Automatic assembling device and method for high-pressure sintering diamond tool bit pyrophyllite mold

Abstract

The invention discloses an automatic assembling device and method for a high-pressure sintering diamond tool bit pyrophyllite mold. The assembling device comprises an equipment operation table, a six-axis mechanical arm, a mechanical arm end executor integrating a pneumatic four-finger clamping jaw and a vacuum suction cup, a depth camera for obtaining material coordinates, a conveying belt for conveying all parts of the mold and a conveying belt for transferring the assembled pyrophyllite mold. The assembling method comprises the steps that all parts of the mold are conveyed to the corresponding positions through the corresponding conveying belts; the depth camera obtains coordinates of all parts of the mold and sends the coordinates to the mechanical arm, the mechanical arm rotates a sixth shaft to select a corresponding clamp to convey all the parts of the mold to the mold transfer conveying belt to complete assembly, and after assembly is completed, the computer sends a signal to the finished product conveying belt. And the finished product conveying belt conveys the assembled mold away to leave a position for the next assembly.

Description

Technical Field

[0001] This invention relates to the field of high-pressure sintered diamond cutter head manufacturing technology, and particularly to an automated assembly device and method for pyrophyllite molds of high-pressure sintered diamond cutter heads. Background Technology

[0002] A six-sided press applies pressure to the six sides of the mold via a hydraulic system. During this process, the density of the matrix material in the diamond cutting head increases, as does the embedding force of the matrix material on the diamond. This technology has wide applications in high-pressure sintered diamond cutting tools. Taking a high-pressure sintered diamond cutting head pyrophyllite mold as an example, see the attached instruction manual. Figure 2-3 As shown, mold 26 consists of a heating core 22, a titanium sheet 21, a graphite sheet 20, a dolomite ring 19, a pyrophyllite ring 18, an upper steel cap 17, a lower steel cap 23, and upper and lower pyrophyllite blocks 24 and 25. First, the pyrophyllite ring 18 is placed on the lower steel cap 23, then the dolomite ring 19 is also placed on the lower steel cap 23. Next, the lower pyrophyllite block 25 is placed on the pyrophyllite ring 18 and the dolomite ring 19. Finally, the graphite sheet 20 and the titanium sheet 21 are placed on top. The pyrophyll sheet 21 is sequentially placed into the central hole of the lower pyrophyll block 25. Then, the heating core 22 is inserted into the central hole of the lower pyrophyll block 25, and the upper pyrophyll block 24 is placed on top of the heating core 22. Next, the titanium sheet 21, graphite sheet 20, dolomite ring 19, and pyrophyllite ring 18 are sequentially placed into the central hole of the upper pyrophyll block 24. Finally, the upper steel cap 17 is placed into the central holes of the pyrophyllite ring 18 and the dolomite ring 19 to form the pyrophyllite mold 26. The assembly of the pyrophyllite mold involves numerous and complex steps. The assembly sequence of each component of the high-pressure sintered diamond cutter head pyrophyllite mold, as well as the orientation of each component, are subject to strict requirements. Manual assembly is prone to errors, resulting in inconsistent mold quality and affecting product quality and efficiency. Summary of the Invention

[0003] The purpose of this invention is to provide an automated assembly device and method for high-pressure sintered diamond cutter blade wax stone mold, which can efficiently and with high quality complete the assembly of high-pressure sintered diamond cutter blade wax stone mold.

[0004] To achieve the above objectives, the present invention adopts the following technical solution:

[0005] An automated assembly device for high-pressure sintered diamond cutter head pyrophyllite molds is disclosed. The pyrophyllite mold is a cubic structure composed of pyrophyllite blocks. Both ends of the mold are fitted with plugs consisting of steel caps, pyrophyllite rings, and dolomite rings. The mold interior has a cylindrical heating core containing a diamond cutter head. Both ends of the heating core have circular titanium sheets and circular graphite sheets. The assembly device comprises a placement platform, a six-axis robotic arm for automated assembly, an end effector integrating a pneumatic four-finger gripper and a vacuum suction cup, a depth camera for acquiring material coordinates, a conveyor belt for transporting the various mold components, and a conveyor belt for transferring the assembled pyrophyllite mold.

