Automatic rubber pad mounting machine with clamp and rubber pad mounting process thereof

Abstract

The application discloses a clamp automatic rubber pad assembling machine and a rubber pad assembling process thereof, and belongs to the technical field of rubber pad assembling machines.The clamp automatic rubber pad assembling machine comprises a rotating table mechanism, a clamp feeding mechanism, a clamp taking mechanism, a tooth pad feeding mechanism, a tooth pad taking mechanism, a black pad feeding mechanism, a black pad taking mechanism and a detection and bending discharging part.The rotating table mechanism is arranged on a machine table, and at least two work stations are arranged on the rotating table mechanism in the circumferential direction in sequence and at intervals.The at least two work stations are respectively provided with jigs and clamping assemblies correspondingly.The at least two work stations comprise a clamp feeding station, a tooth pad assembling station, a black pad assembling station, a detection station, a bending station and a discharging station.The clamp automatic rubber pad assembling machine realizes automatic feeding, transfer and receiving of the clamp, the tooth pad and the black pad, realizes pressing or position offset suspension while receiving, guarantees position stability in the process of taking and avoids taking, realizes position angle adjustment in the process of tooth pad and black pad transfer, realizes automatic insertion of the tooth pad and the black pad, realizes detection and bending after insertion, and improves clamp assembling and quality.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of automatic assembly production equipment, and particularly discloses a clamp automatic rubber pad assembling machine and a clamp rubber pad assembling process. BACKGROUND

[0002] Clamps are basic parts in the field of industrial production, and are suitable for various application occasions, such as material clamping and fixing in industrial production, the outer end part of a mechanical arm of a manipulator is usually a clamp as an execution component for contacting and clamping materials, and clamps can also be used as auxiliary tools such as pliers in daily life. The bare clamp is generally made of metal material, and in order to ensure that the clamp does not damage the surface of the material during clamping and fixing, a pad body made of plastic material such as a tooth pad and a black pad needs to be embedded in the contact part of the clamp, so as to realize flexible contact during clamping and avoid damage to the surface of the material.

[0003] Based on the structure of the clamp, the assembly of three materials of the clamp, the tooth pad and the black pad is involved in the clamp production process, and since the tooth pad and the black pad are embedded in the clamp during the embedding process, the clamp is connected in interference, and a large pushing force is needed to overcome the interference connection to strongly push the tooth pad and the black pad into the clamp. It is difficult to press in by traditional manual pushing, the consistency of the pressing depth cannot be guaranteed, the installation yield of the tooth pad and the black pad is low, and therefore, a clamp automatic rubber pad assembling machine needs to be designed. SUMMARY

[0004] The technical problem to be solved by the present application is to provide a clamp automatic rubber pad assembling machine and a clamp rubber pad assembling process, which can realize automatic feeding, transfer and receiving of the clamp, the tooth pad and the black pad, realize pressing or position offset suspension during receiving, ensure position stability and material avoidance during material taking, realize position angle adjustment during transfer of the tooth pad and the black pad, realize automatic insertion of the tooth pad and the black pad, and realize detection and bending after insertion, so as to improve the clamp automatic rubber pad assembling machine and the clamp rubber pad assembling process.

[0005] The technical scheme adopted by the present application is as follows: a clamp automatic rubber pad mounting machine comprises a machine table arranged horizontally for providing a bearing plane, a rotary table mechanism, a clamp feeding mechanism, a clamp taking mechanism, a tooth pad feeding mechanism, a tooth pad taking mechanism, a black pad feeding mechanism, a black pad taking mechanism and a detection and bending blanking part, wherein the rotary table mechanism is arranged on the machine table and outputs rotary power in the horizontal plane, at least two stations are arranged in the circumferential direction on the rotary table mechanism in sequence and at intervals, and a jig and a clamping assembly are respectively arranged on the at least two stations in correspondence with each other, the jig is used for bearing the clamp assembly, and the clamping assembly is used for fixing the clamp assembly; the at least two stations comprise a clamp feeding station, a tooth pad assembly station, a black pad assembly station, a detection station, a bending station and a blanking station, the rotary table mechanism rotates by one angle position at a time to switch the stations; the clamp feeding mechanism and the clamp taking mechanism are arranged at the clamp feeding station and are used for guiding and placing the clamp into the jig; the tooth pad feeding mechanism and the tooth pad taking mechanism are arranged at the tooth pad assembly station and are used for guiding the tooth pad and embedding the tooth pad into the clamp; the black pad feeding mechanism and the black pad taking mechanism are arranged at the black pad assembly station and are used for guiding the black pad and embedding the black pad into the clamp; and the detection and bending blanking part is arranged in correspondence with the detection station, the bending station and the blanking station and is used for detecting the clamp after the tooth pad and the black pad are embedded and for blanking the clamp after the clamp is bent.

[0006] Preferably, the clamp assembly comprises a clamp, a tooth pad and a black pad, wherein one end of the clamp is a connecting head portion used for being mounted on the power output portion, the other end of the clamp extends outwardly along an arc direction, an inner side wall of the clamp is provided with a tooth pad embedding groove extending along a side edge direction of the clamp for inserting the tooth pad; the tooth pad embedding groove is sunk into the wall of the clamp, and the groove top is provided with inwardly extending retaining edges on both sides for limiting and clamping; the end of the tooth pad embedding groove close to the connecting head portion of the clamp is provided with a black pad embedding groove, the black pad embedding groove is communicated with the tooth pad embedding groove and has a width greater than that of the tooth pad embedding groove for inserting the black pad; the tooth pad has an arc sheet structure, the top surface of the tooth pad is a tooth surface structure for contacting the material and enhancing the contact friction force, and the bottom surface of the tooth pad is provided with a tooth pad embedding strip having a T-shaped cross section for being embedded into the tooth pad embedding groove; and the black pad has a block structure, the bottom of the black pad is provided with a black pad embedding block having a T-shaped cross section for being embedded into the black pad embedding groove.

[0007] Preferably, the rotary table mechanism comprises a rotary table support, a rotary table, a jig, a clamping assembly and a rotary table motor, wherein the rotary table support is arranged on the machine table; the rotary table motor is arranged on the rotary table support and the output end is arranged upward; the rotary table is horizontally rotatably arranged above the rotary table support and connected with the output end of the rotary table motor, driven by the rotary table motor to rotate in the horizontal plane; the rotary table is provided with a clamp loading position, a tooth pad assembly position, a black pad assembly position, a detection position, a bending position and a discharging position in the circumferential direction; the jig comprises at least two, and the at least two jigs are respectively arranged at the clamp loading position, the tooth pad assembly position, the black pad assembly position, the detection position, the bending position and the discharging position, and a jig material groove is arranged in the jig for carrying the clamp assembly; the clamping assembly comprises at least two groups, and the at least two groups of clamping assemblies are respectively arranged on the at least two jigs for clamping and fixing the clamp assembly in the jig; the clamping assembly comprises a clamping cylinder and a clamping block, wherein the clamping cylinder is arranged at the bottom of the rotary table and correspondingly arranged below the jig, and the output end of the clamping cylinder is arranged outward; the clamping block comprises two blocks, and the two clamping blocks are respectively connected to the output end of the clamping cylinder and driven by the clamping cylinder to approach or move away from each other; the outer end of the clamping block extends upward and passes through the through slot arranged on the rotary table to extend upward to the outside of the jig for clamping and fixing the clamp assembly placed on the jig from the outside.

[0008] Preferably, the clamp feeding mechanism comprises a clamp loading support, a clamp vibration disc, a clamp guide assembly and a clamp receiving assembly, wherein the clamp loading support is arranged on the outside of the machine table; the clamp vibration disc is arranged on the clamp loading support for storing the clamp to be assembled and guiding the clamp out one by one; the clamp guide assembly is arranged on the side of the clamp vibration disc, one end of the clamp guide assembly is connected with the discharge port of the clamp vibration disc, and the other end extends horizontally outward, the clamp guided out by the clamp vibration disc enters the straight line material channel of the clamp guide assembly and is guided out in the straight line direction by the clamp guide assembly; the clamp receiving assembly is arranged on the other end of the clamp guide assembly for receiving the clamp guided out by the clamp guide assembly.

[0009] Preferably, the clamp receiving assembly comprises a clamp receiving support, a clamp receiving cylinder, a clamp receiving cylinder base, a clamp receiving base, a clamp receiving side support, a clamp pressing member and a clamp ejecting member, wherein the clamp receiving support is arranged outside the clamp guiding assembly; the clamp receiving cylinder is arranged on the clamp receiving support, and the output end thereof is arranged upward; the clamp receiving cylinder base is horizontally connected to the output end of the clamp receiving cylinder; the clamp receiving base is horizontally arranged on the clamp receiving cylinder base, and a clamp receiving groove is formed in the clamp receiving base, and the top of the clamp receiving groove and the side close to the clamp guiding assembly are open to horizontally guide the clamp; the clamp pressing member is arranged on the side of the clamp receiving base, and is used for pressing the clamp in the clamp receiving groove in a rotary downward manner; the clamp ejecting member is arranged on the side of the clamp receiving base, and is used for horizontally ejecting the clamp in the clamp receiving groove; the clamp pressing member comprises a clamp receiving side support, a rotary support, a clamp pressing cylinder, a lifting support, a rotary sleeve and a clamp pressing block, wherein the clamp receiving side support is arranged on the side wall of the clamp receiving cylinder base; the clamp receiving side support is a U-shaped seat body, the U-shaped opening of the U-shaped seat body is horizontally arranged outward, and the length of the lower support plate is greater than that of the upper support plate; the rotary support is arranged on the top of the clamp receiving side support; the clamp pressing cylinder is vertically arranged on the lower support plate of the clamp receiving side support, and the output end thereof is arranged upward; the lifting support is arranged on the output end of the clamp pressing cylinder, and the lifting support is a U-shaped seat body, and the opening thereof is arranged upward, and a rotating shaft is rotatably arranged in the opening; the rotary sleeve is horizontally arranged, the middle part of the rotary sleeve is rotatably arranged in the opening of the rotary support, and the rotary support is used as the rotary support point; one side of the rotary sleeve is provided with a strip-shaped groove, the strip-shaped groove is nested on the rotating shaft of the lifting support, the rotating shaft is freely slid in the strip-shaped groove, and the other side of the rotary sleeve is connected with the clamp pressing block; when the lifting support moves upward, the rotary sleeve is driven by the rotating shaft to move upward in a rotary manner with the rotary support as the support point, and the clamp pressing block on the other side of the rotary sleeve presses the clamp in the clamp receiving groove from top to bottom; the clamp ejecting member comprises a clamp ejecting cylinder and a clamp ejecting rod, wherein the clamp ejecting cylinder is horizontally arranged on the side wall of the clamp receiving base, and the output end thereof horizontally penetrates the clamp receiving base; the clamp ejecting rod is arranged on the output end of the clamp ejecting cylinder, and horizontally extends into the clamp receiving groove, and is used for ejecting the clamp in the clamp receiving groove.

[0010] Preferably, the clamp taking mechanism comprises a clamp taking support, a clamp taking support base, a clamp lifting motor, a clamp taking transmission belt, a clamp taking lifting seat, a clamp taking support frame, a clamp rotating motor, a clamp taking rotating shaft, a clamp clamping cylinder and a clamp clamping block, wherein the clamp taking support is vertically arranged on the machine table; the clamp taking support base is vertically arranged on the clamp taking support; the clamp lifting motor is arranged on the rear side wall of the clamp taking support base, and the output end thereof extends horizontally through the clamp taking support base to the front side of the clamp taking support base; the clamp taking transmission belt is vertically arranged on the front side of the clamp taking support base, and is sleeved on the output end of the clamp lifting motor and driven by the clamp lifting motor to move linearly in the vertical direction; the clamp taking lifting seat is slidably connected to the front side wall of the clamp taking support base in the vertical direction and connected with the clamp taking transmission belt and driven by the clamp taking transmission belt to move up and down; the clamp taking support frame is arranged on the side wall of the clamp taking lifting seat and has a double-layer structure; the clamp rotating motor is arranged on the upper support plate of the clamp taking support frame; the clamp taking rotating shaft is vertically connected to the output end of the clamp rotating motor and extends downward through the lower support plate of the clamp taking support frame; the clamp clamping cylinder is arranged below the lower support plate of the clamp taking support frame and connected with the clamp taking rotating shaft; the clamp clamping block comprises two blocks, which are connected to the output end of the clamp clamping cylinder and driven by the clamp clamping cylinder to move closer to or away from each other; the outer side of the clamp clamping block is provided with a horizontally extending insertion strip part, which extends into the clamp when the two clamp clamping blocks are folded towards each other and is clamped against the inner side wall of the clamp to take and place the clamp.

[0011] Preferably, the dental pad feeding mechanism comprises a dental pad feeding support, a dental pad vibrating disc, a dental pad guide assembly and a dental pad receiving assembly, wherein the dental pad feeding support is arranged outside the machine table; the dental pad vibrating disc is arranged on the dental pad feeding support and used to store and sequentially guide out the dental pads to be assembled; the dental pad guide assembly is arranged on the side of the dental pad vibrating disc, one end of the dental pad guide assembly is connected with the discharge port of the dental pad vibrating disc, and the other end extends horizontally and outwardly, the dental pad guided out of the dental pad vibrating disc enters the linear material channel of the dental pad guide assembly and is guided out in the linear direction by the dental pad guide assembly; the dental pad receiving assembly is arranged outside the other end of the dental pad guide assembly and used to receive the dental pad guided out of the dental pad guide assembly.

