Special-shaped spring loading device and method

Abstract

The application discloses a special-shaped spring loading device and method, and belongs to the technical field of automatic assembly. The device comprises a tray, a tray positioning module, a pin clamping and correcting module, a pin sucking module, a traction module and a posture correcting track. The tray positioning module drives the tray to move; the pin clamping and correcting module flexibly clamps and preliminarily corrects the spring pin through a plurality of tight thin steel wires; the pin sucking module uses a vacuum suction needle to adsorb and lift the spring; the traction module drives the suction needle and the spring to move horizontally; the posture correcting track realizes the final unification of the posture of the spring body through the extrusion guidance and the final limiting of the slope section and the straight track section. The application adopts the strategy of "flexible clamping + vacuum adsorption + two-step correction", realizes the lossless, high-precision and full-automatic loading of the special-shaped spring with thin wire diameter, soft material and pin, and effectively solves the problem that the traditional vibrating disc loading mode cannot process such special-shaped parts.

Description

Technical Field

[0001] This invention belongs to the field of automated assembly technology, and in particular relates to a non-standard spring feeding device and method. Background Technology

[0002] In industries such as electronics and precision instruments, irregularly shaped springs with leads (short pins) at one end are often used as electrical or mechanical contact elements. These springs typically have thin wire diameters, are made of soft material (and are easily deformed), and have an asymmetrical structure due to the leads, posing a significant challenge to their automated feeding.

[0003] Traditional spring feeding methods often employ sorting mechanisms such as vibratory feeders, which utilize the geometric symmetry and stiffness of the springs for separation and orientation. However, for the irregularly shaped springs addressed in this application, traditional methods have significant drawbacks: 1. High requirements for springs: The spring wire diameter must not be too thin or too soft, both ends must be neat and closed, and there must be no protruding leads, otherwise reliable separation is not possible or the spring may be damaged or deformed.

[0004] 2. Inability to handle pin orientation: Even if the spring can be separated, it is difficult to accurately control the spatial orientation of the pins, which cannot meet the consistency requirements of the spring pin orientation in subsequent assembly processes.

[0005] Therefore, existing technologies lack an automated feeding solution for irregularly shaped springs that is efficient, non-destructive, and can uniformly correct the orientation of pins and spring bodies. Summary of the Invention

[0006] The purpose of this invention is to provide a non-standard spring feeding device and method to solve the above-mentioned technical problems.

[0007] To overcome the shortcomings of existing technologies, this invention provides a non-destructive feeding device and method for irregularly shaped springs. This device and method can precisely and uniformly handle irregularly shaped springs with fine wire diameters, soft materials, and leads, achieving reliable automated feeding. The specific technical solution of this invention's irregularly shaped spring feeding device and method is as follows: A non-standard spring feeding device, comprising: The tray has positioning slots for placing irregularly shaped springs; The tray positioning module is used to move the tray in the horizontal plane; Pin clamping and correction module, used to clamp and initially correct the orientation of spring pins; The pin-picking module includes a liftable pin and a Z-axis module that drives its lifting and lowering, for attracting and lifting the spring; A traction module is used to drive the pin-picking module to move horizontally. An attitude correction track is set on one side of the traction module and is used to perform final attitude correction on the spring body.

[0008] Furthermore, the pin clamping and correction module includes an X-axis clamping and correction module arranged along the X-axis direction and a Y-axis clamping and correction module arranged along the Y-axis direction. The X-axis clamping and correction module and the Y-axis clamping and correction module have the same structure and are arranged perpendicular to each other. Each of the clamping and correction modules includes two sets of clamping and correction mechanisms arranged opposite to each other; Each clamping and correction mechanism includes a fixed mounting base, a lifting cylinder fixed on the mounting base, a clamping cylinder fixed to the output end of the lifting cylinder, and clamping jaws fixed to the two output clamping arms of the clamping cylinder. At the opening of each of the grippers, one end of two thin steel wires is tightly and parallel to each other. The other end of the thin steel wires is pulled tight by the grippers of the opposing clamping and correction mechanism, so that the four sets of thin steel wires in the X-axis and Y-axis directions together form two clamping points in the upper and lower layers. The clamping cylinder drives the grippers to move towards or away from each other, thereby clamping and releasing the thin steel wire onto the spring pin.