[0006] The robotic arm end effector integrates a pneumatic four-finger gripper for grasping block-shaped components of the pyrophyllite mold and a vacuum suction cup for picking up sheet components of the pyrophyllite mold.

[0007] The mold component conveyor belt has a double-layer design, and a photoelectric sensor is installed at the end of the conveyor belt to check the mold component's arrival at the designated position.

[0008] The depth camera is positioned above the conveyor belt side of the mold component;

[0009] The finished product conveyor belt is equipped with a start / stop controller;

[0010] This invention also provides an automated assembly method for high-pressure sintered diamond cutter blade wax stone molds, using the aforementioned automated assembly device for high-pressure sintered diamond cutter blade wax stone molds, comprising the following steps:

[0011] S1. Feeding: Place each component of the pyrophyllite mold onto its corresponding component conveyor belt;

[0012] S2, Component conveying: The component conveyor belt starts to convey materials to the end of the conveyor belt. When the component reaches the end of the conveyor belt, it triggers the photoelectric sensor at the end of the conveyor belt to stop the conveyor belt.

[0013] S3: The depth camera identifies each mold component and obtains its coordinates, which are then sent to the robotic arm.

[0014] S4. The robotic arm rotates the sixth axis using a pneumatic four-finger gripper and moves to the top of the steel cap conveyor belt. Then it moves down to the coordinates of the steel cap identified by the depth camera, closes the gripper to pick up the steel cap, and then the robotic arm places the steel cap on the assembly conveyor belt. The four-finger gripper releases the robotic arm to prepare to pick up the next part.

[0015] S5. The robotic arm rotates its sixth axis using a pneumatic four-finger gripper and moves to the top of the pyrophyllite ring conveyor belt. Then it moves downward to the coordinates of the pyrophyllite ring identified by the depth camera, where the gripper closes to pick up the pyrophyllite ring. The robotic arm then moves to a position directly above the steel cap of the assembly conveyor belt and moves vertically downward to put the pyrophyllite ring on the steel cap. Then the four-finger gripper releases, and the robotic arm is ready to pick up the next part.

[0016] S6. The robotic arm rotates its sixth axis using a pneumatic four-finger gripper and moves to the top of the dolomite ring conveyor belt. Then it moves downward to the coordinates of the dolomite ring identified by the depth camera, where the gripper closes to pick up the dolomite ring. The robotic arm then moves to the top of the steel cap on the assembly conveyor belt and moves vertically downward to put the dolomite ring on the steel cap. Then the four-finger gripper releases, and the robotic arm is ready to pick up the next part.

[0017] S7. The robotic arm rotates the sixth axis using a pneumatic four-finger gripper and moves to the top of the lower leaf wax stone block conveyor belt. Then it moves down to the coordinates of the lower leaf wax stone block identified by the depth camera, and the gripper closes to pick up the lower leaf wax stone block. Then the robotic arm moves to the top of the steel cap of the assembly conveyor belt and moves vertically downward to put the lower leaf wax stone block on the steel cap. Then the four-finger gripper releases, and the robotic arm is ready to pick up the next part.

[0018] S8. The robotic arm rotates along the sixth axis using a vacuum suction cup and moves to the top of the graphite sheet conveyor belt. Then it moves downward to the coordinates of the graphite sheet identified by the depth camera. The vacuum suction cup picks up the graphite sheet, and then the robotic arm moves to the top of the lower leaf wax block of the assembly conveyor belt and moves vertically downward to put the graphite sheet into the lower leaf wax block. Then the vacuum suction cup is released, and the robotic arm is ready to pick up the next part.

[0019] S9. The robotic arm rotates the sixth axis using a vacuum suction cup and moves to the top of the titanium sheet conveyor belt. Then it moves downward to the coordinates of the titanium sheet identified by the depth camera. The vacuum suction cup picks up the titanium sheet. Then the robotic arm moves to the top of the lower pyrophyllite block placed on the assembly conveyor belt and moves vertically downward to put the titanium sheet into the pyrophyllite block. Then the vacuum suction cup is released, and the robotic arm is ready to pick up the next part.

