An automatic assembly equipment for TO tube seat glass beads

Abstract

This invention discloses an automatic assembly device for TO tube seat glass beads. The device includes a frame assembly, an electrical control box fixed on the frame assembly, an alignment machine assembly, a glass bead assembly trough, and an automatic feeding device. The electrical control box has a built-in embedded main control module, which integrates a feedback control unit and a parameter control module. The parameter control module pre-stores and can adjust control parameters, including an alignment flipping compensation coefficient K₁, a positioning deviation correction parameter K₂, a material replenishment calibration parameter K₃, and a broken bead screening vibration coupling parameter K₄. The frame assembly has a closed space to accommodate the electrical control box. This invention achieves real-time deviation correction for each process through feedback control, and combines control parameters to achieve precise linkage between components, replacing manual assembly, significantly improving assembly accuracy and production efficiency, reducing glass bead loss, and achieving automatic and efficient screening of broken beads.

Description

Technical Field

[0001] This invention belongs to the field of automatic assembly technology of TO tube socket glass beads, and particularly relates to an automatic assembly device for TO tube socket glass beads. Background Technology

[0002] Currently, the production process of TO tube socket products involves an assembly step before glass bead sintering. In the industry, glass bead assembly is mostly done manually. The specific procedure is as follows: the operator places the TO tube socket graphite mold on a vibrating platform, then manually places a glass bead guide plate on the graphite mold, and finally uses a container to sprinkle glass beads onto the guide plate.

[0003] This assembly process is cumbersome, has low manual efficiency, low assembly qualification rate, and the broken beads generated during the assembly process cannot be cleaned up in time. Summary of the Invention

[0004] The objective of this invention is to address the technical problem of existing methods that involve manually placing a glass bead guide plate onto a graphite mold and then sprinkling glass beads onto the guide plate using a container, which is cumbersome and inefficient.

[0005] To achieve the above objectives, the present invention provides an automatic assembly device for TO tube seat glass beads.

[0006] The specific technical solution adopted in this invention is as follows: An automatic assembly device for TO tube socket glass beads includes a frame assembly, an electrical control box fixed to the frame assembly, an alignment machine assembly, a glass bead assembly trough, and an automatic feeding device. The electrical control box has a built-in embedded main control module, which integrates a feedback control unit and a parameter control module. The parameter control module stores and adjusts control parameters, including an alignment flip compensation coefficient K1, a positioning deviation correction parameter K2, a feeding amount calibration parameter Ka, and a broken bead screening vibration coupling parameter K4. The frame assembly has a closed space to house the electrical control box. The electrical control box connects to all control units of the device. The alignment machine assembly, glass bead assembly trough, and automatic feeding device are all signal-connected to the main control module. The reciprocating rotation structure of the alignment machine assembly is driven by a servo motor and a reducer, and can rotate from -50° to +50°. The device can be hovered at any position; the glass bead assembly troughs are symmetrically installed above the alignment machine components, and the automatic feeding device is connected to the receiving guide plate of the glass bead assembly troughs; the main control module collects the working status signals of the glass bead assembly troughs and alignment machine components in real time through the multi-dimensional feedback control unit, and performs linkage feedback control on each component in combination with the parameters of the parameter control module, so as to realize the full-process automated and precise control of mold positioning, glass bead guiding assembly, broken bead screening, and automatic material replenishment.

[0007] Furthermore, the glass bead assembly tank includes a mold transfer platform, a graphite mold, a bottom cylinder, a liftable glass bead guide plate, a receiving guide plate, a side positioning structure, a lifting cylinder, a linear guide rail, and a broken bead screening screen. The mold transfer platform is connected to the bottom cylinder via a transmission connection. A position sensor is installed at the stroke end of the bottom cylinder, and the position sensor is connected to the feedback control unit of the main control module. The side positioning structure includes a fixed end guide plate and a cylinder-driven locking positioning plate. The side positioning structure is equipped with a displacement detection module, and the displacement detection module is connected to the feedback control unit. The feedback control unit adjusts the advancing stroke of the locking positioning plate in conjunction with the positioning deviation correction parameter K2. The liftable glass bead guide plate is slidably connected to the side wall of the glass bead assembly trough via a linear guide rail. Lifting is achieved by lifting cylinders symmetrically distributed on both sides of the outer side plate of the trough. The liftable glass bead guide plate is provided with glass bead guide holes composed of straight holes and conical holes. A pneumatic vibrator is installed above the liftable glass bead guide plate. The pneumatic vibrator is connected to the parameter control module of the main control module. The vibration frequency and amplitude of the pneumatic vibrator are controlled by the vibration coupling parameter K4 of the broken bead sieve.

