An automated assembly system and method for titanium plate isolation pins

Abstract

This invention discloses an automatic assembly system and method for titanium plate isolation pins. The automatic assembly system includes an assembly worktable, an XYZ three-axis moving mechanism disposed above the assembly worktable, an isolation pin gripper disposed at the lower end of the Z-axis of the XYZ three-axis moving mechanism, an isolation pin sorting device disposed on one side of the assembly worktable, and an isolation pin discharging device connected to the isolation pin sorting device. The isolation pin sorting device includes a vibrating material tray and an upwardly spiraling conveying chute disposed on the vibrating material tray. The isolation pin discharging device includes an inclined discharging slide rail connected to the spiral conveying chute, with tracks on both sides and a gap in the middle. An isolation pin rejector is disposed between the spiral conveying chute and the inclined discharging chute to remove isolation pins with the larger end down and the smaller end up. This invention achieves automatic assembly of titanium plate isolation pins.

Description

Technical Field

[0001] This invention relates to the field of electrolytic cell assembly technology, specifically to an automatic assembly system and method for titanium plate isolation pins. Background Technology

[0002] Electrolytic cells are key equipment in hydrometallurgy, chlor-alkali industries, and other fields. Their anode plates are typically made of titanium to improve corrosion resistance. During the assembly of the titanium plates, a large number of isolation pins need to be installed on the plate surface. These isolation pins are arranged in a rectangular array, numbering in the dozens or even hundreds, to maintain the distance between the electrode plates and prevent short circuits. The structure of the isolation pin generally includes a short cylinder and a disc at the end of the short cylinder, in a "T" shape or similar shape.

[0003] Currently, the installation of titanium plate separator pins mainly relies on manual operation. Workers must pick up each separator pin one by one, align it with the mounting holes on the titanium plate, and then press it in to secure it. This traditional assembly method has the following drawbacks: First, due to the large number of separator pins, manual operation is extremely inefficient, labor-intensive, and prone to worker fatigue due to prolonged repetitive work, affecting assembly quality and consistency. Second, manual installation makes it difficult to ensure that the pressing depth and verticality of each separator pin are consistent, potentially leading to problems such as misalignment and loosening, affecting the performance and safety of the electrolytic cell. Third, manual assembly cannot meet the needs of large-scale automated production, restricting the improvement of production efficiency and the reduction of production costs. Therefore, there is an urgent need for a system that can automatically assemble titanium plate separator pins to replace manual operation and improve assembly efficiency and quality. Summary of the Invention

[0004] To address the aforementioned problems, this invention proposes an automated assembly system and method for titanium plate isolation pins, aiming to achieve automated sorting, feeding, and precise installation of the isolation pins, thereby improving assembly efficiency and consistency and reducing labor costs. The specific technical solution is as follows: An automatic assembly system for titanium plate isolation pins includes an assembly worktable, an XYZ three-axis moving mechanism disposed above the assembly worktable, an isolation pin gripper disposed at the lower end of the Z-axis of the XYZ three-axis moving mechanism, an isolation pin sorting device disposed on one side of the assembly worktable, and an isolation pin discharging device connected to the isolation pin sorting device. The isolation pin sorting device includes a vibrating material tray and an upwardly spiraling conveying chute disposed on the vibrating material tray. The isolation pin discharging device includes an inclined discharging slide rail connected to the spiral conveying chute, with tracks on both sides and a gap in the middle. An isolation pin rejector is disposed between the spiral conveying chute and the inclined discharging chute to remove isolation pins with the larger end down and the smaller end up.

[0005] Preferably, the isolation pin rejector includes a transition rail connecting the output section of the spiral conveyor chute and the inclined discharge rail. One side of the transition rail is a lateral baffle opposite to one side of the spiral conveyor chute, and the other side is a support rail at the same height as the corresponding side rail of the inclined discharge rail. A tilting guide plate, lower than the lateral baffle and support rail, is provided between the lateral baffle and support rail. The tilting guide plate is tilted downwards towards the inclined discharge rail, and the side of the tilting guide plate near the support rail is higher than the side near the lateral baffle, forming a tilted posture. The bottom of the output section of the spiral conveyor chute is higher on the side near the support rail than on the side near the lateral baffle, forming a tilted posture. At the junction of the tilting guide plate and the spiral conveyor chute, the vertical distances between the upper rail surface of the support rail, the upper end of the lateral baffle, and the supporting bottom surface of the tilting guide plate are all less than the height of the short cylinder of the isolation pin.

[0006] The working principle of the isolation pin rejector is as follows: The smooth passage mode of the isolation pin with the larger end facing up and the smaller end facing down: When the isolation pin is with the larger end facing up and the smaller end facing down, the isolation pin slides forward in an inclined posture on the tilting guide plate by relying on the short cylinder at its lower end. However, when the isolation pin enters the entrance docking point of the transition slide rail, the lower end surface of its larger end disc is higher than the upper rail surface of the support rail and the upper end of the side baffle. Therefore, the lower short cylinder of the isolation pin can slide forward smoothly on the tilting guide plate. Due to the downward tilting effect of the tilting guide plate towards the side baffle, the lower short cylinder of the isolation pin gradually moves towards the side baffle as it moves forward. As the height of the tilting guide plate gradually decreases along the forward direction as the isolation pin moves forward, the two sides of the larger end disc of the isolation pin will eventually hook onto the side baffle and the support rail and continue to move forward, eventually entering the inclined discharge slide rail. This achieves the smooth passage of the isolation pin with the larger end facing up and the smaller end facing down.