[0020] S10. The robotic arm rotates its sixth axis using a pneumatic four-finger gripper and moves to the top of the heating core column conveyor belt. Then, it moves downward to the coordinates of the heating core column identified by the depth camera, where the gripper closes to pick up the heating tube. The robotic arm then moves to the top of the lower leaf wax block on the assembly conveyor belt and moves vertically downward to insert the heating core column into the lower leaf wax block. The four-finger gripper then releases, and the robotic arm is ready to pick up the next part.

[0021] S11. The robotic arm rotates its sixth axis using a pneumatic four-finger gripper, moving above the upper wax block conveyor belt. It then descends to the coordinates of the upper wax block identified by the depth camera, where the gripper closes to pick up the heating element. The robotic arm then moves to directly above the lower wax block on the assembly conveyor belt and moves vertically downwards to place the upper wax block onto the heating core. The four-finger gripper then releases, and the robotic arm prepares to pick up the next component.

[0022] S12. The robotic arm rotates along its sixth axis using a vacuum suction cup, moving above the titanium sheet conveyor belt. It then descends to the coordinates of the titanium sheet detected by the depth camera, where the vacuum suction cup picks up the sheet. The robotic arm then moves to directly above the upper wax block placed on the assembly conveyor belt and moves vertically downwards to place the titanium sheet into the upper wax block. The vacuum suction cup then releases, and the robotic arm prepares to pick up the next component.

[0023] S13. The robotic arm rotates the sixth axis using a vacuum suction cup and moves to the top of the graphite sheet conveyor belt. Then it moves downward to the coordinates of the graphite sheet identified by the depth camera. The vacuum suction cup picks up the graphite sheet. Then the robotic arm moves to the top of the pyrophyllite block placed on the assembly conveyor belt and moves vertically downward to put the graphite sheet into the pyrophyllite block. Then the vacuum suction cup is released, and the robotic arm is ready to pick up the next part.

[0024] S14. The robotic arm rotates its sixth axis using a pneumatic four-finger gripper and moves to the top of the dolomite ring conveyor belt. Then, it moves downward to the coordinates of the dolomite ring identified by the depth camera, where the gripper closes to pick up the dolomite ring. The robotic arm then moves to the top of the upper wax block on the assembly conveyor belt and moves vertically downward to send the dolomite ring into the through hole of the upper wax block. The four-finger gripper then releases, and the dolomite ring falls into the upper wax block. The robotic arm is then ready to pick up the next part.

[0025] S15. The robotic arm rotates its sixth axis using a pneumatic four-finger gripper and moves to the top of the pyrophyllite ring conveyor belt. Then, it moves downward to the coordinates of the pyrophyllite ring identified by the depth camera, where the gripper closes to pick up the pyrophyllite ring. The robotic arm then moves to the top of the upper pyrophyllite block on the assembly conveyor belt and moves vertically downward to send the pyrophyllite ring into the through hole of the upper pyrophyllite block. The four-finger gripper then releases, and the pyrophyllite ring falls into the upper pyrophyllite block. The robotic arm is then ready to pick up the next part.

[0026] S16. The robotic arm rotates its sixth axis using a pneumatic four-finger gripper and moves to the top of the upper steel cap conveyor belt. Then, it moves downwards to the coordinates of the upper steel cap identified by the depth camera, where the gripper closes to pick up the upper steel cap. The robotic arm then moves to the top of the upper pyrophyllite block on the assembly conveyor belt and moves vertically downwards to deliver the upper steel cap into the through hole of the upper pyrophyllite block. The four-finger gripper then releases, and the steel cap falls into the through hole of the pyrophyllite ring, completing one assembly. The robotic arm then sends a signal to start the assembly conveyor belt to move and transport the assembled pyrophyllite mold away to make room for the next assembly.

[0027] The beneficial effects of this invention are as follows:

[0028] (1) The high-pressure sintered diamond cutter head blade wax stone mold is assembled by a robotic arm, which improves the quality of the high-pressure sintered diamond cutter head blade wax stone mold assembly.