[0012] Preferably, the dental pad receiving assembly comprises a dental pad receiving support, a dental pad receiving cylinder, a dental pad receiving cylinder seat, a dental pad receiving seat, a dental pad side clamping piece and a dental pad ejecting piece, wherein the dental pad receiving support is arranged at the other end of the dental pad guiding assembly; the dental pad receiving cylinder is arranged on the dental pad receiving support, and the output end is arranged upward; the dental pad receiving cylinder seat is arranged on the output end of the dental pad receiving cylinder; the dental pad receiving seat is horizontally arranged on the dental pad receiving cylinder seat, and is used for receiving and carrying the dental pad; the dental pad side clamping piece is arranged at the side of the dental pad receiving seat, and is used for correcting and fixing the dental pad in the dental pad receiving seat from both sides; the dental pad ejecting piece is arranged at the side of the dental pad receiving seat, and is used for ejecting the dental pad in the dental pad receiving seat; the top of the dental pad receiving seat is provided with a first dental pad groove which is inwardly recessed, and the two sides and the top of the first dental pad groove are open surfaces, and are used for receiving and carrying the dental pad; the middle of the first dental pad groove is provided with an embedded block groove which is inwardly recessed, and is used for embedding and placing a dental pad embedded strip of the dental pad; the two sides of the first dental pad groove are respectively provided with horizontally extending side clamping grooves; the embedded block groove is provided with two air holes which vertically extend into the dental pad receiving seat; the side wall of the dental pad receiving cylinder seat is horizontally provided with a mounting hole, the inner side of the mounting hole is communicated with the air holes, and the mounting hole is connected with an external air path, so as to connect the air holes with the air path, and when the air holes blow air outward, the dental pad in the first dental pad groove is assisted to blow air, and when the air holes suck air inward, the dental pad is assisted to be fixed; the dental pad side clamping piece comprises a dental pad side clamping cylinder and a dental pad side clamping block, wherein the dental pad side clamping cylinder is arranged on the side wall of the dental pad receiving cylinder, and the output end is arranged upward; the dental pad side clamping block comprises two blocks, and the two blocks are respectively connected to the output end of the dental pad side clamping cylinder, and are driven by the dental pad side clamping cylinder to approach or move away from each other; the dental pad side clamping block extends to the outside of the dental pad receiving seat, and is driven by the dental pad side clamping cylinder to pass through the side clamping groove, so as to clamp and fix the dental pad from the side; the dental pad ejecting piece comprises a dental pad rear support and a dental pad ejecting cylinder, wherein the dental pad rear support is arranged at the rear side of the dental pad receiving seat, and the side of the dental pad rear support close to the dental pad receiving seat is provided with a second dental pad groove which is butted with the first dental pad groove, and is used for receiving the dental pad; the inner side wall of the second dental pad groove is horizontally provided with a mounting through hole; the dental pad ejecting cylinder is horizontally arranged in the mounting through hole, and the output end horizontally extends into the second dental pad groove, so as to horizontally eject the dental pad in the second dental pad groove.

[0013] Preferably, the dental cushion taking mechanism comprises a dental cushion taking column, a dental cushion taking support, a dental cushion taking lifter, a dental cushion taking traverser, a dental cushion taking rotator and a dental cushion taking gripper, wherein the dental cushion taking column is vertically arranged; the dental cushion taking support is vertically arranged on the dental cushion taking column; the dental cushion taking lifter is arranged on the dental cushion taking support and is used to provide lifting power; the dental cushion taking traverser is arranged on the dental cushion taking lifter and is used to provide traversing power; the dental cushion taking rotator is arranged on the dental cushion taking traverser and is used to provide rotating power in a horizontal plane; the dental cushion taking gripper is arranged on the dental cushion rotator and is used to grip the dental cushion; the dental cushion taking lifter comprises a dental cushion taking motor, a dental cushion taking transmission belt and a dental cushion taking lifting seat, wherein the dental cushion taking motor is arranged on the rear side wall of the dental cushion taking support and the output end thereof extends horizontally through the dental cushion taking support to the front side of the dental cushion taking support; the dental cushion taking transmission belt is vertically arranged on the front side of the dental cushion taking lifting seat and is sleeved on the output end of the dental cushion taking motor and is driven by the dental cushion taking motor to move in a vertical linear direction; the dental cushion taking lifting seat is slidably connected to the front side wall of the dental cushion taking support in a vertical direction and is connected with the dental cushion taking transmission belt; the dental cushion taking traverser comprises a dental cushion taking traversing pneumatic cylinder and a dental cushion taking traversing seat, wherein the dental cushion taking traversing pneumatic cylinder is arranged on the side wall of the dental cushion taking lifting seat and outputs power in a horizontal direction; the dental cushion taking traversing seat is connected to the dental cushion taking traversing pneumatic cylinder and is driven by the dental cushion taking traversing pneumatic cylinder to move horizontally; the dental cushion taking rotator comprises a dental cushion taking rotating motor, a dental cushion taking rotating shaft and a dental cushion taking rotating seat, wherein the dental cushion taking rotating motor is arranged on the dental cushion taking traversing seat and the output end thereof is arranged downward; the dental cushion taking rotating shaft is connected to the output end of the dental cushion taking rotating motor and vertically extends below the dental cushion taking traversing seat; the dental cushion taking gripper comprises a dental cushion taking gripping pneumatic cylinder and a dental cushion gripping block, wherein the dental cushion taking gripping pneumatic cylinder is horizontally arranged at the lower end of the dental cushion taking rotating shaft; the dental cushion gripping block comprises two blocks and the two blocks of the dental cushion gripping block are respectively connected to the output end of the dental cushion taking gripping pneumatic cylinder and are driven by the dental cushion taking gripping pneumatic cylinder to approach or move away from each other for gripping the dental cushion.

[0014] Preferably, the black cushion feeding mechanism comprises a black cushion feeding support, a black cushion vibrating disc, a black cushion guiding assembly and a black cushion receiving assembly, wherein the black cushion feeding support is horizontally arranged; the black cushion vibrating disc is arranged on the black cushion feeding support and is used to store and guide out the black cushion to be assembled; the black cushion guiding assembly is horizontally arranged at the discharge port of the black cushion vibrating disc, one end of the black cushion guiding assembly is connected with the discharge port of the black cushion vibrating disc and the other end horizontally extends outward, the black cushion guided out by the black cushion vibrating disc enters the linear material channel of the black cushion guiding assembly and is guided out in a linear direction by the black cushion guiding assembly; the black cushion receiving assembly is arranged outside the discharge port of the black cushion guiding assembly and is used to receive the guided-out black cushion.

[0015] Preferably, the black pad receiving assembly comprises a black pad receiving support, a black pad receiving cylinder, a black pad receiving cylinder seat, a black pad receiving seat and a black pad rear support, wherein the black pad receiving support is vertically arranged; the black pad receiving cylinder is arranged on the black pad receiving support, and the output end thereof is arranged upward; the black pad receiving cylinder seat is arranged on the output end of the black pad receiving cylinder; the black pad receiving seat is horizontally arranged on the black pad receiving cylinder seat, and a recessed black pad groove is formed in the black pad receiving seat, the top and side portions of the black pad groove are open, and the black pad groove is connected with the discharge port of the black pad guide assembly for receiving and carrying the black pad; a vertical downward extending black pad air hole is formed in the bottom of the black pad groove for blowing or sucking air in the black pad groove; the black pad rear support is arranged at the rear side of the black pad receiving seat, and a mounting through hole is horizontally formed in the black pad rear support for mounting a cylinder or a sensor to horizontally push the black pad in the black pad groove L or sense the black pad.

[0016] Preferably, the detection bending blanking part comprises a bending mechanism, and the bending mechanism comprises a bending column, a bending support, a bending upper cylinder, a bending guide column, a bending pressing seat, a bending pressing head, a bending lower support, a bending lower cylinder and a bending ejector pin, wherein the bending column is vertically arranged on the machine table; the bending support is arranged on the bending column; the bending upper cylinder is arranged on the bending support, and the output end thereof is arranged downward through the bending support; the two bending guide columns are vertically and slidably inserted in the bending support; the bending pressing seat is horizontally arranged below the bending support, and is connected with the output end of the bending upper cylinder and the lower end of the bending guide column respectively, the bending upper cylinder drives the bending pressing seat to move up and down, and the bending guide column guides and limits the movement of the bending pressing seat; the bending pressing head is horizontally arranged at the bottom of the bending pressing seat, the bottom of the bending pressing head is provided with a U-shaped pressing head, the bending pressing head moves downward with the bending pressing seat, and the U-shaped pressing head at the bottom is embedded on the black pad from above to bend the vertically extending pressing tongue clamped on both sides of the black pad to be horizontally pressed on the black pad; the bending lower support is arranged below the bending support, and the bending lower cylinder is arranged on the bending support, and the output end of the bending lower cylinder is arranged upward; the bending ejector pin is vertically arranged on the output end of the bending lower cylinder, and is driven upward by the bending lower cylinder to push the clamp.

[0017] A clamping automatic rubber pad loading process of a clamping automatic rubber pad loading machine, comprising the following process steps:

[0018] S1, feeding and guiding: manually placing the clamp, the tooth pad and the black pad into the corresponding vibration disc respectively, and then guiding the clamp, the tooth pad and the black pad into the clamp guide assembly, the tooth pad guide assembly and the black pad guide assembly respectively through the clamp vibration disc, the tooth pad vibration disc and the black pad vibration disc respectively, and then guiding them into the clamp receiving assembly, the tooth pad receiving assembly and the black pad receiving assembly along the straight line direction respectively;

[0019] S2, clamp positioning and transfer loading: after the clamp in step S1 enters the clamp material slot of the clamp receiving assembly from the clamp guide assembly, the clamp ejecting part of the clamp receiving assembly reversely pushes and positions the clamp, the clamp pressing part is pressed from above by the lifting and rotating mode, the clamp clamping block of the clamp taking mechanism is inserted from the sleeve of the clamp head and clamps the clamp from the inside to the outside to clamp the clamp, then the clamp pressing part releases the clamp, the clamp taking mechanism takes out the clamp and moves it to the jig, and the clamp is clamped and fixed by the clamping assembly;

[0020] S3, dental pad receiving, side clamp positioning and taking: after the dental pad in step S1 enters the dental pad slot of the dental pad receiving assembly from the dental pad guide assembly, the dental pad is ejected by the rear dental pad ejecting part, so that the front side of the dental pad is stretched outside the dental pad slot and is in a suspended state, the dental pad side clamp part clamps and corrects the dental pad from both sides, the dental pad taking mechanism clamps and fixes the suspended dental pad from the outside, the dental pad side clamp part releases the dental pad, and the dental pad taking mechanism takes out the dental pad;

[0021] S4, dental pad assembly: after the dental pad taking mechanism takes out the dental pad in step S3, the jig loaded with the clamp in step S1 is moved to the dental pad assembly position by the rotary table mechanism, the dental pad taking mechanism moves the taken dental pad to the dental pad assembly position and inserts it into the dental pad embedding groove of the clamp;

[0022] S5, black pad receiving and taking: after the black pad in step S1 enters the black pad slot of the black pad receiving assembly from the black pad guide assembly, the outer part of the black pad is in a suspended state by the cylinder arranged on the rear support of the black pad, the black pad taking mechanism clamps and fixes the black pad from the suspended part, and then takes out the black pad;

[0023] S6, black pad assembly: after the black pad taking mechanism takes out the black pad in step S5, the jig with the assembled dental pad in step S4 is moved to the black pad assembly position by the rotary table mechanism, the black pad taking mechanism moves the black pad to the black pad assembly position and inserts it into the black pad embedding groove of the clamp;

[0024] S7, assembly detection: after the black pad assembly is completed in step S6, the jig is moved to the detection position by the rotary table mechanism, and the detection mechanism takes pictures to detect whether the dental pad and the black pad are installed in place, and the result is fed back to the industrial computer;

[0025] S8, clamp bending: after the assembly detection is completed in step S7, the jig is moved to the bending station by the rotary table mechanism, the industrial computer controls whether the bending mechanism performs the bending action according to the feedback result, if the detection passes, the bending action is performed to press and fix the black pad with the tongue-pressing clamp, and if the detection fails, the bending action is not performed;

[0026] S9, discharging: the clamping assembly in step S8 is rotated from the bending position to a discharging position by a rotating table by an angle, the clamping assembly is loosened, and the industrial computer controls the discharging mechanism at the discharging position to classify and take out the good products and the defective products clamping assembly and pack them into different material boxes according to the detection result in step S7.

[0027] The present application has the advantages of:

[0028] The present application independently researches and develops a kind of automatic feeding, transfer and receiving bearing of clamp, dental pad and black pad, and realizes pressing or position offset suspension while receiving, to ensure the position stability in the process of taking material and taking material avoiding empty, realizes position angle adjustment in the process of dental pad and black pad transfer, realizes automatic insertion of dental pad and black pad and detection and bending after insertion, improves the clamp automatic gum pad machine and gum pad process of clamp assembly and quality.

[0029] The present application is applied to the field of clamp automatic production and assembly, belongs to automatic equipment, and its role is to realize automatic feeding, guiding, transfer, taking material of clamp, dental pad and black pad, automatic insertion of dental pad and black pad, detection after assembly of dental pad and black pad, and automatic bending and pressing of clamp with good assembly, to improve the efficiency and assembly yield of clamp assembly.

[0030] Specifically, the present application takes a horizontally arranged machine table as a bearing structure, and a rotary table mechanism is arranged on the machine table. The rotary table mechanism takes a horizontally arranged rotary table as a bearing plane, and a jaw clamp loading position, a tooth pad assembly position, a black pad assembly position, a detection position, a bending position and a unloading position are arranged on the rotary table in a circumferential direction. The rotary table is driven by a rotary table motor to rotate one angle position at a time to switch one working position. Jaw clamp feeding mechanisms, tooth pad feeding mechanisms, black pad feeding mechanisms, detection mechanisms, bending mechanisms and unloading mechanisms are arranged at the jaw clamp loading position, the tooth pad assembly position, the black pad assembly position, the detection position, the bending position and the unloading position, respectively. When the rotary table drives the jig to rotate to the jaw clamp loading position, the jaw clamp exported by the jaw clamp feeding mechanism is taken out by the jaw clamp taking mechanism and then moved to the jig. The clamping assembly arranged below the jig clamps and fixes the jaw clamp from both sides. The rotary table drives the jig to rotate one angle position to the tooth pad assembly position. The tooth pad exported by the tooth pad feeding mechanism is taken out by the tooth pad taking mechanism and then moved to the jig, and the tooth pad is inserted into the tooth pad embedding groove of the jaw clamp. The rotary table drives the jaw clamp with the assembled tooth pad to rotate to the black pad assembly position. The black pad exported by the black pad feeding mechanism is taken out by the black pad taking mechanism and then moved to the jig, and the black pad is inserted into the black pad embedding groove of the jaw clamp to assemble a jaw clamp assembly. The rotary table drives the assembled jaw clamp assembly to rotate one angle position to the detection position. The jaw clamp assembly is photographed and detected to screen good products and defective products, and an OK signal corresponding to the good product or an NG signal corresponding to the defective product is sent to the industrial computer. The industrial computer controls the bending mechanism to determine whether to perform a bending action on the jaw clamp assembly rotating to the bending position. For a good product, the bending mechanism presses the tongue on both sides of the jaw clamp from a vertical state to a horizontal state to press the black pad in the jaw clamp, and for a defective product, the bending action is not performed. After the jaw clamp assembly at the bending position completes the working action, the rotary table rotates to the unloading position. The clamping assembly releases the jaw clamp assembly in the clamped state, and the unloading mechanism arranged at the position carries the jaw clamp assembly according to the classification of the detected good product or defective product to the two boxes arranged at the unloading position to automatically classify and unload the assembled jaw clamp assembly.