[0008] Furthermore, the positioning deviation correction parameter K2 = S0 / (Sa + Sb / 2), where S0 is the actual width of the graphite mold, Sa is the initial distance between the fixed end guide plate and the locking positioning plate, and Sb is the maximum stroke of the cylinder of the locking positioning plate; the feedback control unit adjusts the advancing stroke of the locking positioning plate in real time through K2 according to the positioning deviation value collected by the displacement detection module, so that the positioning deviation of the graphite mold is ≤0.02mm.

[0009] Furthermore, the surface of the receiving guide plate is provided with grooves, the width and depth of which match the diameter of the glass beads, so that the glass beads are evenly distributed above the guide holes of the liftable glass bead guide plate; the crushed bead screening screen is a stainless steel mesh with a smaller mesh size than the glass beads, which is linked to the rotation of the alignment machine assembly. The main control module matches the rotation angular velocity of the alignment machine assembly with the vibration frequency of the pneumatic vibrator through the crushed bead screening vibration coupling parameter K4, K4=w / f, where w is the actual rotation angular velocity of the alignment machine assembly and f is the actual vibration frequency of the pneumatic vibrator.

[0010] Furthermore, the servo motor of the alignment machine assembly is equipped with an angle encoder. The angle encoder is connected to the feedback control unit of the main control module. The feedback control unit adjusts the rotation angle of the alignment machine assembly in conjunction with the alignment rotation compensation coefficient K1, where K1=A0 / A1, A0 is the preset rotation angle, and A1 is the actual rotation angle collected by the angle encoder. When the alignment machine assembly rotates forward and backward, the feedback control unit compensates for the angle deviation in real time through K1, so that the deviation between the actual rotation angle and the preset rotation angle is ≤0.5°.

[0011] Furthermore, the automatic feeding device includes a feeding cylinder, a vibrating feeder, a glass bead storage bin, a compressed air knife, and a feeding guide chute. The vibrating feeder provides power to the automatic feeding device and is connected to the glass bead storage bin. The feeding cylinder is connected to the feeding guide chute via a transmission connection. The compressed air knife is installed at the drop point of the glass bead storage bin. The vibrating feeder, feeding cylinder, and compressed air knife are all connected to the feedback control unit of the main control module via signals. The feedback control unit, combined with the replenishment amount calibration parameter Ka, realizes periodic automatic replenishment.

[0012] Furthermore, the material replenishment calibration parameter Ka = M / (N×n+Ms), where M is the preset material replenishment amount for a single glass bead storage bin, N is the number of TO tube seats assembled in a single graphite mold, n is the number of graphite molds assembled in a single assembly, Ms is the amount of broken beads removed during a single assembly process; Ms is the product of the broken bead rate during the glass bead inspection upon entering the warehouse and the preset material replenishment amount for a single assembly.

[0013] Furthermore, the mold transfer platform is driven by a bottom linear drive mechanism, which includes a lead screw linear module, a servo electric cylinder, and a pneumatic cylinder. The drive mechanism is connected to the feedback control unit of the main control module to achieve precise displacement control.

[0014] Furthermore, the control method of the multi-dimensional feedback control unit of the main control module includes the following steps: S1: Acquire initial signals, including the specifications of the graphite mold, the number of TO tubes assembled, and the diameter of the glass beads. Input the parameters into the unique parameter control module to complete the initial assignment of K1, K2, K3, and K4. S2: Mold transfer and positioning feedback. The bottom cylinder pushes the mold transfer platform to move. The position sensor collects the displacement signal. The displacement detection module of the side positioning structure collects the positioning deviation signal. The feedback control unit, together with K2, adjusts the stroke of the locking positioning plate to complete the precise positioning of the graphite mold. S3: Column flipping and guidance feedback. The column components flip at a preset angle. The angle encoder collects the actual flipping angle. The feedback control unit, in conjunction with K1, compensates for the angle deviation. The pneumatic vibrator operates at the vibration frequency matched by K4 to achieve precise guidance and assembly of the glass beads. S4: Bead removal feedback. When the aligner assembly reverses, the feedback control unit adjusts K4 in real time according to the rotation action of the aligner, so that the beads are efficiently removed by the bead removal screen (409) and the amount of beads Ms is obtained. S5: Automatic material replenishment feedback. The main control module counts the number of assembly times, and combines Ms to adjust Ka, controlling the direct vibration feeder and feeding cylinder to complete periodic and precise material replenishment. The compressed air air knife works synchronously to prevent glass beads from falling. S6: Cyclic operation. After completing one assembly cycle, the bottom cylinder pushes out the graphite mold, the feedback control unit clears the detection signal for this cycle, and the next assembly cycle begins.