[0029] (2) Using a material conveyor belt for material transportation enables continuous assembly of high-pressure sintered diamond blade wax stone molds, significantly improving production efficiency. Attached Figure Description

[0030] Figure 1 , one Top view of an automated assembly device for high-pressure sintered diamond cutter blade wax stone mold;

[0031] Figure 2 , one Side view of an automated assembly device for high-pressure sintered diamond cutter blade wax stone mold;

[0032] Figure 3 1. Component diagrams of the high-pressure sintered diamond cutter head blade wax stone mold;

[0033] Figure 4 Schematic diagram of the inner and outer parts of the high-pressure sintered diamond blade wax stone mold;

[0034] Figure 5 Schematic diagram of high-pressure sintered diamond blade wax stone mold. Detailed Implementation

[0035] The invention will now be further described with reference to the accompanying drawings. Example

[0036] like Figure 3 — Figure 4The diagram shows the structure of the pyrophyllite mold. The composite block 26 is a cube composed of pyrophyllite. Its exterior is composed of upper pyrophyllite block 24 and lower pyrophyllite block 25. The interior, from bottom to top, consists of lower steel cap 23, pyrophyllite ring 18, dolomite ring 19, graphite sheet 20, titanium sheet 21, heating core column 22, titanium sheet 21, graphite sheet 20, dolomite ring 19, pyrophyllite ring 18, and upper steel cap 17. The assembly sequence of each component of the high-pressure sintered diamond cutter head pyrophyllite mold and the orientation of each component are subject to strict requirements.

[0037] like Figure 1 As shown, an automated assembly device for high-pressure sintered diamond cutter head pyrophyllite mold includes an equipment operating table 1, a six-axis robotic arm 3 for automated assembly, a robotic arm end effector integrating a pneumatic four-finger gripper 4 and a vacuum suction cup 5, a depth camera 6 for acquiring material coordinates, conveyor belts 7-16 for transporting various parts of the mold, and a conveyor belt 2 for transferring the assembled pyrophyllite mold.

[0038] like Figure 1-3 When the material conveyor belt 11 transports the lower steel cap 23 to the right end of the conveyor belt, the photoelectric switch located at the right end of the conveyor belt is triggered, the material conveyor belt 11 stops moving, the depth camera 6 obtains the coordinate information of the lower steel cap 23 and sends it to the robotic arm, the robotic arm rotates the sixth axis and uses the four-finger gripper 4 to move above the material conveyor belt 11 and then grabs the lower steel cap 23 according to the coordinates of the lower steel cap 23 obtained by the depth camera 6. After the robotic arm moves the lower steel cap 23 to the top of the assembly conveyor 2, it places the lower steel cap 23 vertically downward on the assembly conveyor belt 2. At this time, the assembly conveyor belt 2 is still stationary. The contact switch or non-contact switch used for sensing the position are existing conventional technologies and will not be described in detail in this example.

[0039] Next, the material conveyor belt 10 transports the pyrophyllite ring 18 to the right end of the conveyor belt. The material conveyor belt 10 stops moving. The depth camera 6 obtains the coordinate information of the pyrophyllite ring 18 and sends it to the robotic arm. The robotic arm rotates the sixth axis and uses the four-finger gripper 4 to move above the material conveyor belt 10. Then, according to the coordinates of the pyrophyllite ring 18 obtained by the depth camera 6, it grabs the ring. After the robotic arm moves with the pyrophyllite ring 18 above the assembly conveyor 2, it vertically lowers the lower pyrophyllite ring 18 onto the lower steel cap 23. At this time, the assembly conveyor belt 2 is still stationary.

[0040] Next, the material conveyor belt 9 transports the dolomite ring 19 to the right end of the conveyor belt. The material conveyor belt 9 stops moving, and the depth camera 6 obtains the coordinate information of the dolomite ring 19 and sends it to the robotic arm. The robotic arm rotates the sixth axis and uses the four-finger gripper 4 to move above the material conveyor belt 9. Then, according to the coordinates of the dolomite ring 19 obtained by the depth camera 6, it grabs the ring. After the robotic arm moves the dolomite ring 19 above the assembly conveyor 2, it vertically lowers the ring 19 onto the lower steel cap 23. At this time, the assembly conveyor belt 2 is still stationary.

