Multi-station full-automatic lipstick shell assembling equipment based on visual positioning

Abstract

The invention relates to the technical field of lipstick inner three-piece assembling equipment, and discloses lipstick shell multi-station full-automatic assembling equipment based on visual localization, the lipstick shell multi-station full-automatic assembling equipment based on visual localization comprises a workbench, a rotating disc mechanism is fixedly installed on the upper side of the workbench, the rotating disc mechanism comprises a rotating disc and a fixing table, and the rotating disc is provided with an initial feeding station and a butt joint station; the initial feeding station, the butt joint station, the knob stations, the detection stations and the discharging stations are all fixedly provided with a plurality of sets of workpiece jigs. The workpiece jigs are arranged on the initial feeding station, the butt joint station, the knob stations, the detection stations and the discharging stations. Through the cooperation of the turntable mechanism, the workpiece jigs, the butt-joint mounting mechanism and the rotary mounting mechanism, the purpose of fixing a workpiece for assembly by variable adsorption force is achieved, the traditional single mechanical clamping and fixing mode is changed, the stability of the workpiece during assembly is ensured, and the production efficiency is improved. Meanwhile, the assembling mode that the inner core shell and the bottom shell move oppositely at the same time and are in butt joint is adopted, butt joint is rapid, and the butt joint success rate is increased.

Description

Technical Field

[0001] The present invention relates to the technical field of three-piece assembly equipment for lipsticks, and particularly to a multi-station full-automatic assembly equipment for lipstick cases based on visual positioning. Background Art

[0002] The three inner parts of a lipstick generally consist of a bottom case with a Z-shaped groove, an inner core case for containing the lipstick, and a tube case with a spiral groove on the inner side. A convex post is provided on the outer side of the inner core case for containing the lipstick. The inner core case is arranged in the bottom case of the Z-shaped groove through the convex post and slides in the Z-shaped groove. The tube case with the spiral groove is installed on the outer side of the bottom case of the Z-shaped groove, and the convex post on the inner core case also slides in the spiral groove. By rotating the bottom case, the inner core case is driven to perform a spiral upward movement in the tube case, thereby extending the lipstick. The assembly operation of the three inner parts of the lipstick is basically carried out by an automated lipstick assembly device.

[0003] The existing assembly devices for the three inner parts of lipsticks generally adopt two forms: chain-type lipstick assembly or turntable-type lipstick assembly machines. Using a vibratory bowl feeding mechanism, the three inner parts of the lipstick are transported to the corresponding installation stations. The bottom case is clamped by a manipulator into a fixed jig at the corresponding installation station, and then transferred to the next station. The inner core case is docked with the bottom case by a manipulator. After docking, it is transferred to the next station. The tube case is sleeved on the outer side of the bottom case by a machine, and is twisted in place by a twisting mechanism; However, the fixed jigs of the existing assembly machines generally use mechanical clamping. Since the lipstick is long and tubular, single mechanical clamping of its bottom makes it prone to deviation during the assembly process, which may lead to assembly deviation and misalignment. At the same time, when docking the bottom case and the inner core case, high-precision docking operations cannot be achieved, and the docking failure rate is relatively high, resulting in poor assembly effects. Summary of the Invention

[0004] The purpose of the present invention is to provide a multi-station full-automatic assembly equipment for lipstick cases based on visual positioning to solve the problems raised in the background art.

[0005] To achieve the above purpose, the present invention provides the following technical solution: A multi-station full-automatic assembly equipment for lipstick cases based on visual positioning, including a workbench. A turntable mechanism is fixedly installed on the upper side of the workbench. The turntable mechanism includes a turntable and a fixed table. Initial feeding stations, docking stations, twisting stations, detection stations, and discharging stations are provided on the turntable, and two sets are provided respectively. Multiple workpiece jigs are fixedly installed on the initial feeding stations, docking stations, twisting stations, detection stations, and discharging stations; A docking and installation mechanism, a first vision inspection mechanism, a rotating installation mechanism, and a second vision inspection mechanism are fixedly connected to the fixed table, and there are two sets of each. The docking and installation mechanism and the first vision inspection mechanism correspond to the docking station, the rotating installation mechanism corresponds to the screwing station, and the second vision inspection mechanism corresponds to the inspection station; The workpiece fixture includes a connecting plate, a regulating component, and a fixing component. The connecting plates are fixedly connected to the turntable in a uniformly distributed manner. The regulating component is fixedly connected to the upper side of the connecting plate, and the fixing component is fixedly connected to the upper side of the regulating component; The fixing component includes a connecting seat, a suction cup, an air pipe, and a sealing ring. The connecting seat is fixedly connected to the upper side of the regulating component. A suction cup is arranged on the upper side of the connecting seat. A sealing ring is arranged between the connecting seat and the first coil. The outer side of the connecting seat is communicated with the air pipe. The suction cup is provided with uniformly distributed through holes.

