Machine for assembling cupping

Abstract

The invention relates to the technical field of cupping assembly, in particular to a cupping assembly machine which comprises a bearing unit fixedly mounted at an assembly station of an assembly machine, a fixed angle steel seat is fixedly arranged above the bearing unit, a horizontally-arranged position control motor is fixedly mounted on the left side wall of the vertical section of the fixed angle steel seat, and the position control motor is fixedly connected with the bearing unit. A position control motor is installed on the bearing unit, a turnover frame is installed on a motor shaft of the position control motor, a buckle abutting mechanism is installed on the top of the turnover frame, a screwing abutting mechanism is installed at the bottom of the turnover frame, and the top of the bearing unit is used for installing and fixing a cup body of a cup to be assembled. The overturning frame is driven by the position control motor to achieve 180-degree position changing of the buckle abutting mechanism and the screwing abutting mechanism, assembling of cupping products in a buckle type connection mode and a thread type connection mode can be compatible, equipment does not need to be replaced or mechanical parts do not need to be adjusted, and the production line switching time is shortened.

Description

Technical Field

[0001] This invention relates to the field of cupping assembly technology, and in particular to a machine for assembling cupping sets. Background Technology

[0002] Cupping, a common component in home physiotherapy, mainly consists of a cup body, which is usually made of transparent plastic or glass and is cup-shaped. The rim of the cup is smooth and fits the skin, and there is a valve on the top for connecting an air suction device.

[0003] Currently, when assembling cupping devices, the connecting pipe on the suction device is connected to the cupping body. During the connection, the interface types are generally divided into snap-fit ​​type (simply insert and you will hear a click when it is connected) and threaded type (rotate the connecting pipe interface clockwise until it is tightened).

[0004] For example, a fully automatic cupping device disclosed in patent publication number CN203356990U has a main structure including a base with a fixed shaft vertically connected to it; a main turntable located above the base, on which eight clamps are fixed at equal intervals in a circumferential direction, each clamp having two holes for placing the cupping device housing; and a main fixing plate located above the main turntable, on which eight different workstations are provided corresponding to the positions of the eight clamps. The eight different workstations are: housing installation workstation, piston installation workstation, glue plug installation workstation, glue plug pressing workstation, negative pressure detection workstation, magnetic cap installation workstation, magnetic cap pressing workstation, and finished product unloading workstation.

[0005] It can be seen that its structure is relatively complex. The design of the shell assembly station and piston assembly station has limitations when assembling cupping devices, as detailed below: When the connection between the cupping body and the suction device cannot be completed quickly, it cannot simultaneously match the assembly of both snap-fit ​​and threaded cupping devices, resulting in poor versatility. If it is necessary to change to produce cupping products with different interfaces, large-scale modifications or even replacements of the equipment are required.

[0006] The existing assembly methods at the workstations are relatively inefficient and pose a risk of overpressure; excessive tightness can easily lead to tank deformation.

[0007] Therefore, it is necessary to design a machine that is compatible with multiple interface types and has efficient and precise assembly capabilities. Summary of the Invention

[0008] To solve one of the above-mentioned technical problems, the present invention adopts the following technical solution: a cupping assembly machine, comprising a support unit fixedly installed at the assembly station of the assembly machine, a fixed angle steel seat fixedly installed above the support unit, a horizontally arranged control motor fixedly installed on the left side wall of the vertical section of the fixed angle steel seat, a flipping frame installed at the motor shaft of the control motor, a snap-fit ​​pressing mechanism installed at the top of the flipping frame, and a screw-fit pressing mechanism installed at the bottom of the flipping frame. The vertical central axis of the snap-fit ​​pressing mechanism and the vertical central axis of the screw-fit pressing mechanism are both collinear with the central axis of the support unit. The top of the support unit is used to install and fix the cupping jar to be assembled.

[0009] Based on any of the above technical solutions, a further optimization is made as follows: the supporting unit includes a fixed platform, an operating panel is installed on the top of the fixed platform, an operating cavity is provided at the top center of the operating panel, a centering and positioning component is fixedly installed at the bottom center of the operating cavity, the outside of the centering and positioning component is used to place the cupping jar to be assembled, the bottom of the jar is placed against the bottom of the operating cavity, the outer circumferential end of the centering and positioning component is respectively pressed against the inner side wall of the inner cavity of the jar, and a plurality of distance measuring sensors are evenly spaced along the circumference on the inner side wall of the operating cavity, each of the distance measuring sensors is used to measure the distance between itself and the current outer side wall of the jar.

