrical parts to solve the problem of narrow space in the workshop site.

[0152] 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.

[0153] In this embodiment, based on 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 rigidity requirement for the tray will be reduced. For the case where there is no flat crossbeam on the ground of the cylindrical part tray, a support plate is set at 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. A safety distance of more than 140 mm is reserved in the height direction. A diagonal bracing structure is set 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.

[0154] 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. Lifting holes and wire routing holes are set to fully consider the convenience of transportation and installation.

[0155] 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 grid of the three-dimensional warehouse, or take out the goods in the storage grid 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.

[0156] Embodiment 11: The working process of the automatic assembly equipment for disc-shaped parts and cylindrical parts is as follows:

[0157] S1. The cylindrical part feeding mechanism automatically feeds the cylindrical parts;

[0158] 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.

[0159] S102. The cylindrical part gripper moves according to the feedback position coordinates. After moving to the accurate position, the cylindrical part gripper descends.

[0160] S103. Grasp the cylindrical part, and the gripper of the cylindrical part rises.

[0161] S104. The gripper of the cylindrical part transports the cylindrical part to the position for installing the dust-proof paper of the protective sleeve, and the gripper of the cylindrical part descends.

[0162] S105. The pressing sleeve device clamps the protective sleeve and the protective paper. The gripper of the cylindrical part rises, the air blowing is turned on, the tipping device tilts, the protective sleeve and the protective paper are separated from the cylindrical part, and are recovered into the protective sleeve and paper collection cart.

[0163] S106. The gripper of the cylindrical part transports the cylindrical part to the cleaning device again, aligns the angular orientation of the cylindrical part and cleans the cylindrical part.

[0164] S107. The gripper of the cylindrical part transports the cleaned cylindrical part to the tray of the automatic assembly line and conveys it to the next process.

[0165] S2. The feeding mechanism of the disc-shaped part automatically feeds the disc-shaped part.

[0166] S201. The X-Y servo conveying device of the disc-shaped part drives the gripper of the disc-shaped part to move. The gripper of the disc-shaped part moves to the grasping position of the disc-shaped part on the tray of the disc-shaped part, and grasps the disc-shaped part.

[0167] S202. Place the disc-shaped part on the disc-shaped part flipping device and flip the disc-shaped part.

[0168] S203. After flipping, the lifting device of the disc-shaped part lifts, and the gripper of the disc-shaped part places the gripper of the disc-shaped part on the lifting positioning seat.

[0169] S204. The disc-shaped vision detection system moves to directly above the disc-shaped part to identify the angular orientation of the disc-shaped part.

[0170] S205. The gripper of the disc-shaped part 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.

[0171] S206. After the installation is completed, the cylindrical part and the disc-shaped part are assembled to obtain a pre-assembled part, which is conveyed to the next process.

[0172] S3. The bolt feeding mechanism automatically pre-assembles the bolts.

[0173] S301. The bolts are automatically fed by the bolt feeding device, automatically sorted, and blown out through the bolt air blowing pipeline.

[0174] S302. The cutting gripper clamps and guides it to ensure that the bolts are in a vertical posture.

[0175] 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;

[0176] S304. After the installation is completed, the pre-assembled fitting is conveyed to the next process;

[0177] S4. The bolt feeding mechanism automatically tightens the bolt;

[0178] S401. After being conveyed in place, the bolt tightening device descends, automatically recognizes the cap, and automatically tightens;

[0179] S402. After the tightening is completed, the pre-assembled fitting is conveyed to the next process;

[0180] S5. The upper-end face stud feeding and assembling mechanism automatically tightens the upper-end face studs;

[0181] S501. The upper-end face studs are pneumatically fed into the upper-end face stud cutting jaws;

[0182] S502. The upper-end face stud cutting jaws move under the upper-end face stud tightening device and pick up two upper-end face studs;

[0183] S503. The tightening head of the upper-end face stud tightening device descends, recognizes the cap, and tightens the upper-end face studs;

[0184] S504. Repeat the above steps, pick up two upper-end face studs again, the upper-end face stud tightening device rotates, descends, and tightens the two upper-end face studs;

[0185] S505. After all the tightening is completed, the pre-assembled fitting is conveyed to the next process;

[0186] S6. The side stud feeding and assembling mechanism automatically tightens the side studs;

[0187] S601. The side studs are pneumatically fed into the side stud cutting jaws;

[0188] S602. The side studs are rotated 90 degrees;

[0189] S603. The side stud cutting device moves to the 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;

[0190] S604. The side stud tightening device picks up the material and retracts, and the side stud cutting device returns to its original position;

[0191] S605. The side stud tightening device extends and tightens the side studs;

[0192] S606. Repeat the above steps. Take another side double-headed stud, shift the side stud tightening device, and tighten the next double-headed stud.

