Automatic assembly line for coil spring

Abstract

The utility model provides an automatic assembly line for coil springs, which comprises a pair of feeding devices, a pair of clamping devices, a pair of clamping devices, a pair of clamping devices, a pair of clamping devices and a pair of clamping devices, and is characterized in that ratchet springs are placed in one feeding device, and pawl springs are placed in the other feeding device; the flexible vibration device corresponds to the feeding device and is located below the feeding device; the visual identification device is arranged corresponding to the flexible vibration device and is positioned above the flexible vibration device; the utility model discloses a coil spring grabbing device and a positioning tool plate. According to the utility model, automatic installation of different types of coil springs can be realized.

Description

TECHNICAL FIELD

[0001] The utility model belongs to disc spring automatic assembly technical field especially relates to a disc spring automatic assembly line. BACKGROUND

[0002] Disc spring is a kind of elastic element commonly used in mechanical equipment, has good buffering and shock absorbing performance.

[0003] However, the traditional disc spring assembly process mainly relies on manual operation, there is low efficiency, labor intensity, assembly precision is not high and so on.Problems. With the development of industrial automation, it is urgent to need a kind of efficient, stable disc spring automatic assembly equipment and process to improve production efficiency and assembly quality.

[0004] Therefore, it is necessary to provide a kind of disc spring equipment automatic assembly and process, can efficiently, reliably automatically assemble disc spring, and save labor cost. SUMMARY

[0005] The utility model discloses a kind of disc spring automatic assembly lines, which can realize the automatic installation of different types of disc springs.The technical scheme adopted is as follows:

[0006] A kind of disc spring automatic assembly line, comprising:

[0007] A pair of feeding devices 10, one of which is placed in the ratchet spring, and the other feeding device 10 is placed in the pawl spring;

[0008] Flexible vibration device 20, corresponding to feeding device 10 and located below it;

[0009] Visual recognition device 30, corresponding to flexible vibration device 20 and located above it;

[0010] Disc spring grabbing device 40;

[0011] Positioning tool plate 60, which can move along the conveying frame 701, has a third profiling tool plate for receiving disc springs on it.

[0012] Preferably, the feeding device 10 comprises:

[0013] Disc spring feeding bin 101, which is provided with vibrator 105;The output end of the disc spring feeding bin 101 is surrounded by a slope and is open, and the upper end surface is open for disc spring feeding;

[0014] And disc spring blocking piece 102, which is detachably installed at the output end of disc spring feeding bin 101, forms a gap between the bottom of disc spring feeding bin 101 and the disc spring for sliding into flexible vibration device 20.

[0015] Preferably, the flexible vibration device 20 comprises: a hopper 201, which is arranged on the flexible vibrator 205.

[0016] Preferably, the disc spring grabbing device 40 comprises:

[0017] A six-axis robot 402 is arranged on the robot base 401; the output end of the six-axis robot 402 is sequentially arranged with a gripper connecting block 403, a pneumatic gripper connecting block 404 and a first pneumatic cylinder assembly 405.

[0018] The two output ends of the first pneumatic cylinder assembly 405 are respectively connected with one gripper spring finger 406, and a hook block 408 is arranged on the gripper spring finger 406.

[0019] Preferably, further comprising a disc spring positioning device 50, the disc spring positioning device 50 comprises:

[0020] A vertical plate 501 is arranged on the conveying frame 701 of the disc spring transfer tooling 70.

[0021] A second pneumatic cylinder assembly 502 is fixed on the vertical plate 501, and the output shaft of the second pneumatic cylinder assembly 502 extends horizontally along the Y direction and penetrates through the vertical plate 501, and the second pneumatic cylinder assembly 502 is arranged opposite to the positioning tooling plate 60.

[0022] A pressing plate 503 is fixed on the vertical plate 501, and the pressing plate 503 is located above the positioning tooling plate 60, and a recess is formed in the pressing plate 503 to accommodate the jacked third profiling tooling plate, and the third profiling tooling plate is arranged on the positioning tooling plate 60.

