A speaker rack gripping device for automatic speaker assembly

Abstract

This utility model relates to the field of intelligent manufacturing equipment technology for electroacoustic devices, and discloses a speaker rack gripping device based on automatic speaker assembly, including a base assembly, a suction head assembly, and a stripping and pressing assembly. The base assembly is connected to an external robotic arm via a connecting flange and is equipped with a suction head positioning ring, a suction head error prevention assembly, and a photoelectric sensor. The suction head assembly is detachably installed on the suction head positioning ring and includes a magnetic suction head with a cylindrical magnet and an elastic telescopic mechanism. The stripping and pressing assembly includes a cylinder, a stripping plate with a guide assembly, and a detachable pressure plate assembly, and also includes a floating assembly. This utility model can achieve flexible adsorption of the speaker rack, adapt to rapid changeover of multiple sizes of speaker racks, has error prevention detection function, and effectively ensures speaker assembly accuracy and production efficiency.

Description

Technical Field

[0001] This utility model relates to the field of intelligent manufacturing equipment technology for electroacoustic devices, specifically a basket frame gripping device based on automatic speaker assembly. Background Technology

[0002] In the field of automated speaker assembly, the gripping and positioning of the speaker frame is a crucial link connecting various assembly processes, and its technical solution directly affects production efficiency and product yield. Currently, the industry mainly categorizes speaker frame gripping methods into three types: vacuum suction cup gripping, pneumatic clamp gripping, and manual assembly. However, in practical applications, all three gripping methods have unavoidable technical defects and cannot meet the production requirements of high precision and high stability.

[0003] While vacuum suction cups can achieve non-contact gripping to reduce hard damage when used to grip basin frames, they are not effective in sealing the contact surface between the suction cup and the basin frame due to the porous mesh structure (high air permeability). This results in insufficient suction force, making it impossible to grip the basin frame stably. Furthermore, if an air supply failure occurs, the suction cup will immediately lose its suction force, and the basin frame will easily fall from a height, causing structural damage or surface scratches. This increases production costs and the risk of rework, and seriously restricts the continuous operation of the production line.

[0004] When using pneumatic clamps to grip the basin frame, the clamps fix the basin frame with mechanical clamping force. However, basin frames are mostly thin-walled structures with poor rigidity, making it difficult to precisely control the clamping force of the clamps. Excessive clamping force can easily cause irreversible deformation of the basin frame, or cause bumps and scratches on the surface of the basin frame due to hard contact during the clamping process. At the same time, the outer ring dimensions of basin frames from different batches are prone to deviation, and the fixing and clamping dimensions of the pneumatic clamps are difficult to adaptively adjust, resulting in insufficient positioning accuracy of the basin frame after gripping.

[0005] When assembling speaker frames manually, the positioning and installation rely heavily on the operator's experience and feel, making subjective factors highly influential on assembly quality. Manual operation makes it difficult to guarantee the coaxiality accuracy of the frame and the T-frame, often resulting in excessive coaxiality deviations. Furthermore, uneven force or improper posture adjustment during frame installation can easily lead to tilting, directly affecting the assembly accuracy of subsequent core components such as the diaphragm and voice coil. Ultimately, this results in a low yield rate for loudspeaker products. Additionally, manual assembly is inefficient and difficult to adapt to the high-paced production demands of automated production lines.

[0006] The shortcomings of the existing gripping and assembly methods mentioned above have jointly restricted the improvement of quality and efficiency in the automated assembly production line of loudspeakers. There is an urgent need for a frame gripping device that can adapt to multi-hole mesh frames, avoid structural damage, and ensure positioning accuracy in order to break through the current technical bottleneck. Utility Model Content

[0007] This invention provides a speaker rack gripping device based on automatic speaker assembly, which solves the technical problems of poor adaptability, poor positioning accuracy, low changeover efficiency and lack of error prevention capability in the existing gripping devices.

[0008] To achieve the above objectives, the present invention adopts the following technical solution: a speaker rack gripping device based on automatic speaker assembly, comprising a base assembly, a suction head assembly, and a material release pressing assembly; The base assembly includes a connecting flange, a cylinder mounting plate, and a guide container plate. The connecting flange is fixedly connected to the cylinder mounting plate to achieve stable docking between the device and an external robotic arm. The guide container plate is connected to the lower part of the cylinder mounting plate through a support column to form a stable support structure with upper and lower layers. A suction head positioning ring is installed on the guide container plate for precise positioning and installation of the suction head assembly. The suction head assembly is detachably mounted on the suction head positioning ring, which facilitates quick replacement according to the size of the basin stand. The suction head assembly is equipped with a magnetic suction head at the bottom, which can generate a stable suction force to achieve reliable gripping of the basin stand. The material removal and pressing assembly is installed on the cylinder mounting plate and the guide container plate. The material removal and pressing assembly includes a cylinder, a material removal plate and a pressure plate assembly. The pressure plate assembly is installed at the bottom of the material removal plate. The cylinder drives the material removal plate to move the pressure plate assembly. The material removal is achieved without damage by precisely pressing the tray frame, ensuring the smooth progress of subsequent assembly processes.

