A spring loading device and spring loading installation apparatus
By designing a spring feeding device, which utilizes the combined movement of the frame, beam, and robotic arm, along with visual guidance from a CCD module, the problem of low efficiency in manual feeding is solved. This enables efficient and precise positioning and transfer of springs, adapting to complex working conditions.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- 深圳市远望工业自动化设备有限公司
- Filing Date
- 2025-04-29
- Publication Date
- 2026-08-04
AI Technical Summary
In existing technologies, spring feeding mainly relies on manual operation, which results in low efficiency and low flexibility, making it difficult to adapt to complex working conditions.
Design a spring-loaded device, including a frame, a crossbeam, and a robotic arm. The robotic arm achieves flexible positioning and gripping through the combined movement of linear guide rails and linear slide rails. It is combined with a CCD module for visual guidance and detection, and is suitable for continuous operation on an assembly line.
It achieves efficient and precise positioning and transfer of springs, adapts to complex working conditions, and improves production efficiency and flexibility.
Smart Images
Figure CN224587385U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of spring installation technology, specifically to a spring feeding device and a spring feeding and installation equipment. Background Technology
[0002] A spring is a mechanical part that operates using elasticity. Made of elastic material, it deforms under external force and returns to its original shape after the force is removed. Springs are generally made of spring steel. There are many types of springs; classified by shape, they mainly include helical springs, spiral springs, leaf springs, and irregularly shaped springs. Currently, springs are often fed manually, which is labor-intensive and inefficient. Furthermore, manual feeding lacks flexibility and is unsuitable for complex working conditions. Utility Model Content
[0003] This utility model provides a spring feeding device and a spring feeding installation equipment to solve the above-mentioned technical problems of low efficiency and low flexibility of manual feeding in the prior art.
[0004] According to a first aspect of the present invention, one embodiment provides a spring feeding device, comprising:
[0005] frame;
[0006] A crossbeam, slidably connected to the frame and for movement along the length of the frame; and
[0007] A robotic arm is used to pick up and place springs; the robotic arm is slidably connected to a crossbeam and is used to move along the length of the crossbeam.
[0008] Preferably, the rack comprises:
[0009] Linear guide rails are installed in pairs; the pairs of linear guide rails are arranged in parallel and at the same installation height.
[0010] A slider is slidably disposed on the linear guide rail, and one slider is provided for each linear guide rail; the slider is connected to the crossbeam.
[0011] A first linear drive mechanism is used to drive the slider to move along a linear guide rail; and
[0012] Support columns are located below each of the linear guide rails to support the linear guide rails.
[0013] Preferably, the frame is provided with a carrier for placing material boxes.
[0014] Preferably, the vehicle comprises:
[0015] A carrier plate, with its first end connected to the frame and its second end having an opening that matches the shape of a material box for insertion; and
[0016] A tray is provided below the opening, and the tray is used to support the bottom of the material box inside the opening.
[0017] Preferably, the crossbeam is provided with a linear slide rail extending along the length of the crossbeam, and the linear slide rail is provided with a slide table; the slide table is connected to a second linear drive mechanism, which is used to drive the slide table to move along the linear slide rail.
[0018] Preferably, the second linear drive mechanism is a ball screw, a synchronous belt drive mechanism, or a linear motor.
[0019] Preferably, the robotic arm comprises:
[0020] A telescopic cylinder is mounted on the slide table; the telescopic cylinder is used to drive the extension and retraction of the robotic arm.
[0021] A rotary cylinder is connected to the telescopic end of the telescopic cylinder; the rotary cylinder is used to drive the robotic arm to rotate; and
[0022] A finger cylinder is connected to the actuator of the rotary cylinder; the finger cylinder is used to drive the gripper of the robotic arm to open and close.
[0023] Preferably, the spring feeding device includes:
[0024] A positioning element is used to position the spring.
[0025] The positioning component is provided with multiple positioning posts, and there is a gap between the multiple positioning posts. The gap is used to engage the spring to position the spring.
[0026] Preferably, the spring feeding device includes:
[0027] A CCD module is used to guide spring positioning and / or detect spring pins via images.
[0028] According to a second aspect of the present invention, one embodiment provides a spring feeding and installation device, comprising:
[0029] Spring feeding device as described in any of the above;
[0030] A tray conveying device is used to transfer a tray containing the spring to a preset position;
[0031] Fixtures are used to fix workpieces in place; and
[0032] The robotic arm is used to grasp the spring and place it on the workpiece at the spring's mounting position.