[0023] Compared with the prior art, the disc spring automatic assembly device has the following advantages:

[0024] Different types of disc springs are assembled. First, the disc spring is fed to the flexible vibration disc through the feeding hopper, then the visual system accurately identifies and positions the posture and position of the disc spring, then the mechanical arm accurately grabs, detects the position of the ratchet spring, and finally accurately places different types of disc springs, thereby constructing a disc spring automatic assembly process with high efficiency, high quality guarantee and low cost. The technology provides an effective way to improve production efficiency and ensure product quality consistency. BRIEF DESCRIPTION OF DRAWINGS

[0025] Figure 1 It is a schematic view of a feeding device;

[0026] Figure 2 It is a schematic view of a flexible vibration device;

[0027] Figure 3 It is a schematic view of a visual identification device;

[0028] Figure 4 It is a schematic view of a disc spring grabbing device;

[0029] Figure 5 Structure diagram of disc spring positioning device;

[0030] Figure 6 Structure diagram of positioning tool plate device;

[0031] Figure 7 Structure diagram of disc spring transfer tool;

[0032] Figure 8 Structure diagram of disc spring after installation;

[0033] Figure 9 Schematic diagram of pawl and ratchet placement;

[0034] Figure 10 Schematic diagram of pawl rivet and ratchet rivet after riveting;

[0035] Figure 11 End structure diagram of disc spring grabbing device;

[0036] Figure 12 Structure diagram of disc spring automatic assembly line.

[0037] Among them, 10, feeding device; 101, disc spring feeding bin; 102, disc spring blocking piece; 103, vibrator control assembly; 104, vibrator cushion block; 105, vibrator;

[0038] 20, flexible vibration device; 201, hopper; 202, standing disc spring; 203, flexible vibrator control assembly; 204, flexible vibration disc foot pad; 205, flexible vibrator;

[0039] 30, visual recognition device; 301, camera mounting welded frame; 302, camera mounting plate; 303, camera connecting block; 304, high-precision camera; 305, camera connecting plate;

[0040] 40, disc spring grabbing device; 401, robot base; 402, six-axis robot; 403, clamping jaw connecting block; 404, air claw connecting block; 405, No. 1 air cylinder assembly; 406, clamping jaw spring finger; 407, clamped disc spring; 408, hook block;

[0041] 50, disc spring positioning device; 501, vertical plate; 502, No. 2 air cylinder assembly; 503, pressing plate;

[0042] 60, positioning tool plate; 601, tool plate body; 602, L-shaped positioning piece; 603, ratchet spring; 604, pawl spring; 605, base plate; 606, first profiling tool plate;

[0043] 70, disc spring transfer tool; 701, conveying frame; 702, conveying belt; 703, transferred workpiece;

[0044] 80, pawl, 801, ratchet wheel;

[0045] 90, riveted pawl rivet; 91, riveted ratchet wheel rivet; 92, lock block assembly. DETAILED DESCRIPTION

[0046] The disc spring automatic assembly line of the present application will be described in more detail below with reference to the accompanying drawings, in which the preferred embodiments of the present application are shown, it should be understood that those skilled in the art can modify the present application described herein while still achieving the advantageous effects of the present application. Therefore, the following description should be understood as a broad knowledge to those skilled in the art, rather than as a limitation to the present application.

[0047] As shown in Figures 1-12 , the disc spring automatic assembly line comprises:

[0048] A pair of feeding devices 10, one of which is placed with ratchet springs and the other of which is placed with pawl springs.

[0049] In this embodiment, "disc spring" refers to ratchet spring or pawl spring.

[0050] The feeding device 10, as shown in Figure 1 , comprises:

[0051] A disc spring feeding bin 101 is responsible for conveying disc springs from a storage area to an assembly area, which is provided with a vibrator 105, the vibrator 105 is provided on a vibrator control assembly 103 and is signal connected thereto; the bottom of the vibrator control assembly 103 is provided with a vibrator pad 104, and the vibrator pad 104 is provided on a rack. The vibrator 105 is of HPS-LV0-5L-G2-M type.

[0052] The output end of the disc spring feeding bin 101 is surrounded by a slope and is open, and the upper end surface is open for disc spring feeding.

