A micro claw spring assembly device

Abstract

The present invention relates to the field of intelligent manufacturing assembly technology, and provides a micro claw spring assembly device, including a base plate, a turntable component, a pin feeding component, a claw spring assembly component, a pressing component and a unloading component; the base plate and the lower frame are fixedly connected, the turntable component is arranged at the center position of the upper surface of the base plate, and the claw spring assembly component, the pressing component and the unloading component are evenly distributed in a clockwise direction around the turntable component with the pin feeding component as the starting point; the present invention can realize the automatic assembly of micro claw springs, reduce assembly working hours, improve assembly efficiency, effectively reduce labor costs and improve product quality consistency.

Description

Technical Field

[0001] The present invention relates to the field of intelligent manufacturing assembly technology, and in particular to a micro claw spring assembly device. Background Art

[0002] Claw spring locking connectors, which require no soldering, have a simple structure, are easy to assemble and disassemble, and are increasingly being used to connect circuits between various sensors and PCBs. They offer stable, reliable contact and a long lifespan. However, the assembly of the contacts of claw spring locking connectors currently relies primarily on manual labor, particularly for the micro claw springs described in this invention, which have a maximum diameter of only 1.2 mm and an overall conical shape. Manual assembly requires tweezers to pick up the components and place them one by one into the pin holes. This makes assembly extremely difficult, with poor quality consistency and low efficiency, making it difficult to meet the production needs of modern enterprises. Therefore, a device that can automatically assemble micro claw springs is needed. Summary of the Invention

[0003] The present invention is aimed at the problems existing in the prior art and proposes a micro claw spring assembly device. The pins are automatically loaded and rotated by the turntable component. The claw spring assembly component automatically loads the claw spring parts and installs them into the pin parts. The claw spring parts are automatically assembled by pressing through the pressing component. Finally, the unloading component completes the classification and unloading of the finished products.

[0004] The specific technical solution adopted by the present invention is: it includes a base plate, a turntable component, a pin loading component, a claw spring assembly component, a pressing component and a unloading component; the lower surface of the base plate is fixedly connected to the lower frame, the turntable component is arranged at the center position of the upper surface of the base plate, and the claw spring assembly component, the pressing component and the unloading component are evenly distributed in clockwise direction around the turntable component with the pin loading component as the starting point; the claw spring assembly component includes a vibrating conveying mechanism, a material error component, a flipping mechanism and a transport assembly component; the discharge end of the vibrating conveying mechanism is aligned with the feed end of the material error component, and the flipping mechanism is arranged between the material error component and the transport assembly component.

[0005] Furthermore, the transporting assembly component includes a transverse transport mechanism and a grabbing assembly mechanism; the grabbing assembly mechanism is slidably connected to the transverse transport mechanism; the transverse transport mechanism includes a fixed structure, a transverse fixed plate and an eighth slide cylinder; the fixed structure is composed of a base plate, a vertical plate and a reinforcing rib, the vertical plate and the base plate are vertically arranged, and the fixed structures are arranged in two parallel positions; the back of the transverse fixed plate is fixedly connected to the top side of the vertical plate of the fixed structure; the front of the transverse fixed plate is fixedly connected to the eighth slide cylinder; the grabbing assembly mechanism includes a pad, a ninth slide cylinder, an "L"-shaped connecting plate, a pressing assembly and a clamping assembly; the back of the pad is slidably connected to the slider of the eighth slide cylinder, and the front is fixedly connected to the ninth slide cylinder; the back of the vertical plate of the "L"-shaped connecting plate is slidably connected to the slider of the ninth slide cylinder, and the front of the vertical plate is fixedly connected to the pressing assembly; the bottom surface of the short side of the "L"-shaped connecting plate is fixedly connected to the clamping assembly. The pressing assembly includes a guide block, a baffle, a spring and a pressure rod; the guide block is arranged at the lower position of the front face of the vertical plate of the "L"-shaped connecting plate, and a guide slot is provided inside the guide rod; the pressure rod cooperates with the guide slot inside the guide block and can slide flexibly, the baffle is fixedly connected to the pressure rod by a bolt, and the spring is sleeved on the lower end of the pressure rod and contacts the lower bottom surface of the guide block; the clamping assembly includes a second clamping jaw cylinder and a clamping jaw, and the clamping jaws are two symmetrical structures and are respectively fixedly connected to the two fingers of the second clamping jaw cylinder; an eccentric semicircular groove is provided on the clamping jaw, the eccentric distance is between 0.1 and 0.3 mm, and the thickness of the eccentric semicircular groove is slightly larger than the height of the cylindrical part of the claw spring; a semicircular groove slightly larger than the diameter of the pressure head of the pressure rod is also provided above the eccentric semicircular groove; the pressure rod is directly above the eccentric semicircular groove of the clamping jaw, and the pressure head diameter of the pressure rod is larger than the cylindrical end diameter of the claw spring, and the pressure head diameter of the pressure rod is larger than the diameter of the hole formed by the two eccentric semicircular grooves when the clamping jaw is opened.

[0006] Furthermore, the flipping mechanism includes a vertical fixed plate, a seventh slide cylinder, a vertical pad and a swinging material picking assembly; the top side of the vertical fixed plate is fixedly connected to the seventh slide cylinder; one side of the vertical pad is slidingly connected to the slider of the seventh slide cylinder, and the other side is fixedly connected to the swinging material picking assembly; the swinging material picking assembly includes a swing cylinder, a mounting block, a suction nozzle and a third air joint; the mounting block is rotatably connected to the swing table of the swing cylinder, and two mutually penetrating mounting threaded holes are provided inside the mounting block, and the axes of the two threaded holes are perpendicular to each other, and the third air joint is connected to the horizontal threaded hole inside the mounting block through a threaded connection, and the other end is connected to the third vacuum generator through an air pipe; the threaded hole at the lower part of the mounting block is fixedly connected to the suction nozzle; the interior of the suction nozzle is a hollow structure, and the internal shape of the suction port of the suction nozzle is a shape that imitates the conical end of the claw spring.

[0007] Furthermore, the pin loading component includes a vibration feeding mechanism, a dividing mechanism, a photographing component, a direction adjustment mechanism, a turnover waiting component, and a mobile loading component; a dividing mechanism is provided at the discharge end of the vibration feeding mechanism, and the dividing mechanism is located between the camera component and the light source component of the photographing component; the direction adjustment mechanism is provided between the dividing mechanism and the turnover waiting component, and the mobile loading component is provided above the turnover waiting component.