[0009] Furthermore, the attitude correction track includes a ramp section and a straight track section; The ramp section gradually narrows from the opening towards the rear end before connecting with the straight track section; A raised inflection point is provided within the slope section. The line connecting the inflection point and the opening forms a downward slope, and the side opposite the inflection point is an upward slope. When the suction needle, carrying the spring, enters the inclined section, it touches the upper or lower slope. As the suction needle continues to move forward, the spring is squeezed and guided by the inclined surface, causing it to deflect, and finally enters the narrow straight section. The width of the straight rail section is greater than the diameter of the spring body but less than the length of the spring body. It is used to completely restrict the rotational freedom of the spring body around the pin axis after the spring has completely passed through, thereby achieving the final uniform correction of the spring body direction.

[0010] Furthermore, the suction needle is a hollow structure with an inner diameter slightly larger than the diameter of the spring pin. It is connected to an external vacuum generator and uses negative pressure to attract the spring.

[0011] Furthermore, the tray positioning module includes an X-axis moving module and a Y-axis moving module, with the tray mounted on the X-axis moving module.

[0012] Furthermore, the traction module is an I-axis linear module, whose direction of movement is parallel to the X-axis, and the Z-axis module is mounted on it.

[0013] The present invention also discloses a feeding method based on the aforementioned irregular spring feeding device, comprising the following steps: Step 1: Manually place the irregularly shaped springs on the material tray; Step 2: Move the spring below the pin clamping and straightening module using the tray positioning module; Step 3: The pin clamping and correction module is lowered and clamped to correct the pin orientation; Step 4: The pin pickup module descends, the pickup pins cover the pins and attract them, and then the clamping and correction module is released; Step 5: The traction module works with the Z-axis module to move the suction pin and spring to the entrance of the attitude correction track; Step 6: The traction module continues to move forward, allowing the spring body to pass through the attitude correction track and complete the final attitude unification; Step 7: Move the spring with uniform posture to the next workstation and repeat the above steps.

[0014] Furthermore, in the attitude correction track, the spring body is squeezed and guided by the inclined plane in the slope section, causing it to deflect, and its attitude is fixed after entering the straight track section.

[0015] The irregular spring feeding device and method of the present invention have the following advantages: Highly adaptable: By using a combination of "manual rough placement of the tray + flexible clamping with steel wire + vacuum suction", the stringent requirements on spring stiffness, wire diameter and symmetry are completely eliminated, making it particularly suitable for irregularly shaped springs with fine wire diameter, soft materials and leads.

[0016] Non-destructive feeding: It adopts a multi-point flexible contact clamping method with taut steel wire and vacuum adsorption gripping method. The clamping force is evenly distributed, which effectively avoids the spring compression deformation, surface damage or pin bending that may be caused by traditional mechanical claws or vibratory feeders.

[0017] High attitude correction accuracy: A two-step correction strategy is adopted. First, using geometric constraints formed by multiple steel wires, high-precision preliminary correction of the pin direction is completed during the clamping stage. Second, a specially designed correction track is used to forcibly guide and limit the spring body, ultimately achieving complete uniformity of the overall spatial attitude of the spring.

[0018] High reliability: The entire process has a clear logic, with each module working in concert and a stable mechanical structure. This solves the core difficulties in the automated feeding of irregularly shaped springs, improving production efficiency and product assembly consistency. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the irregular spring structure according to an embodiment of the invention; Figure 2 This is a schematic diagram of the overall module of the irregular spring feeding device according to an embodiment of the present invention.

[0020] Figure 3 This is a schematic diagram of the pin clamping and correction module in an embodiment of the present invention.

[0021] Figure 4 for Figure 3 A schematic diagram of the clamping state of the module shown.

[0022] Figure 5 This is a schematic diagram illustrating the structural principle and working process of the attitude correction track in an embodiment of the present invention.

[0023] The markings in the diagram are as follows: 10, tray; 20, tray positioning module; 21, X-axis moving module; 22, Y-axis moving module; 30, pin clamping and correction module; 31, X-axis clamping and correction module; 32, Y-axis clamping and correction module; 33, clamping and correction mechanism; 331, mounting base; 332, lifting cylinder; 333, clamping cylinder; 334, gripper; 335, thin steel wire; 40, pin picking module; 41, suction pin; 42, Z-axis module; 50, attitude correction track; 51, ramp section; 511, down ramp; 512, up ramp; 52, straight rail section; 53, inflection point; 60, traction module. Detailed Implementation

[0024] To better understand the purpose, structure, and function of this invention, the following detailed description of a non-standard spring feeding device and method is provided in conjunction with the accompanying drawings.

[0025] like Figure 1 As shown, the irregular spring in this embodiment has a pin at the upper end and a horizontal bar at the lower end. The direction of the horizontal bars of all springs needs to be adjusted to be consistent to meet the production and installation requirements.