[0006] The initial loading station, the docking station, and the screwing station correspond to an external vibrating disk feeding mechanism. At the initial loading station, an external manipulator clamps and places the bottom shell inside the suction cup. Since the air pipe is connected to an external air extraction device, after the bottom shell is placed inside the suction cup, the external air extraction device is started. Through the flow of air, a negative pressure state is formed inside the connecting seat. And because the suction cup is provided with uniformly distributed through holes, an adsorption force is generated on the bottom shell inside the suction cup to fix it; Further, the turntable mechanism further includes a first motor, a bottom plate, a first gear, a gear ring, and a rotating sleeve. The bottom plate is fixedly connected to the upper side of the workbench. The first motor is fixedly connected to the upper side of the bottom plate. The output end of the first motor is fixedly connected to the first gear. The first gear is meshed with the gear ring on the outside. The rotating sleeve is fixedly connected to the inside of the gear ring. The rotating sleeve is rotatably connected to the bottom plate. The turntable is fixedly connected to the upper side of the rotating sleeve. The fixed table is fixedly connected to the upper side of the bottom plate and inside the rotating sleeve Start the first motor, and the first motor drives the first gear to rotate. The first gear drives the gear ring to rotate through meshing. The gear ring drives the turntable to rotate synchronously through the rotating sleeve, and then transfers the bottom shell to the docking station; Further, the regulating component includes an installation cylinder, a first coil, a magnetic block, a moving rod, a fixed sleeve, a limiting block, and a first spring. The installation cylinder is fixedly connected to the upper side of the connecting plate. The first coil is fixedly connected to the bottom of the inside of the installation cylinder. The magnetic block is slidably connected to the inside of the installation cylinder. The moving rod is fixedly connected to the upper side of the magnetic block. The fixed sleeve is fixedly connected to the upper side of the installation cylinder. The limiting block is fixedly connected to the inside of the fixed sleeve. The moving rod penetrates through the limiting block and the fixed sleeve. The first spring is fixedly connected between the moving rod and the limiting block. The moving rod is fixedly connected to the connecting seat.

[0007] Furthermore, the docking and installation mechanism includes a flat plate, a first telescopic cylinder, a first connecting frame, a first bearing plate, an installation component, a control component, a fixed sleeve, a second telescopic cylinder, a second bearing plate, and a push rod. A first connecting frame is fixedly connected to the fixed table, a first telescopic cylinder is fixedly connected to the other side of the first connecting frame, a first bearing plate is fixedly connected to the lower output end of the first telescopic cylinder, a flat plate is fixedly connected to the side of the first telescopic cylinder away from the first connecting frame, a second telescopic cylinder is fixedly connected to the side of the flat plate away from the first telescopic cylinder, a second bearing plate is fixedly connected to the lower output end of the second telescopic cylinder, uniformly distributed fixed sleeves are fixedly installed on the lower side of the first bearing plate, an installation component and a control component are arranged on the lower side of the fixed sleeve, a push rod is arranged inside the fixed sleeve, and the push rod is fixedly connected to the second bearing plate.

[0008] Furthermore, the installation component includes a second gear, a third gear, a second motor, a fixed block, a connecting rod, a roller, a moving sleeve, and a clamping plate. Uniformly distributed second motors are fixedly connected to the lower side of the first bearing plate, a third gear is fixedly connected to the lower output end of the second motor, a second gear is meshed with the outside of the third gear, the second gear rotates on the outside of the fixed sleeve, uniformly distributed fixed blocks are slidably connected to the inside of the second gear, rollers are rotatably connected to the outside of the fixed blocks, and the rollers are used to guide the sliding of the fixed blocks. A moving sleeve is arranged on the lower outer side of the fixed sleeve, two groups of connecting rods are rotatably connected between the moving sleeve and the fixed block, and a clamping plate is fixedly connected to the side of the fixed block away from the moving sleeve.

[0009] The first telescopic cylinder drives the inner core shell at the lower side to be docked with the bottom shell. At this time, the first CCD camera performs visual positioning on the states of the bottom shell and the inner core shell. Through the image captured by the first CCD camera, whether the convex posts on the inner core shell are aligned with the openings on the bottom shell can be monitored through an external control system. If there is a misalignment, the second motor is started. The second motor drives the third gear to rotate, and the third gear meshes with and drives the second gear to rotate, thereby synchronously driving the inner core shell to rotate until the convex posts on the inner core shell are aligned with the openings on the bottom shell. Then, the inner core shell is controlled to move downward and dock with the bottom shell, and it is installed into the Z-shaped groove. Subsequently, the second telescopic cylinder is started. The second telescopic cylinder drives the second bearing plate to move downward, thereby driving the push rod to move downward synchronously, so that the push rod pushes the inner core shell to move to the bottom of the bottom shell; Furthermore, the control component includes a circular shell, a second coil, a second spring, and a magnetic ring. A second coil is fixedly connected to the inside of the second gear, a circular shell is fixedly connected to the outside of the second coil, a magnetic ring is slidably connected to the inside of the circular shell, the magnetic ring is fixedly connected to the moving sleeve, and a second spring is fixedly connected between the second coil and the magnetic ring.

[0010] Use an external manipulator to clamp and transport the inner core shell to the lower side corresponding to the installation component, and then start the first telescopic cylinder. The first telescopic cylinder drives the first bearing plate to move downward, so that the clamping plate moves to the inner side of the inner core shell. At this time, current is passed into the interior of the second coil, so that the second coil generates a magnetic force field that attracts the magnetic ring after the current is passed, and then drives the magnetic ring and the moving sleeve to move upward synchronously. While the moving sleeve moves upward, through the action of the connecting rod, the fixed block and the roller, the clamping plate is driven to move outward along the chute on the second gear, so as to clamp the inner side of the inner core shell, and then the external manipulator is removed; Further, the first visual detection mechanism includes a second connecting frame and a first CCD camera. The second connecting frame is fixedly connected to the lower side of the fixed table, and the first CCD cameras are fixedly connected to the second connecting frame in a uniformly distributed manner. The first CCD cameras correspond to the docking stations.