[0010] Based on any of the above technical solutions, a further optimization is made as follows: the self-aligning positioning assembly includes a central pile fixed at the bottom center of the operating cavity, and N radial adjustment cylinders are fixedly installed at uniform intervals along the circumference of the outer wall of the central pile. Each radial adjustment cylinder is in a state of synchronous extension and retraction at the same speed during operation. A top pressure ball is fixedly installed at the outer end of the piston rod of each radial adjustment cylinder, and the outer surface of each top pressure ball is used to abut against the inner wall of the inner cavity of the tank.

[0011] Based on any of the above technical solutions, a further optimization is made as follows: a pressure sensor is provided on the surface of each of the top pressure balls facing the inner wall of the tank cavity. When the pressure of the pressure sensor reaches a set threshold, the control system configured on the external assembly machine controls the current radial adjustment cylinder to stop extending outward.

[0012] By sensing the current pressure on the inner wall of the tank through pressure sensors, excessive pressure is avoided, thereby effectively ensuring the safety of the tank.

[0013] Based on any of the above technical solutions, a further optimization is made where N is an integer ≥4, and the radial adjustment cylinder is an electric cylinder powered by an external power source.

[0014] Based on any of the above technical solutions, a further optimization is made as follows: the snap-fit ​​pressing mechanism includes a vertical electric cylinder fixed at the top center of the flipping frame, and a first electric chuck is fixedly installed at the end of the piston rod of the vertical electric cylinder. The first electric chuck is used to snap onto an air extraction device with a connecting pipe delivered by an external robotic arm. The connecting pipe on the air extraction device is a snap-fit ​​connecting pipe. When the vertical electric cylinder is in working state, the connecting pipe clamped on the first electric chuck is in a vertically downward state. When the vertical electric cylinder is working, it pushes the connecting pipe clamped on the first electric chuck downward and presses it into the snap-fit ​​hole at the top of the tank.

[0015] Based on any of the above technical solutions, a further optimization is made as follows: the screw-fitting and pressing mechanism includes a lifting cylinder assembly fixedly installed at the center bottom of the tilting frame. A rotary motor is fixed at the bottom of the lifting cylinder assembly. A second electric chuck is fixedly installed at the bottom of the motor shaft of the rotary motor. An air extraction device delivered by an external robotic arm is clamped on the second electric chuck. The connecting pipe of the air extraction device is a threaded connecting pipe and is set vertically downward. When the threaded connecting pipe is installed downward, it screws into the central screw hole at the top of the tank below it in a spiral descent manner.

[0016] Based on any of the above technical solutions, a further optimization is made as follows: the lifting cylinder assembly consists of several vertically arranged lifting electric cylinders, the top of each lifting electric cylinder is fixed to the bottom of the tilting frame, and the bottom of the piston rod of each lifting electric cylinder is fixed to the top of the motor housing of the rotary motor.

[0017] Based on any of the above technical solutions, a further optimization is made: the control motor drives the first electric chuck and the second electric chuck on the flipping frame to achieve a 180° position change by rotating.

[0018] Based on any of the above technical solutions, a further optimization is made: the ranging sensor adopts a reflective ranging sensor.

[0019] Compared with the prior art, the beneficial effects of the present invention are as follows: 1. This invention achieves a 180° interchange between the snap-fit ​​pressing mechanism and the screw-fit pressing mechanism by driving the flipping frame with a control motor. It is compatible with both snap-fit ​​and threaded connection types for cupping product assembly, without the need to replace equipment or adjust mechanical parts. This shortens the production line changeover time, reduces equipment investment costs, and significantly improves production efficiency and equipment versatility.

[0020] 2. The self-aligning positioning component of the present invention uses N (N≥4) radial adjustment cylinders to synchronously extend and retract, driving the top pressure ball to press against the inner wall of the tank. Combined with the distance measuring sensor on the inner side wall of the operating cavity to monitor the position of the tank in real time, a closed-loop control is formed, which realizes the precise centering and positioning of the tank, avoids assembly deviation or damage caused by tank offset, and improves assembly accuracy and product stability.

[0021] 3. The snap-fit ​​pressing mechanism of the present invention uses a vertical electric cylinder in conjunction with a first electric chuck. The pressing depth of the connecting pipe is controlled by a preset pressing distance. The screwing pressing mechanism uses a lifting electric cylinder and a rotary motor to achieve the spiral descent and screwing of the threaded connecting pipe. Both mechanisms are electrically controlled to achieve precise action, avoiding damage to the tank caused by excessive pressing or screwing, and improving assembly safety and product qualification rate.