[0026] like Figure 2 As shown, the irregular spring feeding device in this embodiment mainly includes a material tray 10, a material tray positioning module 20, a pin clamping and correction module 30, a pin picking module 40, an attitude correction track 50, and a traction module 60.

[0027] The material tray 10 has cylindrical slots that match the outer diameter of the irregular spring. The operator only needs to put the spring into the slot and make sure that the end with the lead is facing up. The placement accuracy requirement is low.

[0028] The tray positioning module 20 can be constructed using X-axis and Y-axis linear modules to precisely move the target spring on the tray 10 to a working position directly below the pin clamping and correction module 30. Specifically, the tray positioning module 20 includes an X-axis moving module 21 and a Y-axis moving module 22. The Y-axis moving module 22 is fixedly installed on the ground, and the X-axis moving module 21 is mounted on the Y-axis moving module 22. The tray 10 is mounted on the X-axis moving module 21. Under the X-axis moving module 21 and the Y-axis moving module 22, the tray 10 can move in both the X and Y directions.

[0029] like Figure 3 and Figure 4 As shown, the pin clamping and correction module 30 is one of the key components of this invention. It includes an X-axis clamping and correction module 31 and a Y-axis clamping and correction module 32. Each clamping and correction module includes two sets of opposing clamping and correction mechanisms 33. Each clamping and correction mechanism 33 includes a mounting base 331, a lifting cylinder 332, a clamping cylinder 333, and grippers 334. The mounting base 331 is fixedly installed on the ground, the lifting cylinder 332 is fixedly installed on the mounting base 331, and the clamping cylinder 333 is fixed on the lifting cylinder 332 and can be driven to move up and down by the lifting cylinder 332. The grippers 334 are fixedly mounted on the mounting base 331. Mounted on the two output gripping arms of the clamping cylinder 333, the clamping cylinder 333 drives the opening and closing of the modules. At the opening of each gripper 334, two thin steel wires 335 are tightly fixed at one end, parallel to each other. Together with the opposing clamping and correction mechanism 33, they form four taut thin steel wires 335 in two layers. The four thin steel wires 335 of the X-axis clamping and correction module 31 and the Y-axis clamping and correction module 32 intersect to form two clamping points. The clamping and releasing of the thin steel wires 335 can be achieved by opening and closing the grippers 334. Initially, the clamping point forms a large square hole. During operation, the lifting cylinder 332 drives the entire module to descend, causing the spring pins to fit between the four thin steel wires 335. Then, the clamping cylinders 333 of the X-axis clamping and correction module 31 and the Y-axis clamping and correction module 32 operate simultaneously, driving the grippers 334 to move towards each other, causing the clamping points of the thin steel wires 335 to close, gently gripping the spring pin from four directions. Because the thin steel wires 335 are thin and taut, and the contact points are clearly defined, under the action of clamping force, the spring pin is constrained on the center line determined by the upper and lower layers of thin steel wires 335, thus completing the initial correction and fixation of the pin direction.

[0030] The pin-picking module 40 includes a Z-axis module 42 and a hollow pick-up pin 41, which is driven to rise and fall by the Z-axis module 42. The inner diameter of the lower end of the pick-up pin 41 is slightly larger than the diameter of the spring pin. After the pin is aligned and clamped by the thin steel wire 335, the pick-up pin 41 descends under the drive of the Z-axis module 42, and its lower opening covers the upper end of the pin. At this time, an external vacuum generator (not shown in the figure) connected to the pick-up pin 41 is activated, generating an adsorption force. Subsequently, the clamping cylinder 333 is released, and the spring is reliably adsorbed and lifted by the pick-up pin 41.

[0031] In this embodiment, the traction module 60 is an I-axis linear module, which is fixedly installed on the ground and moves in a direction parallel to the X-axis. The Z-axis module 42 is installed on the I-axis linear module and works in conjunction with the Z-axis module 42 to drive the suction needle 41 to move horizontally with the spring to the entrance of the attitude correction track 50.

[0032] like Figure 5As shown, the attitude correction track 50 is another key component of this invention. The attitude correction track 50 is installed on one side of the traction module 60. The attitude correction track 50 includes a ramp section 51 and a straight rail section 52. The ramp section 51 gradually narrows from the opening towards the rear end before connecting to the straight rail section 52. L1 is the size of the track opening, L2 is the length of the ramp section 51, and L3 is the length of the straight rail section 52. R1 is the spring wire diameter, R2 is the inner diameter of the suction pin 41, and R3 is the spring tube diameter. The suction pin 41 can be made of common materials such as copper, iron, or aluminum with an inner wall thickness of 0.3mm. For ease of suction, R2 ≥ 3 * R1 is generally selected. After the spring pin is sucked up, the spring will deviate at a certain angle along the suction pin 41 due to factors such as vacuum airflow and its own angular tolerance. The maximum deviation angle is q1, where q2 is the included angle between the projection of the spring crossbar and the spring lead wire.