[0011] While docking, current is passed into the first coil, so that the first coil generates a magnetic force field that repels the magnetic block, and then the moving rod is pushed to move upward. The moving rod drives the connecting seat and the suction cup to move upward synchronously, so that the upper inner core shell and the lower bottom shell are docked synchronously and oppositely, and thus rapid docking is achieved with a high docking success rate; While docking, control the external air extraction device to increase the air extraction force on the air pipe, so that the adsorption force of the suction cup on the bottom shell is increased, ensuring the stability of docking; Further, the rotary installation mechanism includes a third connecting frame, a third telescopic cylinder, a third bearing plate and a twisting assembly. The third connecting frame is fixedly connected to the fixed table, the other side of the third connecting frame is fixedly connected to the third telescopic cylinder, the lower output end of the third telescopic cylinder is fixedly connected to the third bearing plate, and the twisting assemblies are fixedly connected to the lower side of the third bearing plate in a uniformly distributed manner.

[0012] After the bottom shell and the inner core shell are docked, drive them to the twisting station. The external manipulator drives the tube shell to be sleeved on the outside of the bottom shell, and then start the third telescopic cylinder. The third telescopic cylinder drives the third bearing plate to move downward, so that the twisting assembly moves downward synchronously with it. The rotating rod contacts the outside of the tube shell. Start the third motor, and the third motor drives the fourth gear to rotate. The fourth gear meshes to drive a plurality of fifth gears to rotate synchronously, so that the rotating rod twists the tube shell. When the knob is in place and there is still a twisting action, the moving rod can rotate in the installation cylinder, so that the three inner parts of the lipstick in the first coil can rotate to prevent over-twisting; Further, the twisting assembly includes a third motor, a round box, a fourth gear, a fifth gear, and a rotating rod. A uniformly distributed fixing frame is fixedly connected to the lower side of the third bearing plate. The third motor is fixedly connected to the inner side of the fixing frame. The round box is fixedly connected to the lower side of the fixing frame. The lower output end of the third motor is fixedly connected to the fourth gear. The fourth gear is arranged inside the round box. Uniformly distributed fifth gears are meshed with the outer side of the fourth gear. The lower side of the fifth gear is fixedly connected to the rotating rod.

[0013] Further, the second visual inspection mechanism includes a fourth connecting frame and a second CCD camera. The fourth connecting frame is fixedly connected to the fixing table. Uniformly distributed second CCD cameras are fixedly connected to the fourth connecting frame. The second CCD camera corresponds to the inspection station.

[0014] After the three inner components of the lipstick are assembled, they are transferred to the inspection station. The second CCD camera inspects the assembled finished product. The qualified products are transferred to the blanking station, and the external manipulator clamps and blanks them.

[0015] Compared with the prior art, the present invention provides a multi-station full-automatic assembly device for lipstick shells based on visual positioning, having the following beneficial effects: 1. Through the cooperation of the turntable mechanism, the workpiece fixture, the docking installation mechanism, and the rotating installation mechanism, the present invention realizes the purpose of fixing and assembling workpieces with variable adsorption force, changes the traditional single mechanical clamping and fixing method, ensures the stability of the workpiece during assembly, and at the same time adopts the assembly method of the inner core shell and the bottom shell moving towards each other simultaneously for docking, abandoning the existing docking method of one moving and one fixing, making the docking fast, improving the docking success rate, and preventing over-twisting during the twisting assembly of the tube shell, reducing the possibility of damage to the workpiece during assembly.

[0016] 2. Through the cooperation of the docking installation mechanism, the first visual inspection mechanism, and the second visual inspection mechanism, the present invention realizes the purpose of visual positioning during the docking of the inner core shell and the bottom shell, ensures the accuracy during docking, improves the docking success rate, and at the same time adopts the integrated design of clamping, docking, and pushing for the inner core shell, changing the existing method of using two processes for docking and pushing the inner core shell, simplifying the assembly process, improving the assembly efficiency, and having an inspection station to visually inspect the assembled workpieces and remove defective products. Description of the Drawings

[0017] Figure 1 It is a three-dimensional structure schematic diagram of the present invention; Figure 2 It is a three-dimensional structure schematic diagram of another angle of the present invention; Figure 3 For the present invention Figure 2 The enlarged structure schematic diagram at A in; Figure 4 Schematic three-dimensional structure diagram of the turntable of the present invention; Figure 5 Exploded three-dimensional structure diagram of the turntable mechanism of the present invention; Figure 6 Schematic three-dimensional structure diagram of the workpiece fixture of the present invention; Figure 7 Sectioned three-dimensional structure diagram of the workpiece fixture of the present invention; Figure 8 For the present invention Figure 7 Enlarged structure diagram at position B in; Figure 9 Schematic three-dimensional structure diagram of the docking and installation mechanism of the present invention; Figure 10 Schematic three-dimensional structure diagram of the installation component of the present invention; Figure 11 Schematic three-dimensional structure diagram of the first carrier plate of the present invention; Figure 12 For the present invention Figure 11 Enlarged structure diagram at position C in; Figure 13 Schematic three-dimensional structure diagram of the rotary installation mechanism of the present invention; Figure 14 Schematic three-dimensional structure diagram of the rotary component of the present invention; Figure 15 Schematic three-dimensional structure diagram of the first vision detection mechanism of the present invention; Figure 16 Schematic three-dimensional structure diagram of the second vision detection mechanism of the present invention; Figure 17 Schematic three-dimensional structure diagram of the control component of the present invention.