[0022] 4. The bearing unit of the present invention adopts a modular design of fixed platform, operation panel and self-aligning positioning component. Combined with pressure sensor to monitor the pressure of top pressure ball on tank in real time, it can adapt to tanks with different inner diameters and materials. By adjusting the pressure threshold and the radial adjustment cylinder extension, it can achieve gentle positioning of thin-walled tanks or tanks with special materials, thus broadening the application range of the equipment.

[0023] 5. This invention uses multi-point non-contact measurement with a reflective ranging sensor to not only monitor the centering status of the tank, but also to compensate for irregular shapes or manufacturing errors of the tank by analyzing the data from each sensor, thereby achieving approximate centering. This reduces the requirements for the precision of the tank blank processing, indirectly reduces upstream processing costs, and improves the fault tolerance of the production line. Attached Figure Description

[0024] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the accompanying drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. In all the drawings, similar elements or components are generally identified by similar reference numerals. In the drawings, the elements or components are not necessarily drawn to scale.

[0025] Figure 1 This is a schematic diagram of the main structure of the cupping device in its assembled state according to the present invention.

[0026] Figure 2 This is a three-dimensional structural diagram of the cupping device in its assembled state according to the present invention.

[0027] Figure 3 This is a schematic diagram of the three-dimensional structure after cupping is removed according to the present invention.

[0028] Figure 4 This is a top view of the supporting unit of the present invention.

[0029] In the diagram, 1. Fixed angle steel base; 2. Control motor; 3. Tilting frame; 4. Tank body; 5. Fixed platform; 6. Control panel; 7. Operating cavity; 8. Distance sensor; 9. Center stake; 10. Radial adjustment cylinder; 11. Top pressure ball; 12. Vertical electric cylinder; 13. First electric chuck; 14. Air extraction device; 15. Connecting pipe; 16. Rotary motor; 17. Second electric chuck; 18. Lifting electric cylinder; 19. Pressure sensor. Detailed Implementation

[0030] The embodiments of the technical solution of the present invention will now be described in detail with reference to the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present invention, and are therefore merely examples and should not be used to limit the scope of protection of the present invention. The specific structure of the present invention is as follows: Figures 1-4 As shown in the image.

[0031] Example 1: A cupping assembly machine includes a support unit fixedly installed at the assembly station of the assembly machine. A fixed angle steel base 1 is fixedly installed above the support unit. A horizontally arranged control motor 2 is fixedly installed on the left side wall of the vertical section of the fixed angle steel base 1. A flipping frame 3 is installed at the motor shaft of the control motor 2. A snap-fit ​​pressing mechanism is installed on the top of the flipping frame 3. A screw-fit pressing mechanism is installed on the bottom of the flipping frame 3. The vertical central axis of the snap-fit ​​pressing mechanism and the vertical central axis of the screw-fit pressing mechanism are both collinear with the central axis of the support unit. The top of the support unit is used to install and fix the cupping jar 4 to be assembled.

[0032] The cupping assembly machine of the present invention uses a support unit to support and fix the cupping jar body 4. The fixed angle steel base 1 provides a mounting base for the control motor 2. The control motor 2 can drive the flipping frame 3 to flip, thereby driving the snap-fit ​​pressing mechanism and the screw-fit pressing mechanism installed on the flipping frame 3 to achieve position conversion. Since the vertical central axis of the snap-fit ​​pressing mechanism and the screw-fit pressing mechanism are collinear with the central axis of the support unit, it is ensured that each mechanism can accurately act on the corresponding position of the cupping jar body 4 during the assembly operation.

[0033] The machine in this invention serves as equipment in the cupping assembly process. It is installed at the assembly station of the assembly machine, and its overall operation is directly controlled by the existing assembly machine's control system. This invention is applicable to the assembly of cupping products with two different connection types (the first type: cupping products where the top of the cupping body 4 and the connecting pipe 15 of the suction device 14 are connected by a snap-fit; the second type: cupping products where the top of the cupping body 4 and the connecting pipe 15 of the suction device 14 are connected by a thread). When assembling cupping products with a snap-fit ​​connection, the snap-fit ​​pressing mechanism is at the bottom and the screw-fit pressing mechanism is at the top; when assembling cupping products with a threaded connection, the snap-fit ​​pressing mechanism is at the top and the screw-fit pressing mechanism is at the bottom. The 180° interchange between the snap-fit ​​pressing mechanism and the screw-fit pressing mechanism is achieved by the rotation of the control motor 2 driving the flipping frame 3 to flip.