[0031] Specifically, since the clamps need to rotate one angle position at a time with the turntable after being placed in the fixture to switch back and forth between different workstations, in order to ensure the positional stability of the clamps within the fixture during rotation and assembly, and to avoid interference when assembling the tooth pads and black pads, this invention provides a clamping assembly at the fixture. The clamping assembly is located below the turntable and is powered by a horizontally positioned clamping cylinder. Two L-shaped clamping blocks are located on the output end of the clamping cylinder, with their horizontal ends connected to the output end of the clamping cylinder and their outer ends extending vertically upwards, passing through a through slot on the turntable and extending upwards to the outside of the fixture. Driven by the clamping cylinder, the two clamping blocks clamp and fix the two sides of the head of the clamp, which is placed on the fixture and is in a suspended state, from the outside, thereby fixing and positioning the clamps to ensure their positional stability during transfer or assembly, and maintaining a clamped state during synchronous rotation with the fixture. Furthermore, by clamping and fixing from the outside, there will be no movement interference with the subsequent clamping and assembly of the tooth pads and black pads.

[0032] Furthermore, given the irregular structure of the clamps, tooth pads, and black pads, and the assembly process requirement that the tooth pads and black pads need to overcome the frictional forces of the interference fit and be forcibly inserted into the clamps, the first issue to be addressed is the problem of material feeding, guiding, and receiving / retrieving from the clamps by the feeding mechanism. Secondly, during the assembly of the tooth pads and black pads, the technical issues of removing and inserting them into the clamps need to be resolved. Specifically, when the tooth pads or black pads are discharged through the vibratory feeder and the guiding assembly and enter the receiving assembly for transfer, it is necessary to ensure that their removal from the receiving assembly does not interfere with subsequent insertion and assembly. Simultaneously, the positional accuracy of the tooth pads and black pads during material removal must be ensured for accurate subsequent insertion into the clamps.

[0033] Specifically, addressing the material feeding problem of the clamps, this invention designs a clamp feeding mechanism. After multiple clamps are placed into a vibratory feeder, the vibratory feeder guides each clamp to the clamp guiding assembly, which then guides each clamp to the clamp receiving assembly along a straight material path. A key feature is that, considering the irregular shape of the clamps and to avoid motion interference between the clamps and the clamping mechanism when placed on the fixture, this invention utilizes the structural feature of a through space within the clamp head, employing an internal clamping structure. This is achieved by providing a horizontally extending outward insert at the front end of the clamping block in the clamping mechanism. During the material handling process, after the inserts of the two clamping blocks are inserted into the through space of the clamping head, the clamping cylinder drives the two clamping blocks to tighten outward, thereby fixing the clamp against the inner wall of the clamp. After the clamping and material handling mechanism removes the clamp, it transports the clamp and places it on the fixture on the turntable. At this time, the clamping component under the fixture clamps the clamp from the outside, and the clamping blocks release the clamp and move to the clamp receiving component for the next clamping and material handling. This internal clamping and material handling method utilizes the structure of the clamp itself to complete the automatic clamping and placement without interfering with the clamping component at the fixture clamping and positioning the clamp from the outside. Furthermore, based on the clamping method, the clamping receiving assembly of this invention uses a vertically arranged clamping receiving cylinder to provide lifting power to drive the clamping receiving seat to move up and down. When clamping is required, the clamping receiving cylinder drives the clamping receiving seat to move up and down, aligning its clamping groove with the discharge port of the clamping guide assembly, allowing the clamp to slide into the clamping groove. After receiving the material, the clamping receiving seat moves upward, blocking the discharge port of the clamping guide assembly through its front side wall to prevent the clamp inside from continuing to exit. Simultaneously, since the clamping mechanism needs to insert into the clamp and then open and clamp outward, to ensure the positional stability of the clamp during the material receiving process, this invention has a clamping function during material receiving. The rear side of the clamping receiving seat uses a clamping receiving side support as a load-bearing structure. In this invention, when the clamp ejection cylinder on the material receiving side support drives the lifting seat to move the outer end of the rotating sleeve upward, the inner end of the rotating sleeve drives the clamping block downward, pressing and fixing the clamp in the clamping groove so that its position will shift when the clamp is removed. The vertical lifting force is converted into the downward pressure of the clamping block through the rotational connection of the rotating sleeve. This method of pressing from above in a rotating downward direction can achieve clamping while avoiding motion interference when the clamp enters the clamping groove. Furthermore, the rear side wall of the clamping groove of this invention is also provided with a clamp ejection cylinder. The clamp ejection cylinder horizontally drives the clamping rod to extend into the clamping groove to adjust and correct the clamp in the clamping groove, so as to ensure the position accuracy of the clamp during the material picking process.

[0034] Specifically, for the tooth pad feeding and taking problem, the tooth pad feeding mechanism is designed, a plurality of tooth pads are put into the tooth pad vibration disc, the tooth pads are guided out to the tooth pad guide assembly one by one through the tooth pad vibration disc, the tooth pad guide assembly guides the tooth pads out to the tooth pad receiving assembly one by one along the linear material channel direction, and the tooth pad receiving mechanism is used for taking out and inserting the tooth pads into the tooth pad embedding groove of the clamp. The tooth pad receiving seat is driven to move up and down by the tooth pad receiving cylinder below, when the tooth pad needs to be received, the tooth pad receiving cylinder drives the first tooth pad groove of the tooth pad receiving seat to align with the discharge port of the tooth pad guide assembly, so that the tooth pad slides into the first tooth pad groove, when the receiving is completed, the tooth pad receiving cylinder drives the tooth pad receiving seat to continue to move upwards, so that the front side wall of the tooth pad receiving seat blocks the discharge port of the tooth pad guide assembly, preventing it from continuing to guide out; further, the rear side wall of the tooth pad receiving seat is also provided with a tooth pad rear support, the second tooth pad groove is arranged in the tooth pad rear support, the second tooth pad groove is aligned with the first tooth pad groove, so as to carry the tooth pad, and the bottom of the two is provided with a downwardly recessed embedding block groove, so as to accommodate the tooth pad embedding strip at the bottom of the tooth pad; a tooth pad ejecting cylinder is horizontally arranged on the tooth pad rear support, a plurality of vertically inward extending air holes are arranged in the tooth pad receiving seat, and the air holes are communicated with the external air path through the mounting holes; after the tooth pad enters the tooth pad receiving seat, in order to ensure that the subsequent tooth pad taking mechanism can clamp the tooth pad, the tooth pad is horizontally ejected outwards by the tooth pad ejecting cylinder, so that the head of the tooth pad slides outwards to be in a suspended state, so that the tooth pad taking mechanism clamps the tooth pad from the suspended part; at the same time, in order to ensure the position stability of the tooth pad during the ejecting process, the tooth pad in the tooth pad receiving seat is sucked downwards in real time by the downward vacuum negative pressure generated by the air hole, so as to avoid the position deviation or the too large ejecting distance of the tooth pad during the ejecting process; after the tooth pad taking mechanism clamps the tooth pad, the vacuum negative pressure of the air hole disappears, and the air hole is connected with the external vacuum generator through the air pipe or the air pipe joint connected in the mounting hole; further, side clamping grooves are horizontally arranged on the two sides of the first tooth pad groove, a tooth pad side clamping cylinder arranged on the rear side of the tooth pad receiving seat drives a tooth pad side clamping block to clamp the tooth pad in the tooth pad receiving seat from the side through the side clamping groove, so as to position and correct the tooth pad by the tooth pad side clamping block, so as to ensure the position stability of the tooth pad while assisting in fixing the tooth pad during the taking process. Similarly, the black pad receiving assembly of the present application also has a rear ejecting function while carrying and receiving the black pad, so that one side of the black pad is horizontally pushed outwards before the black pad is taken, so that the black pad is in a suspended state, and the black pad taking mechanism clamps and fixes the black pad from the suspended part; and has a vacuum adsorption function, which assists the black pad in being pushed out by the vacuum negative pressure to maintain continuous downward adsorption, so as to ensure the position stability and accuracy of the black pad during the pushing out process, and avoid the black pad from sliding out of the black pad receiving seat.

[0035] Further, the assembly process requirements of the dental pad and the black pad, and the dental pad taking mechanism and the black pad taking mechanism of the application all integrate lifting, horizontal movement, rotation and clamping functions. The lifting function is used to realize the taking and placing of the dental pad or the black pad. The rotation function is used to complete the transfer of the dental pad or the black pad between the feeding mechanism and the jig. That is, after the dental pad taking mechanism or the black pad taking mechanism takes out the dental pad or the black pad at the dental pad receiving assembly or the black pad receiving assembly, the dental pad or the black pad is aligned with the clamp on the rotary table jig through rotation, so as to facilitate the subsequent horizontal pushing of the dental pad or the black pad into the clamp. Meanwhile, the horizontal movement driving function is integrated, so as to horizontally push the dental pad or the black pad into the clamp after alignment. Specifically, the dental pad taking mechanism of the application takes the vertically arranged dental pad taking pillar as the bearing structure. The dental pad taking support is vertically arranged on the dental pad taking pillar. The dental pad taking motor arranged on the rear side wall of the dental pad taking support drives the lifting movement of the dental pad taking transmission belt, so as to drive the lifting movement of the dental pad taking lifting seat connected to the front side of the dental pad taking support, and realize the taking or placing. The dental pad taking horizontal movement air cylinder arranged on the side wall of the dental pad taking lifting seat provides horizontal lateral power, so as to drive the horizontal lateral movement of the dental pad taking horizontal movement seat arranged thereon, and provide the horizontal pushing force in the dental pad insertion process. The dental pad taking rotation motor arranged on the dental pad taking horizontal movement seat provides the rotation power in the horizontal plane, so as to drive the rotary movement of the dental pad clamping air cylinder below the dental pad taking horizontal movement seat in the horizontal plane, complete the movement of the dental pad between the dental pad receiving assembly and the rotary table jig, and push the dental pad into the clamp after the dental pad clamping air cylinder drives the dental pad clamping block to clamp the dental pad at the fixed suspended part of the dental pad receiving assembly, and complete the dental pad assembly. BRIEF DESCRIPTION OF DRAWINGS

[0036] Figure 1 It is one of the schematic diagrams of the three-dimensional structure of the application.

[0037] Figure 2 It is the second schematic diagram of the three-dimensional structure of the application.

[0038] Figure 3 It is the third schematic diagram of the three-dimensional structure of the application.

[0039] Figure 4 It is the first schematic diagram of the rotary table mechanism of the application.

[0040] Figure 5 It is the second schematic diagram of the rotary table mechanism of the application.

[0041] Figure 6 It is Figure 5 It is the enlarged structure schematic diagram of the middle I.

[0042] Figure 7 It is the schematic diagram of the three-dimensional structure of the clamping assembly of the application.

[0043] Figure 8Split structure diagram of the jig and clamp assembly of the present application.

[0044] Figure 9 Three-dimensional structure diagram of the jig and clamp assembly of the present application.

[0045] Figure 10 Split structure diagram of the clamp assembly of the present application.

[0046] Figure 11 Split structure diagram of the clamp assembly of the present application.

[0047] Figure 12 Three-dimensional structure diagram of the clamp feeding mechanism of the present application.

[0048] Figure 13 Component structure diagram of the clamp feeding mechanism of the present application.

[0049] Figure 14 Three-dimensional structure diagram of the clamp feeding mechanism and clamp receiving mechanism of the present application.

[0050] Figure 15 Three-dimensional structure diagram of the clamp receiving mechanism of the present application.

[0051] Figure 16 Component structure diagram of the clamp receiving mechanism of the present application.

[0052] Figure 17 Component structure diagram of the clamp receiving mechanism of the present application.

[0053] Figure 18 Three-dimensional structure diagram of the clamp taking mechanism of the present application.

[0054] Figure 19 Three-dimensional structure diagram of the clamp taking mechanism of the present application.

[0055] Figure 20 Three-dimensional structure diagram of the clamp taking head of the present application.

[0056] Figure 21 Three-dimensional structure diagram of the dental pad feeding mechanism of the present application.

[0057] Figure 22 Component structure diagram of the dental pad feeding mechanism of the present application.

[0058] Figure 23 Three-dimensional structure diagram of the dental pad feeding mechanism and dental pad receiving mechanism of the present application.

[0059] Figure 24 Three-dimensional structure diagram of the dental pad receiving mechanism of the present application.

[0060] Figure 25 Figure 1 is a schematic diagram of the component structure of the tooth pad receiving assembly of the present application.

[0061] Figure 26 Figure 2 is a schematic diagram of the component structure of the tooth pad receiving assembly of the present application.

[0062] Figure 27 Figure 3 is a schematic diagram of the component structure of the tooth pad receiving assembly of the present application.

[0063] Figure 28 Figure 4 is a schematic diagram of the perspective structure of the tooth pad receiving seat of the present application.

[0064] Figure 29 Figure 5 is a schematic diagram of the side view of the tooth pad receiving seat of the present application.

[0065] Figure 30 Figure 6 is a schematic diagram of the II-II cross-section of the tooth pad receiving seat of the present application. Figure 29

[0066] Figure 31 Figure 7 is a schematic diagram of the perspective structure of the tooth pad material taking mechanism of the present application.

[0067] Figure 32 Figure 8 is a schematic diagram of the perspective structure of the tooth pad material taking mechanism of the present application.

[0068] Figure 33 Figure 9 is a schematic diagram of the perspective structure of the tooth pad material taking head of the present application.

[0069] Figure 34 Figure 10 is a schematic diagram of the perspective structure of the black pad material taking mechanism of the present application.

[0070] Figure 35 Figure 11 is a schematic diagram of the perspective structure of the black pad material guiding assembly and the black pad material receiving assembly of the present application.

[0071] Figure 36 Figure 12 is a schematic diagram of the perspective structure of the black pad material receiving assembly of the present application.

[0072] Figure 37 Figure 13 is a schematic diagram of the component structure of the black pad material receiving assembly of the present application.

[0073] Figure 38 Figure 14 is a schematic diagram of the component structure of the black pad material receiving assembly of the present application.

[0074] Figure 39 Figure 15 is a schematic diagram of the perspective structure of the black pad material taking assembly of the present application.

[0075] Figure 40 Figure 16 is a schematic diagram of the perspective structure of the detection mechanism of the present application.

[0076] Figure 41 Figure 17 is a schematic diagram of the perspective structure of the bending mechanism of the present application.

