Graphite joint automatic assembling device

Abstract

The utility model belongs to the field of industrial robots, and particularly relates to an automatic graphite joint assembling device which comprises a clamping and positioning assembly, a pin arranging assembly, a clamp spring arranging assembly and an assembling assembly, the clamping and positioning assembly comprises a clamping lead screw, a positioning rotary table is arranged in the middle of the clamping lead screw, and two clamping blocks are connected to the clamping lead screw; the pin arranging assembly comprises a first bearing lead screw, the end of the first bearing lead screw is connected with a first motor, and the first bearing lead screw is in threaded connection with a pin bearing sliding block. The clamp spring arranging assembly comprises a second bearing lead screw, the end of the second bearing lead screw is connected with a second motor, and the second bearing lead screw is in threaded connection with a clamp spring bearing sliding block. The assembling assembly comprises a six-axis mechanical arm and an end effector, a positioning camera is arranged on the end effector, a three-jaw air cylinder clamping jaw is arranged on one side of the end effector, and a clamping needle driven by a servo clamping jaw is arranged on the other side of the end effector. The graphite joint assembling device can be used for automatically assembling the graphite joint.

Description

Technical Field

[0001] This utility model belongs to the field of industrial robots, specifically relating to an automatic assembly device for graphite joints. Background Technology

[0002] As a crucial connecting component in industrial equipment, the assembly quality of graphite connectors directly affects the operational performance and service life of the equipment. Currently, the assembly technology of graphite connectors mainly relies on manual operation or semi-automated equipment. Operators insert pins and retaining rings into the assembly holes of the graphite connectors. The assembly process is easily affected by the operator's skill level and physical strength. Graphite connectors have a complex structure and require high precision in assembly. Errors are prone to occur during manual operation, making it difficult to guarantee assembly quality. Moreover, it leads to high labor intensity and low work efficiency for operators. Existing automated assembly equipment is mostly designed for a single model and cannot accommodate the assembly needs of multiple graphite connector models. That is, it can only insert pins and retaining rings of fixed sizes into the assembly holes of graphite connectors. In addition, due to the diversity of the position and angle of the assembly holes of graphite connectors, existing equipment has low flexibility in the assembly process and cannot efficiently adapt to the diverse assembly scenarios of various connector models. Summary of the Invention

[0003] The purpose of this utility model is to provide an automatic assembly device for graphite joints, which can automatically assemble graphite joints and can adapt to the assembly of different types of graphite joints.

[0004] The technical solution of this utility model is: an automatic assembly device for graphite joints, comprising:

[0005] Workbench;

[0006] The clamping and positioning assembly includes a clamping screw disposed on one side of the upper surface of the worktable. The clamping screw is a bidirectional screw. One end of the clamping screw is connected to a clamping motor. A positioning turntable driven by a turntable motor is disposed at the middle position of the clamping screw. Two clamping blocks are threadedly connected to the clamping screw. The two clamping blocks are symmetrically disposed on both sides of the positioning turntable.

[0007] A pin feeding assembly is mounted on the upper surface of the workbench via a connecting frame, and is located on one side of the clamping and positioning assembly. The pin feeding assembly includes a packaging box and a first mounting frame. The packaging box is mounted on the workbench via the connecting frame. The first mounting frame is located at the bottom of the packaging box. A first receiving screw is connected to the first mounting frame. A first motor is connected to the end of the first receiving screw. A pin receiving slider is threaded onto the first receiving screw. The lower surface of the pin receiving slider is slidably connected to the first mounting frame. An overlapping arc groove is provided on the pin receiving slider. A pin moving plate is provided on one side of the pin receiving slider. The upper surface of the pin moving plate is slidably connected to the bottom end of the packaging box.

[0008] A snap ring feeding assembly is provided on one side of the pin feeding assembly. The snap ring feeding assembly includes a snap ring support frame and a second mounting frame mounted on the upper surface of the workbench. A snap ring is placed on the snap ring support frame. The second mounting frame is provided on one side of the snap ring support frame. A second receiving screw is connected to the second mounting frame. A second motor is connected to the end of the second receiving screw. A snap ring receiving slider is threadedly connected to the second receiving screw. The bottom of the snap ring receiving slider is slidably connected to the second mounting frame. The top of the snap ring receiving slider is slidably connected to the bottom end of the snap ring support frame.

[0009] The assembly assembly is located on one side of the clamping and positioning assembly. The assembly assembly includes a six-axis robotic arm mounted on the worktable. The end of the six-axis robotic arm is equipped with an end effector. The end effector is equipped with a positioning camera. A three-jaw cylinder gripper is provided on one side of the end effector. A set of pins driven by servo grippers is provided on the other side of the end effector.