[0033] In the technical solution of this utility model, the robotic arm of the spring feeding device can move on linear guide rails and linear slide rails, realizing flexible movement in different directions, achieving high-precision positioning, and efficiently and accurately realizing the positioning, gripping and transfer of springs, adapting to the continuous operation requirements of assembly lines.
[0034] The spring feeding and installation equipment of this utility model has the same beneficial effects as the above-mentioned spring feeding device, and will not be described again here. Attached Figure Description
[0035] Figure 1 This is a schematic diagram of the spring feeding device in one embodiment;
[0036] Figure 2 yes Figure 1 Another structural schematic diagram of the spring-loaded device;
[0037] Figure 3 This is a schematic diagram illustrating the fit between the fixture and the workpiece in one embodiment of the spring feeding and mounting equipment;
[0038] Figure label:
[0039] 31-Frame; 32-Crossbeam; 33-Robot; 34-Carrier; 35-Bag; 36-Positioning component; 37-Jig; 38-Workpiece;
[0040] 311-Linear guide rail; 312-Slider; 313-First linear drive mechanism; 314-Support column; 321-Slide table; 322-Second linear drive mechanism; 323-Linear slide rail; 331-Telescopic cylinder; 332-Rotary cylinder; 333-Finger cylinder; 361-Positioning column; 371-Guide component. Detailed Implementation
[0041] It should be noted that, where there is no conflict, the embodiments and features in the embodiments of this utility model can be combined with each other. The present utility model will now be described in detail with reference to the accompanying drawings and embodiments.
[0042] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are merely some embodiments of the present invention, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort should fall within the scope of protection of the present invention.
[0043] It should be noted that the terms "first," "second," etc., used in this utility model are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate for the embodiments of the utility model described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.
[0044] It should be understood that when an element (such as a layer, film, region, or substrate) is described as being "on" another element, the element may be directly on the other element, or there may be an intermediate element present. Moreover, in this invention, when an element is described as being "connected" to another element, the element may be "directly connected" to the other element, or "connected" to the other element via a third element.
[0045] Example 1
[0046] Please refer to Figure 1 , 2 This embodiment provides a spring loading device, including: a frame 31, a crossbeam 32, and a robot arm 33; wherein, the frame 31 provides a mounting carrier for various components; the crossbeam 32 is slidably connected to the frame 31, and the crossbeam 32 is configured to move along the length direction of the frame 31; the robot arm 33 is slidably connected to the crossbeam 32, and the robot arm 33 is configured to move along the length direction of the crossbeam 32, and is used to pick up and place springs. This spring loading device flexibly realizes the positioning, gripping, and transfer of springs through multi-axis motion (such as the X-axis along the length direction of the crossbeam 32 and the Y-axis along the length direction of the frame 31), adapting to the continuous operation requirements of the assembly line.
[0047] like Figure 1In one embodiment shown, the frame 31 includes: linear guide rails 311, sliders 312, and a first linear drive mechanism 313; the linear guide rails 311 are arranged in pairs; the paired linear guide rails 311 are arranged parallel to each other and at the same installation height; the sliders 312 are slidably disposed on the linear guide rails 311, and each linear guide rail 311 corresponds to one slider 312. The sliders 312 have built-in circulating balls and can be configured with adjustable preload to adapt to different load requirements; the sliders 312 are connected to a crossbeam 32, wherein each end of the crossbeam 32 is connected to a corresponding slider 312 (generally through bolt connection to achieve rigid connection), so that the crossbeam 32 is mounted between two sliders 312 and on the frame 31; the first linear drive mechanism 313 is used to drive the sliders 312 to move along the linear guide rails 311. The second linear drive mechanism 322 can be a ball screw, a synchronous belt drive mechanism, or a linear motor. The ball screw nut is connected to the slider 312. The servo motor drives the screw to push the nut and slider 312 to move back and forth. In the synchronous belt drive mechanism, the slider 312 is engaged with the synchronous belt. When the servo motor drives the synchronous belt to move, it can pull the slider 312 to move back and forth. In the linear motor, the mover is connected to the slider 312. The linear motor drives the mover to move the slider 312 based on the principle of electromagnetic induction and the interaction between electromagnetic forces.