[0007] The drop pattern of the isolation pin with the larger end down and the smaller end up: When the isolation pin is with the larger end down and the smaller end up, after entering the transition slide rail, its larger end disc is supported on the tilting guide plate and tilted to the side. One side of the larger end disc is laterally abutted against the lateral baffle, and the other side of the larger end disc is vertically hooked onto the upper rail surface of the support rail. As the isolation pin moves forward and the height of the tilting guide plate gradually decreases, the overall position of the isolation pin... The lowering of the isolation pin causes the larger end of the disk, which is in a tilted position, to rest against the inner side of one side guide rail of the inclined discharge slide rail after it leaves the end of the transition slide rail. This prevents the disk from being caught by the guide rail, causing that side of the disk to slip into the gap between the pair of inclined discharge slide rails. As a result, the isolation pin tilts further downward under the influence of gravity and finally falls out of the gap between the two sides of the inclined discharge slide rail, returning to the vibrating tray below for reuse.

[0008] In this invention, the isolation pin discharge device further includes a discharge chute connected to the inclined discharge slide rail, a vertically stacked sleeve disposed at the discharge end of the discharge chute and connected to the discharge end of the discharge chute, horizontal support plates spaced apart below the vertically stacked sleeve, and a pull plate movably disposed between the horizontal support plates and the lower end opening of the vertically stacked sleeve. The pull plate is provided with a material hole connected to the lower end opening, and the height of the pull plate is consistent with the total height of the isolation pin. A servo telescopic device is connected to the pull plate, which can move the isolation pin that falls into the pull plate to the isolation pin gripping station for the isolation pin gripper to grip.

[0009] Preferably, the isolation pin gripper is a vacuum nozzle, which is installed and fixed at the lower end of the Z-axis of the XYZ three-axis moving mechanism; the vacuum nozzle is connected to a vacuum system.

[0010] Preferably, the pressure sensor is located at the lower end of the Z-axis and is connected to the isolation pin gripper.

[0011] In this invention, a titanium plate positioning and fixing device is provided on the assembly workbench. The titanium plate positioning and fixing device includes a positioning block installed on the assembly workbench for positioning the lower end face of the titanium plate, at least two lifting positioning pins installed on the assembly workbench, and several vacuum suction cups for holding the titanium plate. The lifting positioning pins are used for positioning the isolation pin mounting holes on the titanium plate.

[0012] Preferably, the vacuum suction cup is disposed on the positioning block.

[0013] In use, the titanium plate is positioned on the lifting positioning pin through the isolation pin mounting hole, with the lower end face of the titanium plate flush against the positioning block. After the titanium plate is positioned with the lifting positioning pin through the isolation pin mounting hole, the vacuum suction cup is activated to hold and fix the titanium plate in place via the upper end face of the positioning block. After the titanium plate is held and fixed, the lifting positioning pin can be retracted downwards for subsequent assembly of the isolation pin.

[0014] In this invention, the three-axis moving mechanism includes a pair of gantry frames disposed on the assembly workbench and placed on the left and right sides of the assembly workbench, a pair of Y-axis guide rails disposed on the pair of gantry frames in the front-back direction, a crossbeam disposed between the pair of Y-axis guide rails in the front-back direction and arranged in the left-right direction, an X-axis guide rail disposed on the crossbeam, a slide table disposed on the X-axis guide rail in the left-right direction, a Z-axis servo lifter disposed on the slide table in the up-down direction, and a Z-axis disposed at the lower end of the Z-axis servo lifter in the up-down direction.

[0015] In this invention, the isolation pins rejected by the isolation pin rejector fall back into the vibrating tray for reuse.

[0016] In this invention, a vibrating motor is provided on the vibrating feeder.

[0017] In this invention, a telescopic cylinder is provided on the assembly workbench along the vertical direction, and the lifting positioning pin is fixed on the telescopic cylinder.

[0018] Preferably, the assembly workbench is equipped with lifting positioning pins of various specifications to accommodate the positioning of titanium plates of different specifications.

[0019] In this invention, the slide and the crossbeam are fed in the X and Y directions respectively by a lead screw and a servo motor connected to the lead screw.

[0020] In this invention, a robotic arm is provided next to the titanium plate isolation pin automatic assembly system for gripping the titanium plate and installing it onto the assembly workbench.

[0021] The overall workflow of this invention is as follows: A batch of isolation pins is pre-poured into a vibrating feed pan. After sorting and removing isolation pins with the larger end down and the smaller end up, the remaining isolation pins with the larger end up and the smaller end down enter the vertically stacked sleeve through a discharge chute, and then enter the material hole of the pull-out plate. Subsequently, the pull-out plate is driven by a servo telescoping mechanism, causing the isolation pins located in the material hole of the pull-out plate to move to the XYZ three-axis moving mechanism's picking station. A vacuum nozzle picks up the isolation pins and presses them into the isolation pin mounting holes of the titanium plate. Isolation pins removed during the sorting process automatically fall back into the vibrating feed pan for reuse.