[0008] Furthermore, the material distribution mechanism includes a vertical mounting plate, a first slide cylinder, a pad, a rotating cylinder, a flange block, a first suction nozzle and a first air joint; the upper side of the vertical mounting plate is fixedly connected to the first slide cylinder; the back of the pad is slidingly connected to the slider of the first slide cylinder, and the front is fixedly connected to the rotating cylinder; the bottom surface of the flange block is rotatably connected to the rotating swing table of the rotating cylinder; a through mounting hole is provided on the boss of the flange block, one side of which is fixedly connected to the first suction nozzle, and the other side opposite to it is fixedly connected to the first air joint; the first air joint is connected to the first vacuum generator through an air pipe; the first suction nozzle includes a needle body cavity and a needle head cavity; the diameter of the needle body cavity is slightly larger than the diameter of the thick end cylinder of the pin; the diameter of the needle head cavity is slightly larger than the diameter of the thin end of the pin, and the depth of the needle body cavity is half the length of the thick end of the pin.

[0009] Furthermore, the photographing assembly includes a camera assembly and a light source assembly; the camera assembly and the light source assembly are arranged relative to each other at a certain distance; and the first suction nozzle of the material distribution mechanism is located between the camera assembly and the light source assembly in a vertical state.

[0010] Furthermore, the direction adjustment mechanism includes a small base plate, a second slide cylinder, a sliding mounting part, a third slide cylinder, a vertical plate and a rotary clamping assembly; the upper surface of the small base plate is fixedly connected to the second slide cylinder; the sliding mounting part includes a bottom panel, a vertical plate and a reinforcing rib. The bottom panel and the vertical plate are 90 degrees, the bottom panel is slidingly connected to the slider of the second slide cylinder, and the side of the vertical plate is fixedly connected to the third slide cylinder; the bottom of the back side of the vertical plate is slidingly connected to the slider of the third slide cylinder, and the top is fixedly connected to the rotary clamping assembly; the rotary clamping assembly includes a rotary clamping cylinder and a first needle body clamp; the first needle body clamp is fixedly connected to the two fingers of the rotary clamping cylinder, and the first needle body clamp is also provided with a "V"-shaped groove structure.

[0011] Furthermore, the turnover material waiting assembly includes a fixed plate, a fourth slide cylinder, an "L"-shaped mounting plate, a second suction nozzle and a second air joint; the fourth slide cylinder is fixedly connected to the top side of the fixed plate; the bottom surface of the "L"-shaped mounting plate is slidably connected to the slider of the fourth slide cylinder; the upper and lower sides of the short side of the "L"-shaped mounting plate are respectively fixedly connected with the second suction nozzle and the second air joint; the second suction nozzle and the second air joint are coaxial and internally connected through the mounting hole on the "L"-shaped mounting plate; the second air joint is connected to the second vacuum generator through the air pipe.

[0012] Furthermore, the pressing component includes a fixing seat, a screw module, a pressure block, a tension and compression sensor and a pressure column; the fixing seat is fixed on the upper surface of the base plate, a screw module is provided on the vertical plate, the screw module is vertically oriented, the pressure block and the slider of the screw module are slidably connected, the raised lower surface of the pressure block is fixedly connected with the tension and compression sensor, and the pressure column is fixedly connected with the lower mounting hole of the tension and compression sensor through threads.

[0013] Furthermore, the unloading component includes a gantry, a support frame, a horizontal slide cylinder, a vertical slide cylinder, a unloading claw component, a qualified product box, an unqualified product box, a movable disk, a linear rail, a floating joint, a pen cylinder and an end mounting frame; the gantry is fixed on the upper surface of the base plate, one end of the upper surface of the gantry is fixedly connected to the support frame, and the top side of the vertical surface of the support frame is fixed to the horizontal slide cylinder; the back of the vertical slide cylinder is slidably connected to the slider of the horizontal slide cylinder; the unloading claw component and the slider of the vertical slide cylinder are slidably connected; a movable disk is provided at a certain distance below the unloading claw component; the upper surface of the movable disk is provided with a qualified product box and an unqualified product box, and the lower surface and the slider of the linear rail are slidably connected; the output shaft end of the pen cylinder is fixed to the other end of the upper surface of the gantry through the end mounting frame, and the output shaft end of the pen cylinder is fixedly connected to the middle position of the side of the movable disk through a floating joint.

[0014] The beneficial effects of the present invention are as follows: by automatically loading the pins and rotating them through the turntable component, the claw spring assembly component automatically loads the claw spring parts and installs them into the pin parts, the pressing component automatically presses the claw spring parts into place, and finally the unloading component completes the classification and unloading of the finished products. This achieves the automatic assembly of micro claw springs, reduces labor costs through automated assembly, and improves loading efficiency and product quality consistency. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is the overall structural diagram of the present invention;

[0016] Figure 2 This is a cross-sectional structural diagram of a claw spring and a pin after assembly according to the present invention;

[0017] Figure 3 This is a structural diagram of the claw spring assembly components of the present invention;

[0018] Figure 4 yes Figure 3 The structural diagram of the handling assembly components;

[0019] Figure 5 yes Figure 4 The structure diagram of the grabbing and assembling mechanism;

[0020] Figure 6 yes Figure 5 Cross-sectional structure diagram of the pressing component;

[0021] Figure 7 This is a structural diagram of the clamping assembly and the pressing assembly after removing the guide block;

[0022] Figure 8 yes Figure 7 The structure diagram of the gripper;

[0023] Figure 9 yes Figure 3 The structure diagram of the flip mechanism;

[0024] Figure 10 yes Figure 9 A cross-sectional view of the swing reclaiming assembly structure;

[0025] Figure 11 This is a structural diagram of the pin feeding component of the present invention;

[0026] Figure 12 yes Figure 11 Exploded structure diagram of the material distribution mechanism;

[0027] Figure 13 yes Figure 12 Cross-sectional structural diagram of the material-retrieving part of the material-dividing mechanism;

[0028] Figure 14 yes Figure 11 The structure diagram of the camera component;

[0029] Figure 15 yes Figure 11 Direction adjustment mechanism structure diagram;

[0030] Figure 16 yes Figure 15 An exploded structural diagram of the rotary clamping assembly;

[0031] Figure 17 yes Figure 11 The structural diagram of the turnover waiting material component;

[0032] Figure 18 It is a structural diagram of the pressing component of the present invention;

[0033] Figure 19 It is a structural diagram of the discharge component of the present invention;

[0034] Figure 20 This is a cross-sectional structural diagram of the pin socket of the turntable component of the present invention;

[0035] Figure 21 yes Figure 11 The structure diagram of the mobile loading component;

[0036] Figure 22 yes Figure 21The structure diagram of the needle removal component.