[0077] ​Figure 42 Fig. 2 is a schematic view of the three-dimensional structure of the bending mechanism.

[0078] Figure 43 Fig. 3 is a schematic view of the process flow of the present application.

[0079] Fig. 1: 1, machine table; 2, rotary table mechanism; 3, clamp feeding mechanism; 4, clamp taking mechanism; 5, tooth pad feeding mechanism; 6, tooth pad taking mechanism; 7, black pad feeding mechanism; 8, black pad taking mechanism; 9, detection mechanism; 10, bending mechanism; 11, blanking mechanism; 12, magazine; 0, clamp assembly;

[0080] 21, rotary table support; 22, rotary table; 23, jig; 24, clamping assembly; 25, rotary table motor; A, jig material groove;

[0081] 241, clamping cylinder; 242, clamping block;

[0082] 01, clamp; 02, tooth pad; 03, black pad; 04, tooth pad insert; 05, black pad insert block; B, black pad insert groove; C, tooth pad insert groove;

[0083] 31, clamp feeding support; 32, clamp vibrating disc; 33, clamp guide assembly; 34, clamp receiving assembly;

[0084] 341, clamp receiving support; 342, clamp receiving cylinder; 343, clamp receiving cylinder seat; 344, clamp receiving seat; 345, clamp receiving side support; 346, rotating support; 347, clamp pressing cylinder; 348, lifting support; 349, rotating sleeve; 3410, clamp pressing block; 3411, clamp ejecting cylinder; 3412, clamp ejecting rod; D, clamp material groove;

[0085] 41, clamp taking support; 42, clamp taking support; 43, clamp lifting motor; 44, clamp taking transmission belt; 45, clamp taking lifting seat; 46, clamp taking support; 47, clamp rotating motor; 48, clamp taking rotating shaft; 49, clamp clamping cylinder; 410, clamp clamping block;

[0086] 51, tooth pad feeding support; 52, tooth pad vibrating disc; 53, tooth pad guide assembly; 54, tooth pad receiving assembly;

[0087] 541, tooth pad receiving support; 542, tooth pad receiving cylinder; 543, tooth pad receiving cylinder seat; 544, tooth pad receiving seat; 545, tooth pad side clamping cylinder; 546, tooth pad side clamping block; 547, tooth pad rear support; 548, tooth pad ejecting cylinder; E, first tooth pad groove; F, second tooth pad groove; G, insert block groove; H, side clamping groove; J, air hole; K, mounting hole;

[0088] 61, tooth pad material taking support; 62, tooth pad material taking support base; 63, tooth pad material taking motor; 64, tooth pad material taking transmission belt; 65, tooth pad material taking lifting seat; 66, tooth pad material taking horizontal moving cylinder; 67, tooth pad material taking horizontal moving seat; 68, tooth pad material taking rotating motor; 69, tooth pad material taking rotating shaft; 610, tooth pad material taking rotating seat; 611, tooth pad clamping cylinder; 612, tooth pad clamping block;

[0089] 71, black pad feeding support; 72, black pad vibrating disc; 73, black pad material guiding assembly; 74, black pad material receiving assembly;

[0090] 741, black pad material receiving support; 742, black pad material receiving cylinder; 743, black pad material receiving cylinder seat; 744, black pad material receiving seat; 745, black pad rear support; L, black pad slot; M, black pad air hole;

[0091] 91, detection support; 92, detection CCD; 93, detection aperture;

[0092] 101, bending vertical column; 102, bending support; 103, bending upper cylinder; 104, bending guide column; 105, bending pressing seat; 106, bending pressing head; 107, bending lower support; 108, bending lower cylinder; 109, bending ejector pin. DETAILED DESCRIPTION

[0093] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0094] It should be noted that all directional indications such as upper, lower, left, right, front, back, etc. in the embodiments of the present application are only used to explain the relative positional relationship, movement condition, etc. between components in a certain posture, and if the certain posture changes, the directional indications also change accordingly.

[0095] In the present application, unless otherwise explicitly specified and limited, the terms "connection", "fixation" and the like should be understood in a broad sense, for example, "connection" can be fixed connection, or detachable connection, or integral; can be mechanical connection, or electrical connection; can be direct connection, or indirect connection through an intermediate medium; can be internal connection of two elements or interaction relationship between two elements, unless otherwise explicitly limited. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0096] Embodiment 1: as Figures 1 to 3As shown, the present application provides a clamp automatic rubber pad assembling machine, which comprises a horizontal machine table 1 for providing a bearing plane, a rotating table mechanism 2, a clamp feeding mechanism 3, a clamp taking mechanism 4, a tooth pad feeding mechanism 5, a tooth pad taking mechanism 6, a black pad feeding mechanism 7, a black pad taking mechanism 8, and a detection and bending unloading part, wherein the rotating table mechanism 2 is arranged on the machine table 1 and outputs rotary power in the horizontal plane, at least two stations are arranged in the circumferential direction on the rotating table mechanism 2, and a jig and a clamping assembly are respectively arranged on the at least two stations, the jig is used to carry the clamp assembly 0, and the clamping assembly is used to fix the clamp assembly 0; the at least two stations include a clamp feeding station, a tooth pad assembling station, a black pad assembling station, a detection station, a bending station, and an unloading station, and the rotating table mechanism 2 rotates by one angle position at a time to switch the stations; the clamp feeding mechanism 3 and the clamp taking mechanism 4 are arranged at the clamp feeding station, and are used to guide and place the clamp 01 into the jig; the tooth pad feeding mechanism 5 and the tooth pad taking mechanism 6 are arranged at the tooth pad assembling station, and are used to guide the tooth pad 02 and embed the tooth pad 02 into the clamp 01; the black pad feeding mechanism 7 and the black pad taking mechanism 8 are arranged at the black pad assembling station, and are used to guide the black pad 03 and embed the black pad 03 into the clamp 01; and the detection and bending unloading part is arranged at the detection station, the bending station, and the unloading station, and is used to detect the clamp after embedding the tooth pad 02 and the black pad 03, and to bend and unload the clamp 01.

[0097] The detection and bending unloading part of the present application comprises a detection mechanism 9, a bending mechanism 10, an unloading mechanism 11, and a box 12, wherein the detection mechanism 9 is arranged at the detection station, the bending mechanism 10 is arranged at the bending station, the unloading mechanism 11 and the box 12 are arranged at the unloading station, the detection mechanism 9 is used to take pictures of the assembled clamp assembly 0, the bending mechanism 10 is used to bend the clamp assembly 0 of the good product after detection, the unloading mechanism 11 is used to take out the assembled clamp assembly 0 from the jig, and the box 12 comprises two boxes 12 arranged on both sides of the unloading mechanism 11, and the unloading mechanism 11 stores the good or bad clamp assemblies after detection in two different boxes 12.

[0098] As shown in the drawings, Figures 8 to 11As shown in the figure, as an embodiment of the present application, the clamp assembly 0 of the present application comprises a clamp 01, a tooth pad 02 and a black pad 03, wherein one end of the clamp 01 is a connecting head for mounting on the power output part, the other end extends outward along the arc direction, the inner side wall of the clamp 01 is provided with a tooth pad embedding groove C extending along the side direction of the clamp 01, for inserting the tooth pad 02; the tooth pad embedding groove C is sunk into the wall of the clamp 01, and the two sides of the groove top are provided with inwardly extending retaining edges for limiting and clamping; the end of the tooth pad embedding groove C close to the connecting head of the clamp 01 is provided with a black pad embedding groove B, the black pad embedding groove B is communicated with the tooth pad embedding groove C, and the width is greater than that of the tooth pad embedding groove C, for inserting the black pad 03; the tooth pad 02 is an arc-shaped sheet structure, the top surface of the tooth pad 02 is a tooth surface structure, for contacting the material and enhancing the contact friction force, the bottom surface of the tooth pad 02 is provided with a tooth pad embedding strip 04, the cross section of the tooth pad embedding strip 04 is a T-shaped structure, for embedding into the tooth pad embedding groove C; the black pad 03 is a block structure, the bottom of the black pad 03 is provided with a black pad embedding block 05, the cross section of the black pad embedding block 05 is a T-shaped structure, for embedding into the black pad embedding groove B.

[0099] Embodiment 2: as shown in the figure, Figures 4 to 7 As shown in the figure, as an embodiment of the present application, the rotary table mechanism 2 of the present embodiment comprises a rotary table support 21, a rotary table 22, a jig 23, a clamping assembly 24 and a rotary table motor 25, wherein the rotary table support 21 is erected on the machine table 1; the rotary table motor 25 is arranged on the rotary table support 21, and the output end is arranged upward; the rotary table 22 is horizontally rotatably arranged above the rotary table support 21, and is connected with the output end of the rotary table motor 25, and is driven by the rotary table motor 25 to rotate in the horizontal plane; the rotary table 22 is provided with a clamp feeding position, a tooth pad assembling position, a black pad assembling position, a detection position, a bending position and a discharging position in the circumferential direction; the jig 23 comprises at least two, and the at least two jigs 23 are respectively arranged at the clamp feeding position, the tooth pad assembling position, the black pad assembling position, the detection position, the bending position and the discharging position, and a jig material groove A is formed in the jig 23, for carrying the clamp assembly 0; the clamping assembly 24 comprises at least two groups, and the at least two clamping assemblies 24 are respectively arranged on the at least two jigs 23, for clamping and fixing the clamp assembly 0 in the jig 23; the clamping assembly 24 comprises a clamping cylinder 241 and a clamping block 242, wherein the clamping cylinder 241 is arranged at the bottom of the rotary table 22, and is correspondingly arranged below the jig 23, and the output end of the clamping cylinder 241 is arranged outward; the clamping block 242 comprises two blocks, and the two clamping blocks 242 are respectively connected to the output end of the clamping cylinder 241, and are driven by the clamping cylinder 241 to approach or move away from each other; the outer end of the clamping block 242 extends upward and passes through the through groove formed in the rotary table 22 to extend upward to the outside of the jig 23, for clamping and fixing the clamp assembly 0 placed on the jig 23 from the outside.

[0100] Embodiment 3: as shown in the figure,Figures 12 to 14 As shown, as one embodiment of the present application, the clamp feeding mechanism 3 of the present embodiment comprises a clamp feeding support 31, a clamp vibrating disc 32, a clamp guide assembly 33 and a clamp receiving assembly 34, wherein the clamp feeding support 31 is arranged outside the machine table 1; the clamp vibrating disc 32 is arranged on the clamp feeding support 31, for storing the clamps 01 to be assembled and guiding the clamps 01 out one by one; the clamp guide assembly 33 is arranged at the side of the clamp vibrating disc 32, one end of the clamp guide assembly 33 is connected with the discharge port of the clamp vibrating disc 32, and the other end extends horizontally and outwardly, the clamps 01 guided out by the clamp vibrating disc 32 enter the straight line channel of the clamp guide assembly 33, and are guided out in the straight line direction by the clamp guide assembly 33; the clamp receiving assembly 34 is arranged outside the other end of the clamp guide assembly 33, for receiving the clamps 01 guided out by the clamp guide assembly 33.

[0101] As shown, as one embodiment of the present application, the clamp feeding mechanism 3 of the present embodiment comprises a clamp feeding support 31, a clamp vibrating disc 32, a clamp guide assembly 33 and a clamp receiving assembly 34, wherein the clamp feeding support 31 is arranged outside the machine table 1; the clamp vibrating disc 32 is arranged on the clamp feeding support 31, for storing the clamps 01 to be assembled and guiding the clamps 01 out one by one; the clamp guide assembly 33 is arranged at the side of the clamp vibrating disc 32, one end of the clamp guide assembly 33 is connected with the discharge port of the clamp vibrating disc 32, and the other end extends horizontally and outwardly, the clamps 01 guided out by the clamp vibrating disc 32 enter the straight line channel of the clamp guide assembly 33, and are guided out in the straight line direction by the clamp guide assembly 33; the clamp receiving assembly 34 is arranged outside the other end of the clamp guide assembly 33, for receiving the clamps 01 guided out by the clamp guide assembly 33. Figures 15 to 17As shown, as one embodiment of the present application, the clamp receiving assembly 34 of the embodiment comprises a clamp receiving support 341, a clamp receiving cylinder 342, a clamp receiving cylinder seat 343, a clamp receiving seat 344, a clamp receiving side support 345, a clamp pressing member and a clamp ejecting member. The clamp receiving support 341 is arranged outside the clamp guiding assembly 33. The clamp receiving cylinder 342 is arranged on the clamp receiving support 341, with the output end arranged upward. The clamp receiving cylinder seat 343 is horizontally connected to the output end of the clamp receiving cylinder 342. The clamp receiving seat 344 is horizontally arranged on the clamp receiving cylinder seat 343. The clamp receiving seat 344 is provided with a clamp receiving groove D. The top of the clamp receiving groove D and the side close to the clamp guiding assembly 33 are open, so as to horizontally guide the clamp 01. The clamp pressing member is arranged on the side of the clamp receiving seat 344, for rotatingly and downwardly pressing the clamp 01 in the clamp receiving groove D. The clamp ejecting member is arranged on the side of the clamp receiving seat 344, for horizontally ejecting the clamp 01 in the clamp receiving groove D. The clamp pressing member comprises the clamp receiving side support 345, a rotating support 346, a clamp pressing cylinder 347, a lifting support 348, a rotating sleeve 349 and a clamp pressing block 3410. The clamp receiving side support 345 is arranged on the side wall of the clamp receiving cylinder seat 343. The clamp receiving side support 345 is a U-shaped seat body, with the U-shaped opening horizontally arranged outward, and the length of the lower supporting plate horizontally extended is greater than that of the upper supporting plate. The rotating support 346 is arranged on the top of the clamp receiving side support 345. The clamp pressing cylinder 347 is vertically arranged on the lower supporting plate of the clamp receiving side support 345, with the output end arranged upward. The lifting support 348 is arranged on the output end of the clamp pressing cylinder 347. The lifting support 348 is a U-shaped seat body, with the opening arranged upward. A rotating shaft is rotatably arranged in the opening. The rotating sleeve 349 is horizontally arranged. The middle part of the rotating sleeve 349 is rotatably arranged in the opening of the rotating support 346, with the rotating support 346 as the rotating fulcrum. One side of the rotating sleeve 349 is provided with a strip-shaped groove, which is nested on the rotating shaft of the lifting support 348. The rotating shaft is freely slidable in the strip-shaped groove. The other side of the rotating sleeve 349 is connected with the clamp pressing block 3410. When the lifting support 348 moves upward, the rotating sleeve 349 is driven by the rotating shaft to rotate upward with the rotating support 346 as the fulcrum. The clamp pressing block 3410 on the other side of the rotating sleeve 349 presses the clamp 01 in the clamp receiving groove D from top to bottom. The clamp ejecting member comprises a clamp ejecting cylinder 3411 and a clamp ejecting rod 3412. The clamp ejecting cylinder 3411 is horizontally arranged on the side wall of the clamp receiving seat 344, with the output end horizontally penetrating through the clamp receiving seat 344. The clamp ejecting rod 3412 is arranged on the output end of the clamp ejecting cylinder 3411, and horizontally extends into the clamp receiving groove D, for ejecting the clamp 01 in the clamp receiving groove D.