[0048] like Figure 1 In one embodiment shown, the frame 31 includes support columns 314. The support columns 314 are positioned below each linear guide rail 311 to support it. The support columns 314 are also arranged in pairs, with two support columns 314 corresponding to the underside of each linear guide rail 311. The support columns 314 are fixed to the linear guide rails 311 via connecting plates, and the support columns 314 may not be directly installed below the linear guide rails 311. Furthermore, the support columns 314 can be square or round tubes, and adjustable feet can be provided at the bottom of the support columns 314 to achieve a controllable height adjustment range and compensate for uneven ground.
[0049] like Figure 2 In one embodiment shown, a carrier 34 is provided on the frame 31 for placing a material box 35. Preferably, the carrier 34 includes a carrier plate and a support plate; the first end of the carrier plate is connected to the frame 31, and the second end of the carrier plate has an opening that matches the shape of the material box 35 for insertion; the support plate is located below the opening and supports the bottom of the material box 35 inside the opening. The first end of the carrier plate may have a mounting hole, and the carrier plate is clamped to the support column 314 by a clamping plate. The mounting position of the carrier plate can be adjusted according to specific working conditions to reduce the travel of the robot arm 33 during operation and improve work efficiency.
[0050] like Figure 1In one embodiment shown, a linear slide rail 323 extending along the length of the crossbeam 32 is provided on the crossbeam 32, and a slide table 321 is provided on the linear slide rail 323. The slide table 321 is connected to a second linear drive mechanism 322, which drives the slide table 321 to move along the linear slide rail 323. The slide table 321 has built-in circulating balls and can be configured with adjustable preload to adapt to different load requirements. Similarly, the second linear drive mechanism 322 can be a ball screw, a synchronous belt drive mechanism, or a linear motor. The nut of the ball screw is connected to the slide table 321, and the servo motor drives the screw to push the nut and the slide table 321 to move back and forth. In the synchronous belt drive mechanism, the slide table 321 is engaged with the synchronous belt, and the servo motor drives the synchronous belt to move, which in turn pulls the slide table 321 to move back and forth. In the linear motor, the mover is connected to the slide table 321, and the linear motor drives the mover to move the slide table 321 based on the principle of electromagnetic induction and the interaction between electromagnetic forces.
[0051] like Figure 1 In one embodiment shown, the robotic arm 33 includes a telescopic cylinder 331, a rotary cylinder 332, and a finger cylinder 333. The telescopic cylinder 331 is mounted on a slide table 321; it drives the robotic arm 33 to extend and retract; the telescopic cylinder 331 may be equipped with a guide rod, and a magnetically coupled displacement sensor is installed at its end. Furthermore, the air circuit is configured with a precision pressure regulating valve and a throttle valve to control the extension and retraction speed. The rotary cylinder 332 is connected to the telescopic end of the telescopic cylinder 331; it drives the robotic arm 33 to rotate; the rotation angle of the rotary cylinder 332 is 0-180°, and multiple positions can be preset; the rotary cylinder 332 integrates an angle encoder to provide real-time position signal feedback. The finger cylinder 333 is connected to the actuator of the rotary cylinder 332; the finger cylinder 333 is used to drive the opening and closing of the gripper of the robotic arm 33; the finger cylinder 333 can control the opening range of the gripper, and the gripping force can be controlled by the air pressure closed loop; a soft pad can be embedded at the end of the gripper, and a built-in pressure sensor can be used to prevent overload damage to the spring.
[0052] like Figure 1 In one embodiment shown, the spring feeding device includes a positioning member 36; the positioning member 36 is used to position the spring; wherein, the positioning member 36 is provided with multiple positioning posts 361, and there is a gap between the multiple positioning posts 361, the gap being used to engage the spring for positioning. For example, the spring's pin can be engaged in the gap between two positioning posts 361 to achieve spring positioning. Preferably, the top of the positioning post 361 is provided with a guide slope (e.g., an inclination angle of 15°) to assist the spring in sliding into the positioning. Preferably, the hole formed on the spring body can be fitted onto the positioning post 361 located in the center, and the pin can be engaged in the gap between the two positioning posts 361 for positioning.
[0053] In one embodiment, the spring feeding device includes a CCD module for visual guidance or visual inspection; the CCD module is generally fixed and can be fixed to the frame 31; the CCD module can guide the spring positioning and / or detect the spring pins through images. For example, the CCD module can use the Halcon image processing library to realize the extraction of the spring center coordinates, pin angle detection, and defect identification (such as deformation or breakage); the data is transmitted to the PLC in real time via the EtherCAT bus to control the robot arm 33 to dynamically correct the gripping path.