[0037] In the figure: 1-bottom plate, 2-turntable component, 21-pin seat, 211-seat body, 212-needle avoidance hole, 3-pin loading component, 31-vibration feeding mechanism, 32-distribution mechanism, 321-vertical mounting plate, 322-first slide cylinder, 323-pad, 324-rotating cylinder, 325-flange block, 326-first suction nozzle, 3260-needle body cavity, 3261-needle cavity, 327-first air joint, 33-photographing component, 331-camera component, 332-light source component, 34-direction adjustment mechanism, 341-small bottom plate, 342-second slide cylinder, 343-sliding mounting part, 344-third slide cylinder, 345-vertical Straight plate, 346-rotating clamping assembly, 3460-rotating clamping cylinder, 3461-first needle body clamp, 34610-"V" shaped groove structure, 35-turnover waiting assembly, 351-fixed plate, 352-fourth slide cylinder, 353-"L" shaped mounting plate, 354-second suction nozzle, 355-second air joint, 36-mobile feeding assembly, 361-fixing part, 362-horizontal fixing plate, 363-fifth slide cylinder, 364-needle removal assembly, 3640-fixed pad, 3641-sixth slide cylinder, 3642-clamp fixing block, 3643-first clamp cylinder, 3644-second needle body clamp, 4-claw spring assembly parts, 41-vibration transmission Feeding mechanism, 42- material error assembly, 43- flipping mechanism, 431- vertical fixed plate, 432- seventh slide cylinder, 433- vertical pad, 434- swinging material picking assembly, 4340- swinging cylinder, 4341- mounting block, 4342- suction nozzle, 4343- third air joint, 44- transport assembly assembly, 441- transverse transport mechanism, 4410- fixed structure, 4411- transverse fixed plate, 4412- eighth slide cylinder, 442- grabbing assembly mechanism, 4420- pad, 4421- ninth slide cylinder, 4422- "L" shaped connecting plate, 4423- pressing assembly, 44230- guide block, 44231- baffle, 44232 -spring, 44233-pressure rod, 4424-clamping assembly, 44240-second clamping jaw cylinder, 44241-clamping jaw, 442410-eccentric semicircular groove, 442411-semicircular groove, 5-pressing component, 51-fixed seat, 52-screw module, 53-pressure block, 54-tension and compression sensor, 55-pressure column, 6-unloading component, 61-gantry, 62-support frame, 63-horizontal slide cylinder, 64-vertical slide cylinder, 65-unloading clamping jaw component, 66-qualified product box, 67-unqualified product box, 68-moving disk, 69-linear rail, 610-floating joint, 611-pen cylinder, 612-end mounting frame, 7-claw spring, 8-pin. DETAILED DESCRIPTION

[0038] The preferred embodiments of the present invention are described in detail below with reference to the accompanying drawings so that the advantages and features of the present invention can be more easily understood by those skilled in the art, thereby making a clearer and more precise definition of the protection scope of the present invention.

[0039] The first embodiment of the present invention relates to Figure 1-Figure 22 The device shows a miniature claw spring assembly. It comprises a base plate 1, a turntable component 2, a pin loading component 3, a claw spring assembly component 4, a pressing component 5, and a discharge component 6. The lower surface of the base plate 1 is fixedly connected to the lower frame. The turntable component 2 is located at the center of the upper surface of the base plate 1. The claw spring assembly component 4, pressing component 5, and discharge component 6 are evenly distributed around the turntable component 2 in a clockwise direction starting from the pin loading component 3. The upper surface of the base plate 1 serves as the mounting surface. The pin loading component 3 is used for automatically loading pins 8. The claw spring assembly component 4 is used for automatically loading and assembling claw springs 7. The pressing component 5 is used to press claw springs 7 into the mounting holes at the rear of pins 8. The discharge component 6 is used to sort and store finished products. The turntable component 2 is used to circulate materials between the aforementioned workstations. The overall structure is simple and compact.

[0040] The claw spring assembly component 4 includes a vibrating conveying mechanism 41, a material error component 42, a flipping mechanism 43 and a transport assembly component 44; the discharge end of the vibrating conveying mechanism 41 is aligned with the feed end of the material error component 42, and the flipping mechanism 43 is arranged between the material error component 42 and the transport assembly component 44; the vibrating conveying mechanism 41 is used for automatic feeding of the claw spring 7, and arranges the claw spring 7 in a posture with the cylindrical end facing downward and the conical end facing upward; the material error component 42 separates the two claw springs 7 adjacent to the discharge port to facilitate the flipping mechanism 43 to take the material; the flipping mechanism 43 is used to flip and adjust the claw spring 7 to have the cylindrical end facing upward and the conical end facing downward; the transport assembly component 44 is used for transporting and assembling the claw spring 7.

[0041] The second embodiment of the present invention is substantially the same as the first embodiment, except that the handling assembly component 44 is further optimized. Figure 3-Figure 8As shown, the transport assembly component 44 includes a transverse transport mechanism 441 and a grabbing assembly mechanism 442; the grabbing assembly mechanism 442 is slidably connected to the transverse transport mechanism 441; the transverse transport mechanism 441 includes a fixed structure 4410, a transverse fixed plate 4411 and an eighth slide cylinder 4412; the fixed structure 4410 is composed of a bottom plate, a vertical plate and a reinforcing rib, the vertical plate and the bottom plate are vertically arranged, and the fixed structure 4410 is arranged in two parallel positions; the back side of the transverse fixed plate 4411 is fixedly connected to the top side of the vertical plate of the fixed structure 4410; the front side of the transverse fixed plate 4411 is fixedly connected to the eighth slide cylinder 4412; the grabbing assembly mechanism 442 includes The pad 4420, the ninth slide cylinder 4421, the "L"-shaped connecting plate 4422, the pressing assembly 4423 and the clamping assembly 4424; the back of the pad 4420 is slidably connected to the slider of the eighth slide cylinder 4412, and the front is fixedly connected to the ninth slide cylinder 4421; the back of the vertical plate of the "L"-shaped connecting plate 4422 is slidably connected to the slider of the ninth slide cylinder 4421, and the front of the vertical plate is fixedly connected to the pressing assembly 4423; the bottom surface of the short side of the "L"-shaped connecting plate 4422 is fixedly connected to the clamping assembly 4424; the grabbing assembly mechanism 442 is used to grab the claw spring 7 after the posture is flipped, and the transverse transport mechanism 441 is used to transport the claw spring 7 to the assembly position.

