Inner cylinder assembling mechanism

Abstract

The utility model relates to the technical field of cylinder assembling, and particularly discloses an inner cylinder assembling mechanism which comprises a bearing mechanism for bearing an external outer cylinder, and a cylinder assembling manipulator movably arranged relative to the bearing mechanism, the barrel loading manipulator comprises a movable mechanical arm, a first clamping jaw arranged at the tail end of the movable mechanical arm and a first driving part used for driving the first clamping jaw to rotate, the first clamping jaw is used for picking up an external inner barrel, and the first driving part is used for driving the first clamping jaw to rotate relative to an external outer barrel borne by the bearing mechanism; and the first clamping jaw picks up an external inner barrel under the action of the movable mechanical arm and the first driving piece, so that the external inner barrel is inserted into an external outer barrel borne by the bearing mechanism in a rotating state.

Description

TECHNICAL FIELD

[0001] The utility model relates to cylinder assembly technical field especially discloses an inner cylinder assembly mechanism. BACKGROUND

[0002] With the rapid development of automation technology, the requirement of mechanical assembly precision and efficiency in industrial production is higher and higher. The traditional inner cylinder assembly process depends on manual operation or simple mechanical equipment, and the production efficiency is low, and human error is prone to occur in the operation process. Especially in the matching assembly process of the inner cylinder and the outer cylinder, a plurality of processes are involved, such as material handling, accurate positioning and insertion of the inner cylinder, and glue application, manual operation cannot meet the requirements of high efficiency and accuracy. Therefore, developing an efficient, automated and accurate inner cylinder assembly mechanism has become the key to improving production efficiency and reducing error. SUMMARY

[0003] In order to overcome the shortcomings and deficiencies in the prior art, the purpose of the utility model is to provide an inner cylinder assembly mechanism to solve the above technical problems.

[0004] In order to achieve the above purpose, the utility model relates to an inner cylinder assembly mechanism, which comprises a bearing mechanism for bearing an outer cylinder, a cylinder mounting mechanical hand movably arranged relative to the bearing mechanism, the cylinder mounting mechanical hand comprising a movable mechanical arm, a first clamping jaw arranged at the end of the movable mechanical arm, and a first driving member for driving the first clamping jaw to rotate, the first clamping jaw being used for picking up the inner cylinder from the outside, and the first driving member being used for driving the first clamping jaw to rotate relative to the outer cylinder bearing mechanism, the first clamping jaw picking up the inner cylinder from the outside and inserting it into the outer cylinder bearing mechanism in a rotating state.

[0005] Further, the movable mechanical arm comprises a first horizontal movement module arranged to move back and forth along a first direction, a first lifting module arranged at the output end of the first horizontal movement module and moving back and forth along a second direction, and the first clamping jaw is arranged at the output end of the first lifting module.

[0006] Further, the inner cylinder assembly mechanism further comprises an inner cylinder conveying line cooperatively arranged with the bearing mechanism, the inner cylinder conveying line comprising a first support arranged on one side of the bearing mechanism, a gear and tooth belt assembly arranged on the first support, a second driving member connected with the gear and tooth belt assembly, and a feeding belt rotatably arranged on the first support and cooperatively driven with the gear and tooth belt assembly, the feeding belt being used for bearing the inner cylinder from the outside and moving it to the side of the bearing mechanism for cooperation with the cylinder mounting mechanical hand under the action of the second driving member.

[0007] Further, the inner cylinder assembling mechanism further comprises a rack, and the bearing mechanism is arranged on the rack; the first horizontal movement module comprises a first sliding rail arranged on the rack, a first sliding table arranged on the first sliding rail in a reciprocating manner, and a first motor connected with the first sliding table; the first lifting module is arranged in a cross manner relative to the first horizontal movement module and has the same structure as the first horizontal movement module.

[0008] Further, the first clamping jaw comprises a second driving member arranged at the output end of the first driving member and two clamping hands arranged at the output end of the second driving member; the second driving member is used to drive the two clamping hands to move close to or away from each other to perform the taking and placing action on the outer cylinder.

[0009] Further, the inner walls of the two clamping hands are respectively provided with a first guide surface and a second guide surface; the first guide surfaces of the two clamping hands are arranged in a surrounding manner to form a conical surface; the second guide surfaces of the two clamping hands are arranged in an inclined manner relative to the conical surface; and the conical surface is arranged at the middle part of the clamping hands and is arranged in a symmetrical manner along the symmetry axis of the clamping hands.