[0009] Furthermore, this application also discloses that the suction head assembly includes a suction head base, a positioning shaft, and a magnetic suction head. The suction head base is a hollow columnar structure, providing a stable installation space for the internal components. The suction head base is sequentially equipped with a bearing retaining ring, a linear bearing, a bearing pressure plate, a first spring, and a positioning shaft from top to bottom. The linear bearing is axially clamped and fixed by the bearing retaining ring and the bearing pressure plate, forming a low-friction sliding guide channel for the positioning shaft, ensuring smooth extension and retraction of the positioning shaft. The positioning shaft is inserted into the linear bearing, with its top end extending out of the suction head base and axially limited by the end cap to prevent it from falling off. Its bottom end passes through the bottom of the suction head base and forms a telescopic end. During gripping, the bottom end of the positioning shaft first extends into the hole in the middle of the basin frame to achieve center positioning of the basin frame. At this time, the positioning shaft remains stationary and does not extend or retract. The first spring is in a pre-compressed state, providing downward pre-pressure to the positioning shaft to stabilize the center position of the basin frame. During the assembly stage, after the positioning shaft contacts the magnetic circuit system, it slides along the linear bearing under the upward reaction force. The first spring is compressed, and its elastic force causes the positioning shaft to press against the magnetic circuit system to prevent the magnetic circuit system from shaking. The magnetic suction head is fixed to the bottom of the suction head base, and a cylindrical magnet is embedded inside to generate a continuous and stable adsorption force, ensuring that the basin rack is not easy to fall off during the gripping process.

[0010] Furthermore, this application also discloses that the base assembly further includes a suction head directional pin. The suction head base is provided with a notch corresponding to the suction head directional pin. The suction head directional pin is set on the guide plate, which can accurately position the suction head assembly at an angle, ensuring the accurate installation posture of the suction head assembly and preventing it from tilting after being gripped by the tray holder. The outer circle of the suction head base is provided with an annular groove. The locking pin of the suction head positioning ring matches the annular groove. By locking the pin into the annular groove, the suction head assembly and the suction head positioning ring can be quickly fixed and disassembled, improving the efficiency of changeover.

[0011] Furthermore, this application also discloses that the suction head assembly further includes two anti-misalignment screws, which form combinations through different installation states, with each combination uniquely corresponding to a suction head assembly model; the base assembly further includes a suction head anti-misalignment component, which is a proximity sensor that corresponds one-to-one with the positions of the two anti-misalignment screws. By detecting the combination state of the anti-misalignment screws to form a feature signal, it achieves accurate model identification of the suction head assembly, avoids production abnormalities caused by incorrect installation of the suction head assembly, and ensures stable operation of the production line.

[0012] Furthermore, this application also discloses that the outer circle of the suction head base is a precision machined surface, which can improve the fitting accuracy with the suction head positioning ring and ensure the suction head assembly is installed stably; the bottom surface of the magnetic suction head is attached with a PU sheet, the PU being a polyurethane material, which can isolate the magnetic suction head from the basin stand during gripping, preventing the surface of the basin stand from being scratched.

[0013] Furthermore, this application also discloses that the material ejection pressing assembly further includes a guide assembly. Two sets of guide assemblies are symmetrically arranged, with the two sets of guide assemblies symmetrically distributed about the centerline of the cylinder mounting plate along its length. This ensures that the material ejection plate is subjected to balanced force and prevents tilting during movement. The guide assembly includes a guide mounting seat and a guide shaft. The guide assembly is fixed to the guide container plate. The top end of the guide shaft is fixed to the bottom of the material ejection plate, and the bottom end passes into the guide mounting seat to achieve sliding guidance, ensuring that the material ejection plate drives the pressure plate assembly to move along a fixed trajectory, thereby improving the pressing and ejection accuracy.

[0014] Furthermore, this application also discloses that the material release pressing assembly further includes a floating assembly, which includes a floating mounting base with a cylindrical receiving cavity, a floating block, and a second spring; one end of the floating block is fixed to the cylinder piston rod, and the other end extends into the receiving cavity with a clearance fit, which can achieve radial limiting; the other end of the floating mounting base is fixed to the top of the material release plate; the second spring is disposed in the receiving cavity, and its two ends abut against the bottom of the receiving cavity and the top of the floating block respectively to form an elastic buffer, which can adaptively adjust the pressure when pressing to release the material, avoid deformation of the basin frame due to excessive pressure, and ensure the integrity of the basin frame.

[0015] Furthermore, this application also discloses that the base assembly further includes a first photoelectric sensor, which is mounted below the cylinder mounting plate via a bracket. The side wall of the stripping plate is provided with a detection mark corresponding to the first photoelectric sensor. The stripping plate model is accurately detected by identifying the detection mark through the first photoelectric sensor, ensuring that the stripping plate and the basin frame are matched in size and improving the reliability of stripping.

[0016] Furthermore, this application also discloses that the pressure plate assembly is detachably connected to the bottom of the stripping plate, which facilitates the replacement of the appropriate pressure plate assembly according to the size of the basin holder, thereby improving the adaptability of the device. A second photoelectric sensor is installed on one side of the stripping plate, which is used to detect whether there is a basin holder on the suction head assembly. The contact surface between the pressure plate assembly and the basin holder is made of POM material, which has both low friction and high wear resistance, which can not only avoid scratching the surface of the basin holder when pressing, but also extend the service life of the pressure plate assembly.