[0042] The pressing assembly 4423 includes a guide block 44230, a baffle 44231, a spring 44232 and a pressure rod 44233; the guide block 44230 is arranged at the lower front position of the vertical plate of the "L"-shaped connecting plate 4422, and a guide groove is provided inside it; the pressure rod 44233 cooperates with the guide groove inside the guide block 44230 and can slide flexibly, the baffle 44231 is fixedly connected to the pressure rod 44233 by bolts, and the spring 44232 is sleeved on the lower end of the pressure rod 44233 and contacts the lower bottom surface of the guide block 44230.

[0043] The clamping assembly 4424 includes a second clamping jaw cylinder 44240 and a clamping jaw 44241. The clamping jaws 44241 are two symmetrical structures and are fixedly connected to the two fingers of the second clamping jaw cylinder 44240 respectively. In order to clamp and release the claw spring 7 more stably, the clamping jaw 44241 is provided with an eccentric semicircular groove 442410, the eccentric distance of which is between 0.1 and 0.3 mm, and the thickness of the eccentric semicircular groove 442410 is slightly larger than the height of the cylindrical part of the claw spring 7 to ensure that the material is clamped. To ensure stability; a semicircular groove 442411 slightly larger than the diameter of the pressure head of the pressure rod 44233 is provided above the eccentric semicircular groove 442410 to avoid the pressure head so that the pressure head can be close to the end of the product. At the same time, when the second clamping cylinder 44240 is opened to release the claw spring 7, the pressure rod 44233, under the elastic force of the spring 44232, presses the end face of the claw spring 7 downward, so that it can easily enter the tail end hole of the pin part during assembly and prevents the claw spring 7 from tipping over laterally, thereby improving the qualified rate of the claw spring 7 during assembly.

[0044] The pressure rod 44233 is directly above the eccentric semicircular groove 442410 of the clamping jaw 44241. The pressure head diameter of the pressure rod 44233 is larger than the cylindrical end diameter of the claw spring 7. At the same time, the pressure head diameter of the pressure rod 44233 is larger than the diameter of the hole formed by the two eccentric semicircular grooves 442410 when the clamping jaw 44241 is opened, ensuring that the pressure head rod body of the pressure rod 44233 will not be clamped when the clamping jaw 44241 is closed. At the same time, when clamping the material, the end of the pressure rod 44233 can press the end of the claw spring 7, and a certain elastic force acts on the claw spring 7 during clamping. Under the action of the contoured conical surface of the suction nozzle 4342, the posture of the claw spring 7 is guided and corrected, thereby improving the stability of product clamping.

[0045] The third embodiment of the present invention is basically the same as the first embodiment, mainly in that the flip mechanism 43 is optimized. Figure 9 、 Figure 10As shown, the flip mechanism 43 includes a vertical fixed plate 431, a seventh slide cylinder 432, a vertical pad 433 and a swinging material picking assembly 434; the top side of the vertical fixed plate 431 is fixedly connected to the seventh slide cylinder 432; one side of the vertical pad 433 is slidably connected to the slider of the seventh slide cylinder 432, and the other side is fixedly connected to the swinging material picking assembly 434; the swinging material picking assembly 434 includes a swing cylinder 4340, a mounting block 4341, a suction nozzle 4342 and a third air joint 4343; the mounting block 4341 is rotatably connected to the swing table of the swing cylinder 4340, and two mutually The two threaded holes are connected to each other, and the axes of the two threaded holes are perpendicular to each other. The third air joint 4343 is connected to the horizontal threaded hole inside the mounting block 4341 through a threaded connection, and the other end is connected to the third vacuum generator through an air pipe; the threaded hole at the lower part of the mounting block 4341 and the suction nozzle 4342 are fixedly connected; the interior of the suction nozzle 4342 is a hollow structure, and the internal shape of the suction port of the suction nozzle 4342 is a shape that imitates the conical end of the claw spring 7, so that the suction nozzle 4342 fits better with the shape of the part, and more stably absorbs the claw spring 7, and ensures that the axis of the claw spring 7 is coaxial with the axis of the suction nozzle 4342, thereby ensuring the success rate of suction by the suction nozzle 4342.

[0046] The fourth embodiment of the present invention is basically the same as the first embodiment, mainly in that the solution of the pin feeding component 3 is optimized. Figure 11-14 As shown, the pin feeding component 3 includes a vibration feeding mechanism 31, a material dividing mechanism 32, a camera assembly 33, a direction adjustment mechanism 34, a turnover waiting assembly 35, and a mobile feeding assembly 36; a material dividing mechanism 32 is provided at the discharge end of the vibration feeding mechanism 31, and the material dividing mechanism 32 is located between the camera assembly 331 and the light source assembly 332 of the camera assembly 33; the direction adjustment mechanism 34 is provided between the material dividing mechanism 32 and the turnover waiting assembly 35, and the mobile feeding assembly 36 is provided above the turnover waiting assembly 35 The vibrating feeding mechanism 31 is used to feed the pins 8; the dividing mechanism 32 is used to separate the serial pins 8 and adjust the pins 8 to a vertical posture; the photographing component 33 is used to judge the positive and negative directions of the pins 8 taken by the dividing mechanism 32; the direction adjustment mechanism 34 is used to adjust the reverse pins to the correct direction; the turnover waiting component 35 is used to cache the pins to improve the efficiency of the mechanism; the mobile loading component 36 is used to place the pins 8 into the pin seat 21 of the turntable component 2; each station operates independently and in parallel to improve the loading efficiency.