[0053] A disc spring blocking piece 102 is used to temporarily block the disc spring for on-demand release, which is detachably mounted on the output end of the disc spring feeding bin 101, and forms a gap between the bottom of the disc spring feeding bin 101 and the disc spring blocking piece 102 for the disc spring to slide into the flexible vibration device 20, the gap is adjustable to change the feeding quantity.

[0054] Specifically, the disc spring blocking piece 102 comprises a first surface, a second surface and a third surface connected in sequence, the first surface and the third surface are connected with the disc spring feeding bin 101 through bolts and nuts, and mounting grooves adapted to the bolts are formed on the disc spring feeding bin 101.

[0055] Working principle of the feeding device 10:

[0056] Through the vibration of the bottom vibrator 105, the pawl spring and the ratchet spring are slid into the corresponding flexible vibration device 20, completing the automatic feeding process and ensuring the orderliness of the feeding process.

[0057] The flexible vibration device 20 is arranged correspondingly to the feeding device 10, as shown in Figure 2 , and includes:

[0058] The hopper 201 is arranged on the flexible vibrator 205, which is arranged on the flexible vibrator control assembly 203 and is signal-connected thereto. The bottom of the flexible vibrator control assembly 203 is provided with a flexible vibration disc foot pad 204. The flexible vibration disc foot pad 204 is arranged on the rack.

[0059] The flexible vibrator 205 is of a U35 model.

[0060] Working principle of the flexible vibration device 20:

[0061] Through the vibration of the flexible vibrator 205, the disc spring is dispersed in the hopper 201 and adjusted to a suitable pose. The standing disc spring 202 refers to the disc spring in a suitable position, which is in a standing position. The standing position refers to the end of the disc spring in contact with the hopper 201. The standing position refers to the pose formed by the tangency of the circumferential surface of the disc spring to the hopper 201.

[0062] The hopper 201 is used for temporarily storing the disc springs to be assembled; the standing disc spring 202 is the key object in the assembly process.

[0063] The flexible vibrator control assembly 203 is responsible for adjusting the vibration frequency and intensity of the vibrator to adapt to disc springs of different sizes and shapes.

[0064] Suppose there are about 100 disc springs in the hopper, and 20 disc springs are in a disordered pose. The pose is adjusted by vibration. If the number of standing disc springs does not meet the requirements, the vibration continues. If the number of disc springs in the hopper 201 is insufficient, the feeding device 10 is used for replenishment.

[0065] Among them, the feeding device 10 is always vibrating when working, while the flexible vibration device 20 is vibrating intermittently. It vibrates once, and then vibrates again after the six-axis robot clamps.

[0066] The visual recognition device 30 is arranged correspondingly to the flexible vibration device 20 and located above it.

[0067] As shown in Figure 3 , the visual recognition device 30 includes:

[0068] High-precision camera 304, connected to the control unit, is arranged on the camera connecting plate 305;

[0069] The camera connecting plate 305, the camera connecting block 303, and the camera mounting plate 302 are connected in sequence, and the camera mounting plate 302 is clamped on the camera mounting welding frame 301.

[0070] The camera mounting welding frame 301 is arranged on the rack.

[0071] Working principle of visual recognition device 30:

[0072] The high-precision camera 304 is used to capture the image of the disc spring and analyze the position and posture of the disc spring through the image processing unit.

[0073] The camera mounting welding frame 301 provides stable support for the camera;

[0074] The camera mounting plate 302 is used to fix the camera and allow fine adjustment of the position to obtain the best viewing angle;

[0075] The camera connecting block 303 is used to connect the camera and the data transmission line to ensure accurate transmission of image data.

[0076] After each vibration of the flexible vibrator 205 on the disc spring ends, the high-precision camera will identify the posture of the disc spring, position the disc spring in the required position (standing position), and transmit it to the six-axis mechanical arm (disc spring grabbing device 40 for precise grabbing. If there is no disc spring in the required position in the flexible vibration disc (material bin 201), the disc spring controller will continue to vibrate until the required disc spring position appears.

[0077] The disc spring grabbing device 40, as shown in Figure 4 , includes:

[0078] The six-axis robot 402 is arranged on the robot base 401; the output end of the six-axis robot 402 is rotatable, and the output end is connected in sequence to the gripper connecting block 403, the air gripper connecting block 404, and the first air cylinder assembly 405.