[0010] The controller controls the operation of the turntable motor, clamping motor, first motor, second motor, six-axis robotic arm, positioning camera, three-jaw cylinder gripper, and servo gripper.

[0011] Furthermore, the automatic graphite connector assembly device also has a handling robotic arm that grips the graphite connector. The handling robotic arm is equipped with a vision camera and is connected to a controller. The controller controls the handling robotic arm to place the graphite connector on the positioning turntable.

[0012] Preferably, guide rails are provided on both sides of the clamping screw, and the two guide rails are located at the bottom of the two clamping blocks. The two clamping blocks are slidably connected to the two guide rails at their bottom. A clamping plate is symmetrically provided at one end of each clamping block, and the included angle between the two clamping plates at the end of the same clamping block matches the side wall of the graphite joint.

[0013] Specifically, the packaging box is composed of side panels, and the interior of the packaging box is provided with several partitions, which divide the internal space of the packaging box into several pin feeding sections.

[0014] Preferably, a photoelectric sensor is provided on one side of the overlapping arc groove, and the photoelectric sensor is connected to the controller; the diameter of the overlapping arc groove is the same as the diameter of the pin, and the width of the overlapping arc groove is less than the length of the pin.

[0015] Furthermore, there are two pin feeding assemblies, both of which are mounted on the workbench via a connecting frame. The two pin feeding assemblies are respectively located on both sides of the connecting frame, and their positions are staggered, meaning that the ends of the first receiving screws in the two pin feeding assemblies are not in the same plane.

[0016] Specifically, the snap ring support frame includes a vertical part and a horizontal part. One end of the vertical part is connected to the worktable, and the horizontal part is located in the middle of the vertical part. One end of the horizontal part extends vertically to form a snap ring feeding part. A pressure block is slidably connected to the snap ring feeding part, and a snap ring is sleeved on the outside of the snap ring feeding part. The bottom end of the snap ring feeding part is slidably connected to the bottom end of the snap ring receiving slider. A receiving ring groove is formed on one end of the upper surface of the snap ring receiving slider, and the diameter of the receiving ring groove is larger than the diameter of the snap ring.

[0017] Furthermore, there are two retaining ring feeding assemblies, which are symmetrically arranged on the worktable.

[0018] Preferably, a three-dimensional torque sensor is provided on the three-jaw cylinder gripper, and the three-dimensional torque sensor is connected to the controller. A push cylinder is provided on one side of the three-jaw cylinder gripper. The push cylinder is installed on the side wall of the end effector and is connected to the controller. A push rod is connected to the output end of the push cylinder, and one end of the push rod extends to the middle of the gripper of the three-jaw cylinder gripper.

[0019] Furthermore, a laser rangefinder is provided on one side of the end effector, and the laser rangefinder is connected to the controller.

[0020] The beneficial effects of this utility model are as follows: The controller controls a six-axis robotic arm to move the three-jaw cylinder gripper on one side of the end effector to the position of the overlapping arc groove. The three-jaw cylinder gripper then grabs the pin inside the overlapping arc groove. Next, the six-axis robotic arm drives a servo gripper on one side of the end effector to move above the receiving ring groove. The servo gripper and the locating pin remove the retaining ring from inside the receiving ring groove. The six-axis robotic arm moves the end effector to one side of the graphite connector, enabling the automatic graphite connector assembly device to accommodate the assembly needs of various graphite connector models and improving the flexibility of the assembly process. The positioning camera and laser rangefinder sensor detect the position and distance information of the assembly hole, improving assembly accuracy and ensuring assembly quality. The six-axis robotic arm causes the three-jaw cylinder gripper on one side of the end effector to place the pin into the assembly hole, and a push cylinder pushes the pin into the assembly hole. The six-axis robotic arm then causes the servo gripper on one side of the end effector to place the retaining ring, which is held by the locating pin, into the assembly hole, thus achieving automated assembly of the graphite connector. Attached Figure Description

[0021] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0022] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0023] Figure 2 This is a schematic diagram of the clamping and positioning component of this utility model;

[0024] Figure 3 This is a schematic diagram of the structure of the pin feeding assembly of this utility model;

[0025] Figure 4 This is a side view of the pin feeding assembly of this utility model;

[0026] Figure 5 This is a schematic diagram of the structure of the snap ring feeding assembly of this utility model;

[0027] Figure 6 This is a top view of the snap ring feeding assembly of this utility model;

[0028] Figure 7 This is a schematic diagram of the assembly components of this utility model;

[0029] Figure 8 This is a schematic diagram of the end effector of this utility model;

[0030] Figure 9 This is a schematic diagram of the push rod of this utility model.