[0018] In the figure: 1. Workbench; 2. Turntable mechanism; 21. First motor; 22. Base plate; 23. First gear; 24. Gear ring; 25. Rotating sleeve; 26. Turntable; 27. Fixed table; 3. Workpiece fixture; 31. Connecting plate; 32. Regulation component; 321. Installation cylinder; 322. First coil; 323. Magnetic block; 324. Moving rod; 325. Fixed sleeve; 326. Limiting block; 327. First spring; 33. Fixing component; 331. Connecting seat; 332. Suction cup; 333. Air pipe; 334. Sealing ring; 4. Docking installation mechanism; 41. Flat plate; 42. First telescopic cylinder; 43. First connecting frame; 44. First bearing plate; 45. Installation component; 451. Second gear; 452. Third gear; 453. Second motor; 454. Fixed block; 455. Connecting rod; 456. Roller; 457. Moving sleeve; 458. Clamping plate; 46. Control component; 461. Circular shell; 462. Second coil; 463. Second spring; 464. Magnetic ring; 47. Fixed sleeve; 48. Second telescopic cylinder; 49. Second bearing plate; 410. Push rod; 5. First visual inspection mechanism; 51. Second connecting frame; 52. First CCD camera; 6. Rotary installation mechanism; 61. Third connecting frame; 62. Third telescopic cylinder; 63. Third bearing plate; 64. Rotary component; 641. Third motor; 642. Round box; 643. Fourth gear; 644. Fifth gear; 645. Rotating rod; 7. Second visual inspection mechanism; 71. Fourth connecting frame; 72. Second CCD camera. Detailed implementation manners

[0019] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention. Embodiment

[0020] Please refer to Figures 1-17 , a multi-station full-automatic assembly device for lipstick cases based on visual positioning, including a workbench 1. A turntable mechanism 2 is fixedly installed on the upper side of the workbench 1. The turntable mechanism 2 includes a turntable 26 and a fixed table 27. An initial feeding station, a docking station, a screwing station, an inspection station, and a discharging station are arranged on the turntable 26, and two groups are respectively arranged. Multiple groups of workpiece fixtures 3 are fixedly installed on the initial feeding station, the docking station, the screwing station, the inspection station, and the discharging station. The docking and installation mechanism 4, the first vision detection mechanism 5, the rotary installation mechanism 6, and the second vision detection mechanism 7 are fixedly connected to the fixed platform 27, and there are two sets respectively. The docking and installation mechanism 4 and the first vision detection mechanism 5 correspond to the docking station, the rotary installation mechanism 6 corresponds to the twisting station, and the second vision detection mechanism 7 corresponds to the detection station; The workpiece fixture 3 includes a connecting plate 31, a regulation component 32, and a fixing component 33. The connecting plates 31 are fixedly connected to the turntable 26 in a uniformly distributed manner. The regulation component 32 is fixedly connected to the upper side of the connecting plate 31, and the fixing component 33 is fixedly connected to the upper side of the regulation component 32; The fixing component 33 includes a connecting seat 331, a suction cup 332, an air pipe 333, and a sealing ring 334. The connecting seat 331 is fixedly connected to the upper side of the regulation component 32. The suction cup 332 is arranged on the upper side of the connecting seat 331. A sealing ring 334 is arranged between the connecting seat 331 and the first coil 322. The outer side of the connecting seat 331 is communicated with the air pipe 333, and the suction cup 332 is provided with uniformly distributed through holes.

[0021] The initial loading station, the docking station, and the twisting station correspond to an external vibrating disk feeding mechanism. At the initial loading station, an external manipulator clamps and places the bottom shell inside the suction cup 332. Since the air pipe 333 is communicated with an external air extraction device, after the bottom shell is placed inside the suction cup 332, the external air extraction device is started. Through the flow of air, a negative pressure state is formed inside the connecting seat 331. And because the suction cup 332 is provided with uniformly distributed through holes, an adsorption force is generated on the bottom shell inside the suction cup 332 to fix it; Furthermore, the turntable mechanism 2 further includes a first motor 21, a bottom plate 22, a first gear 23, a gear ring 24, and a rotating sleeve 25. The bottom plate 22 is fixedly connected to the upper side of the workbench 1. The first motor 21 is fixedly connected to the upper side of the bottom plate 22. The output end of the first motor 21 is fixedly connected to the first gear 23. The first gear 23 is meshed with the gear ring 24 on the outside. The rotating sleeve 25 is fixedly connected to the inside of the gear ring 24. The rotating sleeve 25 is rotatably connected to the bottom plate 22. The turntable 26 is fixedly connected to the upper side of the rotating sleeve 25, and the fixed platform 27 is fixedly connected to the upper side of the bottom plate 22 and inside the rotating sleeve 25 Start the first motor 21. The first motor 21 drives the first gear 23 to rotate. The first gear 23 meshes and drives the gear ring 24 to rotate. The gear ring 24 drives the turntable 26 to rotate synchronously through the rotating sleeve 25, thereby transferring the bottom shell to the docking station; Further, the control component 32 includes an installation cylinder 321, a first coil 322, a magnetic block 323, a moving rod 324, a fixed sleeve 325, a limiting block 326, and a first spring 327. The upper side of the connecting plate 31 is fixedly connected to the installation cylinder 321. The inner bottom of the installation cylinder 321 is fixedly connected to the first coil 322. The inner side of the installation cylinder 321 is slidably connected to the magnetic block 323. The upper side of the magnetic block 323 is fixedly connected to the moving rod 324. The upper side of the installation cylinder 321 is fixedly connected to the fixed sleeve 325. The inner side of the fixed sleeve 325 is fixedly connected to the limiting block 326. The moving rod 324 passes through the limiting block 326 and the fixed sleeve 325. A first spring 327 is fixedly connected between the moving rod 324 and the limiting block 326. The moving rod 324 is fixedly connected to the connecting seat 331.