[0017] Furthermore, this application also discloses that the pressure plate assembly includes a first pressure plate and a second pressure plate, the first pressure plate and the second pressure plate respectively corresponding to the two ends of the force-bearing surfaces of different sized basin holders, so as to realize precise pressing of basin holders of different sizes and further improve the adaptability of the device to basin holders of multiple sizes.

[0018] Compared with the prior art, the beneficial effects of this utility model are: This utility model uses a magnetic suction head in conjunction with an elastic telescopic mechanism built into the suction head base. The magnetic suction head can generate a stable adsorption force, and the elastic telescopic mechanism can achieve flexible contact with the basin stand. At the same time, the bottom surface of the magnetic suction head is attached to a protective sheet, which can ensure the structural integrity and surface integrity of the basin stand during the gripping process. Moreover, the magnetic adsorption mode has a continuous and stable force state. The suction head assembly is detachably connected by the locking pin of the suction head positioning ring and the annular groove of the suction head base. The pressure plate assembly adopts a split design and includes pressure plates of different specifications, which can flexibly adapt to various sizes of trays without replacing the core components of the device, thus improving the adaptability and convenience of the device in various production scenarios. During the gripping phase, the positioning shaft precisely inserts into the hole in the middle of the basin stand, and the center positioning of the basin stand is achieved through the shaft-hole cooperation, ensuring that the basin stand and the magnetic head are coaxial; during the assembly phase, the positioning shaft contacts and presses the magnetic circuit system, and the first spring applies stable pressure to prevent the magnetic circuit system from shaking, ensuring accurate positioning throughout the entire process from gripping to assembly; The base assembly is equipped with a suction head directional pin that fits into the suction head base notch. The inner hole of the suction head positioning ring is machined with high precision. The stripping pressing assembly is equipped with two sets of symmetrically distributed guide components, which can accurately control the installation posture of the suction head assembly and the movement trajectory of the stripping plate, ensuring the posture stability after the tray is gripped and ensuring the docking accuracy of subsequent assembly processes. The suction head assembly is equipped with double anti-mistake screws, and the base assembly is equipped with a corresponding suction head anti-mistake component. At the same time, the base assembly is also equipped with a first photoelectric sensor that works in conjunction with the stripper plate detection mark to achieve accurate identification and matching verification of the suction head assembly and the stripper plate model, ensuring the accuracy of component assembly and reducing production abnormalities caused by component mismatch. Attached Figure Description

[0019] 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.

[0020] Figure 1 This is an overall structural diagram of the gripping device of this utility model; Figure 2 The structure of the base assembly of the gripping device of this utility model Figure 1 ; Figure 3 The structure of the base assembly of the gripping device of this utility model Figure 2 ; Figure 4 This is a schematic diagram of the internal structure of the suction head assembly of the gripping device of this utility model; Figure 5 This is an exploded view of the suction head assembly of the gripping device of this utility model; Figure 6 This is a structural diagram of the material release and pressing assembly of the gripping device of this utility model; Figure 7 This is a cross-sectional view of the material release and pressing component of the gripping device of this utility model; Figure 8 This is a reference diagram showing the application of the gripping device of this utility model to small-sized basin racks; Figure 9 This is a reference diagram showing the application of the gripping device of this utility model to large-sized basin racks.

[0021] In the diagram: 1. Base assembly; 1-1. Connecting flange; 1-2. Cylinder mounting plate; 1-3. Support column; 1-4. Guide container plate; 1-5. Nozzle positioning ring; 1-6. Nozzle directional pin; 1-7. Nozzle anti-misalignment assembly; 1-8. First photoelectric sensor; 1-9. Locking pin; 2. Plug assembly; 2-1. End cap; 2-2. Anti-misalignment screw; 2-3. Bearing retaining ring; 2-4. Linear bearing; 2-5. First spring; 2-6. Cylindrical magnet; 2-7. Bearing pressure plate; 2-8. Plug base; 2-9. Positioning shaft; 2-10. Magnetic suction head; 3. Material removal and pressing assembly; 3-1. Cylinder; 3-2. Floating assembly; 3-3. Guide assembly; 3-4. Material removal plate; 3-5. Second photoelectric sensor; 3-6. Pressure plate assembly; 3-21. Floating mounting base; 3-22. Floating block; 3-23. Second spring; 3-31. Guide mounting base; 3-32. Guide shaft; 3-61. First pressure plate; 3-62. Second pressure plate; 4. Pot stand. Detailed Implementation

[0022] The technical solutions of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments. The components of this application described and shown in the accompanying drawings can generally be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely represents selected embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application. It should be noted that similar reference numerals and letters in the following drawings indicate similar items; therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings. Furthermore, in the description of this application, the terms "first," "second," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0023] like Figure 1-7 As shown, this application proposes a speaker rack gripping device based on automatic speaker assembly, including a base assembly 1, a suction head assembly 2, and a material release pressing assembly 3.

[0024] The base assembly 1 includes a connecting flange 1-1, a cylinder mounting plate 1-2, and a guide container plate 1-4. The connecting flange 1-1 is fixedly connected to the cylinder mounting plate 1-2 to achieve stable docking between the device and the external robotic arm. The connecting flange 1-1 can adopt a standard flange interface to facilitate quick docking with different models of robotic arms. The guide container plate 1-4 is connected to the lower part of the cylinder mounting plate 1-2 through a support column 1-3 to form a stable support structure with upper and lower layers. A suction head positioning ring 1-5 is installed on the guide container plate 1-4 for precise positioning and installation of the suction head assembly 2.