[0031] In the diagram: 1. Workbench; 11. Connecting frame; 2. Clamping and positioning assembly; 21. Clamping screw; 22. Clamping motor; 23. Positioning turntable; 23-1. Turntable motor; 24. Clamping block; 25. Guide rail; 26. Clamping plate; 3. Pin feeding assembly; 31. Packaging box; 32. First mounting frame; 33. First receiving screw; 31-1. Side plate; 31-2. Partition plate; 31-3. Pin feeding part; 34. First motor; 35. Pin receiving slider; 35. Overlapping arc groove; 35-1. Pin moving plate; 4. Snap spring feeding assembly; 41. Snap spring support frame; Vertical part. 41-1, Horizontal section; 41-2, Snap ring feeding section; 41-3, Second mounting bracket; 42, Second receiving screw; 43, Second motor; 44, Snap ring receiving slider; 45, Receiving ring groove; 45-1, Pressure block; 46; Assembly component; 5, Six-axis robotic arm; 51, End effector; 52, Positioning camera; 53, Laser rangefinder sensor; 54, Three-jaw cylinder gripper; 55, Gripper; 55-1, Servo gripper; 56, Push cylinder; 57, Push rod; 57-1; Graphite connector; 6, Pin; 61, Snap ring; 62, Through hole; 62-1, Assembly hole; 63. Detailed Implementation

[0032] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0033] In the description of this utility model, it should be noted that the terms "middle," "upper," "lower," "one side," "one end," "vertical," "horizontal," "inner," and "outer," etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings and are only for the convenience of describing this utility model 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, and therefore should not be construed as a limitation of this utility model; the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance. In addition, unless otherwise explicitly specified and limited, the terms "installation," "setting," and "connection" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal connection of two components. For those skilled in the art, the specific meaning of the above terms in this utility model can be understood according to the specific circumstances.

[0034] The current assembly process, where operators manually insert pins and snap rings into the assembly holes of graphite connectors, is susceptible to variations in operator skill and physical strength. Graphite connectors have complex structures and require high precision in assembly, making manual operation prone to errors and hindering quality control. Existing automated assembly equipment is mostly designed for a single model, making it difficult to accommodate the assembly needs of multiple graphite connector models. Furthermore, the diverse positions and angles of the assembly holes in graphite connectors limit the flexibility of existing equipment, hindering its ability to efficiently adapt to the varied assembly scenarios of different connector models. Therefore, the inventors of this application provide an automated graphite connector assembly device capable of automating the assembly of graphite connectors and adapting to the assembly of different graphite connector models.

[0035] like Figure 1-9 As shown, the automatic assembly device for graphite joints includes a worktable 1, a clamping and positioning assembly 2, a pin feeding assembly 3, a snap ring feeding assembly 4, an assembly assembly 5, and a controller.

[0036] In addition, the automatic assembly device for graphite connectors also has a handling robotic arm that grips the graphite connector 6. The handling robotic arm is equipped with a vision camera and is connected to a controller. The controller controls the handling robotic arm to place the graphite connector 6 on the clamping and positioning assembly 2.

[0037] Based on the above embodiments, the operator places the graphite connector 6 in the processing area, and controls the handling robotic arm to pick up the graphite connector 6 in the processing area and place it on the worktable 1 through the controller. During this process, the position of the graphite connector 6 is detected by a vision camera to ensure that the handling robotic arm can successfully pick up the graphite connector 6. At the same time, the position of the worktable 1 is detected by a vision camera to ensure that the handling robotic arm can place the graphite connector 6 on the positioning turntable 23 of the worktable 1. The handling robotic arm is a suction cup type robotic arm, which is a commonly used device in the prior art and will not be specifically described in this utility model.

[0038] In this embodiment, as Figure 2 As shown, the clamping and positioning assembly 2 includes a clamping screw 21 disposed on one side of the upper surface of the worktable 1. The clamping screw 21 is a bidirectional screw. One end of the clamping screw 21 is connected to a clamping motor 22. A positioning turntable 23 driven by a turntable motor 23-1 is disposed at the middle position of the clamping screw 21. Two clamping blocks 24 are threadedly connected to the clamping screw 21. The two clamping blocks 24 are symmetrically disposed on both sides of the positioning turntable 23.

[0039] Specifically, guide rails 25 are provided on both sides of the clamping screw 21. The two guide rails 25 are located at the bottom of the two clamping blocks 24, and the two clamping blocks 24 are slidably connected to the two guide rails 25 at their bottom. Each clamping block 24 has a clamping plate 26 symmetrically provided at one end. The included angle between the two clamping plates 26 at the end of the same clamping block 24 matches the side wall of the graphite joint 6.