[0022] Further, the docking and installation mechanism 4 includes a flat plate 41, a first telescopic cylinder 42, a first connecting frame 43, a first bearing plate 44, an installation component 45, a control component 46, a fixed sleeve 47, a second telescopic cylinder 48, a second bearing plate 49, and a push rod 410. The first connecting frame 43 is fixedly connected to the fixed platform 27. The other side of the first connecting frame 43 is fixedly connected to the first telescopic cylinder 42. The lower output end of the first telescopic cylinder 42 is fixedly connected to the first bearing plate 44. The side of the first telescopic cylinder 42 away from the first connecting frame 43 is fixedly connected to the flat plate 41. The side of the flat plate 41 away from the first telescopic cylinder 42 is fixedly connected to the second telescopic cylinder 48. The lower output end of the second telescopic cylinder 48 is fixedly connected to the second bearing plate 49. A uniformly distributed fixed sleeve 47 is fixedly installed on the lower side of the first bearing plate 44. The lower side of the fixed sleeve 47 is provided with the installation component 45 and the control component 46. A push rod 410 is arranged inside the fixed sleeve 47. The push rod 410 is fixedly connected to the second bearing plate 49.

[0023] Further, the installation component 45 includes a second gear 451, a third gear 452, a second motor 453, a fixed block 454, a connecting rod 455, a roller 456, a moving sleeve 457, and a clamping plate 458. A uniformly distributed second motor 453 is fixedly connected to the lower side of the first bearing plate 44. The lower output end of the second motor 453 is fixedly connected to the third gear 452. The second gear 451 is meshed with the outer side of the third gear 452. The second gear 451 rotates on the outer side of the fixed sleeve 47. A uniformly distributed fixed block 454 is slidably connected to the inner side of the second gear 451. The outer side of the fixed block 454 is rotatably connected to the roller 456. The roller 456 is used to guide the sliding of the fixed block 454. A moving sleeve 457 is arranged on the lower outer side of the fixed sleeve 47. Two groups of connecting rods 455 are rotatably connected between the moving sleeve 457 and the fixed block 454. The side of the fixed block 454 away from the moving sleeve 457 is fixedly connected to the clamping plate 458.

[0024] Driven by the telescopic cylinder 1-42, the inner core shell at the lower side is docked with the bottom shell. At this time, the CCD camera 1-52 performs visual positioning on the states of the bottom shell and the inner core shell. Through the image captured by the CCD camera 1-52, the external control system can monitor whether the convex posts on the inner core shell are aligned with the openings on the bottom shell. If there is a misalignment, the motor 2-453 is started. The motor 2-453 drives the gear 3-452 to rotate. The gear 3-452 drives the gear 2-451 to rotate through meshing, and then synchronously drives the inner core shell to rotate until the convex posts on the inner core shell are aligned with the openings on the bottom shell. Then, the inner core shell is controlled to move downward and dock with the bottom shell, and it is installed in the Z-shaped groove. Subsequently, the telescopic cylinder 2-48 is started. The telescopic cylinder 2-48 drives the bearing plate 2-49 to move downward, and then drives the push rod 4-10 to move downward synchronously, so that the push rod 4-10 pushes the inner core shell to move to the bottom of the bottom shell; Further, the control component 4-6 includes a circular shell 4-61, a coil 2-462, a spring 2-463, and a magnetic ring 4-64. The inner side of the gear 2-451 is fixedly connected with the coil 2-462. The outer side of the coil 2-462 is fixedly connected with the circular shell 4-61. The inner side of the circular shell 4-61 is slidably connected with the magnetic ring 4-64. The magnetic ring 4-64 is fixedly connected with the moving sleeve 4-57. A spring 2-463 is fixedly connected between the coil 2-462 and the magnetic ring 4-64.

[0025] The inner core shell is clamped and transported to the lower side corresponding to the installation component 4-5 by using an external manipulator. Then, the telescopic cylinder 1-42 is started. The telescopic cylinder 1-42 drives the bearing plate 1-44 to move downward, so that the clamping plate 4-58 moves to the inside of the inner core shell. At this time, an electric current is passed into the coil 2-462, so that the coil 2-462 generates a magnetic field force that attracts the magnetic ring 4-64 after the electric current is passed in, and then drives the magnetic ring 4-64 and the moving sleeve 4-57 to move upward synchronously. While the moving sleeve 4-57 moves upward, through the action of the connecting rod 4-55, the fixing block 4-54, and the roller 4-56, the clamping plate 4-58 is driven to move outward along the chute on the gear 2-451, and then the inside of the inner core shell is clamped. Then, the external manipulator is removed; Further, the visual detection mechanism 1-5 includes a connecting frame 2-51 and a CCD camera 1-52. The lower side of the fixed table 2-7 is fixedly connected with the connecting frame 2-51. The connecting frame 2-51 is fixedly connected with the CCD cameras 1-52 evenly distributed. The CCD cameras 1-52 correspond to the docking stations.