[0025] The suction head assembly 2 is detachably installed on the suction head positioning ring 1-5. The suction head positioning ring 1-5 can be designed as a quick-release structure, which can be quickly locked by spring pins or buckles, making it easy to quickly replace according to the size of the basin frame 4. A magnetic suction head 2-10 is installed at the bottom of the suction head assembly 2. The magnetic suction head 2-10 can be an electromagnet or a permanent magnet, which can generate a stable attraction force to achieve reliable gripping of the basin frame 4. When gripping, the magnetic suction head 2-10 contacts the surface of the basin frame 4 to generate an attraction force. The material release pressing assembly 3 is installed on the cylinder mounting plate 1-2 and the guide collection plate 1-4. The material release pressing assembly 3 includes a cylinder 3-1, a material release plate 3-4 and a pressure plate assembly 3-6. The pressure plate assembly 3-6 is installed at the bottom of the material release plate 3-4. The cylinder 3-1 drives the material release plate 3-4 to drive the pressure plate assembly 3-6 to move. After the pressure plate contacts the edge of the basin frame 4, it continues to press down, so that the magnetic suction head 2-10 gradually separates from the basin frame 4. By precisely pressing the basin holder 4, the material can be removed without damage, ensuring the smooth progress of subsequent assembly processes.

[0026] Compared with existing technologies, this technical solution uses a magnetic suction head 2-10 to form a non-contact adsorption with the basin holder 4, solving the problem of insufficient adsorption force caused by the high air permeability of the basin holder 4 in traditional vacuum suction cups. Both the suction head assembly 2 and the stripping plate 3-4 can be quickly replaced, adapting to the gripping needs of basin holders 4 of different sizes, and achieving rapid changeover. Compared with the fixed grippers of pneumatic clamps, the adaptability of this device is significantly improved.

[0027] like Figure 4 , Figure 5As shown, this application also proposes that the suction head assembly 2 includes a suction head base 2-8, a positioning shaft 2-9, and a magnetic suction head 2-10. The suction head base 2-8 is a hollow columnar structure, providing a stable installation space for the internal components. From top to bottom, the suction head base 2-8 is sequentially equipped with a bearing retaining ring 2-3, a linear bearing 2-4, a bearing pressure plate 2-7, a first spring 2-5, and a positioning shaft 2-9. The linear bearing 2-4 is axially clamped and fixed by the bearing retaining ring 2-3 and the bearing pressure plate 2-7, forming a low-friction sliding guide channel for the positioning shaft 2-9, ensuring smooth extension and retraction of the positioning shaft 2-9. The positioning shaft 2-9 passes through the linear bearing 2-4, with its top end extending out of the suction head base 2-8 and axially limited by the end cap 2-1 to prevent the positioning shaft 2-9 from falling off, and its bottom end passing through... The bottom of the suction head base 2-8 forms a telescopic end. Since the basin frame 4 has a hole in the middle, when gripping, the bottom end of the positioning shaft 2-9 first extends into the hole of the basin frame 4. The center positioning of the basin frame 4 is achieved through the cooperation of the shaft and the hole, ensuring the coaxiality of the basin frame 4 and the magnetic suction head 2-10. Then the magnetic suction head 2-10 contacts the surface of the basin frame 4, avoiding unstable adsorption due to the offset of the basin frame 4. The first spring 2-5 is sleeved on the outside of the positioning shaft 2-9, and its two ends abut against the bearing pressure plate 2-7 and the shoulder of the positioning shaft 2-9 respectively, forming an elastic telescopic mechanism, which can buffer the impact force during gripping and avoid damage to the basin frame 4. The magnetic suction head 2-10 is fixed to the bottom end of the suction head base 2-8, and a cylindrical magnet 2-6 is embedded inside it to generate a continuous and stable adsorption force, ensuring that the basin frame 4 is not easy to fall off during gripping.

[0028] Specifically, the hollow columnar structure of the suction head base 2-8 can be made of aluminum alloy, the bearing retaining ring 2-3 and the bearing pressure plate 2-7 can be made of stainless steel, and axial clamping is achieved by threaded fastening or snap-fit. The first spring 2-5 is preferably a stainless steel compression spring, and its elastic coefficient is designed to match the weight of the tray 4 and the gripping speed. The cylindrical magnet 2-6 can be a neodymium iron boron magnet, and the adsorption force is adjusted by the size and number of the cylindrical magnets 2-6. The cylindrical magnets 2-6 are distributed in a circumferential array inside the magnetic suction head 2-10.

[0029] like Figure 3 , Figure 5 As shown, this application also proposes that the base assembly 1 further includes a suction head directional pin 1-6. The suction head base 2-8 is provided with a notch corresponding to the suction head directional pin 1-6. The suction head directional pin 1-6 is set on the guide container plate 1-4, which can accurately position the suction head assembly 2 at an angle, ensuring the accurate installation posture of the suction head assembly 2 and preventing the tray holder 4 from tilting after gripping. The outer circle of the suction head base 2-8 is provided with an annular groove. The locking pin 1-9 of the suction head positioning ring 1-5 matches the annular groove. The locking pin 1-9 can be an elastic pin. By locking the locking pin 1-9 into the annular groove, the suction head assembly 2 and the suction head positioning ring 1-5 can be quickly fixed and disassembled, improving the changeover efficiency.