[0010] Further, the inner cylinder assembling mechanism further comprises a glue applying assembly, which comprises a glue injection valve in communication with the glue outside and a glue injection nozzle in communication with the output port of the glue injection valve; the glue injection valve is used to drive the glue injection nozzle to set the glue outside on the inner wall of the outer cylinder or the outer wall of the inner cylinder located on the bearing mechanism; the glue applying assembly comprises a second horizontal movement module and a second lifting module arranged in a cross manner relative to the second horizontal movement module; the second horizontal movement module comprises a second sliding rail, a second sliding table arranged on the second sliding rail in a reciprocating manner, and a second motor connected with the second sliding table; the second lifting module has the same structure as the second horizontal movement module; and the glue injection nozzle is arranged at the output end of the second lifting module.

[0011] Further, the bearing mechanism is provided with a clamping and rotating assembly used in cooperation with the glue applying assembly; the clamping and rotating assembly comprises a third driving member, two driving wheels arranged at the output end of the third driving member, and two driven wheels arranged in a symmetrical manner relative to the two driving wheels; the driving wheels and the driven wheels form a containing space for containing the outer cylinder outside; the outer periphery of the driving wheels and the driven wheels is used to abut against the outer periphery of the outer cylinder; and the third driving member is used to drive the driving wheels to rotate to rotate the outer cylinder located in the containing space.

[0012] Further, the inner cylinder assembly mechanism further comprises a material placing area arranged on one side of the bearing mechanism and a detection assembly arranged in cooperation with the material placing area, the material placing area is used for bearing the outer cylinder, the detection assembly comprises a second support, a light supplement source arranged on the second support and a first camera unit arranged on the second support and used in cooperation with the light supplement source; the inner cylinder assembly mechanism further comprises a master control module, the master control module is electrically connected with the cylinder assembling manipulator and the first camera unit, the first camera unit is used for shooting the image of the inner cylinder on the material placing area and uploading the image to the master control module, the master control module detects and analyzes the image and controls the cylinder assembling manipulator to pick up the inner cylinder on the material placing area to perform the cylinder assembling action.

[0013] Further, the inner cylinder assembly mechanism further comprises a cylinder pressing assembly used in cooperation with the cylinder assembling manipulator, the cylinder pressing assembly comprises a third lifting module, a pressing rod arranged at the output end of the third lifting module and a pressing piece arranged at the tail end of the pressing rod, the third lifting module comprises a third sliding rail, a third sliding block arranged on the third sliding rail in a reciprocating mode and a third motor connected with the third sliding block, the pressing piece at least partially covers the bottom or the top of the outer cylinder, and the cylinder pressing assembly is used for pressing the inner cylinder processed by the cylinder assembling manipulator to tightly cooperate with the outer cylinder.

[0014] Further, the inner cylinder assembly mechanism further comprises a first limiting plate arranged on the bearing mechanism, a second limiting plate arranged in a reciprocating mode relative to the first limiting plate and a fourth driving piece connected with the second limiting plate, the first limiting plate and the second limiting plate are used for limiting the outer cylinder from the outside on the bearing mechanism, and the fourth driving piece is used for driving the second limiting plate to approach or move away from the first limiting plate to adjust the distance between the first limiting plate and the second limiting plate to adapt to outer cylinders of different sizes.

[0015] The inner cylinder assembly mechanism of the utility model realizes efficient assembly of the inner cylinder and the outer cylinder through a plurality of modules working in cooperation. First, the bearing mechanism is used for bearing the outer cylinder, and cooperates with the cylinder assembling manipulator to complete the operation of carrying the outer cylinder, picking and placing the inner cylinder and rotating assembly. The cylinder assembling manipulator realizes accurate inner cylinder picking and rotating placement through the first transverse movement module, the first lifting module, the first driving piece and the first clamping jaw. The inner cylinder conveying line and the gluing assembly cooperate with the bearing mechanism to ensure smooth conveying of the inner cylinder and gluing at the correct position, thereby ensuring smooth assembly. The material placing area and the detection assembly combine the master control module to realize accurate butt joint of the inner cylinder and the outer cylinder. The use of the cylinder pressing assembly and the limiting plate further improves the stability and precision in the assembly process.