[0041] Next, the material conveyor belt 8 transports the lower pyrophyllite block 25 to the right end of the conveyor belt. The material conveyor belt 8 stops moving, and the depth camera 6 obtains the coordinate information of the lower pyrophyllite block 25 and sends it to the robotic arm. The robotic arm rotates the sixth axis and uses the four-finger gripper 4 to move above the material conveyor belt 8. Then, according to the coordinates of the lower pyrophyllite block 25 obtained by the depth camera 6, it grabs the lower pyrophyllite block 25. After the robotic arm moves the lower pyrophyllite block 25 above the assembly conveyor 2, it vertically lowers the lower pyrophyllite block 25 onto the pyrophyllite ring 18 and the dolomite ring 19. At this time, the assembly conveyor belt 2 is still stationary.

[0042] Next, after the material conveyor belt 16 transports the graphite sheet 20 to the right end of the conveyor belt, the material conveyor belt 16 stops moving. The depth camera 6 obtains the coordinate information of the graphite sheet 20 and sends it to the robotic arm. The robotic arm rotates the sixth axis and uses the vacuum suction cup 5 to move above the material conveyor belt 16. Then, it picks up the graphite sheet 20 according to the coordinates of the graphite sheet 20 obtained by the depth camera 6. After the robotic arm moves the graphite sheet 20 to the top of the assembly conveyor 2, it vertically lowers the graphite sheet 20 into the center hole of the lower leaf wax block 25. At this time, the assembly conveyor belt 2 is still stationary.

[0043] Next, after the material conveyor belt 15 transports the titanium sheet 21 to the right end of the conveyor belt, the material conveyor belt 15 stops moving. The depth camera 6 obtains the coordinate information of the titanium sheet 21 and sends it to the robotic arm. The robotic arm rotates the sixth axis and uses the vacuum suction cup 5 to move above the material conveyor belt 15. Then, it picks up the titanium sheet 21 according to the coordinates obtained by the depth camera 6. After the robotic arm moves the titanium sheet above the assembly conveyor 2, it vertically lowers the titanium sheet 21 into the center hole of the lower leaf wax block 25. At this time, the assembly conveyor belt 2 is still stationary.

[0044] Next, the material conveyor belt 7 transports the heating core column 22 to the right end of the conveyor belt. The material conveyor belt 7 stops moving. The depth camera 6 obtains the coordinate information of the heating core column 22 and sends it to the robotic arm. The robotic arm rotates the sixth axis and uses the four-finger gripper 4 to move above the material conveyor belt 7. Then, according to the coordinates of the heating core column 22 obtained by the depth camera 6, it grabs the heating core column 22. After the robotic arm moves the heating core column 22 above the assembly conveyor 2, it inserts the heating core column 22 vertically downward into the center hole of the lower leaf wax stone block 25. At this time, the assembly conveyor belt 2 is still stationary.

[0045] Next, the material conveyor belt 12 transports the upper pyrophyllite block 24 to the right end of the conveyor belt. The material conveyor belt 12 stops moving. The depth camera 6 obtains the coordinate information of the upper pyrophyllite block 24 and sends it to the robotic arm. The robotic arm rotates the sixth axis and uses the four-finger gripper 4 to move above the material conveyor belt 12. Then, according to the coordinates of the upper pyrophyllite block 24 obtained by the depth camera 6, it grabs the block. After the robotic arm moves the upper pyrophyllite block 24 above the assembly conveyor 2, it vertically lowers the upper pyrophyllite block 24 onto the heating core column 22. At this time, the assembly conveyor belt 2 is still stationary.

[0046] Next, after the material conveyor belt 15 transports the titanium sheet 21 to the right end of the conveyor belt, the material conveyor belt 15 stops moving. The depth camera 6 obtains the coordinate information of the titanium sheet 21 and sends it to the robotic arm. The robotic arm rotates the sixth axis and uses the vacuum suction cup 5 to move above the material conveyor belt 15. Then, it picks up the titanium sheet 21 according to the coordinates of the titanium sheet 21 obtained by the depth camera 6. After the robotic arm moves the titanium sheet above the assembly conveyor 2, it vertically lowers the titanium sheet 21 into the center hole of the upper leaf wax block 24. At this time, the assembly conveyor belt 2 is still stationary.