[0030] This technical solution solves the problem of misaligned gripping of the tray frame 4 caused by installation angle deviation of the suction head assembly 2 through the synergistic action of mechanical positioning and quick-locking mechanism. The cooperation between the suction head directional pins 1-6 and the notch ensures the circumferential positioning accuracy of the suction head assembly 2, keeping the contact surfaces of the magnetic suction head 2-10 and the tray frame 4 parallel. The quick-locking structure of the locking pins 1-9 and the annular groove achieves axial fixation of the suction head assembly 2, while facilitating disassembly and replacement. Compared with existing technologies, this solution significantly improves changeover efficiency while ensuring positioning accuracy, and avoids poor assembly of the tray frame 4 caused by installation deviation of the suction head assembly 2.

[0031] like Figure 2 , Figure 5 As shown, this application also proposes that the suction head assembly 2 further includes two anti-misalignment screws 2-2, which form combinations through different installation states, and each combination uniquely corresponds to a model of the suction head assembly 2; the base assembly 1 further includes a suction head anti-misalignment component 1-7, which is a proximity sensor that corresponds one-to-one with the position of the two anti-misalignment screws 2-2, and forms a feature signal by detecting the combination state of the anti-misalignment screws 2-2 to achieve accurate model identification of the suction head assembly 2.

[0032] Specifically, the anti-misalignment screw 2-2 can be made of different lengths of internal hexagon screws. The anti-misalignment screw 2-2 can be made of metal (such as stainless steel, carbon steel) or non-metallic material (such as nylon, ceramic). The installation state combination is formed by the difference in screwing depth. For example, the first screw is fully screwed in while the second screw is half screwed in to form combination A, and vice versa to form combination B. Both are fully screwed in to form combination C, corresponding to the three models of suction head assembly 2. Proximity sensors can be selected from various principles, including inductive, capacitive, photoelectric, and ultrasonic sensors. For example, inductive proximity sensors, designed for metal screws, utilize the principle that eddy currents generated when metal enters an alternating magnetic field, causing oscillation attenuation. A switching circuit converts the signal, outputting a 0 / 1 combination feature code based on the screw's insertion state. Capacitive proximity sensors utilize the altered equivalent capacitance of metal plates and the electric field effect caused by the difference in dielectric constant between non-metallic screws and air, both triggering signals. Photoelectric proximity sensors employ diffuse reflection using infrared light sources. Metal screws have high reflectivity, while non-metallic screws (such as nylon) have lower reflectivity. Stable detection is ensured by adjusting the sensitivity threshold, and a feature code corresponding to the suction head model is formed based on the presence or absence of reflected signals. When the screw insertion depth changes, the sensor outputs different level signals (10, 01, or 11). Ultrasonic proximity sensors utilize screws made of metal or ceramic materials that reflect ultrasonic waves. The detected or undetected signal combination is associated with the suction head assembly model. All four types of sensors are installed in the same location and their signals are connected to the same processing module, enabling model identification of the suction head assembly under normal operating conditions.

[0033] The signal processing unit of the nozzle anti-misinstallation components 1-7 can be integrated inside the base component 1, transmitting the model identification result to the control system via an RS485 bus. This technical solution effectively solves the production anomaly caused by misinstallation of nozzle components 2 by combining mechanical coding and electronic detection. The combination state of the anti-misinstallation screws 2-2 forms a physical code, which is converted into a recognizable electrical signal by a proximity sensor, enabling accurate identification of different models of nozzle components 2 during installation.

[0034] This application also proposes that the outer circle of the suction head base 2-8 is a precision machined surface, which can improve the fitting accuracy with the suction head positioning ring 1-5 and ensure the suction head assembly 2 is installed stably; the bottom surface of the magnetic suction head 2-10 is attached with a PU sheet, which can isolate the magnetic suction head 2-10 from the basin holder 4 during gripping, avoid scratching the surface of the basin holder 4, and at the same time enhance the fit with the basin holder 4 and improve the adsorption stability.

[0035] like Figure 6 , Figure 7 As shown, this application also proposes that the material removal pressing assembly 3 further includes a guide assembly 3-3. Two sets of guide assemblies 3-3 are symmetrically arranged, and the two sets of guide assemblies 3-3 are symmetrically distributed with the center line of the cylinder mounting plate 1-2 as the axis of symmetry, which can make the material removal plate 3-4 bear the force evenly and avoid tilting during movement. The guide assembly 3-3 includes a guide mounting seat 3-31 and a guide shaft 3-32. The guide mounting seat 3-31 is fixed to the guide collection plate 1-4 by bolts. The top end of the guide shaft 3-32 is fixed to the bottom of the material removal plate 3-4, and the bottom end passes into the guide mounting seat 3-31 to achieve sliding guidance. When the cylinder 3-1 drives the material removal plate 3-4 to press down, the two guide shafts 3-32 slide synchronously in the guide mounting seat 3-31 to ensure that the material removal plate 3-4 drives the pressure plate assembly 3-6 to move along a fixed trajectory, thereby improving the pressing and material removal accuracy.