[0034] When the cupping product to be assembled is a cupping product using a snap-fit ​​connection: The upstream external robot transfers the tank 4 to the vertically placed support unit and covers the center positioning component of the support unit with the opening at the bottom of the tank 4. At this time, the radial adjustment cylinders 10 on the center positioning component are activated to extend and retract outward by the same length in the radial direction. During the synchronous extension and retraction, the current tank 4 is moved and made to be in the same axis as the operating cavity 7. At the same time, the tank 4 is positioned by the pressing friction of the top pressure balls 11 at the outer end of the radial adjustment cylinders 10, which facilitates the stability of the tank 4 when the connecting pipe 15 of the suction device 14 is installed later.

[0035] When installing the snap-fit ​​connecting pipe 15, first place the suction device 14, delivered by the external robotic arm, directly onto the first electric chuck 13, which is currently directly above, and clamp it tightly. When clamped, the main body of the suction device 14 is below and the connecting pipe 15 is above (to facilitate rotating it 180° during pressing so that the connecting pipe 15 is vertically downwards). Control the tilting frame 3 to rotate 180 degrees, and then control the vertical electric cylinder to press down an appropriate length, thereby pressing the connecting pipe 15 into the locking hole at the top of the canister 4 and locking it in place. After installation, the first electric chuck 13 is released, and the vertical electric cylinder is controlled to move the first electric chuck 13 upwards. Then, the tilting frame 3 rotates back to its original position. The assembled cupping device is then picked up by the robotic arm and sent to the downstream process. This machine awaits the next assembly. The pressing distance is preset to avoid excessive pressing that could damage the canister 4. When the cupping product to be assembled is a cupping product with a threaded connection: The upstream external robot transfers the tank 4 to the vertically placed support unit and covers the center positioning component of the support unit with the opening at the bottom of the tank 4. At this time, the radial adjustment cylinders 10 on the center positioning component are activated to extend and retract outward by the same length in the radial direction. During the synchronous extension and retraction, the current tank 4 is moved and made to be in the same axis as the operating cavity 7. At the same time, the tank 4 is positioned by the pressing friction of the top pressure balls 11 at the outer end of the radial adjustment cylinders 10, which facilitates the stability of the tank 4 when the connecting pipe 15 of the suction device 14 is installed later.

[0036] When installing the threaded connecting pipe 15, first place the suction device 14, which is delivered by the external robot arm, directly onto the second electric chuck 17, which is directly above at this time, and keep it clamped. When clamped, the main body of the suction device 14 is below and the threaded connecting pipe 15 is above (so that the connecting pipe 15 can be vertically downward after being flipped 180° when pressed down). Control the flipping frame 3 to flip 180 degrees, and then control the lifting cylinder group to move downward while starting the rotary motor 16 to rotate. During the rotation of the rotary motor 16, the second electric chuck 17 is driven to rotate and move downward. At this time, the suction device 14 and the connecting pipe 15, which are clamped by the second electric chuck 17, rotate and move downward and screw into the threaded hole at the top of the can body 4, thereby completing the threaded assembly of the cupping. The descent distance is preset to avoid over-screwing and damage to the can body 4. After the installation is completed, the second electric chuck 17 is released, and the lifting cylinder group is controlled to drive the second electric chuck 17 to move upward. Then the flipping frame 3 flips and resets. The assembled cupping is picked up by the robot arm and sent to the downstream process. This machine is waiting for the next assembly.

[0037] When the machine of this invention is used on a cupping assembly line, it can automatically switch the corresponding mechanism according to different types of cupping products (snap-fit ​​connection and threaded connection) without changing equipment, reducing the equipment investment of the production line, shortening the downtime caused by changing equipment, and improving the overall production efficiency.

[0038] Based on any of the above technical solutions, a further optimization is made as follows: the supporting unit includes a fixed platform 5, an operating plate 6 is installed on the top of the fixed platform 5, an operating cavity 7 is provided at the top center of the operating plate 6, a centering and positioning component is fixedly installed at the bottom center of the operating cavity 7, the outside of the centering and positioning component is used to place the cupping jar 4 to be assembled, the bottom of the cupping jar 4 is placed against the bottom of the operating cavity 7, the outer circumferential ends of the centering and positioning component are respectively pressed against the inner sidewall of the inner cavity of the cupping jar 4, and a plurality of distance measuring sensors 8 are evenly spaced along the circumference of the inner sidewall of the operating cavity 7, each of the distance measuring sensors 8 is used to measure the distance between itself and the outer sidewall of the current cupping jar 4.