[0040] Based on the above embodiment, the graphite connector 6 is placed on the positioning turntable 23 in the middle of the clamping screw 21. The clamping motor 22 drives the clamping screw 21 to rotate, causing the two clamping blocks 24 to move synchronously along the clamping screw 21 with the clamping plates 26 connected to them. This causes the clamping plates 26 on both sides of the graphite connector 6 to move closer to each other until the clamping plates 26 abut against the side walls of the graphite connector 6. The graphite connector 6 is then pushed to the middle of the positioning turntable 23 by the clamping plates 26. During this process, the guide rail 25 provides clamping support. Block 24 provides guidance; when the graphite connector 6 is located in the middle of the positioning turntable 23, the clamping plates 26 on both sides of the graphite connector 6 are separated from each other by the clamping motor 22 and the clamping screw 21, thus removing the limit on the graphite connector 6. At this time, the positioning turntable 23 is driven by the turntable motor 23-1, and the positioning turntable 23 drives the graphite connector 6 on it to rotate, so that the assembly hole 63 on the graphite connector 6 faces the assembly component 5; wherein, the positioning turntable 23 is a commonly used device in the prior art, and is not specifically described in this utility model.

[0041] In this embodiment, as Figure 1 , Figure 3 and Figure 4 As shown, the pin feeding assembly 3 is mounted on the upper surface of the workbench 1 via the connecting frame 11, and is located on one side of the clamping and positioning assembly 2. The pin feeding assembly 3 includes a packaging box 31 and a first mounting frame 32. The packaging box 31 is mounted on the workbench 1 via the connecting frame 11. The first mounting frame 32 is located at the bottom of the packaging box 31, and a first receiving screw 33 is connected to the first mounting frame 32. A first motor 34 is connected to the end of the first receiving screw 33. A pin receiving slider 35 is threadedly connected to the first receiving screw 33. The lower surface of the pin receiving slider 35 is slidably connected to the first mounting bracket 32. The pin receiving slider 35 has an overlapping arc groove 35-1. A pin moving plate 36 is provided on one side of the pin receiving slider 35. The upper surface of the pin moving plate 36 is slidably connected to the bottom end of the dispensing box 31, that is, the pin moving plate 36 serves as the bottom plate of the dispensing box 31 to prevent the pins 61 inside the dispensing box 31 from falling out.

[0042] The packaging box 31 is composed of side plates 31-1, and the interior of the packaging box 31 is provided with several partitions 31-2, which divide the internal space of the packaging box 31 into several pin feeding sections 31-3. A photoelectric sensor is provided on one side of the overlapping arc groove 35-1, and the photoelectric sensor is connected to the controller. The diameter of the overlapping arc groove 35-1 is the same as the diameter of the pin 61 inside the packaging box 31, ensuring that the pin 61 can fall smoothly into the interior of the overlapping arc groove 35-1. The width of the overlapping arc groove 35-1 is less than the length of the pin 61, ensuring that the assembly component 5 can smoothly remove the pin 61 from the interior of the overlapping arc groove 35-1.

[0043] Based on the aforementioned embodiment, the operator places the pin 61 into the pin feeding section 31-3. The initial position of the pin receiving slider 35 is at the end of the first receiving screw 33. This position is the pin installation station for the pin receiving slider 35. At this time, the pin moving plate 36 on one side of the pin receiving slider 35 is completely located at the bottom of the packaging box 31. When the first motor 34 drives the first receiving screw 33 to rotate, the pin receiving slider 35 moves along the first receiving screw 33, and is guided by the first mounting bracket 32. When the overlapping arc groove 35-1 moves to the bottom of the pin feeding section 31-3, The pins 61 inside the pin feeding section 31-3 fall into the overlapping arc groove 35-1 under the action of gravity. The first motor 34 and the first receiving screw 33 move the pin receiving slider 35 to the pin installation position. During this process, when all the pins 61 in a row of the pin feeding section 31-3 are used up, the pin receiving slider 35 continues to move under the action of the first motor 34 and the first receiving screw 33 until the photoelectric sensor detects the pins 61 inside the overlapping arc groove 35-1. At this time, the pin receiving slider 35 returns to the pin installation position under the action of the first motor 34 and the first receiving screw 33.

[0044] In addition, there are two pin feeding assemblies 3. Both pin feeding assemblies 3 are mounted on the workbench 1 via the connecting frame 11. The two pin feeding assemblies 3 are respectively located on both sides of the connecting frame 11, and the positions of the two pin feeding assemblies 3 are staggered, that is, the ends of the first receiving screw 33 in the two pin feeding assemblies 3 are not in the same plane.

[0045] Based on the above embodiments, two different types of pins 61 can be respectively installed into the sub-packing boxes 31 in the two pin feeding assemblies 3, and at the same time, the diameters of the two overlapping arc grooves 35-1 are the same as the diameters of the pins 61 inside their corresponding sub-packing boxes 31, so that the automatic graphite joint assembly device can be applied to different types of graphite joints 6.