[0036] The material removal pressing assembly 3 also includes a floating assembly 3-2, which includes a floating mounting base 3-21 with a cylindrical receiving cavity, a floating block 3-22, and a second spring 3-23. One end of the floating block 3-22 is fixed to the piston rod of the cylinder 3-1, and the other end extends into the receiving cavity with a clearance fit, which can achieve radial limiting. The other end of the floating mounting base 3-21 is fixed to the top of the material removal plate 3-4. The second spring 3-23 is located in the receiving cavity, with its two ends abutting against the bottom of the receiving cavity and the top of the floating block 3-22 respectively to form an elastic buffer. It can adaptively adjust the pressure during material removal pressing to avoid deformation of the basin frame 4 due to excessive pressure, thus ensuring the integrity of the basin frame 4. Through the elastic buffer structure of the floating assembly 3-2, when the pressure plate assembly 3-6 contacts the basin frame 4 during the process of the cylinder 3-1 driving the material removal plate 3-4 to press down, the second spring 3-23 can absorb part of the impact energy and automatically adjust the downward pressure.

[0037] like Figure 8-9As shown, the suction heads adapted to different sized basin holders 4 differ significantly in structural dimensions. The overall specifications of the suction head adapted to the larger basin holder 4 exceed the stripping surface range of the smallest basin holder 4. If a single suction head is still used with a fixed stripping plate 3-4, the suction head may obstruct the pressing area of ​​the stripping plate 3-4, failing to effectively contact the basin holder 4. Simultaneously, different models of basin holders 4 have significant height variations. The pressing contact surface height of the same stripping plate 3-4 is fixed and cannot adaptively adjust according to the height of the basin holder 4. This results in insufficient pressing of taller basin holders 4 and excessive pressing of shorter basin holders 4, both of which can lead to stripping failure or damage to the basin holder 4. Figure 6 As shown, this application also proposes that the first photoelectric sensor 1-8 is mounted below the cylinder mounting plate 1-2 via a bracket. The top of the stripper plate 3-4 is provided with a detection mark corresponding to the first photoelectric sensor 1-8. The first photoelectric sensor 1-8 can be a diffuse reflection type or a through-beam type photoelectric switch. The detection mark is a reflective strip or a groove structure. The reflective strip distinguishes the model through different reflectivities, and the groove structure forms a code through differences in depth or number. Accurate detection of the model of the stripper plate 3-4 is achieved by identifying the detection mark through the first photoelectric sensor 1-8, ensuring that the stripper plate 3-4 matches the size of the basin frame 4 and improving stripping reliability. Different models of the stripper plate 3-4 are configured with stripper plates 3-4 of different structures and pressure plate assemblies 3-6 of different sizes. The length, width, and shape of the stripper plate 3-4 are adjusted according to the size of the basin frame to avoid... Figure 9 The possibility of interference between the suction head assembly 2 and the pressure plate assembly 3-6 is shown.

[0038] The first photoelectric sensor 1-8 is connected to the PLC controller. When it detects a mismatched stripper plate 3-4, it triggers an alarm and pauses the equipment operation. This photoelectric detection mechanism enables automatic matching and verification of the stripper plate 3-4 and the tray frame 4. During automated assembly, if an operator mistakenly installs a mismatched stripper plate 3-4 when changing to a different specification tray frame 4, the first photoelectric sensor 1-8 can immediately identify the anomaly and trigger an alarm, preventing stripping failure or damage to the tray frame 4 due to size mismatch.

[0039] like Figure 6 , Figure 7As shown, this application also proposes that the pressure plate assembly 3-6 is detachably connected to the bottom of the stripping plate 3-4. Specifically, a ball-head plunger fastening method is adopted, which facilitates the replacement of the appropriate pressure plate assembly 3-6 according to the size of the tray 4, improving the adaptability of the device. Specifically, the ball-head plunger is installed at the bottom of the stripping plate 3-4, and a small hole is opened at the corresponding position of the pressure plate assembly 3-6. After being pulled into place, the ball head is locked into the small hole to prevent the pressure plate assembly 3-6 from coming out. A second photoelectric sensor 3-5 is installed on one side of the stripping plate 3-4. The second photoelectric sensor 3-5 is used to detect whether there is a tray on the suction head assembly 2. The contact surface between the pressure plate assembly 3-6 and the tray 4 is made of POM material, which has both low friction and high wear resistance. This can not only avoid scratching the surface of the tray 4 when pressing, but also extend the service life of the pressure plate assembly 3-6. Furthermore, the pressure plate assembly 3-6 includes a first pressure plate 3-61 and a second pressure plate 3-62. The first pressure plate 3-61 and the second pressure plate 3-62 correspond to the two end force-bearing surfaces of different sized basin holders 4. For example, the first pressure plate 3-61 is suitable for basin holders 4 with a diameter of 6 inches to 8 inches, and its pressing surface has an arc-shaped contour that matches the curvature of the outer edge of the basin holder 4. The second pressure plate 3-62 is suitable for basin holders 4 with a diameter of 8 inches to 12 inches, and its pressing surface has a stepped buffer structure. By selecting and installing the corresponding pressure plate and suction head assembly 2, precise pressing of basin holders 4 of different sizes can be achieved without replacing the entire pressure plate assembly 3-6, further improving the adaptability of the device to basin holders 4 of multiple sizes and reducing the cost and time of changeover.