[0039] The fixed platform 5 of the bearing unit provides support for the entire unit. The operating cavity 7 on the operating panel 6 provides a placement space for the tank 4. The bottom of the tank 4 abuts against the bottom of the operating cavity 7. The centering and positioning component is located at the bottom center of the operating cavity 7, and its outer circumferential end abuts against the inner wall of the inner cavity of the tank 4 to position the tank 4. The distance measuring sensors 8 on the inner wall of the operating cavity 7 are evenly distributed along the circumference and measure the distance to the outer wall of the tank 4 to verify whether the tank 4 is currently centered.

[0040] The data measured by the ranging sensor 8 can be fed back to the control system. The control system analyzes this data to determine whether the positioning of the tank 4 is accurate. If there is a deviation, the self-aligning positioning component can be controlled to make fine adjustments, thus realizing closed-loop control of the positioning of the tank 4, improving the positioning accuracy and ensuring the accuracy of subsequent assembly operations.

[0041] Based on any of the above technical solutions, a further optimization is made as follows: the self-aligning positioning assembly includes a central pile 9 fixed at the bottom center of the operating cavity 7, and N radial adjustment cylinders 10 are fixedly installed at uniform intervals along the circumference on the outer wall of the central pile 9. Each radial adjustment cylinder 10 is in a state of synchronous extension and retraction at the same speed during operation. A top pressure ball 11 is fixedly installed at the outer end of the piston rod of each radial adjustment cylinder 10, and the outer surface of each top pressure ball 11 is used to abut against the inner wall of the inner cavity of the tank body 4.

[0042] The center pile 9 serves as the basic support structure for the self-aligning positioning assembly. It is fixedly installed at the bottom center of the operating cavity 7, providing a stable installation reference for the radial adjustment cylinders 10 and ensuring that the distribution center of each radial adjustment cylinder 10 is consistent with the center of the operating cavity 7.

[0043] N radial adjustment cylinders 10 are evenly spaced along the outer side wall of the central pile 9 to form a symmetrical distribution structure. This layout allows the forces exerted by each radial adjustment cylinder 10 on the tank body 4 to form a balanced radial constraint.

[0044] When the self-aligning and positioning assembly is activated, the external control system issues a command to drive the piston rods of all radial adjustment cylinders 10 to extend outward or retract inward synchronously at the same speed. During the extension of the piston rod, the top pressure ball 11 fixed at its outer end moves synchronously with the piston rod until it contacts the inner wall of the inner cavity of the tank 4. Since all radial adjustment cylinders 10 move synchronously at the same speed, the force exerted by the top pressure ball 11 on the inner wall of the tank 4 is equal in magnitude and directed radially outward. Under the action of these balanced forces, the tank 4 will undergo translational motion, gradually adjusting its position until the central axis of the tank 4 coincides with the central axis of the operating cavity 7, thus achieving centering.

[0045] Once the tank body 4 reaches the coaxial state, the radial adjustment cylinder 10 stops operating, and the top pressure ball 11 uses the static friction between itself and the inner wall of the tank body 4 to form a stable clamp on the tank body 4, preventing the tank body 4 from shifting or shaking during subsequent assembly.

[0046] If it is necessary to remove the tank 4, the piston rod of the radial adjusting cylinder 10 will retract inward synchronously, causing the top pressure ball 11 to disengage from the inner wall of the tank 4, thus releasing the constraint on the tank 4.

[0047] Based on any of the above technical solutions, a further optimization is made where N is an integer ≥4, and the radial adjustment cylinder 10 is an electric cylinder powered by an external power source.

[0048] Setting the number N of radial adjustment cylinders 10 to an integer greater than or equal to 4, and using electric cylinders powered by an external power source, represents a further optimization of the drive and layout of the self-aligning positioning component. The integer setting of N ≥ 4 ensures that the radial adjustment cylinders 10 distributed circumferentially along the center pile 9 form a multi-point uniform constraint. When each electric cylinder extends and retracts synchronously, it can apply a balanced radial force to the tank 4 from more directions, preventing the tank 4 from swaying or overturning during positioning due to insufficient contact points.