[0046] In this embodiment, as Figure 1 , Figure 5 and Figure 6 As shown, the snap ring feeding assembly 4 is located on one side of the pin feeding assembly 3. The snap ring feeding assembly 4 includes a snap ring support frame 41 and a second mounting frame 42 mounted on the upper surface of the workbench 1. A snap ring 62 is placed on the snap ring support frame 41. The second mounting frame 42 is located on one side of the snap ring support frame 41. A second receiving screw 43 is connected to the second mounting frame 42. A second motor 44 is connected to the end of the second receiving screw 43. A snap ring receiving slider 45 is threadedly connected to the second receiving screw 43. The bottom of the snap ring receiving slider 45 is slidably connected to the second mounting frame 42, and the top of the snap ring receiving slider 45 is slidably connected to the bottom end of the snap ring support frame 41.

[0047] Specifically, the snap ring support frame 41 includes a vertical part 41-1 and a horizontal part 41-2. One end of the vertical part 41-1 is connected to the worktable 1. The horizontal part 41-2 is located in the middle of the vertical part 41-1. One end of the horizontal part 41-2 extends vertically to form a snap ring feeding part 41-3. A pressure block 46 is slidably connected to the snap ring feeding part 41-3. A snap ring 62 is sleeved on the outside of the snap ring feeding part 41-3. The bottom end of the snap ring feeding part 41-3 is slidably connected to the bottom end of the snap ring receiving slider 45. A receiving ring groove 45-1 is formed on one end of the upper surface of the snap ring receiving slider 45. The diameter of the receiving ring groove 45-1 is larger than the diameter of the snap ring 62.

[0048] Based on the above embodiments, the initial position of the snap ring receiving slider 45 is at the end of the second receiving screw 43. At this time, the receiving ring groove 45-1 is also located at the end of the second receiving screw 43. The other end of the snap ring receiving slider 45 is located at the lower part of the snap ring feeding part 41-3. This position is the snap ring installation position of the snap ring receiving slider 45. When the second motor 44 drives the second receiving screw 43 to rotate, the snap ring receiving slider 45 moves along the second receiving screw 43. The second mounting bracket 42 guides the snap ring receiving slider 45 until the receiving ring groove 45-1 is moved to the bottom of the snap ring feeding part 41-3. The snap ring 62 sleeved on the snap ring feeding part 41-3 falls into the inside of the receiving ring groove 45-1 under the action of gravity. At this time, the second motor 44 and the second receiving screw 43 move the snap ring receiving slider 45 to the snap ring installation position.

[0049] In addition, there are two snap ring feeding assemblies 4, which are symmetrically arranged on the worktable 1.

[0050] Based on the above embodiments, two different types of snap rings 62 can be respectively fitted onto the snap ring feeding parts 41-3 in the two snap ring feeding assemblies 4, thereby improving the applicability of the automatic assembly device for graphite joints.

[0051] In this embodiment, as Figure 1 , Figure 7 and Figure 8As shown, the assembly assembly 5 is located on one side of the clamping and positioning assembly 2. The assembly assembly 5 includes a six-axis robotic arm 51 mounted on the worktable 1. The six-axis robotic arm 51 is a JAKA Zu7 series robotic arm. The end of the six-axis robotic arm 51 is provided with an end effector 52. The end effector 52 is equipped with a positioning camera 53 and a laser rangefinder 54. The positioning camera 53 is a 3D camera. A three-jaw cylinder gripper 55 is provided on one side of the end effector 52. A set of pins driven by a servo gripper 56 is provided on the other side of the end effector 52. The servo gripper 56 is an RM-GB servo gripper. The servo gripper 56 drives the two pins connected to it to move closer or further apart. The six-axis robotic arm 51, the three-jaw cylinder gripper 55 and the servo gripper 56 are all commonly used devices in the prior art and are not specifically described in this utility model.

[0052] Among them, such as Figure 9 As shown, a three-dimensional torque sensor is provided on the three-jaw cylinder gripper 55, and the three-dimensional torque sensor is connected to the controller. A push cylinder 57 is provided on one side of the three-jaw cylinder gripper 55. The push cylinder 57 is installed on the side wall of the end effector 52. The output end of the push cylinder 57 is connected to a push rod 57-1. One end of the push rod 57-1 extends to the middle of the gripper 55-1 of the three-jaw cylinder gripper 55. The three-jaw cylinder gripper 55 has three grippers 55-1, and the end of the push rod 57-1 is located in the middle of the three grippers 55-1.