[0026] During the docking, an electric current is passed into the coil 1-322, so that the coil 1-322 generates a magnetic field force that repels the magnetic block 3-23, and then drives the moving rod 3-24 to move upward. The moving rod 3-24 drives the connecting seat 3-31 and the suction cup 3-32 to move upward synchronously, so that the upper inner core shell and the lower bottom shell are docked towards each other synchronously, and thus the rapid docking is achieved, and the docking success rate is high; While docking, control the external air extraction device to increase the air extraction force on the trachea 333, so as to increase the adsorption force of the adsorption disc 332 on the bottom shell and ensure the stability of docking; Further, the rotary mounting mechanism 6 includes a connecting frame three 61, a telescopic cylinder three 62, a bearing plate three 63, and a twisting assembly 64. The connecting frame three 61 is fixedly connected to the fixed table 27. The other side of the connecting frame three 61 is fixedly connected to the telescopic cylinder three 62. The lower output end of the telescopic cylinder three 62 is fixedly connected to the bearing plate three 63. The lower side of the bearing plate three 63 is fixedly connected with evenly distributed twisting assemblies 64.

[0027] After the bottom shell is docked with the inner core shell, drive it to the twisting station. The external manipulator drives the tube shell to be sleeved outside the bottom shell. Then start the telescopic cylinder three 62. The telescopic cylinder three 62 drives the bearing plate three 63 to move downward, so that the twisting assembly 64 moves downward synchronously with it. The rotating rod 645 contacts the outside of the tube shell. Start the motor three 641. The motor three 641 drives the gear four 643 to rotate. The gear four 643 meshes to drive multiple groups of gears five 644 to rotate synchronously, so that the rotating rod 645 twists the tube shell. When the knob is in place and there is still a twisting action, the moving rod 324 can rotate in the mounting cylinder 321, so that the three inner parts of the lipstick in the coil one 322 can rotate to prevent over-twisting; Further, the twisting assembly 64 includes a motor three 641, a round box 642, a gear four 643, gears five 644, and a rotating rod 645. The lower side of the bearing plate three 63 is fixedly connected with evenly distributed fixed frames. The inner side of the fixed frame is fixedly connected with the motor three 641. The lower side of the fixed frame is fixedly connected with the round box 642. The lower output end of the motor three 641 is fixedly connected with the gear four 643. The gear four 643 is arranged inside the round box 642. The outside of the gear four 643 meshes with evenly distributed gears five 644. The lower side of the gear five 644 is fixedly connected with the rotating rod 645.

[0028] Further, the visual inspection mechanism two 7 includes a connecting frame four 71 and a CCD camera two 72. The connecting frame four 71 is fixedly connected to the fixed table 27. The connecting frame four 71 is fixedly connected with evenly distributed CCD cameras two 72. The CCD cameras two 72 correspond to the inspection stations.

[0029] After the three inner parts of the lipstick are assembled, transfer them to the inspection station. The CCD camera two 72 inspects the assembled finished products. The qualified ones are transferred to the blanking station, and the external manipulator clamps and blanks them.

[0030] The specific usage mode and function of this embodiment: During use, the initial feeding station, the docking station, and the twisting station correspond to an externally placed vibrating bowl feeding mechanism. At the initial feeding station, an external manipulator clamps and places the bottom shell inside the adsorption disc 332. Since the air pipe 333 is connected to an external air extraction device, after the bottom shell is placed inside the adsorption disc 332, the external air extraction device is started. Through the flow of air, a negative pressure state is formed inside the connecting seat 331. Also, since the adsorption disc 332 is provided with uniformly distributed through holes, an adsorption force is generated on the bottom shell inside the adsorption disc 332 to fix it; After the bottom shell is fixed in place, start the first motor 21. The first motor 21 drives the first gear 23 to rotate. The first gear 23 meshes with and drives the gear ring 24 to rotate. The gear ring 24 drives the turntable 26 to rotate synchronously through the rotating sleeve 25, thereby transferring the bottom shell to the docking station; At this time, use an external manipulator to clamp and transport the inner core shell to the lower side corresponding to the installation assembly 45. Then start the first telescopic cylinder 42. The first telescopic cylinder 42 drives the bearing plate 44 to move downward, so that the clamping plate 458 moves inside the inner core shell. At this time, current is passed through the inside of the second coil 462, so that after the second coil 462 is energized, a magnetic force field that attracts the magnetic ring 464 is generated, thereby driving the magnetic ring 464 and the moving sleeve 457 to move upward synchronously. While the moving sleeve 457 moves upward, through the action of the connecting rod 455, the fixed block 454, and the roller 456, the clamping plate 458 is driven to move outward along the chute on the second gear 451, thereby clamping the inside of the inner core shell. Then remove the external manipulator; The first telescopic cylinder 42 drives the lower inner core shell to be docked with the bottom shell. At this time, the first CCD camera 52 performs visual positioning on the states of the bottom shell and the inner core shell. Through the image captured by the first CCD camera 52, it can be monitored by an external control system whether the convex column on the inner core shell is aligned with the opening on the bottom shell. If there is a misalignment, start the second motor 453. The second motor 453 drives the third gear 452 to rotate. The third gear 452 meshes with and drives the second gear 451 to rotate, thereby synchronously driving the inner core shell to rotate until the convex column on the inner core shell is aligned with the opening on the bottom shell. Then control the inner core shell to move downward and dock with the bottom shell, install it in the Z-shaped groove. Subsequently, start the second telescopic cylinder 48. The second telescopic cylinder 48 drives the bearing plate 49 to move downward, thereby driving the push rod 410 to move downward synchronously, so that the push rod 410 pushes the inner core shell to the bottom of the bottom shell; During docking, current is passed through the first coil 322, so that the first coil 322 generates a magnetic force field that repels the magnetic block 323, thereby pushing the moving rod 324 upward. The moving rod 324 drives the connecting seat 331 and the adsorption disc 332 to move upward synchronously, so that the upper inner core shell and the lower bottom shell are docked towards each other synchronously, thereby achieving rapid docking with a high docking success rate; While docking, control the external air extraction device to increase the air extraction force on the trachea 333, so as to increase the adsorption force of the adsorption disc 332 on the bottom shell, ensuring the stability of docking; After the bottom shell is docked with the inner core shell, drive it to move to the twisting station. The external manipulator drives the tube shell to be sleeved outside the bottom shell. Then start the telescopic cylinder three 62. The telescopic cylinder three 62 drives the bearing plate three 63 to move downward, so that the twisting assembly 64 moves downward synchronously with it. The rotating rod 645 contacts the outside of the tube shell. Start the motor three 641. The motor three 641 drives the gear four 643 to rotate. The gear four 643 meshes to drive multiple groups of gears five 644 to rotate synchronously, so that the rotating rod 645 twists the tube shell. When the knob is in place and there is still a twisting action, the moving rod 324 can rotate in the mounting cylinder 321, so that the three inner parts of the lipstick in the coil one 322 can rotate to prevent over-twisting; After the three inner parts of the lipstick are assembled, transfer them to the inspection station. The CCD camera two 72 inspects the assembled finished product. The qualified ones are transferred to the blanking station, and the external manipulator clamps and unloads them, and so on.