[0049] Based on any of the above technical solutions, a further optimization is made as follows: the snap-fit ​​pressing mechanism includes a vertical electric cylinder fixed at the top center of the flipping frame 3. A first electric chuck 13 is fixedly installed at the end of the piston rod of the vertical electric cylinder. The first electric chuck 13 is used to snap onto an air extraction device 14 with a connecting pipe 15 delivered by an external robotic arm. The connecting pipe 15 on the air extraction device 14 is a snap-fit ​​connecting pipe 15. When the vertical electric cylinder is in working condition, the connecting pipe 15 clamped on the first electric chuck 13 is in a vertically downward state. When the vertical electric cylinder is working, it pushes the connecting pipe 15 clamped on the first electric chuck 13 downward and presses it into the snap-fit ​​hole at the top of the tank 4.

[0050] The buckling and pressing mechanism is installed with the top center of the flipping frame 3 as the mounting reference, and the vertical electric cylinder is fixed here to ensure that the line of action of its driving force is collinear with the central axis of the bearing unit.

[0051] When assembling the snap-fit ​​cupping product, an external robotic arm moves the suction device 14 with the snap-fit ​​connecting tube 15 to the first electric chuck 13. The first electric chuck 13 receives instructions from the control system and actuates, clamping and fixing the suction device 14 by radially contracting the jaws. At this time, the connecting tube 15 of the suction device 14 is placed facing upwards. After the flipping frame 3 completes a 180° rotation under the drive of the control motor 2, the connecting tube 15 rotates synchronously with the first electric chuck 13 to a vertically downward position, and its central axis is precisely aligned with the central axis of the clamping hole at the top of the cupping body 4.

[0052] Subsequently, the vertical electric cylinder receives a downward pressure command, and its internal motor drives the lead screw to rotate, converting the rotational motion into a linear downward motion of the piston rod, which in turn moves the first electric chuck 13 and the clamped suction device 14 downwards synchronously. During the downward movement of the piston rod, the snap-fit ​​connecting pipe 15 gradually approaches and contacts the locking hole at the top of the tank 4. As the vertical electric cylinder continues to output downward pressure, the connecting pipe 15 is pressed into the locking hole axially until the locking structure is completely locked.

[0053] Once the connecting pipe 15 is in place, the vertical electric cylinder stops pressing down and drives the piston rod to move up and reset. Simultaneously, the first electric chuck 13 releases the jaws, releasing the constraint on the air extraction device 14 and completing the assembly of the entire snap-fit ​​connection.

[0054] Based on any of the above technical solutions, a further optimization is made as follows: the screw-fitting and pressing mechanism includes a lifting cylinder assembly fixedly installed at the center bottom of the tilting frame 3. A rotary motor 16 is fixedly installed at the bottom of the lifting cylinder assembly. A second electric chuck 17 is fixedly installed at the bottom of the motor shaft of the rotary motor 16. An air extraction device 14 delivered by an external robotic arm is clamped on the second electric chuck 17. The connecting pipe 15 of the air extraction device 14 is a threaded connecting pipe 15 and is set vertically downward. When the threaded connecting pipe 15 is installed downward, it screws into the center screw hole at the top of the tank 4 below it in a spiral descent manner.

[0055] The rotating and pressing mechanism is installed with the bottom center of the tilting frame 3 as the mounting reference. The lifting cylinder group is fixed here, and its bottom is rigidly connected to the rotary motor 16. The lower end of the motor shaft of the rotary motor 16 is fixed to the second electric chuck 17, forming a coaxial transmission chain of the lifting cylinder group, the rotary motor 16, and the second electric chuck 17, ensuring that the central axis of the overall mechanism is collinear with the central axis of the bearing unit.

[0056] When assembling the threaded cupping product, an external robotic arm moves the suction device 14 with the threaded connecting tube 15 to the second electric chuck 17. The second electric chuck 17 clamps and fixes the suction device 14 by retracting its jaws, at which point the connecting tube 15 is placed facing upwards. After the tilting frame 3 is driven by the control motor 2 to complete a 180° tilt, the connecting tube 15 tilts synchronously with the mechanism to a vertically downward position, and its central axis is precisely aligned with the central threaded hole at the top of the cupping body 4.

[0057] During the assembly stage, the lifting cylinder group and the rotary motor 16 work together: the lifting cylinder group drives the overall mechanism to move downward in a straight line, providing axial feeding power for the connecting pipe 15; the rotary motor 16 drives the motor shaft and the second electric chuck 17 to rotate, causing the connecting pipe 15 to rotate synchronously.

[0058] Under the combined motion of the two, the threaded connecting pipe 15 is gradually screwed into the central threaded hole at the top of the tank 4 in a spiral descent trajectory until the threads are fully engaged. After assembly, the rotary motor 16 stops rotating, the lifting cylinder group drive mechanism moves upward and resets, the second electric chuck 17 releases the jaws, releasing the constraint on the air extraction device 14, and completing the assembly process of the threaded connection.