[0053] Based on the above embodiment, the positioning camera 53 detects the assembly hole 63 on the graphite connector 6. When the positioning camera 53 detects the assembly hole 63, the six-axis robotic arm 51 drives the end effector 52 to move to one side of the pin feeding assembly 3. At the same time, the six-axis robotic arm 51 drives the end effector 52 to rotate, causing the three-jaw cylinder gripper 55 on one side of the end effector 52 to rotate to the position of the overlapping arc groove 35-1. The three-jaw cylinder gripper 55 then grabs the pin 61 inside the overlapping arc groove 35-1. After that, the six-axis robotic arm 51 drives the end effector 52... Move to one side of the snap ring feeding assembly 4, and drive the end effector 52 to rotate via the six-axis robotic arm 51. This causes the servo gripper 56 on one side of the end effector 52 to rotate above the receiving ring groove 45-1. Move the pins via the servo gripper 56 so that the pins are inserted into the two through holes 62-1 on the snap ring 62. Move the pins via the servo gripper 56 so that the snap ring 62 is in a retracted state. At this time, the two pins can remove the snap ring 62 from inside the receiving ring groove 45-1. Move the end effector 52 to one side of the graphite connector 6 via the six-axis robotic arm 51.

[0054] In this embodiment, the turntable motor 23-1, clamping motor 22, first motor 34, second motor 44, six-axis robotic arm 51, positioning camera 53, laser rangefinder sensor 54, three-jaw cylinder gripper 55, servo gripper 56, and push cylinder 57 are controlled by the controller.

[0055] The working principle of this utility model is as follows: The operator places the graphite connector 6 in the processing area, inserts the pin 61 into the packaging box 31, and puts the retaining ring 62 on the retaining ring feeding part 41-3; the controller controls the first motor 34 to drive the first receiving screw 33 to rotate, and the pin receiving slider 35 moves along the first receiving screw 33 from the pin installation position until the overlapping arc groove 35-1 is moved to the bottom of the pin feeding part 31-3. The pin 61 inside the pin feeding part 31-3 falls into the interior of the overlapping arc groove 35-1 under the action of gravity. The photoelectric sensor detects the pin 61 inside the overlapping arc groove 35-1 and sends a signal to the controller. The controller controls the first motor 34 and the first receiving screw 33 to move the pin receiving slider 35 to the pin installation position to complete the pin 61 feeding work.

[0056] The controller controls the second motor 44 to drive the second receiving screw 43 to rotate. The snap ring receiving slider 45 moves along the second receiving screw 43 from the snap ring installation position until the receiving ring groove 45-1 is moved to the bottom of the snap ring discharge part 41-3. The snap ring 62 sleeved on the snap ring discharge part 41-3 falls into the inside of the receiving ring groove 45-1 under the action of gravity. The controller controls the second motor 44 and the second receiving screw 43 to move the snap ring receiving slider 45 to the snap ring installation position to complete the material handling of the snap ring 62.

[0057] While the pin 61 and snap ring 62 are being fed, the controller controls the transport robot arm to grab the graphite joint 6 from the processing area and place it on the positioning turntable 23. The controller also controls the clamping motor 22 to drive the clamping screw 21 to rotate, so that the two clamping blocks 24 drive the clamping plate 26 to move synchronously along the clamping screw 21 until the clamping plate 26 abuts against the side wall of the graphite joint 6. The clamping plate 26 pushes the graphite joint 6 to the middle of the positioning turntable 23. When the graphite joint 6 is in the middle of the positioning turntable 23, the clamping motor 22 and the clamping screw 21 separate the clamping plates 26 on both sides of the graphite joint 6, thus removing the limit on the graphite joint 6.

[0058] The positioning camera 53 and the laser rangefinder 54 detect the position of the mounting hole 63 on the graphite connector 6. Specifically, in this embodiment, the controller controls the six-axis robotic arm 51 to drive the end effector 52 to rotate, causing the end effector 52 to drive the laser rangefinder 54 on it to rotate to the position corresponding to the graphite connector 6. The controller then controls the turntable motor 23-1 to drive the positioning turntable 23, which in turn drives the graphite connector 6 on it to rotate, so that the mounting hole 63 on the graphite connector 6 faces the assembly assembly 5. At this time, the mounting hole 63 triggers the laser rangefinder 54, and the laser rangefinder 54 will... The detected information is sent to the controller. The laser rangefinder 54 is used to achieve coarse positioning of the mounting hole 63 on the graphite connector 6. Then, the controller controls the six-axis robotic arm 51 to drive the end effector 52 to rotate and rotate the positioning camera 53 on the end effector 52 to the position corresponding to the graphite connector 6. The positioning camera 53 takes a picture of the graphite connector 6 and sends the collected information to the controller. The controller controls the clamping and positioning component 2 to adjust the position of the mounting hole 63 by adjusting the graphite connector 6. The positioning camera 53 is used to achieve precise positioning of the mounting hole 63 on the graphite connector 6.