[0040] Working principle: The device is first fixed to the external robotic arm via the connecting flange 1-1 of the base assembly 1. After the overall installation is completed, the appropriate suction head assembly 2 and pressure plate assembly 3-6 are selected according to the size of the container 4 to be gripped. When installing the suction head assembly 2, the outer circle of the suction head base 2-8 is aligned with the suction head positioning ring 1-5 on the guide container plate 1-4, so that the suction head directional pin 1-6 is embedded into the corresponding notch of the suction head base 2-8 to achieve circumferential angle positioning. Then, the locking pin 1-9 of the suction head positioning ring 1-5 is engaged into the annular groove on the outer circle of the suction head base 2-8 to complete the suction. The head assembly 2 is axially fixed; at the same time, the matching pressure plate assembly 3-6 is installed, and the first pressure plate 3-61 corresponding to the small-sized tray 4 or the second pressure plate 3-62 corresponding to the large-sized tray 4 is fixed to the bottom of the stripping plate 3-4 by bolts. During this period, the suction head error prevention assembly 1-7 will detect the combination status of the error prevention screws 2-2 of the suction head assembly 2, and the first photoelectric sensor 1-8 will identify the detection mark of the stripping plate 3-4. If the suction head model, the stripping plate 3-4 model and the tray 4 do not match, the system will trigger an alarm and the corresponding parts need to be replaced until they match.

[0041] After preparation, the robotic arm carrying the gripping device moves to the loading position of the basin frame 4. The positioning shaft 2-9 at the bottom of the suction head assembly 2 is aligned with and passes through the hole in the middle of the basin frame 4. The positioning shaft 2-9 and the hole in the basin frame 4 are matched to achieve the center positioning of the basin frame 4, preventing the basin frame 4 from shifting during the adsorption process. At this time, the positioning shaft 2-9 remains relatively stationary and does not extend or retract along the linear bearing 2-4. The first spring 2-5 sleeved on the outside of the positioning shaft 2-9 is in a pre-compressed state. Its elastic force causes the positioning shaft 2-9 to apply a downward pre-pressure to the basin frame 4, further stabilizing the center position of the basin frame 4. Then, the magnetic suction head 2-10 of the suction head assembly 2 adheres to the surface of the basin frame 4. The cylindrical magnet 2-6 inside the magnetic suction head 2-10 generates a magnetic attraction force, which stably adsorbs the basin frame 4 to the bottom of the magnetic suction head 2-10, preventing the basin frame 4 from shaking during the movement.

[0042] After the gripping is completed, the robotic arm, carrying the gripping device and the adsorbed basin holder 4, moves above the magnetic circuit system. Then, the gripping device slowly descends to the assembly position. During the descent, the positioning shaft 2-9 first contacts the magnetic circuit system. As the gripping device continues to descend, the magnetic circuit system generates an upward reaction force on the positioning shaft 2-9. The positioning shaft 2-9 slides upward along the linear bearing 2-4, and the first spring 2-5, which is sleeved on the outside of the positioning shaft 2-9, is further compressed. The elastic reaction force of the first spring 2-5 keeps the positioning shaft 2-9 under downward pressure on the magnetic circuit system, thereby pressing down on the magnetic circuit system and preventing it from shaking during assembly, ensuring the docking accuracy between the basin holder 4 and the magnetic circuit system. After reaching the assembly position, the gripping device rotates the basin holder 4 ±90 degrees. This rotation helps the basin holder 4 to fully adhere to the glue pre-applied in the magnetic circuit system, ensuring the stability of the subsequent assembly.

[0043] After bonding is completed, the robotic arm carrying the gripping device begins to rise. During the rise, the material release pressing component 3 is activated, and the cylinder 3-1 extends. The driving force is transmitted to the material release plate 3-4 through the floating component 3-2. Under the constraint of the two sets of symmetrical guide components 3-3, the material release plate 3-4 moves downward along a fixed trajectory, pressing down on the basin frame 4 and keeping the basin frame 4 in contact with the magnetic circuit system to prevent the basin frame 4 from shifting or detaching during the rise. After rising to a safe height, the robotic arm carrying the gripping device returns to the loading position, completing a single gripping and assembly connection operation of the basin frame 4, and then enters the next cycle.

[0044] The above description is merely an embodiment of this application and is not intended to limit the scope of protection of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of protection of this application.

Claims

1. A yoke gripping device for automatic assembly based on a loudspeaker, characterized in that: It includes a base assembly (1), a suction head assembly (2), and a material release pressing assembly (3); The base assembly (1) includes a connecting flange (1-1), a cylinder mounting plate (1-2), and a guide container plate (1-4). The connecting flange (1-1) is fixedly connected to the cylinder mounting plate (1-2). The guide container plate (1-4) is connected to the lower part of the cylinder mounting plate (1-2) through a support column (1-3). A suction head positioning ring (1-5) is installed on the guide container plate (1-4). The suction head assembly (2) is detachably installed at the suction head positioning ring (1-5), and a magnetic suction head (2-10) is installed at the bottom of the suction head assembly (2). The material removal pressing assembly (3) is installed on the cylinder mounting plate (1-2) and the guide container plate (1-4). The material removal pressing assembly (3) includes a cylinder (3-1), a material removal plate (3-4) and a pressure plate assembly (3-6). The pressure plate assembly (3-6) is installed at the bottom of the material removal plate (3-4). The cylinder (3-1) drives the material removal plate (3-4) to press the basin frame to achieve material removal.