[0102] Example 4: Figures 18 to 20 As shown in the figure, as an embodiment of the present invention, the clamping and picking mechanism 4 of this embodiment includes a clamping and picking support column 41, a clamping and picking base 42, a clamping and picking lifting motor 43, a clamping and picking transmission belt 44, a clamping and picking lifting seat 45, a clamping and picking bracket 46, a clamping and picking rotation motor 47, a clamping and picking rotation shaft 48, a clamping and picking cylinder 49, and a clamping and picking block 410. The clamping and picking support column 41 is vertically mounted on the machine base 1; the clamping and picking base 42 is vertically mounted on the clamping and picking support column. 41; The clamping lifting motor 43 is mounted on the rear side wall of the clamping and picking support 42, and its output end extends horizontally through the clamping and picking support 42 to the front side of the clamping and picking support 42; The clamping and picking transmission belt 44 is vertically mounted on the front side of the clamping and picking support 42 and is sleeved on the output end of the clamping lifting motor 43, and moves linearly in the vertical direction driven by the clamping lifting motor 43; The clamping and picking lifting seat 45 is slidably connected to the front side wall of the clamping and picking support 42 in the vertical direction. It is connected to the clamping and picking transmission belt 44, and moves up and down driven by the clamping and picking transmission belt 44; the clamping and picking bracket 46 is set on the side wall of the clamping and picking lifting seat 45, and the clamping and picking bracket 46 has a double-layer structure; the clamping rotary motor 47 is set on the upper support plate of the clamping and picking bracket 46; the clamping and picking rotary shaft 48 is vertically connected to the output end of the clamping rotary motor 47, and extends downward through the lower support plate of the clamping and picking bracket 46; the clamping and picking cylinder 49 It is located below the lower support plate of the clamping and picking bracket 46 and connected to the clamping and picking rotating shaft 48; the clamping blocks 410 include two blocks, which are connected to the output end of the clamping and picking cylinder 49 and are driven by the clamping and picking cylinder 49 to move closer or further apart from each other; the outer side of the clamping blocks 410 is provided with a horizontally extending insert. After the two clamping blocks 410 are closed, the insert extends into the clamp 01 and is stretched outward to abut against the inner side wall of the clamp 01 so as to pick up and put down the clamp 01.

[0103] Example 5: Figures 21 to 23As shown, as one embodiment of the present application, the dental cushion feeding mechanism 5 of the embodiment comprises a dental cushion feeding support 51, a dental cushion vibrating disc 52, a dental cushion guide assembly 53 and a dental cushion receiving assembly 54, wherein the dental cushion feeding support 51 is arranged outside the machine table 1; the dental cushion vibrating disc 52 is arranged on the dental cushion feeding support 51 and is used to store and sequentially guide out the dental cushions 02 to be assembled; the dental cushion guide assembly 53 is arranged at the side of the dental cushion vibrating disc 52, one end of the dental cushion guide assembly 53 is connected with the discharging port of the dental cushion vibrating disc 52, the other end horizontally extends outward, the dental cushion 02 guided out by the dental cushion vibrating disc 52 enters the straight line channel of the dental cushion guide assembly 53 and is guided out in the straight line direction through the dental cushion guide assembly 53; the dental cushion receiving assembly 54 is arranged outside the other end of the dental cushion guide assembly 53 and is used to receive the dental cushion 02 guided out by the dental cushion guide assembly 53.

[0104] As shown, as one embodiment of the present application, the dental cushion feeding mechanism 5 of the embodiment comprises a dental cushion feeding support 51, a dental cushion vibrating disc 52, a dental cushion guide assembly 53 and a dental cushion receiving assembly 54, wherein the dental cushion feeding support 51 is arranged outside the machine table 1; the dental cushion vibrating disc 52 is arranged on the dental cushion feeding support 51 and is used to store and sequentially guide out the dental cushions 02 to be assembled; the dental cushion guide assembly 53 is arranged at the side of the dental cushion vibrating disc 52, one end of the dental cushion guide assembly 53 is connected with the discharging port of the dental cushion vibrating disc 52, the other end horizontally extends outward, the dental cushion 02 guided out by the dental cushion vibrating disc 52 enters the straight line channel of the dental cushion guide assembly 53 and is guided out in the straight line direction through the dental cushion guide assembly 53; the dental cushion receiving assembly 54 is arranged outside the other end of the dental cushion guide assembly 53 and is used to receive the dental cushion 02 guided out by the dental cushion guide assembly 53. Figures 24 to 30As shown, as one embodiment of the present application, the dental pad receiving assembly 54 of the present embodiment comprises a dental pad receiving support 541, a dental pad receiving cylinder 542, a dental pad receiving cylinder seat 543, a dental pad receiving seat 544, a dental pad side clamping member and a dental pad ejecting member, wherein the dental pad receiving support 541 is arranged at the other end of the dental pad guiding assembly 53; the dental pad receiving cylinder 542 is arranged on the dental pad receiving support 541, with the output end arranged upward; the dental pad receiving cylinder seat 543 is arranged on the output end of the dental pad receiving cylinder 542; the dental pad receiving seat 544 is horizontally arranged on the dental pad receiving cylinder seat 543, for receiving and carrying the dental pad 02; the dental pad side clamping member is arranged at the side of the dental pad receiving seat 544, for correcting and fixing the dental pad in the dental pad receiving seat 544 from both sides; the dental pad ejecting member is arranged at the side of the dental pad receiving seat 544, for ejecting the dental pad 02 in the dental pad receiving seat 544; the top of the dental pad receiving seat 544 is provided with a first dental pad groove E recessed inward, with the two sides and the top of the first dental pad groove E being open, for receiving and carrying the dental pad 02; the middle of the first dental pad groove E is provided with an embedded block groove G recessed inward, for embedding and placing the dental pad embedded strip 04 of the dental pad 02; the two sides of the first dental pad groove E are respectively provided with a horizontally extending side clamping groove H; the embedded block groove G is provided with two air holes J vertically extending into the dental pad receiving seat 544; the side wall of the dental pad receiving cylinder seat 543 is horizontally provided with a mounting hole K, with the inner side of the mounting hole K being communicated with the air holes J, and the mounting hole K being connected with an external air path, for connecting the air holes J with the air path, so as to assist in blowing the dental pad 02 in the first dental pad groove E when the air holes J blow air outward, and to assist in fixing the dental pad 02 when the air holes J suck air inward; the dental pad side clamping member comprises a dental pad side clamping cylinder 545 and a dental pad side clamping block 546, wherein the dental pad side clamping cylinder 545 is arranged on the side wall of the dental pad receiving cylinder 542, with the output end arranged upward; the dental pad side clamping block 546 comprises two blocks, with the two dental pad side clamping blocks 546 being respectively connected on the output end of the dental pad side clamping cylinder 545, and being driven by the dental pad side clamping cylinder 545 to approach or move away from each other; the dental pad side clamping block 546 extends to the outside of the dental pad receiving seat 544, and is driven by the dental pad side clamping cylinder 545 to pass through the side clamping groove H, for clamping and fixing the dental pad 02 from the side; the dental pad ejecting member comprises a dental pad rear support 547 and a dental pad ejecting cylinder 548, wherein the dental pad rear support 547 is arranged at the rear side of the dental pad receiving seat 544, with the side of the dental pad rear support 547 close to the dental pad receiving seat 544 being provided with a second dental pad groove F, which is butted with the first dental pad groove E, for receiving the dental pad 02; the inner side wall of the second dental pad groove F is horizontally provided with a mounting through hole; the dental pad ejecting cylinder 548 is horizontally arranged in the mounting through hole, with the output end horizontally extending into the second dental pad groove F, so as to horizontally eject the dental pad 02 in the second dental pad groove F.

[0105] Embodiment 6: as Figures 31 to 33As shown, as one of the embodiments of the present application, the dental cushion taking mechanism 6 of the embodiment comprises a dental cushion taking column 61, a dental cushion taking support 62, a dental cushion taking lifting piece, a dental cushion taking horizontal moving piece, a dental cushion taking rotating piece and a dental cushion clamping piece, wherein the dental cushion taking column 61 is vertically arranged; the dental cushion taking support 62 is vertically arranged on the dental cushion taking column 61; the dental cushion taking lifting piece is arranged on the dental cushion taking support 62 and is used for providing lifting power; the dental cushion taking horizontal moving piece is arranged on the dental cushion taking lifting piece and is used for providing horizontal moving power; the dental cushion taking rotating piece is arranged on the dental cushion taking horizontal moving piece and is used for providing rotating power in the horizontal plane; the dental cushion clamping piece is arranged on the dental cushion rotating piece and is used for clamping the dental cushion 02; the dental cushion taking lifting piece comprises a dental cushion taking motor 63, a dental cushion taking transmission belt 64 and a dental cushion taking lifting seat 65, wherein the dental cushion taking motor 63 is arranged on the rear side wall of the dental cushion taking support 62 and the output end thereof extends horizontally through the dental cushion taking support 62 to the front side of the dental cushion taking support 62; the dental cushion taking transmission belt 64 is vertically arranged on the front side of the dental cushion taking lifting seat 65 and is sleeved on the output end of the dental cushion taking motor 63 and is driven by the dental cushion taking motor 63 to move in the vertical linear direction; the dental cushion taking lifting seat 65 is slidably connected to the front side wall of the dental cushion taking support 62 in the vertical direction and is connected with the dental cushion taking transmission belt 64; the dental cushion taking horizontal moving piece comprises a dental cushion taking horizontal moving cylinder 66 and a dental cushion taking horizontal moving seat 67, wherein the dental cushion taking horizontal moving cylinder 66 is arranged on the side wall of the dental cushion taking lifting seat 65 and outputs power in the horizontal direction; the dental cushion taking horizontal moving seat 67 is connected to the dental cushion taking horizontal moving cylinder 66 and is driven by the dental cushion taking horizontal moving cylinder 66 to move horizontally; the dental cushion taking rotating piece comprises a dental cushion taking rotating motor 68, a dental cushion taking rotating shaft 69 and a dental cushion taking rotating seat 610, wherein the dental cushion taking rotating motor 68 is arranged on the dental cushion taking horizontal moving seat 67 and the output end thereof is arranged downward; the dental cushion taking rotating shaft 69 is connected to the output end of the dental cushion taking rotating motor 68 and vertically extends below the dental cushion taking horizontal moving seat 67; the dental cushion clamping piece comprises a dental cushion clamping cylinder 611 and a dental cushion clamping block 612, wherein the dental cushion clamping cylinder 611 is horizontally arranged at the lower end of the dental cushion taking rotating shaft 69; the dental cushion clamping block 612 comprises two blocks and the two dental cushion clamping blocks 612 are respectively connected to the output ends of the dental cushion clamping cylinder 611 and are driven by the dental cushion clamping cylinder 611 to approach or move away from each other for clamping the dental cushion 02.

[0106] Embodiment 7: as Figures 31 to 38As shown in the figure, as an embodiment of the present invention, the black pad feeding mechanism 7 of this embodiment includes a black pad feeding bracket 71, a black pad vibrating plate 72, a black pad guiding component 73, and a black pad receiving component 74. The black pad feeding bracket 71 is horizontally arranged; the black pad vibrating plate 72 is arranged on the black pad feeding bracket 71 and is used to store and discharge the black pads 03 to be assembled; the black pad guiding component 73 is horizontally arranged at the discharge port of the black pad vibrating plate 72, with one end connected to the discharge port of the black pad vibrating plate 72 and the other end extending horizontally outward. The black pads 03 discharged from the black pad vibrating plate 72 enter the straight channel of the black pad guiding component 73 and are discharged along a straight direction via the black pad guiding component 73; the black pad receiving component 74 is arranged outside the discharge port of the black pad guiding component 73 and is used to receive and carry the discharged black pads 03.

[0107] The black pad receiving assembly 74 includes a black pad receiving support 741, a black pad receiving cylinder 742, a black pad receiving cylinder seat 743, a black pad receiving base 744, and a black pad rear support 745. The black pad receiving support 741 is vertically arranged; the black pad receiving cylinder 742 is mounted on the black pad receiving support 741 with its output end facing upwards; the black pad receiving cylinder seat 743 is mounted on the output end of the black pad receiving cylinder 742; and the black pad receiving base 744 is horizontally arranged on the black pad receiving cylinder seat 743. 4 has an inner recessed black pad groove L. The top and sides of the black pad groove L are open and connect with the discharge port of the black pad guide assembly 73 for receiving and carrying the black pad 03. The bottom of the black pad groove L has a vertically downward extending black pad air hole M for blowing or sucking air into the black pad groove L. The black pad rear support 745 is located on the rear side of the black pad receiving seat 744. The black pad rear support 745 has a horizontally opened installation through hole for installing a cylinder or sensor so as to horizontally push the black pad 03 in the black pad groove L or sense the black pad 03.

[0108] like Figure 39 The diagram shown is a schematic of the black pad picking mechanism 8 of the present invention. The structure of the black pad picking mechanism 8 is the same as that of the dental pad picking mechanism 6.

[0109] Example 8: As Figure 40 As shown, in one embodiment of the present invention, the detection mechanism 9 includes a detection support 91, a detection CCD 92, and a detection aperture 93. The detection support 91 is vertically arranged on the machine base 1; the detection CCD 92 is arranged on the detection support 91 with its lens facing downward; the detection aperture 93 is arranged on the detection support 91 and located below the detection CCD 92, and is used to assist in illuminating the clamping assembly 0 on the turntable below during detection.