[0022] An assembly method for an automated assembly system for titanium plate isolation pins includes the following steps: Step S1, System Initialization and Titanium Plate Positioning: The robotic arm picks up the titanium plate to be assembled, transfers it to the top of the assembly worktable, adjusts the position of the titanium plate so that the mounting hole of the isolation pin on the titanium plate is aligned with the lifting positioning pin, and lowers the titanium plate so that the lifting positioning pin passes through the mounting hole, while the lower end face of the titanium plate is flat against the upper end face of the positioning block; the vacuum suction cup is activated to adsorb and fix the titanium plate on the positioning block of the assembly worktable; the telescopic cylinder is controlled to drive the lifting positioning pin downward to retract from the mounting hole, making room for the assembly of the isolation pin; Step S2, Isolation Pin Sorting and Directional Feeding: A batch of isolation pins is poured into a vibrating feeder, and the vibrating motor is started. The isolation pins are conveyed forward in the spiral conveyor chute of the vibrating feeder and enter the transition slide rail. At the transition slide rail, isolation pins of different postures are screened by an isolation pin rejector. With the larger end facing up and the smaller end facing down, the isolation pin enters the inclined discharge slide rail in the correct posture under the coordinated action of the side-tilting guide plate, side baffle, and support rail. The isolation pin, with its large end down and small end up, falls from the gap in the inclined discharge slide rail under the action of gravity and is recycled into the vibrating material tray; The correctly positioned isolation pins enter the vertical stacked sleeve via the inclined discharge slide rail and discharge chute, and are stacked from top to bottom in the vertical stacked sleeve; Step S3: Isolation pin material distribution and waiting to be picked up: The servo telescopic device drives the pull plate to move, so that the material hole on the pull plate aligns with the lower end of the vertically stacked sleeve; the lowest isolation pin in the vertically stacked sleeve falls into the material hole of the pull plate by gravity; the servo telescopic device drives the pull plate to move with the isolation pin to the isolation pin gripping station, waiting to be gripped. Step S4, Isolation pin grabbing: The XYZ three-axis moving mechanism drives the Z-axis to move, so that the vacuum nozzle at the lower end of the Z-axis moves to directly above the isolation pin gripping station; the Z-axis servo lifter drives the Z-axis to descend, so that the vacuum nozzle contacts and picks up the isolation pin in the material hole of the pull plate; the vacuum system is activated, and the vacuum nozzle generates negative pressure to adsorb and fix the isolation pin; the Z-axis rises and removes the isolation pin from the material hole of the pull plate. Step S5, Automatic Pressing: The XYZ three-axis moving mechanism drives the vacuum nozzle to move the isolation pin directly above the first target mounting hole based on the pre-stored coordinates of the titanium plate isolation pin mounting hole array. The Z-axis servo lift drives the Z-axis to slowly descend, aligning the isolation pin with the isolation pin mounting hole on the titanium plate and pressing it down. During the pressing process, the pressure sensor monitors the pressing force in real time. When the pressing force reaches the preset threshold, it indicates that the isolation pin has been installed in place, and the Z-axis stops descending. The vacuum system is turned off, and the vacuum nozzle releases the isolation pin. Step S6, Cyclic assembly and reset: Repeat steps S4 to S5 to automatically assemble all the isolation pin mounting holes on the titanium plate in sequence according to the predetermined array path; after all assembly is completed, the XYZ three-axis moving mechanism drives the vacuum nozzle to return to the initial position; close the vacuum suction cup, release the adsorption and fixation on the titanium plate, and take the assembled titanium plate away from the assembly worktable by the robot arm. Step S7: Reject material recycling: The isolation pins rejected by the isolation pin rejector fall back into the vibrating tray for reuse.

[0023] Preferably, in step S5, when the pressing force detected by the pressure sensor exceeds the normal range, the control system determines that the installation is abnormal and issues an alarm signal, while recording the coordinates of the abnormal location for manual handling.

[0024] The beneficial effects of this invention are: First, the present invention provides an automatic assembly system and method for titanium plate isolation pins. Through automatic sorting of vibrating material trays, automatic screening of direction by rejectors, and sequential directional feeding by discharging devices, combined with an XYZ three-axis moving mechanism and a vacuum nozzle, the system can automatically complete the gripping and pressing of isolation pins, completely replacing manual operation, realizing automated assembly, and greatly improving assembly efficiency.

[0025] Secondly, the automatic assembly system and method for titanium plate isolation pins of the present invention uses a pressure sensor to monitor the pressing force, ensuring that the pressing depth and force of each isolation pin are consistent, avoiding problems such as skewing and loosening that may be caused by manual operation, ensuring assembly accuracy and consistency, improving assembly quality, and thus helping to improve the performance of the electrolytic cell.