[0016] The utility model discloses an inner tube assembly mechanism, which comprises a frame, a plurality of inner tube assembly mechanisms, a plurality of outer tube assembly mechanisms, a plurality of rotating glue coating mechanisms, a plurality of rotating pressing mechanisms, a plurality of adjustable limiting mechanisms and a plurality of clamping rotating mechanisms. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1 It is the whole structure schematic diagram of the inner tube assembly mechanism of the utility model;

[0018] Figure 2 It is the structure schematic diagram of the inner tube assembly mechanism of the utility model after removing the frame;

[0019] Figure 3 It is the structure schematic diagram of the inner tube assembly mechanism of the utility model after removing the frame;

[0020] Figure 4 It is the structure schematic diagram of the first clamping jaw of the utility model;

[0021] Figure 5 It is the structure schematic diagram of the glue coating component of the utility model;

[0022] Figure 6 It is the structure schematic diagram of the clamping rotating component of the utility model;

[0023] Figure 7 It is the structure schematic diagram of the inner tube conveying line of the utility model;

[0024] Figure 8 It is the structure schematic diagram of the bearing mechanism of the utility model;

[0025] Figure 9 It is the structure schematic diagram of the cylinder pressing component of the utility model.

[0026] The reference signs include:

[0027] 1, bearing mechanism; 100, rack; 200, main control module; 2, cartridge manipulator; 3, inner cylinder conveying line; 4, gluing assembly; 5, clamping and rotating assembly; 6, detection assembly; 7, cylinder pressing assembly; 9, transfer conveying line; 11, fourth sliding rail; 12, bearing plate; 13, fifth driving member; 20, movable mechanical arm; 21, first horizontal movement module; 211, first sliding rail; 212, first sliding table; 213, first motor; 22, first lifting module; 23, first driving member; 24, first clamping jaw; 241, second driving member; 242, clamping hand; 2421, first guide surface; 2422, second guide surface; 31, first support; 32, gear and belt assembly; 33, servo motor; 34, feeding belt; 41, liquid injection valve; 42, liquid injection nozzle; 43, second horizontal movement module; 431, second sliding rail; 432, second sliding table; 433, second motor; 44, second lifting module; 51, third driving member; 511, synchronous belt; 52, driving wheel; 53, driven wheel; 61, second support; 62, light supplement source; 63, first camera unit; 71, third lifting module; 711, third sliding rail; 712, third sliding block; 713, third motor; 72, pressing rod; 73, pressing member; 81, first limiting plate; 82, fourth driving member; 83, second limiting plate. DETAILED DESCRIPTION

[0028] In order to facilitate the understanding of those skilled in the art, the present application will be further described below in conjunction with the embodiments and drawings. The content mentioned in the embodiments is not a limitation of the present application.

[0029] Please refer to Figures 1 to 9 As shown in the drawings, the present application provides an inner cylinder assembling mechanism, which mainly comprises a bearing mechanism 1 and a cartridge manipulator 2 movably arranged on one side of the bearing mechanism 1. The bearing mechanism 1 is used for bearing an outer cylinder provided from outside, and the cartridge manipulator 2 is used for accurately inserting an inner cylinder into the outer cylinder.

[0030] The cartridge manipulator 2 is composed of a movable mechanical arm 20 and a first clamping jaw 24. The movable mechanical arm 20 comprises a first horizontal movement module 21 reciprocally moving along a first direction (horizontal Y-axis direction) and a first lifting module 22 reciprocally moving along a second direction (vertical Z-axis direction). The first clamping jaw 24 is arranged at the output end of the first lifting module 22. The first horizontal movement module 21 (linear module in this embodiment) is installed on the rack 100, and its output end is connected to the first lifting module 22 (which has the same structure as the first horizontal movement module 21 and has a shorter stroke), forming a cartridge manipulator 2 structure capable of moving in multiple degrees of freedom. The first clamping jaw 24 is connected to the output end of the first lifting module 22 and is driven by the first driving member 23 (400W servo motor) so as to be able to rotate.

[0031] The first driving member 23 can drive the first clamping jaw 24 to rotate around its axis, so that the clamped inner cylinder remains in a rotating state when being inserted into the outer cylinder. This rotating insertion force can effectively reduce the friction resistance between the glue and the inner wall of the outer cylinder, improve the assembly precision, and ensure the smooth insertion of the inner cylinder into the outer cylinder.