[0015] Furthermore, the electrical control box is equipped with a manual or programmable switch. In manual mode, the operation of each component can be controlled by pressing a button. In programmable mode, the main control module realizes full-process automated control according to a preset program and feedback control logic. The equipment frame assembly has an installation, debugging, and maintenance panel, which facilitates the maintenance and debugging of the equipment.

[0016] The positive effects of this invention are: full-process automation, replacing manual operation: This invention realizes full-process automation of graphite mold transfer, precise positioning, glass bead guiding assembly, automatic screening of broken beads, and periodic precise replenishment of glass beads, without the need for manual intervention, thus greatly reducing labor costs.

[0017] Multi-dimensional feedback control for high assembly precision: This invention is equipped with a multi-dimensional feedback control unit that collects working status signals of processes such as mold positioning, alignment and flipping, and glass bead guidance in real time, so as to realize real-time correction of action deviations.

[0018] Unique parameter control and strong component linkage: This invention designs unique control parameters such as the alignment and flipping compensation coefficient K1, the positioning deviation correction parameter K2, the feeding amount calibration parameter Ka, and the crushed ball screening vibration coupling parameter K4, which realize the precise linkage of the alignment machine, pneumatic vibrator, automatic feeding device, and crushed ball screening structure, and solve the technical problem of poor component linkage in existing automated devices.

[0019] Highly efficient screening of broken beads, reducing material loss: This invention matches the angular velocity of the aligner and the vibration frequency of the pneumatic vibrator with the vibration coupling parameter K4 for screening broken beads, enabling efficient screening of broken beads under the dual action; at the same time, it combines the feeding amount calibration parameter Ka to achieve precise feeding.

[0020] The equipment boasts high stability and convenient maintenance: rubber pads are installed between the equipment frame components and the entire unit to effectively reduce vibration and ensure stable operation; the equipment is equipped with a manual / programmable switch and a debugging and maintenance panel, facilitating equipment debugging, maintenance, and troubleshooting, thereby improving equipment utilization.

[0021] Highly adaptable and suitable for large-scale production: The alignment machine components of this invention can be suspended at any position from -50° to +50°. The glass bead assembly slots are symmetrically arranged, which can simultaneously complete the assembly of multiple graphite molds. It adapts to the glass bead assembly requirements of different specifications of TO tube seats and meets the needs of large-scale production of TO tube seats. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 yes Figure 1 Detailed schematic diagram of the glass bead assembly tank (number 4 in the middle section); Figure 3 This is a detailed schematic diagram of the automatic feeding device (number 5 in the diagram). Legend: 1-Equipment frame assembly; 2-Electrical control box; 3-Arranging machine assembly; 4-Glass bead assembly trough; 5-Automatic feeding device; 401-Mold transfer platform; 402-Graphite mold; 403-Bottom cylinder; 404-Liftable glass bead guide plate; 405-Receiving guide plate; 406-Side positioning structure; 407-Lifting cylinder; 408-Linear guide rail; 409-Ball screen; 501-Feeding cylinder; 502-Vertical vibrating feeder; 503-Glass bead storage bin; 504-Compressed air knife; 505-Feeding guide trough. Detailed Implementation

[0023] The present invention will now be described in detail with reference to the accompanying drawings and specific embodiments: In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0024] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0025] The specific implementation of the present invention will be described in detail below with reference to specific embodiments.