[0047] The material distributing mechanism 32 comprises a vertical mounting plate 321, a first slide cylinder 322, a cushion block 323, a rotary cylinder 324, a flange block 325, a first material suction nozzle 326 and a first air joint 327; the upper side of the vertical mounting plate 321 is fixedly connected to the first slide cylinder 322; the back of the cushion block 323 is slidably connected to the slider of the first slide cylinder 322, and the front is fixedly connected to the rotary cylinder 324; the bottom surface of the flange block 325 is rotatably connected to the rotary swing table of the rotary cylinder 324; the boss of the flange block 325 is provided with The through mounting hole is fixedly connected to the first suction nozzle 326 on one side, and fixedly connected to the first air joint 327 on the other side; the first air joint 327 is connected to the first vacuum generator through an air pipe; the first suction nozzle 326 is used to suck the pins 8; the first slide cylinder 322 provides the first suction nozzle 326 with the required displacement for sucking the pins. After the first suction nozzle 326 sucks the pins 8, the inertia force generated by the rapid retraction action of the first slide cylinder 322 can be used to separate the pins connected in series, thereby ensuring the qualified rate of feeding.

[0048] In order to ensure the continuity of feeding, it is necessary to be compatible with the pins in both directions when taking materials. The first suction nozzle 326 includes a needle body cavity 3260 and a needle head cavity 3261; the diameter of the needle body cavity 3260 is slightly larger than the diameter of the thick end of the pin 8; the diameter of the needle head cavity 3261 is slightly larger than the diameter of the thin end of the pin 8, and the depth of the needle body cavity 3260 is half the length of the thick end of the pin 8, ensuring that pins 8 with different needle head lengths enter the first suction nozzle 326 in either direction. The length of the thick end exposed from the first suction nozzle 326 is consistent, which is convenient for clamping, thereby improving the stability and compatibility of feeding.

[0049] In order to identify the direction of the pin, the photographing component 33 includes a camera component 331 and a light source component 332; the camera component 331 and the light source component 332 are arranged relative to each other at a certain distance; the first suction nozzle 326 of the material dividing mechanism 32 is located between the camera component 331 and the light source component 332 in the vertical state, and takes pictures through background light, thereby ensuring that the captured image is not easily disturbed by ambient light, and is more stable and reliable.

[0050] The fifth embodiment of the present invention is basically the same as the first embodiment, mainly in that the direction adjustment mechanism 34 is optimized. Figure 15 、 Figure 16As shown, in order to adjust the direction of the pin, the direction adjustment mechanism 34 includes a small base plate 341, a second slide cylinder 342, a sliding mounting member 343, a third slide cylinder 344, a vertical plate 345 and a rotary clamping assembly 346; the upper surface of the small base plate 341 is fixedly connected to the second slide cylinder 342; the sliding mounting member 343 includes a bottom panel, a vertical panel and a reinforcing rib. The bottom panel and the vertical panel are 90 degrees apart. The bottom panel is slidably connected to the slider of the second slide cylinder 342, and the side of the vertical panel is fixedly connected to the third slide cylinder 344; the bottom and The slider of the third slide cylinder 344 is slidably connected, and a rotary clamping assembly 346 is fixedly connected to the top; the rotary clamping assembly 346 includes a rotary clamping cylinder 3460 and a first needle body clamp 3461; the first needle body clamp 3461 is fixedly connected to the two fingers of the rotary clamping cylinder 3460, and the first needle body clamp 3461 is also provided with a "V"-shaped groove structure 34610; the "V"-shaped groove structure 34610 ensures the axis positioning accuracy of the pin when it is clamped; the rotary clamping assembly 346 can be used to rotate the reverse pin 180 degrees to adjust it to the correct direction.

[0051] The sixth embodiment of the present invention is basically the same as the first embodiment, mainly in that the solution of the turnover material component 35 is optimized. Figure 17 As shown, in order to improve the loading efficiency, a turnover material waiting component 35 is set, and the front end direction adjustment process and the rear end loading process are separated into parallel processes. The turnover material waiting component 35 includes a fixed plate 351, a fourth slide cylinder 352, an "L"-shaped mounting plate 353, a second suction nozzle 354 and a second air joint 355; the fourth slide cylinder 352 is fixedly connected to the top side of the fixed plate 351; the bottom surface of the "L"-shaped mounting plate 353 is slidably connected to the slider of the fourth slide cylinder 352; the short side surface of the "L"-shaped mounting plate 353 is connected to the upper and lower sides of the second slide cylinder 352; A second suction nozzle 354 and a second air joint 355 are fixedly connected on both sides respectively; the second suction nozzle 354 and the second air joint 355 are coaxial and internally connected through the mounting hole on the "L"-shaped mounting plate 353; the second air joint 355 is connected to the second vacuum generator through the air pipe, and the second suction nozzle 354 generates suction under the action of vacuum to suck the pin 8 into the material nozzle, especially the pin with a longer needle head, to ensure its stability in entering the material nozzle; the fourth slide cylinder 352 pushes out the compensation material taking position to improve the compatibility of the device.

[0052] The seventh embodiment of the present invention is basically the same as the first embodiment, mainly in that the pressing component 5 is optimized. Figure 18As shown, the pressing component 5 includes a fixed base 51, a screw module 52, a pressure block 53, a tension and compression sensor 54, and a pressure column 55. The fixed base 51 is fixed to the upper surface of the base plate 1. The vertical plate is provided with a screw module 52, which is vertically oriented. The pressure block 53 and the slider of the screw module 52 are slidably connected. The raised lower surface of the pressure block is fixedly connected to the tension and compression sensor 54. The pressure column 55 is threadedly fixed to the lower mounting hole of the tension and compression sensor 54. The screw module 52 can provide precise displacement action to ensure the position accuracy of the pressing claw spring 7. The tension and compression sensor 54 can provide online feedback on the pressing force to determine whether the press fit is qualified and ensure the quality of the press fit.