[0193] S607. After all tightening is completed, the assembled parts are conveyed to the next process.

[0194] S7. The assembled parts flipping mechanism automatically flips and exits the line.

[0195] S701. The assembled parts flipping jaws descend to clamp the assembled parts, then rise and flip 180 degrees.

[0196] S702. The assembled parts handling jaws grab the assembled parts, move to the discharging position on the blanking turnover cart, and place the flipped assembled parts on the blanking turnover cart.

[0197] S703. Move back to the original position and wait to grab the next assembled part.

[0198] S8. The intelligent storage warehouse conducts intelligent storage.

[0199] S801. At the start of production, the three-dimensional warehouse can transport the first cylindrical part tray and disc part tray loaded with materials from the forklift loading area to the corresponding tray placement tables, and then the entire line can start running.

[0200] S802. The stacker can continue to transport the cylindrical part tray and disc part tray from the forklift picking position to the storage positions in the three-dimensional warehouse.

[0201] S803. When materials are needed on the line, the program calls the stacker. The stacker will automatically place an empty tray in an empty storage position and then place the full material tray at the corresponding position on the line.

[0202] 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 positions, place them in the forklift picking position, and 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.

[0203] S805. Thus, functions such as automatically placing full material trays, automatically retrieving empty trays, and automatically stacking in the warehouse are realized. Specifically: two positions, namely the forklift placement position and the forklift picking position, are designed, and the conveying slide is used for switching to realize the exchange between the forklift placement position and the forklift picking position.

[0204] The above embodiments have described the present invention in detail, but the content described 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 within the scope of the application of the present invention should still fall within the scope covered by the patent of the present invention.

Claims

1. An automatic assembly equipment for cylindrical parts and disc-shaped parts, characterized by: include: An assembly line for assembling cylindrical parts and disc-shaped parts and an intelligent storage line for caching and transferring disc-shaped parts pallets and cylindrical parts pallets to the assembly line, wherein the assembly line comprises: 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 equipment for cylindrical parts and disc-shaped parts according to claim 1 is characterized in that: The cylindrical parts loading mechanism includes a cylindrical parts pallet conveying slide for conveying cylindrical parts pallets, a protective cover and dustproof paper removing 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 transporting cylindrical parts, and an automatic assembly line pallet for positioning and pre-assembling cylindrical parts.

3. The automatic assembly equipment for cylindrical parts and disc-shaped parts according to claim 1 is characterized in that: The disc-shaped parts feeding mechanism comprises a disc-shaped parts pallet conveying slide for conveying disc-shaped parts pallets, a disc-shaped parts clamp for grabbing and conveying 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.

4. The automatic assembly equipment for cylindrical parts and disc-shaped parts according to claim 1 is characterized in that: 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.

5. The automatic assembly equipment for cylindrical parts and disc-shaped parts according to claim 1 is characterized in that: The stud feeding mechanism comprises 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.

6. The automatic assembly equipment for cylindrical parts and disc-shaped parts according to claim 5 is characterized in that: The upper end surface stud feeding and assembly mechanism includes 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 and lowering 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.

7. The automatic assembly equipment for cylindrical parts and disc-shaped parts according to claim 5 is characterized in that: 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.

8. The automatic assembly equipment for cylindrical parts and disc-shaped parts according to claim 1 is 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.

9. The automatic assembly equipment for cylindrical parts and disc-shaped parts according to claim 1 is characterized in that: The intelligent storage line includes a base, a disc-shaped parts line fixing tool, a three-dimensional warehouse for caching disc-shaped parts pallets and cylindrical parts pallets, a ground rail for conveying disc-shaped parts pallets and cylindrical parts pallets to the assembly line, a stacker and a loading slide, and the intelligent storage line also includes an intelligent storage control system.

10. An assembly method for automatic assembly equipment of cylindrical parts and disc-shaped parts, characterized in that: The following steps are involved: S1, cylindrical parts feeding mechanism automatically feeds cylindrical parts; S2, disc-shaped parts feeding mechanism automatically feeds disc-shaped parts; S3, bolt feeding mechanism automatically pre-installs bolts; S4, bolt feeding mechanism automatically tightens the bolts; S5, the upper end surface stud feeding and assembly mechanism automatically tightens the upper end surface stud; S6, the side stud feeding and assembly mechanism automatically tightens the side studs; S7, the assembly part turning mechanism automatically turns down the assembly line; S8. Intelligent storage warehouse performs intelligent warehousing, realizing automatic placement of full pallets, automatic collection of empty pallets, and automatic stocking.

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