[0110] Example 9: As Figures 41 to 42As shown, as one embodiment of the present application, the detection bending blank part of the embodiment comprises a bending mechanism 10, which comprises a bending upright column 101, a bending support 102, a bending upper air cylinder 103, a bending guide column 104, a bending pressing seat 105, a bending pressing head 106, a bending lower support 107, a bending lower air cylinder 108 and a bending ejector pin 109, wherein the bending upright column 101 is vertically arranged on the machine table 1; the bending support 102 is arranged on the bending upright column 101; the bending upper air cylinder 103 is arranged on the bending support 102, and the output end thereof is arranged downward through the bending support 102; the bending guide column 104 comprises two, which are vertically and slidably inserted into the bending support 102; the bending pressing seat 105 is horizontally arranged below the bending support 102, and is connected with the output end of the bending upper air cylinder 103 and the lower end of the bending guide column 104 respectively, the bending upper air cylinder 103 drives the bending pressing seat 105 to move up and down, and the bending guide column 104 guides and limits the movement; the bending pressing head 106 is horizontally arranged at the bottom of the bending pressing seat 105, the bottom of the bending pressing head 106 is provided with a U-shaped pressing head, the bending pressing head 106 moves downward with the bending pressing seat 105, and the U-shaped pressing head at the bottom is embedded on the black pad 03 from above, so that the vertically extended tongue pressing of the clamp 01 at both sides of the black pad 03 is bent to be horizontally pressed on the black pad 03; the bending lower support 107 is arranged below the bending support 102, the bending lower air cylinder 108 is arranged on the bending support 102, and the output end of the bending lower air cylinder 108 is arranged upward; the bending ejector pin 109 is vertically arranged on the output end of the bending lower air cylinder 108, and is driven upward by the bending lower air cylinder 108 to press against the clamp 01.

[0111] Embodiment 10: as Figure 43 As shown, as one embodiment of the present application, the present application discloses a clamp automatic glue pad loading process of a clamp automatic glue pad loading machine, which comprises the following process steps:

[0112] S1, feeding and guiding: manually put the clamp, tooth pad and black pad into the corresponding vibration disc respectively, and then guide the clamp, tooth pad and black pad into the clamp guide assembly, tooth pad guide assembly and black pad guide assembly respectively through the clamp vibration disc, tooth pad vibration disc and black pad vibration disc respectively, and then guide them into the clamp material receiving assembly, tooth pad material receiving assembly and black pad material receiving assembly along the straight line direction respectively;

[0113] S2, clamp positioning and transfer loading: after the clamp in step S1 enters the clamp material groove of the clamp material receiving assembly from the clamp guide assembly, the clamp ejector of the clamp material receiving assembly reversely pushes and positions the clamp, the clamp pressing piece presses the clamp from above through the jacking and rotating mode, the clamp clamping block of the clamp material taking mechanism inserts into the sleeve body of the clamp head and abuts against the inner wall of the clamp from the inside to clamp the clamp, then the clamp pressing piece releases the clamp, the clamp material taking mechanism takes out the clamp and moves it to the jig, and then the clamp is clamped and fixed by the clamping assembly;

[0114] S3, the dental pad is clamped and positioned by the side clamp, and the dental pad is taken out by the dental pad taking mechanism;

[0115] S4, dental pad assembly: after the dental pad taking mechanism takes out the dental pad in step S3, the tool loaded by the clamp in step S1 is moved to the dental pad assembly position by the rotary table mechanism, the dental pad taken out by the dental pad taking mechanism is carried to the dental pad assembly position and inserted into the dental pad embedding groove of the clamp;

[0116] S5, black pad receiving and taking: after the black pad in step S1 enters the black pad slot of the black pad receiving assembly from the black pad guide assembly, the outer part of the black pad is in a suspended state after being pushed out by the cylinder arranged on the rear support of the black pad, and then the black pad is taken out by the black pad taking mechanism;

[0117] S6, black pad assembly: after the black pad taking mechanism in step S5 takes out the black pad, the tool with the assembled dental pad in step S4 is moved to the black pad assembly position by the rotary table mechanism, the black pad taking mechanism carries the black pad to the black pad assembly position and inserts the black pad into the black pad embedding groove of the clamp;

[0118] S7, assembly detection: after the black pad assembly in step S6 is completed, the tool is moved to the detection position by the rotary table mechanism, and the detection mechanism is used to take pictures to detect whether the dental pad and the black pad are installed in place, and the result is fed back to the industrial computer;

[0119] S8, clamp bending: after the assembly detection in step S7 is completed, the tool is moved to the bending position by the rotary table mechanism, and the industrial computer controls the bending mechanism to perform bending action according to the feedback result, if the detection is passed, the bending action is performed to press the black pad by the clamp, if the detection is not passed, the bending action is not performed;

[0120] S9, discharging: the clamp assembly in step S8 is rotated by an angle from the bending position to the discharging position by the rotary table, the clamp is released by the clamping assembly, and the discharging mechanism at the discharging position is controlled by the industrial computer according to the detection result in step S7 to classify and take out the good and bad clamp assemblies and put them into different boxes.

[0121] Further, the present application designs a kind of automatic feeding, transfer and receiving load of clamp, dental pad and black pad, realizes compression or position deviation suspension while receiving, to ensure the position stability in the process of taking material and taking material avoidance, realizes position angle adjustment in the process of dental pad and black pad transfer, realizes automatic insertion of dental pad and black pad and detection and bending after insertion, improves clamp automatic gum pad machine and gum pad process of assembly of clamp assembly and quality.

[0122] The present application is applied to the field of clamp automatic production and assembly, belongs to automatic equipment, and its role is to realize the automatic feeding, guiding, transfer, taking of clamp, dental pad and black pad, and the automatic insertion of dental pad and black pad, and the detection after assembly of dental pad and black pad, and the automatic bending of clamp with tongue-pressing for good clamp after classification, to improve the assembly efficiency and assembly yield of clamp.The specific present application takes the machine table arranged horizontally as bearing structure, is equipped with rotary table mechanism on the machine table, and the rotary table mechanism takes the rotary table arranged horizontally as bearing plane, is equipped with clamp feeding position, dental pad assembly position, black pad assembly position, detection position, bending position and unloading position in the circumferential direction on the rotary table, and the rotary table rotates one angle position every time under the driving of rotary table motor to switch one station;Clamp feeding mechanism, dental pad feeding mechanism, black pad feeding mechanism, detection mechanism, bending mechanism and unloading mechanism are respectively arranged at clamp feeding position, dental pad assembly position, black pad assembly position, detection position, bending position and unloading position, when the rotary table drives jig to rotate to clamp feeding station, clamp exported by clamp feeding mechanism is taken out by clamp taking mechanism and then moved to jig, clamp is clamped and fixed from both sides by clamping assembly arranged below jig, the rotary table drives jig to rotate one angle position to dental pad assembly position, dental pad exported by dental pad feeding mechanism is taken out by dental pad taking mechanism and then moved to jig, and dental pad is inserted into dental pad embedding groove of clamp;The rotary table drives clamp with assembled dental pad to rotate to black pad assembly position, black pad exported by black pad feeding mechanism is taken out by black pad taking mechanism and then moved to jig, and black pad is inserted into black pad embedding groove of clamp, to form clamp assembly;The rotary table drives clamp assembly after assembly to rotate one angle position to detection position, and detection is carried out, so as to screen good assembly and defective assembly, and OK signal corresponding to good assembly or NG signal corresponding to defective assembly is sent to industrial computer, whether bending action is executed on clamp assembly rotating to bending position by industrial computer controlling bending mechanism, bending action is executed on good clamp assembly, clamp tongue on both sides of black pad is pressed from vertical state to horizontal state by bending mechanism, so as to compress black pad in clamp, and defective assembly is not executed bending action;After clamp assembly at bending position completes station action, it is rotated to unloading position by rotary table, clamp assembly in clamping state is released by clamping assembly, and clamp assembly is automatically classified and unloaded into two boxes arranged at unloading position according to good assembly or defective assembly after detection by unloading mechanism arranged at the position.

[0123] Particularly, based on the need to rotate the single angle position with the turntable after the clamp is put into the jig, in order to switch back and forth between various stations, in order to ensure the stability of the position of the clamp in the jig during rotation and assembly, while avoiding interference when assembling the tooth pad and the black pad, the present application is provided with a clamping assembly at the jig, the clamping assembly is arranged below the turntable, the clamping power is provided by the horizontally arranged clamping cylinder, the two clamping blocks arranged on the output end of the clamping cylinder are L-shaped structure, the horizontal end is connected to the output end of the clamping cylinder, the outer end extends vertically upward, extends upward to the outside of the jig through the through slot opened on the turntable, the two clamping blocks clamps the head of the clamp placed on the jig and in a suspended state from the outside under the drive of the clamping cylinder, realizes the fixed positioning of the clamp, ensures the position stability of the clamp during transfer or assembly, and maintains the clamping state during synchronous rotation with the jig, and through the clamping and fixing mode from the outside, it will not produce motion interference to the assembly of tooth pad and black pad of the clamp in the later stage.

[0124] Further, based on the special structure of the clamp, the dental pad and the black pad, and the assembly process requirement that the dental pad and the black pad need to overcome the friction force of interference connection and be hard inserted into the clamp, firstly, the problems of the clamp discharging from the feeding mechanism, guiding and receiving and taking the material need to be solved; secondly, the technical problems of taking out the dental pad and the black pad and inserting them into the clamp need to be solved in the process of assembling the dental pad and the black pad, that is, when the dental pad or the black pad is guided out through the vibration disc and the guiding assembly and enters the receiving assembly for transfer, it is necessary to ensure that it is taken out from the receiving assembly without interfering with the subsequent insertion assembly; at the same time, it is also necessary to ensure the position accuracy of the dental pad and the black pad when taking out, so as to be accurately inserted into the clamp subsequently. Specifically, for the feeding problem of the clamp, the clamp feeding mechanism is designed, a plurality of clamps are placed in the vibration disc, the vibration disc guides them into the clamp guiding assembly one by one, and the clamp guiding assembly guides the clamps into the clamp receiving assembly one by one along the straight line channel direction; the special part is that, for the special structure of the clamp, in order to avoid the movement interference between the clamp placed on the jig and the clamping mechanism, the clamp taking method of the present application utilizes the structure feature that the head of the clamp has a through space, adopts an internal resistance type clamping structure, that is, a horizontally outward extending insertion strip part is arranged at the front end of the clamp clamping block of the clamp taking mechanism, during the taking process, the insertion strip parts of the two clamp clamping blocks are inserted into the through space of the clamp head, the clamp clamping cylinder drives the two clamp clamping blocks to be tensioned outward, so as to be fixed to the inner wall of the clamp; the clamp taking mechanism takes out the clamp, carries and places the clamp on the jig on the rotary table, at this time, the clamping assembly below the jig clamps the clamp from the outside, the clamp clamping block releases the clamp, and moves to the clamp receiving assembly, so as to take the clamp next time; this kind of internal clamping taking method utilizes the structure of the clamp itself, and can complete the automatic taking and placing of the clamp without interfering with the clamping assembly of the jig from the outside to clamp and position the clamp.Further, based on the tongs-based material taking mode, the tong connecting and taking assembly of the present application provides the lifting power for the vertically arranged tong connecting and taking cylinder to drive the lifting movement of the tong connecting and taking base, when the tongs need to be connected and taken, the tong connecting and taking cylinder drives the tong connecting and taking base to lift, so that the tong material groove on the tong connecting and taking base is aligned with the discharge port of the tong guide assembly, so that the tongs slide into the tong material groove, when the material taking is completed, the tong connecting and taking base moves upward, and the front side wall thereof blocks the discharge port of the tong guide assembly, so as to prevent the tongs in the discharge port from continuing to guide out; at the same time, since the tong taking mechanism needs to be inserted into the inside of the tongs and then opened outward to clamp, in order to ensure the position stability of the tongs during the material taking process, the present application has the function of pressing the tongs during the material taking, the rear side of the tong connecting and taking base is taken as the bearing structure through the tong connecting and taking side support, when the outer end of the rotating sleeve is driven by the tong ejecting cylinder on the tong connecting and taking side support to move upward, the inner end of the rotating sleeve drives the tong pressing block to move downward, so as to press and fix the tongs in the tong material groove, so as to prevent the position of the tongs from deviating when the tongs are taken out; the vertical lifting force is converted into the downward pressure of the tong pressing block through the rotating connection mode of the rotating sleeve, in this way, the tongs are pressed from above to downward, so that the tongs are pressed while avoiding the movement interference when the tongs enter the tong material groove; further, the tong ejecting cylinder is arranged on the rear side wall of the tong material groove, the tong ejecting cylinder horizontally drives the tong ejecting rod to extend into the tong material groove, so as to adjust and calibrate the tongs in the tong material groove, so as to ensure the position accuracy of the tongs during the material taking process.

[0125] Specifically, for the tooth pad feeding and taking problem, the tooth pad feeding mechanism is designed, a plurality of tooth pads are put into the tooth pad vibration disc, the tooth pads are guided out to the tooth pad guide assembly one by one through the tooth pad vibration disc, the tooth pad guide assembly guides the tooth pads out to the tooth pad receiving assembly one by one along the linear material channel direction, and the tooth pad receiving mechanism is used for taking out and inserting the tooth pads into the tooth pad embedding groove of the clamp. The tooth pad receiving seat is driven to move up and down by the tooth pad receiving cylinder below, when the tooth pad needs to be received, the tooth pad receiving cylinder drives the first tooth pad groove of the tooth pad receiving seat to align with the discharge port of the tooth pad guide assembly, so that the tooth pad slides into the first tooth pad groove, when the receiving is completed, the tooth pad receiving cylinder drives the tooth pad receiving seat to continue to move upwards, so that the front side wall of the tooth pad receiving seat blocks the discharge port of the tooth pad guide assembly, and the tooth pad guide assembly is prevented from continuing to guide out; further, the rear side wall of the tooth pad receiving seat is also provided with a tooth pad rear support, the tooth pad rear support is provided with a second tooth pad groove, the second tooth pad groove is aligned with the first tooth pad groove, so as to carry the tooth pad, and the bottom of the two is provided with a downwardly recessed embedding block groove, so as to accommodate the tooth pad embedding strip at the bottom of the tooth pad; a tooth pad ejecting cylinder is horizontally arranged on the tooth pad rear support, the inside of the tooth pad receiving seat is provided with a plurality of vertically inward extending air holes, the air holes are communicated with the external air path through the mounting holes; after the tooth pad enters the tooth pad receiving seat, in order to ensure that the subsequent tooth pad taking mechanism can clamp the tooth pad, the tooth pad is horizontally ejected outward by the tooth pad ejecting cylinder, so that the head of the tooth pad slides outward to be in a suspended state, so that the tooth pad taking mechanism clamps the tooth pad from the suspended part; at the same time, in order to ensure the stability of the position of the tooth pad during the ejecting process, the tooth pad in the tooth pad receiving seat is sucked downward by the downward vacuum negative pressure generated by the air hole in real time, so as to avoid the position deviation or the too large ejecting distance of the tooth pad during the ejecting process; after the tooth pad taking mechanism clamps the tooth pad, the vacuum negative pressure of the air hole disappears, and the air hole is connected with the external vacuum generator through the air pipe or the air pipe joint connected in the mounting hole; further, the two sides of the first tooth pad groove are also horizontally provided with side clamping grooves, a tooth pad side clamping cylinder arranged at the rear side of the tooth pad receiving seat drives a tooth pad side clamping block to clamp the tooth pad in the tooth pad receiving seat from the side through the side clamping groove, and the tooth pad is positioned and corrected by the tooth pad side clamping block, so as to ensure the position stability and assist in fixing the tooth pad during the taking process. Similarly, the black pad receiving assembly of the application also has a rear side ejecting function while carrying and taking the black pad, so that one side of the black pad is horizontally pushed out outward before the black pad is taken, so that the black pad is in a suspended state, and the black pad taking mechanism clamps and fixes the black pad from the suspended part; and has a vacuum adsorption function, which assists the black pad pushing process to be continuously adsorbed downward by the vacuum negative pressure, so as to ensure the position stability and accuracy of the black pad during the pushing process, and avoid the black pad from sliding out of the black pad receiving seat.