[0032] The scheme realizes the pickup, rotation and accurate insertion of the inner cylinder into the outer cylinder through the multi-degree-of-freedom motion control of the cylinder mounting mechanical arm 2, and improves the assembly efficiency and stability.

[0033] Specifically, the inner cylinder assembly mechanism further comprises a rack 100, the bearing mechanism 1 is arranged on the rack 100, the first transverse movement module 21 comprises a first sliding rail 211 arranged on the rack 100, a first sliding table 212 arranged on the first sliding rail 211 in a reciprocating manner, and a first motor 213 connected with the first sliding table 212, the first lifting module 22 has the same structure as the first transverse movement module 21, and the first lifting module 22 is arranged transversely relative to the first transverse movement module 21.

[0034] Specifically, the rack 100 of the inner cylinder assembly mechanism is formed by welding high-strength aluminum alloy profiles, the bearing mechanism 1 comprises two fourth sliding rails 11 arranged inside the rack 100, a bearing plate 12 arranged on the fourth sliding rails 11 in a sliding manner, and a fifth driving member 13 (servo motor + gear and belt mechanism) connected with the bearing plate 12. Under the drive of the fifth driving member 13, the bearing plate 12 can reciprocally move along the horizontal X-axis direction to convey the inner cylinder processed in the previous step (such as edge rolling and assembly of the bottom cover).

[0035] Specifically, the inner cylinder assembly mechanism further comprises a first limiting plate 81 arranged on the bearing plate 12 of the bearing mechanism 1, a second limiting plate 83 arranged in a reciprocating manner relative to the first limiting plate 81, and a fourth driving member 82 connected with the second limiting plate 83. In this embodiment, the first limiting plate 81 and the second limiting plate 83 are arranged on the bearing plate 12 in a reciprocating manner along the Y-axis direction through two groups of sliding rail and sliding block modules respectively, and the fourth driving member 82 is provided with two groups. Each group of the fourth driving member 82 comprises a 400W servo motor and a lead screw module, and the output end of one lead screw module is connected with one limiting plate. The first limiting plate 81 and the second limiting plate 83 are close to each other to limit the outer cylinder outside the bearing mechanism 1, and the fourth driving member 82 is used to drive the second limiting plate 83 to be close to or away from the first limiting plate 81 to adjust the distance between the two plates to adapt to outer cylinders of different sizes.

[0036] Specifically, the third driving member 51 and the driving wheel 52 of the clamping and rotating assembly 5 are installed on the first limiting plate 81, and the driven wheel 53 is installed on the second limiting plate 83. This structure design makes the clamping and rotating assembly 5 adapt to outer cylinders of different sizes and improves the compatibility.

[0037] Specifically, the inner cylinder conveying line 3 includes a first support 31 arranged on one side of the bearing mechanism 1, a gear and toothed belt assembly 32, a servo motor 33 and a feeding belt 34, the end of the feeding belt 34 is provided with a stop block, and the inner cylinder is stably conveyed from the feeding belt 34 to the end of the feeding belt 34 which is temporarily stored by the stop block through the transmission of the gear and toothed belt assembly 32. The servo motor 33 drives the gear and toothed belt assembly 32 to ensure the stability and accuracy of the conveying process, and has a speed regulation function to adapt to different production needs. This structure effectively realizes the automatic conveying of the inner cylinder, reduces manual intervention, improves production efficiency and assembly accuracy, and ensures the stability and automation degree of the inner cylinder assembly process.

[0038] Specifically, the material placement area is the inner cylinder conveying line 3, the detection assembly 6 is arranged on one side of the inner cylinder conveying line 3, the detection assembly 6 includes a second support 61, a light supplement source 62 arranged on the second support 61, and a first camera unit 63 (Basler ace 20 million pixel industrial camera, matched with a telecentric lens, field of view 80x60mm) arranged on the second support 61 and cooperated with the light supplement source 62, the light supplement source 62 is arranged around the first camera unit 63; the center axis of the light source and the camera optical axis are at an angle of 45° to eliminate reflection interference; the light supplement source 62 is a ring-shaped LED array (color temperature 6500K, illuminance 1200lux, built-in polarization filter); the inner cylinder assembly mechanism further includes a main control module 200, the main control module 200 is electrically cooperated with the cylinder assembling robot 2 and the first camera unit 63, the first camera unit 63 is used for shooting the image of the inner cylinder on the material placement area and uploading to the main control module 200, the main control module 200 detects and analyzes the image and controls the cylinder assembling robot 2 to pick up the inner cylinder on the material placement area to perform the cylinder assembling action.