[0026] Third, the present invention provides an automatic assembly system and method for titanium plate isolation pins. The lifting positioning pin can be adjusted according to the mounting hole position of titanium plates of different specifications. With the help of positioning pins of various specifications, it can meet the assembly requirements of different types of titanium plates. It has strong adaptability and good versatility.

[0027] Fourth, the present invention provides an automatic assembly system and method for titanium plate isolation pins. The automated system can work continuously, reduce manual intervention, reduce labor intensity, and allow one person to operate multiple devices simultaneously, significantly saving labor costs.

[0028] Fifth, the present invention provides an automatic assembly system and method for titanium plate isolation pins. The isolation pin rejector utilizes a cleverly designed gravity-guided principle to automatically reject isolation pins with incorrect orientation, ensuring that the orientation of isolation pins entering the assembly process is consistent. It requires no additional sensors or complex controls, and is simple in structure, low in cost, and reliable in operation.

[0029] Sixth, the present invention provides an automatic assembly system and method for titanium plate isolation pins, in which vertically stacked sleeves cooperate with a pull-out plate to achieve continuous feeding of isolation pins. Each movement of the pull-out plate provides one isolation pin, the feeding rhythm is controllable, and it works in conjunction with a three-axis moving mechanism to make the feeding continuous and stable, ensuring a stable assembly cycle.

[0030] Seventh, the present invention provides an automatic assembly system and method for titanium plate isolation pins. Through systematic assembly steps, it realizes fully automated closed-loop control from titanium plate positioning, isolation pin sorting and feeding, gripping and pressing to anomaly monitoring, which significantly improves the reliability and traceability of the assembly process. Attached Figure Description

[0031] Figure 1 This is a schematic diagram of the overall scheme of an automatic assembly system for titanium plate isolation pins; Figure 2 yes Figure 1 The K-direction view involving the isolation pin rejector section; Figure 3 This is a schematic diagram of the isolation pin passing smoothly through the isolation pin rejector with the larger end facing up and the smaller end facing down. Figure 4 This is a schematic diagram of the isolation pin falling off the isolation pin remover with the larger end down and the smaller end up.

[0032] In the diagram: 1. Assembly workbench; 2. XYZ three-axis moving mechanism; 3. Z-axis; 4. Isolation pin gripper (vacuum nozzle); 5. Isolation pin sorting device; 6. Isolation pin discharge device; 7. Vibrating tray; 8. Screw conveyor chute; 9. Output section of screw conveyor chute; 10. Inclined discharge slide rail; 11. Isolation pin rejector; 12. Transition slide rail; 13. Side baffle; 14. Support rail; 15. Lateral tilting guide plate; 16. Discharge chute; 17. Vertical stacking. 18. Sleeve, 19. Horizontal support plate, 20. Pull-out plate, 21. Material hole, 22. Servo telescopic device, 23. Pressure sensor, 24. Titanium plate positioning and fixing device, 25. Positioning block, 26. Lifting positioning pin, 27. Vacuum suction cup, 28. Gantry frame, 29. Y-axis guide rail, 30. Crossbeam, 31. X-axis guide rail, 32. Slide table, 33. Z-axis servo lifter, 34. Titanium plate, 35. Telescopic cylinder, 36. Transmission screw, 37. Servo motor, 38. Isolation pin. Detailed Implementation

[0033] The specific embodiments of the present invention will be further described below with reference to the accompanying drawings and examples. The following examples are only used to more clearly illustrate the technical solutions of the present invention and should not be construed as limiting the scope of protection of the present invention.

[0034] Example 1: like Figures 1 to 4The illustration shows an embodiment of an automatic assembly system for titanium plate isolation pins according to the present invention. It includes an assembly workbench 1, an XYZ three-axis moving mechanism 2 positioned above the assembly workbench 1, an isolation pin gripper 4 positioned at the lower end of the Z-axis 3 of the XYZ three-axis moving mechanism 2, an isolation pin sorting device 5 positioned on one side of the assembly workbench 1, and an isolation pin discharging device 6 connected to the isolation pin sorting device 5. The isolation pin sorting device 5 includes a vibrating material tray 7 and an upward-spiraling conveying chute 8 positioned on the vibrating material tray 7. The isolation pin discharging device 6 includes an inclined discharging slide rail 10 connected to the spiral conveying chute 8, the inclined discharging slide rail 10 having tracks on both sides and a gap in the middle. An isolation pin rejector 11 is provided between the spiral conveying chute 8 and the inclined discharging chute to remove isolation pins 37 with their large ends facing down and small ends facing up.