[0126] Further, the assembly process requirements of the dental pad and the black pad, and the dental pad taking mechanism and the black pad taking mechanism of the application are integrated with lifting, horizontal movement, rotation and clamping functions. The dental pad or the black pad is taken and placed by the lifting function, and the dental pad or the black pad is transferred between the feeding mechanism and the jig by the rotation function, that is, after the dental pad taking mechanism or the black pad taking mechanism takes the dental pad or the black pad at the dental pad receiving assembly or the black pad receiving assembly, the dental pad or the black pad is driven to align the clamp on the rotary table jig by rotation, so as to push the dental pad or the black pad into the clamp horizontally in the subsequent process. Meanwhile, the horizontal movement driving function is also integrated, so as to push the dental pad or the black pad into the clamp horizontally after aligning the clamp. Specifically, the dental pad taking mechanism of the application takes the dental pad taking pillar arranged vertically as the bearing structure, the dental pad taking support is arranged vertically on the dental pad taking pillar, the dental pad taking motor arranged on the rear side wall of the dental pad taking support drives the dental pad taking transmission belt to move up and down, so as to drive the dental pad taking lifting seat connected to the front side of the dental pad taking support to move up and down, and realize taking or placing. The dental pad taking horizontal movement air cylinder arranged on the side wall of the dental pad taking lifting seat provides horizontal lateral power, so as to drive the dental pad taking horizontal movement seat arranged thereon to move horizontally, and provide horizontal thrust in the dental pad insertion process. The dental pad taking rotation motor is arranged on the dental pad taking horizontal movement seat, provides rotation power in the horizontal plane, so as to drive the dental pad clamping air cylinder below to rotate in the horizontal plane, and complete the movement of the dental pad between the dental pad receiving assembly and the rotary table jig. The dental pad clamping air cylinder drives the dental pad clamping block to push the dental pad into the clamp after clamping the dental pad at the fixed suspended part from the dental pad receiving assembly, and completes the dental pad assembly.

[0127] The embodiments of the application are only used to introduce the specific implementation, and are not used to limit the protection scope. Some modifications can be made by the person skilled in the art under the inspiration of the embodiments, and all equivalent changes or modifications made according to the patent scope of the application belong to the patent claim scope of the application.

Claims

1. A clamp automatic rubber pad machine, comprising a horizontal machine table (1) for providing a bearing plane, characterized in that: Also include rotating table mechanism (2), clamp feeding mechanism (3), clamp taking mechanism (4), tooth pad feeding mechanism (5), tooth pad taking mechanism (6), black pad feeding mechanism (7), black pad taking mechanism (8) and detection bending blanking part, wherein, The rotating table mechanism (2) is arranged on the machine table (1) and outputs rotary power in the horizontal plane, at least two stations are arranged in the circumferential direction on the rotating table mechanism (2) in sequence, a jig and a clamping assembly are arranged on the at least two stations in correspondence respectively, the jig is used for carrying the clamp assembly (0), and the clamping assembly is used for fixing the clamp assembly (0); the at least two stations include a clamp feeding station, a tooth pad assembly station, a black pad assembly station, a detection station, a bending station and a blanking station, the rotating table mechanism (2) rotates by one angle position at a time to switch the stations; The clamp feeding mechanism (3) and the clamp taking mechanism (4) are arranged at the clamp feeding station and are used for guiding out and placing the clamp (01) into the jig; the tooth pad feeding mechanism (5) and the tooth pad taking mechanism (6) are arranged at the tooth pad assembly station and are used for guiding out the tooth pad (02) and embedding the tooth pad (02) into the clamp (01); the black pad feeding mechanism (7) and the black pad taking mechanism (8) are arranged at the black pad assembly station and are used for guiding out the black pad (03) and embedding the black pad (03) into the clamp (01); the detection bending blanking part is arranged in correspondence at the detection station, the bending station and the blanking station and is used for detecting the clamp after embedding the tooth pad (02) and the black pad (03) and blanking the clamp (01) after bending; The clamp feeding mechanism (3) includes a clamp feeding assembly (34); The clamp feeding assembly (34) includes a clamp feeding support (341), a clamp feeding cylinder (342), a clamp feeding cylinder seat (343), a clamp feeding seat (344), a clamp feeding side support (345), a clamp pressing piece and a clamp ejecting piece, wherein the clamp feeding support (341) is arranged outside the clamp guiding assembly (33); the clamp feeding cylinder (342) is arranged on the clamp feeding support (341) and has an output end arranged upward; the clamp feeding cylinder seat (343) is horizontally connected to the output end of the clamp feeding cylinder (342); the clamp feeding seat (344) is horizontally arranged on the clamp feeding cylinder seat (343), the clamp feeding seat (344) is provided with a clamp material groove (D), the top of the clamp material groove (D) and the side close to the clamp guiding assembly (33) are open to horizontally guide the clamp (01) into the clamp material groove (D); the clamp pressing piece is arranged on the side of the clamp feeding seat (344) and is used for pressing the clamp (01) in the clamp material groove (D) in a rotary downward manner from above; and the clamp ejecting piece is arranged on the side of the clamp feeding seat (344) and is used for horizontally ejecting the clamp (01) in the clamp material groove (D). The pressing clamp piece comprises a clamp material receiving side support (345), a rotating support (346), a clamp pressing cylinder (347), a jacking support (348), a rotating sleeve (349) and a clamp pressing block (3410), wherein the clamp material receiving side support (345) is arranged on the side wall of the clamp material receiving cylinder seat (343); the clamp material receiving side support (345) is a U-shaped seat body, the U-shaped opening of which is horizontally arranged outward, and the length of the lower support plate is greater than that of the upper support plate; the rotating support (346) is arranged on the top of the clamp material receiving side support (345); the clamp pressing cylinder (347) is vertically arranged on the lower support plate of the clamp material receiving side support (345), and the output end is arranged upward; the jacking support (348) is arranged on the output end of the clamp pressing cylinder (347), and the jacking support (348) is a U-shaped seat body, and the opening of which is arranged upward, and a rotating shaft is rotatably arranged in the opening; the rotating sleeve (349) is horizontally arranged, the middle part of the rotating sleeve (349) is rotatably arranged in the opening of the rotating support (346), and the rotating support (346) is used as a rotating support point; one side of the rotating sleeve (349) is provided with a strip-shaped groove, the strip-shaped groove is nested on the rotating shaft of the jacking support (348), the rotating shaft freely slides in the strip-shaped groove, and the other side of the rotating sleeve (349) is connected with the clamp pressing block (3410); when the jacking support (348) moves upward, the rotating sleeve (349) is driven to rotate upward around the rotating support (346) through the rotating shaft, and the clamp pressing block (3410) on the other side of the rotating sleeve (349) presses the clamp (01) in the clamp material groove (D) from top to bottom; The clamp ejection piece comprises a clamp ejection cylinder (3411) and a clamp ejecting rod (3412), wherein the clamp ejection cylinder (3411) is horizontally arranged on the side wall of the clamp material receiving seat (344), and the output end horizontally penetrates the clamp material receiving seat (344); the clamp ejecting rod (3412) is arranged on the output end of the clamp ejection cylinder (3411) and horizontally extends into the clamp material groove (D), and is used for ejecting the clamp (01) in the clamp material groove (D).

2. The automatic pincers gluing machine according to claim 1, characterized in that: The clamp assembly (0) comprises a clamp (01), a tooth pad (02) and a black pad (03), wherein one end of the clamp (01) is a connecting head for mounting on the power output part, the other end extends outward along the arc direction, and the inner side wall of the clamp (01) is provided with a tooth pad embedding groove (C) extending along the side direction of the clamp (01) for inserting the tooth pad (02); the tooth pad embedding groove (C) is sunk into the wall of the clamp (01), and the two sides of the groove top are provided with inwardly extending retaining edges for limiting clamping; the end of the tooth pad embedding groove (C) close to the connecting head of the clamp (01) is provided with a black pad embedding groove (B), the black pad embedding groove (B) is communicated with the tooth pad embedding groove (C), and the width is greater than that of the tooth pad embedding groove (C) for inserting the black pad (03); the tooth pad (02) is an arc-shaped sheet structure, the top surface of the tooth pad (02) is a tooth surface structure for contacting the material and enhancing the contact friction force, and the bottom surface of the tooth pad (02) is provided with a tooth pad embedding strip (04), the cross section of the tooth pad embedding strip (04) is a T-shaped structure for embedding into the tooth pad embedding groove (C); the black pad (03) is a block structure, the bottom of the black pad (03) is provided with a black pad embedding block (05), the cross section of the black pad embedding block (05) is a T-shaped structure for embedding into the black pad embedding groove (B).

3. The automatic pincers gluing machine according to claim 1, characterized in that: The rotary table mechanism (2) comprises a rotary table support (21), a rotary table (22), a jig (23), a clamping assembly (24) and a rotary table motor (25), wherein the rotary table support (21) is erected on the machine table (1); the rotary table motor (25) is arranged on the rotary table support (21) and the output end is arranged upward; the rotary table (22) is horizontally rotatably arranged above the rotary table support (21) and connected with the output end of the rotary table motor (25), and rotates in the horizontal plane driven by the rotary table motor (25); the rotary table (22) is provided with a clamp feeding position, a tooth pad assembling position, a black pad assembling position, a detection position, a bending position and a discharging position in the circumferential direction; the jig (23) comprises at least two, and the at least two jigs (23) are respectively arranged at the clamp feeding position, the tooth pad assembling position, the black pad assembling position, the detection position, the bending position and the discharging position, and the jig (23) is provided with a sunken jig material groove (A) for carrying the clamp assembly (0); the clamping assembly (24) comprises at least two groups, and the at least two groups of clamping assemblies (24) are respectively arranged on the at least two jigs (23) for clamping and fixing the clamp assembly (0) in the jig (23).

4. The automatic pincers gasket padding machine according to claim 1, characterized in that: The clamp feeding mechanism (3) further comprises a clamp feeding support (31), a clamp vibrating disc (32) and a clamp guide assembly (33), wherein the clamp feeding support (31) is arranged on the outer side of the machine table (1); the clamp vibrating disc (32) is arranged on the clamp feeding support (31) and is used for storing the clamps (01) to be assembled and guiding the clamps (01) out one by one; the clamp guide assembly (33) is arranged on the side of the clamp vibrating disc (32), one end of the clamp guide assembly (33) is connected with the discharge port of the clamp vibrating disc (32), the other end horizontally extends outward, the clamp (01) guided out by the clamp vibrating disc (32) enters the straight line channel of the clamp guide assembly (33) and is guided out in the straight line direction through the clamp guide assembly (33); the clamp receiving assembly (34) is arranged on the outer side of the other end of the clamp guide assembly (33) and is used for receiving the clamps (01) guided out by the clamp guide assembly (33).

5. The automatic pincers gasket padding machine according to claim 1, characterized in that: The clamp taking mechanism (4) comprises a clamp taking support (41), a clamp taking support base (42), a clamp lifting motor (43), a clamp taking transmission belt (44), a clamp taking lifting seat (45), a clamp taking support frame (46), a clamp rotating motor (47), a clamp taking rotating shaft (48), a clamp clamping cylinder (49) and a clamp clamping block (410), wherein the clamp taking support (41) is vertically arranged on the machine table (1); the clamp taking support base (42) is vertically arranged on the clamp taking support (41); the clamp lifting motor (43) is arranged on the rear side wall of the clamp taking support base (42), and the output end extends horizontally through the clamp taking support base (42) to the front side of the clamp taking support base (42); the clamp taking transmission belt (44) is vertically arranged on the front side of the clamp taking support base (42), and is sleeved on the output end of the clamp lifting motor (43), and is driven by the clamp lifting motor (43) to move linearly in the vertical direction; the clamp taking lifting seat (45) is slidably connected to the front side wall of the clamp taking support base (42) in the vertical direction, and is connected with the clamp taking transmission belt (44), and is driven by the clamp taking transmission belt (44) to move up and down; the clamp taking support frame (46) is arranged on the side wall of the clamp taking lifting seat (45), and the clamp taking support frame (46) has a double-layer structure; the clamp rotating motor (47) is arranged on the upper support plate of the clamp taking support frame (46); the clamp taking rotating shaft (48) is vertically connected to the output end of the clamp rotating motor (47), and extends downward through the lower support plate of the clamp taking support frame (46); the clamp clamping cylinder (49) is arranged below the lower support plate of the clamp taking support frame (46) and is connected with the clamp taking rotating shaft (48); the clamp clamping block (410) comprises two blocks, and the two clamp clamping blocks (410) are connected to the output end of the clamp clamping cylinder (49) and are driven by the clamp clamping cylinder (49) to move closer to or away from each other; the outer side of the clamp clamping block (410) is provided with a horizontally extending insertion strip part, and the insertion strip parts of the two clamp clamping blocks (410) extend into the clamp (01) after being folded towards each other, and are tightly clamped against the inner side wall of the clamp (01) by outward tension, so as to take and place the clamp (01).