[0047] Next, after the material conveyor belt 16 transports the graphite sheet 20 to the right end of the conveyor belt, the material conveyor belt 16 stops moving. The depth camera 6 obtains the coordinate information of the graphite sheet 20 and sends it to the robotic arm. The robotic arm rotates the sixth axis and uses the vacuum suction cup 5 to move above the material conveyor belt 16. Then, it picks up the graphite sheet 20 according to the coordinates of the graphite sheet 20 obtained by the depth camera 6. After the robotic arm moves the graphite sheet 20 to the top of the assembly conveyor 2, it vertically lowers the graphite sheet 20 into the center hole of the upper leaf wax block 24. At this time, the assembly conveyor belt 2 is still stationary.

[0048] Next, the material conveyor belt 9 transports the dolomite ring 19 to the right end of the conveyor belt. The material conveyor belt 9 stops moving, and the depth camera 6 obtains the coordinate information of the dolomite ring 19 and sends it to the robotic arm. The robotic arm rotates the sixth axis and uses the four-finger gripper 4 to move above the material conveyor belt 9. Then, according to the coordinates of the dolomite ring 19 obtained by the depth camera 6, it grabs the ring. After the robotic arm moves the dolomite ring 19 above the assembly conveyor 2, it vertically lowers the dolomite ring 19 into the center hole of the upper pyrophyllite block 24. At this time, the assembly conveyor belt 2 is still stationary.

[0049] Next, the material conveyor belt 9 transports the dolomite ring 19 to the right end of the conveyor belt. The material conveyor belt 9 stops moving, and the depth camera 6 obtains the coordinate information of the dolomite ring 19 and sends it to the robotic arm. The robotic arm rotates the sixth axis and uses the four-finger gripper 4 to move above the material conveyor belt 9. Then, according to the coordinates of the dolomite ring 19 obtained by the depth camera 6, it grabs the ring. After the robotic arm moves the dolomite ring 19 above the assembly conveyor 2, it vertically lowers the dolomite ring 19 into the center hole of the upper pyrophyllite block 24. At this time, the assembly conveyor belt 2 is still stationary.

[0050] Next, the material conveyor belt 14 transports the pyrophyllite ring 18 to the right end of the conveyor belt. The material conveyor belt 14 stops moving. The depth camera 6 obtains the coordinate information of the pyrophyllite ring 18 and sends it to the robotic arm. The robotic arm rotates the sixth axis and uses the four-finger gripper 4 to move above the material conveyor belt 14. Then, according to the coordinates of the pyrophyllite ring 18 obtained by the depth camera 6, it grabs the ring. After the robotic arm moves the pyrophyllite ring 18 above the assembly conveyor 2, it vertically lowers the lower pyrophyllite ring 18 into the center hole of the upper pyrophyllite block 24. At this time, the assembly conveyor belt 2 is still stationary. Next, the material conveyor belt 13 transports the upper steel cap 17 to the right end of the conveyor belt. The material conveyor belt 13 stops moving, and the depth camera 6 obtains the coordinate information of the upper steel cap 17 and sends it to the robotic arm. The robotic arm rotates the sixth axis and uses the four-finger gripper 4 to move above the material conveyor belt 13. Then, based on the coordinates of the upper steel cap 17 obtained by the depth camera 6, it grabs the cap. After the robotic arm moves the upper steel cap to the assembly conveyor 2, it vertically lowers the upper and lower steel cap 17 into the center hole of the pyrophyllite ring 18, completing the assembly of a pyrophyllite mold. At this time, the robotic arm sends a motion signal, and the assembly conveyor belt moves to transport the assembled pyrophyllite mold away to make room for the next assembly.

Claims

1. An automated assembly device for a high-pressure sintered diamond cutter head pyrophyllite mold, wherein the pyrophyllite mold is a cubic structure composed of pyrophyllite blocks, and both ends of the mold are provided with plugs composed of steel caps, pyrophyllite rings, and dolomite rings. The mold interior has a cylindrical heating core, inside which a diamond cutter head is installed. Both ends of the heating core have circular titanium sheets and circular graphite sheets. The device is characterized by: The assembly device includes a platform for placing equipment, a six-axis robotic arm for automated assembly, an end effector for the robotic arm integrating a pneumatic four-finger gripper and a vacuum suction cup, a depth camera for acquiring material coordinates, a conveyor belt for transporting the various components of the mold, and a conveyor belt for transferring the assembled pyrophyllite mold.