[0026] like Figures 1 to 3As shown in Figures 1 to 3, the automatic assembly equipment for TO tube seat glass beads of the present invention uses the equipment frame assembly (1) as the installation platform. The electrical control box (2) is installed at the bottom of the equipment frame assembly (1). The equipment frame assembly (1) has an independent enclosed space for the electrical control box and is equipped with a debugging and maintenance door panel to facilitate the maintenance and debugging of the equipment. The alignment machine assembly (3) is fixed to the top of the equipment frame assembly (1) by bolts. A rubber pad is installed between the equipment frame assembly (1) and the alignment machine assembly (3) to reduce the vibration caused by the rotation of the alignment machine. Two sets of glass bead assembly troughs (4) are installed on the left and right sides and are symmetrically fixed above the alignment machine assembly (3) to complete the assembly of two graphite molds (402) at the same time. The automatic feeding device (5) is installed on one side of the equipment frame assembly (1). Its feeding guide groove (505) is seamlessly connected with the receiving guide plate (405) of the glass bead assembly trough (4) to realize the automatic replenishment of glass beads.

[0027] The electrical control box (2) has a built-in embedded main control module, which integrates a multi-dimensional feedback control unit and a unique parameter control module. All sensors (position sensor, angle encoder, displacement detection module, weight detection module) and drive components (servo motor, cylinder, direct vibration feeder, pneumatic vibrator) of the equipment are connected to the main control module to realize centralized control and feedback correction of the entire equipment. The electrical control box (2) is equipped with a manual / programmable switch and a human-machine interactive touch screen. Assembly parameters and unique control parameters can be set through the touch screen, and the working status of the equipment can be displayed in real time.

[0028] As shown in Figure 2, the glass bead assembly trough (4) includes a mold transfer platform (401), a graphite mold (402), a bottom cylinder (403), a liftable glass bead guide plate (404), a receiving guide plate (405), a side positioning structure (406), a lifting cylinder (407), a linear guide rail (408), and a broken bead screening screen plate (409). Mold transfer platform (401): rigidly connected to the piston rod of the bottom cylinder (403). The bottom cylinder (403) is a double-acting cylinder with a guide rod. A laser position sensor is installed at the stroke end to collect the transfer displacement signal in real time and transmit it to the main control module to ensure the accuracy of mold transfer. The surface of the mold transfer platform (401) is provided with a positioning groove that matches the graphite mold (402) to prevent the graphite mold from shifting laterally during the transfer process.

[0029] Side positioning structure (406): includes a fixed end guide plate and a cylinder-driven locking positioning plate. The cylinder end of the locking positioning plate is equipped with a displacement detection sensor to collect the positioning deviation signal of the graphite mold in real time. The feedback control unit of the main control module adjusts the advance stroke of the locking positioning plate in combination with the positioning deviation correction parameter K2, K2=S0 / (Sa+Sb / 2), where S0 is the actual width of the graphite mold (402), Sa is the initial distance between the fixed end guide plate and the locking positioning plate, and Sb is the maximum stroke of the cylinder of the locking positioning plate, so as to achieve accurate positioning of the graphite mold (402) in the left and right directions, with a positioning deviation ≤0.02mm.

[0030] Liftable glass bead guide plate (404): It is slidably connected to the side wall of the glass bead assembly trough (4) through two parallel linear guide rails (408). The lifting power is provided by lifting cylinders (407) symmetrically distributed on both sides of the outer side plate of the trough to ensure the straightness of the lifting process. Glass bead guide holes composed of straight holes and conical holes are drilled on the guide plate. The large end of the conical hole faces upward, which plays a guiding and gathering role for the glass beads. The diameter of the straight hole is larger than the diameter of the glass bead to ensure that the glass beads fall accurately into the TO tube seat hole. A pneumatic vibrator is installed above the guide plate. The air inlet of the pneumatic vibrator is connected to the equipment air circuit system. Its vibration frequency and amplitude are controlled by the broken bead screening vibration coupling parameter K4 of the main control module.

[0031] The receiving guide plate (405) and the broken bead screening screen plate (409) are made of stainless steel with a polished surface. The grooves are milled according to the product distribution of the TO tube seat assembly mold. The width and depth of the grooves match the diameter of the glass beads so that the glass beads are evenly distributed. The broken bead screening screen plate (409) is a stainless steel precision screen plate with a mesh size 0.05mm smaller than the diameter of the glass beads. It is installed below the receiving guide plate (405). The main control module matches the rotation angular velocity of the alignment machine component (3) and the vibration frequency of the pneumatic vibrator through the broken bead screening vibration coupling parameter K4. K4=w / f, where w is the actual rotation angular velocity of the alignment machine component (3) and f is the actual vibration frequency of the pneumatic vibrator. The value range of K4 is 0.01~0.05rad・s / Hz, so that the broken beads fall into the broken bead collection tank through the mesh under the dual action of the alignment machine rotation and pneumatic vibration.