[0059] Based on any of the above technical solutions, a further optimization is made as follows: the lifting cylinder group consists of several vertically arranged lifting electric cylinders 18, the top of each lifting electric cylinder 18 is fixed to the bottom of the tilting frame 3, and the bottom of the piston rod of each lifting electric cylinder 18 is fixed to the top of the motor housing of the rotary motor 16.

[0060] The lifting cylinder assembly uses several vertically arranged lifting electric cylinders 18 as actuators. The top of each lifting electric cylinder 18 is fixedly connected to the bottom of the tilting frame 3, and the bottom of the piston rod is rigidly connected to the top of the motor housing of the rotary motor 16, forming a multi-point synchronous drive lifting structure.

[0061] When the rotating and pressing mechanism is working, the external control system sends a synchronous control signal to all lifting cylinders 18, and the motors of each lifting cylinder 18 start simultaneously. The rotational motion is converted into the linear extension and retraction motion of the piston rod through the internal screw and nut transmission mechanism.

[0062] Since all the lifting cylinders 18 have the same model parameters and are controlled by the same signal, their piston rod extension and retraction speeds and displacements are exactly the same, thereby driving the rotary motor 16 and the lower second electric chuck 17, air extraction device 14 and other components to achieve smooth vertical lifting.

[0063] During the engagement of the threaded connecting pipe 15, the synchronous extension and retraction of the lifting electric cylinder 18 provides a stable axial feed power to the rotary motor 16, ensuring that the connecting pipe 15 can move downward at a uniform speed along the axis while rotating, thus achieving precise thread engagement.

[0064] Once assembly is complete, the lifting electric cylinder 18 receives a reverse control signal, and the piston rod retracts synchronously, driving the entire rotating mechanism to move upward and reset.

[0065] Example 2: Compared with Example 1, this example also includes the following technical features: Based on any of the above technical solutions, a further optimization is made as follows: a pressure sensor 19 is provided on the surface of each of the top pressure balls 11 facing the inner wall of the inner cavity of the tank body 4. When the pressure of the pressure sensor 19 reaches a set threshold, the control system configured on the external assembly machine controls the current radial adjustment cylinder 10 to stop extending outward.

[0066] The pressure sensor 19 senses the current pressure on the inner wall of the tank 4, avoiding excessive pressure and thus effectively ensuring the safety of the tank 4.

[0067] During the operation of the self-aligning and positioning assembly, the radial adjustment cylinder 10 drives the top pressure ball 11 to move towards the inner wall of the tank 4. The pressure sensor 19 on the surface of the top pressure ball 11 monitors the pressure between the top pressure ball 11 and the inner wall of the tank 4 in real time, and converts the pressure signal into an electrical signal and transmits it to the control system of the external assembly machine.

[0068] As the pressure ball 11 gradually presses against the inner wall of the tank 4, the pressure gradually increases. As the radial adjustment cylinder 10 continues to extend, the pressure continues to rise. Once the pressure sensor 19 detects that the pressure value has reached the preset threshold, it means that the inner wall of the tank 4 has been subjected to appropriate pressure and is in a stable positioning state. At this time, the pressure sensor 19 immediately feeds back the signal to the control system.

[0069] After receiving the feedback signal, the control system quickly issues a command to stop the radial adjustment cylinder 10 from extending outward, thereby preventing the top pressure ball 11 from applying excessive pressure to the inner wall of the tank 4 and preventing the tank 4 from being damaged due to excessive force.

[0070] Based on any of the above technical solutions, a further optimization is made: the control motor 2 drives the first electric chuck 13 and the second electric chuck 17 on the flipping frame 3 to achieve 180° repositioning.

[0071] The core function of the control motor 2 is to provide rotational power for the tilting frame 3. By precisely controlling the rotation angle, the first electric chuck 13 and the second electric chuck 17 can be switched 180°. After the switching, the first electric chuck 13 and the second electric chuck 17 are used for the assembly of the snap-fit ​​connecting pipe 15 and the threaded connecting pipe 15, respectively, so that the equipment can quickly switch the assembly function according to different product requirements.

[0072] Based on any of the above technical solutions, a further optimization is made: the ranging sensor 8 adopts a reflective ranging sensor 8.