[0053] The eighth embodiment of the present invention is basically the same as the first embodiment, mainly in that it is further optimized. Figures 19-22 As shown, the unloading component 6 includes a gantry 61, a support frame 62, a horizontal slide cylinder 63, a vertical slide cylinder 64, a unloading clamping claw component 65, a qualified product box 66, a non-qualified product box 67, a movable plate 68, a linear rail 69, a floating joint 610, a pen cylinder 611 and an end mounting frame 612; the gantry 61 is fixed on the upper surface of the base plate 1, and one end of the upper surface of the gantry 61 is fixedly connected to the support frame 62, and the horizontal slide cylinder 63 is fixed to the top side of the vertical surface of the support frame 62; the back of the vertical slide cylinder 64 is slidably connected to the slider of the horizontal slide cylinder 63; the unloading clamping claw component 65 and The slider of the vertical slide cylinder 64 is slidably connected; a movable plate 68 is provided at a certain distance below the unloading claw component 65; the upper surface of the movable plate 68 is provided with a qualified product box 66 and an unqualified product box 67, and the lower surface and the slider of the linear rail 69 are slidably connected; the output shaft end of the pen cylinder 611 is fixed to the other end of the upper surface of the gantry 61 through the end mounting bracket 612, and the output shaft end of the pen cylinder 611 is fixedly connected to the middle position of the side of the movable plate 68 through the floating joint 610; the unloading component 6 will finally press the finished product through the qualified product box 66 and the unqualified product box 67 to realize the classified storage of the finished product.

[0054] In order to improve the loading efficiency, a pin seat 21 is provided every 90 degrees on the turntable of the turntable component 2, and the pin seat 21 includes a seat body 211 and a needle avoidance hole 212; the pin seat 21 is cylindrical and fixed on the surface of the turntable. A needle avoidance hole slightly larger than the diameter of the needle body is provided in the upper center of the pin seat 21 to facilitate the insertion of the needle end of the pin 8.

[0055] The mobile loading assembly 36 is used to load the pins in the turnover waiting assembly 35 into the pin seat 21; the mobile loading assembly 36 includes a fixing part 361, a horizontal fixing plate 362, a fifth slide cylinder 363 and a needle removal assembly 364; the fixing parts 361 are fixed in parallel on the upper surface of the base plate 1 to ensure the reliability of the overall structural strength. The horizontal fixing plate 362 is fixed to the upper part of its vertical plate, and the fifth slide cylinder 363 is provided on the horizontal fixing plate 362, and the needle removal assembly 364 is slidably connected to the slider of the fifth slide cylinder 363; the needle removal assembly 364 includes a fixed pad 3640, a sixth slide cylinder 3641, a clamp fixing block 3642, a first clamp cylinder 3643 and a second needle body clamp 3644; the back of the fixed pad 3640 is slidably connected to the slider of the fifth slide cylinder 363, and the front is fixedly connected to the sixth slide cylinder 3641; the back of the clamp fixing block 3642 is slidably connected to the slider of the sixth slide cylinder 3641, and the front is fixedly connected to the first clamp cylinder 3643, and the two fingers of the first clamp cylinder 3643 are fixedly connected to the second needle body clamp 3644; the second needle body clamp 3644 is used to take and place the pins when loading.

[0056] Based on this, a typical working process of the present invention is:

[0057] S1: Figures 11-17 and Figure 20-22As shown, the vibrating feeding mechanism 31 vibrates and feeds the pins 8 in all directions. When the pins 8 reach the discharge port, the first slide cylinder 322 extends, driving the first suction nozzle 326 to approach the pins at the discharge port of the vibrating feeding mechanism 31. At this time, the first vacuum generator connected to the first air joint 327 works, and the first suction nozzle 326 sucks the pins 8; the rotating cylinder 324 rotates 90 degrees to make the first suction nozzle 326 vertically upward. At this time, the pins 8 are between the camera assembly 331 and the light source assembly 332. The camera is triggered to take a picture and the image is uploaded to the host computer to determine the direction of the pin 8. If the pin 8 is in the correct direction, the third slide cylinder 344 retracts and drives the rotary clamping assembly 346 to move down to the material picking position. The first needle body clamping claw 3461 is closed, and the pin 8 is stuck in the "V"-shaped groove structure 34610; then, the third slide cylinder 344 is pushed out, and the second slide cylinder 342 extends to drive the pin 8 to move to a position that coincides with the axis of the second suction nozzle 354; at this time, the fourth slide cylinder 352 extends, and the second vacuum cylinder 352 is pulled out. The generator generates negative pressure in the second suction nozzle 354, and at the same time, the first needle body clamp 3461 opens, and the needle 8 enters the second suction nozzle 354; if the system recognizes that the needle 8 is in the reverse direction after taking the material, the rotating clamping cylinder 3460 drives the first needle body clamp 3461 to rotate 180 degrees, adjusts the needle 8 to the correct direction, and the first needle body clamp 3461 opens again, and the needle 8 enters the second suction nozzle 354; then, the sixth slide cylinder 3641 extends to drive the first clamp cylinder 3643 and the second needle body clamp 36 44 descends to the material taking position, the second needle body clamp 3644 closes and clamps the pin 8, the sixth slide cylinder 3641 resets, the fifth slide cylinder 363 extends, and the pin 8 is sent to the top of the turntable component 2, the sixth slide cylinder 3641 extends to drive the first clamp cylinder 3643 and the second needle body clamp 3644 to descend to the material discharge position, and the second needle body clamp 3644 is released to place the pin 8 into the pin seat 21 of the first station of the turntable component 2; the above actions are repeated in sequence to realize the fully automatic loading of pin parts.

[0058] S2: Figure 1 As shown, the turntable component 2 drives the pin 8 in the pin seat 21 to rotate 90 degrees to the claw spring assembly station.

[0059] S3: Figures 1-10As shown, the vibration conveying mechanism 41 adjusts the posture of the claw spring 7, and the claw spring 7 is arranged in sequence with the cylindrical end facing downward and the conical end facing upward, and enters the material error component 42 in sequence. The seventh slide cylinder 432 moves downward, driving the contoured conical surface of the suction nozzle 4342 of the swing material picking component 434 to contact the conical surface of the claw spring 7. At this time, the third vacuum generator generates negative pressure and transmits it to the suction nozzle 4342 through the third air joint 4343 to suck the claw spring 7. Then the swing cylinder 4340 rotates 180 degrees to move the suction nozzle 4342 vertically upward. At this time, the ninth slide cylinder 4421 of the grabbing assembly mechanism 442 extends downward, and the clamping component 4424 and the pressing component 4 423 moves synchronously downward to the clamping position. At this time, the pressure head of the pressure rod 44233 contacts the cylindrical end face of the claw spring 7, and the spring 44232 is slightly compressed a certain distance; then the second clamping claw cylinder 44240 drives the clamping claw 44241 to close its eccentric semicircular groove 442410 to clamp the cylindrical surface of the claw spring 7, and the ninth slide cylinder 4421 is reset; then the eighth slide cylinder 4412 extends to send the claw spring 7 into the hole at the tail of the pin 8 in the pin seat 21 of the turntable component 2. At this time, one claw spring 7 completes loading and pre-assembly, and the above actions are repeated in sequence to clamp the next part, thereby realizing automatic loading and pre-assembly of micro claw springs.