[0035] Preferably, the isolation pin rejector 11 includes a transition rail 12 connecting the output section 8 of the spiral conveyor chute and the inclined discharge rail 10. One side of the transition rail 12 is a lateral baffle 13 that is connected to one side of the spiral conveyor chute 8, and the other side is a support rail 14 that is at the same height as the corresponding side rail of the inclined discharge rail 10. A lateral guide plate 15, which is lower than the lateral baffle 13 and the support rail 14, is provided between the lateral baffle 13 and the support rail 14. The lateral guide plate 15 is generally oriented towards the inclined discharge rail 10. The tilting guide plate 15 is tilted downwards, and the side of the tilting guide plate 15 is higher than the side of the side of the side baffle 13, forming a tilted posture; the bottom of the output section 9 of the spiral conveying chute 8 is higher than the side of the side of the side baffle 13, forming a tilted posture; at the junction of the tilting guide plate 15 and the spiral conveying chute 8, the vertical distance between the upper rail surface of the support rail 14, the upper end of the side baffle 13 and the supporting bottom surface of the tilting guide plate 15 are all less than the height of the short cylinder of the isolation pin 37.

[0036] The working principle of the isolation pin rejector is as follows: The smooth passage mode of the isolation pin with the larger end facing up and the smaller end facing down: When the isolation pin 37 is with the larger end facing up and the smaller end facing down, the isolation pin 37 slides forward in an inclined posture on the tilting guide plate 15 relying on the short cylinder at its lower end. However, when the isolation pin 37 enters the entrance docking point of the transition slide rail 12, the lower end surface of its larger end disk is higher than the upper rail surface of the support rail 14 and the upper end of the side baffle 13. Therefore, the lower short cylinder of the isolation pin 37 can slide forward smoothly on the tilting guide plate 15, and due to the tilting... As the guide plate 15 tilts downwards towards the side baffle 13, the short cylinder at the lower end of the isolation pin 37 gradually moves towards the side baffle 13. As the isolation pin 37 moves forward, the height of the tilting guide plate 15 gradually decreases in the forward direction. The two sides of the large end disc of the isolation pin 37 will eventually be hooked onto the side baffle 13 and the support rail 14 and continue to move forward, eventually entering the inclined discharge slide rail 10. This allows the isolation pin 37 to pass smoothly with its large end facing up and its small end facing down.

[0037] The drop pattern of the isolation pin with the larger end down and the smaller end up: When the isolation pin 37 is with its larger end down and smaller end up, after entering the transition slide rail 12, its larger end disc is supported on the tilting guide plate 15 and tilts to one side, so that one side of the larger end disc is laterally abutted against the lateral baffle 13, and the other side of the larger end disc is vertically hooked onto the upper rail surface of the support rail 14; as the isolation pin 37 moves forward and the height of the tilting guide plate 15 gradually decreases, the overall... The position is further lowered, so that after the isolation pin 37 leaves the end of the transition slide rail 12, the lower side of the large-head disc of the isolation pin 37, which is in a tilted position, abuts against the inner side of one side guide rail of the inclined discharge slide rail 10 and cannot be caught by the side guide rail. As a result, the side of the disc is left in the gap between the pair of inclined discharge slide rails 10, causing the isolation pin 37 to tilt further downward under the action of the center of gravity, and finally fall from the gap between the two sides of the inclined discharge slide rail, falling back into the vibrating material tray below for reuse.

[0038] In this embodiment, the isolation pin discharge device 6 further includes a discharge chute 16 connected to the inclined discharge slide rail 10, a vertically stacked sleeve 17 disposed at the discharge end of the discharge chute 16 and connected to the discharge end of the discharge chute 16, a horizontal support plate 18 disposed at intervals below the vertically stacked sleeve 17, and a pull plate 19 movably disposed between the horizontal support plate 18 and the lower end of the vertically stacked sleeve 17. The pull plate 19 is provided with a material hole 20 connected to the lower end of the pipe, and the height of the pull plate 19 is consistent with the total height of the isolation pin 37. A servo telescopic device 21 is connected to the pull plate 19, which can move the isolation pin 37 that falls into the pull plate 19 to the isolation pin gripping station for the isolation pin gripper 4 to grip.

[0039] Preferably, the isolation pin gripper 4 is a vacuum nozzle, which is installed and fixed at the lower end of the Z-axis 3 of the XYZ three-axis moving mechanism 2; the vacuum nozzle is connected to a vacuum system.

[0040] Preferably, the pressure sensor 22 is located at the lower end of the Z-axis 3 and the isolation pin gripper 4.

[0041] In this embodiment, a titanium plate positioning and fixing device 23 is provided on the assembly workbench 1. The titanium plate positioning and fixing device 23 includes a positioning block 24 installed on the assembly workbench 1 for positioning the lower end face of the titanium plate 33, at least two lifting positioning pins 25 installed on the assembly workbench 1, and a plurality of vacuum suction cups 26 for holding the titanium plate 33. The lifting positioning pins 25 are used for positioning the mounting holes of the isolation pins 37 on the titanium plate 33.

[0042] Preferably, the vacuum suction cup 26 is disposed on the positioning block 24.

[0043] In use, the titanium plate 33 is positioned on the lifting positioning pin 25 through the mounting hole of the isolation pin 37, with the lower end face of the titanium plate 33 flush against the lifting positioning pin 25. After the titanium plate 33 is positioned with the lifting positioning pin 25 through the mounting hole of the isolation pin 37, the vacuum suction cup 26 is activated through the upper end face of the positioning block 24 to hold and fix the titanium plate 33. After the titanium plate 33 is held and fixed, the lifting positioning pin 25 can be retracted downwards for subsequent assembly of the isolation pin 37.