[0073] The reflective ranging sensor 8 uses non-contact measurement, avoiding direct contact with the tank 4 and causing no damage to the surface of the tank 4. It is especially suitable for tanks 4 with fragile surfaces. It has high measurement accuracy and fast response speed, and can provide real-time feedback on the position information of the tank 4, meeting the needs of rapid positioning of the tank 4 during the assembly process.

[0074] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention. For those skilled in the art, any alternative improvements or transformations made to the implementation of the present invention fall within the protection scope of the present invention.

[0075] Any aspects of this invention not described in detail are well-known to those skilled in the art.

Claims

1. A machine for assembling cupping sets, characterized in that: The assembly includes a support unit fixedly installed at the assembly station of the assembly machine. A fixed angle steel base is fixedly installed above the support unit. A horizontally positioned control motor is fixedly installed on the left side wall of the vertical section of the fixed angle steel base. A flipping frame is installed at the motor shaft of the control motor. A snap-fit ​​pressing mechanism is installed on the top of the flipping frame. A screw-fit pressing mechanism is installed at the bottom of the flipping frame. The vertical central axis of the snap-fit ​​pressing mechanism and the vertical central axis of the screw-fit pressing mechanism are both collinear with the central axis of the support unit. The top of the support unit is used to install and fix the cupping jar to be assembled.

2. The cupping assembly machine according to claim 1, characterized in that: The supporting unit includes a fixed platform, an operating panel is installed on the top of the fixed platform, an operating cavity is provided at the top center of the operating panel, and a centering and positioning component is fixedly installed at the bottom center of the operating cavity. The outside of the centering and positioning component is used to place the cupping jar to be assembled. The bottom of the cupping jar is placed against the bottom of the operating cavity. The outer circumferential ends of the centering and positioning component are respectively pressed against the inner sidewall of the inner cavity of the cupping jar. A plurality of distance measuring sensors are evenly spaced along the circumference of the inner sidewall of the operating cavity. Each distance measuring sensor is used to measure the distance between itself and the current outer sidewall of the cupping jar.

3. The cupping assembly machine according to claim 2, characterized in that: The self-aligning positioning assembly includes a central post fixed at the bottom center of the operating cavity. N radial adjustment cylinders are fixedly installed at uniform intervals along the circumference of the outer wall of the central post. Each radial adjustment cylinder is in a synchronous and same-speed extension and retraction state during operation. A top pressure ball is fixedly installed at the outer end of the piston rod of each radial adjustment cylinder. The outer surface of each top pressure ball is used to abut against the inner wall of the inner cavity of the tank.

4. The cupping assembly machine according to claim 3, characterized in that: in, N is an integer ≥4, and the radial adjustment cylinder is an electric cylinder powered by an external power source.

5. The cupping assembly machine according to claim 4, characterized in that: The snap-fit ​​pressing mechanism includes a vertical electric cylinder fixed at the top center of the tilting frame. A first electric chuck is fixedly installed at the end of the piston rod of the vertical electric cylinder. The first electric chuck is used to snap onto an air extraction device with a connecting pipe delivered by an external robotic arm. The connecting pipe on the air extraction device is a snap-fit ​​connecting pipe. When the vertical electric cylinder is working, the connecting pipe held on the first electric chuck is in a vertically downward position. When the vertical electric cylinder is working, it pushes the connecting pipe held on the first electric chuck downward and presses it into the snap-fit ​​hole at the top of the tank.

6. The cupping assembly machine according to claim 5, characterized in that: The screwing and pressing mechanism includes a lifting cylinder assembly fixedly installed at the bottom center of the tilting frame. A rotary motor is fixed at the bottom of the lifting cylinder assembly. A second electric chuck is fixedly installed at the bottom of the motor shaft of the rotary motor. An air extraction device delivered by an external robotic arm is clamped on the second electric chuck. The connecting pipe of the air extraction device is a threaded connecting pipe and is set vertically downward. When the threaded connecting pipe is installed downward, it screws into the central screw hole at the top of the tank below it in a spiral descent manner.

7. The cupping assembly machine according to claim 6, characterized in that: The lifting cylinder assembly consists of several vertically arranged lifting electric cylinders. The top of each lifting electric cylinder is fixed to the bottom of the tilting frame, and the bottom of the piston rod of each lifting electric cylinder is fixed to the top of the motor housing of the rotary motor.

8. The cupping assembly machine according to claim 7, characterized in that: The control motor rotates to drive the first and second electric chucks on the flipping frame to achieve a 180° position change.

9. A cupping assembly machine according to claim 8, characterized in that: The ranging sensor is a reflective type.

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