6. The automatic pincers gasket mounting machine according to claim 1, characterized in that: The dental cushion feeding mechanism (5) comprises a dental cushion feeding support (51), a dental cushion vibrating disc (52), a dental cushion guide assembly (53) and a dental cushion receiving assembly (54), wherein the dental cushion feeding support (51) is arranged outside the machine table (1); the dental cushion vibrating disc (52) is arranged on the dental cushion feeding support (51) and is used for storing and guiding out the dental cushion (02) to be assembled one by one; the dental cushion guide assembly (53) is arranged on the side of the dental cushion vibrating disc (52), one end of the dental cushion guide assembly (53) is connected with the discharging port of the dental cushion vibrating disc (52), the other end horizontally extends outward, the dental cushion (02) guided out by the dental cushion vibrating disc (52) enters the straight line channel of the dental cushion guide assembly (53), and the dental cushion (02) guided out by the dental cushion guide assembly (53) is guided in the straight line direction; the dental cushion receiving assembly (54) is arranged outside the other end of the dental cushion guide assembly (53) and is used for receiving the dental cushion (02) guided out by the dental cushion guide assembly (53).

7. The automatic pincers gum mat machine according to claim 6, characterized in that: The dental cushion receiving assembly (54) comprises a dental cushion receiving support (541), a dental cushion receiving cylinder (542), a dental cushion receiving cylinder seat (543), a dental cushion receiving seat (544), a dental cushion side clamping piece and a dental cushion ejection piece, wherein the dental cushion receiving support (541) is arranged at the other end of the dental cushion guide assembly (53); the dental cushion receiving cylinder (542) is arranged on the dental cushion receiving support (541) and the output end thereof is arranged upward; the dental cushion receiving cylinder seat (543) is arranged on the output end of the dental cushion receiving cylinder (542); the dental cushion receiving seat (544) is horizontally arranged on the dental cushion receiving cylinder seat (543) and is used for receiving and carrying the dental cushion (02); the dental cushion side clamping piece is arranged on the side of the dental cushion receiving seat (544) and is used for correcting and fixing the dental cushion in the dental cushion receiving seat (544) from both sides; and the dental cushion ejection piece is arranged on the side of the dental cushion receiving seat (544) and is used for ejecting the dental cushion (02) in the dental cushion receiving seat (544). The top of the dental cushion receiving seat (544) is provided with a first dental cushion groove (E) which is recessed inward, the two sides and the top of the first dental cushion groove (E) are open surfaces and are used for receiving and carrying the dental cushion (02); the middle of the first dental cushion groove (E) is provided with an embedded block groove (G) which is recessed inward and is used for embedding and placing the dental cushion embedded strip (04) of the dental cushion (02); the two sides of the first dental cushion groove (E) are respectively provided with horizontally extending side clamping grooves (H); the embedded block groove (G) is provided with two air holes (J) which vertically extend into the dental cushion receiving seat (544); the side wall of the dental cushion receiving cylinder seat (543) is horizontally provided with a mounting hole (K), the inner side of the mounting hole (K) is communicated with the air hole (J), the mounting hole (K) is connected with an external air path, the air hole (J) is connected into the air path, the dental cushion (02) in the first dental cushion groove (E) is assisted to blow air when the air hole (J) blows air outward, and the dental cushion (02) is assisted to be fixed when the air hole (J) inhales air inward. The dental pad side clamping piece comprises a dental pad side clamping cylinder (545) and a dental pad side clamping block (546), wherein the dental pad side clamping cylinder (545) is arranged on the side wall of the dental pad receiving cylinder (542) and the output end is arranged upward; the dental pad side clamping block (546) comprises two blocks, the two dental pad side clamping blocks (546) are respectively connected on the output end of the dental pad side clamping cylinder (545), and are driven by the dental pad side clamping cylinder (545) to approach or move away from each other; the dental pad side clamping block (546) extends to the outside of the dental pad receiving seat (544) and is driven by the dental pad side clamping cylinder (545) to pass through the side clamping groove (H), so as to clamp and fix the dental pad (02) from the side; The dental pad side clamping piece comprises a dental pad side clamping cylinder (545) and a dental pad side clamping block (546), wherein the dental pad side clamping cylinder (545) is arranged on the side wall of the dental pad receiving cylinder (542) and the output end is arranged upward; the dental pad side clamping block (546) comprises two blocks, the two dental pad side clamping blocks (546) are respectively connected on the output end of the dental pad side clamping cylinder (545), and are driven by the dental pad side clamping cylinder (545) to approach or move away from each other; the dental pad side clamping block (546) extends to the outside of the dental pad receiving seat (544) and is driven by the dental pad side clamping cylinder (545) to pass through the side clamping groove (H), so as to clamp and fix the dental pad (02) from the side; 8. The automatic pincers gasket mounting machine according to claim 1, characterized in that: The dental pad receiving mechanism (6) comprises a dental pad receiving support (61), a dental pad receiving support (62), a dental pad receiving lifting piece, a dental pad receiving horizontal moving piece, a dental pad receiving rotating piece and a dental pad clamping and taking piece, wherein the dental pad receiving support (61) is arranged vertically; the dental pad receiving support (62) is arranged vertically on the dental pad receiving support (61); the dental pad receiving lifting piece is arranged on the dental pad receiving support (62) and is used for providing lifting power; the dental pad receiving horizontal moving piece is arranged on the dental pad receiving lifting piece and is used for providing horizontal moving power; the dental pad receiving rotating piece is arranged on the dental pad receiving horizontal moving piece and is used for providing rotating power in the horizontal plane; and the dental pad clamping and taking piece is arranged on the dental pad rotating piece and is used for clamping and taking the dental pad (02); The dental pad receiving lifting piece comprises a dental pad receiving motor (63), a dental pad receiving transmission belt (64) and a dental pad receiving lifting seat (65), wherein the dental pad receiving motor (63) is arranged on the rear side wall of the dental pad receiving support (62) and the output end extends horizontally through the dental pad receiving support (62) to the front side of the dental pad receiving support (62); the dental pad receiving transmission belt (64) is arranged vertically on the front side of the dental pad receiving lifting seat (65) and is sleeved on the output end of the dental pad receiving motor (63), and is driven by the dental pad receiving motor (63) to move in the vertical straight line direction; and the dental pad receiving lifting seat (65) is slidably connected to the front side wall of the dental pad receiving support (62) in the vertical direction and is connected with the dental pad receiving transmission belt (64). The dental pad taking horizontal moving part comprises a dental pad taking horizontal moving cylinder (66) and a dental pad taking horizontal moving seat (67), wherein the dental pad taking horizontal moving cylinder (66) is arranged on the side wall of the dental pad taking lifting seat (65) and outputs power in the horizontal direction; the dental pad taking horizontal moving seat (67) is connected to the dental pad taking horizontal moving cylinder (66) and is driven by the dental pad taking horizontal moving cylinder (66) to move horizontally; The dental pad taking rotating part comprises a dental pad taking rotating motor (68), a dental pad taking rotating shaft (69) and a dental pad taking rotating seat (610), wherein the dental pad taking rotating motor (68) is arranged on the dental pad taking horizontal moving seat (67) and the output end is arranged downward; the dental pad taking rotating shaft (69) is connected to the output end of the dental pad taking rotating motor (68) and vertically extends below the dental pad taking horizontal moving seat (67); The dental pad clamping part comprises a dental pad clamping cylinder (611) and a dental pad clamping block (612), wherein the dental pad clamping cylinder (611) is horizontally arranged at the lower end of the dental pad taking rotating shaft (69); the dental pad clamping block (612) comprises two blocks, and the two dental pad clamping blocks (612) are respectively connected to the output ends of the dental pad clamping cylinder (611) and are driven by the dental pad clamping cylinder (611) to approach or move away from each other for clamping and fixing the dental pad (02).

9. The automatic pincers gasket mounting machine according to claim 1, characterized in that: The black pad feeding mechanism (7) comprises a black pad feeding support (71), a black pad vibrating disc (72), a black pad guiding assembly (73) and a black pad receiving assembly (74), wherein the black pad feeding support (71) is horizontally arranged; the black pad vibrating disc (72) is arranged on the black pad feeding support (71) and is used for storing and guiding out the black pad (03) to be assembled; the black pad guiding assembly (73) is horizontally arranged at the discharge port of the black pad vibrating disc (72), one end of the black pad guiding assembly (73) is connected to the discharge port of the black pad vibrating disc (72), the other end horizontally extends outward, the black pad (03) guided out by the black pad vibrating disc (72) enters the straight line channel of the black pad guiding assembly (73) and is guided out in the straight line direction by the black pad guiding assembly (73); the black pad receiving assembly (74) is arranged outside the discharge port of the black pad guiding assembly (73) and is used for receiving and taking the guided black pad (03).

10. The automatic pincers gum mat filling machine according to claim 9, characterized in that: The black pad receiving assembly (74) comprises a black pad receiving support (741), a black pad receiving cylinder (742), a black pad receiving cylinder seat (743), a black pad receiving seat (744) and a black pad rear support (745), wherein the black pad receiving support (741) is vertically arranged; the black pad receiving cylinder (742) is arranged on the black pad receiving support (741) and the output end thereof is arranged upward; the black pad receiving cylinder seat (743) is arranged on the output end of the black pad receiving cylinder (742); the black pad receiving seat (744) is horizontally arranged on the black pad receiving cylinder seat (743), the black pad receiving seat (744) is provided with an internally sunken black pad groove (L) on the top and the side of which are open and are connected with the discharge port of the black pad guide assembly (73) for receiving and carrying the black pad (03); the bottom of the black pad groove (L) is provided with a vertically downward extending black pad air hole (M) for blowing or sucking air in the black pad groove (L); the black pad rear support (745) is arranged on the rear side of the black pad receiving seat (744), the black pad rear support (745) is horizontally provided with a mounting through hole in the inside thereof for mounting a cylinder or a sensor so as to horizontally push the black pad (03) in the black pad groove (L) or sense the black pad (03).

11. The automatic pincers gum mat machine according to claim 1, characterized in that: The detection bending blanking part comprises a bending mechanism (10), the bending mechanism (10) comprises a bending upright column (101), a bending support (102), a bending upper air cylinder (103), a bending guide column (104), a bending pressing seat (105), a bending pressing head (106), a bending lower support (107), a bending lower air cylinder (108) and a bending ejector pin (109), wherein the bending upright column (101) is vertically arranged on a machine table (1); the bending support (102) is arranged on the bending upright column (101); the bending upper air cylinder (103) is arranged on the bending support (102), and the output end is arranged downward through the bending support (102); the bending guide column (104) comprises two, and the two bending guide columns (104) are vertically and slidably inserted into the bending support (102); the bending pressing seat (105) is horizontally arranged below the bending support (102), and is connected with the output end of the bending upper air cylinder (103) and the lower end of the bending guide column (104) respectively; the bending upper air cylinder (103) drives the bending pressing seat (105) to move up and down, and is guided and limited by the bending guide column (104); the bending pressing head (106) is horizontally arranged at the bottom of the bending pressing seat (105), the bottom of the bending pressing head (106) is provided with a U-shaped pressing head, the bending pressing head (106) moves downward with the bending pressing seat (105), and the U-shaped pressing head at the bottom is embedded on the black pad (03) from above, so that the vertically extended tongue pressing of the clamp (01) at both sides of the black pad (03) is bent to be horizontally pressed on the black pad (03); the bending lower support (107) is arranged below the bending support (102), the bending lower air cylinder (108) is arranged on the bending support (102), and the output end of the bending lower air cylinder (108) is arranged upward; the bending ejector pin (109) is vertically arranged on the output end of the bending lower air cylinder (108), and is driven upward by the bending lower air cylinder (108) to press against the clamp (01).

12. A process for loading a grommet in a grommet loading machine as claimed in claim 1, wherein, The process comprises the following steps: S1, feeding and guiding: the clamp, the tooth pad and the black pad are respectively placed in the corresponding vibration disc by manual, and then are guided out to the clamp guiding assembly, the tooth pad guiding assembly and the black pad guiding assembly by the clamp vibration disc, the tooth pad vibration disc and the black pad vibration disc respectively, and then are guided into the clamp feeding assembly, the tooth pad feeding assembly and the black pad feeding assembly along the straight line direction respectively; S2, clamp positioning and transfer loading: after the clamp in step S1 enters the clamp material groove of the clamp feeding assembly, the clamp ejector of the clamp feeding assembly reversely pushes and positions the clamp, the clamp pressing piece is loosened from the clamp by the top lifting and rotating mode, the clamp clamping block of the clamp feeding mechanism is inserted into the sleeve body of the clamp head and clamps the clamp from the inside to the outside to clamp the clamp, and then the clamp is taken out and moved to the jig by the clamp feeding mechanism and is clamped and fixed by the clamping assembly. S3, the dental pad is inserted into the dental pad slot of the dental pad receiving assembly in step S1, and the dental pad is ejected by the rear dental pad ejector, so that the front side of the dental pad extends to the outside of the dental pad slot and is in a suspended state, then the dental pad side clamp corrects and positions the dental pad, the dental pad taking mechanism clamps and fixes the dental pad in a suspended state, the dental pad side clamp releases the dental pad, and the dental pad taking mechanism takes out the dental pad; S4, dental pad assembly: after the dental pad taking mechanism takes out the dental pad in step S3, the turret mechanism moves the jig loaded with the clamp in step S1 to the dental pad assembly position, the dental pad taking mechanism carries the taken dental pad to the dental pad assembly position, and inserts the dental pad into the dental pad embedding groove of the clamp; S5, black pad receiving and taking: after the black pad in step S1 enters the black pad slot of the black pad receiving assembly from the black pad guide assembly, the outer part of the black pad is ejected by the cylinder arranged on the rear support of the black pad, so that the outer part is in a suspended state, then the black pad taking mechanism clamps and fixes the black pad, and takes out the black pad; S6, black pad assembly: after the black pad taking mechanism takes out the black pad in step S5, the turret mechanism moves the jig with the assembled dental pad in step S4 to the black pad assembly position, the black pad taking mechanism carries the black pad to the black pad assembly position, and inserts the black pad into the black pad embedding groove of the clamp; S7, assembly detection: after the black pad assembly is completed in step S6, the turret mechanism moves the jig to the detection position, and the detection mechanism photographs whether the dental pad and the black pad are installed in place, and feeds back the result to the industrial computer; S8, clamp bending: after the assembly detection in step S7 is completed, the turret mechanism moves the jig to the bending position, and the industrial computer controls whether the bending mechanism performs a bending action according to the feedback result, if the detection passes, the bending action is performed to compress and fix the black pad of the clamp, if the detection fails, the bending action is not performed; S9, discharging: the clamp assembly in step S8 rotates an angle from the bending position to the discharging position through the turret, the clamp assembly releases the clamp, and the industrial computer controls the discharging mechanism at the discharging position to classify and take out the good and bad clamp assemblies and load them into different boxes according to the detection result in step S7.

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