2. The speaker-based automatic assembly of a stand grabber device according to claim 1, characterized in that: The suction head assembly (2) includes a suction head base (2-8), a positioning shaft (2-9), and a magnetic suction head (2-10). The suction head base (2-8) is a hollow columnar structure. The suction head base (2-8) is equipped with a bearing retaining ring (2-3), a linear bearing (2-4), a bearing pressure plate (2-7), a first spring (2-5), and a positioning shaft (2-9) in sequence from top to bottom. The linear bearing (2-4) is axially clamped and fixed by the bearing retaining ring (2-3) and the bearing pressure plate (2-7) to form a sliding guide channel for the positioning shaft (2-9). The positioning shaft (2-9) is inserted into the linear bearing (2-4), with its top end extending out of the suction head base (2-8) and axially limited by the end cap (2-1), and its bottom end passing through the bottom of the suction head base (2-8). The first spring (2-5) is sleeved on the outside of the positioning shaft (2-9), with its two ends abutting against the bearing pressure plate (2-7) and the shoulder of the positioning shaft (2-9) respectively, forming an elastic telescopic mechanism. The magnetic suction head (2-10) is fixed to the bottom of the suction head base (2-8), and a cylindrical magnet (2-6) is embedded inside to generate an adsorption force.

3. The speaker-based automatic assembly of a spider holder device according to claim 2, characterized in that: The base assembly (1) also includes a suction head directional pin (1-6). The suction head base (2-8) is provided with a notch corresponding to the suction head directional pin (1-6). The suction head directional pin (1-6) is set on the guide container plate (1-4) for angular positioning of the suction head assembly (2). The outer circle of the suction head base (2-8) is provided with an annular groove. The locking pin (1-9) of the suction head positioning ring (1-5) matches the annular groove. The suction head assembly (2) and the suction head positioning ring (1-5) are fixed by the locking pin (1-9) being inserted into the annular groove.

4. The speaker-based automatic assembly of a stand grabber device according to claim 1, characterized in that: The suction head assembly (2) also includes two anti-misalignment screws (2-2). The two anti-misalignment screws (2-2) form a combination through different installation states. Each combination uniquely corresponds to a model of the suction head assembly (2). The base assembly (1) also includes a suction head anti-misalignment component (1-7). The suction head anti-misalignment component (1-7) is a proximity sensor that corresponds one-to-one with the position of the two anti-misalignment screws (2-2). By detecting the combination state of the anti-misalignment screws (2-2), a characteristic signal is formed to realize the model identification of the suction head assembly (2).

5. The speaker-based automatic assembly of a stand grabber device according to claim 2, characterized in that: The outer circle of the suction head base (2-8) is a precision machined surface, and the bottom surface of the magnetic suction head (2-10) is attached with a thin sheet of PU material.

6. The speaker-based automatic assembly of a stand grabber device according to claim 1, characterized in that: The material release pressing assembly (3) also includes a guide assembly (3-3). Two sets of guide assemblies (3-3) are symmetrically arranged. The two sets of guide assemblies (3-3) are symmetrically distributed with the center line of the cylinder mounting plate (1-2) as the axis of symmetry. The guide assembly (3-3) includes a guide mounting seat (3-31) and a guide shaft (3-32). The guide assembly (3-3) is fixed on the guide container plate (1-4). The top end of the guide shaft (3-32) is fixed to the bottom of the material release plate (3-4), and the bottom end is inserted into the guide mounting seat (3-31) to achieve sliding guidance.

7. The speaker-based automatic assembly of a stand grabber device according to claim 6, characterized in that: The material release pressing assembly (3) further includes a floating assembly (3-2), which includes a floating mounting base (3-21) with a cylindrical receiving cavity, a floating block (3-22), and a second spring (3-23). ​​One end of the floating block (3-22) is fixed to the piston rod of the cylinder (3-1), and the other end extends into the receiving cavity with clearance fit. The other end of the floating mounting base (3-21) is fixed to the top of the material release plate (3-4). The second spring (3-23) is located in the receiving cavity, and its two ends abut against the bottom of the receiving cavity and the top of the floating block (3-22) respectively to form an elastic buffer.

8. The speaker-based automatic assembly of a stand grabber device according to claim 1, characterized in that: The base assembly (1) also includes a first photoelectric sensor (1-8). The first photoelectric sensor (1-8) is mounted on the cylinder mounting plate (1-2) below by a bracket. The top of the stripper plate (3-4) is provided with a detection mark corresponding to the first photoelectric sensor (1-8). The model detection of the stripper plate (3-4) is realized by the first photoelectric sensor (1-8) identifying the detection mark.

9. The speaker-based automatic assembly of a stand grabber device according to claim 6, characterized in that: A second photoelectric sensor (3-5) is installed on one side of the stripping plate (3-4). The second photoelectric sensor (3-5) is used to detect whether there is a basin holder on the suction head assembly (2). The bottom of the stripping plate (3-4) is detachably connected to the pressure plate assembly (3-6). The contact surface between the pressure plate assembly (3-6) and the basin holder is made of POM material.

10. The speaker-based automatic assembly of a stand grabber device according to claim 9, characterized in that: The pressure plate assembly (3-6) includes a first pressure plate (3-61) and a second pressure plate (3-62), with the first pressure plate (3-61) and the second pressure plate (3-62) corresponding to the force-bearing surfaces at both ends of the small-sized and large-sized basin racks, respectively.

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