[0079] The two output ends of the first air cylinder assembly 405 are respectively connected to one gripper spring finger 406, and the gripper spring finger 406 is provided with a hook block 408.

[0080] As shown in Figure 11 , between the two hook blocks 408, there is a clamping position disc spring 407.

[0081] Each disc spring grabbing device 40 is responsible for installing the ratchet spring and the pawl spring.

[0082] Working principle of disc spring grabbing device 40:

[0083] Under the driving of the six-axis robot arm 402, the pawl spring and the ratchet spring meeting the pose requirements after visual recognition are accurately clamped by the clamping mechanism installed on the robot arm, and a transfer action is performed.

[0084] The device can automatically adjust the clamping force according to the material, size and shape of the disc spring, avoid damage to the disc spring, and has displacement and rotation functions, ensuring that the clamped and rotated ratchet spring and pawl spring can be accurately placed in the predetermined position.

[0085] The disc spring positioning device 50 is arranged on the conveying frame 701 of the disc spring transfer tool 70 and located above the third profiling tool plate of the positioning tool plate 60, as shown in Figure 7 The disc spring positioning device 50 is arranged on the conveying frame 701 of the disc spring transfer tool 70 and located above the third profiling tool plate of the positioning tool plate 60, as shown in Figure 7 The disc spring positioning device 50 is arranged on the conveying frame 701 of the disc spring transfer tool 70 and located above the third profiling tool plate of the positioning tool plate 60, as shown in Figure 6 The disc spring positioning device 50 is arranged on the conveying frame 701 of the disc spring transfer tool 70 and located above the third profiling tool plate of the positioning tool plate 60, as shown in

[0086] The disc spring positioning device 50, as shown in Figure 5 The disc spring positioning device 50, as shown in

[0087] The vertical plate 501 is arranged on the conveying frame 701 of the disc spring transfer tool 70, and a reinforcing rib is arranged thereon.

[0088] The second cylinder assembly 502 is fixed to the vertical plate 501, and the output shaft thereof extends horizontally along the Y direction and penetrates through the vertical plate 501, and is arranged opposite to the positioning tool plate 60.

[0089] The pressing plate 503 is fixed to the vertical plate 501 and located above the positioning tool plate 60, and a groove is formed in the pressing plate 503 to accommodate the third profiling tool plate on the jacked positioning tool plate 60, and the pressing plate 503 limits the third profiling tool plate in the X direction.

[0090] In the present embodiment, the X direction refers to the moving direction of the positioning tool plate 60 on the disc spring transfer tool 70.

[0091] Working principle of the disc spring positioning device 50:

[0092] The disc spring positioning device 50 corrects the pose of the ratchet spring 603 grabbed by the six-axis robot and installs it. Since the ratchet spring 603 is to be screwed into the housing, the disc spring grabbed by the six-axis robot through the recognition device cannot meet the assembly position requirements, and the six-axis robot needs to insert one end of the ratchet spring 603 into the hole of the housing, and then screw the ratchet spring 603 in a small range, so that the other end of the ratchet spring 603 is embedded into the mounting groove of the housing, as shown in Figure 8

[0093] ​Therefore, to prevent the third contouring tooling plate from changing position due to the twisting action, a coil spring positioning device 50 is needed to limit the position of the third contouring tooling plate. Specifically, the third contouring tooling plate is positioned by the receiving groove of the clamping plate 503 and the second cylinder assembly 502, so that the ratchet spring 603 can be accurately coiled and installed.

[0094] When the positioning fixture plate 60 moves to below the disc spring positioning device 50, it is lifted to below the pressure plate 503 under the action of the lifting mechanism. At this time, the third contouring fixture plate is located in the groove of the pressure plate 503.

[0095] The lifting mechanism is located below the disc spring positioning device 50 and is installed on the conveyor frame 701.

[0096] Positioning tooling plate 60, such as Figure 6 As shown, it includes:

[0097] The tooling plate body 601 is provided with a first contouring tooling plate 606, a second contouring tooling plate, and a third contouring tooling plate. The substrate 605 is positioned by the first contouring tooling plate.