[0039] Specifically, the first horizontal movement module 21 is composed of a first sliding rail 211 mounted on the rack 100, a first sliding table 212 reciprocally moving along the sliding rail, and a first motor 213 connected with the sliding table, and the sliding table moves in the horizontal direction by the driving of the motor. The first lifting module 22 which has the same structure as the first horizontal movement module 21 is arranged relatively cross, which can adjust the position in the vertical direction, so as to accurately control the positioning and movement of the inner cylinder of the bearing mechanism 1. The combination of the two realizes the accurate positioning and adjustment of the inner cylinder in the horizontal and vertical directions, so that the cylinder assembling robot 2 can quickly and accurately perform the automatic assembly of the inner cylinder, thereby improving the production efficiency and assembly accuracy.

[0040] Specifically, the first gripper 24 is composed of a second driving member 241 and two gripper hands 242, the second driving member 241 is arranged at the output end of the first driving member 23, and is used to control the action of the gripper hands 242. Specifically, the second driving member 241 drives the two gripper hands 242 to move close to or away from each other, so as to realize the precise pick-and-place action on the outer cylinder. This structure ensures the flexibility and efficiency of the gripper during the assembly process of the inner cylinder, can accurately grasp or release the inner cylinder according to the assembly requirement, and further improves the automation level and working efficiency of the inner cylinder assembly process.

[0041] In this embodiment, the second driving member 241 is a parallel opening and closing type air gripper, which is connected with an air compression device (not shown in the figure). The air gripper contains two pistons inside, each piston is connected with a gripper hand 242 through a roller and a double-crank mechanism, the gripper is connected with the air gripper body through a guide rail, a steel ball sliding rail structure is adopted to reduce the friction resistance, and a special driving unit is formed. When compressed air enters the air gripper, the pistons are pushed to move. Each piston drives the corresponding gripper hand 242 to move in a parallel direction through the roller and the double-crank mechanism. Due to the design of the double-crank mechanism, the two gripper hands 242 always open and close synchronously and concentrically, ensuring that the clamping force is uniform and stable. When the gripper hands 242 are opened, the workpiece is placed between the two gripper hands 242; when the pistons move reversely, the gripper hands 242 are closed to firmly clamp the workpiece.

[0042] In this embodiment, the inner walls of the two gripper hands 242 are designed with a first guide surface 2421 and a second guide surface 2422 to ensure accurate positioning and operation when the gripper hands 242 clamp and release the inner cylinder. Specifically, the first guide surface 2421 of the two gripper hands 242 is arranged in a conical shape, which is located in the middle of the gripper hands 242 and is symmetrically arranged along the symmetry axis of the gripper hands 242. This design enables the gripper hands 242 to guide the inner cylinder to stably enter the clamping area when clamping the inner cylinder through the conical surface. The second guide surface 2422 of the two gripper hands 242 is an inclined surface arranged intersecting with the conical surface. This cross arrangement further improves the clamping accuracy of the gripper hands 242, ensures that the gripper hands 242 can stably and uniformly act on the surface of the inner cylinder when clamping or releasing the inner cylinder, avoids the deviation or damage caused by asymmetric force, and thus improves the overall assembly accuracy and stability.

[0043] Specifically, the material of the gripper hand 242 is carbon fiber reinforced composite material, and the surface is coated with a 1mm thick polyurethane anti-skid layer (Shore hardness 70A). In addition, the design of adapting to different diameter inner cylinders not only can generate self-locking effect to prevent the inner cylinder from falling out during high-speed rotation, but also can eliminate the manual centering step, and the beat time is shortened by 30%.

[0044] Specifically, in the inner cylinder assembly mechanism, the design of the glue application assembly 4 aims to ensure the precise bonding of the inner cylinder and the outer cylinder. The glue application assembly 4 includes a liquid injection valve 41 (which is a piezoelectric ceramic injection valve) in communication with external glue, and a liquid injection nozzle 42 connected to the output port of the liquid injection valve 41 (the liquid injection nozzle 42 is made of stainless steel 316L and is installed at the end of the second lifting module 44 at an angle of 30°). The liquid injection valve 41 controls the liquid injection nozzle 42 to accurately apply external glue to the inner wall of the outer cylinder or the outer wall of the inner cylinder of the carrying mechanism 1. This structure ensures that the glue can be uniformly and accurately applied to the contact surface of the inner and outer cylinders, providing strong bonding support for subsequent assembly and fixation.