[0032] The alignment machine component (3) is a reciprocating rotating structure in the front, back, left and right directions. It is driven by a servo motor and a planetary reducer, and the power output is stable. The output shaft of the servo motor is equipped with a high-precision angle encoder to collect the actual flip angle of the alignment machine in real time and transmit it to the main control module. The feedback control unit of the main control module adjusts the flip angle of the alignment machine in combination with the alignment flip compensation coefficient K1, K1=A0 / A1, where A0 is the preset flip angle and A1 is the actual flip angle collected by the angle encoder, so that the deviation between the actual flip angle and the preset flip angle is ≤0.5°. The alignment machine component (3) can be suspended at any position from -50° to +50° to meet the assembly requirements of TO tubes of different specifications.

[0033] Automatic feeding device As shown in Figure 3, the automatic feeding device (5) includes a feeding cylinder (501), a direct vibrating feeder (502), a glass bead storage bin (503), a compressed air knife (504), and a feeding guide groove (505). The direct vibrating feeder (502) is the power source for the automatic feeding device. Its vibration frequency can be adjusted by the pressure regulating valve to achieve uniform conveying of glass beads. A glass bead storage bin (503) is installed above the direct vibrating feeder (502). A flow regulating valve is provided at the discharge port of the storage bin to control the amount of glass beads conveyed.

[0034] Feeding cylinder (501) and feeding guide groove (505): The piston rod of the feeding cylinder (501) is rigidly connected to the feeding guide groove (505) to control the extension and retraction of the feeding guide groove, so that the discharge end of the feeding guide groove is precisely aligned with the feed end of the receiving guide plate (405).

[0035] Compressed air air knife (504): Installed at the drop point of the glass bead storage bin (503), and connected to the compressed air system of the equipment. When working, it forms a uniform airflow barrier, which effectively prevents the glass beads from falling when the assembly (3) of the whole machine is in motion.

[0036] Precise material replenishment control: The direct vibration feeder (502), feeding cylinder (501), and compressed air air knife (504) are all connected to the feedback control unit of the main control module. The feedback control unit combines the material replenishment calibration parameter Ka to realize periodic automatic material replenishment. K3=M / (N×n+Ms), where M is the preset amount of single replenishment of the glass bead storage bin (503), N is the number of TO tube seats assembled in a single graphite mold (402), n is the number of graphite molds (402) assembled in a single assembly, and Ms is the amount of broken beads removed during a single assembly process. Ms is the product of the broken bead rate when the glass beads are inspected upon entering the warehouse and the preset amount of single replenishment. Combined with the number of assembly times, Ka is adjusted in real time to realize precise calibration of the material replenishment amount and avoid waste or insufficient replenishment of glass beads.

[0037] Equipment Workflow The main control module of this invention achieves closed-loop feedback control throughout the entire process through a multi-dimensional feedback control unit. The specific workflow is as follows: Step 1: Initial parameter setting: Select manual / programmable mode through the human-machine interaction touch screen of the electrical control box (2), and input the initial signal in programmable mode, including the specification parameters of the graphite mold (402), the assembly quantity of the TO tube seat, and the diameter parameters of the glass beads. The unique parameter control module of the main control module completes the initial assignment of the column flipping compensation coefficient K1, the positioning deviation correction parameter K2, the material feeding calibration parameter Ka, and the broken bead screening vibration coupling parameter K4 according to the input parameters.