[0060] S4: Figure 1 As shown, the turntable component 2 drives the pin 8 pre-installed with the claw spring 7 in the pin seat 21 to rotate 90 degrees to the pressing position.

[0061] S5: The screw module 52 carries the pressure column 55 to press the cylindrical end tail plane of the claw spring 7 at the tail of the pin 8 in the pin seat 21 of the turntable component 2 until it moves to the set displacement. At the same time, the tension and pressure sensor 54 feeds back the pressing force value to the upper computer system to determine whether the pressing force is qualified and thus determine whether the claw spring 7 is assembled qualified.

[0062] S6: The unloading claw component 65 in the unloading component 6 clamps the finished product. According to the pressing force result fed back by the system, if it is a qualified part, the vertical slide cylinder 64 extends, and the unloading claw component 65 throws the finished product into the qualified product box 66. If the part is unqualified, the pen cylinder 611 extends, and the unloading claw component 65 throws the finished product into the unqualified product box 67 to realize classified unloading.

[0063] The above process is repeated repeatedly to realize the automatic assembly of the micro claw spring 7.

[0064] The above descriptions are merely embodiments of the present invention and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention's description and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A micro claw spring assembly device, characterized in that: The invention comprises a bottom plate (1), a turntable component (2), a pin feeding component (3), a claw spring assembly component (4), a pressing component (5) and a discharge component (6); the bottom surface of the bottom plate (1) is fixedly connected to the lower frame, the turntable component (2) is arranged at the center of the top surface of the bottom plate (1), and the claw spring assembly component (4), the pressing component (5) and the discharge component (6) are evenly distributed around the turntable component (2) in a clockwise direction with the pin feeding component (3) as the starting point; the claw spring assembly component (4) comprises a vibrating conveying mechanism (41), a material error component (42), a flipping mechanism (43) and a transport assembly component (44); the discharge end of the vibrating conveying mechanism (41) and the material error component (42) are connected to each other. The feeding end is aligned, and the flip mechanism (43) is arranged between the material error component (42) and the transport assembly component (44); the transport assembly component (44) includes a transverse transport mechanism (441) and a grab assembly mechanism (442); the grab assembly mechanism (442) is slidably connected to the transverse transport mechanism (441); the transverse transport mechanism (441) includes a fixed structure (4410), a transverse fixed plate (4411) and an eighth slide cylinder (4412); the fixed structure (4410) is composed of a bottom plate, a vertical plate and a reinforcing rib, the vertical plate and the bottom plate are arranged vertically, and the fixed structure (4410) is arranged in two parallel positions; the back of the transverse fixed plate (4411) is fixedly connected to the fixed structure ( 4410); the front of the transverse fixed plate (4411) is fixedly connected to the eighth slide cylinder (4412); the grab assembly mechanism (442) includes a pad (4420), a ninth slide cylinder (4421), an "L"-shaped connecting plate (4422), a pressing assembly (4423) and a clamping assembly (4424); the back of the pad (4420) is slidably connected to the slider of the eighth slide cylinder (4412), and the front is fixedly connected to the ninth slide cylinder (4421); the back of the vertical plate of the "L"-shaped connecting plate (4422) is slidably connected to the slider of the ninth slide cylinder (4421), and the front of the vertical plate is fixedly connected to the pressing assembly (4423); the "L"-shaped The bottom surface of the short side of the connecting plate (4422) is fixedly connected to a material clamping assembly (4424); the material pressing assembly (4423) includes a guide block (44230), a baffle (44231), a spring (44232) and a pressure rod (44233); the guide block (44230) is arranged at a lower position on the front side of the vertical plate of the "L"-shaped connecting plate (4422), and a guide slot is provided inside the guide block (44233); the pressure rod (44233) cooperates with the guide slot inside the guide block (44230) and can slide flexibly; the baffle (44231) is fixedly connected to the pressure rod (44233) by a bolt; the spring (44232) is sleeved on the lower end of the pressure rod (44233) and contacts the lower bottom surface of the guide block (44230);The clamping assembly (4424) includes a second clamping jaw cylinder (44240) and a clamping jaw (44241). The clamping jaws (44241) are two symmetrical structures and are fixedly connected to the two fingers of the second clamping jaw cylinder (44240). The clamping jaw (44241) is provided with an eccentric semicircular groove (442410) with an eccentric distance between 0.1 and 0.3 mm. The thickness of the eccentric semicircular groove (442410) is slightly larger than the height of the cylindrical part of the claw spring (7). A semicircular groove (442411) slightly larger than the pressure head diameter of the pressure rod (44233) is further provided above the circular groove (442410); the pressure rod (44233) is directly above the eccentric semicircular groove (442410) of the clamping jaw (44241); the pressure head diameter of the pressure rod (44233) is larger than the cylindrical end diameter of the claw spring (7); and the pressure head diameter of the pressure rod (44233) is larger than the diameter of the hole formed by the two eccentric semicircular grooves (442410) when the clamping jaw (44241) is opened.

2. The micro claw spring assembly device according to claim 1, characterized in that: The turning mechanism (43) includes a vertical fixed plate (431), a seventh slide cylinder (432), a vertical pad (433) and a swinging material taking component (434); the top side of the vertical fixed plate (431) is fixedly connected to the seventh slide cylinder (432); one side of the vertical pad (433) is slidably connected to the slider of the seventh slide cylinder (432), and the other side is fixedly connected to the swinging material taking component (434); the swinging material taking component (434) includes a swinging cylinder (4340), a mounting block (4341), a suction nozzle (4342) and a third air joint (4343); the mounting block (4341) is rotatably connected to the swing table of the swing cylinder (4340), and two mutually interpenetrating mounting threaded holes are provided inside the mounting block (4341), and the axes of the two threaded holes are perpendicularly intersecting, and the third air joint (4343) is connected to the horizontal threaded hole inside the mounting block (4341) through a thread, and its other end is connected to the third vacuum generator through an air pipe; the threaded hole at the lower part of the mounting block (4341) and the suction nozzle (4342) are fixedly connected; the interior of the suction nozzle (4342) is a hollow structure, and the internal shape of the suction port of the suction nozzle (4342) is a shape that imitates the conical end of the claw spring (7).