2. The automated assembly device for high-pressure sintered diamond cutter head blade wax stone mold according to claim 1, characterized in that, The robotic arm end effector integrates a pneumatic four-finger gripper for picking up block-shaped components of the pyrophyllite mold and a vacuum suction cup for picking up sheet-like components of the pyrophyllite mold.

3. The automated assembly device for high-pressure sintered diamond cutter head blade wax stone mold according to claim 1, characterized in that, The mold component conveyor belt has a double-layer design, and a photoelectric sensor is installed at the end of the conveyor belt to check the mold component's arrival position.

4. The automated assembly device for high-pressure sintered diamond cutter head blade wax stone mold according to claim 1, characterized in that, The depth camera is positioned above the conveyor belt side of the mold component.

5. The automated assembly device for high-pressure sintered diamond cutter head blade wax stone mold according to claim 1, characterized in that, The finished product conveyor belt is equipped with a start / stop controller.

6. An automated assembly method for a high-pressure sintered diamond cutter head blade wax stone mold, characterized in that, Using the automated assembly apparatus of claim 1 includes the following steps: S1. Feeding: Place each component of the pyrophyllite mold onto its corresponding component conveyor belt; S2, Component conveying: The component conveyor belt starts to convey materials to the end of the conveyor belt. When the component reaches the end of the conveyor belt, it triggers the photoelectric sensor at the end of the conveyor belt to stop the conveyor belt. S3: The depth camera identifies each mold component and obtains its coordinates, which are then sent to the robotic arm. S4. The robotic arm rotates the sixth axis using a pneumatic four-finger gripper and moves to the top of the steel cap conveyor belt. Then it moves down to the coordinates of the steel cap identified by the depth camera, closes the gripper to pick up the steel cap, and then the robotic arm places the steel cap on the assembly conveyor belt. The four-finger gripper releases the robotic arm to prepare to pick up the next part. S5. The robotic arm rotates its sixth axis using a pneumatic four-finger gripper and moves to the top of the pyrophyllite ring conveyor belt. Then it moves downward to the coordinates of the pyrophyllite ring identified by the depth camera, where the gripper closes to pick up the pyrophyllite ring. The robotic arm then moves to a position directly above the steel cap of the assembly conveyor belt and moves vertically downward to put the pyrophyllite ring on the steel cap. Then the four-finger gripper releases, and the robotic arm is ready to pick up the next part. S6. The robotic arm rotates its sixth axis using a pneumatic four-finger gripper and moves to the top of the dolomite ring conveyor belt. Then it moves downward to the coordinates of the dolomite ring identified by the depth camera, where the gripper closes to pick up the dolomite ring. The robotic arm then moves to the top of the steel cap on the assembly conveyor belt and moves vertically downward to put the dolomite ring on the steel cap. Then the four-finger gripper releases, and the robotic arm is ready to pick up the next part. S7. The robotic arm rotates the sixth axis using a pneumatic four-finger gripper and moves to the top of the lower leaf wax stone block conveyor belt. Then it moves down to the coordinates of the lower leaf wax stone block identified by the depth camera, and the gripper closes to pick up the lower leaf wax stone block. Then the robotic arm moves to the top of the steel cap of the assembly conveyor belt and moves vertically downward to put the lower leaf wax stone block on the steel cap. Then the four-finger gripper releases, and the robotic arm is ready to pick up the next part. S8. The robotic arm rotates along the sixth axis using a vacuum suction cup and moves to the top of the graphite sheet conveyor belt. Then it moves downward to the coordinates of the graphite sheet identified by the depth camera. The vacuum suction cup picks up the graphite sheet, and then the robotic arm moves to the top of the lower leaf wax block of the assembly conveyor belt and moves vertically downward to put the graphite sheet into the lower leaf wax block. Then the vacuum suction cup is released, and the robotic arm is ready to pick up the next part. S9. The robotic arm rotates the sixth axis using a vacuum suction cup and moves to the top of the titanium sheet conveyor belt. Then it moves downward to the coordinates of the titanium sheet identified by the depth camera. The