[0098] Ratchet spring 603 and pawl spring 604 are installed on the riveted ratchet rivet 91 and the riveted pawl rivet 90.

[0099] Specifically, the positioning fixture plate 60 can move with the disc spring transfer fixture 70, and includes:

[0100] The tooling plate body 601 is provided with a first contour tooling plate, a second contour tooling plate and a third contour tooling plate.

[0101] The first contouring tooling plate 606 is used to position the base plate 605. Among them, the L-shaped positioning member 602 is used to position the base plate 605.

[0102] The second contouring fixture plate is used to install the ratchet 801 and the pawl 80, and to place the flipped base plate, ratchet, and pawl through... Figure 9 The pawl rivets and ratchet rivets are riveted together to form the locking block assembly 92, such as Figures 9-10 As shown;

[0103] After riveting, the pawl rivet and the ratchet rivet form the riveted pawl rivet 90 and the riveted ratchet rivet 91, respectively.

[0104] The third profile tooling plate is used to install the housing, followed by the installation of the ratchet stop screw, ratchet spring, and pawl spring, such as... Figure 8 As shown.

[0105] Disc spring transfer fixture 70, such as Figure 7 As shown, it includes:

[0106] A conveying frame 701, a conveying belt 702 and a workpiece 703.

[0107] The disc spring transfer tool 70 transfers the qualified disc spring to the next station through the transfer tool, so as to realize the continuity and automation of the assembly process.

[0108] The above is only the preferred embodiment of the present application, and does not limit the present application in any way. Any person skilled in the art, without departing from the scope of the technical scheme of the present application, makes any form of equivalent replacement or modification of the technical scheme and technical content disclosed in the present application, and belongs to the content of the technical scheme of the present application, still belongs to the protection scope of the present application.

Claims

1. A disc spring automatic assembly line characterized by comprising: The utility model relates to a disc spring loading device, which comprises: a pair of loading devices (10), one of which is provided with a ratchet spring and the other of which is provided with a pawl spring; a flexible vibrating device (20) corresponding to the loading devices (10) and located below the loading devices (10); a visual recognition device (30) corresponding to the flexible vibrating device (20) and located above the flexible vibrating device (20); a disc spring grabbing device (40); a positioning tool plate (60) provided with a third profiling tool plate for receiving a disc spring.

2. The disc spring automatic assembly line according to claim 1, characterized by The loading device (10) comprises: a disc spring loading bin (101) provided with a vibrator (105); the output end of the disc spring loading bin (101) is surrounded by a slope and is open, and the upper end surface thereof is open for disc spring loading; and a disc spring blocking piece (102) detachably mounted on the output end of the disc spring loading bin (101), which forms a gap between the disc spring loading bin (101) and the bottom of the disc spring loading bin (101) for the disc spring to slide into the flexible vibrating device (20).

3. The disc spring automatic assembly line according to claim 1, characterized by The flexible vibrating device (20) comprises:

4. The disc spring automatic assembly line according to claim 1, wherein a bin (201) provided with a flexible vibrator (205). The disc spring grabbing device (40) comprises: a six-axis robot (402) provided with a robot base (401); the output end of the six-axis robot (402) is provided with a gripper connecting block (403), an air gripper connecting block (404), and a first air cylinder assembly (405) in sequence.

5. The disc spring automatic assembly line according to claim 1, wherein The two output ends of the first air cylinder assembly (405) are respectively connected to a gripper spring finger (406), and the gripper spring finger (406) is provided with a hook block (408). Further comprising a disc spring positioning device (50), the disc spring positioning device (50) comprises: a vertical plate (501) provided with a conveying frame (701) of a disc spring transfer tool (70); a second air cylinder assembly (502) fixed to the vertical plate (501), the output shaft of which extends horizontally along the Y direction and penetrates through the vertical plate (501), and the second air cylinder assembly (502) is arranged opposite to the positioning tool plate (60); a pressing plate (503) fixed to the vertical plate (501) and located above the positioning tool plate (60), and the pressing plate (503) is provided with a groove for accommodating the third profiling tool plate after being lifted.

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