[0033] The needle inlet is located within the diameter of the straight rail section 52 to ensure smooth passage through the entire attitude correction track 50. h1 is the distance between the needle center and the track center. To facilitate the spring entering the track, L1 > h1 + 2(R3 + R1).

[0034] The ramp section 51 has a raised inflection point 53. The line connecting the inflection point 53 and the opening forms a lower ramp 511. The opposite side of the inflection point 53 is the upper ramp 512. The height of the lower ramp 511 is h1 / 2 above the center line, and its depth is L2 / 2. The minimum distance L4 between the upper ramp 512 and the lower ramp 511 is greater than R3 to ensure the spring's passage. When the suction pin 41 carries the spring into the ramp section 51, it will inevitably touch the upper ramp 512 or the lower ramp 511. As the suction pin 41 continues to advance, the spring is squeezed and guided by the ramp, causing it to deflect, and finally enters the narrow straight limiting channel 52. The width of the straight track section 52 is slightly larger than the diameter of the spring but much smaller than its length, thus completely restricting the rotational freedom of the spring about the pin axis. After the spring has completely passed through the attitude correction track 50, its overall attitude (including the pin's orientation and the spring's direction) is uniformly corrected to the predetermined state, which can be used for subsequent precise assembly.

[0035] Taking the example that the spring with a vertical posture touches the track slope first, since the needle picker 41 moves forward and the spring follows, when the lower slope 511 touches the spring, it will unidirectionally impede the movement of the spring. During continuous forward movement, the spring will rotate counterclockwise along the needle picker 41 until it exits the section of the lower slope 511. After passing through the lower slope 5l1, the spring contacts the upper slope 512. With the drive of the needle picker 41, the other side of the spring will also be squeezed and move clockwise along the needle picker. To ensure the stability of attitude adjustment, when selecting the length of L2, the actual softness of the spring needs to be considered. Since the spring in this embodiment is relatively soft, L2≥30*R3 can be selected. When the needle picker 41 enters the straight track, its attitude will be fixed, and its crossbar angle will also be fixed. Due to the fixed relationship between the spring pin and the crossbar, as long as the height of h1 is adjusted, the crossbar attitude can be changed. h1 = sin(q2 - 90)*R3, where (90 < q2 < 180), and the length of the straight track L3 is adjusted according to the usage situation.

[0036] A control method for a special-shaped spring feeding device of the present invention includes the following steps: Step 1: Manually place the special-shaped spring on the tray 10.

[0037] Step 2: The tray positioning module 20 moves the first spring under the pin clamping and correcting module 30.

[0038] Step 3: The pin clamping and correcting module 30 descends and clamps, correcting and fixing the pins.

[0039] Step 4: The needle picker 41 of the pin picking module l0 descends, slews over the pins, adsorbs them by vacuum, and then the clamping and correcting module 30 releases.

[0040] Step 5: The traction module 60 cooperates with the Z-axis module 42 to move the needle picker 41 and the spring to the entrance of the attitude correcting track 50.

[0041] Step 6: The traction module 60 continues to move forward, and the spring body enters and passes through the attitude correcting track 50 to complete the final attitude unification.

[0042] Step 7: The device transfers the spring with unified attitude to the next working station, and at the same time, the tray positioning module 20 moves the next spring to the working position, and the cycle starts.

[0043] It is understood that the present invention has been described through some embodiments, and those skilled in the art will recognize that various changes or equivalent substitutions can be made to these features and embodiments without departing from the spirit and scope of the invention. Furthermore, under the teachings of the present invention, these features and embodiments can be modified to adapt to specific situations and materials without departing from the spirit and scope of the invention. Therefore, the present invention is not limited to the specific embodiments disclosed herein, and all embodiments falling within the scope of the claims of this application are within the protection scope of the present invention.

Claims

1. A non-standard spring feeding device, characterized in that, include: The tray (10) has a positioning pit for placing irregular springs; The tray positioning module (20) is used to drive the tray (10) to move in the horizontal plane; Pin clamping and correction module (30) is used to clamp and initially correct the orientation of spring pins; The pin-picking module (40) includes a liftable pin (41) and a Z-axis module (42) that drives its lifting and lowering, for adsorbing and lifting the spring; A traction module (60) is used to drive the pin-picking module (40) to move horizontally; An attitude correction track (50) is set on one side of the traction module (60) and is used to perform final attitude correction on the spring body.