[0045] The glue application assembly 4 also includes a second horizontal movement module 43 and a second lifting module 44 arranged transversely thereto, both of which have similar structure and function to other automated conveying and positioning modules. The second horizontal movement module 43 includes a second sliding rail 431, a second sliding table 432 reciprocally arranged on the second sliding rail 431, and a second motor 433 connected thereto, which can provide horizontal movement function; while the second lifting module 44 has the same structure as the second horizontal movement module 43, providing precise adjustment in the vertical direction. The liquid injection nozzle 42 is arranged at the output end of the second lifting module 44, and through the precise control of the module, the liquid injection nozzle 42 can accurately align the position where glue is needed, combined with the up and down movement of the second lifting module 44, so as to realize efficient and accurate glue application on the carrying mechanism 1 (which can be linearly applied, or can be applied by rotating under the action of the clamping and rotating assembly 5).

[0046] Specifically, the design of the clamping and rotating assembly 5 is to ensure that the outer cylinder can rotate accurately during the glue application and assembly process, thereby improving the assembly efficiency and accuracy. The clamping and rotating assembly 5 includes a third driving member 51, two driving wheels 52 arranged at the output end of the third driving member 51, and two driven wheels 53 arranged symmetrically opposite to each other. The driving wheels 52 and the driven wheels 53 form a containing space therebetween, which is used to accommodate and stabilize the outer cylinder. Through this design, the outer periphery of the driving wheels 52 and the driven wheels 53 is in contact with the outer periphery of the outer cylinder, realizing the clamping and rotating of the outer cylinder.

[0047] The third driving member 51 drives the driving wheels 52 to rotate, thereby driving the outer cylinder located in the containing space to rotate. This rotating mechanism can ensure that the outer cylinder rotates uniformly during the assembly process, especially during the glue application process, which can make the glue uniformly applied to the surface of the outer cylinder. In addition, the design of the driving wheels 52 and the driven wheels 53 also ensures the stability of the outer cylinder, and no deviation or uneven phenomenon occurs during rotation, thereby effectively improving the accuracy and reliability of the assembly process.

[0048] In this embodiment, the third driving member 51 clamping the rotating assembly 5 is a brushless servo motor, which drives two driving wheels 52 through a synchronous belt 511. The driving wheels 52 are coated with a polyurethane friction layer on the surface; the driven wheels 53 are free-rotating deep groove ball bearing wheels, which are symmetrically arranged with the driving wheels 52 to form a containing space. When the outer cylinder is placed in the containing space, the driving wheels 52 and the driven wheels 53 apply a radial clamping force (20-50 N adjustable) through an elastic pre-tightening mechanism, ensuring that the contact surface between the outer cylinder and the wheel set does not slip.

[0049] Specifically, the pressing cylinder assembly 7 includes a third lifting module 71, a pressing rod 72 arranged at the output end of the third lifting module 71, and a pressing member 73 arranged at the end of the pressing rod 72. Through this structure, the pressing cylinder assembly 7 can effectively press the inner cylinder after being processed by the cylinder handling robot 2, so that the inner cylinder is tightly matched with the outer cylinder. The design of the pressing member 73 can at least partially cover the bottom or top of the outer inner cylinder, ensuring the stable fixation of the inner cylinder.

[0050] The third lifting module 71 is composed of a third sliding rail 711, a third sliding block 712 arranged on the third sliding rail 711, and a third motor 713 connected with the third sliding block 712. Through motor driving, the third lifting module 71 can accurately adjust the position of the pressing rod 72 in the vertical direction, thereby realizing accurate pressing of the inner cylinder. The pressing cylinder assembly 7 works cooperatively with the cylinder handling robot 2 to ensure that the inner cylinder maintains the correct relative position and pressure when matched with the outer cylinder, avoiding the assembly being not firm or not high in precision due to improper matching. Through this design, the inner cylinder assembly mechanism can greatly improve the assembly efficiency and assembly quality.