3. The micro claw spring assembly device according to claim 2, characterized in that: The pin feeding component (3) comprises a vibrating feeding mechanism (31), a dividing mechanism (32), a photographing assembly (33), a direction adjustment mechanism (34), a turnover waiting assembly (35), and a mobile feeding assembly (36); a dividing mechanism (32) is provided at the discharge end of the vibrating feeding mechanism (31), and the dividing mechanism (32) is located between the camera assembly (331) and the light source assembly (332) of the photographing assembly (33); the direction adjustment mechanism (34) is provided between the dividing mechanism (32) and the turnover waiting assembly (35), and the mobile feeding assembly (36) is provided above the turnover waiting assembly (35).

4. The micro claw spring assembly device according to claim 3, characterized in that: The material distribution mechanism (32) includes a vertical mounting plate (321), a first slide cylinder (322), a cushion block (323), a rotary cylinder (324), a flange block (325), a first material suction nozzle (326) and a first air joint (327); the upper side of the vertical mounting plate (321) is fixedly connected to the first slide cylinder (322); the back side of the cushion block (323) is slidably connected to the slider of the first slide cylinder (322), and the front side is fixedly connected to the rotary cylinder (324); the bottom surface of the flange block (325) is rotatably connected to the rotary swing table of the rotary cylinder (324); the flange block (325) ) is provided with a through mounting hole on the boss of the inserting needle (8), one side of which is fixedly connected to the first suction nozzle (326), and the other side thereof is fixedly connected to the first air joint (327); the first air joint (327) is connected to the first vacuum generator through an air pipe; the first suction nozzle (326) includes a needle body cavity (3260) and a needle head cavity (3261); the diameter of the needle body cavity (3260) is slightly larger than the diameter of the thick end cylinder of the inserting needle (8); the diameter of the needle head cavity (3261) is slightly larger than the diameter of the thin end of the inserting needle (8), and the depth of the needle body cavity (3260) is half the length of the thick end of the inserting needle (8).

5. The micro claw spring assembly device according to claim 4, characterized in that: The photographing assembly (33) comprises a camera assembly (331) and a light source assembly (332); the camera assembly (331) and the light source assembly (332) are arranged relative to each other at a certain distance; and the first suction nozzle (326) of the material distribution mechanism (32) is located between the camera assembly (331) and the light source assembly (332) in a vertical state.

6. The micro claw spring assembly device according to claim 3, characterized in that: The direction adjustment mechanism (34) includes a small base plate (341), a second slide cylinder (342), a sliding mounting member (343), a third slide cylinder (344), a vertical plate (345) and a rotary clamping assembly (346); the upper surface of the small base plate (341) is fixedly connected to the second slide cylinder (342); the sliding mounting member (343) includes a bottom plate, a vertical plate and a reinforcing rib; the bottom plate and the vertical plate are 90 degrees apart, the bottom plate is slidably connected to the slider of the second slide cylinder (342), and the side of the vertical plate is fixedly connected The vertical plate (345) is connected to a third slide cylinder (344); the bottom of the back side of the vertical plate (345) is slidably connected to the slider of the third slide cylinder (344), and the top is fixedly connected to a rotary clamping assembly (346); the rotary clamping assembly (346) includes a rotary clamping cylinder (3460) and a first needle body clamping jaw (3461); the first needle body clamping jaw (3461) is fixedly connected to two fingers of the rotary clamping cylinder (3460), and the first needle body clamping jaw (3461) is also provided with a "V"-shaped groove structure (34610).

7. The micro claw spring assembly device according to claim 3, characterized in that: The turnover material waiting assembly (35) comprises a fixed plate (351), a fourth slide cylinder (352), an "L"-shaped mounting plate (353), a second material suction nozzle (354) and a second gas joint (355); the fourth slide cylinder (352) is fixedly connected to the top side of the fixed plate (351); the bottom surface of the "L"-shaped mounting plate (353) is slidably connected to the slider of the fourth slide cylinder (352); the second material suction nozzle (354) and the second gas joint (355) are fixedly connected to the upper and lower sides of the short side surface of the "L"-shaped mounting plate (353); the second material suction nozzle (354) and the second gas joint (355) are coaxial and internally connected through the mounting hole on the "L"-shaped mounting plate (353); the second gas joint (355) is connected to the second vacuum generator through an air pipe.

8. The micro claw spring assembly device according to claim 1, characterized in that: The pressing component (5) includes a fixing seat (51), a screw module (52), a pressure block (53), a tension and compression sensor (54) and a pressure column (55); the fixing seat (51) is fixed on the upper surface of the base plate (1), the screw module (52) is provided on the vertical plate, the screw module (52) is vertically oriented, the pressure block (53) and the slider of the screw module (52) are slidably connected, the protruding lower surface of the pressure block is fixedly connected to the tension and compression sensor (54), and the pressure column (55) is fixedly connected to the lower mounting hole of the tension and compression sensor (54) by thread.

9. The micro claw spring assembly device according to claim 1, characterized in that: The unloading component (6) includes a gantry (61), a support frame (62), a horizontal slide cylinder (63), a vertical slide cylinder (64), a unloading claw component (65), a qualified product box (66), a non-qualified product box (67), a moving plate (68), a linear rail (69), a floating joint (610), a pen cylinder (611) and an end mounting frame (612); the gantry (61) is fixed on the upper surface of the bottom plate (1), one end of the upper surface of the gantry (61) is fixedly connected to the support frame (62), and the horizontal slide cylinder (63) is fixed to the side of the top vertical surface of the support frame (62); the back of the vertical slide cylinder (64) is connected to the horizontal The slider of the slide cylinder (63) is slidably connected; the slider of the unloading claw component (65) and the vertical slide cylinder (64) are slidably connected; a movable plate (68) is provided at a certain distance below the unloading claw component (65); the upper surface of the movable plate (68) is provided with a qualified product box (66) and a non-qualified product box (67), and the lower surface is slidably connected to the slider of the linear rail (69); the output shaft end of the pen cylinder (611) is fixed to the other end of the upper surface of the gantry (61) through the end mounting frame (612), and the output shaft end of the pen cylinder (611) is fixedly connected to the middle position of the side of the movable plate (68) through the floating joint (610).

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