[0031] Although the embodiments of the present invention have been shown and described, for those of ordinary skill in the art, it can be understood that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principle and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A multi-station fully automatic assembly device for lipstick shells based on visual positioning, comprising a workbench (1), a turntable mechanism (2) being fixedly mounted on the upper side of the workbench (1), characterized in that: The turntable mechanism (2) comprises a turntable (26) and a fixed platform (27); the turntable (26) is provided with an initial loading station, a docking station, a twisting station, a detection station, and a material unloading station, and two groups are respectively provided; the initial loading station, the docking station, the twisting station, the detection station, and the material unloading station are all fixedly installed with a plurality of groups of workpiece fixtures (3); The fixed platform (27) is fixedly connected with a docking installation mechanism (4), a first visual inspection mechanism (5), a rotating installation mechanism (6), and a second visual inspection mechanism (7), and two groups are respectively provided, wherein the docking installation mechanism (4) and the first visual inspection mechanism (5) correspond to the docking station, the rotating installation mechanism (6) corresponds to the twisting station, and the second visual inspection mechanism (7) corresponds to the inspection station; The workpiece fixture (3) comprises a connecting plate (31), a regulating component (32), and a fixing component (33); the rotating disk (26) is fixedly connected to the connecting plate (31) which is evenly distributed; the upper side of the connecting plate (31) is fixedly connected to the regulating component (32); and the upper side of the regulating component (32) is fixedly connected to the fixing component (33); The fixing component (33) comprises a connecting seat (331), a suction plate (332), an air pipe (333), and a sealing ring (334); the upper side of the regulating component (32) is fixedly connected to the connecting seat (331); the upper side of the connecting seat (331) is provided with a suction plate (332); a sealing ring (334) is provided between the connecting seat (331) and the coil 1 (322); the outer side of the connecting seat (331) is connected to the air pipe (333); and the suction plate (332) is provided with evenly distributed through holes.

2. The multi-station fully automatic assembly equipment for lipstick shells based on visual positioning according to claim 1 is characterized in that: The turntable mechanism (2) further comprises a motor 1 (21), a base plate (22), a gear 1 (23), a gear ring (24), and a rotating sleeve (25); the upper side of the workbench (1) is fixedly connected to the base plate (22); the upper side of the base plate (22) is fixedly connected to the motor 1 (21); the output end of the motor 1 (21) is fixedly connected to the gear 1 (23); the outer side of the gear 1 (23) is meshed with the gear ring (24); the inner side of the gear ring (24) is fixedly connected to the rotating sleeve (25); the rotating sleeve (25) is rotatably connected to the base plate (22); the upper side of the rotating sleeve (25) is fixedly connected to a turntable (26); and the upper side of the base plate (22) and the inner side of the rotating sleeve (25) are fixedly connected to a fixed table (27).

3. The multi-station fully automatic assembly equipment for lipstick shells based on visual positioning according to claim 1 is characterized in that: The regulating component (32) comprises a mounting tube (321), a coil (322), a magnetic block (323), a moving rod (324), a fixing sleeve (325), a limiting block (326), and a spring (327); the upper side of the connecting plate (31) is fixedly connected to the mounting tube (321); the inner bottom of the mounting tube (321) is fixedly connected to the coil (322); the inner side of the mounting tube (321) is slidably connected to the magnetic block (323); the magnetic block (323) is fixedly connected to the inner bottom of the mounting tube (321); 23), a moving rod (324) is fixedly connected to the upper side of the installation tube (321), a fixing sleeve (325) is fixedly connected to the upper side of the installation tube (321), a limiting block (326) is fixedly connected to the inner side of the fixing sleeve (325), the moving rod (324) passes through the limiting block (326) and the fixing sleeve (325), a spring 1 (327) is fixedly connected between the moving rod (324) and the limiting block (326), and the moving rod (324) is fixedly connected to the connecting seat (331).