[0059] When the positioning camera 53 detects that the assembly hole 63 is aligned with the assembly component 5, the controller controls the six-axis robotic arm 51 to move the end effector 52 to one side of the pin feeding assembly 3. Simultaneously, the six-axis robotic arm 51 rotates the end effector 52, causing the three-jaw cylinder gripper 55 on one side of the end effector 52 to rotate to the position of the overlapping arc groove 35-1. The three-jaw cylinder gripper 55 then grasps the pin 61 inside the overlapping arc groove 35-1. Afterwards, the controller controls the six-axis robotic arm 51 to move the end effector 52 to the snap ring feeding assembly 4. On one side, the six-axis robotic arm 51 drives the end effector 52 to rotate, so that the servo gripper 56 on one side of the end effector 52 rotates to the top of the receiving ring groove 45-1. The servo gripper 56 moves the pin, so that the pin inserts into the two through holes 62-1 on the retaining spring 62. The servo gripper 56 makes the two pins move closer to each other, so that the retaining spring 62 is in a retracted state. At this time, the two pins can remove the retaining spring 62 inside the receiving ring groove 45-1. The controller controls the six-axis robotic arm 51 to move the end effector 52 to one side of the graphite connector 6.

[0060] The positioning camera 53 and laser rangefinder 54 detect the position and distance information of the assembly hole 63. Specifically, the controller controls the six-axis robotic arm 51 to drive the end effector 52 to rotate, causing the laser rangefinder 54 on the end effector 52 to rotate to the position corresponding to the graphite connector 6. At this time, the assembly hole 63 on the graphite connector 6 triggers the laser rangefinder 54, which sends the distance information to the controller. The controller then controls the six-axis robotic arm 51 to drive the end effector 52 to rotate, causing the positioning camera on the end effector 52 to... 53 rotates to the position corresponding to the graphite connector 6. At this time, the positioning camera 53 takes a picture of the graphite connector 6 and sends the picture to the controller to determine the position information of the assembly hole 63. After receiving the information, the controller controls the six-axis robotic arm 51 to move the end effector 52 closer to the graphite connector 6. At the same time, the six-axis robotic arm 51 rotates the end effector 52, so that the three-jaw cylinder gripper 55 on one side of the end effector 52 moves the pin 61 toward the assembly hole 63. The end effector 52 continues to move until the pin 61 held by the three-jaw cylinder gripper 55 is placed into the assembly hole 63. At the assembly hole 63, the position of the three-jaw cylinder jaws 55 is adjusted using a three-dimensional torque sensor to ensure that the pin 61 held by the three-jaw cylinder jaws 55 corresponds to the position of the assembly hole 63 of the graphite connector 6. The jaws 55-1 are released, and the extension cylinder 57 pushes the push rod 57-1 into the assembly hole 63. It should be noted that the three-dimensional torque sensor on the three-jaw cylinder jaws 55 ensures that the pin 61 is placed inside the assembly hole 63. The controller controls the six-axis robotic arm 51 to rotate the end effector 52, causing one side of the end effector 52 to... The servo gripper 56 moves toward the assembly hole 63 and continues to move the end effector 52 until the snap ring 62, which is engaged with the snap pin, is placed into the assembly hole 63. The controller controls the servo gripper 56 to separate the two snap pins. The snap ring 62, which is in a retracted state, returns to its original state and slides off the snap pin and engages with the inside of the assembly hole 63. The controller controls the six-axis robotic arm 51 to move the end effector 52 away from the graphite connector 6, and the robotic arm removes the assembled graphite connector 6 from the positioning turntable 23. Repeating the above process completes the automated assembly of the graphite connector 6.