[0051] Specifically, the inner cylinder assembly mechanism further includes a transfer conveying line 9, which has the same structure and configuration as the inner cylinder conveying line 3. The transfer conveying line 9 is arranged on one side of the pressing cylinder assembly 7 and at the end of the carrying mechanism 1, and is used to transfer the inner cylinder and the outer cylinder processed by the pressing cylinder assembly 7 to the next process.

[0052] The working process of the inner cylinder assembly mechanism is as follows: first, the inner cylinder is automatically conveyed to the bearing mechanism 1 through the inner cylinder conveying line 3, the detection assembly 6 performs image recognition and detection on the inner cylinder to ensure the accuracy of the position of the inner cylinder. Under the control of the main control module 200, the cylinder mounting manipulator 2 precisely picks up the inner cylinder and rotates it through the multi-degree-of-freedom motion system including the horizontal movement and lifting modules, so that it is smoothly inserted into the outer cylinder. In this process, the glue applying assembly 4 will move up and down to precisely apply glue to the inner wall of the outer cylinder or the outer wall of the inner cylinder to ensure uniform glue application. The clamping and rotating assembly 5 is responsible for clamping the outer cylinder and driving it to rotate to ensure the uniformity of the glue application process, while reducing the friction and improving the assembly precision. Finally, the cylinder pressing assembly 7 applies pressure to the inner cylinder inserted into the outer cylinder to make it tightly combined with the outer cylinder, ensuring the stable assembly of the inner cylinder and the outer cylinder. The whole process is coordinated by the automatic control system to realize efficient and precise assembly of the inner cylinder and the outer cylinder. The quality of the assembled product is improved. Overall, the mechanism can ensure efficient production while maximizing assembly precision and reducing production costs.

[0053] The above is only a preferred embodiment of the present application, and for those skilled in the art, according to the idea of the present application, the specific implementation and application range will be changed, and the content of the specification should not be understood as limiting the present application.

Claims

1. An inner tube assembling mechanism characterized by comprising: The application relates to a carrying mechanism (1) comprising an outer cylinder for carrying an outer world, a cylinder mounting manipulator (2) movably arranged relative to the carrying mechanism (1), the cylinder mounting manipulator (2) comprising a movable mechanical arm (20), a first gripper (24) arranged at the end of the movable mechanical arm (20), and a first driving member (23) for driving the first gripper (24) to rotate, the first gripper (24) being used for picking up an inner cylinder of the outer world, and the first driving member (23) being used for driving the first gripper (24) to rotate relative to the outer cylinder of the outer world carried by the carrying mechanism (1), and the first gripper (24) picks up the inner cylinder of the outer world and inserts the inner cylinder into the outer cylinder of the outer world carried by the carrying mechanism (1) in a rotating state under the action of the movable mechanical arm (20) and the first driving member (23).

2. The inner tube assembly mechanism according to claim 1, characterized by: The movable mechanical arm (20) comprises a first horizontal movement module (21) arranged to move back and forth along a first direction, and a first lifting module (22) arranged at the output end of the first horizontal movement module (21) to move back and forth along a second direction, and the first gripper (24) is arranged at the output end of the first lifting module (22).

3. The inner tube assembly mechanism according to claim 1, characterized by: The inner cylinder assembling mechanism further comprises an inner cylinder conveying line (3) arranged in cooperation with the carrying mechanism (1), the inner cylinder conveying line (3) comprising a first support (31) arranged at one side of the carrying mechanism (1), a gear and tooth belt assembly (32) arranged on the first support (31), a servo motor (33) connected with the gear and tooth belt assembly (32), and a feeding belt (34) rotatably arranged on the first support (31) and cooperatively driven with the gear and tooth belt assembly (32), the feeding belt (34) being used for carrying the inner cylinder of the outer world and moving the inner cylinder to one side of the carrying mechanism (1) for cooperation with the cylinder mounting manipulator (2) under the action of the servo motor (33).

4. The inner tube assembly mechanism according to claim 2, characterized by: The inner cylinder assembling mechanism further comprises a rack (100), the carrying mechanism (1) is arranged on the rack (100), the first horizontal movement module (21) comprises a first sliding rail (211) arranged on the rack (100), a first sliding table (212) arranged to move back and forth on the first sliding rail (211), and a first motor (213) connected with the first sliding table (212), the first lifting module (22) has the same structure as the first horizontal movement module (21), and the first lifting module (22) is arranged crosswise relative to the first horizontal movement module (21).