[0044] In this embodiment, the three-axis moving mechanism 2 includes a pair of gantry frames 27 disposed on the assembly workbench 1 and placed on the left and right sides of the assembly workbench 1, a pair of Y-guide rails 28 disposed on the pair of gantry frames 27 in the front-back direction, a crossbeam 29 disposed between the pair of Y-guide rails 28 in the front-back direction and arranged in the left-right direction, an X-guide rail 30 disposed on the crossbeam 29, a slide 31 disposed on the X-guide rail 30 in the left-right direction, a Z-axis servo lifter 32 disposed on the slide 31 in the up-down direction, and a Z-axis 3 disposed at the lower end of the Z-axis servo lifter 32 in the up-down direction.

[0045] In this embodiment, the isolation pins rejected by the isolation pin rejector 11 fall back into the vibrating feeder 7 for reuse.

[0046] In this embodiment, a vibration motor is provided on the vibrating material tray 7.

[0047] In this embodiment, a telescopic cylinder 34 is provided on the assembly workbench 1 along the vertical direction, and the lifting positioning pin 25 is fixed on the telescopic cylinder 34.

[0048] Preferably, the assembly workbench 1 is provided with lifting positioning pins 25 of various specifications to accommodate the positioning of titanium plates 33 of different specifications.

[0049] In this embodiment, the slide table 31 and the crossbeam 29 achieve feed movement in the X and Y directions respectively through the transmission screw 35 and the servo motor 36 connected to the transmission screw 35.

[0050] In this embodiment, a robotic arm is provided next to the automatic assembly system for titanium plate isolation pins, which is used to grab the titanium plate and install it onto the assembly workbench.

[0051] The overall workflow of this embodiment is as follows: A batch of isolation pins 37 are pre-poured into the vibrating material tray 7. After sorting and removing isolation pins 37 with the larger end down and the smaller end up, the remaining isolation pins 37 with the larger end up and the smaller end down enter the vertical stacked sleeve 17 through the discharge chute 16, and then enter the material hole 20 of the pull plate 19. Subsequently, the pull plate 19 is driven to move by the servo telescoping device 21, so that the isolation pins 37 located in the material hole 20 of the pull plate 19 move to the material picking station of the XYZ three-axis moving mechanism 2. The vacuum nozzle 4 picks up the isolation pins 37 and presses them into the isolation pin 37 mounting hole of the titanium plate 33. The isolation pins 37 that are removed during the sorting process automatically fall into the vibrating material tray 7 for reuse.

[0052] Example 2: An assembly method for an automated assembly system for titanium plate isolation pins includes the following steps: Step S1, System Initialization and Titanium Plate Positioning: The robotic arm picks up the titanium plate 33 to be assembled and transfers it above the assembly workbench 1. The position of the titanium plate 33 is adjusted so that the mounting hole of the isolation pin 37 on the titanium plate 33 is aligned with the lifting positioning pin 25. The titanium plate 33 is then lowered so that the lifting positioning pin 25 passes through the mounting hole, while the lower end face of the titanium plate 33 is flat against the upper end face of the positioning block 24. The vacuum suction cup 26 is activated to adsorb and fix the titanium plate 33 onto the positioning block 24 of the assembly workbench 1. The telescopic cylinder 34 is controlled to drive the lifting positioning pin 25 downward to exit the mounting hole, making room for the assembly of the isolation pin 37. Step S2, Isolation Pin Sorting and Directional Feeding: A batch of isolation pins 37 is poured into the vibrating material tray 7, and the vibrating motor is started; the isolation pins 37 are spirally conveyed forward in the spiral conveying chute 8 of the vibrating material tray 7 and enter the transition slide rail 12; at the transition slide rail 12, the isolation pins 37 in different postures are screened by the isolation pin rejector 11: With the larger end facing up and the smaller end facing down, the isolation pin 37 enters the inclined discharge slide rail 10 in the correct posture under the coordinated action of the side tilting guide plate 15, the side baffle 13, and the support rail 14. The isolation pin 37, with its large end down and small end up, falls from the gap in the inclined discharge slide rail 10 under the action of gravity and is recovered into the vibrating material plate 7; The isolation pin 37 in the correct posture enters the vertical stacked sleeve 17 through the inclined discharge slide rail 10 and discharge chute 16, and is stacked from top to bottom in the vertical stacked sleeve 17. Step S3: Isolation pin material distribution and waiting to be picked up: The servo telescopic device 21 drives the pull plate 19 to move, so that the material hole 20 on the pull plate 19 aligns with the lower end of the vertically stacked sleeve 17; the lowest isolation pin 37 of the vertically stacked sleeve 17 falls into the material hole 20 of the pull plate 19 by gravity; the servo telescopic device 21 drives the pull plate 19 to move with the isolation pin 37 to the isolation pin gripping station, waiting to be gripped; Step S4, Isolation pin grabbing: The XYZ three-axis moving mechanism 2 drives the Z-axis 3 to move, causing the vacuum nozzle 4 at the lower end of the Z-axis 3 to move directly above the isolation pin gripping station; the Z-axis servo lifter 32 drives the Z-axis 3 to descend, causing the vacuum nozzle 4 to contact and suck up the isolation pin 37 in the material hole 20 of the pull plate 19; the vacuum system is activated, and the vacuum nozzle 4 generates negative pressure to adsorb and fix the isolation pin 37; the Z-axis 3 rises, removing the isolation pin 37 from the material hole 20 of the pull plate 19; Step S5, Automatic Pressing: The XYZ three-axis moving mechanism 2 drives the vacuum nozzle 4 to move the isolation pin 37 directly above the first target mounting hole according to the pre-stored coordinates of the titanium plate 33 isolation pin 37 mounting hole array; the Z-axis servo lifter 32 drives the Z-axis 3 to slowly descend, aligning the isolation pin 37 with the isolation pin 37 mounting hole on the titanium plate 33 and pressing it down; during the pressing process, the pressure sensor 22 monitors the pressing force in real time. When the pressing force reaches the preset threshold, it indicates that the isolation pin 37 has been installed in place, and the Z-axis 3 stops descending; the vacuum system is turned off, and the vacuum nozzle 4 releases the isolation pin 37; Step S6, Cyclic assembly and reset: Repeat steps S4 to S5 to automatically assemble all the mounting holes of the isolation pins 37 on the titanium plate 33 in sequence according to the predetermined array path; after all the assembly is completed, the XYZ three-axis moving mechanism 2 drives the vacuum nozzle 4 to return to the initial position; close the vacuum suction cup 26 to release the adsorption and fixation on the titanium plate 33, and take the assembled titanium plate 33 away from the assembly worktable 1 by the robot arm. Step S7: Reject material recycling: The isolation pins rejected by the isolation pin rejector fall back into the vibrating tray for reuse.