4. The multi-station fully automatic assembly equipment for lipstick shells based on visual positioning according to claim 2 is characterized in that: The docking installation mechanism (4) comprises a flat plate (41), a telescopic cylinder (42), a connecting frame (43), a bearing plate (44), an installation assembly (45), a control assembly (46), a fixed sleeve (47), a telescopic cylinder (48), a bearing plate (49), and a push rod (410). The fixed platform (27) is fixedly connected to a connecting frame (43), the other side of the connecting frame (43) is fixedly connected to a telescopic cylinder (42), the lower output end of the telescopic cylinder (42) is fixedly connected to a bearing plate (44), and the telescopic cylinder (42) is away from the connecting frame. A flat plate (41) is fixedly connected to one side of the first telescopic cylinder (43); a side of the flat plate (41) away from the first telescopic cylinder (42) is fixedly connected to the second telescopic cylinder (48); a lower output end of the second telescopic cylinder (48) is fixedly connected to the second bearing plate (49); a uniformly distributed fixed sleeve (47) is fixedly installed on the lower side of the first bearing plate (44); a mounting assembly (45) and a control assembly (46) are arranged on the lower side of the fixed sleeve (47); a push rod (410) is arranged on the inner side of the fixed sleeve (47); and the push rod (410) is fixedly connected to the second bearing plate (49).

5. The multi-station fully automatic assembly equipment for lipstick shells based on visual positioning according to claim 4 is characterized in that: The mounting assembly (45) comprises a second gear (451), a third gear (452), a second motor (453), a fixing block (454), a connecting rod (455), a roller (456), a moving sleeve (457), and a clamping plate (458). The lower side of the carrier plate (44) is fixedly connected to the second motor (453) which is evenly distributed. The lower output end of the second motor (453) is fixedly connected to the third gear (452). The outer side of the third gear (452) is meshed with the second gear (451). The second gear (451) is fixedly connected to the fixing sleeve (47). The outer side of the gear 2 (451) is slidably connected to a uniformly distributed fixed block (454) on the inner side, the fixed block (454) is rotatably connected to a roller (456) on the outer side, and the roller (456) is used to guide the fixed block (454) to slide. A moving sleeve (457) is provided on the outer side of the lower part of the fixed sleeve (47), and two groups of connecting rods (455) are rotatably connected between the moving sleeve (457) and the fixed block (454). A clamping plate (458) is fixedly connected to the side of the fixed block (454) away from the moving sleeve (457).

6. The multi-station fully automatic assembly equipment for lipstick shells based on visual positioning according to claim 5 is characterized by: The control component (46) comprises a circular shell (461), a second coil (462), a second spring (463), and a magnetic ring (464); the second coil (462) is fixedly connected to the inner side of the second gear (451); the second coil (462) is fixedly connected to the outer side of the second coil (462); the magnetic ring (464) is slidably connected to the inner side of the circular shell (461); the magnetic ring (464) is fixedly connected to the moving sleeve (457); and the second spring (463) is fixedly connected between the second coil (462) and the magnetic ring (464).

7. The multi-station fully automatic assembly equipment for lipstick shells based on visual positioning according to claim 2 is characterized by: The visual inspection mechanism 1 (5) comprises a connecting frame 2 (51) and a CCD camera 1 (52). The lower side of the fixed platform (27) is fixedly connected to the connecting frame 2 (51). The connecting frame 2 (51) is fixedly connected to the CCD cameras 1 (52) which are evenly distributed. The CCD cameras 1 (52) correspond to the docking stations.

8. The multi-station fully automatic assembly equipment for lipstick shells based on visual positioning according to claim 2 is characterized by: The rotary installation mechanism (6) comprises a connecting frame three (61), a telescopic cylinder three (62), a bearing plate three (63), and a knob assembly (64); the connecting frame three (61) is fixedly connected to the fixed platform (27); the other side of the connecting frame three (61) is fixedly connected to the telescopic cylinder three (62); the lower output end of the telescopic cylinder three (62) is fixedly connected to the bearing plate three (63); and the lower side of the bearing plate three (63) is fixedly connected to the knob assemblies (64) which are evenly distributed.

9. The multi-station fully automatic assembly equipment for lipstick shells based on visual positioning according to claim 8 is characterized in that: The knob assembly (64) comprises a motor three (641), a round box (642), a gear four (643), a gear five (644), and a rotating rod (645); the lower side of the carrier plate three (63) is fixedly connected to a uniformly distributed fixed frame; the inner side of the fixed frame is fixedly connected to the motor three (641); the lower side of the fixed frame is fixedly connected to the round box (642); the lower output end of the motor three (641) is fixedly connected to the gear four (643); the gear four (643) is arranged on the inner side of the round box (642); the outer side of the gear four (643) is meshed with a uniformly distributed gear five (644); the lower side of the gear five (644) is fixedly connected to the rotating rod (645).

10. The multi-station fully automatic assembly equipment for lipstick shells based on visual positioning according to claim 2 is characterized by: The visual inspection mechanism 2 (7) comprises a connecting frame 4 (71) and a CCD camera 2 (72). The fixing platform (27) is fixedly connected to the connecting frame 4 (71). The connecting frame 4 (71) is fixedly connected to the CCD camera 2 (72) which is evenly distributed. The CCD camera 2 (72) corresponds to the inspection station.

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