vacuum suction cup picks up the titanium sheet. Then the robotic arm moves to the top of the lower pyrophyllite block placed on the assembly conveyor belt and moves vertically downward to put the titanium sheet into the pyrophyllite block. Then the vacuum suction cup is released, and the robotic arm is ready to pick up the next part. S10. The robotic arm rotates its sixth axis using a pneumatic four-finger gripper and moves to the top of the heating core column conveyor belt. Then, it moves downward to the coordinates of the heating core column identified by the depth camera, where the gripper closes to pick up the heating tube. The robotic arm then moves to the top of the lower leaf wax block on the assembly conveyor belt and moves vertically downward to insert the heating core column into the lower leaf wax block. The four-finger gripper then releases, and the robotic arm is ready to pick up the next part. S11. The robotic arm rotates its sixth axis using a pneumatic four-finger gripper, moving above the upper wax block conveyor belt. It then descends to the coordinates of the upper wax block identified by the depth camera, where the gripper closes to pick up the heating element. The robotic arm then moves to directly above the lower wax block on the assembly conveyor belt and moves vertically downwards to place the upper wax block onto the heating core. The four-finger gripper then releases, and the robotic arm prepares to pick up the next component. S12. The robotic arm rotates along its sixth axis using a vacuum suction cup, moving above the titanium sheet conveyor belt. It then descends to the coordinates of the titanium sheet detected by the depth camera, where the vacuum suction cup picks up the sheet. The robotic arm then moves to directly above the upper wax block placed on the assembly conveyor belt and moves vertically downwards to place the titanium sheet into the upper wax block. The vacuum suction cup then releases, and the robotic arm prepares to pick up the next component. S13. The robotic arm rotates the sixth axis using a vacuum suction cup and moves to the top of the graphite sheet conveyor belt. Then it moves downward to the coordinates of the graphite sheet identified by the depth camera. The vacuum suction cup picks up the graphite sheet. Then the robotic arm moves to the top of the pyrophyllite block placed on the assembly conveyor belt and moves vertically downward to put the graphite sheet into the pyrophyllite block. Then the vacuum suction cup is released, and the robotic arm is ready to pick up the next part. S14. The robotic arm rotates its sixth axis using a pneumatic four-finger gripper and moves to the top of the dolomite ring conveyor belt. Then, it moves downward to the coordinates of the dolomite ring identified by the depth camera, where the gripper closes to pick up the dolomite ring. The robotic arm then moves to the top of the upper wax block on the assembly conveyor belt and moves vertically downward to send the dolomite ring into the through hole of the upper wax block. The four-finger gripper then releases, and the dolomite ring falls into the upper wax block. The robotic arm is then ready to pick up the next part. S15. The robotic arm rotates its sixth axis using a pneumatic four-finger gripper and moves to the top of the pyrophyllite ring conveyor belt. Then, it moves downward to the coordinates of the pyrophyllite ring identified by the depth camera, where the gripper closes to pick up the pyrophyllite ring. The robotic arm then moves to the top of the upper pyrophyllite block on the assembly conveyor belt and moves vertically downward to send the pyrophyllite ring into the through hole of the upper pyrophyllite block. The four-finger gripper then releases, and the pyrophyllite ring falls into the upper pyrophyllite block. The robotic arm is then ready to pick up the next part. S16. The robotic arm rotates its sixth axis using a pneumatic four-finger gripper and moves to the top of the upper steel cap conveyor belt. Then, it moves downwards to the coordinates of the upper steel cap identified by the depth camera, where the gripper closes to pick up the upper steel cap. The robotic arm then moves to the top of the upper pyrophyllite block on the assembly conveyor belt and moves vertically downwards to deliver the upper steel cap into the through hole of the upper pyrophyllite block. The four-finger gripper then releases, and the steel cap falls into the through hole of the pyrophyllite ring, completing one assembly. The robotic arm then sends a signal to start the assembly conveyor belt to move and transport the assembled pyrophyllite mold away to make room for the next assembly.

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