5. The inner tube assembly mechanism according to claim 1, characterized by: The first gripper (24) comprises a second driving member (241) arranged at the output end of the first driving member (23), and two gripper hands (242) arranged at the output end of the second driving member (241), the second driving member (241) being used for driving the two gripper hands (242) to approach or move away from each other to perform clamping or releasing actions on the inner cylinder of the outer world.

6. The inner tube assembly mechanism according to claim 5, characterized by: The inner wall of the gripper hand (242) is provided with a first guide surface (2421) and a second guide surface (2422), the first guide surfaces (2421) of the two gripper hands (242) surround to form a conical surface, the second guide surfaces (2422) of the two gripper hands (242) are inclined surfaces, the inclined surfaces intersect with the conical surface, and the conical surface is arranged symmetrically along the symmetry axis of the gripper hand (242) and is located in the middle of the gripper hand (242).

7. The inner tube assembly mechanism according to claim 1, characterized by: The inner cylinder assembling mechanism further comprises a glue applying assembly (4), the glue applying assembly (4) comprises a glue injection valve (41) in communication with glue outside, and a glue injection nozzle (42) in communication with the output port of the glue injection valve (41), the glue injection valve (41) is used to drive the glue injection nozzle (42) to set glue outside on the inner wall of the outer cylinder of the bearing mechanism (1) or the outer wall of the inner cylinder; the glue applying assembly (4) further comprises a second horizontal moving module (43) and a second lifting module (44) arranged opposite to the second horizontal moving module (43), the second horizontal moving module (43) comprises a second sliding rail (431), a second sliding table (432) reciprocally arranged on the second sliding rail (431), and a second motor (433) connected with the second sliding table (432), the second lifting module (44) has the same structure as the second horizontal moving module (43), and the glue injection nozzle (42) is arranged at the output end of the second lifting module (44).

8. The inner tube assembly mechanism according to claim 7, characterized by: The bearing mechanism (1) is provided with a clamping and rotating assembly (5) used in cooperation with the glue applying assembly (4), the clamping and rotating assembly (5) comprises a third driving member (51), two driving wheels (52) arranged at the output end of the third driving member (51), and two driven wheels (53) symmetrically arranged opposite to the two driving wheels (52), the driving wheels (52) and the driven wheels (53) form a containing space for containing the outer cylinder outside, and the outer periphery of the driving wheels (52) and the driven wheels (53) is used for abutting against the outer periphery of the outer cylinder, and the third driving member (51) is used to drive the driving wheels (52) to rotate so that the outer cylinder in the containing space rotates in cooperation with the driven wheels (53).

9. The inner tube assembly mechanism according to claim 1, characterized by: The inner cylinder assembling mechanism further comprises a material placing area arranged at one side of the bearing mechanism (1), and a detection assembly (6) arranged in cooperation with the material placing area, the material placing area is used to bear the inner cylinder outside, the detection assembly (6) comprises a second support (61), a light supplement source (62) arranged on the second support (61), and a first camera unit (63) arranged on the second support (61) and used in cooperation with the light supplement source (62); the inner cylinder assembling mechanism further comprises a master control module (200), the master control module (200) is electrically connected with the cylinder assembling robot (2) and the first camera unit (63), the first camera unit (63) is used to shoot the image of the inner cylinder on the material placing area and upload the image to the master control module (200), the master control module (200) detects and analyzes the image and controls the cylinder assembling robot (2) to pick up the inner cylinder on the material placing area to perform the cylinder assembling action.

10. The inner tube assembly mechanism according to claim 1, characterized by: The inner cylinder assembling mechanism further comprises a cylinder pressing assembly (7) used in cooperation with the cylinder assembling robot (2), wherein the cylinder pressing assembly (7) comprises a third lifting module (71), a pressing member (73) arranged at an output end of the third lifting module (71), the third lifting module (71) comprises a third sliding rail (711), a third sliding block (712) arranged on the third sliding rail (711) in a reciprocating manner, and a third motor (713) connected with the third sliding block (712), and the pressing member (73) at least partially covers the bottom or top of the outer cylinder, and the cylinder pressing assembly (7) is used for pressing the inner cylinder processed by the cylinder assembling robot (2) to tightly fit with the outer cylinder.

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