[0053] Preferably, in step S5, when the pressing force detected by the pressure sensor 22 exceeds the normal range, the control system determines that the installation is abnormal and issues an alarm signal, while recording the coordinates of the abnormal location for manual handling.

[0054] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. An automatic assembly system for titanium plate isolation pins, characterized in that, The assembly includes an assembly workbench, an XYZ three-axis moving mechanism mounted above the assembly workbench, a pin catcher mounted at the lower end of the Z-axis of the XYZ three-axis moving mechanism, a pin sorting device mounted on one side of the assembly workbench, and a pin discharge device connected to the pin sorting device. The pin sorting device includes a vibrating material tray and an upward-spiraling conveyor chute mounted on the vibrating material tray. The pin discharge device includes an inclined discharge slide rail connected to the spiral conveyor chute, with tracks on both sides and a gap in the middle. A pin rejector is provided between the spiral conveyor chute and the inclined discharge chute to remove pins with their large ends facing down and their small ends facing up.

2. The automatic assembly system for titanium plate isolation pins according to claim 1, characterized in that, The isolation pin rejector includes a transition rail connecting the output section of the spiral conveyor chute and the inclined discharge rail. One side of the transition rail is a lateral baffle opposite to one side of the spiral conveyor chute, and the other side is a support rail at the same height as the corresponding side rail of the inclined discharge rail. A lateral guide plate, lower than the lateral baffle and the support rail, is provided between the lateral baffle and the support rail. The lateral guide plate is inclined downwards towards the inclined discharge rail, and the side of the lateral guide plate near the support rail is higher than the side near the lateral baffle, forming a lateral tilt posture. The bottom of the output section of the spiral conveyor chute is higher on the side near the support rail than on the side near the lateral baffle, forming a lateral tilt posture. At the junction of the tilting guide plate and the spiral conveying chute, the vertical distances between the upper rail surface of the support rail, the upper end of the side baffle, and the support bottom surface of the tilting guide plate are all less than the height of the short cylindrical isolation pin.

3. The automatic assembly system for titanium plate isolation pins according to claim 1, characterized in that, The isolation pin discharge device further includes a discharge chute connected to the inclined discharge slide rail, a vertically stacked sleeve disposed at and connected to the discharge end of the discharge chute, horizontal support plates spaced apart below the vertically stacked sleeve, and a pull plate movable between the horizontal support plates and the lower end opening of the vertically stacked sleeve. The pull plate has a material hole connected to the lower end opening, and the height of the pull plate is consistent with the total height of the isolation pin. A servo telescopic device is connected to the pull plate, which can move the isolation pin that falls into the pull plate to the isolation pin gripping station for the isolation pin gripper to grip.

4. The automatic assembly system for titanium plate isolation pins according to claim 3, characterized in that, The isolation pin gripper is a vacuum nozzle, which is installed and fixed at the lower end of the Z-axis of the XYZ three-axis moving mechanism; the vacuum nozzle is connected to the vacuum system.

5. The automatic assembly system for titanium plate isolation pins according to claim 1, characterized in that, The pressure sensor at the lower end of the Z-axis is connected to the isolation pin gripper.