[0038] Step 2: Graphite mold transfer and precise positioning: The robot arm transports the graphite mold (402) loaded with the TO tube seat to the positioning slot of the mold transfer platform (401). The main control module issues a command, the bottom cylinder (403) extends, and pushes the mold transfer platform (401) forward. The position sensor collects the displacement signal in real time and transmits it to the feedback control unit. When the graphite mold (402) moves to the preset position, the bottom cylinder (403) stops moving. At this time, the front end of the graphite mold (402) is close to the rear end of the receiving guide plate (405). Subsequently, the locking positioning plate cylinder of the side positioning structure (406) extends, the displacement detection sensor collects the positioning deviation signal, and the feedback control unit adjusts the pushing stroke of the locking positioning plate in real time in conjunction with K2 to complete the precise positioning of the graphite mold (402) in the left and right directions. After the positioning is completed, the locking positioning plate cylinder holds pressure to lock the position of the graphite mold.

[0039] Step 3: Lowering the liftable glass bead guide plate: The main control module issues a command, the lifting cylinder (407) extends, and drives the liftable glass bead guide plate (404) to descend vertically along the linear guide rail (408) until the lower surface of the guide plate is tightly fitted with the upper surface of the graphite mold (402), the glass bead guide hole is precisely aligned with the TO tube seat hole, the lifting cylinder (407) holds pressure, and locks the position of the guide plate.

[0040] Step 4: Column flipping and glass bead guidance. The main control module issues an instruction, and the column assembly (3) flips at a preset angle (e.g., 45° forward). The angle encoder collects the actual flipping angle in real time and transmits it to the feedback control unit. The feedback control unit compensates for the angle deviation in real time with K1, so that the deviation between the actual flipping angle and the preset flipping angle is ≤0.5°. At the same time, the main control module adjusts the vibration frequency and amplitude of the pneumatic vibrator according to K4. The feeding cylinder (501) of the automatic feeding device (5) pushes the feeding guide groove (505) to extend. The direct vibration feeder (502) works to transport the glass beads to the receiving guide plate (405). The glass beads are evenly distributed in the groove of the receiving guide plate and, under the dual action of the pneumatic vibrator and the column flipping, fall accurately into the TO tube seat hole through the guide hole of the liftable glass bead guide plate (404).

[0041] It should be noted that the flipping here refers to flipping back and forth along the guide direction of the guide plate.

[0042] Step 5: Screening and recycling of broken glass beads: The main control module issues a command, and the alignment machine component (3) flips backward 45° to collect the beads. At this time, the lifting cylinder (407) retracts and drives the liftable glass bead guide plate (404) to rise. The excess glass beads that fall on the TO tube seat slide along the liftable glass bead guide plate (404) and the recycling guide plate (405) under the action of the alignment machine flipping and the pneumatic vibrator. The main control module adjusts K4 in real time according to the rotational speed of the alignment machine to match the vibration frequency of the pneumatic vibrator, so that the broken beads fall into the broken bead collection tank through the broken bead screening screen plate (409) under the dual action, while the complete glass beads flow back to the recycling guide plate (405), realizing the efficient screening of broken beads and the recycling of excess glass beads.

[0043] Step 6: Automatic and precise material replenishment: The main control module counts the number of assembly steps. When the number of assembly steps reaches the preset value, the main control module adjusts the material replenishment calibration parameter Ka in conjunction with Ms and issues a command to control the feeding cylinder (501) of the automatic feeding device (5) to push the feeding guide groove (505) to extend. The direct vibration feeder (502) works according to the adjusted material replenishment amount to transport the glass beads to the receiving guide plate (405). At the same time, the compressed air air knife (504) works to form an airflow barrier to prevent the glass beads from falling. After the material replenishment is completed, the feeding cylinder (501) retracts and the feeding guide groove (505) resets.

[0044] Step 7: Graphite mold ejection and cycle operation: After the assembly unit (3) completes the preset flipping cycle, it resets to the horizontal initial position. The main control module issues an instruction, the locking positioning plate cylinder of the side positioning structure (406) retracts, releasing the positioning lock of the graphite mold. The bottom cylinder (403) retracts, driving the mold transfer platform (401) to move backward, pushing the graphite mold (402) with the glass bead assembly completed to the preset position. The robot moves the graphite mold to the next process. The feedback control unit clears the displacement, angle, broken bead quantity and other signals detected this time, and the equipment enters the next assembly cycle.

[0045] The foregoing has broadly outlined some aspects and features of the various embodiments and should be interpreted as merely illustrative of potential applications. Other beneficial results can be obtained by applying the disclosed information in different ways or by combining aspects of the disclosed embodiments. Further aspects and a more complete understanding can be obtained based on the detailed description of exemplary embodiments with reference to the accompanying drawings, within the scope defined by the claims.