[0061] Finally, it should be noted that the above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Although the present utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. An automatic assembly device for graphite joints, comprising a worktable, characterized in that, The aforementioned automatic graphite joint assembly device further includes: The clamping and positioning assembly includes a clamping screw disposed on one side of the upper surface of the worktable. The clamping screw is a bidirectional screw. One end of the clamping screw is connected to a clamping motor. A positioning turntable driven by a turntable motor is disposed at the middle position of the clamping screw. Two clamping blocks are threadedly connected to the clamping screw. The two clamping blocks are symmetrically disposed on both sides of the positioning turntable. A pin feeding assembly is mounted on the upper surface of the workbench via a connecting frame, and is located on one side of the clamping and positioning assembly. The pin feeding assembly includes a packaging box and a first mounting frame. The packaging box is mounted on the workbench via the connecting frame. The first mounting frame is located at the bottom of the packaging box. A first receiving screw is connected to the first mounting frame. A first motor is connected to the end of the first receiving screw. A pin receiving slider is threaded onto the first receiving screw. The lower surface of the pin receiving slider is slidably connected to the first mounting frame. The pin receiving slider is provided with an overlapping arc groove. A pin moving plate is provided on one side of the pin receiving slider. The upper surface of the pin moving plate is slidably connected to the bottom end of the packaging box. A snap ring feeding assembly is provided on one side of the pin feeding assembly. The snap ring feeding assembly includes a snap ring support frame and a second mounting frame mounted on the upper surface of the workbench. A snap ring is placed on the snap ring support frame. The second mounting frame is provided on one side of the snap ring support frame. A second receiving screw is connected to the second mounting frame. A second motor is connected to the end of the second receiving screw. A snap ring receiving slider is threadedly connected to the second receiving screw. The bottom of the snap ring receiving slider is slidably connected to the second mounting frame. The top of the snap ring receiving slider is slidably connected to the bottom end of the snap ring support frame. The assembly assembly is located on one side of the clamping and positioning assembly. The assembly assembly includes a six-axis robotic arm mounted on the worktable. The end of the six-axis robotic arm is equipped with an end effector. The end effector is equipped with a positioning camera. A three-jaw cylinder gripper is provided on one side of the end effector. A set of pins driven by servo grippers is provided on the other side of the end effector. The controller controls the operation of the turntable motor, clamping motor, first motor, second motor, six-axis robotic arm, positioning camera, three-jaw cylinder gripper, and servo gripper.

2. The automatic assembly device for graphite joints according to claim 1, characterized in that, The automatic assembly device for graphite joints also has a handling robotic arm that grips the graphite joints. The handling robotic arm is equipped with a vision camera and is connected to a controller. The controller controls the handling robotic arm to place the graphite joints on the positioning turntable.

3. The automatic assembly device for graphite joints according to claim 2, characterized in that, Guide rails are provided on both sides of the clamping screw, and the two guide rails are located at the bottom of the two clamping blocks. The two clamping blocks are slidably connected to the two guide rails at their bottom. A clamping plate is symmetrically provided at one end of each clamping block, and the included angle between the two clamping plates at the end of the same clamping block matches the side wall of the graphite joint.

4. The automatic assembly device for graphite joints according to claim 1, characterized in that, The packaging box consists of side panels, and the interior of the packaging box is provided with several partitions, which divide the internal space of the packaging box into several pin feeding sections.

5. The automatic assembly device for graphite joints according to claim 4, characterized in that, A photoelectric sensor is provided on one side of the overlapping arc groove, and the photoelectric sensor is connected to the controller; the diameter of the overlapping arc groove is the same as the diameter of the pin, and the width of the overlapping arc groove is less than the length of the pin.

6. The automatic assembly device for graphite joints according to claim 5, characterized in that, Two pin feeding assemblies are provided, and both pin feeding assemblies are mounted on the workbench via a connecting frame. The two pin feeding assemblies are respectively located on both sides of the connecting frame, and the positions of the two pin feeding assemblies are staggered, that is, the ends of the first receiving screws in the two pin feeding assemblies are not in the same plane.

7. The automatic assembly device for graphite joints according to claim 1, characterized in that, The snap ring support frame includes a vertical part and a horizontal part. One end of the vertical part is connected to the worktable, and the horizontal part is located in the middle of the vertical part. One end of the horizontal part extends vertically to form a snap ring feeding part. A pressure block is slidably connected to the snap ring feeding part. A snap ring is sleeved on the outside of the snap ring feeding part. The bottom end of the snap ring feeding part is slidably connected to the bottom end of the snap ring receiving slider. A receiving ring groove is formed on one end of the upper surface of the snap ring receiving slider. The diameter of the receiving ring groove is larger than the diameter of the snap ring.

8. The automatic assembly device for graphite joints according to claim 7, characterized in that, Two snap ring feeding assemblies are provided, and the two snap ring feeding assemblies are symmetrically arranged on the worktable.

9. The automatic assembly device for graphite joints according to claim 8, characterized in that, A three-dimensional torque sensor is provided on the three-jaw cylinder gripper, and the three-dimensional torque sensor is connected to the controller. A push cylinder is provided on one side of the three-jaw cylinder gripper. The push cylinder is installed on the side wall of the end effector and is connected to the controller. A push rod is connected to the output end of the push cylinder, and one end of the push rod extends to the middle of the gripper of the three-jaw cylinder gripper.

10. The automatic assembly device for graphite joints according to claim 9, characterized in that, A laser rangefinder is provided on one side of the end effector, and the laser rangefinder is connected to the controller.

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