2. The irregular spring feeding device according to claim 1, characterized in that, The pin clamping and correction module (30) includes an X-axis clamping and correction module (31) arranged along the X-axis direction and a Y-axis clamping and correction module (32) arranged along the Y-axis direction. The X-axis clamping and correction module (31) and the Y-axis clamping and correction module (32) have the same structure and are arranged perpendicular to each other. Each of the clamping and correction modules includes two sets of clamping and correction mechanisms (33) arranged opposite to each other. Each clamping and correction mechanism (33) includes a fixed mounting base (331), a lifting cylinder (332) fixed on the mounting base (331), a clamping cylinder (333) fixed on the output end of the lifting cylinder (332), and clamps (334) fixed on the two output clamping arms of the clamping cylinder (333). At the opening of each of the grippers (334), one end of two thin steel wires (335) are tightly fixed in parallel at the top and bottom. The other end of the thin steel wires (335) is pulled tight by the grippers (334) of the opposing clamping and correction mechanism (33), so that the four sets of thin steel wires (335) in the X-axis and Y-axis directions together form two clamping points in the upper and lower layers. The clamping cylinder (333) drives the gripper (334) to move towards or away from each other, thereby achieving the clamping and releasing of the thin steel wire (335) on the spring pin.

3. The irregular spring feeding device according to claim 1, characterized in that, The attitude correction track (50) includes a ramp section (51) and a straight section (52); The ramp section (51) gradually narrows from the opening towards the rear end and connects with the straight section (52). L1 is the size of the track opening, L2 is the length of the ramp section, L3 is the length of the straight section, R1 is the diameter of the spring wire, R2 is the inner diameter of the suction needle (41), R3 is the diameter of the spring tube, the suction needle inlet is within the diameter range of the straight section (52), and h1 is the distance between the center of the suction needle and the center of the track. L1>h1+2(R3+R1); A raised inflection point (53) is provided in the slope section. The line connecting the inflection point (53) and the opening forms a lower slope (511). The opposite side of the inflection point (53) is the upper slope (512). The height of the lower slope (511) is h1 / 2 above the center line, and the depth is L2 / 2. The minimum distance between the upper slope (512) and the lower slope (511) is L4>R3. When the suction needle (41) enters the slope section with the spring, it touches the upper slope (512) or the lower slope (511). As the suction needle (41) continues to move forward, the spring body is squeezed and guided by the inclined surface, and deflects. Finally, it enters the narrow straight rail section (52). The width of the straight rail section (52) is greater than the diameter of the spring body but less than the length of the spring body. It is used to completely restrict the rotational freedom of the spring body around the pin axis after the spring has completely passed through, so as to achieve the final unified correction of the spring body direction.

4. The irregular spring feeding device according to claim 1, characterized in that, The suction needle (41) is a hollow structure with an inner diameter slightly larger than the diameter of the spring pin. It is connected to an external vacuum generator and uses negative pressure to attract the spring.

5. The irregular spring feeding device according to claim 1, characterized in that, The tray positioning module (20) includes an X-axis moving module (21) and a Y-axis moving module (22), and the tray (10) is mounted on the X-axis moving module (21).

6. The irregular spring feeding device according to claim 1, characterized in that, The traction module (60) is an I-axis linear module, whose movement direction is parallel to the X-axis, and the Z-axis module (42) is mounted on it.

7. A feeding method based on the irregular spring feeding device according to any one of claims 1 to 6, characterized in that, Includes the following steps: Step 1: Manually place the irregularly shaped springs on the material tray (10); Step 2: Move the spring below the pin clamping and straightening module (30) using the tray positioning module (20); Step 3: The pin clamping and correction module (30) descends and clamps to correct the pin orientation; Step 4: The pin pick-up module (40) descends, the pick-up pin (41) covers the pin and attracts it, and then the clamping and correction module (30) is released; Step 5: The traction module (60) and the Z-axis module (42) work together to move the suction needle (41) and spring to the entrance of the attitude correction track (50); Step 6: The traction module (60) continues to move forward, so that the spring body passes through the attitude correction track (50) to complete the final attitude unification; Step 7: Move the spring with uniform posture to the next workstation and repeat the above steps.

8. The feeding method according to claim 7, characterized in that, In the attitude correction track (50), the spring body is squeezed and guided by the inclined plane in the slope section, and deflects. After entering the straight limit channel (52), the attitude is fixed.

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