[0046] The above embodiments provide a detailed description of the present invention. Of course, the above description is not intended to limit the present invention, nor is the present invention limited to the examples described above. Any changes, modifications, additions, reductions, or substitutions made by those skilled in the art within the scope of the present invention are also within the protection scope of the present invention.

Claims

1. A TO-can glass bead automatic assembly apparatus, characterized by, The equipment includes a frame assembly, an electrical control box fixed to the frame assembly, a sorting machine assembly, a glass bead assembly trough, and an automatic feeding device. The electrical control box has a built-in embedded main control module, which integrates a feedback control unit and a parameter control module. The parameter control module stores and adjusts control parameters, including a sorting rollover compensation coefficient K1, a positioning deviation correction parameter K2, a feeding amount calibration parameter Ka, and a broken bead screening vibration coupling parameter K4. The frame assembly has a closed space to house the electrical control box. The electrical control box connects to all control units of the equipment. The sorting machine assembly, glass bead assembly trough, and automatic feeding device are all signal-connected to the main control module. The reciprocating rotary structure of the sorting machine assembly is driven by a servo motor and reducer, and can rotate from -50° to +50°. The device can be hovered at any position; the glass bead assembly troughs are symmetrically installed above the alignment machine components, and the automatic feeding device is connected to the receiving guide plate of the glass bead assembly troughs; the main control module collects the working status signals of the glass bead assembly troughs and alignment machine components in real time through the multi-dimensional feedback control unit, and performs linkage feedback control on each component in combination with the parameters of the parameter control module, so as to realize the full-process automated and precise control of mold positioning, glass bead guiding assembly, broken bead screening, and automatic material replenishment.

2. The automatic TO can glass bead assembly apparatus according to claim 1, wherein The glass bead assembly tank includes a mold transfer platform, a graphite mold, a bottom cylinder, a liftable glass bead guide plate, a receiving guide plate, a side positioning structure, a lifting cylinder, a linear guide rail, and a broken bead screening screen. The mold transfer platform is connected to the bottom cylinder via a transmission connection. A position sensor is installed at the stroke end of the bottom cylinder, and the position sensor is signal-connected to the feedback control unit of the main control module. The side positioning structure includes a fixed-end guide plate and a cylinder-driven locking positioning plate. The side positioning structure is equipped with a displacement detection module, which is signal-connected to the feedback control unit. The feedback control unit adjusts the advancing stroke of the locking positioning plate in conjunction with the positioning deviation correction parameter K2; the liftable glass bead guide plate is slidably connected to the side wall of the glass bead assembly trough through a linear guide rail, and the lifting is driven by lifting cylinders symmetrically distributed on both sides of the outer side plate of the trough. The liftable glass bead guide plate is provided with glass bead guide holes composed of straight holes and conical holes. A pneumatic vibrator is installed above the liftable glass bead guide plate. The pneumatic vibrator is connected to the parameter control module of the main control module. The vibration frequency and amplitude of the pneumatic vibrator are controlled by the crushed bead screening vibration coupling parameter K4.

3. The automatic TO-can glass bead assembly apparatus according to claim 2, wherein The positioning deviation correction parameter K2 = S0 / (Sa+Sb / 2), where S0 is the actual width of the graphite mold, Sa is the initial distance between the fixed end guide plate and the locking positioning plate, and Sb is the maximum stroke of the cylinder of the locking positioning plate. The feedback control unit adjusts the advancing stroke of the locking positioning plate in real time through K2 according to the positioning deviation value collected by the displacement detection module, so that the positioning deviation of the graphite mold is ≤0.02mm.

4. The automatic TO-can glass bead assembly apparatus according to claim 3, wherein The surface of the receiving guide plate is provided with grooves, the width and depth of which match the diameter of the glass beads, so that the glass beads are evenly distributed above the guide holes of the liftable glass bead guide plate; the crushed bead screening screen is a stainless steel mesh with a smaller mesh size than the glass beads, which is linked to the rotation of the alignment machine assembly. The main control module matches the rotation angular velocity of the alignment machine assembly with the vibration frequency of the pneumatic vibrator through the crushed bead screening vibration coupling parameter K4, K4=w / f, where w is the actual rotation angular velocity of the alignment machine assembly and f is the actual vibration frequency of the pneumatic vibrator.