[0054] This utility model's spring feeding device uses a robotic arm 33 to grasp a spring from a material box 35 and place it on a positioning component 36 for initial positioning. Then, the robotic arm 33 moves the spring on the positioning component 36, and a CCD module identifies and determines whether it is qualified. This spring feeding device achieves flexible movement and high-precision positioning of the robotic arm 33 through movement on linear guide rails 311 and 323, servo drive, and visual feedback from the CCD module. The positioning component 36 is designed to support rapid changeover of springs of various specifications.
[0055] Example 2
[0056] Please refer to Figure 1-3 This embodiment provides a spring feeding and installation device, including: a material tray conveying device, a fixture 37, and the spring feeding device of Embodiment 1 (such as...). Figure 1 , 2 The spring feeding and installation equipment includes a tray conveyor for transporting trays containing springs to a preset position; a fixture 37 for fixing workpieces 38; and a robotic arm 33 for gripping springs and placing them on workpieces 38 at their designated mounting positions. During operation, the robotic arm 33 grips a spring from the material box 35 and places it on the positioning component 36 for initial positioning. Then, the robotic arm 33 moves the spring on the positioning component 36, and the CCD module identifies and determines whether it is qualified. NG (non-compliant) springs are placed in the material box 35, while OK (compliant) springs are installed into the slots of workpieces 38 after proper positioning. Guide components 371 can be provided on the fixture 37 and workpieces 38 to guide the placement of workpieces 38 and ensure that the spring leads are placed in the slots.
[0057] The spring feeding and installation equipment of this utility model has the same beneficial effects as the above-mentioned spring feeding device, and will not be described again here.
[0058] The above are merely preferred embodiments of this utility model and are not intended to limit the scope of this utility model. Various modifications and variations can be made to this utility model by those skilled in the art. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of this utility model should be included within the protection scope of this utility model.
Claims
1. A spring loading device, characterized by, include: frame; A crossbeam, slidably connected to the frame and used to move along the length of the frame; and A robotic arm is used to pick up and place springs; the robotic arm is slidably connected to a crossbeam and is used to move along the length of the crossbeam.
2. The spring loading device of claim 1, wherein, The rack includes: Linear guide rails are installed in pairs; the pairs of linear guide rails are arranged in parallel and at the same installation height. A slider is slidably disposed on the linear guide rail, and one slider is provided for each linear guide rail; the slider is connected to the crossbeam. A first linear drive mechanism is used to drive the slider to move along a linear guide rail; and Support columns are located below each of the linear guide rails to support the linear guide rails.
3. The spring loading device of claim 1, wherein, The frame is equipped with a carrier for placing material boxes.
4. The spring loading device of claim 3, wherein, The vehicle includes: A carrier plate, with its first end connected to the frame and its second end having an opening that matches the shape of a material box for insertion; and A tray is provided below the opening, and the tray is used to support the bottom of the material box inside the opening.
5. The spring loading device of claim 1, wherein, The crossbeam is provided with a linear slide rail extending along the length of the crossbeam, and a slide table is provided on the linear slide rail; the slide table is connected to a second linear drive mechanism, which is used to drive the slide table to move along the linear slide rail.
6. The spring loading device of claim 5, wherein, The second linear drive mechanism is configured as a ball screw, a synchronous belt drive mechanism, or a linear motor.
7. The spring loading device of claim 5, wherein, The robotic arm includes: A telescopic cylinder is mounted on the slide table; the telescopic cylinder is used to drive the extension and retraction of the robotic arm. A rotary cylinder is connected to the telescopic end of the telescopic cylinder; the rotary cylinder is used to drive the robotic arm to rotate; and A finger cylinder is connected to the actuator of the rotary cylinder; the finger cylinder is used to drive the gripper of the robotic arm to open and close.
8. The spring loading device of any one of claims 1-7, wherein, The spring feeding device includes: A positioning element is used to position the spring. The positioning component is provided with multiple positioning posts, and there is a gap between the multiple positioning posts. The gap is used to engage the spring to position the spring.
9. The spring loading device of claim 8, wherein, The spring feeding device includes: A CCD module is used to guide spring positioning and / or detect spring pins via images.
10. A spring loading installation apparatus, characterized by, include: The spring feeding device according to any one of claims 1-9; A tray conveying device is used to transfer a tray containing the spring to a preset position; Fixtures are used to fix workpieces in place; and The robotic arm is used to grasp the spring and place it on the workpiece at the spring's mounting position.