6. The automatic assembly system for titanium plate isolation pins according to claim 1, characterized in that, The assembly workbench is equipped with a titanium plate positioning and fixing device, which includes a positioning block installed on the assembly workbench for positioning the lower end face of the titanium plate, at least two lifting positioning pins installed on the assembly workbench, and several vacuum suction cups for holding the titanium plate; the lifting positioning pins are used for positioning the isolation pin mounting holes on the titanium plate.

7. The automatic assembly system for titanium plate isolation pins according to claim 1, characterized in that, The three-axis moving mechanism includes a pair of gantry frames disposed on the assembly workbench and placed on the left and right sides of the assembly workbench, a pair of Y-axis guide rails disposed on the pair of gantry frames in the front-back direction, a crossbeam disposed between the pair of Y-axis guide rails in the front-back direction and arranged in the left-right direction, an X-axis guide rail disposed on the crossbeam, a slide table disposed on the X-axis guide rail in the left-right direction, a Z-axis servo lifter disposed on the slide table in the up-down direction, and a Z-axis disposed at the lower end of the Z-axis servo lifter in the up-down direction.

8. The automatic assembly system for titanium plate isolation pins according to claim 1, characterized in that, The isolation pins rejected by the isolation pin rejector fall back into the vibrating tray for reuse.

9. The automatic assembly system for titanium plate isolation pins according to claim 1, characterized in that, A telescopic cylinder is provided on the assembly workbench along the vertical direction, and the lifting positioning pin is fixed on the telescopic cylinder.

10. An assembly method using the titanium plate isolation pin automatic assembly system according to any one of claims 1 to 9, characterized in that, Includes the following steps: Step S1, System Initialization and Titanium Plate Positioning: The robotic arm picks up the titanium plate to be assembled, transfers it to the top of the assembly worktable, adjusts the position of the titanium plate so that the mounting hole of the isolation pin on the titanium plate is aligned with the lifting positioning pin, and lowers the titanium plate so that the lifting positioning pin passes through the mounting hole, while the lower end face of the titanium plate is flat against the upper end face of the positioning block; the vacuum suction cup is activated to adsorb and fix the titanium plate on the positioning block of the assembly worktable; the telescopic cylinder is controlled to drive the lifting positioning pin downward to retract from the mounting hole, making room for the assembly of the isolation pin; Step S2, Isolation Pin Sorting and Directional Feeding: A batch of isolation pins is poured into a vibrating feeder, and the vibrating motor is started. The isolation pins are conveyed forward in the spiral conveyor chute of the vibrating feeder and enter the transition slide rail. At the transition slide rail, isolation pins of different postures are screened by an isolation pin rejector. With the larger end facing up and the smaller end facing down, the isolation pin enters the inclined discharge slide rail in the correct posture under the coordinated action of the side-tilting guide plate, side baffle, and support rail. The isolation pin, with its large end down and small end up, falls from the gap in the inclined discharge slide rail under the action of gravity and is recycled into the vibrating material tray; The correctly positioned isolation pins enter the vertical stacked sleeve via the inclined discharge slide rail and discharge chute, and are stacked from top to bottom in the vertical stacked sleeve; Step S3: Isolation pin material distribution and waiting to be picked up: The servo telescopic device drives the pull plate to move, so that the material hole on the pull plate aligns with the lower end of the vertically stacked sleeve; the lowest isolation pin in the vertically stacked sleeve falls into the material hole of the pull plate by gravity; the servo telescopic device drives the pull plate to move with the isolation pin to the isolation pin gripping station, waiting to be gripped. Step S4, Isolation pin grabbing: The XYZ three-axis moving mechanism drives the Z-axis to move, so that the vacuum nozzle at the lower end of the Z-axis moves to directly above the isolation pin gripping station; the Z-axis servo lifter drives the Z-axis to descend, so that the vacuum nozzle contacts and picks up the isolation pin in the material hole of the pull plate; the vacuum system is activated, and the vacuum nozzle generates negative pressure to adsorb and fix the isolation pin; the Z-axis rises and removes the isolation pin from the material hole of the pull plate. Step S5, Automatic Pressing: The XYZ three-axis moving mechanism drives the vacuum nozzle to move the isolation pin directly above the first target mounting hole based on the pre-stored coordinates of the titanium plate isolation pin mounting hole array. The Z-axis servo lifter drives the Z-axis to descend slowly, aligning the isolation pin with the isolation pin mounting hole on the titanium plate and pressing it down. During the pressing process, the pressure sensor monitors the pressing force in real time. When the pressing force reaches the preset threshold, it indicates that the isolation pin has been installed in place, and the Z-axis stops descending; the vacuum system is turned off, and the vacuum nozzle releases the isolation pin. Step S6, Cyclic assembly and reset: Repeat steps S4 to S5 to automatically assemble all the isolation pin mounting holes on the titanium plate in sequence according to the predetermined array path; after all assembly is completed, the XYZ three-axis moving mechanism drives the vacuum nozzle to return to the initial position; close the vacuum suction cup, release the adsorption and fixation on the titanium plate, and take the assembled titanium plate away from the assembly worktable by the robot arm. Step S7: Reject material recycling: The isolation pins rejected by the isolation pin rejector fall back into the vibrating tray for reuse.

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