5. An automatic assembly equipment for TO tube seat glass beads according to any one of claims 1 to 4, characterized in that, The servo motor of the alignment machine assembly is equipped with an angle encoder. The angle encoder is connected to the feedback control unit of the main control module. The feedback control unit adjusts the rotation angle of the alignment machine assembly in combination with the alignment rotation compensation coefficient K1, where K1=A0 / A1, A0 is the preset rotation angle, and A1 is the actual rotation angle collected by the angle encoder. When the alignment machine assembly rotates forward and backward, the feedback control unit compensates for the angle deviation in real time through K1, so that the deviation between the actual rotation angle and the preset rotation angle is ≤0.5°.

6. The automatic assembly equipment for TO tube seat glass beads according to claim 5, characterized in that, The automatic feeding device includes a feeding cylinder, a vibrating feeder, a glass bead storage bin, a compressed air knife, and a feeding guide chute. The vibrating feeder provides power to the automatic feeding device and is connected to the glass bead storage bin. The feeding cylinder is driven by the feeding guide chute, and the compressed air knife is installed at the drop point of the glass bead storage bin. The vibrating feeder, feeding cylinder, and compressed air knife are all connected to the feedback control unit of the main control module. The feedback control unit, combined with the replenishment calibration parameter Ka, realizes periodic automatic replenishment.

7. The automatic assembly equipment for TO tube seat glass beads according to claim 6, characterized in that, The material replenishment calibration parameter Ka = M / (N×n+Ms), where M is the preset material replenishment amount for a single glass bead storage bin, N is the number of TO tube seats assembled in a single graphite mold, n is the number of graphite molds assembled in a single assembly, Ms is the amount of broken beads removed during a single assembly process, and Ms is the product of the broken bead rate during the glass bead inspection upon entering the warehouse and the preset material replenishment amount for a single assembly.

8. An automatic assembly equipment for TO tube seat glass beads according to claim 1, characterized in that, The mold transfer platform is driven by a bottom linear drive mechanism, which includes a lead screw linear module, a servo electric cylinder, and a pneumatic cylinder. The drive mechanism is connected to the feedback control unit of the main control module to achieve precise displacement control.

9. The automatic assembly equipment for TO tube seat glass beads according to claim 1, characterized in that, The control method of the multi-dimensional feedback control unit of the main control module includes the following steps: S1: Acquire initial signals, including the specifications of the graphite mold, the number of TO tubes assembled, and the diameter of the glass beads. Input the parameters into the unique parameter control module to complete the initial assignment of K1, K2, K3, and K4. S2: Mold transfer and positioning feedback. The bottom cylinder pushes the mold transfer platform to move. The position sensor collects the displacement signal. The displacement detection module of the side positioning structure collects the positioning deviation signal. The feedback control unit, together with K2, adjusts the stroke of the locking positioning plate to complete the precise positioning of the graphite mold. S3: Column flipping and guidance feedback. The column components flip at a preset angle. The angle encoder collects the actual flipping angle. The feedback control unit, in conjunction with K1, compensates for the angle deviation. The pneumatic vibrator operates at the vibration frequency matched by K4 to achieve precise guidance and assembly of the glass beads. S4: Bead removal feedback. When the aligner assembly reverses, the feedback control unit adjusts K4 in real time according to the rotation action of the aligner, so that the beads are efficiently removed by the bead removal screen (409) and the amount of beads Ms is obtained. S5: Automatic material replenishment feedback. The main control module counts the number of assembly times, and combines Ms to adjust Ka, controlling the direct vibration feeder and feeding cylinder to complete periodic and precise material replenishment. The compressed air air knife works synchronously to prevent glass beads from falling. S6: Cyclic operation. After completing one assembly cycle, the bottom cylinder pushes out the graphite mold, the feedback control unit clears the detection signal for this cycle, and the next assembly cycle begins.

10. An automatic assembly device for TO tube seat glass beads according to claim 1, characterized in that, The electrical control box is equipped with a manual or programmable switch. In manual mode, the operation of each component can be controlled by pressing a button. In programmable mode, the main control module realizes full-process automated control according to a preset program and feedback control logic. The equipment frame assembly has an installation, debugging and maintenance panel, which facilitates the maintenance and debugging of the equipment.

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